version: 66.07
glider: 542
mission: 9
dive: 190
start: 1 11 115 19 10 35
data:
$ID,542
$MISSION,9
$DIVE,190
$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,-22196.691
$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,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
$GPS1,110115,190052,-5557.776,-100.445,42,0.9,43,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-68.7
$GPS2,110115,190941,-5557.758,-100.294,13,1.7,13,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.175,-0.091
$KALMAN_X,123544.3,-166.5,-58.4,-185692.2,3973.0
$KALMAN_Y,33675.7,565.5,425.3,-30223.1,-2228.4
$MHEAD_RNG_PITCHd_Wd,262.2,4164,-21.1,-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,15,begin dive
$GC,16,-0.48,-104.7,0.0,0.0,0,52,0.00,0.00,-33.50,0.000,2,0.000,0.000,45,2935,2199,0,0,0,0,0,0
$GC,54,-0.51,-146.1,3.2,-5.0,4,97,6.40,1.62,-26.02,0.000,4,0.239,0.079,1610,3893,2940,0,0,0,0,0,0
$GC,166,-0.51,-146.1,17.5,-17.7,20,175,0.00,1.58,0.00,0.000,6,0.000,0.032,1610,2897,2941,0,0,0,0,0,0
$GC,250,-0.51,-146.1,34.5,-21.3,33,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2897,2942,0,0,0,0,0,0
$GC,364,-0.51,-146.1,57.7,-19.1,52,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2896,2941,0,0,0,0,0,0
$GC,479,-0.51,-146.1,79.3,-19.2,71,486,0.00,1.67,0.00,0.000,4,0.000,0.061,1602,3889,2942,0,0,0,0,0,0
$GC,555,-0.51,-146.1,93.7,-18.8,84,564,0.00,1.50,0.00,0.000,6,0.000,0.034,1602,2924,2941,0,0,0,0,0,0
$GC,784,-0.51,-146.1,132.7,-16.1,108,788,0.00,1.62,0.00,0.000,4,0.000,0.060,1595,3891,2942,0,0,0,0,0,0
$GC,821,-0.51,-146.1,138.3,-16.4,111,825,0.00,1.50,0.00,0.000,6,0.000,0.033,1595,2926,2942,0,0,0,0,0,0
$GC,1151,-0.51,-146.1,194.1,-16.3,142,1155,0.00,1.62,0.00,0.000,4,0.000,0.060,1587,3892,2941,0,0,0,0,0,0
$GC,1202,-0.51,-146.1,203.1,-17.3,146,1213,0.10,1.50,0.00,0.000,6,0.180,0.031,1617,2924,2941,0,0,0,0,0,0
$GC,1529,-0.51,-146.1,248.1,-13.5,177,1533,0.00,2.12,0.00,0.000,4,0.000,0.041,1617,1543,2942,0,0,0,0,0,0
$GC,1561,-0.51,-146.1,253.0,-13.7,178,1571,0.00,2.28,0.00,0.000,6,0.000,0.055,1606,2925,2942,0,0,0,0,0,0
$GC,1879,-0.51,-146.1,299.8,-15.0,194,1882,0.00,1.60,0.00,0.000,4,0.000,0.062,1599,3909,2942,0,0,0,0,0,0
$GC,1939,-0.51,-146.1,310.0,-16.3,196,1949,0.00,1.50,0.00,0.000,6,0.000,0.031,1599,2922,2942,0,0,0,0,0,0
$GC,2255,-0.51,-146.1,357.0,-14.7,212,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2922,2942,0,0,0,0,0,0
$GC,2567,-0.51,-146.1,402.8,-14.8,227,2571,0.00,1.62,0.00,0.000,4,0.000,0.060,1592,3897,2942,0,0,0,0,0,0
$GC,2638,-0.51,-146.1,414.9,-15.9,230,2644,0.08,1.48,0.00,0.000,6,0.175,0.031,1614,2937,2942,0,0,0,0,0,0
$GC,2966,-0.51,-146.1,459.8,-13.9,246,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2938,2942,0,0,0,0,0,0
$GC,3275,-0.51,-146.1,502.2,-13.2,261,3279,0.00,1.60,0.00,0.000,4,0.000,0.061,1607,3899,2942,0,0,0,0,0,0
$GC,3321,-0.51,-146.1,508.5,-14.2,263,3325,0.00,1.50,0.00,0.000,6,0.000,0.031,1607,2919,2942,0,0,0,0,0,0
$GC,3654,-0.51,-146.1,554.3,-13.5,279,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2914,2942,0,0,0,0,0,0
$GC,3962,-0.51,-146.1,595.4,-13.4,294,3966,0.00,1.65,0.00,0.000,4,0.000,0.061,1600,3920,2942,0,0,0,0,0,0
$GC,4018,-0.51,-146.1,603.5,-14.5,296,4022,0.00,1.52,0.00,0.000,6,0.000,0.031,1600,2924,2942,0,0,0,0,0,0
$GC,4340,-0.51,-146.1,646.8,-13.3,312,4343,0.00,1.62,0.00,0.000,4,0.000,0.060,1592,3898,2942,0,0,0,0,0,0
$GC,4372,-0.51,-146.1,651.8,-14.3,313,4377,0.08,1.48,0.00,0.000,6,0.177,0.031,1615,2939,2943,0,0,0,0,0,0
$GC,4693,-0.51,-146.1,691.4,-12.0,329,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2937,2942,0,0,0,0,0,0
$GC,5003,-0.51,-146.1,729.0,-12.1,344,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2938,2943,0,0,0,0,0,0
$GC,5312,-0.51,-146.1,766.7,-12.3,359,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2937,2943,0,0,0,0,0,0
$GC,5622,-0.51,-146.1,804.2,-11.9,374,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2937,2943,0,0,0,0,0,0
$GC,5931,-0.51,-146.1,841.5,-12.0,389,5934,0.00,1.60,0.00,0.000,4,0.000,0.061,1608,3895,2943,0,0,0,0,0,0
$GC,5977,-0.51,-146.1,847.3,-13.6,391,5981,0.00,1.48,0.00,0.000,6,0.000,0.031,1608,2923,2943,0,0,0,0,0,0
$GC,6310,-0.51,-146.1,888.7,-12.7,407,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2918,2943,0,0,0,0,0,0
$GC,6619,-0.51,-146.1,927.2,-12.5,422,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2918,2943,0,0,0,0,0,0
$GC,6928,-0.51,-146.1,965.4,-12.5,437,6931,0.00,1.65,0.00,0.000,4,0.000,0.060,1600,3923,2943,0,0,0,0,0,0
$GC,6966,-0.51,-146.1,970.9,-14.0,438,6973,0.00,1.52,0.00,0.000,6,0.000,0.031,1600,2922,2943,0,0,0,0,0,0
$STATE,7198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7198,begin apogee
$GC,7202,-0.13,0.0,1001.8,13.3,450,7341,0.50,0.00,134.73,1.776,6,0.170,0.000,1745,2723,2342,0,0,0,0,0,0
$STATE,7342,end apogee,CONTROL_FINISHED_OK
$STATE,7342,begin climb
$GC,7344,0.51,146.1,1007.4,0.0,457,7497,0.70,0.00,147.35,1.752,6,0.119,0.000,1949,2723,1746,0,0,0,0,0,0
$GC,7797,0.51,146.1,951.3,14.5,479,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2723,1738,0,0,0,0,0,0
$GC,8107,0.51,146.1,906.1,14.8,494,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2723,1736,0,0,0,0,0,0
$GC,8416,0.51,146.1,860.8,14.9,509,8419,0.00,2.00,0.00,0.000,4,0.000,0.059,1949,3925,1735,0,0,0,0,0,0
$GC,8442,0.51,146.1,856.3,16.3,510,8447,0.00,1.92,0.00,0.000,6,0.000,0.034,1959,2739,1733,0,0,0,0,0,0
$GC,8770,0.51,146.1,805.6,15.3,526,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2738,1733,0,0,0,0,0,0
$GC,9078,0.51,146.1,758.8,15.0,541,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2738,1732,0,0,0,0,0,0
$GC,9388,0.51,146.1,711.5,15.1,556,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2738,1732,0,0,0,0,0,0
$GC,9698,0.51,146.1,665.4,14.9,571,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2738,1732,0,0,0,0,0,0
$GC,10006,0.51,146.1,620.4,15.0,586,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2738,1732,0,0,0,0,0,0
$GC,10316,0.51,146.1,574.3,14.8,601,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2737,1731,0,0,0,0,0,0
$GC,10626,0.51,146.1,527.8,15.1,616,10629,0.00,1.92,0.00,0.000,4,0.000,0.058,1959,3902,1731,0,0,0,0,0,0
$GC,10671,0.51,146.1,520.2,17.2,618,10674,0.00,1.88,0.00,0.000,6,0.000,0.036,1968,2710,1730,0,0,0,0,0,0
$GC,11003,0.51,146.1,467.1,16.1,634,11006,0.00,1.98,0.00,0.000,4,0.000,0.057,1968,3912,1730,0,0,0,0,0,0
$GC,11052,0.51,146.1,458.0,18.9,636,11057,0.00,1.92,0.00,0.000,6,0.000,0.035,1977,2705,1730,0,0,0,0,0,0
$GC,11379,0.51,146.1,403.7,16.2,652,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2705,1730,0,0,0,0,0,0
$GC,11691,0.51,146.1,354.7,15.8,667,11695,0.00,1.98,0.00,0.000,4,0.000,0.057,1977,3906,1730,0,0,0,0,0,0
$GC,11739,0.51,146.1,346.7,16.9,669,11742,0.00,1.88,0.00,0.000,6,0.000,0.035,1986,2711,1730,0,0,0,0,0,0
$GC,12073,0.51,146.1,292.7,16.0,685,12074,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2711,1730,0,0,0,0,0,0
$GC,12384,0.51,146.1,243.8,15.8,701,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2711,1730,0,0,0,0,0,0
$GC,12711,0.51,146.1,191.5,16.3,732,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2710,1730,0,0,0,0,0,0
$GC,13028,0.51,146.1,139.7,15.8,762,13032,0.00,1.98,0.00,0.000,4,0.000,0.057,1986,3913,1730,0,0,0,0,0,0
$GC,13101,0.51,146.1,127.0,16.9,768,13113,0.10,1.92,0.00,0.000,6,0.206,0.034,1967,2700,1730,0,0,0,0,0,0
$GC,13437,0.51,146.1,86.2,10.9,809,13444,0.00,2.17,0.00,0.000,4,0.000,0.043,1977,1295,1730,0,0,0,0,0,0
$GC,13536,0.51,146.1,76.2,9.9,826,13545,0.00,2.30,0.00,0.000,6,0.000,0.050,1977,2731,1730,0,0,0,0,0,0
$GC,13653,0.51,146.1,64.4,10.4,845,13660,0.00,1.90,0.00,0.000,4,0.000,0.059,1977,3887,1730,0,0,0,0,0,0
$GC,13714,0.51,146.1,57.0,12.4,855,13721,0.00,1.88,0.00,0.000,6,0.000,0.035,1986,2703,1730,0,0,0,0,0,0
$GC,13828,0.51,146.1,44.7,10.1,874,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2703,1730,0,0,0,0,0,0
$GC,13943,0.51,146.1,33.2,11.1,893,13950,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2702,1730,0,0,0,0,0,0
$GC,14062,0.51,146.1,19.6,12.6,912,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2703,1730,0,0,0,0,0,0
$GC,14146,0.51,146.1,9.1,12.8,925,14155,0.00,1.95,0.00,0.000,4,0.000,0.058,1986,3882,1730,0,0,0,0,0,0
$GC,14182,0.51,146.1,3.6,15.4,930,14191,0.12,1.88,0.00,0.000,6,0.210,0.035,1961,2698,1729,0,0,0,0,0,0
$STATE,14198,end climb,SURFACE_DEPTH_REACHED
$STATE,14198,begin surface coast
$FINISH,1.2,1.027033
$STATE,14218,end surface coast,CONTROL_FINISHED_OK
$STATE,14218,begin surface
$SM_CCo,14231,27.23,0.160,0,0,1525,200.16
$SM_GC,2.14,0.00,0.00,27.23,0.000,0.000,0.160,58,2934,1525,-5.40,0.08,200.16
$IRIDIUM_FIX,-5535.12,-53.77,110115,090951
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.0,38.965
$10V_AH,9.9,26.475
$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,13.325,70.925,282.075,27.225,0.000,32.370,47.358,318.441,0.000,0.000,15.908,2296.194,9183.286,435.939,2658.867,207.420,33.364,1313.855,0.000,2106.893,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,78.795,1775.565,159.885,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.263,1933.499,927.609,966.102,0.000,0.000,0.000,0.000,0.000,0.000
$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,63952,935
$CAP_FILE_SIZE,119668,0
$CFSIZE,259252224,213741568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110115,230958,-5558.982,-101.616,67,0.9,68,-19.6