version: 66.07
glider: 542
mission: 9
dive: 191
start: 1 11 115 23 19 17
data:
$ID,542
$MISSION,9
$DIVE,191
$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,-22199.643
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,110115,230958,-5558.982,-101.616,67,0.9,68,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-64.9
$GPS2,110115,231823,-5558.928,-101.555,24,1.3,24,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.032,0.229
$KALMAN_X,126208.8,-317.7,-283.6,-189278.1,5317.9
$KALMAN_Y,34195.9,284.8,34.8,-32232.3,-871.2
$MHEAD_RNG_PITCHd_Wd,11.7,25846,-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,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.50,0.000,2,0.000,0.000,45,2935,2243,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-4.0,4,97,6.55,2.28,-24.20,0.000,4,0.243,0.052,1639,1513,2941,0,0,0,0,0,0
$GC,228,-0.44,-146.1,24.3,-15.4,30,237,0.00,2.35,0.00,0.000,6,0.000,0.056,1628,2924,2942,0,0,0,0,0,0
$GC,311,-0.44,-146.1,38.1,-16.7,43,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2925,2942,0,0,0,0,0,0
$GC,423,-0.44,-146.1,57.3,-16.6,62,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2925,2942,0,0,0,0,0,0
$GC,539,-0.44,-146.1,75.6,-16.6,81,546,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2925,2942,0,0,0,0,0,0
$GC,651,-0.44,-146.1,93.7,-15.8,100,658,0.00,1.60,0.00,0.000,4,0.000,0.060,1621,3902,2942,0,0,0,0,0,0
$GC,692,-0.44,-146.1,100.7,-15.6,107,699,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2892,2942,0,0,0,0,0,0
$GC,1017,-0.44,-146.1,152.2,-16.7,138,1020,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3904,2942,0,0,0,0,0,0
$GC,1090,-0.44,-146.1,165.0,-16.5,144,1101,0.08,1.50,0.00,0.000,6,0.169,0.032,1636,2935,2943,0,0,0,0,0,0
$GC,1418,-0.44,-146.1,209.2,-12.3,175,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2935,2943,0,0,0,0,0,0
$GC,1736,-0.44,-146.1,248.8,-12.0,205,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2934,2942,0,0,0,0,0,0
$GC,2056,-0.44,-146.1,285.8,-11.3,221,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2935,2943,0,0,0,0,0,0
$GC,2363,-0.44,-146.1,320.3,-11.4,236,2367,0.00,1.62,0.00,0.000,4,0.000,0.063,1630,3903,2943,0,0,0,0,0,0
$GC,2418,-0.44,-146.1,327.3,-12.2,238,2422,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2913,2943,0,0,0,0,0,0
$GC,2740,-0.44,-146.1,368.2,-12.9,254,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2943,0,0,0,0,0,0
$GC,3051,-0.44,-146.1,408.5,-13.0,269,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2909,2943,0,0,0,0,0,0
$GC,3358,-0.44,-146.1,447.5,-12.2,284,3362,0.00,1.65,0.00,0.000,4,0.000,0.063,1622,3909,2943,0,0,0,0,0,0
$GC,3419,-0.44,-146.1,455.5,-12.7,286,3426,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2935,2943,0,0,0,0,0,0
$GC,3735,-0.44,-146.1,495.4,-12.8,302,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2935,2943,0,0,0,0,0,0
$GC,4044,-0.44,-146.1,534.0,-12.4,317,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,2943,0,0,0,0,0,0
$GC,4353,-0.44,-146.1,572.8,-12.5,332,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,2943,0,0,0,0,0,0
$GC,4663,-0.44,-146.1,611.3,-12.1,347,4667,0.00,1.62,0.00,0.000,4,0.000,0.062,1614,3909,2943,0,0,0,0,0,0
$GC,4712,-0.44,-146.1,617.7,-12.5,349,4717,0.08,1.48,0.00,0.000,6,0.163,0.031,1638,2938,2943,0,0,0,0,0,0
$GC,5039,-0.44,-146.1,652.6,-10.5,365,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2938,2943,0,0,0,0,0,0
$GC,5348,-0.44,-146.1,685.0,-10.4,380,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2938,2943,0,0,0,0,0,0
$GC,5657,-0.44,-146.1,716.9,-10.5,395,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2937,2943,0,0,0,0,0,0
$GC,5967,-0.44,-146.1,748.4,-10.1,410,5971,0.00,1.60,0.00,0.000,4,0.000,0.062,1631,3905,2943,0,0,0,0,0,0
$GC,6012,-0.44,-146.1,753.4,-11.0,412,6016,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2933,2943,0,0,0,0,0,0
$GC,6344,-0.44,-146.1,787.6,-10.2,428,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2926,2943,0,0,0,0,0,0
$GC,6654,-0.44,-146.1,819.5,-10.4,443,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2926,2943,0,0,0,0,0,0
$GC,6963,-0.44,-146.1,851.9,-10.6,458,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2926,2943,0,0,0,0,0,0
$GC,7272,-0.44,-146.1,885.4,-10.7,473,7276,0.00,1.62,0.00,0.000,4,0.000,0.061,1624,3903,2943,0,0,0,0,0,0
$GC,7318,-0.44,-146.1,890.6,-12.4,475,7322,0.00,1.48,0.00,0.000,6,0.000,0.031,1624,2923,2943,0,0,0,0,0,0
$GC,7650,-0.44,-146.1,928.2,-11.2,491,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2918,2943,0,0,0,0,0,0
$GC,7960,-0.44,-146.1,963.9,-11.7,506,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2918,2943,0,0,0,0,0,0
$GC,8269,-0.44,-146.1,999.5,-11.6,521,8273,0.00,1.65,0.00,0.000,4,0.000,0.061,1616,3926,2943,0,0,0,0,0,0
$STATE,8277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8277,begin apogee
$GC,8283,-0.13,0.0,1000.8,11.6,521,8421,0.40,0.00,134.90,1.777,6,0.168,0.000,1736,2743,2342,0,0,0,0,0,0
$STATE,8422,end apogee,CONTROL_FINISHED_OK
$STATE,8422,begin climb
$GC,8425,0.44,146.1,1006.6,0.0,528,8581,0.65,2.60,146.55,1.737,4,0.127,0.043,1936,1315,1746,0,0,0,0,0,0
$GC,8608,0.44,146.1,991.5,11.7,536,8616,0.00,2.50,0.00,0.000,6,0.000,0.051,1936,2728,1743,0,0,0,0,0,0
$GC,8924,0.44,146.1,950.0,13.2,552,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2728,1737,0,0,0,0,0,0
$GC,9233,0.44,146.1,907.9,13.6,567,9237,0.00,1.95,0.00,0.000,4,0.000,0.059,1936,3887,1734,0,0,0,0,0,0
$GC,9282,0.44,146.1,900.3,15.5,569,9286,0.00,1.90,0.00,0.000,6,0.000,0.034,1945,2721,1733,0,0,0,0,0,0
$GC,9609,0.44,146.1,852.9,14.7,585,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1733,0,0,0,0,0,0
$GC,9918,0.44,146.1,806.4,14.9,600,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1732,0,0,0,0,0,0
$GC,10228,0.44,146.1,759.7,15.6,615,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1731,0,0,0,0,0,0
$GC,10537,0.44,146.1,715.6,14.7,630,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1731,0,0,0,0,0,0
$GC,10846,0.44,146.1,672.2,14.0,645,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1731,0,0,0,0,0,0
$GC,11156,0.44,146.1,629.6,13.8,660,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1731,0,0,0,0,0,0
$GC,11465,0.44,146.1,587.5,13.7,675,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1731,0,0,0,0,0,0
$GC,11775,0.44,146.1,547.1,12.8,690,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1731,0,0,0,0,0,0
$GC,12084,0.44,146.1,508.3,12.4,705,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1730,0,0,0,0,0,0
$GC,12393,0.44,146.1,470.1,12.6,720,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1730,0,0,0,0,0,0
$GC,12703,0.44,146.1,430.7,12.6,735,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2720,1730,0,0,0,0,0,0
$GC,13012,0.44,146.1,390.8,13.3,750,13015,0.00,1.92,0.00,0.000,4,0.000,0.057,1945,3898,1730,0,0,0,0,0,0
$GC,13061,0.44,146.1,383.2,15.1,752,13066,0.00,1.90,0.00,0.000,6,0.000,0.034,1954,2708,1729,0,0,0,0,0,0
$GC,13391,0.44,146.1,337.4,14.1,768,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2708,1730,0,0,0,0,0,0
$GC,13701,0.44,146.1,296.1,12.9,783,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2708,1729,0,0,0,0,0,0
$GC,14007,0.44,146.1,259.1,11.4,798,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2708,1730,0,0,0,0,0,0
$GC,14326,0.44,146.1,223.3,11.5,824,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2708,1729,0,0,0,0,0,0
$GC,14643,0.44,146.1,185.6,12.4,854,14646,0.00,1.92,0.00,0.000,4,0.000,0.057,1954,3892,1729,0,0,0,0,0,0
$GC,14704,0.44,146.1,177.2,14.6,859,14707,0.00,1.85,0.00,0.000,6,0.000,0.035,1963,2699,1729,0,0,0,0,0,0
$GC,15035,0.44,146.1,133.8,12.9,890,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2699,1729,0,0,0,0,0,0
$GC,15354,0.44,146.1,99.3,9.6,920,15361,0.00,1.98,0.00,0.000,4,0.000,0.057,1963,3887,1729,0,0,0,0,0,0
$GC,15516,0.44,146.1,81.1,11.3,948,15525,0.10,1.88,0.00,0.000,6,0.185,0.034,1943,2703,1729,0,0,0,0,0,0
$GC,15764,0.46,170.1,60.1,8.5,989,15786,0.00,2.00,13.55,0.923,4,0.000,0.058,1943,3896,1646,0,0,0,0,0,0
$GC,15854,0.46,170.1,51.3,10.4,1003,15861,0.00,1.90,0.00,0.000,6,0.000,0.034,1951,2709,1644,0,0,0,0,0,0
$GC,15969,0.46,171.8,40.0,9.4,1022,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2709,1644,0,0,0,0,0,0
$GC,16085,0.46,171.8,28.5,9.9,1041,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2709,1643,0,0,0,0,0,0
$GC,16170,0.47,176.1,20.4,9.3,1054,16179,0.00,0.00,2.50,0.435,6,0.000,0.000,1951,2708,1623,0,0,0,0,0,0
$GC,16254,0.47,176.1,11.4,11.0,1067,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2708,1622,0,0,0,0,0,0
$STATE,16336,end climb,SURFACE_DEPTH_REACHED
$STATE,16337,begin surface coast
$FINISH,1.2,1.026266
$STATE,16369,end surface coast,CONTROL_FINISHED_OK
$STATE,16369,begin surface
$SM_CCo,16382,10.40,0.178,0,0,1524,200.16
$SM_GC,3.13,0.00,0.00,10.40,0.000,0.000,0.178,51,2959,1524,-5.43,0.79,200.16
$IRIDIUM_FIX,-5535.12,-53.83,110115,191948
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.0,39.129
$10V_AH,10.0,26.605
$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,13.025,54.675,297.500,10.400,0.000,27.208,52.332,291.406,0.000,0.000,26.953,2619.852,10706.771,397.279,2955.838,215.802,33.363,1352.218,0.000,2398.312,0.000,0.539,0.000
$DEVICE_MAMPS,243.270,62.730,1777.095,178.245,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.669,2261.013,1099.233,1144.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353512
$DATA_FILE_SIZE,73690,1085
$CAP_FILE_SIZE,124947,0
$CFSIZE,259252224,213663744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120115,035334,-5556.800,-101.153,28,0.9,29,-19.6