version: 66.07
glider: 542
mission: 9
dive: 199
start: 1 13 115 13 50 17
data:
$ID,542
$MISSION,9
$DIVE,199
$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,-22225.217
$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,28
$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
$GPS1,130115,134105,-5549.826,-112.993,37,0.9,38,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.6
$GPS2,130115,134923,-5549.857,-112.979,18,1.2,18,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.071,0.220
$KALMAN_X,132390.9,-26.5,-152.6,-207713.6,1061.5
$KALMAN_Y,21706.4,213.1,293.1,-3128.9,-2904.5
$MHEAD_RNG_PITCHd_Wd,37.5,16246,-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,-146.1,0.0,0.0,0,61,0.00,0.00,-41.92,0.000,2,0.000,0.000,45,2952,2435,0,0,0,0,0,0
$GC,63,-0.44,-146.1,3.0,-2.6,5,90,6.53,0.00,-15.50,0.000,6,0.241,0.000,1641,2952,2939,0,0,0,0,0,0
$GC,165,-0.44,-146.1,18.7,-16.8,20,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2941,0,0,0,0,0,0
$GC,249,-0.44,-146.1,32.6,-16.8,33,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2942,0,0,0,0,0,0
$GC,362,-0.44,-146.1,51.7,-16.2,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2942,0,0,0,0,0,0
$GC,478,-0.44,-146.1,70.4,-16.0,71,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2952,2942,0,0,0,0,0,0
$GC,591,-0.44,-146.1,88.4,-15.6,90,600,0.00,2.30,0.00,0.000,4,0.000,0.041,1641,1507,2942,0,0,0,0,0,0
$GC,653,-0.44,-146.1,96.7,-13.0,100,660,0.00,2.33,0.00,0.000,6,0.000,0.055,1630,2928,2942,0,0,0,0,0,0
$GC,882,-0.44,-146.1,130.0,-13.3,123,883,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2928,2942,0,0,0,0,0,0
$GC,1202,-0.44,-146.1,176.9,-14.7,153,1206,0.00,1.58,0.00,0.000,4,0.000,0.063,1623,3892,2942,0,0,0,0,0,0
$GC,1275,-0.44,-146.1,187.8,-14.7,159,1278,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2884,2942,0,0,0,0,0,0
$GC,1605,-0.44,-146.1,236.3,-14.6,190,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,2942,0,0,0,0,0,0
$GC,1927,-0.44,-146.1,283.6,-14.5,210,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,2942,0,0,0,0,0,0
$GC,2239,-0.44,-146.1,327.7,-13.8,225,2243,0.00,1.67,0.00,0.000,4,0.000,0.062,1615,3900,2942,0,0,0,0,0,0
$GC,2288,-0.44,-146.1,335.6,-14.6,227,2294,0.05,1.50,0.00,0.000,6,0.169,0.032,1632,2921,2942,0,0,0,0,0,0
$GC,2618,-0.44,-146.1,374.4,-11.1,243,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,2926,-0.44,-146.1,408.6,-11.1,258,2930,0.00,1.62,0.00,0.000,4,0.000,0.061,1625,3898,2942,0,0,0,0,0,0
$GC,2975,-0.44,-146.1,414.7,-11.4,260,2980,0.00,1.48,0.00,0.000,6,0.000,0.031,1625,2924,2942,0,0,0,0,0,0
$GC,3303,-0.44,-146.1,454.1,-12.4,276,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2920,2942,0,0,0,0,0,0
$GC,3613,-0.44,-146.1,490.8,-11.9,291,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2920,2942,0,0,0,0,0,0
$GC,3921,-0.44,-146.1,528.5,-12.4,306,3925,0.00,1.62,0.00,0.000,4,0.000,0.060,1617,3897,2942,0,0,0,0,0,0
$GC,3970,-0.44,-146.1,535.2,-13.3,308,3975,0.00,1.48,0.00,0.000,6,0.000,0.031,1617,2924,2942,0,0,0,0,0,0
$GC,4298,-0.44,-146.1,577.8,-13.0,324,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2919,2942,0,0,0,0,0,0
$GC,4607,-0.44,-146.1,616.4,-12.2,339,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2919,2942,0,0,0,0,0,0
$GC,4917,-0.44,-146.1,653.0,-11.7,354,4921,0.00,1.62,0.00,0.000,4,0.000,0.060,1609,3898,2943,0,0,0,0,0,0
$GC,4966,-0.44,-146.1,659.4,-12.5,356,4971,0.10,1.48,0.00,0.000,6,0.164,0.031,1641,2927,2942,0,0,0,0,0,0
$GC,5293,-0.44,-146.1,691.1,-9.7,372,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,2943,0,0,0,0,0,0
$GC,5603,-0.44,-146.1,721.1,-9.8,387,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,2943,0,0,0,0,0,0
$GC,5912,-0.44,-146.1,751.6,-9.6,402,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2943,0,0,0,0,0,0
$GC,6221,-0.44,-146.1,781.4,-9.6,417,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,2943,0,0,0,0,0,0
$GC,6531,-0.44,-146.1,812.0,-9.9,432,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,2943,0,0,0,0,0,0
$GC,6840,-0.44,-146.1,841.6,-9.7,447,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,2943,0,0,0,0,0,0
$GC,7149,-0.44,-146.1,871.0,-9.3,462,7153,0.00,2.10,0.00,0.000,4,0.000,0.040,1641,1543,2943,0,0,0,0,0,0
$GC,7190,-0.44,-146.1,874.7,-8.7,464,7194,0.00,2.25,0.00,0.000,6,0.000,0.054,1631,2934,2943,0,0,0,0,0,0
$GC,7516,-0.44,-146.1,908.6,-10.9,480,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2935,2943,0,0,0,0,0,0
$GC,7825,-0.44,-146.1,942.3,-11.0,495,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2935,2943,0,0,0,0,0,0
$GC,8135,-0.44,-146.1,975.9,-10.8,510,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2934,2943,0,0,0,0,0,0
$STATE,8380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8380,begin apogee
$GC,8385,-0.13,0.0,1002.1,10.6,522,8524,0.38,0.00,135.07,1.785,6,0.162,0.000,1741,2717,2342,0,0,0,0,0,0
$STATE,8525,end apogee,CONTROL_FINISHED_OK
$STATE,8525,begin climb
$GC,8527,0.44,146.1,1006.5,0.0,529,8679,0.62,0.00,147.50,1.723,6,0.124,0.000,1923,2717,1746,0,0,0,0,0,0
$GC,8981,0.44,146.1,956.6,12.4,551,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2716,1738,0,0,0,0,0,0
$GC,9291,0.44,146.1,917.5,12.3,566,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2716,1736,0,0,0,0,0,0
$GC,9600,0.44,146.1,879.0,12.3,581,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2717,1735,0,0,0,0,0,0
$GC,9909,0.44,146.1,842.2,11.8,596,9913,0.00,2.00,0.00,0.000,4,0.000,0.060,1923,3922,1734,0,0,0,0,0,0
$GC,9969,0.44,146.1,834.0,14.2,598,9976,0.00,1.90,0.00,0.000,6,0.000,0.035,1932,2745,1733,0,0,0,0,0,0
$GC,10285,0.44,146.1,796.5,11.7,614,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1733,0,0,0,0,0,0
$GC,10595,0.44,146.1,761.2,11.6,629,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1732,0,0,0,0,0,0
$GC,10903,0.44,146.1,724.2,12.2,644,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1732,0,0,0,0,0,0
$GC,11213,0.44,146.1,685.7,12.3,659,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1732,0,0,0,0,0,0
$GC,11523,0.44,146.1,648.4,11.8,674,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2744,1732,0,0,0,0,0,0
$GC,11834,0.44,146.1,610.5,12.4,689,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,12141,0.44,146.1,571.4,12.9,704,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,12451,0.44,146.1,532.2,12.6,719,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,12759,0.44,146.1,493.7,12.4,734,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,13069,0.44,146.1,456.8,11.9,749,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,13379,0.44,146.1,419.4,11.9,764,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,13691,0.44,146.1,381.6,12.3,779,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,13997,0.44,146.1,344.3,11.6,794,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,14309,0.44,146.1,309.2,11.0,809,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,14615,0.44,146.1,275.4,11.1,824,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2744,1731,0,0,0,0,0,0
$GC,14929,0.44,146.1,239.3,11.4,843,14933,0.00,2.28,0.00,0.000,4,0.000,0.045,1943,1291,1731,0,0,0,0,0,0
$GC,14980,0.44,146.1,233.5,10.3,847,14987,0.00,2.28,0.00,0.000,6,0.000,0.052,1943,2728,1731,0,0,0,0,0,0
$GC,15305,0.44,146.1,199.5,10.0,878,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2728,1731,0,0,0,0,0,0
$GC,15625,0.44,146.1,168.0,10.0,908,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2728,1730,0,0,0,0,0,0
$GC,15943,0.44,146.1,134.6,10.5,938,15944,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2728,1731,0,0,0,0,0,0
$GC,16263,0.46,166.1,105.2,8.7,968,16280,0.00,1.92,12.30,1.067,4,0.000,0.062,1943,3889,1664,0,0,0,0,0,0
$GC,16342,0.46,166.1,97.2,11.5,976,16349,0.00,1.90,0.00,0.000,6,0.000,0.035,1952,2703,1662,0,0,0,0,0,0
$GC,16583,0.46,166.1,70.1,11.3,1017,16589,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2702,1661,0,0,0,0,0,0
$GC,16695,0.46,166.1,57.6,11.0,1036,16704,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2702,1661,0,0,0,0,0,0
$GC,16811,0.46,166.1,45.7,10.9,1055,16817,0.00,1.95,0.00,0.000,4,0.000,0.060,1952,3884,1660,0,0,0,0,0,0
$GC,16853,0.46,166.1,40.2,11.9,1062,16862,0.00,1.88,0.00,0.000,6,0.000,0.035,1961,2712,1660,0,0,0,0,0,0
$GC,16970,0.46,166.1,27.6,10.4,1081,16978,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2712,1660,0,0,0,0,0,0
$GC,17054,0.46,166.1,18.4,10.7,1094,17062,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2711,1660,0,0,0,0,0,0
$GC,17138,0.46,166.1,9.5,10.1,1107,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2711,1660,0,0,0,0,0,0
$STATE,17202,end climb,SURFACE_DEPTH_REACHED
$STATE,17202,begin surface coast
$FINISH,1.0,1.019622
$STATE,17235,end surface coast,CONTROL_FINISHED_OK
$STATE,17235,begin surface
$SM_CCo,17248,18.40,0.157,0,0,1524,200.16
$SM_GC,3.35,0.00,0.00,18.40,0.000,0.000,0.157,56,2937,1524,-5.42,0.20,200.16
$IRIDIUM_FIX,-5531.31,-112.89,130115,080835
$TT8_MAMPS,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,22.0,40.493
$10V_AH,10.0,27.644
$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,12.750,41.325,294.875,18.400,0.000,28.231,21.291,313.304,0.000,0.000,20.894,2700.534,11463.160,407.576,2965.699,224.681,33.364,1359.499,0.000,2417.216,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,62.730,1784.745,156.825,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.645,2314.714,1095.842,1116.977,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353488
$DATA_FILE_SIZE,76939,1122
$CAP_FILE_SIZE,125574,0
$CFSIZE,259252224,213078016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130115,183922,-5547.658,-110.760,41,1.0,41,-19.6