version: 66.07
glider: 542
mission: 9
dive: 184
start: 1 10 115 14 28 14
data:
$ID,542
$MISSION,9
$DIVE,184
$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,-22178.869
$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,24
$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
$GPS1,100115,141852,-5552.149,-46.978,31,0.7,48,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-66.5
$GPS2,100115,142720,-5552.192,-46.991,16,0.7,17,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.228,0.034
$KALMAN_X,111686.3,-438.8,-91.9,-159740.6,3431.0
$KALMAN_Y,39659.7,80.1,97.0,-25066.3,-2171.0
$MHEAD_RNG_PITCHd_Wd,298.2,19764,-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,16,-0.44,-146.1,0.0,0.0,0,60,0.00,0.00,-41.65,0.000,2,0.000,0.000,45,2929,2432,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.1,-2.8,5,89,6.53,1.67,-15.85,0.000,4,0.241,0.081,1632,3903,2940,0,0,0,0,0,0
$GC,360,-0.44,-146.1,50.9,-16.3,53,367,0.00,1.58,0.00,0.000,6,0.000,0.031,1631,2896,2942,0,0,0,0,0,0
$GC,474,-0.44,-146.1,70.4,-16.6,72,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2895,2942,0,0,0,0,0,0
$GC,588,-0.44,-146.1,88.6,-15.5,91,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2895,2942,0,0,0,0,0,0
$GC,812,-0.44,-146.1,123.8,-14.7,118,813,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2895,2942,0,0,0,0,0,0
$GC,1130,-0.44,-146.1,169.2,-14.2,148,1134,0.00,1.65,0.00,0.000,4,0.000,0.060,1624,3893,2942,0,0,0,0,0,0
$GC,1170,-0.44,-146.1,175.6,-15.1,151,1177,0.00,1.50,0.00,0.000,6,0.000,0.031,1624,2916,2942,0,0,0,0,0,0
$GC,1495,-0.44,-146.1,224.9,-14.8,182,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2915,2942,0,0,0,0,0,0
$GC,1820,-0.44,-146.1,270.1,-13.3,206,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2915,2943,0,0,0,0,0,0
$GC,2131,-0.44,-146.1,311.4,-13.3,221,2134,0.00,1.62,0.00,0.000,4,0.000,0.062,1617,3887,2942,0,0,0,0,0,0
$GC,2185,-0.44,-146.1,319.6,-14.0,223,2190,0.00,1.48,0.00,0.000,6,0.000,0.031,1616,2929,2942,0,0,0,0,0,0
$GC,2510,-0.44,-146.1,364.4,-13.7,239,2512,0.10,0.00,0.00,0.000,6,0.198,0.000,1641,2923,2942,0,0,0,0,0,0
$GC,2817,-0.44,-146.1,401.6,-12.1,254,2820,0.00,1.62,0.00,0.000,4,0.000,0.061,1633,3895,2942,0,0,0,0,0,0
$GC,2851,-0.44,-146.1,406.0,-13.1,255,2855,0.00,1.48,0.00,0.000,6,0.000,0.031,1633,2926,2942,0,0,0,0,0,0
$GC,3172,-0.44,-146.1,449.3,-13.7,271,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2920,2943,0,0,0,0,0,0
$GC,3481,-0.44,-146.1,490.1,-13.1,286,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2920,2942,0,0,0,0,0,0
$GC,3791,-0.44,-146.1,528.7,-12.0,301,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2920,2943,0,0,0,0,0,0
$GC,4100,-0.44,-146.1,564.0,-11.3,316,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2920,2943,0,0,0,0,0,0
$GC,4409,-0.44,-146.1,598.5,-10.9,331,4413,0.00,1.62,0.00,0.000,4,0.000,0.060,1626,3897,2943,0,0,0,0,0,0
$GC,4442,-0.44,-146.1,602.3,-11.4,332,4446,0.00,1.48,0.00,0.000,6,0.000,0.031,1626,2923,2943,0,0,0,0,0,0
$GC,4763,-0.44,-146.1,638.3,-11.0,348,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2917,2943,0,0,0,0,0,0
$GC,5072,-0.44,-146.1,671.6,-10.8,363,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2917,2943,0,0,0,0,0,0
$GC,5382,-0.44,-146.1,703.6,-10.1,378,5386,0.00,1.62,0.00,0.000,4,0.000,0.060,1618,3894,2943,0,0,0,0,0,0
$GC,5431,-0.44,-146.1,709.4,-10.6,380,5435,0.00,1.45,0.00,0.000,6,0.000,0.031,1618,2937,2943,0,0,0,0,0,0
$GC,5758,-0.44,-146.1,745.2,-11.3,396,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2931,2943,0,0,0,0,0,0
$GC,6068,-0.44,-146.1,780.4,-11.2,411,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2931,2943,0,0,0,0,0,0
$GC,6376,-0.44,-146.1,816.1,-11.5,426,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2931,2942,0,0,0,0,0,0
$GC,6686,-0.44,-146.1,850.8,-11.0,441,6689,0.00,1.60,0.00,0.000,4,0.000,0.060,1611,3893,2943,0,0,0,0,0,0
$GC,6743,-0.44,-146.1,857.7,-12.6,443,6747,0.08,1.48,0.00,0.000,6,0.164,0.031,1636,2934,2943,0,0,0,0,0,0
$GC,7063,-0.44,-146.1,889.6,-10.0,459,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2933,2943,0,0,0,0,0,0
$GC,7373,-0.44,-146.1,921.3,-10.4,474,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2933,2943,0,0,0,0,0,0
$GC,7682,-0.44,-146.1,953.4,-10.5,489,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2933,2943,0,0,0,0,0,0
$GC,7991,-0.44,-146.1,985.2,-10.4,504,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2933,2943,0,0,0,0,0,0
$STATE,8134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8134,begin apogee
$GC,8139,-0.13,0.0,1000.1,10.4,511,8277,0.35,0.00,134.75,1.767,6,0.157,0.000,1740,2710,2342,0,0,0,0,0,0
$STATE,8278,end apogee,CONTROL_FINISHED_OK
$STATE,8278,begin climb
$GC,8280,0.44,146.1,1005.1,0.0,518,8431,0.62,0.00,146.80,1.722,6,0.123,0.000,1924,2710,1746,0,0,0,0,0,0
$GC,8736,0.44,146.1,953.9,13.3,540,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2710,1737,0,0,0,0,0,0
$GC,9045,0.44,146.1,912.6,13.2,555,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2710,1736,0,0,0,0,0,0
$GC,9355,0.44,146.1,871.2,13.0,570,9359,0.00,2.00,0.00,0.000,4,0.000,0.059,1923,3889,1735,0,0,0,0,0,0
$GC,9392,0.44,146.1,865.4,15.2,571,9400,0.00,1.88,0.00,0.000,6,0.000,0.034,1933,2735,1733,0,0,0,0,0,0
$GC,9709,0.44,146.1,820.0,14.5,587,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2736,1733,0,0,0,0,0,0
$GC,10018,0.44,146.1,776.7,13.8,602,10023,0.00,2.28,0.00,0.000,4,0.000,0.044,1944,1292,1732,0,0,0,0,0,0
$GC,10050,0.44,146.1,772.1,13.0,603,10058,0.00,2.33,0.00,0.000,6,0.000,0.050,1944,2724,1732,0,0,0,0,0,0
$GC,10366,0.44,146.1,725.9,14.9,619,10370,0.00,1.90,0.00,0.000,4,0.000,0.060,1944,3896,1732,0,0,0,0,0,0
$GC,10416,0.44,146.1,717.7,16.5,621,10420,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2703,1731,0,0,0,0,0,0
$GC,10743,0.44,146.1,668.2,15.3,637,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2702,1731,0,0,0,0,0,0
$GC,11053,0.44,146.1,621.7,14.6,652,11056,0.00,1.98,0.00,0.000,4,0.000,0.057,1953,3899,1731,0,0,0,0,0,0
$GC,11085,0.44,146.1,616.0,17.4,653,11089,0.00,1.90,0.00,0.000,6,0.000,0.034,1962,2710,1730,0,0,0,0,0,0
$GC,11407,0.44,146.1,567.6,15.2,669,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2709,1730,0,0,0,0,0,0
$GC,11717,0.44,146.1,522.3,14.4,684,11720,0.00,1.92,0.00,0.000,4,0.000,0.057,1962,3887,1730,0,0,0,0,0,0
$GC,11762,0.44,146.1,515.1,15.1,686,11766,0.15,1.85,0.00,0.000,6,0.209,0.034,1936,2710,1730,0,0,0,0,0,0
$GC,12093,0.44,146.1,475.2,11.9,702,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1729,0,0,0,0,0,0
$GC,12403,0.44,146.1,438.0,12.0,717,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1730,0,0,0,0,0,0
$GC,12712,0.44,146.1,399.9,12.5,732,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1730,0,0,0,0,0,0
$GC,13024,0.44,146.1,359.3,13.1,747,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1730,0,0,0,0,0,0
$GC,13333,0.44,146.1,320.5,12.5,762,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1730,0,0,0,0,0,0
$GC,13644,0.44,146.1,283.3,11.5,777,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1730,0,0,0,0,0,0
$GC,13949,0.44,146.1,249.2,11.6,792,13953,0.00,2.20,0.00,0.000,4,0.000,0.043,1946,1295,1730,0,0,0,0,0,0
$GC,13983,0.44,146.1,245.7,10.3,794,13992,0.00,2.28,0.00,0.000,6,0.000,0.052,1946,2710,1730,0,0,0,0,0,0
$GC,14309,0.44,146.1,207.1,12.0,825,14313,0.00,1.92,0.00,0.000,4,0.000,0.059,1945,3893,1729,0,0,0,0,0,0
$GC,14382,0.44,146.1,196.1,14.8,831,14389,0.00,1.88,0.00,0.000,6,0.000,0.034,1954,2712,1729,0,0,0,0,0,0
$GC,14707,0.44,146.1,154.8,11.9,862,14710,0.00,1.92,0.00,0.000,4,0.000,0.056,1955,3890,1729,0,0,0,0,0,0
$GC,14768,0.44,146.1,147.3,13.5,867,14771,0.00,1.85,0.00,0.000,6,0.000,0.034,1963,2705,1729,0,0,0,0,0,0
$GC,15099,0.44,146.1,110.9,9.6,898,15103,0.00,1.95,0.00,0.000,4,0.000,0.057,1963,3898,1729,0,0,0,0,0,0
$GC,15161,0.44,146.1,103.4,12.2,903,15169,0.10,1.88,0.00,0.000,6,0.188,0.034,1933,2716,1729,0,0,0,0,0,0
$GC,15511,0.48,199.4,77.2,7.2,961,15557,0.00,2.00,35.45,0.985,4,0.000,0.058,1933,3888,1526,0,0,0,0,0,0
$GC,15593,0.48,199.4,69.7,10.2,973,15601,0.00,1.90,0.00,0.000,6,0.000,0.034,1942,2718,1522,0,0,0,0,0,0
$GC,15708,0.50,215.5,59.3,8.8,992,15724,0.00,2.33,11.18,0.878,4,0.000,0.043,1952,1292,1463,0,0,0,0,0,0
$GC,15748,0.51,231.1,55.5,8.8,998,15765,0.00,2.33,10.65,0.859,6,0.000,0.050,1952,2710,1399,0,0,0,0,0,0
$GC,15873,0.51,231.1,42.9,10.0,1018,15882,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2709,1393,0,0,0,0,0,0
$GC,15989,0.51,231.1,32.0,9.8,1037,15996,0.00,1.92,0.00,0.000,4,0.000,0.059,1952,3893,1391,0,0,0,0,0,0
$GC,16035,0.51,231.1,26.3,12.9,1044,16044,0.00,1.90,0.00,0.000,6,0.000,0.034,1961,2717,1391,0,0,0,0,0,0
$GC,16119,0.51,231.1,14.4,13.4,1057,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2716,1390,0,0,0,0,0,0
$GC,16203,0.51,231.1,3.3,13.4,1070,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2716,1388,0,0,0,0,0,0
$STATE,16220,end climb,SURFACE_DEPTH_REACHED
$STATE,16220,begin surface coast
$FINISH,1.1,1.027049
$STATE,16246,end surface coast,CONTROL_FINISHED_OK
$STATE,16247,begin surface
$SM_CCo,16319,0.00,0.000,0,0,1387,234.26
$SM_GC,1.90,5.22,0.00,0.00,0.063,0.000,0.000,58,2930,1387,-5.32,0.00,234.26
$IRIDIUM_FIX,-5531.31,-42.25,100115,090920
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,22.0,37.942
$10V_AH,10.0,25.713
$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,13.150,70.675,338.825,0.000,0.000,28.451,22.607,323.510,0.000,0.000,20.344,2613.485,10636.264,412.977,2929.999,227.120,33.373,1393.274,0.000,2382.595,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,81.090,1767.150,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.747,2202.721,1056.273,1097.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353500
$DATA_FILE_SIZE,73596,1076
$CAP_FILE_SIZE,130647,0
$CFSIZE,259252224,214175744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,100115,190123,-5552.625,-50.134,36,0.9,36,-19.7