version: 66.07
glider: 542
mission: 9
dive: 194
start: 1 12 115 13 42 51
data:
$ID,542
$MISSION,9
$DIVE,194
$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,-22208.715
$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,22
$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
$GPS1,120115,133334,-5556.990,-106.193,26,1.1,27,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.5
$GPS2,120115,134157,-5556.929,-106.152,17,0.8,18,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.186,0.137
$KALMAN_X,130701.4,-435.3,-441.1,-198246.6,4413.1
$KALMAN_Y,30152.9,-400.3,-109.0,-23639.8,-1099.0
$MHEAD_RNG_PITCHd_Wd,326.1,23004,-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,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.40,0.000,2,0.000,0.000,46,2939,2258,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.4,4,89,6.68,0.00,-23.23,0.000,6,0.250,0.000,1638,2939,2939,0,0,0,0,0,0
$GC,164,-0.44,-146.1,17.4,-17.7,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2941,0,0,0,0,0,0
$GC,248,-0.44,-146.1,30.9,-15.8,33,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,360,-0.44,-146.1,49.7,-16.0,52,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,475,-0.44,-146.1,66.9,-15.1,71,482,0.00,2.22,0.00,0.000,4,0.000,0.041,1638,1509,2942,0,0,0,0,0,0
$GC,508,-0.44,-146.1,71.6,-14.4,76,517,0.00,2.35,0.00,0.000,6,0.000,0.057,1628,2922,2942,0,0,0,0,0,0
$GC,621,-0.44,-146.1,88.1,-14.8,95,628,0.00,2.22,0.00,0.000,4,0.000,0.040,1628,1505,2942,0,0,0,0,0,0
$GC,672,-0.44,-146.1,94.8,-13.3,103,679,0.00,2.35,0.00,0.000,6,0.000,0.057,1617,2933,2942,0,0,0,0,0,0
$GC,902,-0.44,-146.1,130.3,-16.8,127,906,0.00,1.60,0.00,0.000,4,0.000,0.063,1609,3905,2942,0,0,0,0,0,0
$GC,998,-0.44,-146.1,148.4,-16.5,135,1007,0.10,1.58,0.00,0.000,6,0.172,0.031,1641,2894,2942,0,0,0,0,0,0
$GC,1324,-0.44,-146.1,192.2,-13.3,166,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2894,2942,0,0,0,0,0,0
$GC,1645,-0.44,-146.1,230.9,-11.4,196,1648,0.00,1.65,0.00,0.000,4,0.000,0.063,1633,3903,2942,0,0,0,0,0,0
$GC,1695,-0.44,-146.1,237.2,-11.7,200,1704,0.00,1.50,0.00,0.000,6,0.000,0.031,1633,2912,2942,0,0,0,0,0,0
$GC,2016,-0.44,-146.1,274.4,-11.8,221,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2912,2943,0,0,0,0,0,0
$GC,2323,-0.44,-146.1,311.6,-11.9,236,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2912,2942,0,0,0,0,0,0
$GC,2635,-0.44,-146.1,348.9,-12.1,251,2639,0.00,1.62,0.00,0.000,4,0.000,0.063,1625,3913,2942,0,0,0,0,0,0
$GC,2682,-0.44,-146.1,355.3,-13.0,253,2686,0.00,1.48,0.00,0.000,6,0.000,0.031,1625,2942,2942,0,0,0,0,0,0
$GC,3016,-0.44,-146.1,397.5,-12.5,269,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2934,2942,0,0,0,0,0,0
$GC,3325,-0.44,-146.1,438.1,-13.4,284,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2934,2942,0,0,0,0,0,0
$GC,3633,-0.44,-146.1,479.8,-13.5,299,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2934,2942,0,0,0,0,0,0
$GC,3943,-0.44,-146.1,521.7,-13.8,314,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2934,2942,0,0,0,0,0,0
$GC,4252,-0.44,-146.1,563.8,-13.8,329,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2934,2942,0,0,0,0,0,0
$GC,4561,-0.44,-146.1,605.3,-13.3,344,4565,0.00,1.62,0.00,0.000,4,0.000,0.063,1617,3936,2942,0,0,0,0,0,0
$GC,4606,-0.44,-146.1,611.5,-14.1,346,4610,0.00,1.52,0.00,0.000,6,0.000,0.031,1617,2933,2942,0,0,0,0,0,0
$GC,4939,-0.44,-146.1,656.3,-13.4,362,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2926,2942,0,0,0,0,0,0
$GC,5248,-0.44,-146.1,696.4,-12.3,377,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2925,2943,0,0,0,0,0,0
$GC,5558,-0.44,-146.1,733.6,-11.8,392,5562,0.00,2.12,0.00,0.000,4,0.000,0.039,1617,1532,2942,0,0,0,0,0,0
$GC,5600,-0.44,-146.1,738.6,-11.0,394,5606,0.10,2.28,0.00,0.000,6,0.159,0.055,1639,2922,2943,0,0,0,0,0,0
$GC,5928,-0.44,-146.1,769.2,-9.1,410,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2923,2943,0,0,0,0,0,0
$GC,6239,-0.44,-146.1,797.2,-9.0,425,6243,0.00,2.12,0.00,0.000,4,0.000,0.037,1639,1538,2943,0,0,0,0,0,0
$GC,6271,-0.44,-146.1,800.1,-8.8,426,6278,0.00,2.25,0.00,0.000,6,0.000,0.055,1629,2932,2943,0,0,0,0,0,0
$GC,6587,-0.44,-146.1,829.0,-9.2,442,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2933,2943,0,0,0,0,0,0
$GC,6897,-0.44,-146.1,858.0,-9.6,457,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2933,2943,0,0,0,0,0,0
$GC,7206,-0.44,-146.1,886.6,-9.2,472,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2933,2943,0,0,0,0,0,0
$GC,7516,-0.44,-146.1,914.7,-9.0,487,7520,0.00,2.15,0.00,0.000,4,0.000,0.039,1629,1540,2942,0,0,0,0,0,0
$GC,7548,-0.44,-146.1,917.9,-9.9,488,7556,0.00,2.28,0.00,0.000,6,0.000,0.056,1619,2928,2943,0,0,0,0,0,0
$GC,7864,-0.44,-146.1,948.8,-10.1,504,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2927,2943,0,0,0,0,0,0
$GC,8174,-0.44,-146.1,980.2,-10.0,519,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2927,2943,0,0,0,0,0,0
$STATE,8378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8378,begin apogee
$GC,8383,-0.13,0.0,1001.4,10.4,529,8522,0.43,0.00,134.77,1.773,6,0.165,0.000,1742,2707,2342,0,0,0,0,0,0
$STATE,8522,end apogee,CONTROL_FINISHED_OK
$STATE,8522,begin climb
$GC,8524,0.44,146.1,1005.3,0.0,536,8675,0.62,0.00,146.57,1.717,6,0.126,0.000,1924,2706,1746,0,0,0,0,0,0
$GC,8980,0.44,146.1,954.6,12.9,558,8984,0.00,2.25,0.00,0.000,4,0.000,0.044,1934,1342,1738,0,0,0,0,0,0
$GC,9011,0.44,146.1,950.5,12.1,559,9016,0.00,2.35,0.00,0.000,6,0.000,0.054,1934,2724,1737,0,0,0,0,0,0
$GC,9333,0.44,146.1,907.9,13.4,575,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2724,1735,0,0,0,0,0,0
$GC,9642,0.44,146.1,866.0,13.7,590,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2724,1734,0,0,0,0,0,0
$GC,9952,0.44,146.1,822.7,13.9,605,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2724,1734,0,0,0,0,0,0
$GC,10261,0.44,146.1,779.5,14.3,620,10265,0.00,2.22,0.00,0.000,4,0.000,0.044,1944,1329,1734,0,0,0,0,0,0
$GC,10292,0.44,146.1,775.3,13.2,621,10301,0.00,2.28,0.00,0.000,6,0.000,0.055,1944,2717,1733,0,0,0,0,0,0
$GC,10610,0.44,146.1,729.1,14.8,637,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2717,1732,0,0,0,0,0,0
$GC,10918,0.44,146.1,683.8,14.6,652,10922,0.00,1.92,0.00,0.000,4,0.000,0.063,1944,3896,1732,0,0,0,0,0,0
$GC,10963,0.44,146.1,676.5,17.0,654,10967,0.00,1.80,0.00,0.000,6,0.000,0.034,1953,2744,1730,0,0,0,0,0,0
$GC,11296,0.44,146.1,626.3,15.2,670,11300,0.00,2.25,0.00,0.000,4,0.000,0.044,1964,1288,1730,0,0,0,0,0,0
$GC,11328,0.44,146.1,621.2,14.4,671,11337,0.08,2.33,0.00,0.000,6,0.189,0.054,1942,2718,1730,0,0,0,0,0,0
$GC,11645,0.44,146.1,577.9,13.9,687,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2718,1731,0,0,0,0,0,0
$GC,11954,0.44,146.1,535.9,13.5,702,11958,0.00,1.90,0.00,0.000,4,0.000,0.062,1941,3886,1730,0,0,0,0,0,0
$GC,12003,0.44,146.1,528.3,16.3,704,12008,0.00,1.88,0.00,0.000,6,0.000,0.034,1949,2708,1730,0,0,0,0,0,0
$GC,12331,0.44,146.1,480.8,14.5,720,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2708,1730,0,0,0,0,0,0
$GC,12640,0.44,146.1,436.1,14.8,735,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2708,1729,0,0,0,0,0,0
$GC,12949,0.44,146.1,390.4,14.9,750,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2708,1730,0,0,0,0,0,0
$GC,13261,0.44,146.1,344.1,14.7,765,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2708,1730,0,0,0,0,0,0
$GC,13568,0.44,146.1,299.5,14.0,780,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2708,1730,0,0,0,0,0,0
$GC,13880,0.44,146.1,257.5,13.2,795,13884,0.00,2.17,0.00,0.000,4,0.000,0.045,1960,1297,1730,0,0,0,0,0,0
$GC,13929,0.44,146.1,251.0,12.0,797,13934,0.00,2.30,0.00,0.000,6,0.000,0.055,1960,2709,1730,0,0,0,0,0,0
$GC,14260,0.44,146.1,209.6,11.8,828,14264,0.00,1.92,0.00,0.000,4,0.000,0.061,1960,3897,1730,0,0,0,0,0,0
$GC,14320,0.44,146.1,201.5,14.3,833,14325,0.15,1.85,0.00,0.000,6,0.215,0.035,1934,2708,1729,0,0,0,0,0,0
$GC,14650,0.44,146.1,164.1,11.1,864,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2708,1729,0,0,0,0,0,0
$GC,14971,0.44,146.1,129.9,9.5,894,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2707,1729,0,0,0,0,0,0
$GC,15290,0.46,173.5,101.2,8.3,924,15315,0.00,2.03,15.73,1.059,4,0.000,0.060,1934,3899,1632,0,0,0,0,0,0
$GC,15356,0.46,173.5,94.7,10.8,933,15364,0.00,1.90,0.00,0.000,6,0.000,0.034,1942,2708,1631,0,0,0,0,0,0
$GC,15596,0.49,203.6,73.4,8.2,974,15620,0.00,2.05,17.83,0.976,4,0.000,0.060,1942,3899,1509,0,0,0,0,0,0
$GC,15657,0.49,203.6,67.5,10.5,983,15664,0.00,1.92,0.00,0.000,6,0.000,0.035,1951,2714,1506,0,0,0,0,0,0
$GC,15770,0.49,203.6,55.6,10.7,1002,15779,0.00,2.25,0.00,0.000,4,0.000,0.044,1961,1301,1504,0,0,0,0,0,0
$GC,15806,0.49,203.6,52.2,10.0,1007,15813,0.00,2.33,0.00,0.000,6,0.000,0.054,1961,2715,1503,0,0,0,0,0,0
$GC,15919,0.49,203.6,40.1,10.5,1026,15928,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2715,1503,0,0,0,0,0,0
$GC,16037,0.49,203.6,27.4,11.8,1045,16045,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2715,1503,0,0,0,0,0,0
$GC,16121,0.49,203.6,18.0,10.7,1058,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2715,1503,0,0,0,0,0,0
$GC,16205,0.49,203.6,8.5,11.4,1071,16213,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2715,1502,0,0,0,0,0,0
$STATE,16257,end climb,SURFACE_DEPTH_REACHED
$STATE,16257,begin surface coast
$FINISH,1.5,1.024393
$STATE,16289,end surface coast,CONTROL_FINISHED_OK
$STATE,16289,begin surface
$SM_CCo,16362,0.00,0.000,0,0,1500,206.78
$SM_GC,2.66,5.20,0.00,0.00,0.063,0.000,0.000,61,2933,1500,-5.32,0.08,206.78
$IRIDIUM_FIX,-5535.12,-101.52,120115,080859
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.1,39.646
$10V_AH,10.0,26.995
$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,13.350,77.475,314.900,0.000,0.000,25.623,20.359,321.981,0.000,0.000,20.909,2630.585,10613.566,423.509,2963.217,227.172,33.370,1412.531,0.000,2412.252,0.000,0.539,0.000
$DEVICE_MAMPS,250.155,68.850,1772.505,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.232,2249.006,1089.198,1144.060,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353468
$DATA_FILE_SIZE,73726,1084
$CAP_FILE_SIZE,133083,0
$CFSIZE,259252224,213434368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120115,181634,-5556.507,-108.699,27,0.9,28,-19.6