version: 66.07
glider: 542
mission: 9
dive: 165
start: 1 6 115 20 56 25
data:
$ID,542
$MISSION,9
$DIVE,165
$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,-22123.031
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,060115,204635,-5549.663,-26.267,32,1.1,32,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.8
$GPS2,060115,205531,-5549.651,-26.264,18,1.0,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.095,-0.210
$KALMAN_X,86946.2,-193.2,-202.8,-113683.1,1644.1
$KALMAN_Y,35736.2,-12.9,-61.1,-16187.6,2666.4
$MHEAD_RNG_PITCHd_Wd,224.2,19553,-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,-33.78,0.000,2,0.000,0.000,45,2935,2252,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.1,-3.4,4,98,6.55,2.30,-24.98,0.000,4,0.246,0.055,1639,1506,2941,0,0,0,0,0,0
$GC,234,-0.44,-146.1,24.1,-13.8,31,244,0.00,2.40,0.00,0.000,6,0.000,0.063,1629,2919,2942,0,0,0,0,0,0
$GC,316,-0.44,-146.1,37.5,-17.4,44,325,0.00,1.65,0.00,0.000,4,0.000,0.067,1620,3911,2942,0,0,0,0,0,0
$GC,387,-0.44,-146.1,49.9,-18.1,55,394,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2899,2942,0,0,0,0,0,0
$GC,501,-0.44,-146.1,70.7,-18.6,74,509,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2898,2942,0,0,0,0,0,0
$GC,613,-0.44,-146.1,91.3,-17.7,93,622,0.00,1.73,0.00,0.000,4,0.000,0.066,1612,3914,2942,0,0,0,0,0,0
$GC,688,-0.44,-146.1,105.8,-19.5,103,692,0.08,1.52,0.00,0.000,6,0.177,0.032,1636,2938,2942,0,0,0,0,0,0
$GC,1017,-0.44,-146.1,159.1,-16.1,134,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2938,2943,0,0,0,0,0,0
$GC,1338,-0.44,-146.1,206.7,-14.5,164,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2937,2942,0,0,0,0,0,0
$GC,1655,-0.44,-146.1,250.5,-13.2,194,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2938,2942,0,0,0,0,0,0
$GC,1966,-0.44,-146.1,290.0,-12.7,209,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2938,2942,0,0,0,0,0,0
$GC,2276,-0.44,-146.1,328.3,-12.5,224,2280,0.00,1.62,0.00,0.000,4,0.000,0.068,1629,3903,2943,0,0,0,0,0,0
$GC,2303,-0.44,-146.1,332.6,-12.9,225,2308,0.00,1.52,0.00,0.000,6,0.000,0.034,1629,2919,2943,0,0,0,0,0,0
$GC,2632,-0.44,-146.1,373.9,-12.8,241,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2919,2942,0,0,0,0,0,0
$GC,2941,-0.44,-146.1,412.8,-12.3,256,2944,0.00,1.65,0.00,0.000,4,0.000,0.069,1621,3913,2943,0,0,0,0,0,0
$GC,2986,-0.44,-146.1,418.8,-13.6,258,2989,0.00,1.52,0.00,0.000,6,0.000,0.031,1621,2917,2943,0,0,0,0,0,0
$GC,3318,-0.44,-146.1,462.3,-13.4,274,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2910,2943,0,0,0,0,0,0
$GC,3628,-0.44,-146.1,504.3,-13.7,289,3632,0.00,1.67,0.00,0.000,4,0.000,0.069,1613,3906,2943,0,0,0,0,0,0
$GC,3677,-0.44,-146.1,511.6,-14.2,291,3682,0.08,1.48,0.00,0.000,6,0.168,0.031,1638,2941,2943,0,0,0,0,0,0
$GC,4004,-0.44,-146.1,549.3,-11.1,307,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2941,2943,0,0,0,0,0,0
$GC,4313,-0.44,-146.1,583.3,-11.1,322,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2941,2943,0,0,0,0,0,0
$GC,4622,-0.44,-146.1,615.9,-10.2,337,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2940,2943,0,0,0,0,0,0
$GC,4932,-0.44,-146.1,647.4,-10.0,352,4936,0.00,1.62,0.00,0.000,4,0.000,0.067,1631,3906,2943,0,0,0,0,0,0
$GC,4964,-0.44,-146.1,651.1,-11.8,353,4969,0.00,1.52,0.00,0.000,6,0.000,0.030,1631,2913,2943,0,0,0,0,0,0
$GC,5286,-0.44,-146.1,685.6,-11.0,369,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2912,2943,0,0,0,0,0,0
$GC,5596,-0.44,-146.1,719.2,-10.9,384,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2912,2943,0,0,0,0,0,0
$GC,5905,-0.44,-146.1,753.2,-10.9,399,5909,0.00,1.67,0.00,0.000,4,0.000,0.069,1623,3905,2943,0,0,0,0,0,0
$GC,5931,-0.44,-146.1,756.4,-12.0,400,5935,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2916,2943,0,0,0,0,0,0
$GC,6259,-0.44,-146.1,792.8,-10.8,416,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2913,2943,0,0,0,0,0,0
$GC,6568,-0.44,-146.1,826.2,-10.7,431,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2914,2943,0,0,0,0,0,0
$GC,6877,-0.44,-146.1,857.9,-10.3,446,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2914,2943,0,0,0,0,0,0
$GC,7187,-0.44,-146.1,888.4,-9.6,461,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2914,2943,0,0,0,0,0,0
$GC,7496,-0.44,-146.1,918.6,-9.7,476,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2914,2943,0,0,0,0,0,0
$GC,7805,-0.44,-146.1,948.3,-9.4,491,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2914,2943,0,0,0,0,0,0
$GC,8115,-0.44,-146.1,976.9,-9.0,506,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2914,2943,0,0,0,0,0,0
$STATE,8381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8381,begin apogee
$GC,8385,-0.13,0.0,1001.3,9.1,519,8524,0.40,0.00,134.70,1.788,6,0.166,0.000,1740,2736,2343,0,0,0,0,0,0
$STATE,8525,end apogee,CONTROL_FINISHED_OK
$STATE,8525,begin climb
$GC,8527,0.44,146.1,1003.4,0.0,526,8680,0.62,0.00,147.85,1.731,6,0.125,0.000,1923,2736,1746,0,0,0,0,0,0
$GC,8980,0.44,146.1,946.8,13.7,548,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2737,1737,0,0,0,0,0,0
$GC,9291,0.44,146.1,905.2,13.4,563,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2736,1735,0,0,0,0,0,0
$GC,9599,0.44,146.1,864.8,12.9,578,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2736,1734,0,0,0,0,0,0
$GC,9908,0.44,146.1,824.3,13.1,593,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2737,1733,0,0,0,0,0,0
$GC,10219,0.44,146.1,784.5,12.6,608,10223,0.00,2.00,0.00,0.000,4,0.000,0.068,1923,3933,1733,0,0,0,0,0,0
$GC,10233,0.44,146.1,782.1,13.4,608,10242,0.00,1.92,0.00,0.000,6,0.000,0.033,1932,2730,1733,0,0,0,0,0,0
$GC,10550,0.44,146.1,740.7,13.1,624,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2729,1732,0,0,0,0,0,0
$GC,10860,0.44,146.1,700.2,13.0,639,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2730,1732,0,0,0,0,0,0
$GC,11169,0.44,146.1,659.1,13.3,654,11172,0.00,1.98,0.00,0.000,4,0.000,0.065,1932,3911,1732,0,0,0,0,0,0
$GC,11191,0.44,146.1,655.9,14.3,655,11195,0.00,1.90,0.00,0.000,6,0.000,0.035,1942,2707,1731,0,0,0,0,0,0
$GC,11523,0.44,146.1,609.6,13.7,671,11527,0.00,2.03,0.00,0.000,4,0.000,0.063,1942,3933,1731,0,0,0,0,0,0
$GC,11538,0.44,146.1,607.1,13.9,671,11546,0.00,1.95,0.00,0.000,6,0.000,0.033,1951,2707,1731,0,0,0,0,0,0
$GC,11855,0.44,146.1,561.7,14.4,687,11858,0.00,1.98,0.00,0.000,4,0.000,0.062,1951,3919,1731,0,0,0,0,0,0
$GC,11882,0.44,146.1,557.3,15.8,688,11886,0.00,1.92,0.00,0.000,6,0.000,0.035,1961,2713,1730,0,0,0,0,0,0
$GC,12209,0.44,146.1,508.2,15.0,704,12213,0.00,2.00,0.00,0.000,4,0.000,0.062,1960,3937,1730,0,0,0,0,0,0
$GC,12241,0.44,146.1,502.7,16.5,705,12246,0.10,1.95,0.00,0.000,6,0.200,0.034,1941,2715,1729,0,0,0,0,0,0
$GC,12563,0.44,146.1,460.7,12.8,721,12566,0.00,1.98,0.00,0.000,4,0.000,0.061,1941,3917,1730,0,0,0,0,0,0
$GC,12585,0.44,146.1,457.4,13.7,722,12589,0.00,1.90,0.00,0.000,6,0.000,0.034,1950,2701,1729,0,0,0,0,0,0
$GC,12918,0.44,146.1,408.4,15.2,738,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2701,1729,0,0,0,0,0,0
$GC,13228,0.44,146.1,360.0,15.8,753,13232,0.00,2.00,0.00,0.000,4,0.000,0.061,1950,3919,1729,0,0,0,0,0,0
$GC,13260,0.44,146.1,353.8,17.8,754,13265,0.00,1.90,0.00,0.000,6,0.000,0.034,1959,2718,1730,0,0,0,0,0,0
$GC,13583,0.44,146.1,301.8,15.9,770,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2718,1729,0,0,0,0,0,0
$GC,13894,0.44,146.1,252.2,15.9,785,13898,0.00,2.22,0.00,0.000,4,0.000,0.044,1970,1286,1730,0,0,0,0,0,0
$GC,13926,0.44,146.1,247.5,14.8,787,13931,0.12,2.30,0.00,0.000,6,0.200,0.055,1940,2730,1729,0,0,0,0,0,0
$GC,14252,0.44,146.1,202.0,13.7,817,14256,0.00,1.88,0.00,0.000,4,0.000,0.063,1939,3890,1729,0,0,0,0,0,0
$GC,14266,0.44,146.1,199.2,14.7,818,14277,0.00,1.88,0.00,0.000,6,0.000,0.033,1947,2699,1729,0,0,0,0,0,0
$GC,14595,0.44,146.1,153.4,13.3,849,14599,0.00,1.92,0.00,0.000,4,0.000,0.060,1947,3888,1729,0,0,0,0,0,0
$GC,14644,0.44,146.1,146.4,14.5,853,14647,0.00,1.85,0.00,0.000,6,0.000,0.034,1957,2701,1729,0,0,0,0,0,0
$GC,14974,0.44,146.1,105.8,11.2,884,14975,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2701,1729,0,0,0,0,0,0
$GC,15314,0.44,146.1,70.8,10.7,938,15323,0.00,1.98,0.00,0.000,4,0.000,0.062,1957,3885,1729,0,0,0,0,0,0
$GC,15408,0.44,146.1,59.5,12.4,953,15415,0.00,1.85,0.00,0.000,6,0.000,0.036,1966,2719,1729,0,0,0,0,0,0
$GC,15522,0.44,146.1,46.3,10.5,972,15531,0.12,0.00,0.00,0.000,6,0.206,0.000,1936,2717,1729,0,0,0,0,0,0
$GC,15639,0.44,147.7,35.5,9.5,991,15646,0.00,1.95,0.00,0.000,4,0.000,0.061,1936,3907,1729,0,0,0,0,0,0
$GC,15690,0.44,147.7,30.3,10.7,999,15697,0.00,1.90,0.00,0.000,6,0.000,0.035,1945,2709,1729,0,0,0,0,0,0
$GC,15811,0.45,156.2,19.1,9.2,1018,15821,0.00,2.25,3.92,0.643,4,0.000,0.044,1955,1291,1703,0,0,0,0,0,0
$GC,15842,0.46,175.7,16.3,8.7,1022,15860,0.00,2.28,11.93,0.789,6,0.000,0.053,1956,2704,1623,0,0,0,0,0,0
$GC,15935,0.46,175.7,7.6,11.9,1036,15944,0.00,1.95,0.00,0.000,4,0.000,0.063,1955,3888,1619,0,0,0,0,0,0
$GC,15953,0.46,175.7,5.7,11.5,1038,15962,0.00,1.90,0.00,0.000,6,0.000,0.037,1964,2707,1618,0,0,0,0,0,0
$STATE,15982,end climb,SURFACE_DEPTH_REACHED
$STATE,15982,begin surface coast
$FINISH,1.1,1.017468
$STATE,16014,end surface coast,CONTROL_FINISHED_OK
$STATE,16014,begin surface
$SM_CCo,16026,10.80,0.177,0,0,1523,200.16
$SM_GC,2.77,0.00,0.00,10.80,0.000,0.000,0.177,55,2934,1523,-5.43,0.11,200.16
$IRIDIUM_FIX,-5527.50,-26.80,060115,161656
$TT8_MAMPS,0.026215
$HUMID,56.69
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,34.743
$10V_AH,10.0,23.289
$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,13.325,83.100,298.400,10.800,0.000,26.270,45.106,332.000,0.000,0.000,21.140,2565.226,10499.854,423.110,2856.999,223.144,33.376,1363.103,0.000,2289.875,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,68.850,1787.805,177.480,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.127,2162.174,1026.803,1073.444,0.000,0.000,0.000,0.000,0.000,0.000
$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,70363,1047
$CAP_FILE_SIZE,130891,0
$CFSIZE,259252224,215592960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070115,012459,-5551.189,-27.180,40,0.8,40,-19.9