version: 66.07
glider: 542
mission: 9
dive: 196
start: 1 12 115 23 15 17
data:
$ID,542
$MISSION,9
$DIVE,196
$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,-22214.74
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,120115,230605,-5555.221,-110.686,27,1.1,27,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-64.9
$GPS2,120115,231423,-5555.236,-110.616,19,1.2,19,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.087,0.214
$KALMAN_X,131910.9,-454.0,-236.1,-204267.8,2349.3
$KALMAN_Y,25148.2,413.3,126.4,-16559.5,-3595.0
$MHEAD_RNG_PITCHd_Wd,357.4,21951,-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,-146.1,0.0,0.0,0,52,0.00,0.00,-33.40,0.000,2,0.000,0.000,45,2935,2240,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-2.5,4,89,6.53,0.00,-23.85,0.000,6,0.240,0.000,1640,2934,2940,0,0,0,0,0,0
$GC,164,-0.44,-146.1,17.9,-18.7,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2935,2942,0,0,0,0,0,0
$GC,248,-0.44,-146.1,31.3,-15.6,33,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2935,2942,0,0,0,0,0,0
$GC,361,-0.44,-146.1,50.2,-15.9,52,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2935,2942,0,0,0,0,0,0
$GC,476,-0.44,-146.1,68.6,-16.4,71,482,0.00,1.60,0.00,0.000,4,0.000,0.063,1633,3890,2942,0,0,0,0,0,0
$GC,507,-0.44,-146.1,74.2,-17.1,76,517,0.00,1.55,0.00,0.000,6,0.000,0.031,1633,2896,2942,0,0,0,0,0,0
$GC,622,-0.44,-146.1,93.7,-16.7,95,628,0.00,2.10,0.00,0.000,4,0.000,0.040,1633,1534,2942,0,0,0,0,0,0
$GC,658,-0.44,-146.1,99.4,-15.0,101,665,0.00,2.28,0.00,0.000,6,0.000,0.056,1622,2935,2942,0,0,0,0,0,0
$GC,877,-0.44,-146.1,134.7,-16.2,122,878,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2935,2942,0,0,0,0,0,0
$GC,1197,-0.44,-146.1,183.2,-15.5,152,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2935,2942,0,0,0,0,0,0
$GC,1515,-0.44,-146.1,232.2,-15.3,182,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,2942,0,0,0,0,0,0
$GC,1829,-0.44,-146.1,276.2,-13.5,203,1832,0.00,1.58,0.00,0.000,4,0.000,0.063,1615,3899,2942,0,0,0,0,0,0
$GC,1878,-0.44,-146.1,283.5,-13.9,205,1883,0.08,1.50,0.00,0.000,6,0.168,0.031,1638,2920,2942,0,0,0,0,0,0
$GC,2208,-0.44,-146.1,318.9,-10.3,221,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2942,0,0,0,0,0,0
$GC,2514,-0.44,-146.1,349.8,-9.9,236,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2942,0,0,0,0,0,0
$GC,2827,-0.44,-146.1,380.3,-9.9,251,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2942,0,0,0,0,0,0
$GC,3133,-0.44,-146.1,411.0,-10.1,266,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2919,2942,0,0,0,0,0,0
$GC,3442,-0.44,-146.1,444.6,-11.1,281,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2942,0,0,0,0,0,0
$GC,3752,-0.44,-146.1,479.0,-11.1,296,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2942,0,0,0,0,0,0
$GC,4061,-0.44,-146.1,512.8,-10.7,311,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,4370,-0.44,-146.1,546.8,-11.2,326,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,4680,-0.44,-146.1,582.1,-11.4,341,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,4989,-0.44,-146.1,616.8,-11.1,356,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,5298,-0.44,-146.1,651.4,-11.4,371,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,5608,-0.44,-146.1,684.8,-10.8,386,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,5917,-0.44,-146.1,717.8,-10.5,401,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,6226,-0.44,-146.1,750.1,-10.3,416,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,6536,-0.44,-146.1,781.3,-10.0,431,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2920,2943,0,0,0,0,0,0
$GC,6845,-0.44,-146.1,811.7,-9.7,446,6849,0.00,1.65,0.00,0.000,4,0.000,0.062,1631,3917,2943,0,0,0,0,0,0
$GC,6877,-0.44,-146.1,815.3,-10.8,447,6882,0.00,1.50,0.00,0.000,6,0.000,0.031,1631,2936,2943,0,0,0,0,0,0
$GC,7200,-0.44,-146.1,848.5,-10.2,463,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2936,2943,0,0,0,0,0,0
$GC,7508,-0.44,-146.1,879.8,-9.9,478,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2936,2943,0,0,0,0,0,0
$GC,7818,-0.44,-146.1,910.7,-10.1,493,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2936,2943,0,0,0,0,0,0
$GC,8128,-0.44,-146.1,941.4,-9.9,508,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2936,2943,0,0,0,0,0,0
$GC,8436,-0.44,-146.1,971.6,-9.5,523,8440,0.00,2.12,0.00,0.000,4,0.000,0.040,1631,1532,2943,0,0,0,0,0,0
$GC,8469,-0.44,-146.1,974.7,-8.3,524,8476,0.00,2.30,0.00,0.000,6,0.000,0.055,1620,2933,2943,0,0,0,0,0,0
$STATE,8721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8721,begin apogee
$GC,8726,-0.13,0.0,1000.6,10.6,537,8865,0.43,0.00,135.35,1.781,6,0.162,0.000,1745,2712,2342,0,0,0,0,0,0
$STATE,8866,end apogee,CONTROL_FINISHED_OK
$STATE,8866,begin climb
$GC,8867,0.44,146.1,1004.1,0.0,544,9020,0.60,0.00,147.50,1.727,6,0.121,0.000,1923,2712,1745,0,0,0,0,0,0
$GC,9320,0.44,146.1,952.6,13.0,566,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2712,1737,0,0,0,0,0,0
$GC,9630,0.44,146.1,913.0,12.7,581,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2712,1735,0,0,0,0,0,0
$GC,9940,0.44,146.1,874.7,12.4,596,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2712,1735,0,0,0,0,0,0
$GC,10248,0.44,146.1,836.0,12.4,611,10252,0.00,2.03,0.00,0.000,4,0.000,0.060,1923,3931,1734,0,0,0,0,0,0
$GC,10303,0.44,146.1,828.1,14.4,613,10308,0.00,1.92,0.00,0.000,6,0.000,0.034,1932,2743,1732,0,0,0,0,0,0
$GC,10625,0.44,146.1,786.7,12.8,629,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2742,1732,0,0,0,0,0,0
$GC,10934,0.44,146.1,746.8,13.0,644,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2742,1732,0,0,0,0,0,0
$GC,11243,0.44,146.1,707.6,12.5,659,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2742,1731,0,0,0,0,0,0
$GC,11553,0.44,146.1,668.6,12.6,674,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2741,1731,0,0,0,0,0,0
$GC,11862,0.44,146.1,629.3,12.7,689,11866,0.00,2.25,0.00,0.000,4,0.000,0.045,1943,1293,1731,0,0,0,0,0,0
$GC,11901,0.44,146.1,624.8,11.1,691,11905,0.00,2.30,0.00,0.000,6,0.000,0.054,1943,2727,1731,0,0,0,0,0,0
$GC,12228,0.44,146.1,581.8,13.3,707,12231,0.00,1.88,0.00,0.000,4,0.000,0.060,1943,3893,1730,0,0,0,0,0,0
$GC,12273,0.44,146.1,574.9,14.9,709,12276,0.00,1.88,0.00,0.000,6,0.000,0.034,1952,2697,1729,0,0,0,0,0,0
$GC,12606,0.44,146.1,527.0,14.6,725,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2696,1730,0,0,0,0,0,0
$GC,12914,0.44,146.1,482.3,14.2,740,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2696,1730,0,0,0,0,0,0
$GC,13223,0.44,146.1,438.5,14.6,755,13227,0.00,1.98,0.00,0.000,4,0.000,0.059,1952,3883,1729,0,0,0,0,0,0
$GC,13295,0.44,146.1,426.8,15.7,758,13299,0.00,1.88,0.00,0.000,6,0.000,0.034,1961,2702,1729,0,0,0,0,0,0
$GC,13622,0.44,146.1,379.9,14.1,774,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2703,1729,0,0,0,0,0,0
$GC,13934,0.44,146.1,337.4,14.0,789,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2703,1729,0,0,0,0,0,0
$GC,14243,0.44,146.1,295.5,13.5,804,14247,0.00,1.92,0.00,0.000,4,0.000,0.057,1961,3886,1729,0,0,0,0,0,0
$GC,14304,0.44,146.1,285.3,15.7,806,14314,0.12,1.88,0.00,0.000,6,0.199,0.034,1935,2707,1729,0,0,0,0,0,0
$GC,14621,0.44,146.1,249.8,10.3,822,14622,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2707,1729,0,0,0,0,0,0
$GC,14940,0.44,146.1,215.3,10.6,852,14941,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2707,1729,0,0,0,0,0,0
$GC,15259,0.44,146.1,181.9,11.0,882,15260,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2707,1729,0,0,0,0,0,0
$GC,15577,0.44,148.6,149.4,9.4,912,15581,0.00,2.20,0.00,0.000,4,0.000,0.043,1945,1285,1729,0,0,0,0,0,0
$GC,15634,0.46,168.0,144.3,8.7,916,15655,0.00,2.30,14.20,1.204,6,0.000,0.053,1945,2702,1656,0,0,0,0,0,0
$GC,15972,0.46,168.0,107.9,11.3,948,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2702,1654,0,0,0,0,0,0
$GC,16314,0.47,185.2,72.7,8.8,1001,16336,0.00,1.98,12.70,0.949,4,0.000,0.060,1945,3893,1586,0,0,0,0,0,0
$GC,16393,0.47,185.2,64.7,10.4,1013,16400,0.00,1.90,0.00,0.000,6,0.000,0.034,1954,2712,1585,0,0,0,0,0,0
$GC,16506,0.49,209.6,54.7,8.5,1032,16530,0.00,2.25,16.05,0.911,4,0.000,0.043,1964,1287,1485,0,0,0,0,0,0
$GC,16570,0.49,209.6,48.2,10.4,1042,16579,0.00,2.35,0.00,0.000,6,0.000,0.054,1964,2713,1481,0,0,0,0,0,0
$GC,16688,0.49,209.6,35.6,12.6,1061,16695,0.00,1.92,0.00,0.000,4,0.000,0.060,1964,3889,1480,0,0,0,0,0,0
$GC,16752,0.49,209.6,28.2,10.2,1071,16761,0.05,1.90,0.00,0.000,6,0.185,0.035,1959,2712,1479,0,0,0,0,0,0
$GC,16837,0.51,235.7,20.8,8.4,1084,16863,0.00,2.30,16.65,0.796,4,0.000,0.044,1968,1289,1377,0,0,0,0,0,0
$GC,16896,0.51,235.7,14.1,11.4,1092,16905,0.00,2.35,0.00,0.000,6,0.000,0.053,1968,2717,1374,0,0,0,0,0,0
$GC,16980,0.51,235.7,4.5,16.2,1105,16989,0.00,1.95,0.00,0.000,4,0.000,0.060,1968,3880,1372,0,0,0,0,0,0
$STATE,16996,end climb,SURFACE_DEPTH_REACHED
$STATE,16996,begin surface coast
$FINISH,1.1,1.027048
$STATE,17016,end surface coast,CONTROL_FINISHED_OK
$STATE,17016,begin surface
$SM_CCo,17091,0.00,0.000,0,0,1369,238.67
$SM_GC,2.10,5.28,0.00,0.00,0.063,0.000,0.000,58,2897,1369,-5.33,-0.93,238.67
$IRIDIUM_FIX,-5535.12,-53.89,120115,181828
$TT8_MAMPS,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,22.0,39.992
$10V_AH,9.9,27.256
$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,13.075,63.350,342.450,0.000,0.000,27.844,19.369,315.921,0.000,0.000,21.532,2664.771,11324.274,432.792,2945.321,214.531,33.367,1400.092,0.000,2396.818,0.000,0.540,0.000
$DEVICE_MAMPS,240.210,62.730,1780.920,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.702,2290.918,1089.091,1111.097,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353524
$DATA_FILE_SIZE,77238,1110
$CAP_FILE_SIZE,128935,0
$CFSIZE,259252224,213286912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130115,040122,-5553.407,-111.818,40,0.9,40,-19.6