version: 66.07
glider: 542
mission: 9
dive: 151
start: 1 4 115 4 40 59
data:
$ID,542
$MISSION,9
$DIVE,151
$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,-22082.252
$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,27
$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
$GPS1,040115,043134,-5559.963,-36.277,25,0.9,25,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.3
$GPS2,040115,044005,-5559.941,-36.257,14,1.6,14,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.166,-0.161
$KALMAN_X,90389.0,-537.0,-103.2,-127213.0,685.5
$KALMAN_Y,29519.2,-647.7,-149.7,-28296.8,5470.6
$MHEAD_RNG_PITCHd_Wd,153.8,6481,-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,-146.1,0.0,0.0,0,60,0.00,0.00,-41.95,0.000,2,0.000,0.000,49,2939,2358,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.1,-3.4,5,97,6.60,2.22,-20.58,0.000,4,0.250,0.050,1638,1505,2938,0,0,0,0,0,0
$GC,204,-0.44,-146.1,18.5,-12.8,26,213,0.00,2.35,0.00,0.000,6,0.000,0.055,1627,2920,2939,0,0,0,0,0,0
$GC,289,-0.44,-146.1,31.3,-15.1,39,296,0.00,1.60,0.00,0.000,4,0.000,0.062,1620,3892,2939,0,0,0,0,0,0
$GC,321,-0.44,-146.1,36.9,-16.2,44,330,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2889,2939,0,0,0,0,0,0
$GC,436,-0.44,-146.1,55.9,-16.7,63,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2889,2939,0,0,0,0,0,0
$GC,549,-0.44,-146.1,74.9,-16.3,82,558,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3903,2939,0,0,0,0,0,0
$GC,584,-0.44,-146.1,80.9,-18.1,87,593,0.10,1.50,0.00,0.000,6,0.183,0.032,1642,2929,2939,0,0,0,0,0,0
$GC,813,-0.44,-146.1,116.8,-15.6,118,814,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,1132,-0.44,-146.1,164.5,-15.8,148,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,1452,-0.44,-146.1,213.7,-15.2,178,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,1778,-0.44,-146.1,258.8,-13.3,206,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,2090,-0.44,-146.1,300.0,-13.2,221,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,2396,-0.44,-146.1,340.0,-13.2,236,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,2708,-0.44,-146.1,380.1,-12.8,251,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,3016,-0.44,-146.1,417.7,-12.0,266,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2928,2939,0,0,0,0,0,0
$GC,3325,-0.44,-146.1,452.9,-11.2,281,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,2939,0,0,0,0,0,0
$GC,3634,-0.44,-146.1,486.5,-10.4,296,3638,0.00,1.60,0.00,0.000,4,0.000,0.062,1634,3893,2939,0,0,0,0,0,0
$GC,3681,-0.44,-146.1,491.1,-10.7,298,3684,0.00,1.48,0.00,0.000,6,0.000,0.031,1634,2918,2939,0,0,0,0,0,0
$GC,4013,-0.44,-146.1,525.9,-10.2,314,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2913,2940,0,0,0,0,0,0
$GC,4322,-0.44,-146.1,555.9,-9.7,329,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2913,2939,0,0,0,0,0,0
$GC,4632,-0.44,-146.1,586.3,-9.8,344,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2913,2939,0,0,0,0,0,0
$GC,4941,-0.44,-146.1,616.7,-9.6,359,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2913,2939,0,0,0,0,0,0
$GC,5250,-0.44,-146.1,646.4,-9.7,374,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2913,2940,0,0,0,0,0,0
$GC,5560,-0.44,-146.1,676.2,-9.8,389,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2913,2940,0,0,0,0,0,0
$GC,5869,-0.44,-146.1,707.9,-10.3,404,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2913,2940,0,0,0,0,0,0
$GC,6178,-0.44,-146.1,740.7,-10.9,419,6182,0.00,1.62,0.00,0.000,4,0.000,0.063,1627,3893,2940,0,0,0,0,0,0
$GC,6205,-0.44,-146.1,744.0,-12.0,420,6209,0.00,1.45,0.00,0.000,6,0.000,0.031,1626,2937,2940,0,0,0,0,0,0
$GC,6532,-0.44,-146.1,782.0,-11.7,436,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2934,2940,0,0,0,0,0,0
$GC,6841,-0.44,-146.1,818.6,-12.0,451,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2935,2940,0,0,0,0,0,0
$GC,7151,-0.44,-146.1,856.1,-12.2,466,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2934,2940,0,0,0,0,0,0
$GC,7460,-0.44,-146.1,894.1,-12.2,481,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2934,2940,0,0,0,0,0,0
$GC,7769,-0.44,-146.1,932.0,-12.2,496,7773,0.00,2.12,0.00,0.000,4,0.000,0.039,1627,1532,2940,0,0,0,0,0,0
$GC,7796,-0.44,-146.1,935.5,-12.3,497,7800,0.00,2.28,0.00,0.000,6,0.000,0.054,1617,2964,2940,0,0,0,0,0,0
$GC,8123,-0.44,-146.1,977.6,-13.2,513,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2965,2940,0,0,0,0,0,0
$STATE,8307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8307,begin apogee
$GC,8313,-0.13,0.0,1002.1,13.4,522,8451,0.43,0.00,133.65,1.790,6,0.169,0.000,1741,2708,2342,0,0,0,0,0,0
$STATE,8452,end apogee,CONTROL_FINISHED_OK
$STATE,8452,begin climb
$GC,8453,0.44,146.1,1009.3,0.0,529,8604,0.62,0.00,146.50,1.735,6,0.128,0.000,1924,2708,1745,0,0,0,0,0,0
$GC,8909,0.44,146.1,966.9,10.8,551,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2708,1736,0,0,0,0,0,0
$GC,9218,0.44,146.1,933.6,10.7,566,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2708,1735,0,0,0,0,0,0
$GC,9528,0.44,146.1,900.3,10.8,581,9532,0.00,2.00,0.00,0.000,4,0.000,0.059,1924,3892,1734,0,0,0,0,0,0
$GC,9550,0.44,146.1,897.6,11.5,582,9554,0.00,1.83,0.00,0.000,6,0.000,0.034,1933,2727,1733,0,0,0,0,0,0
$GC,9882,0.44,146.1,859.5,11.5,598,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2727,1732,0,0,0,0,0,0
$GC,10192,0.44,146.1,823.8,11.7,613,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2727,1732,0,0,0,0,0,0
$GC,10501,0.44,146.1,787.2,12.1,628,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2727,1731,0,0,0,0,0,0
$GC,10810,0.44,146.1,748.6,12.5,643,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2727,1731,0,0,0,0,0,0
$GC,11120,0.44,146.1,708.9,13.1,658,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2728,1731,0,0,0,0,0,0
$GC,11429,0.44,146.1,668.2,13.4,673,11432,0.00,1.92,0.00,0.000,4,0.000,0.058,1933,3897,1731,0,0,0,0,0,0
$GC,11451,0.44,146.1,665.0,14.5,674,11455,0.00,1.88,0.00,0.000,6,0.000,0.034,1942,2717,1730,0,0,0,0,0,0
$GC,11783,0.44,146.1,617.3,14.3,690,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2717,1731,0,0,0,0,0,0
$GC,12092,0.44,146.1,571.3,15.2,705,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2717,1731,0,0,0,0,0,0
$GC,12402,0.44,146.1,524.3,15.0,720,12406,0.00,1.95,0.00,0.000,4,0.000,0.058,1942,3906,1730,0,0,0,0,0,0
$GC,12424,0.44,146.1,520.6,16.1,721,12428,0.00,1.88,0.00,0.000,6,0.000,0.034,1951,2707,1730,0,0,0,0,0,0
$GC,12756,0.44,146.1,467.3,16.3,737,12760,0.00,1.98,0.00,0.000,4,0.000,0.057,1951,3899,1730,0,0,0,0,0,0
$GC,12779,0.44,146.1,463.4,16.5,738,12783,0.00,1.85,0.00,0.000,6,0.000,0.034,1960,2711,1730,0,0,0,0,0,0
$GC,13112,0.44,146.1,406.4,17.1,754,13115,0.00,1.92,0.00,0.000,4,0.000,0.057,1961,3897,1730,0,0,0,0,0,0
$GC,13127,0.44,146.1,403.2,17.0,754,13136,0.10,1.88,0.00,0.000,6,0.205,0.032,1941,2713,1730,0,0,0,0,0,0
$GC,13446,0.44,146.1,355.8,14.7,770,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2711,1730,0,0,0,0,0,0
$GC,13756,0.44,146.1,313.6,13.4,785,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2711,1730,0,0,0,0,0,0
$GC,14062,0.44,146.1,274.6,12.6,800,14063,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2712,1730,0,0,0,0,0,0
$GC,14377,0.44,146.1,238.4,11.0,819,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2711,1730,0,0,0,0,0,0
$GC,14702,0.44,146.1,201.3,11.6,850,14706,0.00,1.92,0.00,0.000,4,0.000,0.058,1941,3897,1730,0,0,0,0,0,0
$GC,14742,0.44,146.1,196.1,13.1,853,14749,0.00,1.88,0.00,0.000,6,0.000,0.034,1949,2710,1730,0,0,0,0,0,0
$GC,15067,0.44,146.1,159.1,10.8,884,15071,0.00,1.95,0.00,0.000,4,0.000,0.058,1949,3897,1730,0,0,0,0,0,0
$GC,15080,0.44,146.1,157.9,10.8,885,15084,0.00,1.88,0.00,0.000,6,0.000,0.033,1959,2705,1730,0,0,0,0,0,0
$GC,15409,0.44,146.1,115.5,12.9,916,15413,0.00,1.95,0.00,0.000,4,0.000,0.058,1959,3902,1730,0,0,0,0,0,0
$GC,15433,0.44,146.1,112.2,14.1,918,15437,0.12,1.83,0.00,0.000,6,0.214,0.034,1939,2712,1730,0,0,0,0,0,0
$GC,15774,0.44,146.1,77.2,9.7,968,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2712,1730,0,0,0,0,0,0
$GC,15889,0.44,146.1,66.3,9.7,987,15896,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2712,1730,0,0,0,0,0,0
$GC,16002,0.44,146.1,54.7,10.3,1006,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2712,1730,0,0,0,0,0,0
$GC,16118,0.44,146.1,43.1,10.1,1025,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2712,1729,0,0,0,0,0,0
$GC,16232,0.45,158.0,32.3,9.0,1044,16241,0.00,0.00,5.65,0.766,6,0.000,0.000,1939,2712,1696,0,0,0,0,0,0
$GC,16353,0.46,169.9,20.9,9.0,1063,16362,0.00,0.00,7.28,0.766,6,0.000,0.000,1939,2712,1648,0,0,0,0,0,0
$GC,16438,0.46,169.9,13.1,9.5,1076,16447,0.00,1.95,0.00,0.000,4,0.000,0.059,1938,3891,1645,0,0,0,0,0,0
$GC,16462,0.46,169.9,10.5,10.2,1079,16471,0.00,1.88,0.00,0.000,6,0.000,0.034,1947,2715,1644,0,0,0,0,0,0
$STATE,16538,end climb,SURFACE_DEPTH_REACHED
$STATE,16538,begin surface coast
$FINISH,1.2,1.012501
$STATE,16571,end surface coast,CONTROL_FINISHED_OK
$STATE,16572,begin surface
$SM_CCo,16584,12.80,0.187,0,0,1524,200.16
$SM_GC,3.63,0.00,0.00,12.80,0.000,0.000,0.187,67,2936,1524,-5.39,0.17,200.16
$IRIDIUM_FIX,-5535.12,-34.61,030115,232320
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,22.0,32.418
$10V_AH,9.9,21.563
$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,13.100,56.525,293.075,12.800,0.000,28.759,41.182,311.328,0.000,0.000,17.363,2653.725,10903.885,390.422,2932.308,222.619,33.373,1344.091,0.000,2380.727,0.000,0.540,0.000
$DEVICE_MAMPS,250.155,62.730,1790.100,187.425,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.326,2276.106,1105.929,1147.480,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,77049,1096
$CAP_FILE_SIZE,127874,0
$CFSIZE,259252224,216588288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040115,091852,-5601.019,-34.737,39,0.8,39,-19.8