version: 66.07
glider: 542
mission: 9
dive: 180
start: 1 9 115 19 30 33
data:
$ID,542
$MISSION,9
$DIVE,180
$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,-22166.949
$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,34
$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
$GPS1,090115,191829,-5549.974,-36.272,39,1.0,39,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-68.9
$GPS2,090115,192938,-5549.969,-36.240,21,1.1,21,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.228,-0.038
$KALMAN_X,104398.2,-481.1,-234.0,-141140.4,4389.5
$KALMAN_Y,45619.8,-231.6,-146.7,-26348.0,495.8
$MHEAD_RNG_PITCHd_Wd,280.5,30831,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.44,-146.1,0.0,0.0,0,75,0.00,0.00,-57.40,0.000,2,0.000,0.000,51,2957,2650,0,0,0,0,0,0
$GC,77,-0.44,-146.1,3.2,-2.8,7,96,6.50,1.60,-8.18,0.000,4,0.243,0.073,1631,3900,2939,0,0,0,0,0,0
$GC,238,-0.44,-146.1,32.9,-16.8,32,247,0.00,1.58,0.00,0.000,6,0.000,0.031,1632,2892,2941,0,0,0,0,0,0
$GC,355,-0.44,-146.1,52.0,-16.9,51,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2892,2941,0,0,0,0,0,0
$GC,468,-0.44,-146.1,70.7,-15.6,70,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2892,2941,0,0,0,0,0,0
$GC,583,-0.44,-146.1,88.9,-15.4,89,590,0.00,1.65,0.00,0.000,4,0.000,0.058,1624,3892,2941,0,0,0,0,0,0
$GC,617,-0.44,-146.1,93.6,-15.0,94,624,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2918,2941,0,0,0,0,0,0
$GC,842,-0.44,-146.1,128.3,-15.8,118,843,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2917,2941,0,0,0,0,0,0
$GC,1158,-0.44,-146.1,177.2,-16.1,148,1162,0.00,1.62,0.00,0.000,4,0.000,0.060,1616,3889,2942,0,0,0,0,0,0
$GC,1241,-0.44,-146.1,190.5,-15.6,155,1245,0.00,1.48,0.00,0.000,6,0.000,0.032,1617,2929,2942,0,0,0,0,0,0
$GC,1571,-0.44,-146.1,244.4,-15.5,186,1573,0.10,0.00,0.00,0.000,6,0.199,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,1884,-0.44,-146.1,285.2,-12.7,203,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,2194,-0.44,-146.1,324.0,-12.5,218,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,2504,-0.44,-146.1,362.9,-12.3,233,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,2810,-0.44,-146.1,402.3,-12.7,248,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,2941,0,0,0,0,0,0
$GC,3120,-0.44,-146.1,440.3,-12.3,263,3124,0.00,1.60,0.00,0.000,4,0.000,0.060,1633,3882,2941,0,0,0,0,0,0
$GC,3157,-0.44,-146.1,445.4,-13.8,264,3165,0.00,1.45,0.00,0.000,6,0.000,0.030,1633,2916,2942,0,0,0,0,0,0
$GC,3473,-0.44,-146.1,487.7,-13.4,280,3477,0.00,1.62,0.00,0.000,4,0.000,0.060,1625,3892,2941,0,0,0,0,0,0
$GC,3506,-0.44,-146.1,492.4,-14.3,281,3510,0.00,1.45,0.00,0.000,6,0.000,0.031,1625,2923,2942,0,0,0,0,0,0
$GC,3827,-0.44,-146.1,535.5,-13.3,297,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2918,2941,0,0,0,0,0,0
$GC,4138,-0.44,-146.1,575.5,-12.9,312,4141,0.00,1.60,0.00,0.000,4,0.000,0.059,1618,3885,2942,0,0,0,0,0,0
$GC,4205,-0.44,-146.1,584.8,-13.5,315,4209,0.00,1.42,0.00,0.000,6,0.000,0.031,1618,2940,2941,0,0,0,0,0,0
$GC,4537,-0.44,-146.1,629.0,-13.3,331,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2933,2941,0,0,0,0,0,0
$GC,4847,-0.44,-146.1,669.6,-13.1,346,4850,0.00,1.58,0.00,0.000,4,0.000,0.059,1610,3886,2941,0,0,0,0,0,0
$GC,4884,-0.44,-146.1,674.9,-13.1,347,4893,0.10,1.48,0.00,0.000,6,0.163,0.030,1642,2926,2942,0,0,0,0,0,0
$GC,5201,-0.44,-146.1,708.3,-10.3,363,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,5510,-0.44,-146.1,738.6,-9.8,378,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,5819,-0.44,-146.1,768.8,-10.0,393,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,6129,-0.44,-146.1,800.5,-10.2,408,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,6439,-0.44,-146.1,832.4,-10.1,423,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,6747,-0.44,-146.1,864.3,-10.3,438,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,7057,-0.44,-146.1,896.1,-10.3,453,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,7367,-0.44,-146.1,927.4,-10.1,468,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,7675,-0.44,-146.1,958.6,-9.8,483,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$GC,7985,-0.44,-146.1,988.7,-9.6,498,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2942,0,0,0,0,0,0
$STATE,8107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8107,begin apogee
$GC,8112,-0.13,0.0,1000.4,9.5,504,8250,0.32,0.00,134.57,1.773,6,0.162,0.000,1738,2713,2342,0,0,0,0,0,0
$STATE,8251,end apogee,CONTROL_FINISHED_OK
$STATE,8251,begin climb
$GC,8253,0.44,146.1,1005.0,0.0,511,8404,0.62,0.00,147.12,1.743,6,0.126,0.000,1922,2713,1745,0,0,0,0,0,0
$GC,8731,0.44,146.1,953.9,11.5,534,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2713,1736,0,0,0,0,0,0
$GC,9041,0.44,146.1,918.0,11.7,549,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2713,1735,0,0,0,0,0,0
$GC,9350,0.44,146.1,880.9,12.4,564,9353,0.00,1.98,0.00,0.000,4,0.000,0.058,1922,3893,1734,0,0,0,0,0,0
$GC,9387,0.44,146.1,875.4,14.2,565,9395,0.00,1.88,0.00,0.000,6,0.000,0.034,1930,2741,1732,0,0,0,0,0,0
$GC,9704,0.44,146.1,834.0,12.9,581,9708,0.00,2.30,0.00,0.000,4,0.000,0.045,1941,1285,1732,0,0,0,0,0,0
$GC,9741,0.44,146.1,829.0,11.8,582,9749,0.00,2.33,0.00,0.000,6,0.000,0.051,1942,2708,1732,0,0,0,0,0,0
$GC,10058,0.44,146.1,785.0,14.4,598,10061,0.00,1.92,0.00,0.000,4,0.000,0.057,1941,3899,1732,0,0,0,0,0,0
$GC,10119,0.44,146.1,775.1,15.9,600,10126,0.00,1.90,0.00,0.000,6,0.000,0.034,1950,2715,1730,0,0,0,0,0,0
$GC,10434,0.44,146.1,729.4,14.5,616,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2714,1730,0,0,0,0,0,0
$GC,10744,0.44,146.1,684.9,14.5,631,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2714,1730,0,0,0,0,0,0
$GC,11054,0.44,146.1,640.1,14.7,646,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2714,1730,0,0,0,0,0,0
$GC,11362,0.44,146.1,595.1,14.6,661,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2714,1730,0,0,0,0,0,0
$GC,11672,0.44,146.1,550.2,14.6,676,11675,0.00,1.98,0.00,0.000,4,0.000,0.057,1950,3897,1730,0,0,0,0,0,0
$GC,11704,0.44,146.1,544.8,16.2,677,11708,0.00,1.90,0.00,0.000,6,0.000,0.034,1959,2708,1729,0,0,0,0,0,0
$GC,12026,0.44,146.1,495.4,15.3,693,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2707,1729,0,0,0,0,0,0
$GC,12335,0.44,146.1,447.7,15.1,708,12339,0.00,1.95,0.00,0.000,4,0.000,0.056,1959,3898,1729,0,0,0,0,0,0
$GC,12368,0.44,146.1,442.1,17.2,709,12372,0.12,1.88,0.00,0.000,6,0.213,0.034,1940,2698,1729,0,0,0,0,0,0
$GC,12688,0.44,146.1,399.1,13.4,725,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2698,1729,0,0,0,0,0,0
$GC,13000,0.44,146.1,358.2,12.7,740,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2698,1729,0,0,0,0,0,0
$GC,13310,0.44,146.1,319.2,12.7,755,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2698,1729,0,0,0,0,0,0
$GC,13616,0.44,146.1,278.9,13.1,770,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2698,1729,0,0,0,0,0,0
$GC,13931,0.44,146.1,238.2,13.9,789,13935,0.00,1.98,0.00,0.000,4,0.000,0.057,1940,3901,1729,0,0,0,0,0,0
$GC,13980,0.44,146.1,231.0,14.3,793,13984,0.00,1.88,0.00,0.000,6,0.000,0.034,1948,2704,1729,0,0,0,0,0,0
$GC,14311,0.44,146.1,187.5,12.9,824,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2704,1729,0,0,0,0,0,0
$GC,14631,0.44,146.1,148.5,12.1,854,14635,0.00,2.20,0.00,0.000,4,0.000,0.041,1959,1285,1729,0,0,0,0,0,0
$GC,14674,0.44,146.1,143.7,11.1,857,14679,0.00,2.28,0.00,0.000,6,0.000,0.050,1959,2721,1729,0,0,0,0,0,0
$GC,15001,0.44,146.1,104.8,12.2,887,15004,0.00,1.88,0.00,0.000,4,0.000,0.057,1959,3886,1729,0,0,0,0,0,0
$GC,15151,0.44,146.1,85.3,12.8,909,15161,0.10,1.85,0.00,0.000,6,0.191,0.033,1939,2712,1728,0,0,0,0,0,0
$GC,15395,0.49,208.9,65.2,6.8,950,15439,0.00,2.25,35.90,0.960,4,0.000,0.043,1949,1291,1486,0,0,0,0,0,0
$GC,15495,0.51,236.9,57.2,8.3,965,15516,0.00,2.30,15.40,0.894,6,0.000,0.050,1949,2717,1373,0,0,0,0,0,0
$GC,15623,0.51,236.9,44.3,10.0,986,15632,0.00,1.95,0.00,0.000,4,0.000,0.059,1948,3882,1367,0,0,0,0,0,0
$GC,15651,0.51,236.9,41.2,10.9,990,15660,0.00,1.92,0.00,0.000,6,0.000,0.035,1957,2702,1367,0,0,0,0,0,0
$GC,15770,0.51,236.9,28.2,10.1,1009,15779,0.00,2.25,0.00,0.000,4,0.000,0.044,1967,1296,1365,0,0,0,0,0,0
$GC,15818,0.51,236.9,23.3,9.9,1016,15827,0.00,2.30,0.00,0.000,6,0.000,0.050,1967,2702,1363,0,0,0,0,0,0
$GC,15904,0.51,236.9,13.2,11.9,1029,15912,0.00,1.98,0.00,0.000,4,0.000,0.059,1967,3890,1363,0,0,0,0,0,0
$GC,15933,0.51,236.9,9.0,13.7,1033,15942,0.00,1.92,0.00,0.000,6,0.000,0.037,1976,2706,1363,0,0,0,0,0,0
$STATE,15973,end climb,SURFACE_DEPTH_REACHED
$STATE,15973,begin surface coast
$FINISH,0.9,1.027067
$STATE,15999,end surface coast,CONTROL_FINISHED_OK
$STATE,16000,begin surface
$SM_CCo,16073,0.00,0.000,0,0,1361,240.88
$SM_GC,2.04,5.22,0.00,0.00,0.058,0.000,0.000,64,2946,1361,-5.32,0.45,240.88
$IRIDIUM_FIX,-5527.50,-34.53,090115,191915
$TT8_MAMPS,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.0,37.268
$10V_AH,9.9,25.198
$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,13.100,71.200,333.000,0.000,0.000,52.212,99.690,319.142,0.000,0.000,23.501,2532.100,10628.844,420.288,2927.397,225.830,33.373,1368.664,0.000,2289.856,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,73.440,1773.270,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.972,2153.314,1016.601,1052.427,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353508
$DATA_FILE_SIZE,70407,1043
$CAP_FILE_SIZE,127903,0
$CFSIZE,259252224,214474752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090115,235935,-5550.952,-38.579,36,0.8,36,-19.8