version: 66.07
glider: 542
mission: 9
dive: 211
start: 1 15 115 23 22 18
data:
$ID,542
$MISSION,9
$DIVE,211
$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,-22263.008
$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,32
$R_STBD_OVSHOOT,24
$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
$GPS1,150115,231304,-5555.374,-33.263,39,1.0,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.3
$GPS2,150115,232124,-5555.367,-33.201,15,0.9,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.178,-0.147
$KALMAN_X,123795.2,-127.3,163.8,-158152.6,-1679.8
$KALMAN_Y,8830.1,262.7,268.4,-485.5,-2204.4
$MHEAD_RNG_PITCHd_Wd,149.6,9198,-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,-146.1,0.0,0.0,0,52,0.00,0.00,-33.62,0.000,2,0.000,0.000,49,2925,2270,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.4,-4.2,4,89,6.62,1.67,-21.88,0.000,4,0.246,0.082,1630,3898,2938,0,0,0,0,0,0
$GC,236,-0.44,-146.1,31.9,-18.1,32,246,0.00,1.55,0.00,0.000,6,0.000,0.031,1631,2899,2941,0,0,0,0,0,0
$GC,355,-0.44,-146.1,53.3,-18.9,51,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2898,2941,0,0,0,0,0,0
$GC,467,-0.44,-146.1,74.3,-18.4,70,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2898,2942,0,0,0,0,0,0
$GC,581,-0.44,-146.1,94.1,-18.1,89,588,0.00,1.62,0.00,0.000,4,0.000,0.059,1623,3897,2942,0,0,0,0,0,0
$GC,642,-0.44,-146.1,105.2,-18.0,97,646,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2930,2941,0,0,0,0,0,0
$GC,973,-0.44,-146.1,161.9,-15.9,128,977,0.00,1.62,0.00,0.000,4,0.000,0.060,1615,3896,2941,0,0,0,0,0,0
$GC,1042,-0.44,-146.1,173.4,-15.6,134,1047,0.08,1.50,0.00,0.000,6,0.167,0.031,1639,2923,2942,0,0,0,0,0,0
$GC,1375,-0.44,-146.1,218.0,-12.9,165,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2921,2942,0,0,0,0,0,0
$GC,1691,-0.44,-146.1,258.3,-12.8,192,1695,0.00,1.62,0.00,0.000,4,0.000,0.060,1632,3896,2941,0,0,0,0,0,0
$GC,1723,-0.44,-146.1,263.2,-14.0,193,1728,0.00,1.48,0.00,0.000,6,0.000,0.030,1632,2927,2941,0,0,0,0,0,0
$GC,2048,-0.44,-146.1,306.0,-13.4,209,2052,0.00,1.62,0.00,0.000,4,0.000,0.061,1624,3929,2941,0,0,0,0,0,0
$GC,2080,-0.44,-146.1,311.0,-13.9,210,2085,0.00,1.52,0.00,0.000,6,0.000,0.031,1624,2929,2942,0,0,0,0,0,0
$GC,2402,-0.44,-146.1,353.2,-12.8,226,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2923,2941,0,0,0,0,0,0
$GC,2714,-0.44,-146.1,393.6,-13.1,241,2718,0.00,1.62,0.00,0.000,4,0.000,0.060,1616,3899,2941,0,0,0,0,0,0
$GC,2782,-0.44,-146.1,403.2,-13.4,244,2786,0.00,1.48,0.00,0.000,6,0.000,0.031,1616,2927,2942,0,0,0,0,0,0
$GC,3114,-0.44,-146.1,446.4,-12.9,260,3116,0.10,0.00,0.00,0.000,6,0.197,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,3425,-0.44,-146.1,480.3,-11.0,275,3428,0.00,1.62,0.00,0.000,4,0.000,0.060,1633,3929,2942,0,0,0,0,0,0
$GC,3451,-0.44,-146.1,483.7,-11.7,276,3456,0.00,1.52,0.00,0.000,6,0.000,0.029,1633,2919,2942,0,0,0,0,0,0
$GC,3779,-0.44,-146.1,521.1,-11.5,292,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2917,2942,0,0,0,0,0,0
$GC,4088,-0.44,-146.1,557.1,-11.4,307,4092,0.00,1.62,0.00,0.000,4,0.000,0.060,1626,3896,2942,0,0,0,0,0,0
$GC,4126,-0.44,-146.1,561.9,-12.6,308,4134,0.00,1.45,0.00,0.000,6,0.000,0.030,1625,2927,2942,0,0,0,0,0,0
$GC,4443,-0.44,-146.1,599.5,-12.0,324,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2927,2942,0,0,0,0,0,0
$GC,4751,-0.44,-146.1,635.7,-11.8,339,4755,0.00,1.60,0.00,0.000,4,0.000,0.060,1618,3894,2942,0,0,0,0,0,0
$GC,4801,-0.44,-146.1,642.0,-12.5,341,4805,0.00,1.45,0.00,0.000,6,0.000,0.031,1618,2933,2942,0,0,0,0,0,0
$GC,5129,-0.44,-146.1,681.7,-12.2,357,5132,0.00,1.60,0.00,0.000,4,0.000,0.060,1610,3892,2942,0,0,0,0,0,0
$GC,5178,-0.44,-146.1,688.4,-13.1,359,5183,0.10,1.45,0.00,0.000,6,0.161,0.030,1642,2941,2942,0,0,0,0,0,0
$GC,5505,-0.44,-146.1,721.2,-9.8,375,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2942,2942,0,0,0,0,0,0
$GC,5815,-0.44,-146.1,751.1,-9.7,390,5818,0.00,1.60,0.00,0.000,4,0.000,0.062,1635,3899,2942,0,0,0,0,0,0
$GC,5841,-0.44,-146.1,754.2,-10.5,391,5846,0.00,1.48,0.00,0.000,6,0.000,0.030,1635,2917,2942,0,0,0,0,0,0
$GC,6169,-0.44,-146.1,787.0,-10.2,407,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2916,2942,0,0,0,0,0,0
$GC,6479,-0.44,-146.1,818.8,-10.4,422,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2916,2942,0,0,0,0,0,0
$GC,6787,-0.44,-146.1,850.5,-10.2,437,6791,0.00,1.62,0.00,0.000,4,0.000,0.063,1627,3916,2942,0,0,0,0,0,0
$GC,6814,-0.44,-146.1,853.6,-11.8,438,6818,0.00,1.50,0.00,0.000,6,0.000,0.030,1627,2927,2942,0,0,0,0,0,0
$GC,7142,-0.44,-146.1,888.9,-11.0,454,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2926,2942,0,0,0,0,0,0
$GC,7451,-0.44,-146.1,922.3,-10.9,469,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2926,2942,0,0,0,0,0,0
$GC,7761,-0.44,-146.1,954.7,-10.3,484,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2926,2942,0,0,0,0,0,0
$GC,8069,-0.44,-146.1,986.2,-9.9,499,8073,0.00,1.62,0.00,0.000,4,0.000,0.063,1620,3899,2942,0,0,0,0,0,0
$GC,8096,-0.44,-146.1,989.2,-11.3,500,8100,0.00,1.48,0.00,0.000,6,0.000,0.031,1619,2924,2942,0,0,0,0,0,0
$STATE,8216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8216,begin apogee
$GC,8221,-0.13,0.0,1001.8,10.4,506,8360,0.43,0.00,135.70,1.789,6,0.164,0.000,1744,2721,2342,0,0,0,0,0,0
$STATE,8361,end apogee,CONTROL_FINISHED_OK
$STATE,8361,begin climb
$GC,8362,0.44,146.1,1005.2,0.0,513,8516,0.60,0.00,148.12,1.730,6,0.123,0.000,1919,2721,1746,0,0,0,0,0,0
$GC,8818,0.44,146.1,952.5,12.9,535,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,2721,1737,0,0,0,0,0,0
$GC,9126,0.44,146.1,913.5,12.4,550,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,2721,1735,0,0,0,0,0,0
$GC,9437,0.44,146.1,875.1,12.5,565,9440,0.00,2.00,0.00,0.000,4,0.000,0.063,1920,3893,1735,0,0,0,0,0,0
$GC,9463,0.44,146.1,871.3,13.3,566,9468,0.00,1.88,0.00,0.000,6,0.000,0.033,1929,2734,1733,0,0,0,0,0,0
$GC,9791,0.44,146.1,828.8,13.0,582,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2734,1733,0,0,0,0,0,0
$GC,10101,0.44,146.1,789.3,12.3,597,10105,0.00,2.25,0.00,0.000,4,0.000,0.044,1939,1291,1733,0,0,0,0,0,0
$GC,10118,0.44,146.1,787.3,11.7,598,10122,0.00,2.30,0.00,0.000,6,0.000,0.052,1940,2725,1732,0,0,0,0,0,0
$GC,10444,0.44,146.1,743.5,13.3,614,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2725,1732,0,0,0,0,0,0
$GC,10754,0.44,146.1,701.5,13.6,629,10757,0.00,1.90,0.00,0.000,4,0.000,0.060,1940,3890,1731,0,0,0,0,0,0
$GC,10791,0.44,146.1,695.4,15.8,630,10799,0.00,1.88,0.00,0.000,6,0.000,0.034,1948,2715,1730,0,0,0,0,0,0
$GC,11108,0.44,146.1,649.1,14.5,646,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2716,1730,0,0,0,0,0,0
$GC,11418,0.44,146.1,604.6,14.4,661,11421,0.00,1.95,0.00,0.000,4,0.000,0.058,1948,3897,1730,0,0,0,0,0,0
$GC,11440,0.44,146.1,601.0,15.3,662,11444,0.00,1.88,0.00,0.000,6,0.000,0.034,1957,2700,1730,0,0,0,0,0,0
$GC,11772,0.44,146.1,551.8,14.8,678,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2699,1730,0,0,0,0,0,0
$GC,12082,0.44,146.1,505.0,15.3,693,12086,0.00,1.98,0.00,0.000,4,0.000,0.058,1958,3884,1730,0,0,0,0,0,0
$GC,12136,0.44,146.1,495.4,18.2,695,12141,0.10,1.88,0.00,0.000,6,0.197,0.034,1939,2708,1730,0,0,0,0,0,0
$GC,12458,0.44,146.1,451.2,13.4,711,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2708,1729,0,0,0,0,0,0
$GC,12766,0.44,146.1,410.3,13.1,726,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2708,1730,0,0,0,0,0,0
$GC,13080,0.44,146.1,371.4,12.5,741,13084,0.00,1.95,0.00,0.000,4,0.000,0.058,1939,3892,1730,0,0,0,0,0,0
$GC,13104,0.44,146.1,367.8,13.2,742,13108,0.00,1.85,0.00,0.000,6,0.000,0.034,1947,2705,1730,0,0,0,0,0,0
$GC,13436,0.44,146.1,325.2,12.8,758,13437,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2705,1730,0,0,0,0,0,0
$GC,13747,0.44,146.1,286.2,12.5,773,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2705,1730,0,0,0,0,0,0
$GC,14057,0.44,146.1,247.9,12.6,788,14061,0.00,1.95,0.00,0.000,4,0.000,0.057,1947,3897,1730,0,0,0,0,0,0
$GC,14108,0.44,146.1,239.8,14.8,792,14118,0.00,1.88,0.00,0.000,6,0.000,0.033,1956,2715,1730,0,0,0,0,0,0
$GC,14436,0.44,146.1,195.7,13.8,823,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2715,1730,0,0,0,0,0,0
$GC,14756,0.44,146.1,150.4,14.7,853,14759,0.00,1.92,0.00,0.000,4,0.000,0.057,1956,3887,1730,0,0,0,0,0,0
$GC,14783,0.44,146.1,145.2,15.8,855,14791,0.10,1.88,0.00,0.000,6,0.191,0.032,1938,2698,1730,0,0,0,0,0,0
$GC,15108,0.44,146.1,105.8,11.3,886,15112,0.00,1.95,0.00,0.000,4,0.000,0.057,1937,3890,1730,0,0,0,0,0,0
$GC,15219,0.44,146.1,92.1,12.5,901,15226,0.00,1.83,0.00,0.000,6,0.000,0.034,1946,2705,1730,0,0,0,0,0,0
$GC,15457,0.45,156.3,69.3,9.1,942,15467,0.00,2.25,5.15,0.845,4,0.000,0.042,1957,1284,1703,0,0,0,0,0,0
$GC,15518,0.47,185.4,64.5,8.3,951,15540,0.00,2.28,17.42,0.954,6,0.000,0.050,1957,2722,1585,0,0,0,0,0,0
$GC,15648,0.48,197.4,51.9,9.0,972,15663,0.00,1.92,7.53,0.835,4,0.000,0.060,1957,3883,1536,0,0,0,0,0,0
$GC,15684,0.48,197.4,48.3,9.6,977,15691,0.00,1.88,0.00,0.000,6,0.000,0.035,1965,2717,1534,0,0,0,0,0,0
$GC,15798,0.48,197.4,36.2,10.0,996,15806,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2717,1532,0,0,0,0,0,0
$GC,15917,0.48,197.4,24.3,9.9,1015,15926,0.00,1.95,0.00,0.000,4,0.000,0.057,1965,3884,1531,0,0,0,0,0,0
$GC,15947,0.48,197.4,21.2,10.0,1019,15956,0.00,1.88,0.00,0.000,6,0.000,0.035,1974,2717,1530,0,0,0,0,0,0
$GC,16032,0.48,197.4,11.4,11.4,1032,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2716,1530,0,0,0,0,0,0
$STATE,16102,end climb,SURFACE_DEPTH_REACHED
$STATE,16102,begin surface coast
$FINISH,1.1,1.011939
$STATE,16128,end surface coast,CONTROL_FINISHED_OK
$STATE,16128,begin surface
$SM_CCo,16142,0.45,0.377,0,0,1524,200.16
$SM_GC,1.74,0.00,0.00,0.45,0.000,0.000,0.377,64,2925,1524,-5.40,-0.14,200.16
$IRIDIUM_FIX,-5535.12,-38.41,150115,181815
$TT8_MAMPS,0.025466
$HUMID,57.28
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,42.544
$10V_AH,9.9,29.198
$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,13.425,88.275,313.925,0.450,0.000,28.241,19.732,316.394,0.000,0.000,18.766,2582.661,10510.806,416.606,2893.537,233.346,33.371,1399.048,0.000,2352.646,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,81.855,1788.570,377.145,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.555,2153.164,1013.224,1046.728,0.000,0.000,0.000,0.000,0.000,0.000
$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,70340,1047
$CAP_FILE_SIZE,136260,0
$CFSIZE,259252224,212185088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160115,035252,-5556.822,-31.062,55,0.8,56,-19.9