version: 66.07
glider: 542
mission: 9
dive: 152
start: 1 4 115 9 27 54
data:
$ID,542
$MISSION,9
$DIVE,152
$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,-22085.082
$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,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
$GPS1,040115,091852,-5601.019,-34.737,39,0.8,39,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.3
$GPS2,040115,092700,-5600.976,-34.687,15,1.4,15,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.186,-0.136
$KALMAN_X,88137.2,-48.3,-349.8,-123580.8,-676.6
$KALMAN_Y,31271.9,-710.5,-596.5,-31438.1,5816.0
$MHEAD_RNG_PITCHd_Wd,146.0,5179,-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,-146.1,0.0,0.0,0,52,0.00,0.00,-33.80,0.000,2,0.000,0.000,66,2939,2252,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-3.7,4,97,6.57,1.60,-25.33,0.000,4,0.253,0.083,1632,3885,2939,0,0,0,0,0,0
$GC,130,-0.44,-146.1,10.4,-15.8,14,139,0.00,1.55,0.00,0.000,6,0.000,0.031,1631,2896,2940,0,0,0,0,0,0
$GC,215,-0.44,-146.1,24.6,-16.2,27,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2895,2941,0,0,0,0,0,0
$GC,296,-0.44,-146.1,38.2,-16.7,40,305,0.00,1.67,0.00,0.000,4,0.000,0.060,1624,3890,2941,0,0,0,0,0,0
$GC,335,-0.44,-146.1,44.9,-17.4,46,344,0.00,1.50,0.00,0.000,6,0.000,0.032,1624,2922,2941,0,0,0,0,0,0
$GC,452,-0.44,-146.1,64.2,-17.2,65,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2922,2941,0,0,0,0,0,0
$GC,564,-0.44,-146.1,83.3,-16.8,84,572,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2922,2941,0,0,0,0,0,0
$GC,797,-0.44,-146.1,121.5,-16.2,114,798,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2922,2941,0,0,0,0,0,0
$GC,1115,-0.44,-146.1,170.3,-15.2,144,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2922,2941,0,0,0,0,0,0
$GC,1434,-0.44,-146.1,217.5,-14.5,174,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2922,2941,0,0,0,0,0,0
$GC,1759,-0.44,-146.1,266.5,-15.0,200,1762,0.00,1.62,0.00,0.000,4,0.000,0.062,1616,3927,2941,0,0,0,0,0,0
$GC,1804,-0.44,-146.1,273.7,-15.7,202,1807,0.00,1.52,0.00,0.000,6,0.000,0.032,1616,2932,2941,0,0,0,0,0,0
$GC,2137,-0.44,-146.1,323.1,-14.5,218,2138,0.10,0.00,0.00,0.000,6,0.203,0.000,1640,2925,2941,0,0,0,0,0,0
$GC,2447,-0.44,-146.1,360.8,-11.7,233,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,2755,-0.44,-146.1,396.5,-11.6,248,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,3065,-0.44,-146.1,431.6,-11.2,263,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,3373,-0.44,-146.1,465.4,-11.1,278,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,3683,-0.44,-146.1,499.7,-10.9,293,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,3993,-0.44,-146.1,533.2,-10.9,308,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2941,0,0,0,0,0,0
$GC,4301,-0.44,-146.1,567.6,-11.1,323,4305,0.00,1.60,0.00,0.000,4,0.000,0.063,1632,3890,2941,0,0,0,0,0,0
$GC,4328,-0.44,-146.1,571.0,-12.2,324,4333,0.00,1.48,0.00,0.000,6,0.000,0.030,1632,2918,2941,0,0,0,0,0,0
$GC,4656,-0.44,-146.1,609.5,-11.7,340,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,4965,-0.44,-146.1,646.1,-11.7,355,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2918,2941,0,0,0,0,0,0
$GC,5275,-0.44,-146.1,680.7,-11.0,370,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,5583,-0.44,-146.1,716.3,-11.7,385,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2918,2941,0,0,0,0,0,0
$GC,5893,-0.44,-146.1,752.2,-11.6,400,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,6203,-0.44,-146.1,788.6,-11.8,415,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,6512,-0.44,-146.1,824.6,-11.3,430,6516,0.00,2.08,0.00,0.000,4,0.000,0.039,1632,1558,2941,0,0,0,0,0,0
$GC,6538,-0.44,-146.1,827.7,-11.2,431,6544,0.00,2.22,0.00,0.000,6,0.000,0.054,1622,2925,2941,0,0,0,0,0,0
$GC,6867,-0.44,-146.1,866.9,-12.3,447,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2925,2941,0,0,0,0,0,0
$GC,7176,-0.44,-146.1,905.0,-12.6,462,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2925,2941,0,0,0,0,0,0
$GC,7485,-0.44,-146.1,943.3,-12.4,477,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2925,2941,0,0,0,0,0,0
$GC,7795,-0.44,-146.1,981.3,-12.2,492,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2925,2941,0,0,0,0,0,0
$STATE,7958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7958,begin apogee
$GC,7962,-0.13,0.0,1000.9,12.0,500,8101,0.40,0.00,134.27,1.796,6,0.167,0.000,1739,2715,2342,0,0,0,0,0,0
$STATE,8102,end apogee,CONTROL_FINISHED_OK
$STATE,8102,begin climb
$GC,8104,0.44,146.1,1006.6,0.0,507,8255,0.65,0.00,147.85,1.738,6,0.126,0.000,1924,2715,1746,0,0,0,0,0,0
$GC,8550,0.44,146.1,959.9,12.0,529,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2715,1737,0,0,0,0,0,0
$GC,8859,0.44,146.1,922.5,12.2,544,8863,0.00,2.00,0.00,0.000,4,0.000,0.059,1924,3914,1735,0,0,0,0,0,0
$GC,8891,0.44,146.1,918.2,14.6,545,8895,0.00,1.90,0.00,0.000,6,0.000,0.034,1933,2754,1734,0,0,0,0,0,0
$GC,9212,0.44,146.1,877.8,12.8,561,9216,0.00,2.30,0.00,0.000,4,0.000,0.044,1944,1284,1734,0,0,0,0,0,0
$GC,9229,0.44,146.1,875.8,12.2,562,9234,0.00,2.33,0.00,0.000,6,0.000,0.049,1944,2731,1734,0,0,0,0,0,0
$GC,9556,0.44,146.1,832.2,13.8,578,9557,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2731,1733,0,0,0,0,0,0
$GC,9865,0.44,146.1,789.5,14.3,593,9869,0.00,1.88,0.00,0.000,4,0.000,0.059,1944,3889,1733,0,0,0,0,0,0
$GC,9891,0.44,146.1,785.2,15.4,594,9896,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2702,1732,0,0,0,0,0,0
$GC,10220,0.44,146.1,737.3,14.6,610,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2702,1732,0,0,0,0,0,0
$GC,10528,0.44,146.1,693.4,14.3,625,10532,0.00,1.95,0.00,0.000,4,0.000,0.058,1953,3889,1732,0,0,0,0,0,0
$GC,10551,0.44,146.1,689.8,15.4,626,10554,0.00,1.85,0.00,0.000,6,0.000,0.034,1962,2709,1731,0,0,0,0,0,0
$GC,10883,0.44,146.1,639.7,15.2,642,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2709,1731,0,0,0,0,0,0
$GC,11192,0.44,146.1,592.7,15.0,657,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2709,1731,0,0,0,0,0,0
$GC,11502,0.44,146.1,546.2,15.1,672,11506,0.00,1.95,0.00,0.000,4,0.000,0.059,1962,3886,1731,0,0,0,0,0,0
$GC,11539,0.44,146.1,539.7,16.8,673,11547,0.10,1.88,0.00,0.000,6,0.200,0.034,1943,2709,1730,0,0,0,0,0,0
$GC,11855,0.44,146.1,498.7,12.8,689,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2710,1730,0,0,0,0,0,0
$GC,12165,0.44,146.1,458.0,13.4,704,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2710,1730,0,0,0,0,0,0
$GC,12474,0.44,146.1,416.1,13.5,719,12477,0.00,1.92,0.00,0.000,4,0.000,0.058,1942,3886,1730,0,0,0,0,0,0
$GC,12519,0.44,146.1,409.1,15.9,721,12523,0.00,1.85,0.00,0.000,6,0.000,0.035,1950,2703,1730,0,0,0,0,0,0
$GC,12854,0.44,146.1,360.7,14.3,737,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,13160,0.44,146.1,316.1,14.3,752,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,13472,0.44,146.1,271.6,14.4,767,13473,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,13786,0.44,146.1,226.4,14.6,789,13793,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,14112,0.44,146.1,178.6,14.1,820,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,14433,0.44,146.1,133.2,14.1,850,14436,0.00,1.95,0.00,0.000,4,0.000,0.058,1951,3896,1730,0,0,0,0,0,0
$GC,14471,0.44,146.1,127.5,15.6,853,14474,0.00,1.85,0.00,0.000,6,0.000,0.034,1960,2709,1730,0,0,0,0,0,0
$GC,14805,0.44,146.1,85.2,10.7,894,14814,0.00,1.92,0.00,0.000,4,0.000,0.057,1960,3881,1730,0,0,0,0,0,0
$GC,14826,0.44,146.1,82.4,11.7,897,14835,0.10,1.85,0.00,0.000,6,0.194,0.035,1940,2713,1730,0,0,0,0,0,0
$GC,15071,0.45,154.0,59.7,9.2,938,15080,0.00,0.00,2.92,0.610,6,0.000,0.000,1940,2712,1714,0,0,0,0,0,0
$GC,15189,0.47,180.6,49.1,8.4,957,15204,0.00,0.00,13.38,0.917,6,0.000,0.000,1940,2712,1603,0,0,0,0,0,0
$GC,15311,0.47,180.6,37.8,10.1,977,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2712,1598,0,0,0,0,0,0
$GC,15426,0.47,180.6,27.1,9.8,996,15436,0.00,1.95,0.00,0.000,4,0.000,0.058,1940,3883,1597,0,0,0,0,0,0
$GC,15458,0.47,180.6,24.2,9.6,1000,15467,0.00,1.88,0.00,0.000,6,0.000,0.035,1948,2711,1597,0,0,0,0,0,0
$GC,15542,0.47,180.6,15.5,9.9,1013,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1596,0,0,0,0,0,0
$GC,15627,0.47,182.8,7.0,9.4,1026,15635,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1596,0,0,0,0,0,0
$STATE,15666,end climb,SURFACE_DEPTH_REACHED
$STATE,15666,begin surface coast
$FINISH,1.2,1.016596
$STATE,15698,end surface coast,CONTROL_FINISHED_OK
$STATE,15699,begin surface
$SM_CCo,15712,7.40,0.190,0,0,1525,200.16
$SM_GC,3.08,0.00,0.00,7.40,0.000,0.000,0.190,54,2933,1525,-5.43,0.08,200.16
$IRIDIUM_FIX,-5538.94,-30.80,040115,040419
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,22.0,32.583
$10V_AH,10.0,21.686
$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,13.100,52.575,298.425,7.400,0.000,27.195,19.456,314.238,0.000,0.000,18.244,2510.841,10312.395,426.908,2751.332,201.937,33.370,1313.106,0.000,2227.104,0.000,0.539,0.000
$DEVICE_MAMPS,253.215,82.620,1796.220,189.720,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.041,2148.700,1033.102,1083.890,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,70321,1037
$CAP_FILE_SIZE,120871,0
$CFSIZE,259252224,216526848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040115,135104,-5602.104,-32.582,35,0.7,36,-19.9