version: 66.07
glider: 542
mission: 9
dive: 218
start: 1 17 115 9 27 41
data:
$ID,542
$MISSION,9
$DIVE,218
$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,-22284.559
$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,52
$R_STBD_OVSHOOT,35
$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
$GPS1,170115,091805,-5547.873,-28.112,33,0.9,34,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-71.3
$GPS2,170115,092647,-5547.844,-28.091,13,1.6,13,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.142,0.182
$KALMAN_X,125785.9,-364.0,-70.2,-154379.3,1984.6
$KALMAN_Y,8455.0,46.1,47.1,14279.7,-1166.6
$MHEAD_RNG_PITCHd_Wd,341.9,5631,-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,-33.47,0.000,2,0.000,0.000,49,2896,2260,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-2.7,4,90,6.60,1.73,-23.33,0.000,4,0.246,0.080,1629,3889,2939,0,0,0,0,0,0
$GC,362,-0.44,-146.1,50.9,-16.5,53,369,0.00,1.52,0.00,0.000,6,0.000,0.034,1629,2915,2941,0,0,0,0,0,0
$GC,474,-0.44,-146.1,70.5,-17.7,72,483,0.00,1.65,0.00,0.000,4,0.000,0.059,1622,3895,2941,0,0,0,0,0,0
$GC,538,-0.44,-146.1,81.4,-17.7,82,546,0.00,1.50,0.00,0.000,6,0.000,0.032,1622,2927,2942,0,0,0,0,0,0
$GC,766,-0.44,-146.1,118.5,-15.7,112,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2927,2942,0,0,0,0,0,0
$GC,1084,-0.44,-146.1,164.1,-14.3,142,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2927,2942,0,0,0,0,0,0
$GC,1403,-0.44,-146.1,209.4,-13.9,172,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2927,2942,0,0,0,0,0,0
$GC,1725,-0.44,-146.1,254.3,-14.3,201,1728,0.00,1.60,0.00,0.000,4,0.000,0.060,1614,3886,2942,0,0,0,0,0,0
$GC,1772,-0.44,-146.1,261.8,-15.0,203,1776,0.08,1.48,0.00,0.000,6,0.175,0.031,1637,2932,2942,0,0,0,0,0,0
$GC,2106,-0.44,-146.1,302.4,-12.2,219,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2929,2942,0,0,0,0,0,0
$GC,2415,-0.44,-146.1,339.5,-11.9,234,2419,0.00,1.60,0.00,0.000,4,0.000,0.060,1630,3889,2942,0,0,0,0,0,0
$GC,2465,-0.44,-146.1,346.3,-12.7,236,2469,0.00,1.48,0.00,0.000,6,0.000,0.030,1630,2919,2942,0,0,0,0,0,0
$GC,2794,-0.44,-146.1,387.3,-12.8,252,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2914,2942,0,0,0,0,0,0
$GC,3102,-0.44,-146.1,426.8,-12.4,267,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2914,2942,0,0,0,0,0,0
$GC,3411,-0.44,-146.1,463.9,-12.0,282,3414,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3917,2942,0,0,0,0,0,0
$GC,3460,-0.44,-146.1,470.3,-12.3,284,3465,0.00,1.50,0.00,0.000,6,0.000,0.030,1622,2933,2942,0,0,0,0,0,0
$GC,3789,-0.44,-146.1,509.3,-11.3,300,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2926,2942,0,0,0,0,0,0
$GC,4097,-0.44,-146.1,544.9,-11.4,315,4100,0.00,1.60,0.00,0.000,4,0.000,0.060,1615,3887,2942,0,0,0,0,0,0
$GC,4145,-0.44,-146.1,551.1,-12.1,317,4151,0.08,1.45,0.00,0.000,6,0.166,0.031,1639,2937,2942,0,0,0,0,0,0
$GC,4473,-0.44,-146.1,584.3,-10.1,333,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2942,0,0,0,0,0,0
$GC,4782,-0.44,-146.1,616.5,-10.9,348,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2938,2942,0,0,0,0,0,0
$GC,5092,-0.44,-146.1,649.1,-10.5,363,5096,0.00,1.58,0.00,0.000,4,0.000,0.060,1632,3885,2942,0,0,0,0,0,0
$GC,5138,-0.44,-146.1,654.0,-11.3,365,5142,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2914,2942,0,0,0,0,0,0
$GC,5470,-0.44,-146.1,691.0,-11.3,381,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2910,2942,0,0,0,0,0,0
$GC,5780,-0.44,-146.1,724.6,-10.7,396,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2910,2942,0,0,0,0,0,0
$GC,6089,-0.44,-146.1,757.2,-10.3,411,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2910,2942,0,0,0,0,0,0
$GC,6398,-0.44,-146.1,788.6,-10.2,426,6402,0.00,1.62,0.00,0.000,4,0.000,0.060,1624,3883,2942,0,0,0,0,0,0
$GC,6448,-0.44,-146.1,794.2,-11.5,428,6451,0.00,1.45,0.00,0.000,6,0.000,0.031,1624,2929,2942,0,0,0,0,0,0
$GC,6774,-0.44,-146.1,829.2,-10.6,444,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2923,2942,0,0,0,0,0,0
$GC,7084,-0.44,-146.1,861.4,-10.4,459,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2923,2942,0,0,0,0,0,0
$GC,7394,-0.44,-146.1,893.6,-10.2,474,7397,0.00,1.60,0.00,0.000,4,0.000,0.060,1617,3883,2942,0,0,0,0,0,0
$GC,7431,-0.44,-146.1,898.2,-11.1,475,7440,0.08,1.45,0.00,0.000,6,0.162,0.031,1641,2937,2942,0,0,0,0,0,0
$GC,7749,-0.44,-146.1,926.7,-9.1,491,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2937,2942,0,0,0,0,0,0
$GC,8057,-0.44,-146.1,955.0,-9.1,506,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2937,2942,0,0,0,0,0,0
$GC,8366,-0.44,-146.1,984.0,-9.6,521,8370,0.00,1.58,0.00,0.000,4,0.000,0.061,1634,3882,2942,0,0,0,0,0,0
$GC,8405,-0.44,-146.1,988.0,-10.5,522,8412,0.00,1.45,0.00,0.000,6,0.000,0.031,1634,2917,2942,0,0,0,0,0,0
$STATE,8533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8533,begin apogee
$GC,8538,-0.13,0.0,1000.7,9.9,529,8677,0.38,0.00,135.95,1.783,6,0.165,0.000,1742,2719,2342,0,0,0,0,0,0
$STATE,8678,end apogee,CONTROL_FINISHED_OK
$STATE,8678,begin climb
$GC,8679,0.44,146.1,1004.9,0.0,536,8831,0.62,0.00,148.32,1.737,6,0.124,0.000,1924,2719,1746,0,0,0,0,0,0
$GC,9130,0.44,146.1,954.9,12.5,558,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2719,1738,0,0,0,0,0,0
$GC,9439,0.44,146.1,915.1,12.6,573,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2719,1736,0,0,0,0,0,0
$GC,9749,0.44,146.1,876.1,12.8,588,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2719,1735,0,0,0,0,0,0
$GC,10058,0.44,146.1,837.7,12.0,603,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2719,1734,0,0,0,0,0,0
$GC,10367,0.44,146.1,800.8,12.2,618,10371,0.00,1.98,0.00,0.000,4,0.000,0.060,1924,3889,1733,0,0,0,0,0,0
$GC,10415,0.44,146.1,794.6,13.9,620,10419,0.00,1.83,0.00,0.000,6,0.000,0.035,1933,2735,1731,0,0,0,0,0,0
$GC,10748,0.44,146.1,752.2,12.6,636,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2735,1731,0,0,0,0,0,0
$GC,11056,0.44,146.1,712.6,12.9,651,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2735,1731,0,0,0,0,0,0
$GC,11366,0.44,146.1,673.4,12.6,666,11368,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2735,1731,0,0,0,0,0,0
$GC,11675,0.44,146.1,635.2,12.2,681,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2735,1731,0,0,0,0,0,0
$GC,11985,0.44,146.1,598.3,12.0,696,11989,0.00,2.25,0.00,0.000,4,0.000,0.046,1944,1296,1731,0,0,0,0,0,0
$GC,12032,0.44,146.1,593.0,10.5,698,12036,0.00,2.28,0.00,0.000,6,0.000,0.052,1944,2721,1731,0,0,0,0,0,0
$GC,12358,0.44,146.1,550.9,12.8,714,12362,0.00,1.90,0.00,0.000,4,0.000,0.059,1944,3899,1730,0,0,0,0,0,0
$GC,12408,0.44,146.1,543.7,14.1,716,12412,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2708,1729,0,0,0,0,0,0
$GC,12734,0.44,146.1,498.4,14.4,732,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2707,1729,0,0,0,0,0,0
$GC,13043,0.44,146.1,454.9,13.8,747,13047,0.00,1.95,0.00,0.000,4,0.000,0.057,1953,3892,1729,0,0,0,0,0,0
$GC,13093,0.44,146.1,447.1,14.8,749,13097,0.00,1.88,0.00,0.000,6,0.000,0.034,1962,2709,1730,0,0,0,0,0,0
$GC,13420,0.44,146.1,399.9,14.4,765,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2709,1730,0,0,0,0,0,0
$GC,13729,0.44,146.1,357.0,13.7,780,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2709,1730,0,0,0,0,0,0
$GC,14041,0.44,146.1,318.2,12.5,795,14045,0.00,2.22,0.00,0.000,4,0.000,0.044,1973,1285,1729,0,0,0,0,0,0
$GC,14090,0.44,146.1,312.0,10.5,797,14095,0.12,2.30,0.00,0.000,6,0.175,0.052,1937,2714,1729,0,0,0,0,0,0
$GC,14414,0.44,146.1,277.3,11.6,813,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2714,1729,0,0,0,0,0,0
$GC,14723,0.44,146.1,243.4,10.7,830,14727,0.00,1.90,0.00,0.000,4,0.000,0.058,1937,3896,1730,0,0,0,0,0,0
$GC,14785,0.44,146.1,236.1,12.7,835,14788,0.00,1.85,0.00,0.000,6,0.000,0.034,1945,2697,1729,0,0,0,0,0,0
$GC,15115,0.44,146.1,198.5,10.7,866,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2696,1729,0,0,0,0,0,0
$GC,15434,0.44,146.1,160.9,12.0,896,15438,0.00,2.17,0.00,0.000,4,0.000,0.043,1955,1284,1730,0,0,0,0,0,0
$GC,15487,0.44,146.1,155.2,10.1,900,15491,0.00,2.28,0.00,0.000,6,0.000,0.051,1955,2712,1729,0,0,0,0,0,0
$GC,15812,0.44,146.1,118.9,10.8,930,15815,0.00,1.90,0.00,0.000,4,0.000,0.059,1955,3892,1729,0,0,0,0,0,0
$GC,15894,0.44,146.1,109.0,12.2,937,15899,0.12,1.83,0.00,0.000,6,0.207,0.034,1936,2707,1729,0,0,0,0,0,0
$GC,16238,0.49,209.5,81.1,6.8,988,16279,0.00,0.00,36.10,1.024,6,0.000,0.000,1936,2706,1486,0,0,0,0,0,0
$GC,16387,0.50,225.2,69.2,8.8,1012,16403,0.00,2.30,10.25,0.905,4,0.000,0.044,1945,1299,1422,0,0,0,0,0,0
$GC,16437,0.54,264.3,65.3,7.8,1019,16467,0.00,2.30,23.08,0.944,6,0.000,0.051,1945,2712,1261,0,0,0,0,0,0
$GC,16576,0.56,292.1,52.9,8.3,1041,16598,0.00,1.95,15.57,0.886,4,0.000,0.057,1945,3886,1147,0,0,0,0,0,0
$GC,16631,0.56,292.1,47.4,10.6,1049,16638,0.00,1.92,0.00,0.000,6,0.000,0.036,1952,2715,1145,0,0,0,0,0,0
$GC,16744,0.56,292.1,35.7,9.8,1068,16753,0.00,2.30,0.00,0.000,4,0.000,0.045,1962,1295,1141,0,0,0,0,0,0
$GC,16794,0.56,292.1,30.8,9.5,1076,16803,0.00,2.33,0.00,0.000,6,0.000,0.051,1963,2705,1139,0,0,0,0,0,0
$GC,16917,0.56,292.1,17.4,11.5,1095,16925,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2705,1138,0,0,0,0,0,0
$GC,17000,0.56,292.1,7.9,11.6,1108,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2705,1137,0,0,0,0,0,0
$STATE,17046,end climb,SURFACE_DEPTH_REACHED
$STATE,17046,begin surface coast
$FINISH,1.2,1.017947
$STATE,17078,end surface coast,CONTROL_FINISHED_OK
$STATE,17078,begin surface
$SM_CCo,17152,0.00,0.000,0,0,1136,295.83
$SM_GC,2.31,5.22,0.00,0.00,0.062,0.000,0.000,60,2936,1136,-5.32,0.17,295.83
$IRIDIUM_FIX,-5527.50,-38.32,170115,040437
$TT8_MAMPS,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,43.774
$10V_AH,9.9,30.115
$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,13.300,77.025,369.275,0.000,0.000,27.488,47.447,314.503,0.000,0.000,15.986,2733.035,11190.296,450.378,3053.511,240.488,33.371,1453.974,0.000,2483.664,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,79.560,1783.215,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.143,2301.245,1098.873,1132.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353464
$DATA_FILE_SIZE,76899,1120
$CAP_FILE_SIZE,136378,0
$CFSIZE,259252224,211668992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170115,141435,-5546.116,-30.756,28,0.9,28,-19.9