version: 66.07
glider: 542
mission: 9
dive: 181
start: 1 10 115 0 8 35
data:
$ID,542
$MISSION,9
$DIVE,181
$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,-22169.857
$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,24
$R_STBD_OVSHOOT,41
$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
$GPS1,090115,235935,-5550.952,-38.579,36,0.8,36,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-65.3
$GPS2,100115,000741,-5550.907,-38.555,18,1.1,18,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.231,0.005
$KALMAN_X,106793.5,-605.4,-225.4,-145813.4,5044.1
$KALMAN_Y,44624.4,-212.8,-191.0,-27061.8,40.9
$MHEAD_RNG_PITCHd_Wd,291.1,27872,-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,-41.85,0.000,2,0.000,0.000,52,2955,2248,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.1,-4.1,5,104,6.38,0.00,-26.40,0.000,6,0.236,0.000,1638,2955,2938,0,0,0,0,0,0
$GC,180,-0.44,-146.1,16.7,-17.5,22,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2955,2939,0,0,0,0,0,0
$GC,263,-0.44,-146.1,30.6,-16.7,35,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2955,2940,0,0,0,0,0,0
$GC,376,-0.44,-146.1,49.7,-16.8,54,385,0.00,2.30,0.00,0.000,4,0.000,0.039,1638,1507,2940,0,0,0,0,0,0
$GC,411,-0.44,-146.1,55.0,-16.7,59,418,0.00,2.30,0.00,0.000,6,0.000,0.051,1627,2921,2940,0,0,0,0,0,0
$GC,525,-0.44,-146.1,74.3,-17.1,78,534,0.00,1.60,0.00,0.000,4,0.000,0.059,1620,3903,2940,0,0,0,0,0,0
$GC,560,-0.44,-146.1,80.5,-18.5,83,566,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2892,2940,0,0,0,0,0,0
$GC,788,-0.44,-146.1,117.4,-15.0,114,792,0.00,2.10,0.00,0.000,4,0.000,0.039,1620,1525,2940,0,0,0,0,0,0
$GC,831,-0.44,-146.1,123.4,-14.5,117,836,0.12,2.28,0.00,0.000,6,0.188,0.052,1641,2932,2941,0,0,0,0,0,0
$GC,1158,-0.44,-146.1,167.0,-13.4,147,1162,0.00,1.58,0.00,0.000,4,0.000,0.060,1634,3900,2941,0,0,0,0,0,0
$GC,1193,-0.44,-146.1,172.2,-14.5,150,1197,0.00,1.50,0.00,0.000,6,0.000,0.031,1634,2910,2941,0,0,0,0,0,0
$GC,1526,-0.44,-146.1,219.6,-13.7,181,1529,0.00,2.08,0.00,0.000,4,0.000,0.038,1634,1545,2940,0,0,0,0,0,0
$GC,1559,-0.44,-146.1,224.4,-13.1,183,1566,0.00,2.25,0.00,0.000,6,0.000,0.053,1624,2945,2941,0,0,0,0,0,0
$GC,1880,-0.44,-146.1,267.3,-13.0,208,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2945,2940,0,0,0,0,0,0
$GC,2192,-0.44,-146.1,305.4,-12.3,223,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2945,2941,0,0,0,0,0,0
$GC,2499,-0.44,-146.1,344.2,-12.8,238,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2945,2941,0,0,0,0,0,0
$GC,2810,-0.44,-146.1,383.9,-12.9,253,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2945,2940,0,0,0,0,0,0
$GC,3117,-0.44,-146.1,423.4,-12.6,268,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2945,2940,0,0,0,0,0,0
$GC,3427,-0.44,-146.1,462.1,-12.5,283,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2945,2941,0,0,0,0,0,0
$GC,3736,-0.44,-146.1,499.5,-12.2,298,3740,0.00,2.15,0.00,0.000,4,0.000,0.039,1623,1544,2941,0,0,0,0,0,0
$GC,3767,-0.44,-146.1,503.3,-11.4,299,3776,0.08,2.25,0.00,0.000,6,0.161,0.053,1639,2924,2941,0,0,0,0,0,0
$GC,4084,-0.44,-146.1,537.2,-10.9,315,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,4393,-0.44,-146.1,570.6,-10.6,330,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,4703,-0.44,-146.1,601.8,-10.1,345,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2925,2941,0,0,0,0,0,0
$GC,5012,-0.44,-146.1,632.3,-10.0,360,5015,0.00,2.10,0.00,0.000,4,0.000,0.037,1639,1545,2941,0,0,0,0,0,0
$GC,5043,-0.44,-146.1,635.6,-9.8,361,5048,0.00,2.25,0.00,0.000,6,0.000,0.053,1629,2926,2941,0,0,0,0,0,0
$GC,5366,-0.44,-146.1,669.9,-11.0,377,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2927,2941,0,0,0,0,0,0
$GC,5675,-0.44,-146.1,705.4,-11.8,392,5678,0.00,1.58,0.00,0.000,4,0.000,0.062,1621,3901,2941,0,0,0,0,0,0
$GC,5712,-0.44,-146.1,710.3,-13.3,393,5720,0.00,1.48,0.00,0.000,6,0.000,0.030,1621,2927,2941,0,0,0,0,0,0
$GC,6029,-0.44,-146.1,748.1,-12.1,409,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,6338,-0.44,-146.1,783.9,-11.4,424,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,6647,-0.44,-146.1,819.3,-11.4,439,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,6957,-0.44,-146.1,854.0,-11.2,454,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,7266,-0.44,-146.1,888.1,-10.7,469,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,7575,-0.44,-146.1,920.9,-10.7,484,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,7886,-0.44,-146.1,952.9,-10.6,499,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,8194,-0.44,-146.1,985.1,-10.4,514,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$STATE,8358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8358,begin apogee
$GC,8362,-0.13,0.0,1001.9,10.0,522,8501,0.40,0.00,133.95,1.780,6,0.158,0.000,1739,2721,2342,0,0,0,0,0,0
$STATE,8502,end apogee,CONTROL_FINISHED_OK
$STATE,8502,begin climb
$GC,8504,0.44,146.1,1005.8,0.0,529,8660,0.65,0.00,147.38,1.723,6,0.123,0.000,1926,2721,1745,0,0,0,0,0,0
$GC,8968,0.44,146.1,950.8,13.6,552,8972,0.00,2.05,0.00,0.000,4,0.000,0.058,1926,3913,1737,0,0,0,0,0,0
$GC,9000,0.44,146.1,945.5,15.7,553,9005,0.00,1.95,0.00,0.000,6,0.000,0.033,1934,2745,1735,0,0,0,0,0,0
$GC,9321,0.44,146.1,899.5,14.6,569,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2743,1735,0,0,0,0,0,0
$GC,9630,0.44,146.1,854.4,14.3,584,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2743,1734,0,0,0,0,0,0
$GC,9941,0.44,146.1,810.0,14.7,599,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2743,1733,0,0,0,0,0,0
$GC,10249,0.44,146.1,768.4,13.3,614,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2744,1732,0,0,0,0,0,0
$GC,10558,0.44,146.1,727.6,13.5,629,10562,0.00,1.92,0.00,0.000,4,0.000,0.057,1935,3907,1731,0,0,0,0,0,0
$GC,10591,0.44,146.1,722.8,15.3,630,10595,0.00,1.90,0.00,0.000,6,0.000,0.034,1944,2707,1731,0,0,0,0,0,0
$GC,10912,0.44,146.1,678.0,14.0,646,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2707,1731,0,0,0,0,0,0
$GC,11222,0.44,146.1,635.6,13.8,661,11225,0.00,1.98,0.00,0.000,4,0.000,0.057,1944,3904,1731,0,0,0,0,0,0
$GC,11260,0.44,146.1,629.7,15.8,662,11267,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2715,1730,0,0,0,0,0,0
$GC,11576,0.44,146.1,583.8,14.6,678,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2715,1730,0,0,0,0,0,0
$GC,11885,0.44,146.1,539.7,14.0,693,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2715,1730,0,0,0,0,0,0
$GC,12194,0.44,146.1,497.7,13.2,708,12198,0.00,1.98,0.00,0.000,4,0.000,0.057,1953,3902,1730,0,0,0,0,0,0
$GC,12226,0.44,146.1,492.6,15.3,709,12231,0.00,1.90,0.00,0.000,6,0.000,0.034,1963,2706,1730,0,0,0,0,0,0
$GC,12549,0.44,146.1,447.6,13.7,725,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2705,1729,0,0,0,0,0,0
$GC,12858,0.44,146.1,404.5,14.2,740,12861,0.00,1.98,0.00,0.000,4,0.000,0.057,1963,3915,1730,0,0,0,0,0,0
$GC,12929,0.44,146.1,392.7,17.0,743,12934,0.12,1.92,0.00,0.000,6,0.192,0.034,1937,2705,1729,0,0,0,0,0,0
$GC,13259,0.44,146.1,352.1,12.6,759,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2705,1730,0,0,0,0,0,0
$GC,13565,0.44,146.1,313.7,12.6,774,13569,0.00,1.98,0.00,0.000,4,0.000,0.057,1937,3915,1730,0,0,0,0,0,0
$GC,13619,0.44,146.1,305.8,14.0,776,13625,0.00,1.92,0.00,0.000,6,0.000,0.034,1945,2707,1730,0,0,0,0,0,0
$GC,13942,0.44,146.1,262.8,13.2,792,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2706,1729,0,0,0,0,0,0
$GC,14259,0.44,146.1,222.2,12.7,817,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2707,1729,0,0,0,0,0,0
$GC,14579,0.44,146.1,181.7,12.9,847,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2707,1730,0,0,0,0,0,0
$GC,14906,0.44,146.1,140.7,11.7,878,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2707,1729,0,0,0,0,0,0
$GC,15224,0.44,146.1,105.4,9.5,908,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2707,1729,0,0,0,0,0,0
$GC,15561,0.48,191.7,76.0,7.5,962,15592,0.00,2.03,24.05,1.001,4,0.000,0.058,1945,3900,1558,0,0,0,0,0,0
$GC,15629,0.48,191.7,68.8,11.6,972,15638,0.00,1.92,0.00,0.000,6,0.000,0.034,1954,2710,1555,0,0,0,0,0,0
$GC,15745,0.48,191.7,56.1,10.3,991,15752,0.00,2.22,0.00,0.000,4,0.000,0.042,1965,1286,1552,0,0,0,0,0,0
$GC,15777,0.48,191.7,52.2,11.2,996,15786,0.00,2.35,0.00,0.000,6,0.000,0.051,1965,2732,1552,0,0,0,0,0,0
$GC,15893,0.48,191.7,39.1,11.3,1015,15900,0.00,1.92,0.00,0.000,4,0.000,0.059,1965,3893,1551,0,0,0,0,0,0
$GC,15936,0.48,191.7,33.3,13.5,1022,15945,0.00,1.90,0.00,0.000,6,0.000,0.035,1974,2714,1551,0,0,0,0,0,0
$GC,16056,0.48,191.7,17.7,13.9,1041,16065,0.00,2.28,0.00,0.000,4,0.000,0.044,1985,1286,1551,0,0,0,0,0,0
$GC,16092,0.48,191.7,13.2,12.5,1046,16101,0.12,2.33,0.00,0.000,6,0.174,0.052,1948,2718,1550,0,0,0,0,0,0
$GC,16178,0.49,202.9,4.6,9.0,1059,16187,0.00,0.00,5.40,0.171,6,0.000,0.000,1948,2718,1513,0,0,0,0,0,0
$STATE,16194,end climb,SURFACE_DEPTH_REACHED
$STATE,16194,begin surface coast
$FINISH,1.1,1.003101
$STATE,16232,end surface coast,CONTROL_FINISHED_OK
$STATE,16232,begin surface
$SM_CCo,16305,0.00,0.000,0,0,1509,204.33
$SM_GC,2.55,5.07,0.00,0.00,0.053,0.000,0.000,52,2934,1509,-5.34,0.11,204.33
$IRIDIUM_FIX,-5527.50,-34.45,090115,191902
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.1,37.434
$10V_AH,9.9,25.324
$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,12.950,72.250,310.775,0.000,0.000,26.769,19.729,308.409,0.000,0.000,20.756,2576.162,10717.863,449.136,2824.065,219.002,33.362,1374.669,0.000,2302.424,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,61.965,1780.155,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.142,2197.527,1056.327,1080.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353524
$DATA_FILE_SIZE,73554,1067
$CAP_FILE_SIZE,127181,0
$CFSIZE,259252224,214401024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100115,044134,-5551.566,-41.129,39,1.0,40,-19.8