version: 66.07
glider: 542
mission: 9
dive: 193
start: 1 12 115 8 57 11
data:
$ID,542
$MISSION,9
$DIVE,193
$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,-22205.691
$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,24
$R_STBD_OVSHOOT,35
$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
$GPS1,120115,083851,-5557.261,-103.679,26,1.6,42,-19.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.5
$GPS2,120115,085617,-5557.232,-103.368,18,1.0,18,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.202,0.111
$KALMAN_X,129507.5,-755.4,-109.9,-194186.3,4488.4
$KALMAN_Y,32137.7,-527.7,-128.4,-26036.1,-762.4
$MHEAD_RNG_PITCHd_Wd,318.4,22924,-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,-145.9,0.0,0.0,0,52,0.00,0.00,-33.97,0.000,2,0.000,0.000,45,2946,2188,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-4.2,4,96,6.45,0.00,-26.27,0.000,6,0.236,0.000,1640,2946,2938,0,0,0,0,0,0
$GC,172,-0.44,-146.1,17.3,-17.4,21,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2946,2939,0,0,0,0,0,0
$GC,254,-0.44,-146.1,32.9,-19.2,34,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2946,2939,0,0,0,0,0,0
$GC,370,-0.44,-146.1,52.0,-17.4,53,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2946,2939,0,0,0,0,0,0
$GC,484,-0.44,-146.1,71.8,-16.8,72,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2947,2939,0,0,0,0,0,0
$GC,597,-0.44,-146.1,90.3,-16.3,91,604,0.00,1.58,0.00,0.000,4,0.000,0.062,1632,3883,2940,0,0,0,0,0,0
$GC,644,-0.44,-146.1,98.8,-17.6,99,653,0.00,1.55,0.00,0.000,6,0.000,0.032,1632,2888,2940,0,0,0,0,0,0
$GC,875,-0.44,-146.1,134.5,-15.3,121,881,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2887,2940,0,0,0,0,0,0
$GC,1200,-0.44,-146.1,180.6,-13.6,152,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2887,2940,0,0,0,0,0,0
$GC,1520,-0.44,-146.1,221.2,-12.1,182,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2887,2940,0,0,0,0,0,0
$GC,1847,-0.44,-146.1,260.5,-12.1,209,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2887,2940,0,0,0,0,0,0
$GC,2157,-0.44,-146.1,299.7,-12.7,224,2160,0.00,1.65,0.00,0.000,4,0.000,0.061,1624,3894,2940,0,0,0,0,0,0
$GC,2203,-0.44,-146.1,306.1,-13.6,226,2206,0.00,1.48,0.00,0.000,6,0.000,0.031,1624,2931,2940,0,0,0,0,0,0
$GC,2537,-0.44,-146.1,352.0,-13.6,242,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2926,2940,0,0,0,0,0,0
$GC,2848,-0.44,-146.1,392.7,-13.0,257,2851,0.00,1.60,0.00,0.000,4,0.000,0.061,1617,3885,2940,0,0,0,0,0,0
$GC,2897,-0.44,-146.1,400.1,-13.4,259,2901,0.00,1.48,0.00,0.000,6,0.000,0.031,1617,2920,2940,0,0,0,0,0,0
$GC,3225,-0.44,-146.1,442.0,-12.5,275,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2917,2940,0,0,0,0,0,0
$GC,3534,-0.44,-146.1,481.4,-13.0,290,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2917,2941,0,0,0,0,0,0
$GC,3843,-0.44,-146.1,520.3,-12.7,305,3846,0.00,1.62,0.00,0.000,4,0.000,0.061,1609,3922,2941,0,0,0,0,0,0
$GC,3898,-0.44,-146.1,527.8,-13.2,307,3903,0.10,1.50,0.00,0.000,6,0.165,0.031,1641,2939,2941,0,0,0,0,0,0
$GC,4219,-0.44,-146.1,562.1,-10.6,323,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2941,0,0,0,0,0,0
$GC,4529,-0.44,-146.1,595.0,-11.0,338,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2938,2941,0,0,0,0,0,0
$GC,4839,-0.44,-146.1,628.5,-11.0,353,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2939,2941,0,0,0,0,0,0
$GC,5147,-0.44,-146.1,661.4,-10.6,368,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2939,2942,0,0,0,0,0,0
$GC,5457,-0.44,-146.1,694.4,-10.7,383,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2939,2941,0,0,0,0,0,0
$GC,5767,-0.44,-146.1,728.1,-10.9,398,5770,0.00,1.58,0.00,0.000,4,0.000,0.062,1634,3881,2941,0,0,0,0,0,0
$GC,5812,-0.44,-146.1,733.4,-12.0,400,5815,0.00,1.45,0.00,0.000,6,0.000,0.031,1633,2932,2941,0,0,0,0,0,0
$GC,6144,-0.44,-146.1,771.0,-11.2,416,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$GC,6453,-0.44,-146.1,803.3,-10.3,431,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2927,2941,0,0,0,0,0,0
$GC,6762,-0.44,-146.1,833.1,-9.8,446,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$GC,7073,-0.44,-146.1,861.7,-9.2,461,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$GC,7381,-0.44,-146.1,890.1,-9.2,476,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$GC,7691,-0.44,-146.1,919.5,-9.8,491,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$GC,8001,-0.44,-146.1,949.4,-9.8,506,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$GC,8309,-0.44,-146.1,980.0,-10.1,521,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,2941,0,0,0,0,0,0
$STATE,8514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8514,begin apogee
$GC,8518,-0.13,0.0,1001.0,10.1,531,8657,0.38,0.00,134.52,1.784,6,0.161,0.000,1744,2712,2342,0,0,0,0,0,0
$STATE,8658,end apogee,CONTROL_FINISHED_OK
$STATE,8658,begin climb
$GC,8661,0.44,146.1,1005.3,0.0,538,8817,0.65,0.00,147.82,1.724,6,0.120,0.000,1930,2712,1745,0,0,0,0,0,0
$GC,9125,0.44,146.1,952.8,12.9,561,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2712,1738,0,0,0,0,0,0
$GC,9435,0.44,146.1,912.4,13.0,576,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2712,1736,0,0,0,0,0,0
$GC,9743,0.44,146.1,871.6,13.3,591,9747,0.00,2.00,0.00,0.000,4,0.000,0.058,1930,3912,1735,0,0,0,0,0,0
$GC,9790,0.44,146.1,864.9,16.0,593,9794,0.00,1.88,0.00,0.000,6,0.000,0.036,1939,2742,1732,0,0,0,0,0,0
$GC,10122,0.44,146.1,816.9,14.6,609,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1733,0,0,0,0,0,0
$GC,10431,0.44,146.1,771.5,14.9,624,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1732,0,0,0,0,0,0
$GC,10740,0.44,146.1,725.3,14.5,639,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1732,0,0,0,0,0,0
$GC,11050,0.44,146.1,679.5,14.5,654,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1732,0,0,0,0,0,0
$GC,11359,0.44,146.1,635.9,14.2,669,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1731,0,0,0,0,0,0
$GC,11669,0.44,146.1,593.1,13.8,684,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1731,0,0,0,0,0,0
$GC,11977,0.44,146.1,551.0,13.3,699,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1731,0,0,0,0,0,0
$GC,12287,0.44,146.1,510.2,12.9,714,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1731,0,0,0,0,0,0
$GC,12597,0.44,146.1,471.0,12.5,729,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1731,0,0,0,0,0,0
$GC,12905,0.44,146.1,432.4,12.6,744,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1731,0,0,0,0,0,0
$GC,13217,0.44,146.1,393.7,12.7,759,13221,0.00,2.25,0.00,0.000,4,0.000,0.047,1949,1295,1731,0,0,0,0,0,0
$GC,13259,0.44,146.1,388.7,11.5,761,13263,0.00,2.28,0.00,0.000,6,0.000,0.053,1950,2722,1730,0,0,0,0,0,0
$GC,13587,0.44,146.1,345.3,13.2,777,13591,0.00,1.90,0.00,0.000,4,0.000,0.060,1950,3894,1730,0,0,0,0,0,0
$GC,13680,0.44,146.1,331.2,15.3,781,13683,0.00,1.88,0.00,0.000,6,0.000,0.035,1959,2697,1729,0,0,0,0,0,0
$GC,14014,0.44,146.1,283.4,14.4,797,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2697,1729,0,0,0,0,0,0
$GC,14325,0.44,146.1,240.7,13.5,815,14329,0.00,1.98,0.00,0.000,4,0.000,0.057,1959,3898,1729,0,0,0,0,0,0
$GC,14376,0.44,146.1,232.4,15.6,819,14383,0.12,1.90,0.00,0.000,6,0.218,0.035,1940,2707,1729,0,0,0,0,0,0
$GC,14700,0.44,146.1,194.0,11.6,850,14701,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2707,1729,0,0,0,0,0,0
$GC,15021,0.44,146.1,155.7,11.4,880,15024,0.00,1.95,0.00,0.000,4,0.000,0.057,1940,3897,1729,0,0,0,0,0,0
$GC,15080,0.44,146.1,148.4,12.3,885,15084,0.00,1.88,0.00,0.000,6,0.000,0.035,1948,2697,1729,0,0,0,0,0,0
$GC,15410,0.44,146.1,112.2,10.6,916,15414,0.00,2.15,0.00,0.000,4,0.000,0.044,1959,1293,1729,0,0,0,0,0,0
$GC,15455,0.45,151.9,107.7,9.3,919,15463,0.00,2.28,1.70,0.389,6,0.000,0.052,1959,2699,1722,0,0,0,0,0,0
$GC,15803,0.45,151.9,70.3,10.9,973,15809,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2699,1722,0,0,0,0,0,0
$GC,15916,0.45,151.9,57.9,11.3,992,15924,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2699,1721,0,0,0,0,0,0
$GC,16031,0.45,151.9,46.0,10.6,1011,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2699,1722,0,0,0,0,0,0
$GC,16145,0.45,151.9,33.8,9.9,1030,16154,0.00,1.95,0.00,0.000,4,0.000,0.060,1959,3894,1721,0,0,0,0,0,0
$GC,16186,0.45,151.9,29.3,12.3,1036,16195,0.10,1.88,0.00,0.000,6,0.195,0.034,1940,2708,1721,0,0,0,0,0,0
$GC,16272,0.45,152.5,20.7,9.5,1049,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2707,1721,0,0,0,0,0,0
$GC,16357,0.47,176.2,13.0,8.5,1062,16375,0.00,0.00,14.65,0.784,6,0.000,0.000,1940,2707,1620,0,0,0,0,0,0
$GC,16451,0.47,176.2,4.1,9.6,1076,16460,0.00,2.22,0.00,0.000,4,0.000,0.041,1949,1288,1616,0,0,0,0,0,0
$STATE,16467,end climb,SURFACE_DEPTH_REACHED
$STATE,16467,begin surface coast
$FINISH,1.2,1.015958
$STATE,16493,end surface coast,CONTROL_FINISHED_OK
$STATE,16493,begin surface
$SM_CCo,16508,12.20,0.155,0,0,1524,200.16
$SM_GC,3.34,0.00,0.00,12.20,0.000,0.000,0.155,54,2930,1524,-5.43,0.00,200.16
$IRIDIUM_FIX,-5535.12,-101.52,120115,080813
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.1,39.477
$10V_AH,9.9,26.866
$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,12.975,48.775,298.700,12.200,0.000,106.972,316.917,307.864,0.000,0.000,20.652,2619.006,11037.322,433.320,3248.152,224.696,33.378,1354.424,0.000,2344.390,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,61.965,1783.980,154.530,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.460,2237.612,1069.364,1110.868,0.000,0.000,0.000,0.000,0.000,0.000
$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,73762,1082
$CAP_FILE_SIZE,126729,0
$CFSIZE,259252224,213512192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120115,133334,-5556.990,-106.193,26,1.1,27,-19.6