version: 66.07
glider: 542
mission: 9
dive: 161
start: 1 6 115 2 5 11
data:
$ID,542
$MISSION,9
$DIVE,161
$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,-22111.324
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,060115,015621,-5548.905,-26.604,24,1.3,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.0
$GPS2,060115,020417,-5548.868,-26.578,19,0.9,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.059,0.223
$KALMAN_X,82471.6,1.5,198.9,-110135.6,-839.5
$KALMAN_Y,27116.8,-136.7,108.3,-6159.3,-475.5
$MHEAD_RNG_PITCHd_Wd,5.1,8003,-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,-146.1,0.0,0.0,0,60,0.00,0.00,-41.90,0.000,2,0.000,0.000,45,2928,2165,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.1,-3.4,5,105,6.55,1.67,-30.25,0.000,4,0.246,0.081,1631,3901,2940,0,0,0,0,0,0
$GC,138,-0.44,-146.1,9.0,-14.3,15,147,0.00,1.60,0.00,0.000,6,0.000,0.034,1631,2889,2940,0,0,0,0,0,0
$GC,223,-0.44,-146.1,22.7,-16.3,28,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2889,2940,0,0,0,0,0,0
$GC,306,-0.44,-146.1,36.9,-16.8,41,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2889,2941,0,0,0,0,0,0
$GC,418,-0.44,-146.1,57.0,-17.7,60,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2889,2940,0,0,0,0,0,0
$GC,535,-0.44,-146.1,76.1,-16.1,79,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2889,2941,0,0,0,0,0,0
$GC,644,-0.44,-146.1,94.0,-15.4,98,651,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2889,2941,0,0,0,0,0,0
$GC,874,-0.44,-146.1,126.3,-13.9,123,877,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3899,2941,0,0,0,0,0,0
$GC,946,-0.44,-146.1,137.0,-15.3,129,950,0.00,1.50,0.00,0.000,6,0.000,0.034,1623,2929,2941,0,0,0,0,0,0
$GC,1276,-0.44,-146.1,186.8,-14.0,160,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,1596,-0.44,-146.1,231.2,-13.6,190,1600,0.00,1.62,0.00,0.000,4,0.000,0.062,1616,3925,2941,0,0,0,0,0,0
$GC,1646,-0.44,-146.1,239.3,-15.2,194,1657,0.00,1.55,0.00,0.000,6,0.000,0.033,1616,2920,2941,0,0,0,0,0,0
$GC,1975,-0.44,-146.1,289.2,-15.1,214,1980,0.10,1.60,0.00,0.000,4,0.203,0.061,1632,3898,2941,0,0,0,0,0,0
$GC,2024,-0.44,-146.1,296.7,-14.4,216,2029,0.00,1.50,0.00,0.000,6,0.000,0.033,1632,2930,2941,0,0,0,0,0,0
$GC,2352,-0.44,-146.1,340.4,-12.6,232,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2925,2941,0,0,0,0,0,0
$GC,2664,-0.44,-146.1,378.4,-12.1,247,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2925,2941,0,0,0,0,0,0
$GC,2971,-0.44,-146.1,414.7,-11.8,262,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2925,2941,0,0,0,0,0,0
$GC,3280,-0.44,-146.1,451.5,-11.8,277,3283,0.00,1.62,0.00,0.000,4,0.000,0.062,1624,3933,2941,0,0,0,0,0,0
$GC,3335,-0.44,-146.1,458.6,-12.9,279,3339,0.00,1.52,0.00,0.000,6,0.000,0.033,1624,2936,2941,0,0,0,0,0,0
$GC,3656,-0.44,-146.1,500.1,-12.9,295,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2929,2941,0,0,0,0,0,0
$GC,3966,-0.44,-146.1,540.1,-13.0,310,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2929,2941,0,0,0,0,0,0
$GC,4276,-0.44,-146.1,579.6,-12.5,325,4280,0.00,1.60,0.00,0.000,4,0.000,0.061,1616,3897,2941,0,0,0,0,0,0
$GC,4335,-0.44,-146.1,587.7,-12.5,327,4343,0.00,1.50,0.00,0.000,6,0.000,0.033,1616,2922,2941,0,0,0,0,0,0
$GC,4652,-0.44,-146.1,627.1,-12.4,343,4654,0.10,0.00,0.00,0.000,6,0.197,0.000,1641,2921,2941,0,0,0,0,0,0
$GC,4961,-0.44,-146.1,657.8,-9.7,358,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2921,2941,0,0,0,0,0,0
$GC,5270,-0.44,-146.1,686.7,-9.3,373,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2921,2942,0,0,0,0,0,0
$GC,5580,-0.44,-146.1,717.1,-10.1,388,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2921,2941,0,0,0,0,0,0
$GC,5889,-0.44,-146.1,749.0,-10.5,403,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2921,2941,0,0,0,0,0,0
$GC,6198,-0.44,-146.1,781.0,-10.1,418,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2941,0,0,0,0,0,0
$GC,6507,-0.44,-146.1,813.1,-10.4,433,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2941,0,0,0,0,0,0
$GC,6817,-0.44,-146.1,845.5,-10.4,448,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2941,0,0,0,0,0,0
$GC,7126,-0.44,-146.1,878.0,-10.2,463,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,7437,-0.44,-146.1,907.8,-9.3,478,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,7745,-0.44,-146.1,934.9,-8.7,493,7749,0.00,1.62,0.00,0.000,4,0.000,0.063,1633,3896,2941,0,0,0,0,0,0
$GC,7791,-0.44,-146.1,938.9,-9.7,495,7795,0.00,1.48,0.00,0.000,6,0.000,0.034,1633,2942,2941,0,0,0,0,0,0
$GC,8124,-0.44,-146.1,967.3,-8.2,511,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2936,2941,0,0,0,0,0,0
$GC,8433,-0.44,-146.1,992.0,-7.6,526,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2936,2941,0,0,0,0,0,0
$STATE,8555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8560,-0.13,0.0,1001.4,7.5,532,8698,0.38,0.00,134.27,1.792,6,0.164,0.000,1744,2703,2342,0,0,0,0,0,0
$STATE,8699,end apogee,CONTROL_FINISHED_OK
$STATE,8699,begin climb
$GC,8701,0.44,146.1,1001.9,0.0,539,8853,0.60,0.00,147.07,1.731,6,0.123,0.000,1920,2703,1745,0,0,0,0,0,0
$GC,9155,0.44,146.1,941.4,14.5,561,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2702,1737,0,0,0,0,0,0
$GC,9464,0.44,146.1,897.6,14.0,576,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2702,1736,0,0,0,0,0,0
$GC,9773,0.44,146.1,854.5,13.8,591,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2702,1735,0,0,0,0,0,0
$GC,10083,0.44,146.1,812.1,13.5,606,10087,0.00,2.03,0.00,0.000,4,0.000,0.060,1920,3924,1734,0,0,0,0,0,0
$GC,10131,0.44,146.1,804.4,16.2,608,10136,0.00,1.95,0.00,0.000,6,0.000,0.041,1929,2729,1732,0,0,0,0,0,0
$GC,10460,0.44,146.1,757.0,14.5,624,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2729,1732,0,0,0,0,0,0
$GC,10768,0.44,146.1,713.8,13.6,639,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2729,1732,0,0,0,0,0,0
$GC,11077,0.44,146.1,672.0,13.4,654,11082,0.00,2.25,0.00,0.000,4,0.000,0.051,1940,1293,1732,0,0,0,0,0,0
$GC,11118,0.44,146.1,667.2,11.9,656,11122,0.00,2.28,0.00,0.000,6,0.000,0.053,1940,2731,1731,0,0,0,0,0,0
$GC,11443,0.44,146.1,623.3,13.2,672,11447,0.00,1.88,0.00,0.000,4,0.000,0.059,1941,3895,1731,0,0,0,0,0,0
$GC,11481,0.44,146.1,617.5,15.0,673,11489,0.00,1.90,0.00,0.000,6,0.000,0.038,1949,2711,1730,0,0,0,0,0,0
$GC,11798,0.44,146.1,574.2,13.6,689,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,12107,0.44,146.1,531.7,13.7,704,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,12416,0.44,146.1,487.3,14.6,719,12417,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2712,1730,0,0,0,0,0,0
$GC,12726,0.44,146.1,442.9,14.4,734,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,13035,0.44,146.1,399.2,13.9,749,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,13344,0.44,146.1,354.2,14.6,764,13345,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,13656,0.44,146.1,308.7,14.6,779,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,13964,0.44,146.1,267.4,12.6,794,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1730,0,0,0,0,0,0
$GC,14280,0.44,146.1,227.9,12.4,817,14284,0.00,1.92,0.00,0.000,4,0.000,0.059,1949,3897,1730,0,0,0,0,0,0
$GC,14341,0.44,146.1,218.0,15.2,822,14352,0.00,1.90,0.00,0.000,6,0.000,0.037,1958,2708,1729,0,0,0,0,0,0
$GC,14670,0.44,146.1,172.8,13.4,853,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2708,1729,0,0,0,0,0,0
$GC,14989,0.44,146.1,134.6,11.2,883,14993,0.00,2.22,0.00,0.000,4,0.000,0.049,1969,1285,1729,0,0,0,0,0,0
$GC,15030,0.44,146.1,129.8,10.3,886,15035,0.12,2.25,0.00,0.000,6,0.196,0.053,1939,2718,1729,0,0,0,0,0,0
$GC,15354,0.47,185.7,100.1,7.8,916,15383,0.00,1.95,22.92,1.079,4,0.000,0.060,1939,3883,1584,0,0,0,0,0,0
$GC,15455,0.47,185.7,91.2,9.8,931,15462,0.00,1.88,0.00,0.000,6,0.000,0.038,1947,2712,1580,0,0,0,0,0,0
$GC,15693,0.47,185.7,68.6,9.9,972,15702,0.00,2.28,0.00,0.000,4,0.000,0.049,1957,1289,1577,0,0,0,0,0,0
$GC,15741,0.47,185.7,64.0,9.8,979,15748,0.00,2.28,0.00,0.000,6,0.000,0.052,1957,2706,1577,0,0,0,0,0,0
$GC,15853,0.47,185.7,50.4,11.6,998,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2706,1577,0,0,0,0,0,0
$GC,15971,0.47,185.7,37.3,10.8,1017,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2707,1577,0,0,0,0,0,0
$GC,16086,0.47,185.7,24.6,10.8,1036,16094,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2707,1576,0,0,0,0,0,0
$GC,16170,0.47,185.7,15.3,10.3,1049,16179,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2707,1576,0,0,0,0,0,0
$GC,16255,0.47,185.7,5.7,11.5,1062,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2707,1576,0,0,0,0,0,0
$STATE,16276,end climb,SURFACE_DEPTH_REACHED
$STATE,16276,begin surface coast
$FINISH,1.3,1.014936
$STATE,16308,end surface coast,CONTROL_FINISHED_OK
$STATE,16308,begin surface
$SM_CCo,16321,6.97,0.155,0,0,1525,200.16
$SM_GC,2.74,0.00,0.00,6.97,0.000,0.000,0.155,58,2923,1525,-5.41,-0.20,200.16
$IRIDIUM_FIX,-5531.31,-136.00,050115,212116
$TT8_MAMPS,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,22.0,34.069
$10V_AH,9.9,22.780
$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,13.050,51.675,304.275,6.975,0.000,25.619,19.396,301.407,0.000,0.000,22.351,2583.785,10730.153,422.941,2851.377,214.057,33.367,1372.051,0.000,2333.178,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,81.090,1791.630,155.295,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.141,2200.962,1046.400,1088.149,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,73810,1070
$CAP_FILE_SIZE,125430,0
$CFSIZE,259252224,215900160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060115,063834,-5545.834,-27.320,38,0.8,39,-19.9