version: 66.07
glider: 542
mission: 9
dive: 138
start: 1 1 115 15 57 59
data:
$ID,542
$MISSION,9
$DIVE,138
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,365
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53031
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-56
$TGT_DEFAULT_LON,0.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22043.912
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-53.02364
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,010115,154859,-5547.620,-28.297,41,0.8,41,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-68.9
$GPS2,010115,155705,-5547.597,-28.197,17,1.0,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.121,0.196
$KALMAN_X,74168.0,105.4,-153.5,-103250.0,1646.6
$KALMAN_Y,9084.4,-156.9,-42.4,14379.8,-1806.2
$MHEAD_RNG_PITCHd_Wd,348.2,5164,-17.2,-9.524
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-34.03,0.000,2,0.000,0.000,45,2935,2241,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-4.9,4,97,6.55,2.28,-25.48,0.000,4,0.249,0.054,1640,1512,2939,0,0,0,0,0,0
$GC,222,-0.44,-146.1,22.4,-14.0,29,231,0.00,2.35,0.00,0.000,6,0.000,0.057,1629,2925,2941,0,0,0,0,0,0
$GC,304,-0.44,-146.1,35.7,-16.0,42,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2925,2941,0,0,0,0,0,0
$GC,421,-0.44,-146.1,54.4,-15.4,61,428,0.00,1.60,0.00,0.000,4,0.000,0.063,1622,3900,2941,0,0,0,0,0,0
$GC,483,-0.44,-146.1,64.9,-16.9,71,490,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2884,2941,0,0,0,0,0,0
$GC,596,-0.44,-146.1,83.6,-17.1,90,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2883,2941,0,0,0,0,0,0
$GC,831,-0.44,-146.1,120.9,-16.0,120,832,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2883,2941,0,0,0,0,0,0
$GC,1149,-0.44,-146.1,169.4,-14.8,150,1153,0.00,1.65,0.00,0.000,4,0.000,0.061,1614,3905,2941,0,0,0,0,0,0
$GC,1186,-0.44,-146.1,175.1,-15.9,153,1190,0.08,1.50,0.00,0.000,6,0.184,0.034,1637,2934,2941,0,0,0,0,0,0
$GC,1515,-0.44,-146.1,219.0,-12.8,184,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2941,0,0,0,0,0,0
$GC,1834,-0.44,-146.1,259.4,-13.0,211,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2941,0,0,0,0,0,0
$GC,2142,-0.44,-146.1,299.0,-12.5,226,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2940,0,0,0,0,0,0
$GC,2453,-0.44,-146.1,336.6,-11.9,241,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2941,0,0,0,0,0,0
$GC,2762,-0.44,-146.1,372.5,-11.3,256,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2941,0,0,0,0,0,0
$GC,3070,-0.44,-146.1,406.4,-10.9,271,3074,0.00,1.60,0.00,0.000,4,0.000,0.063,1630,3900,2941,0,0,0,0,0,0
$GC,3115,-0.44,-146.1,411.3,-11.0,273,3119,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2904,2941,0,0,0,0,0,0
$GC,3447,-0.44,-146.1,448.3,-11.5,289,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2901,2941,0,0,0,0,0,0
$GC,3757,-0.44,-146.1,484.6,-11.9,304,3761,0.00,1.62,0.00,0.000,4,0.000,0.061,1622,3916,2941,0,0,0,0,0,0
$GC,3830,-0.44,-146.1,494.1,-12.4,307,3834,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2937,2941,0,0,0,0,0,0
$GC,4157,-0.44,-146.1,534.5,-12.1,323,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2931,2941,0,0,0,0,0,0
$GC,4465,-0.44,-146.1,570.7,-11.5,338,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2931,2941,0,0,0,0,0,0
$GC,4775,-0.44,-146.1,607.4,-12.2,353,4778,0.00,1.62,0.00,0.000,4,0.000,0.063,1614,3903,2942,0,0,0,0,0,0
$GC,4837,-0.44,-146.1,615.4,-13.0,355,4844,0.08,1.48,0.00,0.000,6,0.177,0.032,1637,2937,2942,0,0,0,0,0,0
$GC,5153,-0.44,-146.1,648.7,-10.5,371,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,5461,-0.44,-146.1,680.5,-10.3,386,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,5771,-0.44,-146.1,712.7,-9.9,401,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,6080,-0.44,-146.1,743.7,-9.7,416,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,6389,-0.44,-146.1,773.0,-9.7,431,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,6699,-0.44,-146.1,803.1,-9.7,446,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,7008,-0.44,-146.1,832.9,-9.5,461,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2942,0,0,0,0,0,0
$GC,7318,-0.44,-146.1,862.3,-9.4,476,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,7628,-0.44,-146.1,890.6,-9.2,491,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,7936,-0.44,-146.1,919.2,-9.4,506,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,8246,-0.44,-146.1,947.4,-9.1,521,8250,0.00,2.15,0.00,0.000,4,0.000,0.040,1637,1526,2942,0,0,0,0,0,0
$GC,8279,-0.44,-146.1,950.4,-9.0,522,8286,0.00,2.28,0.00,0.000,6,0.000,0.054,1628,2935,2942,0,0,0,0,0,0
$GC,8595,-0.44,-146.1,980.9,-9.6,538,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2935,2942,0,0,0,0,0,0
$STATE,8799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8800,begin apogee
$GC,8804,-0.13,0.0,1000.6,9.6,548,8943,0.38,0.00,134.00,1.786,6,0.170,0.000,1739,2711,2342,0,0,0,0,0,0
$STATE,8944,end apogee,CONTROL_FINISHED_OK
$STATE,8944,begin climb
$GC,8945,0.44,146.1,1004.0,0.0,555,9097,0.62,0.00,146.60,1.738,6,0.128,0.000,1922,2711,1745,0,0,0,0,0,0
$GC,9399,0.44,146.1,949.8,13.6,577,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2711,1737,0,0,0,0,0,0
$GC,9708,0.44,146.1,908.7,13.2,592,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2711,1735,0,0,0,0,0,0
$GC,10018,0.44,146.1,867.8,13.5,607,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2711,1734,0,0,0,0,0,0
$GC,10327,0.44,146.1,826.5,13.6,622,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2711,1733,0,0,0,0,0,0
$GC,10636,0.44,146.1,785.8,13.3,637,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2711,1732,0,0,0,0,0,0
$GC,10946,0.44,146.1,744.5,13.4,652,10948,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2711,1732,0,0,0,0,0,0
$GC,11255,0.44,146.1,703.3,13.5,667,11259,0.00,1.98,0.00,0.000,4,0.000,0.060,1922,3896,1731,0,0,0,0,0,0
$GC,11301,0.44,146.1,696.6,15.4,669,11305,0.00,1.83,0.00,0.000,6,0.000,0.037,1931,2724,1730,0,0,0,0,0,0
$GC,11632,0.44,146.1,648.6,14.4,685,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2724,1730,0,0,0,0,0,0
$GC,11942,0.44,146.1,604.4,14.2,700,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2724,1730,0,0,0,0,0,0
$GC,12251,0.44,146.1,561.3,13.7,715,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2724,1729,0,0,0,0,0,0
$GC,12561,0.44,146.1,519.9,13.3,730,12565,0.00,2.20,0.00,0.000,4,0.000,0.045,1942,1295,1730,0,0,0,0,0,0
$GC,12603,0.44,146.1,514.1,12.0,732,12609,0.00,2.30,0.00,0.000,6,0.000,0.051,1941,2731,1730,0,0,0,0,0,0
$GC,12932,0.44,146.1,468.1,14.3,748,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2731,1729,0,0,0,0,0,0
$GC,13240,0.44,146.1,424.6,14.2,763,13244,0.00,1.88,0.00,0.000,4,0.000,0.059,1941,3897,1729,0,0,0,0,0,0
$GC,13289,0.44,146.1,416.7,15.8,765,13294,0.00,1.88,0.00,0.000,6,0.000,0.035,1951,2715,1728,0,0,0,0,0,0
$GC,13619,0.44,146.1,368.6,14.5,781,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,13926,0.44,146.1,323.7,14.5,796,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,14237,0.44,146.1,278.7,14.3,811,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,14548,0.44,146.1,236.2,13.7,830,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,14867,0.44,146.1,194.6,12.8,860,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,15186,0.44,146.1,156.6,11.5,890,15187,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,15505,0.44,146.1,122.0,10.9,920,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1728,0,0,0,0,0,0
$GC,15829,0.44,146.1,87.5,9.7,960,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2715,1728,0,0,0,0,0,0
$GC,16074,0.45,159.7,64.5,8.9,1001,16081,0.00,0.00,4.62,0.847,6,0.000,0.000,1951,2715,1689,0,0,0,0,0,0
$GC,16188,0.46,163.5,53.6,9.4,1020,16197,0.00,0.00,1.65,0.371,6,0.000,0.000,1951,2715,1672,0,0,0,0,0,0
$GC,16301,0.46,163.5,42.5,9.9,1039,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1672,0,0,0,0,0,0
$GC,16413,0.46,167.5,31.4,9.3,1058,16422,0.00,0.00,1.52,0.330,6,0.000,0.000,1951,2715,1655,0,0,0,0,0,0
$GC,16533,0.46,167.5,19.8,9.9,1077,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2715,1655,0,0,0,0,0,0
$GC,16618,0.46,167.5,11.0,10.4,1090,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2714,1654,0,0,0,0,0,0
$STATE,16695,end climb,SURFACE_DEPTH_REACHED
$STATE,16695,begin surface coast
$FINISH,1.1,1.011669
$STATE,16727,end surface coast,CONTROL_FINISHED_OK
$STATE,16727,begin surface
$SM_CCo,16740,12.73,0.191,0,0,1523,200.16
$SM_GC,3.46,0.00,0.00,12.73,0.000,0.000,0.191,59,2929,1523,-5.41,-0.03,200.16
$IRIDIUM_FIX,-5527.50,-22.99,010115,101007
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,21.9,30.242
$10V_AH,10.0,19.921
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.925,37.400,288.400,12.725,0.000,28.238,20.363,311.384,0.000,0.000,19.888,2676.171,11039.679,388.494,2939.388,191.560,33.364,1318.409,0.000,2395.999,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,63.495,1785.510,191.250,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.636,2297.926,1105.952,1155.979,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353828
$DATA_FILE_SIZE,76930,1107
$CAP_FILE_SIZE,123503,0
$CFSIZE,259252224,217571328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010115,203828,-5546.270,-29.049,39,1.0,39,-19.9