version: 66.07
glider: 542
mission: 9
dive: 237
start: 1 21 115 4 53 1
data:
$ID,542
$MISSION,9
$DIVE,237
$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,-22345.307
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,210115,044005,-5557.141,-55.220,40,1.0,41,-19.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-67.3
$GPS2,210115,045205,-5557.241,-54.944,18,0.9,18,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.090,0.213
$KALMAN_X,175015.3,-772.2,-353.0,-230696.0,6110.9
$KALMAN_Y,-19402.2,623.0,177.7,24012.4,-4260.1
$MHEAD_RNG_PITCHd_Wd,356.8,23274,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.44,-146.1,0.0,0.0,0,59,0.00,0.00,-42.30,0.000,2,0.000,0.000,44,2945,2268,0,0,0,0,0,0
$GC,61,-0.44,-146.1,3.1,-4.0,5,97,6.38,1.65,-22.27,0.000,4,0.230,0.085,1631,3894,2939,0,0,0,0,0,0
$GC,211,-0.44,-146.1,23.6,-16.5,27,220,0.00,1.55,0.00,0.000,6,0.000,0.031,1631,2896,2941,0,0,0,0,0,0
$GC,293,-0.44,-146.1,38.7,-18.1,40,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2896,2941,0,0,0,0,0,0
$GC,408,-0.44,-146.1,59.7,-18.6,59,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2896,2941,0,0,0,0,0,0
$GC,521,-0.44,-146.1,78.7,-16.7,78,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2896,2941,0,0,0,0,0,0
$GC,633,-0.44,-146.1,96.8,-15.6,97,640,0.00,1.62,0.00,0.000,4,0.000,0.058,1623,3894,2941,0,0,0,0,0,0
$GC,682,-0.44,-146.1,104.9,-16.8,103,685,0.00,1.48,0.00,0.000,6,0.000,0.031,1623,2928,2942,0,0,0,0,0,0
$GC,1012,-0.44,-146.1,155.9,-14.1,134,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2942,0,0,0,0,0,0
$GC,1332,-0.44,-146.1,200.1,-13.3,164,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2942,0,0,0,0,0,0
$GC,1651,-0.44,-146.1,243.0,-13.6,194,1654,0.00,1.62,0.00,0.000,4,0.000,0.060,1616,3921,2942,0,0,0,0,0,0
$GC,1697,-0.44,-146.1,250.0,-14.1,198,1702,0.08,1.52,0.00,0.000,6,0.170,0.031,1638,2929,2942,0,0,0,0,0,0
$GC,2032,-0.44,-146.1,288.9,-11.4,214,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2926,2942,0,0,0,0,0,0
$GC,2342,-0.44,-146.1,324.1,-11.0,229,2346,0.00,1.62,0.00,0.000,4,0.000,0.060,1632,3896,2941,0,0,0,0,0,0
$GC,2390,-0.44,-146.1,329.9,-11.8,231,2393,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2924,2942,0,0,0,0,0,0
$GC,2725,-0.44,-146.1,370.0,-12.2,247,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2920,2941,0,0,0,0,0,0
$GC,3031,-0.44,-146.1,408.2,-12.7,262,3035,0.00,1.62,0.00,0.000,4,0.000,0.059,1624,3892,2942,0,0,0,0,0,0
$GC,3080,-0.44,-146.1,414.7,-12.9,264,3085,0.00,1.45,0.00,0.000,6,0.000,0.030,1624,2928,2942,0,0,0,0,0,0
$GC,3409,-0.44,-146.1,457.4,-13.0,280,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2923,2942,0,0,0,0,0,0
$GC,3717,-0.44,-146.1,497.5,-13.0,295,3721,0.00,1.62,0.00,0.000,4,0.000,0.060,1616,3895,2942,0,0,0,0,0,0
$GC,3800,-0.44,-146.1,509.5,-14.1,298,3808,0.00,1.45,0.00,0.000,6,0.000,0.030,1617,2927,2942,0,0,0,0,0,0
$GC,4116,-0.44,-146.1,552.0,-13.5,314,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2926,2942,0,0,0,0,0,0
$GC,4425,-0.44,-146.1,593.4,-13.6,329,4430,0.10,1.60,0.00,0.000,4,0.193,0.059,1634,3893,2942,0,0,0,0,0,0
$GC,4475,-0.44,-146.1,599.9,-12.3,331,4479,0.00,1.45,0.00,0.000,6,0.000,0.030,1634,2926,2943,0,0,0,0,0,0
$GC,4802,-0.44,-146.1,638.5,-11.8,347,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2920,2942,0,0,0,0,0,0
$GC,5111,-0.44,-146.1,675.1,-11.8,362,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2920,2942,0,0,0,0,0,0
$GC,5421,-0.44,-146.1,711.8,-12.0,377,5425,0.00,1.62,0.00,0.000,4,0.000,0.060,1626,3895,2942,0,0,0,0,0,0
$GC,5468,-0.44,-146.1,717.5,-12.5,379,5471,0.00,1.45,0.00,0.000,6,0.000,0.030,1626,2927,2943,0,0,0,0,0,0
$GC,5800,-0.44,-146.1,758.6,-12.3,395,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2921,2943,0,0,0,0,0,0
$GC,6110,-0.44,-146.1,796.4,-12.3,410,6114,0.00,1.62,0.00,0.000,4,0.000,0.060,1619,3896,2943,0,0,0,0,0,0
$GC,6159,-0.44,-146.1,803.2,-13.8,412,6163,0.00,1.45,0.00,0.000,6,0.000,0.031,1619,2931,2943,0,0,0,0,0,0
$GC,6486,-0.44,-146.1,845.2,-12.7,428,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2924,2943,0,0,0,0,0,0
$GC,6796,-0.44,-146.1,886.1,-13.1,443,6800,0.00,1.60,0.00,0.000,4,0.000,0.060,1611,3886,2943,0,0,0,0,0,0
$GC,6842,-0.44,-146.1,892.4,-14.0,445,6846,0.08,1.45,0.00,0.000,6,0.166,0.031,1635,2937,2943,0,0,0,0,0,0
$GC,7174,-0.44,-146.1,931.6,-11.8,461,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,7482,-0.44,-146.1,966.0,-10.8,476,7486,0.00,1.60,0.00,0.000,4,0.000,0.060,1629,3894,2942,0,0,0,0,0,0
$GC,7528,-0.44,-146.1,971.3,-11.5,478,7531,0.00,1.48,0.00,0.000,6,0.000,0.030,1628,2920,2942,0,0,0,0,0,0
$STATE,7796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7796,begin apogee
$GC,7802,-0.13,0.0,1001.2,11.0,491,7941,0.40,0.00,136.23,1.777,6,0.163,0.000,1744,2712,2342,0,0,0,0,0,0
$STATE,7942,end apogee,CONTROL_FINISHED_OK
$STATE,7942,begin climb
$GC,7944,0.44,146.1,1006.3,0.0,498,8098,0.60,0.00,147.75,1.730,6,0.122,0.000,1920,2712,1746,0,0,0,0,0,0
$GC,8398,0.44,146.1,959.8,12.0,520,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2712,1738,0,0,0,0,0,0
$GC,8710,0.44,146.1,924.0,11.7,535,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2712,1736,0,0,0,0,0,0
$GC,9017,0.44,146.1,887.6,11.9,550,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2712,1736,0,0,0,0,0,0
$GC,9326,0.44,146.1,849.3,11.8,565,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2712,1735,0,0,0,0,0,0
$GC,9635,0.44,146.1,811.4,12.5,580,9639,0.00,1.95,0.00,0.000,4,0.000,0.058,1921,3900,1734,0,0,0,0,0,0
$GC,9674,0.44,146.1,805.7,14.2,581,9681,0.00,1.85,0.00,0.000,6,0.000,0.033,1930,2741,1733,0,0,0,0,0,0
$GC,9989,0.44,146.1,764.0,13.3,597,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2740,1733,0,0,0,0,0,0
$GC,10299,0.44,146.1,723.6,12.9,612,10303,0.00,2.25,0.00,0.000,4,0.000,0.043,1940,1293,1733,0,0,0,0,0,0
$GC,10339,0.44,146.1,718.9,12.1,614,10343,0.00,2.25,0.00,0.000,6,0.000,0.051,1940,2715,1732,0,0,0,0,0,0
$GC,10665,0.44,146.1,675.0,13.4,630,10668,0.00,1.88,0.00,0.000,4,0.000,0.058,1940,3886,1732,0,0,0,0,0,0
$GC,10710,0.44,146.1,668.1,15.5,632,10713,0.00,1.85,0.00,0.000,6,0.000,0.034,1949,2704,1731,0,0,0,0,0,0
$GC,11043,0.44,146.1,620.9,14.2,648,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2702,1731,0,0,0,0,0,0
$GC,11351,0.44,146.1,576.7,14.1,663,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2702,1730,0,0,0,0,0,0
$GC,11661,0.44,146.1,532.8,14.3,678,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2702,1731,0,0,0,0,0,0
$GC,11970,0.44,146.1,489.2,14.0,693,11974,0.00,1.98,0.00,0.000,4,0.000,0.057,1949,3883,1731,0,0,0,0,0,0
$GC,12016,0.44,146.1,482.3,15.5,695,12020,0.00,1.85,0.00,0.000,6,0.000,0.034,1958,2701,1731,0,0,0,0,0,0
$GC,12349,0.44,146.1,433.9,14.2,711,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2700,1730,0,0,0,0,0,0
$GC,12658,0.44,146.1,390.2,14.0,726,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2700,1731,0,0,0,0,0,0
$GC,12969,0.44,146.1,346.7,14.0,741,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2700,1731,0,0,0,0,0,0
$GC,13279,0.44,146.1,303.0,14.1,756,13283,0.00,1.98,0.00,0.000,4,0.000,0.058,1958,3896,1731,0,0,0,0,0,0
$GC,13333,0.44,146.1,293.7,17.5,758,13339,0.10,1.88,0.00,0.000,6,0.191,0.034,1939,2712,1731,0,0,0,0,0,0
$GC,13656,0.44,146.1,253.7,12.4,774,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2711,1730,0,0,0,0,0,0
$GC,13973,0.44,146.1,215.7,11.7,802,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2711,1730,0,0,0,0,0,0
$GC,14293,0.44,146.1,178.4,11.4,832,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2711,1730,0,0,0,0,0,0
$GC,14610,0.44,146.1,142.2,11.2,862,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2711,1731,0,0,0,0,0,0
$GC,14931,0.44,146.1,109.3,9.6,892,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2711,1731,0,0,0,0,0,0
$GC,15275,0.45,160.6,76.2,8.9,944,15291,0.00,2.20,8.40,0.942,4,0.000,0.041,1949,1290,1688,0,0,0,0,0,0
$GC,15364,0.46,171.4,68.2,9.1,958,15379,0.00,2.30,8.43,0.903,6,0.000,0.052,1949,2711,1642,0,0,0,0,0,0
$GC,15487,0.46,174.6,56.6,9.4,978,15496,0.00,0.00,1.80,0.320,6,0.000,0.000,1949,2711,1631,0,0,0,0,0,0
$GC,15604,0.48,195.3,46.8,8.6,997,15625,0.00,0.00,14.30,0.881,6,0.000,0.000,1949,2711,1544,0,0,0,0,0,0
$GC,15733,0.48,195.3,34.0,9.9,1018,15741,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1541,0,0,0,0,0,0
$GC,15852,0.48,195.3,22.7,10.2,1037,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1540,0,0,0,0,0,0
$GC,15937,0.49,210.2,14.2,8.9,1050,15954,0.00,0.00,8.70,0.750,6,0.000,0.000,1949,2711,1481,0,0,0,0,0,0
$GC,16029,0.49,210.2,4.2,9.8,1064,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1478,0,0,0,0,0,0
$STATE,16045,end climb,SURFACE_DEPTH_REACHED
$STATE,16045,begin surface coast
$FINISH,1.0,1.007132
$STATE,16077,end surface coast,CONTROL_FINISHED_OK
$STATE,16077,begin surface
$SM_CCo,16150,0.00,0.000,0,0,1476,212.43
$SM_GC,2.45,5.28,0.00,0.00,0.070,0.000,0.000,56,2929,1476,-5.33,-0.03,212.43
$IRIDIUM_FIX,-5535.12,-49.99,210115,040457
$TT8_MAMPS,0.025466
$HUMID,56.85
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.9,47.171
$10V_AH,9.9,32.610
$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,13.000,58.825,325.600,0.000,0.000,52.574,133.868,332.233,0.000,0.000,22.519,2607.311,10468.102,410.728,3118.305,257.869,33.371,1391.646,0.000,2429.539,0.000,0.539,0.000
$DEVICE_MAMPS,229.500,84.915,1777.095,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.897,2238.913,1102.313,1144.921,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353492
$DATA_FILE_SIZE,73690,1071
$CAP_FILE_SIZE,129588,0
$CFSIZE,259252224,210214912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210115,092327,-5556.002,-54.609,38,1.5,42,-19.7