version: 66.07
glider: 542
mission: 9
dive: 187
start: 1 11 115 4 48 35
data:
$ID,542
$MISSION,9
$DIVE,187
$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,-22187.744
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,110115,043905,-5553.326,-55.687,27,0.9,27,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.7
$GPS2,110115,044741,-5553.338,-55.617,15,2.0,15,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.217,-0.080
$KALMAN_X,116131.8,-171.1,68.0,-173554.1,2811.6
$KALMAN_Y,34732.7,114.4,278.5,-22488.1,-3039.9
$MHEAD_RNG_PITCHd_Wd,269.5,13146,-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,-146.0,0.0,0.0,0,61,0.00,0.00,-42.47,0.000,2,0.000,0.000,45,2936,2429,0,0,0,0,0,0
$GC,63,-0.44,-146.1,3.2,-3.4,5,98,6.53,2.30,-16.15,0.000,4,0.242,0.056,1637,1515,2941,0,0,0,0,0,0
$GC,204,-0.44,-146.1,22.4,-14.6,26,213,0.00,2.38,0.00,0.000,6,0.000,0.061,1626,2922,2942,0,0,0,0,0,0
$GC,288,-0.44,-146.1,36.1,-17.1,39,294,0.00,1.62,0.00,0.000,4,0.000,0.065,1619,3900,2942,0,0,0,0,0,0
$GC,328,-0.44,-146.1,43.5,-18.5,45,335,0.00,1.58,0.00,0.000,6,0.000,0.033,1619,2894,2942,0,0,0,0,0,0
$GC,441,-0.44,-146.1,63.8,-18.3,64,450,0.00,2.12,0.00,0.000,4,0.000,0.042,1619,1542,2942,0,0,0,0,0,0
$GC,476,-0.44,-146.1,69.5,-17.4,69,483,0.12,2.30,0.00,0.000,6,0.190,0.060,1640,2932,2942,0,0,0,0,0,0
$GC,591,-0.44,-146.1,87.0,-14.9,88,597,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2932,2942,0,0,0,0,0,0
$GC,816,-0.44,-146.1,120.7,-14.0,116,820,0.00,1.60,0.00,0.000,4,0.000,0.066,1633,3899,2942,0,0,0,0,0,0
$GC,910,-0.44,-146.1,135.7,-15.5,124,921,0.00,1.52,0.00,0.000,6,0.000,0.031,1633,2907,2942,0,0,0,0,0,0
$GC,1240,-0.44,-146.1,184.2,-14.4,155,1243,0.00,1.67,0.00,0.000,4,0.000,0.065,1625,3914,2942,0,0,0,0,0,0
$GC,1324,-0.44,-146.1,197.4,-14.3,162,1335,0.00,1.52,0.00,0.000,6,0.000,0.032,1625,2920,2942,0,0,0,0,0,0
$GC,1653,-0.44,-146.1,242.2,-13.6,193,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2920,2942,0,0,0,0,0,0
$GC,1964,-0.44,-146.1,283.9,-13.3,211,1967,0.00,1.65,0.00,0.000,4,0.000,0.065,1617,3915,2942,0,0,0,0,0,0
$GC,2002,-0.44,-146.1,289.8,-14.1,212,2011,0.00,1.52,0.00,0.000,6,0.000,0.032,1617,2922,2942,0,0,0,0,0,0
$GC,2319,-0.44,-146.1,332.9,-13.6,228,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2922,2942,0,0,0,0,0,0
$GC,2629,-0.44,-146.1,373.7,-13.0,243,2633,0.00,1.65,0.00,0.000,4,0.000,0.065,1609,3921,2942,0,0,0,0,0,0
$GC,2684,-0.44,-146.1,381.7,-13.5,245,2689,0.10,1.50,0.00,0.000,6,0.164,0.033,1641,2951,2943,0,0,0,0,0,0
$GC,3006,-0.44,-146.1,415.5,-10.4,261,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2942,0,0,0,0,0,0
$GC,3315,-0.44,-146.1,448.1,-10.4,276,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2942,0,0,0,0,0,0
$GC,3624,-0.44,-146.1,478.3,-9.4,291,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2942,0,0,0,0,0,0
$GC,3934,-0.44,-146.1,507.9,-9.4,306,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,4243,-0.44,-146.1,538.3,-10.0,321,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,4553,-0.44,-146.1,570.9,-10.9,336,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,4861,-0.44,-146.1,605.7,-11.6,351,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,5171,-0.44,-146.1,641.2,-11.3,366,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,5481,-0.44,-146.1,677.0,-11.4,381,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2952,2944,0,0,0,0,0,0
$GC,5789,-0.44,-146.1,711.3,-10.7,396,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2944,0,0,0,0,0,0
$GC,6099,-0.44,-146.1,744.8,-10.8,411,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2944,0,0,0,0,0,0
$GC,6409,-0.44,-146.1,776.5,-10.0,426,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,6718,-0.44,-146.1,806.0,-9.4,441,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,7027,-0.44,-146.1,835.1,-9.4,456,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2944,0,0,0,0,0,0
$GC,7337,-0.44,-146.1,864.8,-9.4,471,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,7646,-0.44,-146.1,892.7,-8.9,486,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2944,0,0,0,0,0,0
$GC,7955,-0.44,-146.1,920.3,-9.0,501,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,8265,-0.44,-146.1,947.9,-9.1,516,8266,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$GC,8574,-0.44,-146.1,974.9,-8.7,531,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2943,0,0,0,0,0,0
$STATE,8881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8881,begin apogee
$GC,8886,-0.13,0.0,1001.2,8.8,546,9025,0.35,0.00,135.10,1.784,6,0.155,0.000,1745,2697,2342,0,0,0,0,0,0
$STATE,9026,end apogee,CONTROL_FINISHED_OK
$STATE,9026,begin climb
$GC,9027,0.44,146.1,1004.2,0.0,553,9180,0.62,0.00,147.32,1.711,6,0.122,0.000,1927,2697,1746,0,0,0,0,0,0
$GC,9480,0.44,146.1,951.0,13.3,575,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2697,1738,0,0,0,0,0,0
$GC,9790,0.44,146.1,910.5,13.1,590,9794,0.00,2.08,0.00,0.000,4,0.000,0.065,1927,3911,1736,0,0,0,0,0,0
$GC,9822,0.44,146.1,905.5,14.6,591,9826,0.00,1.92,0.00,0.000,6,0.000,0.036,1936,2745,1734,0,0,0,0,0,0
$GC,10144,0.44,146.1,861.9,13.5,607,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2744,1734,0,0,0,0,0,0
$GC,10452,0.44,146.1,820.5,13.3,622,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2744,1733,0,0,0,0,0,0
$GC,10762,0.44,146.1,778.4,13.5,637,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2744,1733,0,0,0,0,0,0
$GC,11071,0.44,146.1,736.6,13.8,652,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2744,1732,0,0,0,0,0,0
$GC,11380,0.44,146.1,693.9,13.5,667,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2744,1732,0,0,0,0,0,0
$GC,11690,0.44,146.1,652.8,13.3,682,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2744,1732,0,0,0,0,0,0
$GC,11999,0.44,146.1,612.0,13.0,697,12003,0.00,1.95,0.00,0.000,4,0.000,0.063,1936,3909,1731,0,0,0,0,0,0
$GC,12031,0.44,146.1,607.0,14.3,698,12036,0.00,1.92,0.00,0.000,6,0.000,0.037,1945,2711,1731,0,0,0,0,0,0
$GC,12354,0.44,146.1,562.5,13.7,714,12358,0.00,2.25,0.00,0.000,4,0.000,0.047,1956,1284,1731,0,0,0,0,0,0
$GC,12386,0.44,146.1,557.8,12.9,715,12391,0.00,2.35,0.00,0.000,6,0.000,0.057,1956,2724,1731,0,0,0,0,0,0
$GC,12708,0.44,146.1,511.1,14.9,731,12711,0.00,1.90,0.00,0.000,4,0.000,0.064,1956,3889,1730,0,0,0,0,0,0
$GC,12780,0.44,146.1,499.0,16.6,734,12785,0.10,1.88,0.00,0.000,6,0.197,0.037,1937,2714,1730,0,0,0,0,0,0
$GC,13107,0.44,146.1,456.7,12.5,750,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2713,1730,0,0,0,0,0,0
$GC,13417,0.44,146.1,418.4,12.4,765,13418,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2713,1730,0,0,0,0,0,0
$GC,13725,0.44,146.1,379.8,12.7,780,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2713,1730,0,0,0,0,0,0
$GC,14037,0.44,146.1,341.7,12.2,795,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2713,1730,0,0,0,0,0,0
$GC,14347,0.44,146.1,303.9,11.9,810,14350,0.00,1.95,0.00,0.000,4,0.000,0.062,1936,3892,1730,0,0,0,0,0,0
$GC,14371,0.44,146.1,300.6,13.0,811,14375,0.00,1.88,0.00,0.000,6,0.000,0.036,1945,2693,1730,0,0,0,0,0,0
$GC,14705,0.44,146.1,258.7,12.5,827,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2693,1730,0,0,0,0,0,0
$GC,15023,0.44,146.1,220.7,12.2,853,15027,0.00,2.00,0.00,0.000,4,0.000,0.062,1945,3886,1730,0,0,0,0,0,0
$GC,15095,0.44,146.1,211.0,13.3,859,15099,0.00,1.85,0.00,0.000,6,0.000,0.035,1954,2702,1730,0,0,0,0,0,0
$GC,15425,0.44,146.1,168.5,12.3,890,15429,0.00,1.98,0.00,0.000,4,0.000,0.061,1954,3897,1730,0,0,0,0,0,0
$GC,15462,0.44,146.1,163.7,14.2,893,15465,0.00,1.85,0.00,0.000,6,0.000,0.035,1963,2708,1730,0,0,0,0,0,0
$GC,15792,0.44,146.1,120.3,13.0,924,15795,0.00,1.92,0.00,0.000,4,0.000,0.061,1963,3888,1730,0,0,0,0,0,0
$GC,15898,0.44,146.1,104.5,14.3,933,15902,0.15,1.85,0.00,0.000,6,0.199,0.036,1936,2705,1730,0,0,0,0,0,0
$GC,16245,0.45,154.2,69.4,9.2,990,16254,0.00,0.00,3.42,0.695,6,0.000,0.000,1936,2705,1714,0,0,0,0,0,0
$GC,16363,0.48,192.6,59.5,7.9,1009,16393,0.00,0.00,21.85,0.946,6,0.000,0.000,1936,2704,1554,0,0,0,0,0,0
$GC,16501,0.48,193.3,47.3,9.5,1031,16508,0.00,2.20,0.00,0.000,4,0.000,0.045,1945,1298,1549,0,0,0,0,0,0
$GC,16532,0.49,206.1,44.4,9.0,1036,16548,0.00,2.30,8.35,0.814,6,0.000,0.054,1945,2700,1500,0,0,0,0,0,0
$GC,16657,0.52,244.9,34.0,7.8,1056,16680,0.00,0.00,18.88,0.858,6,0.000,0.000,1946,2700,1341,0,0,0,0,0,0
$GC,16791,0.52,248.6,21.5,9.4,1077,16799,0.00,2.28,0.00,0.000,4,0.000,0.044,1956,1298,1333,0,0,0,0,0,0
$GC,16821,0.52,248.6,18.4,10.3,1081,16830,0.00,2.35,0.00,0.000,6,0.000,0.055,1956,2720,1331,0,0,0,0,0,0
$GC,16906,0.52,248.6,8.8,11.5,1094,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2721,1330,0,0,0,0,0,0
$STATE,16957,end climb,SURFACE_DEPTH_REACHED
$STATE,16957,begin surface coast
$FINISH,0.9,1.018210
$STATE,16990,end surface coast,CONTROL_FINISHED_OK
$STATE,16990,begin surface
$SM_CCo,17063,0.00,0.000,0,0,1328,248.98
$SM_GC,1.97,5.28,0.00,0.00,0.067,0.000,0.000,60,2933,1328,-5.34,0.08,248.98
$IRIDIUM_FIX,-5527.50,-53.71,100115,232320
$TT8_MAMPS,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,38.449
$10V_AH,10.0,26.103
$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,13.250,66.275,334.925,0.000,0.000,28.778,48.013,311.067,0.000,0.000,17.811,2682.485,11275.174,425.539,2965.495,224.354,33.374,1405.093,0.000,2399.685,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,65.790,1783.980,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.814,2265.966,1062.893,1108.301,0.000,0.000,0.000,0.000,0.000,0.000
$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,77103,1107
$CAP_FILE_SIZE,131973,0
$CFSIZE,259252224,213946368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110115,093404,-5554.788,-58.039,32,1.0,32,-19.7