version: 66.07
glider: 542
mission: 9
dive: 195
start: 1 12 115 18 26 11
data:
$ID,542
$MISSION,9
$DIVE,195
$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,-22211.758
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,120115,181634,-5556.507,-108.699,27,0.9,28,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-68.2
$GPS2,120115,182517,-5556.563,-108.612,14,1.9,14,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.118,0.199
$KALMAN_X,131472.7,-184.7,-295.6,-201961.8,3188.9
$KALMAN_Y,27418.1,61.7,-105.8,-20691.4,-2442.2
$MHEAD_RNG_PITCHd_Wd,349.0,23220,-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,17,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.28,0.000,2,0.000,0.000,48,2942,2230,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.2,4,97,6.60,1.65,-25.33,0.000,4,0.246,0.084,1631,3900,2940,0,0,0,0,0,0
$GC,123,-0.44,-146.1,10.2,-15.7,13,133,0.00,1.58,0.00,0.000,6,0.000,0.031,1631,2898,2941,0,0,0,0,0,0
$GC,209,-0.44,-146.1,25.4,-18.6,26,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2897,2941,0,0,0,0,0,0
$GC,291,-0.44,-146.1,41.0,-18.8,39,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,403,-0.44,-146.1,63.1,-18.4,58,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,518,-0.44,-146.1,83.4,-16.7,77,524,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,743,-0.44,-146.1,118.8,-14.3,106,744,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,1062,-0.44,-146.1,161.4,-12.3,136,1066,0.00,1.70,0.00,0.000,4,0.000,0.063,1623,3900,2942,0,0,0,0,0,0
$GC,1153,-0.44,-146.1,173.7,-12.8,144,1156,0.00,1.50,0.00,0.000,6,0.000,0.032,1623,2929,2942,0,0,0,0,0,0
$GC,1485,-0.44,-146.1,216.1,-13.1,175,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2942,0,0,0,0,0,0
$GC,1801,-0.44,-146.1,259.5,-14.3,202,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2942,0,0,0,0,0,0
$GC,2112,-0.44,-146.1,306.5,-15.6,217,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2941,0,0,0,0,0,0
$GC,2419,-0.44,-146.1,352.8,-14.5,232,2422,0.00,1.62,0.00,0.000,4,0.000,0.062,1615,3920,2942,0,0,0,0,0,0
$GC,2457,-0.44,-146.1,358.9,-14.8,233,2465,0.08,1.52,0.00,0.000,6,0.171,0.031,1639,2933,2942,0,0,0,0,0,0
$GC,2775,-0.44,-146.1,398.4,-12.3,249,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,3083,-0.44,-146.1,436.6,-12.2,264,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,3391,-0.44,-146.1,472.7,-11.6,279,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,3702,-0.44,-146.1,508.2,-11.5,294,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,4010,-0.44,-146.1,540.9,-10.0,309,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2942,0,0,0,0,0,0
$GC,4319,-0.44,-146.1,571.5,-9.9,324,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,4630,-0.44,-146.1,601.5,-9.9,339,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,4938,-0.44,-146.1,630.6,-9.2,354,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2942,0,0,0,0,0,0
$GC,5247,-0.44,-146.1,660.5,-9.8,369,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,5558,-0.44,-146.1,691.0,-9.9,384,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,5866,-0.44,-146.1,723.1,-10.8,399,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,6175,-0.44,-146.1,757.2,-11.3,414,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,6486,-0.44,-146.1,791.0,-10.7,429,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,6794,-0.44,-146.1,823.1,-10.3,444,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2943,0,0,0,0,0,0
$GC,7103,-0.44,-146.1,855.8,-10.8,459,7107,0.00,2.15,0.00,0.000,4,0.000,0.040,1639,1527,2942,0,0,0,0,0,0
$GC,7136,-0.44,-146.1,859.3,-10.3,460,7140,0.00,2.28,0.00,0.000,6,0.000,0.057,1628,2926,2943,0,0,0,0,0,0
$GC,7457,-0.44,-146.1,895.0,-11.5,476,7458,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2943,0,0,0,0,0,0
$GC,7767,-0.44,-146.1,930.2,-11.3,491,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2943,0,0,0,0,0,0
$GC,8077,-0.44,-146.1,964.6,-10.8,506,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2943,0,0,0,0,0,0
$GC,8385,-0.44,-146.1,998.4,-10.8,521,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2943,0,0,0,0,0,0
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8405,begin apogee
$GC,8409,-0.13,0.0,1000.7,10.7,522,8548,0.40,0.00,134.82,1.767,6,0.167,0.000,1744,2697,2342,0,0,0,0,0,0
$STATE,8549,end apogee,CONTROL_FINISHED_OK
$STATE,8549,begin climb
$GC,8551,0.44,146.1,1005.4,0.0,529,8707,0.60,2.47,146.55,1.733,4,0.124,0.042,1931,1333,1746,0,0,0,0,0,0
$GC,8743,0.44,146.1,989.9,10.8,538,8747,0.00,2.45,0.00,0.000,6,0.000,0.053,1931,2727,1742,0,0,0,0,0,0
$GC,9068,0.44,146.1,949.8,12.4,554,9072,0.00,1.98,0.00,0.000,4,0.000,0.060,1931,3893,1737,0,0,0,0,0,0
$GC,9128,0.44,146.1,941.0,15.8,556,9136,0.00,1.90,0.00,0.000,6,0.000,0.033,1940,2743,1735,0,0,0,0,0,0
$GC,9445,0.44,146.1,899.1,13.2,572,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2742,1734,0,0,0,0,0,0
$GC,9754,0.44,146.1,859.1,13.1,587,9758,0.00,2.28,0.00,0.000,4,0.000,0.045,1950,1293,1733,0,0,0,0,0,0
$GC,9799,0.44,146.1,853.6,11.9,589,9804,0.00,2.30,0.00,0.000,6,0.000,0.054,1950,2724,1733,0,0,0,0,0,0
$GC,10126,0.44,146.1,808.8,13.9,605,10130,0.00,1.90,0.00,0.000,4,0.000,0.060,1951,3887,1732,0,0,0,0,0,0
$GC,10182,0.44,146.1,799.7,15.6,607,10186,0.00,1.85,0.00,0.000,6,0.000,0.035,1959,2704,1731,0,0,0,0,0,0
$GC,10504,0.44,146.1,751.8,14.9,623,10505,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2704,1731,0,0,0,0,0,0
$GC,10813,0.44,146.1,705.2,15.0,638,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2704,1731,0,0,0,0,0,0
$GC,11122,0.44,146.1,659.7,14.8,653,11125,0.00,1.98,0.00,0.000,4,0.000,0.060,1959,3900,1731,0,0,0,0,0,0
$GC,11178,0.44,146.1,650.3,17.3,655,11183,0.12,1.88,0.00,0.000,6,0.220,0.035,1940,2711,1730,0,0,0,0,0,0
$GC,11499,0.44,146.1,609.0,12.3,671,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2710,1730,0,0,0,0,0,0
$GC,11809,0.44,146.1,570.3,12.5,686,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2710,1730,0,0,0,0,0,0
$GC,12118,0.44,146.1,532.5,12.2,701,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2710,1730,0,0,0,0,0,0
$GC,12427,0.44,146.1,494.6,12.5,716,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2710,1730,0,0,0,0,0,0
$GC,12737,0.44,146.1,456.1,12.6,731,12741,0.00,2.20,0.00,0.000,4,0.000,0.044,1949,1288,1730,0,0,0,0,0,0
$GC,12777,0.44,146.1,451.2,11.1,733,12781,0.00,2.25,0.00,0.000,6,0.000,0.053,1950,2712,1730,0,0,0,0,0,0
$GC,13103,0.44,146.1,407.9,13.3,749,13106,0.00,1.90,0.00,0.000,4,0.000,0.060,1950,3889,1730,0,0,0,0,0,0
$GC,13171,0.44,146.1,397.5,15.9,752,13175,0.00,1.85,0.00,0.000,6,0.000,0.035,1958,2711,1729,0,0,0,0,0,0
$GC,13503,0.44,146.1,349.5,14.7,768,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2710,1729,0,0,0,0,0,0
$GC,13815,0.44,146.1,304.5,14.7,783,13818,0.00,1.92,0.00,0.000,4,0.000,0.059,1959,3887,1729,0,0,0,0,0,0
$GC,13871,0.44,146.1,294.8,16.8,785,13876,0.12,1.85,0.00,0.000,6,0.215,0.034,1939,2704,1729,0,0,0,0,0,0
$GC,14194,0.44,146.1,253.7,11.9,801,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2704,1729,0,0,0,0,0,0
$GC,14513,0.44,146.1,217.7,11.2,829,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2703,1729,0,0,0,0,0,0
$GC,14840,0.44,146.1,180.0,11.7,860,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2704,1729,0,0,0,0,0,0
$GC,15157,0.44,146.1,144.4,10.6,890,15159,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2704,1729,0,0,0,0,0,0
$GC,15476,0.45,163.1,113.6,8.8,920,15488,0.00,0.00,10.27,1.080,6,0.000,0.000,1940,2704,1675,0,0,0,0,0,0
$GC,15818,0.47,186.6,83.1,8.5,967,15838,0.00,0.00,15.90,1.000,6,0.000,0.000,1940,2704,1579,0,0,0,0,0,0
$GC,16072,0.48,196.7,60.1,9.1,1010,16081,0.00,0.00,6.93,0.851,6,0.000,0.000,1940,2704,1539,0,0,0,0,0,0
$GC,16188,0.48,196.7,49.1,9.9,1029,16195,0.00,2.22,0.00,0.000,4,0.000,0.044,1949,1289,1537,0,0,0,0,0,0
$GC,16228,0.49,202.0,45.5,9.3,1035,16237,0.00,2.30,3.47,0.630,6,0.000,0.054,1949,2708,1517,0,0,0,0,0,0
$GC,16343,0.49,202.0,33.6,10.2,1054,16352,0.00,1.95,0.00,0.000,4,0.000,0.061,1949,3884,1515,0,0,0,0,0,0
$GC,16384,0.49,202.0,29.1,12.3,1060,16393,0.00,1.90,0.00,0.000,6,0.000,0.036,1958,2708,1514,0,0,0,0,0,0
$GC,16468,0.49,202.0,19.3,12.0,1073,16477,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2707,1514,0,0,0,0,0,0
$GC,16551,0.49,202.0,10.8,10.4,1086,16560,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2706,1515,0,0,0,0,0,0
$STATE,16627,end climb,SURFACE_DEPTH_REACHED
$STATE,16627,begin surface coast
$FINISH,1.2,1.013155
$STATE,16659,end surface coast,CONTROL_FINISHED_OK
$STATE,16660,begin surface
$SM_CCo,16733,0.00,0.000,0,0,1512,203.60
$SM_GC,2.68,5.10,0.00,0.00,0.050,0.000,0.000,49,2926,1512,-5.34,-0.11,203.60
$IRIDIUM_FIX,-5535.12,-101.52,120115,131320
$TT8_MAMPS,0.025466
$HUMID,57.24
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.0,39.816
$10V_AH,9.9,27.126
$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,13.025,56.025,317.950,0.000,0.000,28.584,45.316,316.927,0.000,0.000,16.615,2670.377,10968.360,391.735,2998.412,219.063,33.372,1367.890,0.000,2421.319,0.000,0.539,0.000
$DEVICE_MAMPS,246.330,84.150,1767.150,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.376,2272.442,1085.904,1140.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353480
$DATA_FILE_SIZE,73646,1103
$CAP_FILE_SIZE,128850,0
$CFSIZE,259252224,213364736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120115,230605,-5555.221,-110.686,27,1.1,27,-19.6