version: 66.07
glider: 542
mission: 9
dive: 192
start: 1 12 115 4 2 30
data:
$ID,542
$MISSION,9
$DIVE,192
$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,-22202.658
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,120115,035334,-5556.800,-101.153,28,0.9,29,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.9
$GPS2,120115,040136,-5556.805,-101.155,13,0.8,14,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.222,0.062
$KALMAN_X,127538.1,-693.1,-406.0,-189680.5,4692.9
$KALMAN_Y,33797.6,-132.9,-7.6,-27430.3,-613.6
$MHEAD_RNG_PITCHd_Wd,305.2,21896,-17.3,-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,-0.44,-145.1,0.0,0.0,0,52,0.00,0.00,-33.50,0.000,2,0.000,0.000,46,2959,2252,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-3.3,4,97,6.55,2.33,-24.25,0.000,4,0.244,0.053,1637,1508,2941,0,0,0,0,0,0
$GC,130,-0.44,-146.1,10.7,-14.7,14,139,0.00,2.35,0.00,0.000,6,0.000,0.055,1626,2914,2942,0,0,0,0,0,0
$GC,214,-0.44,-146.1,25.8,-19.6,27,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2913,2942,0,0,0,0,0,0
$GC,296,-0.44,-146.1,42.0,-19.0,40,304,0.00,1.62,0.00,0.000,4,0.000,0.060,1619,3902,2942,0,0,0,0,0,0
$GC,341,-0.44,-146.1,50.5,-19.2,47,348,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2894,2942,0,0,0,0,0,0
$GC,455,-0.44,-146.1,73.2,-19.4,66,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2893,2942,0,0,0,0,0,0
$GC,570,-0.44,-146.1,93.7,-17.6,85,576,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2892,2942,0,0,0,0,0,0
$GC,793,-0.44,-146.1,131.1,-16.4,109,797,0.00,1.67,0.00,0.000,4,0.000,0.062,1611,3905,2942,0,0,0,0,0,0
$GC,902,-0.44,-146.1,149.8,-16.5,118,912,0.08,1.50,0.00,0.000,6,0.173,0.032,1635,2937,2943,0,0,0,0,0,0
$GC,1228,-0.44,-146.1,192.3,-13.1,149,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,1548,-0.44,-146.1,231.5,-12.0,179,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,1869,-0.44,-146.1,271.7,-12.5,202,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2937,2942,0,0,0,0,0,0
$GC,2181,-0.44,-146.1,311.1,-12.6,217,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,2488,-0.44,-146.1,350.2,-12.4,232,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,2799,-0.44,-146.1,387.3,-11.6,247,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2943,0,0,0,0,0,0
$GC,3107,-0.44,-146.1,422.6,-11.1,262,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,3416,-0.44,-146.1,455.4,-10.4,277,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2943,0,0,0,0,0,0
$GC,3725,-0.44,-146.1,486.7,-10.2,292,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2943,0,0,0,0,0,0
$GC,4035,-0.44,-146.1,519.9,-10.8,307,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2943,0,0,0,0,0,0
$GC,4344,-0.44,-146.1,554.2,-11.1,322,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,4653,-0.44,-146.1,588.6,-11.1,337,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,4963,-0.44,-146.1,622.1,-10.4,352,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2936,2942,0,0,0,0,0,0
$GC,5272,-0.44,-146.1,654.2,-10.1,367,5276,0.00,1.62,0.00,0.000,4,0.000,0.062,1628,3904,2943,0,0,0,0,0,0
$GC,5318,-0.44,-146.1,659.2,-11.3,369,5322,0.00,1.50,0.00,0.000,6,0.000,0.032,1627,2917,2943,0,0,0,0,0,0
$GC,5650,-0.44,-146.1,694.9,-10.6,385,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2912,2943,0,0,0,0,0,0
$GC,5960,-0.44,-146.1,727.3,-10.3,400,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2912,2943,0,0,0,0,0,0
$GC,6270,-0.44,-146.1,759.8,-10.7,415,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2912,2942,0,0,0,0,0,0
$GC,6578,-0.44,-146.1,793.4,-10.8,430,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2912,2943,0,0,0,0,0,0
$GC,6888,-0.44,-146.1,827.9,-11.6,445,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2912,2943,0,0,0,0,0,0
$GC,7198,-0.44,-146.1,864.3,-11.8,460,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2912,2943,0,0,0,0,0,0
$GC,7506,-0.44,-146.1,900.3,-11.6,475,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2912,2943,0,0,0,0,0,0
$GC,7818,-0.44,-146.1,935.9,-11.6,490,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2912,2943,0,0,0,0,0,0
$GC,8126,-0.44,-146.1,970.9,-11.0,505,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2912,2943,0,0,0,0,0,0
$STATE,8392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8392,begin apogee
$GC,8396,-0.13,0.0,1000.5,10.9,518,8535,0.40,0.00,135.23,1.769,6,0.164,0.000,1745,2719,2342,0,0,0,0,0,0
$STATE,8536,end apogee,CONTROL_FINISHED_OK
$STATE,8536,begin climb
$GC,8538,0.44,146.1,1005.6,0.0,525,8695,0.62,0.00,147.88,1.736,6,0.120,0.000,1924,2719,1746,0,0,0,0,0,0
$GC,9002,0.44,146.1,956.5,12.1,548,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2719,1738,0,0,0,0,0,0
$GC,9312,0.44,146.1,919.3,12.0,563,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2719,1736,0,0,0,0,0,0
$GC,9622,0.44,146.1,881.3,12.5,578,9626,0.00,2.03,0.00,0.000,4,0.000,0.059,1924,3907,1735,0,0,0,0,0,0
$GC,9671,0.44,146.1,874.1,14.9,580,9675,0.00,1.90,0.00,0.000,6,0.000,0.034,1933,2739,1733,0,0,0,0,0,0
$GC,9999,0.44,146.1,830.7,13.2,596,10003,0.00,2.30,0.00,0.000,4,0.000,0.044,1944,1285,1733,0,0,0,0,0,0
$GC,10038,0.44,146.1,825.5,12.2,598,10042,0.00,2.33,0.00,0.000,6,0.000,0.051,1944,2731,1733,0,0,0,0,0,0
$GC,10364,0.44,146.1,779.6,14.6,614,10368,0.00,1.90,0.00,0.000,4,0.000,0.058,1944,3897,1732,0,0,0,0,0,0
$GC,10403,0.44,146.1,773.3,15.8,615,10410,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2706,1730,0,0,0,0,0,0
$GC,10718,0.44,146.1,724.3,15.6,631,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2706,1730,0,0,0,0,0,0
$GC,11028,0.44,146.1,674.6,15.9,646,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2705,1730,0,0,0,0,0,0
$GC,11338,0.44,146.1,625.3,15.9,661,11341,0.00,1.95,0.00,0.000,4,0.000,0.057,1953,3890,1731,0,0,0,0,0,0
$GC,11398,0.44,146.1,614.2,19.3,663,11406,0.00,1.90,0.00,0.000,6,0.000,0.034,1962,2700,1730,0,0,0,0,0,0
$GC,11714,0.44,146.1,561.9,16.8,679,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2699,1729,0,0,0,0,0,0
$GC,12024,0.44,146.1,511.2,16.3,694,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2700,1730,0,0,0,0,0,0
$GC,12333,0.44,146.1,463.1,15.1,709,12336,0.00,1.98,0.00,0.000,4,0.000,0.057,1962,3897,1730,0,0,0,0,0,0
$GC,12389,0.44,146.1,453.6,17.0,711,12393,0.15,1.88,0.00,0.000,6,0.206,0.034,1936,2705,1729,0,0,0,0,0,0
$GC,12710,0.44,146.1,413.7,12.0,727,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2705,1729,0,0,0,0,0,0
$GC,13018,0.44,146.1,376.4,11.7,742,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2705,1729,0,0,0,0,0,0
$GC,13331,0.44,146.1,339.2,12.1,757,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2705,1729,0,0,0,0,0,0
$GC,13639,0.44,146.1,299.7,12.4,772,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2705,1729,0,0,0,0,0,0
$GC,13950,0.44,146.1,262.2,11.9,787,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2705,1729,0,0,0,0,0,0
$GC,14264,0.44,146.1,224.2,12.0,811,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2705,1730,0,0,0,0,0,0
$GC,14585,0.44,146.1,186.8,12.1,841,14589,0.00,2.20,0.00,0.000,4,0.000,0.044,1945,1294,1729,0,0,0,0,0,0
$GC,14629,0.44,146.1,181.1,11.6,844,14639,0.00,2.28,0.00,0.000,6,0.000,0.050,1946,2704,1729,0,0,0,0,0,0
$GC,14956,0.44,146.1,144.0,11.0,875,14959,0.00,1.92,0.00,0.000,4,0.000,0.059,1945,3897,1729,0,0,0,0,0,0
$GC,15006,0.44,146.1,137.7,12.5,879,15013,0.00,1.85,0.00,0.000,6,0.000,0.034,1955,2710,1729,0,0,0,0,0,0
$GC,15331,0.44,146.1,102.7,9.7,910,15335,0.00,2.17,0.00,0.000,4,0.000,0.042,1965,1293,1729,0,0,0,0,0,0
$GC,15384,0.44,149.0,97.8,9.4,916,15392,0.12,2.25,0.00,0.000,6,0.190,0.050,1935,2712,1729,0,0,0,0,0,0
$GC,15625,0.46,173.5,77.5,8.5,957,15647,0.00,1.95,15.98,0.988,4,0.000,0.058,1935,3886,1632,0,0,0,0,0,0
$GC,15727,0.46,173.5,68.0,10.3,973,15734,0.00,1.88,0.00,0.000,6,0.000,0.034,1943,2715,1629,0,0,0,0,0,0
$GC,15841,0.48,195.1,57.4,8.6,992,15857,0.00,0.00,12.55,0.908,6,0.000,0.000,1943,2714,1544,0,0,0,0,0,0
$GC,15964,0.49,201.9,46.2,9.2,1012,15973,0.00,0.00,4.20,0.681,6,0.000,0.000,1943,2714,1517,0,0,0,0,0,0
$GC,16081,0.50,211.7,34.9,9.1,1031,16096,0.00,0.00,6.00,0.754,6,0.000,0.000,1943,2714,1476,0,0,0,0,0,0
$GC,16207,0.50,211.7,22.4,9.6,1051,16217,0.00,2.28,0.00,0.000,4,0.000,0.045,1953,1289,1473,0,0,0,0,0,0
$GC,16244,0.50,215.8,19.0,9.3,1056,16254,0.00,2.30,1.88,0.201,6,0.000,0.050,1953,2699,1461,0,0,0,0,0,0
$GC,16330,0.50,215.8,10.2,11.9,1069,16339,0.00,1.95,0.00,0.000,4,0.000,0.060,1953,3882,1460,0,0,0,0,0,0
$GC,16366,0.50,215.8,6.4,10.6,1074,16375,0.00,1.90,0.00,0.000,6,0.000,0.037,1961,2712,1460,0,0,0,0,0,0
$STATE,16401,end climb,SURFACE_DEPTH_REACHED
$STATE,16401,begin surface coast
$FINISH,1.2,1.008846
$STATE,16433,end surface coast,CONTROL_FINISHED_OK
$STATE,16433,begin surface
$SM_CCo,16506,0.00,0.000,0,0,1458,216.84
$SM_GC,2.68,5.15,0.00,0.00,0.056,0.000,0.000,61,2936,1458,-5.32,0.17,216.84
$IRIDIUM_FIX,-5535.12,-57.67,110115,232350
$TT8_MAMPS,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,22.0,39.298
$10V_AH,10.0,26.734
$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,13.075,59.750,323.700,0.000,0.000,27.310,18.500,306.190,0.000,0.000,17.345,2614.685,10829.654,445.818,2869.032,222.529,33.372,1373.819,0.000,2345.270,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,61.965,1768.680,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.876,2248.653,1092.577,1115.094,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353488
$DATA_FILE_SIZE,73753,1084
$CAP_FILE_SIZE,126186,0
$CFSIZE,259252224,213585920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120115,083851,-5557.261,-103.679,26,1.6,42,-19.6