version: 66.07
glider: 542
mission: 9
dive: 136
start: 1 1 115 6 12 23
data:
$ID,542
$MISSION,9
$DIVE,136
$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,-22038.166
$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,26
$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
$GPS1,010115,060311,-5550.839,-27.724,46,1.0,46,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-73.3
$GPS2,010115,061129,-5550.855,-27.674,17,0.8,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.047,0.226
$KALMAN_X,71708.7,-169.5,139.3,-100280.2,741.4
$KALMAN_Y,10766.8,933.1,65.8,5473.6,-3680.8
$MHEAD_RNG_PITCHd_Wd,8.3,11111,-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,-42.15,0.000,2,0.000,0.000,52,2933,2445,0,0,0,0,0,0
$GC,63,-0.44,-146.1,3.1,-3.0,5,98,6.53,2.30,-16.00,0.000,4,0.249,0.054,1641,1505,2940,0,0,0,0,0,0
$GC,168,-0.44,-146.1,16.1,-13.6,20,177,0.00,2.35,0.00,0.000,6,0.000,0.057,1630,2919,2941,0,0,0,0,0,0
$GC,253,-0.44,-146.1,29.4,-16.5,33,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2919,2941,0,0,0,0,0,0
$GC,333,-0.44,-146.1,43.3,-16.6,46,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2919,2941,0,0,0,0,0,0
$GC,448,-0.44,-146.1,63.7,-18.5,65,456,0.00,1.60,0.00,0.000,4,0.000,0.063,1623,3894,2941,0,0,0,0,0,0
$GC,499,-0.44,-146.1,72.8,-17.9,73,506,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2893,2942,0,0,0,0,0,0
$GC,609,-0.44,-146.1,93.3,-17.7,92,616,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2892,2942,0,0,0,0,0,0
$GC,832,-0.44,-146.1,132.7,-17.5,116,836,0.00,1.67,0.00,0.000,4,0.000,0.062,1615,3910,2941,0,0,0,0,0,0
$GC,879,-0.44,-146.1,141.4,-18.5,120,883,0.08,1.52,0.00,0.000,6,0.183,0.034,1638,2927,2941,0,0,0,0,0,0
$GC,1211,-0.44,-146.1,192.2,-14.7,151,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2923,2941,0,0,0,0,0,0
$GC,1530,-0.44,-146.1,235.9,-12.9,181,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2924,2941,0,0,0,0,0,0
$GC,1849,-0.44,-146.1,275.4,-12.1,202,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2924,2941,0,0,0,0,0,0
$GC,2161,-0.44,-146.1,313.6,-12.3,217,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2923,2941,0,0,0,0,0,0
$GC,2469,-0.44,-146.1,350.3,-11.8,232,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2923,2941,0,0,0,0,0,0
$GC,2780,-0.44,-146.1,385.5,-11.1,247,2784,0.00,1.62,0.00,0.000,4,0.000,0.063,1630,3903,2941,0,0,0,0,0,0
$GC,2828,-0.44,-146.1,391.3,-12.1,249,2832,0.00,1.50,0.00,0.000,6,0.000,0.033,1630,2919,2942,0,0,0,0,0,0
$GC,3160,-0.44,-146.1,428.6,-10.8,265,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2914,2942,0,0,0,0,0,0
$GC,3469,-0.44,-146.1,461.8,-10.8,280,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2914,2941,0,0,0,0,0,0
$GC,3779,-0.44,-146.1,495.1,-10.9,295,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2914,2942,0,0,0,0,0,0
$GC,4088,-0.44,-146.1,528.8,-11.0,310,4092,0.00,1.62,0.00,0.000,4,0.000,0.063,1622,3927,2942,0,0,0,0,0,0
$GC,4133,-0.44,-146.1,534.1,-11.8,312,4136,0.00,1.52,0.00,0.000,6,0.000,0.033,1621,2925,2942,0,0,0,0,0,0
$GC,4465,-0.44,-146.1,573.3,-11.9,328,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2919,2942,0,0,0,0,0,0
$GC,4774,-0.44,-146.1,611.1,-12.3,343,4778,0.00,1.62,0.00,0.000,4,0.000,0.062,1615,3905,2942,0,0,0,0,0,0
$GC,4823,-0.44,-146.1,617.9,-13.4,345,4829,0.12,1.50,0.00,0.000,6,0.192,0.031,1650,2927,2942,0,0,0,0,0,0
$GC,5151,-0.44,-146.1,650.2,-9.6,361,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2928,2942,0,0,0,0,0,0
$GC,5459,-0.44,-146.1,680.6,-9.8,376,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2928,2942,0,0,0,0,0,0
$GC,5769,-0.44,-146.1,710.5,-9.7,391,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2927,2942,0,0,0,0,0,0
$GC,6078,-0.44,-146.1,739.6,-9.3,406,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2927,2942,0,0,0,0,0,0
$GC,6388,-0.44,-146.1,768.5,-9.2,421,6392,0.00,2.08,0.00,0.000,4,0.000,0.040,1650,1542,2942,0,0,0,0,0,0
$GC,6421,-0.44,-146.1,771.6,-8.8,422,6428,0.00,2.20,0.00,0.000,6,0.000,0.055,1640,2932,2942,0,0,0,0,0,0
$GC,6736,-0.44,-146.1,802.2,-9.8,438,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2932,2942,0,0,0,0,0,0
$GC,7045,-0.44,-146.1,832.5,-9.6,453,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2932,2942,0,0,0,0,0,0
$GC,7356,-0.44,-146.1,861.9,-9.5,468,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2932,2942,0,0,0,0,0,0
$GC,7664,-0.44,-146.1,891.2,-9.4,483,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2932,2942,0,0,0,0,0,0
$GC,7973,-0.44,-146.1,920.6,-9.6,498,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2932,2942,0,0,0,0,0,0
$GC,8283,-0.44,-146.1,950.1,-9.6,513,8287,0.00,2.10,0.00,0.000,4,0.000,0.040,1640,1533,2942,0,0,0,0,0,0
$GC,8327,-0.44,-146.1,954.3,-8.6,515,8331,0.00,2.25,0.00,0.000,6,0.000,0.056,1629,2923,2942,0,0,0,0,0,0
$GC,8654,-0.44,-146.1,986.9,-10.0,531,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2923,2941,0,0,0,0,0,0
$STATE,8797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8797,begin apogee
$GC,8802,-0.13,0.0,1001.8,10.3,538,8941,0.38,0.00,134.12,1.776,6,0.166,0.000,1740,2712,2342,0,0,0,0,0,0
$STATE,8941,end apogee,CONTROL_FINISHED_OK
$STATE,8941,begin climb
$GC,8943,0.44,146.1,1006.2,0.0,545,9094,0.65,0.00,147.55,1.733,6,0.127,0.000,1925,2712,1745,0,0,0,0,0,0
$GC,9389,0.44,146.1,956.5,12.8,567,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2712,1737,0,0,0,0,0,0
$GC,9698,0.44,146.1,916.1,13.1,582,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2712,1736,0,0,0,0,0,0
$GC,10007,0.44,146.1,875.7,13.1,597,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2712,1734,0,0,0,0,0,0
$GC,10318,0.44,146.1,833.9,13.5,612,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2712,1733,0,0,0,0,0,0
$GC,10626,0.44,146.1,793.8,12.5,627,10630,0.00,1.98,0.00,0.000,4,0.000,0.060,1926,3896,1733,0,0,0,0,0,0
$GC,10675,0.44,146.1,786.6,15.2,629,10679,0.00,1.85,0.00,0.000,6,0.000,0.037,1934,2727,1731,0,0,0,0,0,0
$GC,11002,0.44,146.1,743.6,12.8,645,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2727,1732,0,0,0,0,0,0
$GC,11311,0.44,146.1,703.9,13.0,660,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2727,1731,0,0,0,0,0,0
$GC,11621,0.44,146.1,663.9,12.9,675,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2727,1731,0,0,0,0,0,0
$GC,11930,0.44,146.1,622.9,13.2,690,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2727,1730,0,0,0,0,0,0
$GC,12239,0.44,146.1,580.6,13.9,705,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2727,1730,0,0,0,0,0,0
$GC,12549,0.44,146.1,539.2,13.1,720,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2727,1731,0,0,0,0,0,0
$GC,12858,0.44,146.1,499.2,12.8,735,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2727,1730,0,0,0,0,0,0
$GC,13167,0.44,146.1,457.7,13.6,750,13171,0.00,2.22,0.00,0.000,4,0.000,0.045,1945,1284,1730,0,0,0,0,0,0
$GC,13205,0.44,146.1,452.6,12.5,751,13213,0.00,2.30,0.00,0.000,6,0.000,0.051,1945,2722,1730,0,0,0,0,0,0
$GC,13521,0.44,146.1,406.3,15.1,767,13525,0.00,1.85,0.00,0.000,4,0.000,0.059,1945,3889,1730,0,0,0,0,0,0
$GC,13575,0.44,146.1,396.9,16.1,769,13580,0.00,1.85,0.00,0.000,6,0.000,0.035,1954,2718,1729,0,0,0,0,0,0
$GC,13901,0.44,146.1,345.0,16.4,785,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2718,1728,0,0,0,0,0,0
$GC,14206,0.44,146.1,295.2,15.7,800,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2718,1729,0,0,0,0,0,0
$GC,14518,0.44,146.1,250.6,14.1,815,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2718,1729,0,0,0,0,0,0
$GC,14836,0.44,146.1,209.6,12.2,844,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2718,1729,0,0,0,0,0,0
$GC,15153,0.44,146.1,171.9,11.1,874,15157,0.00,1.90,0.00,0.000,4,0.000,0.058,1955,3886,1729,0,0,0,0,0,0
$GC,15226,0.44,146.1,161.6,13.7,880,15238,0.08,1.85,0.00,0.000,6,0.199,0.035,1942,2715,1729,0,0,0,0,0,0
$GC,15555,0.44,146.1,127.4,10.6,911,15559,0.00,2.17,0.00,0.000,4,0.000,0.044,1951,1291,1729,0,0,0,0,0,0
$GC,15607,0.44,146.1,121.9,9.5,915,15612,0.00,2.22,0.00,0.000,6,0.000,0.052,1951,2714,1729,0,0,0,0,0,0
$GC,15944,0.44,146.1,84.7,11.1,957,15952,0.00,1.90,0.00,0.000,4,0.000,0.060,1951,3886,1729,0,0,0,0,0,0
$GC,16058,0.44,146.1,69.9,13.1,976,16068,0.00,1.85,0.00,0.000,6,0.000,0.037,1960,2715,1729,0,0,0,0,0,0
$GC,16177,0.44,146.1,56.5,11.3,995,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2714,1729,0,0,0,0,0,0
$GC,16289,0.44,146.1,43.3,11.2,1014,16298,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2714,1729,0,0,0,0,0,0
$GC,16407,0.44,146.1,30.1,11.4,1033,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2714,1729,0,0,0,0,0,0
$GC,16526,0.44,146.1,16.9,10.7,1052,16534,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2714,1729,0,0,0,0,0,0
$GC,16610,0.44,146.1,7.8,10.8,1065,16619,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2713,1729,0,0,0,0,0,0
$STATE,16662,end climb,SURFACE_DEPTH_REACHED
$STATE,16663,begin surface coast
$FINISH,1.1,1.013174
$STATE,16695,end surface coast,CONTROL_FINISHED_OK
$STATE,16695,begin surface
$SM_CCo,16707,21.65,0.168,0,0,1522,200.16
$SM_GC,2.79,0.00,0.00,21.65,0.000,0.000,0.168,60,2926,1522,-5.41,-0.11,200.16
$IRIDIUM_FIX,-5531.31,-30.69,010115,010143
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.9,29.917
$10V_AH,10.0,19.658
$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,12.825,53.625,281.675,21.650,0.000,25.907,57.821,290.675,0.000,0.000,19.883,2614.356,11111.006,436.102,2846.341,218.721,33.365,1353.547,0.000,2309.502,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,68.085,1776.330,168.300,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.444,2210.771,1026.511,1060.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353804
$DATA_FILE_SIZE,73739,1078
$CAP_FILE_SIZE,124382,0
$CFSIZE,259252224,217718784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010115,105229,-5548.921,-27.161,40,0.9,40,-19.9