version: 66.07
glider: 542
mission: 9
dive: 147
start: 1 3 115 9 52 41
data:
$ID,542
$MISSION,9
$DIVE,147
$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,-22069.41
$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,41
$R_STBD_OVSHOOT,30
$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
$GPS1,030115,094322,-5556.341,-35.530,38,0.9,38,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.5
$GPS2,030115,095147,-5556.256,-35.546,15,1.5,15,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.042,-0.227
$KALMAN_X,91129.7,326.9,-369.6,-127818.4,2752.5
$KALMAN_Y,17496.5,-343.0,293.7,-10209.7,2516.1
$MHEAD_RNG_PITCHd_Wd,210.4,9004,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.44,-146.1,0.0,0.0,0,53,0.00,0.00,-33.97,0.000,2,0.000,0.000,46,2907,2077,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.0,-4.0,4,106,6.60,1.70,-35.35,0.000,4,0.251,0.081,1628,3896,2939,0,0,0,0,0,0
$GC,163,-0.44,-146.1,13.5,-16.6,19,172,0.00,1.55,0.00,0.000,6,0.000,0.033,1629,2913,2939,0,0,0,0,0,0
$GC,248,-0.44,-146.1,28.2,-17.1,32,257,0.00,2.17,0.00,0.000,4,0.000,0.041,1629,1532,2940,0,0,0,0,0,0
$GC,272,-0.44,-146.1,32.6,-17.3,35,280,0.00,2.30,0.00,0.000,6,0.000,0.056,1618,2917,2940,0,0,0,0,0,0
$GC,385,-0.44,-146.1,52.7,-18.3,54,394,0.00,1.62,0.00,0.000,4,0.000,0.062,1610,3903,2940,0,0,0,0,0,0
$GC,413,-0.44,-146.1,57.9,-19.5,58,423,0.10,1.52,0.00,0.000,6,0.184,0.032,1640,2928,2940,0,0,0,0,0,0
$GC,528,-0.44,-146.1,78.2,-17.8,77,535,0.00,2.15,0.00,0.000,4,0.000,0.040,1640,1528,2940,0,0,0,0,0,0
$GC,587,-0.44,-146.1,88.9,-15.9,87,596,0.00,2.33,0.00,0.000,6,0.000,0.057,1629,2931,2940,0,0,0,0,0,0
$GC,821,-0.44,-146.1,131.9,-18.5,113,825,0.00,1.58,0.00,0.000,4,0.000,0.063,1622,3895,2940,0,0,0,0,0,0
$GC,859,-0.44,-146.1,140.2,-19.9,116,869,0.00,1.52,0.00,0.000,6,0.000,0.031,1622,2912,2940,0,0,0,0,0,0
$GC,1189,-0.44,-146.1,197.1,-16.6,147,1192,0.00,1.65,0.00,0.000,4,0.000,0.063,1614,3916,2940,0,0,0,0,0,0
$GC,1250,-0.44,-146.1,208.6,-17.4,152,1261,0.08,1.52,0.00,0.000,6,0.187,0.030,1637,2934,2940,0,0,0,0,0,0
$GC,1585,-0.44,-146.1,256.8,-14.6,182,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2934,2940,0,0,0,0,0,0
$GC,1896,-0.44,-146.1,302.7,-15.1,197,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2934,2940,0,0,0,0,0,0
$GC,2205,-0.44,-146.1,349.7,-15.2,212,2209,0.00,1.62,0.00,0.000,4,0.000,0.063,1629,3908,2940,0,0,0,0,0,0
$GC,2238,-0.44,-146.1,355.5,-16.4,213,2242,0.00,1.50,0.00,0.000,6,0.000,0.031,1629,2925,2940,0,0,0,0,0,0
$GC,2560,-0.44,-146.1,403.2,-14.7,229,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2940,0,0,0,0,0,0
$GC,2869,-0.44,-146.1,446.5,-13.5,244,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2940,0,0,0,0,0,0
$GC,3179,-0.44,-146.1,486.6,-12.7,259,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2940,0,0,0,0,0,0
$GC,3488,-0.44,-146.1,524.7,-12.5,274,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2941,0,0,0,0,0,0
$GC,3797,-0.44,-146.1,561.4,-11.5,289,3800,0.00,1.62,0.00,0.000,4,0.000,0.063,1622,3900,2940,0,0,0,0,0,0
$GC,3846,-0.44,-146.1,567.8,-12.3,291,3850,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2928,2940,0,0,0,0,0,0
$GC,4173,-0.44,-146.1,607.4,-12.4,307,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2940,0,0,0,0,0,0
$GC,4483,-0.44,-146.1,644.7,-11.9,322,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2941,0,0,0,0,0,0
$GC,4793,-0.44,-146.1,681.0,-11.6,337,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2941,0,0,0,0,0,0
$GC,5101,-0.44,-146.1,716.5,-11.3,352,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2941,0,0,0,0,0,0
$GC,5411,-0.44,-146.1,751.5,-11.1,367,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2924,2941,0,0,0,0,0,0
$GC,5720,-0.44,-146.1,785.2,-10.7,382,5724,0.00,1.62,0.00,0.000,4,0.000,0.064,1614,3903,2941,0,0,0,0,0,0
$GC,5757,-0.44,-146.1,789.6,-12.0,383,5765,0.08,1.50,0.00,0.000,6,0.177,0.031,1638,2934,2941,0,0,0,0,0,0
$GC,6074,-0.44,-146.1,819.7,-9.4,399,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2941,0,0,0,0,0,0
$GC,6383,-0.44,-146.1,849.0,-9.5,414,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2941,0,0,0,0,0,0
$GC,6692,-0.44,-146.1,878.0,-9.3,429,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2941,0,0,0,0,0,0
$GC,7002,-0.44,-146.1,907.6,-9.7,444,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2941,0,0,0,0,0,0
$GC,7311,-0.44,-146.1,937.2,-9.5,459,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2940,0,0,0,0,0,0
$GC,7620,-0.44,-146.1,966.2,-9.2,474,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2941,0,0,0,0,0,0
$GC,7930,-0.44,-146.1,995.1,-9.3,489,7934,0.00,1.60,0.00,0.000,4,0.000,0.065,1631,3896,2940,0,0,0,0,0,0
$GC,7962,-0.44,-146.1,998.6,-10.5,490,7967,0.00,1.50,0.00,0.000,6,0.000,0.031,1631,2911,2941,0,0,0,0,0,0
$STATE,7994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7994,begin apogee
$GC,7999,-0.13,0.0,1001.7,9.9,492,8137,0.38,0.00,133.43,1.782,6,0.169,0.000,1740,2725,2342,0,0,0,0,0,0
$STATE,8138,end apogee,CONTROL_FINISHED_OK
$STATE,8138,begin climb
$GC,8140,0.44,146.1,1005.5,0.0,499,8291,0.62,0.00,147.12,1.727,6,0.127,0.000,1924,2725,1746,0,0,0,0,0,0
$GC,8591,0.44,146.1,954.9,12.4,521,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2725,1737,0,0,0,0,0,0
$GC,8900,0.44,146.1,915.1,12.9,536,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2725,1736,0,0,0,0,0,0
$GC,9210,0.44,146.1,875.2,13.1,551,9213,0.00,2.00,0.00,0.000,4,0.000,0.061,1924,3903,1734,0,0,0,0,0,0
$GC,9224,0.44,146.1,872.9,13.7,551,9233,0.00,1.90,0.00,0.000,6,0.000,0.034,1933,2726,1733,0,0,0,0,0,0
$GC,9542,0.44,146.1,828.7,14.1,567,9546,0.00,2.28,0.00,0.000,4,0.000,0.046,1944,1288,1733,0,0,0,0,0,0
$GC,9568,0.44,146.1,825.1,11.9,568,9573,0.00,2.35,0.00,0.000,6,0.000,0.053,1944,2731,1733,0,0,0,0,0,0
$GC,9890,0.44,146.1,779.1,14.2,584,9894,0.00,1.90,0.00,0.000,4,0.000,0.060,1944,3884,1732,0,0,0,0,0,0
$GC,9927,0.44,146.1,773.0,16.7,585,9934,0.00,1.88,0.00,0.000,6,0.000,0.036,1953,2714,1732,0,0,0,0,0,0
$GC,10243,0.44,146.1,725.7,14.8,601,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2714,1732,0,0,0,0,0,0
$GC,10553,0.44,146.1,680.6,14.4,616,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2714,1732,0,0,0,0,0,0
$GC,10861,0.44,146.1,635.6,14.5,631,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2714,1732,0,0,0,0,0,0
$GC,11170,0.44,146.1,592.0,14.0,646,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2714,1731,0,0,0,0,0,0
$GC,11481,0.44,146.1,548.6,13.8,661,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1731,0,0,0,0,0,0
$GC,11789,0.44,146.1,504.4,14.2,676,11793,0.00,1.92,0.00,0.000,4,0.000,0.060,1953,3900,1731,0,0,0,0,0,0
$GC,11804,0.44,146.1,501.8,14.2,676,11812,0.00,1.90,0.00,0.000,6,0.000,0.034,1962,2700,1731,0,0,0,0,0,0
$GC,12121,0.44,146.1,455.6,14.8,692,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2700,1731,0,0,0,0,0,0
$GC,12430,0.44,146.1,410.1,14.6,707,12434,0.00,1.95,0.00,0.000,4,0.000,0.059,1962,3893,1731,0,0,0,0,0,0
$GC,12445,0.44,146.1,407.4,15.1,707,12454,0.10,1.88,0.00,0.000,6,0.200,0.033,1943,2708,1731,0,0,0,0,0,0
$GC,12764,0.44,146.1,366.4,13.2,723,12768,0.00,2.20,0.00,0.000,4,0.000,0.044,1952,1290,1730,0,0,0,0,0,0
$GC,12784,0.44,146.1,363.3,12.3,724,12789,0.00,2.28,0.00,0.000,6,0.000,0.051,1952,2707,1730,0,0,0,0,0,0
$GC,13112,0.44,146.1,316.6,14.9,740,13115,0.00,1.90,0.00,0.000,4,0.000,0.060,1952,3893,1730,0,0,0,0,0,0
$GC,13158,0.44,146.1,309.0,17.3,742,13161,0.00,1.85,0.00,0.000,6,0.000,0.035,1961,2706,1730,0,0,0,0,0,0
$GC,13490,0.44,146.1,256.2,15.7,758,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2706,1730,0,0,0,0,0,0
$GC,13810,0.44,146.1,206.9,15.4,786,13814,0.00,1.95,0.00,0.000,4,0.000,0.058,1961,3900,1730,0,0,0,0,0,0
$GC,13848,0.44,146.1,200.5,18.3,789,13852,0.15,1.85,0.00,0.000,6,0.210,0.035,1934,2710,1730,0,0,0,0,0,0
$GC,14178,0.44,146.1,157.2,12.1,820,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2710,1730,0,0,0,0,0,0
$GC,14497,0.44,146.1,119.1,11.6,850,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2710,1730,0,0,0,0,0,0
$GC,14827,0.44,146.1,81.6,10.3,895,14834,0.00,1.92,0.00,0.000,4,0.000,0.060,1934,3895,1730,0,0,0,0,0,0
$GC,14911,0.44,146.1,72.0,11.5,909,14919,0.00,1.88,0.00,0.000,6,0.000,0.036,1942,2706,1730,0,0,0,0,0,0
$GC,15027,0.46,169.4,61.2,8.5,928,15043,0.00,0.00,12.98,0.933,6,0.000,0.000,1943,2706,1650,0,0,0,0,0,0
$GC,15150,0.46,169.4,48.7,10.2,948,15159,0.00,2.20,0.00,0.000,4,0.000,0.043,1953,1306,1647,0,0,0,0,0,0
$GC,15172,0.46,169.4,46.5,10.1,951,15180,0.00,2.28,0.00,0.000,6,0.000,0.050,1953,2746,1646,0,0,0,0,0,0
$GC,15286,0.46,169.4,34.3,11.2,970,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2746,1646,0,0,0,0,0,0
$GC,15405,0.46,169.4,21.3,11.0,989,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2746,1646,0,0,0,0,0,0
$GC,15490,0.46,169.4,12.3,10.4,1002,15500,0.00,2.28,0.00,0.000,4,0.000,0.042,1963,1305,1646,0,0,0,0,0,0
$GC,15514,0.46,169.4,9.6,10.3,1005,15524,0.00,2.28,0.00,0.000,6,0.000,0.053,1963,2714,1645,0,0,0,0,0,0
$STATE,15573,end climb,SURFACE_DEPTH_REACHED
$STATE,15573,begin surface coast
$FINISH,1.3,1.014366
$STATE,15599,end surface coast,CONTROL_FINISHED_OK
$STATE,15600,begin surface
$SM_CCo,15612,15.00,0.170,0,0,1524,200.16
$SM_GC,3.38,0.00,0.00,15.00,0.000,0.000,0.170,63,2930,1524,-5.40,0.00,200.16
$IRIDIUM_FIX,-5531.31,-30.73,030115,050516
$TT8_MAMPS,0.025466
$HUMID,56.22
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.0,31.742
$10V_AH,9.9,21.044
$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,13.275,79.450,293.525,15.000,0.000,28.191,42.165,308.983,0.000,0.000,17.427,2481.639,10244.453,463.414,2726.895,211.803,33.368,1369.043,0.000,2190.076,0.000,0.539,0.000
$DEVICE_MAMPS,250.920,81.090,1781.685,169.830,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.260,2088.816,980.371,1031.186,0.000,0.000,0.000,0.000,0.000,0.000
$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,70357,1018
$CAP_FILE_SIZE,127550,0
$CFSIZE,259252224,216895488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030115,141423,-5557.166,-35.763,38,0.8,38,-19.8