version: 66.07
glider: 542
mission: 9
dive: 206
start: 1 14 115 23 27 49
data:
$ID,542
$MISSION,9
$DIVE,206
$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,-22247.785
$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,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
$GPS1,140115,231822,-5551.111,-51.083,36,1.0,36,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-65.5
$GPS2,140115,232655,-5551.058,-51.067,17,1.0,18,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.231,0.007
$KALMAN_X,127880.0,439.6,-99.0,-181039.2,-1849.7
$KALMAN_Y,13793.3,136.9,43.7,2891.3,-2427.7
$MHEAD_RNG_PITCHd_Wd,107.9,27391,-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,-34.22,0.000,2,0.000,0.000,55,2929,2251,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.0,-3.8,4,90,6.62,1.67,-22.67,0.000,4,0.248,0.081,1632,3903,2939,0,0,0,0,0,0
$GC,153,-0.44,-146.1,16.3,-17.4,18,163,0.00,1.58,0.00,0.000,6,0.000,0.033,1632,2903,2941,0,0,0,0,0,0
$GC,239,-0.44,-146.1,30.7,-18.0,31,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2903,2941,0,0,0,0,0,0
$GC,352,-0.44,-146.1,50.6,-17.1,50,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2903,2942,0,0,0,0,0,0
$GC,467,-0.44,-146.1,69.0,-15.9,69,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2903,2941,0,0,0,0,0,0
$GC,582,-0.44,-146.1,86.9,-15.4,88,588,0.00,1.67,0.00,0.000,4,0.000,0.059,1625,3901,2942,0,0,0,0,0,0
$GC,646,-0.44,-146.1,97.8,-15.8,99,655,0.00,1.52,0.00,0.000,6,0.000,0.031,1624,2914,2942,0,0,0,0,0,0
$GC,876,-0.44,-146.1,133.1,-16.2,121,880,0.00,1.65,0.00,0.000,4,0.000,0.060,1617,3916,2942,0,0,0,0,0,0
$GC,925,-0.44,-146.1,141.2,-16.6,125,928,0.00,1.52,0.00,0.000,6,0.000,0.032,1617,2933,2942,0,0,0,0,0,0
$GC,1255,-0.44,-146.1,192.5,-14.8,156,1259,0.00,1.62,0.00,0.000,4,0.000,0.060,1609,3899,2942,0,0,0,0,0,0
$GC,1324,-0.44,-146.1,203.0,-15.5,162,1328,0.10,1.50,0.00,0.000,6,0.165,0.031,1640,2925,2942,0,0,0,0,0,0
$GC,1656,-0.44,-146.1,245.0,-12.4,193,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2921,2942,0,0,0,0,0,0
$GC,1964,-0.44,-146.1,282.3,-12.3,210,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2942,0,0,0,0,0,0
$GC,2275,-0.44,-146.1,319.6,-12.0,225,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,2582,-0.44,-146.1,356.6,-11.9,240,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,2894,-0.44,-146.1,393.0,-11.8,255,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2942,0,0,0,0,0,0
$GC,3201,-0.44,-146.1,428.6,-11.4,270,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2942,0,0,0,0,0,0
$GC,3510,-0.44,-146.1,462.8,-10.5,285,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2942,0,0,0,0,0,0
$GC,3820,-0.44,-146.1,495.8,-10.7,300,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,4129,-0.44,-146.1,528.6,-10.6,315,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,4439,-0.44,-146.1,561.7,-10.7,330,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,2942,0,0,0,0,0,0
$GC,4747,-0.44,-146.1,594.6,-10.6,345,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,5057,-0.44,-146.1,627.7,-10.5,360,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,5367,-0.44,-146.1,659.4,-10.2,375,5370,0.00,1.62,0.00,0.000,4,0.000,0.060,1633,3893,2942,0,0,0,0,0,0
$GC,5412,-0.44,-146.1,664.3,-11.1,377,5415,0.00,1.48,0.00,0.000,6,0.000,0.031,1633,2920,2943,0,0,0,0,0,0
$GC,5744,-0.44,-146.1,700.1,-10.8,393,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,6054,-0.44,-146.1,732.8,-10.3,408,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2914,2942,0,0,0,0,0,0
$GC,6363,-0.44,-146.1,764.2,-10.0,423,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,6672,-0.44,-146.1,795.4,-10.1,438,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,6982,-0.44,-146.1,825.9,-9.7,453,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,7291,-0.44,-146.1,856.0,-9.8,468,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,7600,-0.44,-146.1,886.5,-10.0,483,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2914,2942,0,0,0,0,0,0
$GC,7910,-0.44,-146.1,918.9,-10.5,498,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,8219,-0.44,-146.1,951.7,-10.7,513,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,8528,-0.44,-146.1,984.3,-10.5,528,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2915,2942,0,0,0,0,0,0
$STATE,8691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8691,begin apogee
$GC,8697,-0.13,0.0,1001.3,10.1,536,8836,0.38,0.00,135.65,1.781,6,0.162,0.000,1743,2716,2341,0,0,0,0,0,0
$STATE,8836,end apogee,CONTROL_FINISHED_OK
$STATE,8836,begin climb
$GC,8838,0.44,146.1,1006.3,0.0,543,8992,0.62,0.00,147.73,1.739,6,0.125,0.000,1925,2716,1746,0,0,0,0,0,0
$GC,9293,0.44,146.1,958.1,12.1,565,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2716,1738,0,0,0,0,0,0
$GC,9602,0.44,146.1,919.6,12.7,580,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2716,1736,0,0,0,0,0,0
$GC,9912,0.44,146.1,879.6,13.3,595,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2716,1735,0,0,0,0,0,0
$GC,10221,0.44,146.1,838.8,13.1,610,10225,0.00,2.00,0.00,0.000,4,0.000,0.057,1925,3923,1734,0,0,0,0,0,0
$GC,10246,0.44,146.1,834.8,15.2,611,10251,0.00,1.90,0.00,0.000,6,0.000,0.033,1934,2747,1732,0,0,0,0,0,0
$GC,10575,0.44,146.1,789.4,14.0,627,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1732,0,0,0,0,0,0
$GC,10884,0.44,146.1,746.3,14.0,642,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2746,1732,0,0,0,0,0,0
$GC,11194,0.44,146.1,703.5,13.6,657,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2746,1732,0,0,0,0,0,0
$GC,11502,0.44,146.1,662.0,12.9,672,11503,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1731,0,0,0,0,0,0
$GC,11812,0.44,146.1,622.5,12.5,687,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1731,0,0,0,0,0,0
$GC,12122,0.44,146.1,583.1,12.7,702,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1731,0,0,0,0,0,0
$GC,12430,0.44,146.1,541.9,13.2,717,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1731,0,0,0,0,0,0
$GC,12740,0.44,146.1,501.1,13.3,732,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1731,0,0,0,0,0,0
$GC,13050,0.44,146.1,461.1,12.7,747,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2746,1731,0,0,0,0,0,0
$GC,13358,0.44,146.1,423.5,12.1,762,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2745,1731,0,0,0,0,0,0
$GC,13669,0.44,146.1,387.9,11.4,777,13671,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2745,1730,0,0,0,0,0,0
$GC,13978,0.44,146.1,351.9,11.7,792,13982,0.00,2.28,0.00,0.000,4,0.000,0.044,1945,1294,1731,0,0,0,0,0,0
$GC,14004,0.44,146.1,348.2,11.5,793,14009,0.00,2.30,0.00,0.000,6,0.000,0.051,1945,2722,1730,0,0,0,0,0,0
$GC,14328,0.44,146.1,307.5,12.7,809,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2722,1730,0,0,0,0,0,0
$GC,14636,0.44,146.1,268.6,12.7,824,14640,0.00,1.88,0.00,0.000,4,0.000,0.059,1945,3894,1730,0,0,0,0,0,0
$GC,14674,0.44,146.1,263.0,14.2,825,14682,0.00,1.88,0.00,0.000,6,0.000,0.033,1954,2710,1730,0,0,0,0,0,0
$GC,15001,0.44,146.1,221.8,12.5,851,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2709,1730,0,0,0,0,0,0
$GC,15328,0.44,146.1,180.2,12.1,882,15329,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2709,1730,0,0,0,0,0,0
$GC,15645,0.44,146.1,141.4,11.7,912,15649,0.00,1.95,0.00,0.000,4,0.000,0.057,1954,3894,1730,0,0,0,0,0,0
$GC,15754,0.44,146.1,126.5,13.3,921,15762,0.08,1.88,0.00,0.000,6,0.197,0.034,1942,2709,1730,0,0,0,0,0,0
$GC,16087,0.45,155.3,92.9,9.1,958,16094,0.00,0.00,3.88,0.820,6,0.000,0.000,1942,2709,1708,0,0,0,0,0,0
$GC,16326,0.46,174.8,71.1,8.7,999,16348,0.00,2.20,13.70,0.957,4,0.000,0.044,1951,1292,1626,0,0,0,0,0,0
$GC,16396,0.49,202.0,65.4,8.3,1010,16420,0.00,2.30,15.75,0.943,6,0.000,0.052,1951,2710,1516,0,0,0,0,0,0
$GC,16529,0.49,202.0,53.2,10.1,1031,16535,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2710,1512,0,0,0,0,0,0
$GC,16641,0.49,202.0,41.3,11.0,1050,16650,0.00,1.95,0.00,0.000,4,0.000,0.060,1951,3892,1511,0,0,0,0,0,0
$GC,16676,0.49,202.0,37.3,11.7,1055,16683,0.00,1.90,0.00,0.000,6,0.000,0.035,1960,2709,1510,0,0,0,0,0,0
$GC,16794,0.49,202.0,24.2,11.0,1074,16802,0.00,2.25,0.00,0.000,4,0.000,0.044,1970,1295,1509,0,0,0,0,0,0
$GC,16823,0.49,202.0,21.2,10.0,1078,16832,0.00,2.30,0.00,0.000,6,0.000,0.053,1970,2706,1508,0,0,0,0,0,0
$GC,16908,0.49,211.2,12.5,9.1,1091,16917,0.00,0.00,4.95,0.649,6,0.000,0.000,1970,2706,1479,0,0,0,0,0,0
$STATE,16984,end climb,SURFACE_DEPTH_REACHED
$STATE,16985,begin surface coast
$FINISH,1.0,1.015255
$STATE,17010,end surface coast,CONTROL_FINISHED_OK
$STATE,17011,begin surface
$SM_CCo,17084,0.00,0.000,0,0,1475,212.67
$SM_GC,2.43,5.22,0.00,0.00,0.062,0.000,0.000,67,2934,1475,-5.32,0.11,212.67
$IRIDIUM_FIX,-5527.50,-229.54,140115,181813
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.0,41.677
$10V_AH,10.0,28.552
$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,13.025,45.400,321.650,0.000,0.000,25.274,19.212,330.094,0.000,0.000,20.700,2652.073,11406.292,399.298,2913.313,217.781,33.372,1337.458,0.000,2352.372,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,81.090,1780.920,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.072,2267.712,1066.121,1091.654,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353464
$DATA_FILE_SIZE,73689,1107
$CAP_FILE_SIZE,125121,0
$CFSIZE,259252224,212566016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150115,041334,-5552.067,-47.312,27,1.1,28,-19.8