version: 66.07
glider: 542
mission: 9
dive: 185
start: 1 10 115 19 11 23
data:
$ID,542
$MISSION,9
$DIVE,185
$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,-22181.816
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,100115,190123,-5552.625,-50.134,36,0.9,36,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-50.0
$GPS2,100115,191029,-5552.657,-50.157,16,1.2,16,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.213,0.089
$KALMAN_X,113319.1,-423.9,-326.1,-164434.9,3948.8
$KALMAN_Y,38019.1,265.6,14.6,-24393.1,-2566.3
$MHEAD_RNG_PITCHd_Wd,312.3,16996,-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,-146.1,0.0,0.0,0,69,0.00,0.00,-49.83,0.000,2,0.000,0.000,45,2940,2444,0,0,0,0,0,0
$GC,71,-0.44,-146.1,3.1,-2.9,6,98,6.53,1.62,-15.45,0.000,4,0.242,0.076,1630,3895,2940,0,0,0,0,0,0
$GC,367,-0.44,-146.1,55.0,-17.4,54,377,0.00,1.55,0.00,0.000,6,0.000,0.031,1630,2900,2942,0,0,0,0,0,0
$GC,484,-0.44,-146.1,75.5,-18.0,73,491,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3892,2942,0,0,0,0,0,0
$GC,558,-0.44,-146.1,89.0,-17.8,85,565,0.00,1.50,0.00,0.000,6,0.000,0.031,1622,2918,2942,0,0,0,0,0,0
$GC,786,-0.44,-146.1,126.5,-16.8,111,790,0.00,2.12,0.00,0.000,4,0.000,0.040,1622,1544,2942,0,0,0,0,0,0
$GC,818,-0.44,-146.1,132.6,-15.6,113,827,0.08,2.28,0.00,0.000,6,0.171,0.054,1636,2922,2942,0,0,0,0,0,0
$GC,1144,-0.44,-146.1,178.9,-13.8,144,1147,0.00,1.60,0.00,0.000,4,0.000,0.062,1629,3900,2942,0,0,0,0,0,0
$GC,1205,-0.44,-146.1,187.9,-13.6,149,1213,0.00,1.48,0.00,0.000,6,0.000,0.030,1628,2925,2942,0,0,0,0,0,0
$GC,1530,-0.44,-146.1,229.6,-12.2,180,1534,0.00,1.62,0.00,0.000,4,0.000,0.061,1621,3925,2942,0,0,0,0,0,0
$GC,1604,-0.44,-146.1,239.4,-12.7,186,1614,0.00,1.52,0.00,0.000,6,0.000,0.031,1621,2926,2942,0,0,0,0,0,0
$GC,1923,-0.44,-146.1,282.8,-14.3,206,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2926,2942,0,0,0,0,0,0
$GC,2233,-0.44,-146.1,328.2,-14.9,221,2237,0.00,1.62,0.00,0.000,4,0.000,0.062,1613,3899,2942,0,0,0,0,0,0
$GC,2282,-0.44,-146.1,336.4,-15.8,223,2287,0.00,1.48,0.00,0.000,6,0.000,0.031,1613,2935,2942,0,0,0,0,0,0
$GC,2613,-0.44,-146.1,384.6,-14.5,239,2615,0.12,0.00,0.00,0.000,6,0.194,0.000,1644,2927,2942,0,0,0,0,0,0
$GC,2920,-0.44,-146.1,420.0,-10.8,254,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2927,2942,0,0,0,0,0,0
$GC,3229,-0.44,-146.1,452.9,-10.8,269,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2927,2942,0,0,0,0,0,0
$GC,3539,-0.44,-146.1,486.9,-10.9,284,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2927,2942,0,0,0,0,0,0
$GC,3847,-0.44,-146.1,521.0,-11.1,299,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2927,2942,0,0,0,0,0,0
$GC,4157,-0.44,-146.1,556.6,-11.2,314,4161,0.00,1.62,0.00,0.000,4,0.000,0.062,1637,3900,2942,0,0,0,0,0,0
$GC,4217,-0.44,-146.1,563.8,-11.7,316,4224,0.00,1.48,0.00,0.000,6,0.000,0.031,1637,2936,2942,0,0,0,0,0,0
$GC,4533,-0.44,-146.1,600.9,-12.0,332,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2942,0,0,0,0,0,0
$GC,4843,-0.44,-146.1,636.9,-11.5,347,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2942,0,0,0,0,0,0
$GC,5151,-0.44,-146.1,672.4,-11.7,362,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2942,0,0,0,0,0,0
$GC,5461,-0.44,-146.1,707.1,-11.1,377,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2943,0,0,0,0,0,0
$GC,5771,-0.44,-146.1,741.2,-10.8,392,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2943,0,0,0,0,0,0
$GC,6079,-0.44,-146.1,774.8,-11.0,407,6083,0.00,1.60,0.00,0.000,4,0.000,0.063,1629,3896,2942,0,0,0,0,0,0
$GC,6117,-0.44,-146.1,779.3,-12.0,408,6125,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2934,2943,0,0,0,0,0,0
$GC,6434,-0.44,-146.1,813.7,-10.5,424,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2934,2943,0,0,0,0,0,0
$GC,6743,-0.44,-146.1,845.9,-10.6,439,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2934,2943,0,0,0,0,0,0
$GC,7052,-0.44,-146.1,877.3,-9.7,454,7055,0.00,1.62,0.00,0.000,4,0.000,0.063,1622,3905,2942,0,0,0,0,0,0
$GC,7101,-0.44,-146.1,882.6,-11.1,456,7105,0.00,1.50,0.00,0.000,6,0.000,0.032,1622,2926,2943,0,0,0,0,0,0
$GC,7428,-0.44,-146.1,915.4,-10.2,472,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2922,2942,0,0,0,0,0,0
$GC,7738,-0.44,-146.1,946.6,-10.0,487,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2922,2942,0,0,0,0,0,0
$GC,8048,-0.44,-146.1,977.5,-9.8,502,8051,0.00,1.65,0.00,0.000,4,0.000,0.064,1614,3922,2942,0,0,0,0,0,0
$GC,8085,-0.44,-146.1,981.9,-11.9,503,8094,0.08,1.52,0.00,0.000,6,0.164,0.031,1639,2935,2942,0,0,0,0,0,0
$STATE,8297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8297,begin apogee
$GC,8302,-0.13,0.0,1000.0,8.3,514,8441,0.35,0.00,134.35,1.766,6,0.159,0.000,1742,2707,2342,0,0,0,0,0,0
$STATE,8441,end apogee,CONTROL_FINISHED_OK
$STATE,8441,begin climb
$GC,8444,0.44,146.1,1002.5,0.0,521,8595,0.62,0.00,147.57,1.734,6,0.124,0.000,1925,2707,1745,0,0,0,0,0,0
$GC,8896,0.44,146.1,948.4,12.7,543,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2707,1737,0,0,0,0,0,0
$GC,9204,0.44,146.1,909.3,12.7,558,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2707,1736,0,0,0,0,0,0
$GC,9514,0.44,146.1,869.6,12.8,573,9518,0.00,2.00,0.00,0.000,4,0.000,0.061,1925,3907,1734,0,0,0,0,0,0
$GC,9561,0.44,146.1,863.0,14.1,575,9565,0.00,1.88,0.00,0.000,6,0.000,0.035,1934,2739,1732,0,0,0,0,0,0
$GC,9893,0.44,146.1,818.1,12.9,591,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2738,1732,0,0,0,0,0,0
$GC,10202,0.44,146.1,777.6,13.1,606,10203,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2738,1732,0,0,0,0,0,0
$GC,10512,0.44,146.1,737.4,13.2,621,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2738,1732,0,0,0,0,0,0
$GC,10820,0.44,146.1,697.4,12.7,636,10825,0.00,2.28,0.00,0.000,4,0.000,0.045,1945,1292,1732,0,0,0,0,0,0
$GC,10852,0.44,146.1,693.3,11.5,637,10860,0.00,2.33,0.00,0.000,6,0.000,0.054,1945,2722,1731,0,0,0,0,0,0
$GC,11170,0.44,146.1,651.4,13.6,653,11173,0.00,1.92,0.00,0.000,4,0.000,0.062,1945,3889,1731,0,0,0,0,0,0
$GC,11219,0.44,146.1,643.6,16.6,655,11223,0.00,1.88,0.00,0.000,6,0.000,0.034,1954,2716,1730,0,0,0,0,0,0
$GC,11546,0.44,146.1,597.7,13.9,671,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2716,1730,0,0,0,0,0,0
$GC,11856,0.44,146.1,555.9,13.3,686,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2716,1730,0,0,0,0,0,0
$GC,12165,0.44,146.1,514.7,13.3,701,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2717,1730,0,0,0,0,0,0
$GC,12475,0.44,146.1,474.0,13.1,716,12478,0.00,1.95,0.00,0.000,4,0.000,0.060,1954,3894,1730,0,0,0,0,0,0
$GC,12523,0.44,146.1,466.5,15.5,718,12528,0.00,1.90,0.00,0.000,6,0.000,0.034,1963,2703,1729,0,0,0,0,0,0
$GC,12852,0.44,146.1,421.0,14.0,734,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2702,1729,0,0,0,0,0,0
$GC,13163,0.44,146.1,376.6,14.8,749,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2703,1729,0,0,0,0,0,0
$GC,13470,0.44,146.1,330.7,14.9,764,13473,0.00,1.95,0.00,0.000,4,0.000,0.059,1963,3887,1729,0,0,0,0,0,0
$GC,13524,0.44,146.1,321.2,17.1,766,13530,0.12,1.88,0.00,0.000,6,0.191,0.034,1937,2709,1729,0,0,0,0,0,0
$GC,13847,0.44,146.1,280.9,12.2,782,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1729,0,0,0,0,0,0
$GC,14159,0.44,146.1,244.2,11.5,799,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2709,1729,0,0,0,0,0,0
$GC,14479,0.44,146.1,206.3,11.7,829,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2709,1729,0,0,0,0,0,0
$GC,14804,0.44,146.1,166.9,12.5,860,14805,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1729,0,0,0,0,0,0
$GC,15123,0.44,146.1,130.2,10.7,890,15125,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2709,1729,0,0,0,0,0,0
$GC,15441,0.44,146.1,99.1,10.1,920,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2708,1729,0,0,0,0,0,0
$GC,15681,0.45,153.8,75.8,9.2,961,15690,0.00,0.00,3.15,0.687,6,0.000,0.000,1937,2708,1714,0,0,0,0,0,0
$GC,15797,0.46,172.6,64.8,8.7,980,15820,0.00,0.00,14.30,0.943,6,0.000,0.000,1937,2708,1638,0,0,0,0,0,0
$GC,15927,0.46,172.6,52.6,9.8,1001,15934,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2708,1635,0,0,0,0,0,0
$GC,16039,0.46,172.6,41.5,9.7,1020,16048,0.00,1.98,0.00,0.000,4,0.000,0.060,1937,3885,1634,0,0,0,0,0,0
$GC,16086,0.46,172.6,36.9,11.0,1027,16093,0.00,1.88,0.00,0.000,6,0.000,0.035,1945,2717,1634,0,0,0,0,0,0
$GC,16202,0.46,173.4,26.0,9.5,1046,16211,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2716,1634,0,0,0,0,0,0
$GC,16286,0.46,173.4,18.2,9.6,1059,16294,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2716,1634,0,0,0,0,0,0
$GC,16370,0.48,191.7,11.3,8.7,1072,16388,0.00,1.95,10.98,0.759,4,0.000,0.061,1945,3896,1557,0,0,0,0,0,0
$GC,16433,0.48,191.7,5.8,9.6,1081,16442,0.00,1.90,0.00,0.000,6,0.000,0.037,1954,2720,1554,0,0,0,0,0,0
$STATE,16462,end climb,SURFACE_DEPTH_REACHED
$STATE,16462,begin surface coast
$FINISH,0.9,1.027068
$STATE,16494,end surface coast,CONTROL_FINISHED_OK
$STATE,16494,begin surface
$SM_CCo,16507,3.75,0.168,0,0,1525,200.16
$SM_GC,2.74,0.00,0.00,3.75,0.000,0.000,0.168,61,2931,1525,-5.40,0.00,200.16
$IRIDIUM_FIX,-5531.31,-46.04,100115,141439
$TT8_MAMPS,0.026964
$HUMID,57.24
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.0,38.111
$10V_AH,9.9,25.843
$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,13.150,60.850,310.350,3.750,0.000,29.053,45.473,338.129,0.000,0.000,18.813,2633.765,10773.891,442.212,2979.973,222.083,33.368,1396.292,0.000,2389.858,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,75.735,1765.620,167.535,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.726,2257.377,1079.435,1136.913,0.000,0.000,0.000,0.000,0.000,0.000
$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,73532,1090
$CAP_FILE_SIZE,128866,0
$CFSIZE,259252224,214102016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100115,234834,-5552.707,-53.256,84,1.0,84,-19.7