version: 66.07
glider: 542
mission: 9
dive: 162
start: 1 6 115 6 48 6
data:
$ID,542
$MISSION,9
$DIVE,162
$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,-22114.244
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,060115,063834,-5545.834,-27.320,38,0.8,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-67.1
$GPS2,060115,064712,-5545.819,-27.264,18,1.0,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.012,-0.231
$KALMAN_X,82905.5,283.5,71.9,-111439.5,-275.4
$KALMAN_Y,27760.5,155.3,183.9,-1535.6,-53.2
$MHEAD_RNG_PITCHd_Wd,202.9,26415,-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,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.38,0.000,2,0.000,0.000,48,2931,2256,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.3,-4.0,4,89,6.57,1.67,-23.38,0.000,4,0.248,0.082,1630,3910,2939,0,0,0,0,0,0
$GC,362,-0.44,-146.1,50.9,-16.3,53,369,0.00,1.60,0.00,0.000,6,0.000,0.034,1630,2888,2942,0,0,0,0,0,0
$GC,474,-0.44,-146.1,70.1,-17.3,72,483,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3897,2942,0,0,0,0,0,0
$GC,532,-0.44,-146.1,79.7,-17.1,81,539,0.00,1.52,0.00,0.000,6,0.000,0.034,1622,2919,2942,0,0,0,0,0,0
$GC,645,-0.44,-146.1,96.4,-13.1,100,651,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2917,2942,0,0,0,0,0,0
$GC,867,-0.44,-146.1,126.1,-14.8,123,871,0.00,1.65,0.00,0.000,4,0.000,0.060,1614,3919,2942,0,0,0,0,0,0
$GC,997,-0.44,-146.1,148.1,-15.9,134,1007,0.08,1.52,0.00,0.000,6,0.178,0.033,1637,2937,2942,0,0,0,0,0,0
$GC,1323,-0.44,-146.1,193.5,-14.3,165,1327,0.00,2.15,0.00,0.000,4,0.000,0.044,1638,1536,2942,0,0,0,0,0,0
$GC,1349,-0.44,-146.1,196.9,-14.3,167,1353,0.00,2.28,0.00,0.000,6,0.000,0.054,1627,2939,2942,0,0,0,0,0,0
$GC,1676,-0.44,-146.1,245.4,-15.6,197,1679,0.00,1.55,0.00,0.000,4,0.000,0.062,1620,3893,2942,0,0,0,0,0,0
$GC,1724,-0.44,-146.1,253.0,-15.7,201,1728,0.00,1.48,0.00,0.000,6,0.000,0.032,1620,2928,2942,0,0,0,0,0,0
$GC,2058,-0.44,-146.1,302.4,-14.2,217,2061,0.00,1.62,0.00,0.000,4,0.000,0.061,1613,3901,2942,0,0,0,0,0,0
$GC,2083,-0.44,-146.1,306.7,-14.6,218,2089,0.08,1.52,0.00,0.000,6,0.177,0.033,1636,2917,2942,0,0,0,0,0,0
$GC,2411,-0.44,-146.1,346.4,-12.0,234,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2916,2942,0,0,0,0,0,0
$GC,2722,-0.44,-146.1,381.5,-11.4,249,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2916,2942,0,0,0,0,0,0
$GC,3029,-0.44,-146.1,418.0,-12.0,264,3033,0.00,1.65,0.00,0.000,4,0.000,0.063,1628,3925,2943,0,0,0,0,0,0
$GC,3078,-0.44,-146.1,424.4,-12.4,266,3082,0.00,1.52,0.00,0.000,6,0.000,0.031,1628,2925,2942,0,0,0,0,0,0
$GC,3405,-0.44,-146.1,465.5,-12.8,282,3409,0.00,1.62,0.00,0.000,4,0.000,0.060,1620,3900,2942,0,0,0,0,0,0
$GC,3431,-0.44,-146.1,469.4,-13.5,283,3437,0.00,1.50,0.00,0.000,6,0.000,0.031,1621,2930,2942,0,0,0,0,0,0
$GC,3760,-0.44,-146.1,511.3,-12.5,299,3763,0.00,1.62,0.00,0.000,4,0.000,0.061,1613,3899,2942,0,0,0,0,0,0
$GC,3786,-0.44,-146.1,515.1,-13.3,300,3792,0.08,1.48,0.00,0.000,6,0.174,0.032,1637,2939,2942,0,0,0,0,0,0
$GC,4115,-0.44,-146.1,550.9,-11.0,316,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2942,0,0,0,0,0,0
$GC,4423,-0.44,-146.1,586.1,-11.4,331,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2942,0,0,0,0,0,0
$GC,4732,-0.44,-146.1,621.1,-11.4,346,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2943,0,0,0,0,0,0
$GC,5042,-0.44,-146.1,655.9,-11.1,361,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2943,0,0,0,0,0,0
$GC,5351,-0.44,-146.1,690.0,-10.9,376,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2943,0,0,0,0,0,0
$GC,5660,-0.44,-146.1,723.5,-10.8,391,5664,0.00,2.15,0.00,0.000,4,0.000,0.043,1637,1525,2943,0,0,0,0,0,0
$GC,5687,-0.44,-146.1,726.5,-10.7,392,5691,0.00,2.25,0.00,0.000,6,0.000,0.054,1627,2931,2943,0,0,0,0,0,0
$GC,6009,-0.44,-146.1,763.2,-11.6,408,6013,0.00,1.55,0.00,0.000,4,0.000,0.061,1620,3893,2943,0,0,0,0,0,0
$GC,6046,-0.44,-146.1,768.1,-12.7,409,6054,0.00,1.48,0.00,0.000,6,0.000,0.031,1620,2918,2943,0,0,0,0,0,0
$GC,6363,-0.44,-146.1,805.4,-11.8,425,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2918,2943,0,0,0,0,0,0
$GC,6672,-0.44,-146.1,842.1,-11.8,440,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2918,2943,0,0,0,0,0,0
$GC,6981,-0.44,-146.1,878.4,-11.6,455,6985,0.00,1.62,0.00,0.000,4,0.000,0.062,1612,3900,2943,0,0,0,0,0,0
$GC,7008,-0.44,-146.1,881.7,-12.8,456,7013,0.08,1.48,0.00,0.000,6,0.171,0.032,1637,2942,2943,0,0,0,0,0,0
$GC,7335,-0.44,-146.1,913.5,-9.7,472,7338,0.00,2.12,0.00,0.000,4,0.000,0.042,1637,1531,2943,0,0,0,0,0,0
$GC,7367,-0.44,-146.1,916.7,-8.9,473,7374,0.00,2.28,0.00,0.000,6,0.000,0.054,1626,2929,2943,0,0,0,0,0,0
$GC,7684,-0.44,-146.1,948.9,-10.3,489,7688,0.00,1.58,0.00,0.000,4,0.000,0.062,1619,3905,2943,0,0,0,0,0,0
$GC,7715,-0.44,-146.1,952.6,-11.6,490,7721,0.05,1.50,0.00,0.000,6,0.167,0.031,1636,2925,2943,0,0,0,0,0,0
$GC,8037,-0.44,-146.1,983.2,-9.8,506,8041,0.00,2.12,0.00,0.000,4,0.000,0.041,1636,1528,2943,0,0,0,0,0,0
$GC,8058,-0.44,-146.1,985.2,-9.5,507,8062,0.00,2.28,0.00,0.000,6,0.000,0.054,1625,2939,2943,0,0,0,0,0,0
$STATE,8213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8213,begin apogee
$GC,8217,-0.13,0.0,1001.2,10.5,515,8356,0.40,0.00,134.62,1.786,6,0.168,0.000,1742,2710,2341,0,0,0,0,0,0
$STATE,8357,end apogee,CONTROL_FINISHED_OK
$STATE,8357,begin climb
$GC,8359,0.44,146.1,1005.1,0.0,522,8512,0.62,0.00,147.68,1.742,6,0.125,0.000,1926,2710,1745,0,0,0,0,0,0
$GC,8816,0.44,146.1,951.2,13.7,544,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2710,1736,0,0,0,0,0,0
$GC,9125,0.44,146.1,909.5,13.6,559,9129,0.00,2.03,0.00,0.000,4,0.000,0.060,1926,3902,1735,0,0,0,0,0,0
$GC,9150,0.44,146.1,905.5,15.0,560,9155,0.00,1.90,0.00,0.000,6,0.000,0.036,1935,2739,1734,0,0,0,0,0,0
$GC,9479,0.44,146.1,857.8,14.7,576,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1733,0,0,0,0,0,0
$GC,9787,0.44,146.1,813.7,14.2,591,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1733,0,0,0,0,0,0
$GC,10097,0.44,146.1,769.5,14.4,606,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1732,0,0,0,0,0,0
$GC,10407,0.44,146.1,725.2,14.1,621,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1732,0,0,0,0,0,0
$GC,10716,0.44,146.1,681.9,13.8,636,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1732,0,0,0,0,0,0
$GC,11025,0.44,146.1,638.6,13.8,651,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1731,0,0,0,0,0,0
$GC,11335,0.44,146.1,595.6,13.9,666,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2738,1731,0,0,0,0,0,0
$GC,11643,0.44,146.1,552.3,14.0,681,11647,0.00,1.92,0.00,0.000,4,0.000,0.060,1935,3907,1731,0,0,0,0,0,0
$GC,11658,0.44,146.1,549.9,13.9,681,11666,0.00,1.90,0.00,0.000,6,0.000,0.035,1944,2713,1730,0,0,0,0,0,0
$GC,11976,0.44,146.1,503.5,14.6,697,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2713,1730,0,0,0,0,0,0
$GC,12284,0.44,146.1,460.2,13.6,712,12288,0.00,1.92,0.00,0.000,4,0.000,0.059,1944,3901,1730,0,0,0,0,0,0
$GC,12321,0.44,146.1,454.4,15.2,713,12329,0.00,1.90,0.00,0.000,6,0.000,0.036,1953,2710,1729,0,0,0,0,0,0
$GC,12638,0.44,146.1,410.3,14.0,729,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2710,1729,0,0,0,0,0,0
$GC,12947,0.44,146.1,366.6,14.0,744,12950,0.00,1.92,0.00,0.000,4,0.000,0.059,1953,3901,1729,0,0,0,0,0,0
$GC,12985,0.44,146.1,360.3,16.0,745,12992,0.00,1.90,0.00,0.000,6,0.000,0.037,1962,2709,1729,0,0,0,0,0,0
$GC,13303,0.44,146.1,313.3,15.1,761,13307,0.00,1.92,0.00,0.000,4,0.000,0.057,1962,3909,1729,0,0,0,0,0,0
$GC,13330,0.44,146.1,308.1,16.5,762,13335,0.12,1.92,0.00,0.000,6,0.195,0.037,1937,2703,1729,0,0,0,0,0,0
$GC,13658,0.44,146.1,264.2,13.2,778,13662,0.00,1.95,0.00,0.000,4,0.000,0.057,1937,3900,1729,0,0,0,0,0,0
$GC,13682,0.44,146.1,260.8,14.1,779,13686,0.00,1.88,0.00,0.000,6,0.000,0.036,1945,2701,1729,0,0,0,0,0,0
$GC,14011,0.44,146.1,214.0,13.3,806,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2700,1729,0,0,0,0,0,0
$GC,14333,0.44,146.1,169.2,15.2,836,14337,0.00,2.20,0.00,0.000,4,0.000,0.047,1956,1291,1729,0,0,0,0,0,0
$GC,14384,0.44,146.1,162.0,12.5,840,14388,0.00,2.28,0.00,0.000,6,0.000,0.051,1955,2728,1729,0,0,0,0,0,0
$GC,14708,0.44,146.1,116.1,13.9,870,14712,0.00,1.85,0.00,0.000,4,0.000,0.060,1956,3891,1729,0,0,0,0,0,0
$GC,14769,0.44,146.1,106.7,15.6,875,14778,0.00,1.88,0.00,0.000,6,0.000,0.035,1964,2709,1729,0,0,0,0,0,0
$GC,15123,0.44,146.1,64.0,11.3,931,15131,0.12,1.92,0.00,0.000,4,0.209,0.058,1931,3894,1729,0,0,0,0,0,0
$GC,15151,0.44,146.1,61.0,10.9,935,15158,0.00,1.88,0.00,0.000,6,0.000,0.036,1939,2709,1729,0,0,0,0,0,0
$GC,15265,0.45,157.8,50.1,9.0,954,15274,0.00,0.00,5.85,0.821,6,0.000,0.000,1940,2709,1697,0,0,0,0,0,0
$GC,15380,0.45,157.8,39.9,9.7,973,15387,0.00,1.95,0.00,0.000,4,0.000,0.059,1940,3887,1695,0,0,0,0,0,0
$GC,15409,0.45,160.3,37.2,9.4,977,15416,0.00,1.88,0.00,0.000,6,0.000,0.036,1949,2711,1695,0,0,0,0,0,0
$GC,15526,0.46,175.0,26.2,8.9,996,15545,0.00,2.25,9.65,0.815,4,0.000,0.046,1959,1293,1626,0,0,0,0,0,0
$GC,15566,0.48,198.3,22.8,8.5,1001,15584,0.00,2.30,11.65,0.811,6,0.000,0.053,1959,2715,1530,0,0,0,0,0,0
$GC,15659,0.48,198.3,13.1,10.3,1015,15668,0.00,1.95,0.00,0.000,4,0.000,0.060,1959,3890,1525,0,0,0,0,0,0
$GC,15689,0.48,198.3,9.7,10.4,1019,15698,0.00,1.92,0.00,0.000,6,0.000,0.040,1968,2709,1524,0,0,0,0,0,0
$STATE,15748,end climb,SURFACE_DEPTH_REACHED
$STATE,15748,begin surface coast
$FINISH,1.4,1.027076
$STATE,15780,end surface coast,CONTROL_FINISHED_OK
$STATE,15780,begin surface
$SM_CCo,15853,0.00,0.000,0,0,1522,201.14
$SM_GC,2.48,5.22,0.00,0.00,0.063,0.000,0.000,60,2925,1522,-5.33,-0.14,201.14
$IRIDIUM_FIX,-5523.70,-26.80,060115,010100
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,34.238
$10V_AH,10.0,22.905
$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,13.425,100.075,309.450,0.000,0.000,26.325,49.360,311.069,0.000,0.000,21.062,2548.401,10291.699,420.670,2883.338,221.613,33.369,1392.404,0.000,2322.840,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,81.855,1786.275,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.778,2135.655,1013.397,1055.829,0.000,0.000,0.000,0.000,0.000,0.000
$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,70477,1033
$CAP_FILE_SIZE,136460,0
$CFSIZE,259252224,215818240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060115,111330,-5547.083,-26.249,37,0.9,37,-19.9