version: 66.07
glider: 542
mission: 9
dive: 171
start: 1 8 115 0 31 31
data:
$ID,542
$MISSION,9
$DIVE,171
$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,-22140.574
$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,29
$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
$GPS1,080115,002233,-5559.107,-32.185,38,1.0,42,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.4
$GPS2,080115,003037,-5559.062,-32.254,15,0.8,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.039,0.228
$KALMAN_X,91028.3,-472.6,-91.6,-123791.7,1530.7
$KALMAN_Y,44557.8,-268.2,-164.2,-42072.7,3230.6
$MHEAD_RNG_PITCHd_Wd,10.2,26149,-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,-146.0,0.0,0.0,0,52,0.00,0.00,-33.30,0.000,2,0.000,0.000,47,2937,2251,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.1,4,97,6.50,1.62,-24.90,0.000,4,0.244,0.081,1630,3893,2940,0,0,0,0,0,0
$GC,197,-0.44,-146.1,21.5,-16.4,25,206,0.00,1.55,0.00,0.000,6,0.000,0.031,1630,2899,2941,0,0,0,0,0,0
$GC,279,-0.44,-146.1,35.3,-17.0,38,287,0.00,1.67,0.00,0.000,4,0.000,0.058,1622,3892,2942,0,0,0,0,0,0
$GC,338,-0.44,-146.1,45.4,-17.4,47,345,0.00,1.50,0.00,0.000,6,0.000,0.031,1622,2922,2941,0,0,0,0,0,0
$GC,451,-0.44,-146.1,65.0,-17.1,66,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2921,2942,0,0,0,0,0,0
$GC,567,-0.44,-146.1,83.4,-15.5,85,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2921,2942,0,0,0,0,0,0
$GC,799,-0.44,-146.1,121.8,-16.7,115,803,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3892,2942,0,0,0,0,0,0
$GC,860,-0.44,-146.1,133.1,-17.1,120,870,0.08,1.48,0.00,0.000,6,0.171,0.031,1638,2938,2942,0,0,0,0,0,0
$GC,1187,-0.44,-146.1,177.5,-13.7,151,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2937,2942,0,0,0,0,0,0
$GC,1507,-0.44,-146.1,220.3,-13.7,181,1510,0.00,1.60,0.00,0.000,4,0.000,0.061,1631,3895,2941,0,0,0,0,0,0
$GC,1568,-0.44,-146.1,229.6,-13.4,186,1579,0.00,1.48,0.00,0.000,6,0.000,0.030,1631,2920,2942,0,0,0,0,0,0
$GC,1893,-0.44,-146.1,272.2,-13.2,209,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2920,2942,0,0,0,0,0,0
$GC,2199,-0.44,-146.1,312.2,-12.6,224,2203,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3897,2942,0,0,0,0,0,0
$GC,2254,-0.44,-146.1,319.8,-13.7,226,2259,0.00,1.48,0.00,0.000,6,0.000,0.030,1623,2923,2942,0,0,0,0,0,0
$GC,2577,-0.44,-146.1,359.6,-11.9,242,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2918,2942,0,0,0,0,0,0
$GC,2887,-0.44,-146.1,394.9,-11.3,257,2891,0.00,1.60,0.00,0.000,4,0.000,0.060,1616,3882,2942,0,0,0,0,0,0
$GC,2948,-0.44,-146.1,402.6,-11.7,259,2956,0.08,1.48,0.00,0.000,6,0.166,0.031,1640,2923,2942,0,0,0,0,0,0
$GC,3264,-0.44,-146.1,433.1,-9.7,275,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2942,0,0,0,0,0,0
$GC,3573,-0.44,-146.1,464.1,-10.1,290,3577,0.00,1.60,0.00,0.000,4,0.000,0.061,1632,3886,2942,0,0,0,0,0,0
$GC,3620,-0.44,-146.1,469.1,-11.6,292,3624,0.00,1.45,0.00,0.000,6,0.000,0.031,1632,2933,2942,0,0,0,0,0,0
$GC,3953,-0.44,-146.1,507.7,-11.7,308,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2926,2942,0,0,0,0,0,0
$GC,4261,-0.44,-146.1,545.0,-12.2,323,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2926,2942,0,0,0,0,0,0
$GC,4571,-0.44,-146.1,583.2,-12.6,338,4574,0.00,1.60,0.00,0.000,4,0.000,0.060,1625,3892,2942,0,0,0,0,0,0
$GC,4617,-0.44,-146.1,589.2,-13.9,340,4620,0.00,1.45,0.00,0.000,6,0.000,0.031,1625,2925,2942,0,0,0,0,0,0
$GC,4949,-0.44,-146.1,632.2,-13.1,356,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2919,2942,0,0,0,0,0,0
$GC,5259,-0.44,-146.1,670.6,-12.2,371,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2919,2942,0,0,0,0,0,0
$GC,5567,-0.44,-146.1,706.7,-11.4,386,5571,0.00,1.60,0.00,0.000,4,0.000,0.060,1618,3886,2942,0,0,0,0,0,0
$GC,5635,-0.44,-146.1,714.9,-12.7,389,5639,0.00,1.45,0.00,0.000,6,0.000,0.031,1618,2924,2942,0,0,0,0,0,0
$GC,5967,-0.44,-146.1,754.6,-11.9,405,5971,0.00,1.60,0.00,0.000,4,0.000,0.060,1610,3886,2942,0,0,0,0,0,0
$GC,6016,-0.44,-146.1,761.1,-12.3,407,6021,0.10,1.48,0.00,0.000,6,0.162,0.029,1641,2908,2942,0,0,0,0,0,0
$GC,6344,-0.44,-146.1,794.4,-10.2,423,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2942,0,0,0,0,0,0
$GC,6654,-0.44,-146.1,825.3,-10.0,438,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2942,0,0,0,0,0,0
$GC,6963,-0.44,-146.1,855.0,-9.4,453,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2942,0,0,0,0,0,0
$GC,7272,-0.44,-146.1,883.8,-9.3,468,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2943,0,0,0,0,0,0
$GC,7582,-0.44,-146.1,912.7,-9.4,483,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2942,0,0,0,0,0,0
$GC,7891,-0.44,-146.1,941.7,-9.3,498,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2942,0,0,0,0,0,0
$GC,8201,-0.44,-146.1,970.7,-9.4,513,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2907,2942,0,0,0,0,0,0
$GC,8509,-0.44,-146.1,999.3,-9.0,528,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2907,2942,0,0,0,0,0,0
$STATE,8528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8528,begin apogee
$GC,8533,-0.13,0.0,1001.2,9.0,529,8672,0.35,0.00,134.77,1.779,6,0.162,0.000,1745,2728,2342,0,0,0,0,0,0
$STATE,8673,end apogee,CONTROL_FINISHED_OK
$STATE,8673,begin climb
$GC,8675,0.44,146.1,1004.6,0.0,536,8826,0.60,0.00,147.55,1.727,6,0.122,0.000,1923,2728,1746,0,0,0,0,0,0
$GC,9128,0.44,146.1,950.2,14.0,558,9132,0.00,2.30,0.00,0.000,4,0.000,0.042,1933,1325,1738,0,0,0,0,0,0
$GC,9165,0.44,146.1,945.1,12.8,559,9173,0.00,2.35,0.00,0.000,6,0.000,0.050,1933,2719,1737,0,0,0,0,0,0
$GC,9481,0.44,146.1,898.4,15.0,575,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1735,0,0,0,0,0,0
$GC,9791,0.44,146.1,851.8,15.0,590,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1734,0,0,0,0,0,0
$GC,10101,0.44,146.1,804.5,15.2,605,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1733,0,0,0,0,0,0
$GC,10409,0.44,146.1,759.0,14.4,620,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1732,0,0,0,0,0,0
$GC,10719,0.44,146.1,716.2,13.7,635,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1732,0,0,0,0,0,0
$GC,11029,0.44,146.1,675.0,13.0,650,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1732,0,0,0,0,0,0
$GC,11337,0.44,146.1,635.3,12.7,665,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1731,0,0,0,0,0,0
$GC,11647,0.44,146.1,596.0,12.9,680,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1731,0,0,0,0,0,0
$GC,11957,0.44,146.1,556.1,13.1,695,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1731,0,0,0,0,0,0
$GC,12265,0.44,146.1,513.5,13.8,710,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1730,0,0,0,0,0,0
$GC,12576,0.44,146.1,471.4,13.4,725,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1730,0,0,0,0,0,0
$GC,12884,0.44,146.1,428.6,13.9,740,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1730,0,0,0,0,0,0
$GC,13196,0.44,146.1,386.5,13.4,755,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1731,0,0,0,0,0,0
$GC,13505,0.44,146.1,344.9,13.2,770,13506,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1730,0,0,0,0,0,0
$GC,13816,0.44,146.1,306.4,11.8,785,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1730,0,0,0,0,0,0
$GC,14121,0.44,146.1,273.6,9.9,800,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1730,0,0,0,0,0,0
$GC,14435,0.44,146.1,243.9,9.7,817,14441,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1730,0,0,0,0,0,0
$GC,14761,0.44,146.1,208.9,11.3,848,14762,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2719,1730,0,0,0,0,0,0
$GC,15082,0.44,146.1,172.7,11.8,878,15090,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2720,1730,0,0,0,0,0,0
$GC,15411,0.46,165.9,139.2,8.7,909,15430,0.00,0.00,11.35,1.168,6,0.000,0.000,1933,2719,1666,0,0,0,0,0,0
$GC,15749,0.48,196.0,112.9,8.2,941,15769,0.00,0.00,18.65,1.110,6,0.000,0.000,1933,2719,1543,0,0,0,0,0,0
$GC,16102,0.48,196.0,74.9,10.3,992,16111,0.00,1.95,0.00,0.000,4,0.000,0.063,1933,3889,1536,0,0,0,0,0,0
$GC,16148,0.48,196.0,69.9,11.7,999,16155,0.00,1.85,0.00,0.000,6,0.000,0.035,1942,2742,1535,0,0,0,0,0,0
$GC,16263,0.48,196.0,57.3,11.0,1018,16272,0.00,2.30,0.00,0.000,4,0.000,0.044,1952,1295,1534,0,0,0,0,0,0
$GC,16298,0.48,196.0,53.8,10.6,1023,16305,0.00,2.28,0.00,0.000,6,0.000,0.054,1953,2713,1534,0,0,0,0,0,0
$GC,16410,0.48,196.0,41.2,11.8,1042,16418,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1534,0,0,0,0,0,0
$GC,16526,0.48,196.0,27.8,10.6,1061,16535,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1534,0,0,0,0,0,0
$GC,16610,0.48,196.0,18.1,12.4,1074,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1534,0,0,0,0,0,0
$GC,16694,0.48,196.0,8.5,11.1,1087,16702,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1533,0,0,0,0,0,0
$STATE,16745,end climb,SURFACE_DEPTH_REACHED
$STATE,16745,begin surface coast
$FINISH,1.3,1.014975
$STATE,16777,end surface coast,CONTROL_FINISHED_OK
$STATE,16777,begin surface
$SM_CCo,16790,0.77,0.288,0,0,1524,200.16
$SM_GC,1.83,0.00,0.00,0.77,0.000,0.000,0.288,59,2922,1524,-5.41,-0.25,200.16
$IRIDIUM_FIX,-5535.12,-26.92,070115,191949
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,35.739
$10V_AH,10.0,24.055
$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,12.875,44.500,312.325,0.775,0.000,27.421,19.010,305.242,0.000,0.000,19.044,2649.305,11061.049,428.996,2911.564,219.706,33.369,1379.796,0.000,2386.282,0.000,0.540,0.000
$DEVICE_MAMPS,244.035,81.090,1779.390,288.405,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.150,2285.650,1095.851,1118.928,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353828
$DATA_FILE_SIZE,73792,1100
$CAP_FILE_SIZE,125078,0
$CFSIZE,259252224,215134208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080115,051235,-5556.288,-32.663,36,0.9,36,-19.9