version: 66.07
glider: 542
mission: 9
dive: 154
start: 1 4 115 18 50 53
data:
$ID,542
$MISSION,9
$DIVE,154
$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,-22090.936
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,040115,184135,-5603.146,-29.754,34,0.9,34,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-72.5
$GPS2,040115,184959,-5603.160,-29.771,14,1.2,14,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.128,0.125
$KALMAN_X,83981.1,-23.0,153.8,-114881.7,-2930.9
$KALMAN_Y,30744.1,-1017.6,-575.1,-34660.6,3188.3
$MHEAD_RNG_PITCHd_Wd,65.6,5857,-23.5,-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,-0.51,-86.9,0.0,0.0,0,52,0.00,0.00,-33.83,0.000,2,0.000,0.000,61,2940,2251,0,0,0,0,0,0
$GC,54,-0.56,-146.1,3.1,-3.7,4,97,6.43,1.60,-25.95,0.000,4,0.252,0.083,1593,3886,2938,0,0,0,0,0,0
$GC,117,-0.56,-146.1,8.6,-13.3,12,126,0.00,1.55,0.00,0.000,6,0.000,0.033,1593,2902,2939,0,0,0,0,0,0
$GC,202,-0.56,-146.1,25.0,-20.1,25,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2901,2940,0,0,0,0,0,0
$GC,282,-0.56,-146.1,41.2,-18.9,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2901,2940,0,0,0,0,0,0
$GC,398,-0.56,-146.1,63.7,-20.3,57,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2901,2940,0,0,0,0,0,0
$GC,512,-0.56,-146.1,86.0,-19.8,76,519,0.00,1.65,0.00,0.000,4,0.000,0.059,1586,3887,2940,0,0,0,0,0,0
$GC,585,-0.56,-146.1,102.4,-20.5,88,596,0.00,1.50,0.00,0.000,6,0.000,0.031,1586,2921,2940,0,0,0,0,0,0
$GC,915,-0.56,-146.1,164.2,-17.8,119,921,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2920,2940,0,0,0,0,0,0
$GC,1240,-0.56,-146.1,222.0,-16.8,150,1243,0.00,1.60,0.00,0.000,4,0.000,0.060,1579,3886,2940,0,0,0,0,0,0
$GC,1312,-0.56,-146.1,235.4,-17.7,156,1322,0.00,1.48,0.00,0.000,6,0.000,0.032,1579,2923,2940,0,0,0,0,0,0
$GC,1632,-0.56,-146.1,290.6,-17.5,176,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2923,2940,0,0,0,0,0,0
$GC,1942,-0.56,-146.1,346.2,-18.3,191,1947,0.10,1.60,0.00,0.000,4,0.215,0.060,1593,3895,2940,0,0,0,0,0,0
$GC,2026,-0.56,-146.1,361.4,-16.6,194,2035,0.00,1.48,0.00,0.000,6,0.000,0.032,1593,2925,2940,0,0,0,0,0,0
$GC,2341,-0.56,-146.1,413.5,-16.2,210,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2925,2940,0,0,0,0,0,0
$GC,2651,-0.56,-146.1,462.2,-15.7,225,2654,0.00,1.60,0.00,0.000,4,0.000,0.059,1586,3893,2940,0,0,0,0,0,0
$GC,2689,-0.56,-146.1,468.9,-17.4,226,2696,0.00,1.48,0.00,0.000,6,0.000,0.032,1586,2923,2940,0,0,0,0,0,0
$GC,3005,-0.56,-146.1,519.3,-15.9,242,3008,0.00,1.60,0.00,0.000,4,0.000,0.059,1579,3892,2940,0,0,0,0,0,0
$GC,3042,-0.56,-146.1,525.9,-16.9,243,3050,0.00,1.48,0.00,0.000,6,0.000,0.031,1579,2925,2940,0,0,0,0,0,0
$GC,3359,-0.56,-146.1,576.7,-15.8,259,3363,0.00,1.60,0.00,0.000,4,0.000,0.059,1572,3896,2940,0,0,0,0,0,0
$GC,3406,-0.56,-146.1,584.3,-16.7,261,3410,0.10,1.45,0.00,0.000,6,0.184,0.032,1601,2942,2940,0,0,0,0,0,0
$GC,3738,-0.56,-146.1,630.0,-13.4,277,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2937,2940,0,0,0,0,0,0
$GC,4048,-0.56,-146.1,670.3,-12.8,292,4051,0.00,1.58,0.00,0.000,4,0.000,0.060,1594,3892,2940,0,0,0,0,0,0
$GC,4108,-0.56,-146.1,679.0,-14.0,294,4116,0.00,1.48,0.00,0.000,6,0.000,0.031,1594,2916,2940,0,0,0,0,0,0
$GC,4425,-0.56,-146.1,722.3,-13.9,310,4428,0.00,1.60,0.00,0.000,4,0.000,0.059,1586,3888,2940,0,0,0,0,0,0
$GC,4462,-0.56,-146.1,728.2,-15.4,311,4470,0.00,1.48,0.00,0.000,6,0.000,0.031,1586,2916,2940,0,0,0,0,0,0
$GC,4779,-0.56,-146.1,774.0,-14.6,327,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2915,2940,0,0,0,0,0,0
$GC,5089,-0.56,-146.1,819.3,-14.7,342,5092,0.00,1.60,0.00,0.000,4,0.000,0.059,1579,3889,2940,0,0,0,0,0,0
$GC,5171,-0.56,-146.1,832.8,-16.2,345,5179,0.00,1.45,0.00,0.000,6,0.000,0.031,1579,2927,2940,0,0,0,0,0,0
$GC,5488,-0.56,-146.1,880.4,-15.1,361,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2926,2940,0,0,0,0,0,0
$GC,5798,-0.56,-146.1,927.1,-15.0,376,5802,0.00,1.58,0.00,0.000,4,0.000,0.059,1572,3886,2940,0,0,0,0,0,0
$GC,5897,-0.56,-146.1,943.4,-16.1,380,5902,0.10,1.42,0.00,0.000,6,0.181,0.031,1601,2948,2940,0,0,0,0,0,0
$GC,6220,-0.56,-146.1,986.2,-13.2,396,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2943,2940,0,0,0,0,0,0
$STATE,6341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6341,begin apogee
$GC,6346,-0.13,0.0,1002.7,13.2,402,6485,0.47,0.00,133.90,1.786,6,0.171,0.000,1741,2718,2342,0,0,0,0,0,0
$STATE,6485,end apogee,CONTROL_FINISHED_OK
$STATE,6486,begin climb
$GC,6487,0.56,146.1,1007.9,0.0,409,6642,0.75,2.50,147.40,1.753,4,0.122,0.043,1971,1325,1745,0,0,0,0,0,0
$GC,6663,0.56,146.1,988.4,15.6,417,6668,0.00,2.47,0.00,0.000,6,0.000,0.049,1971,2702,1743,0,0,0,0,0,0
$GC,6986,0.56,146.1,934.0,17.0,433,6990,0.00,2.03,0.00,0.000,4,0.000,0.057,1971,3912,1737,0,0,0,0,0,0
$GC,7024,0.56,146.1,926.5,19.1,434,7032,0.00,1.95,0.00,0.000,6,0.000,0.034,1980,2734,1734,0,0,0,0,0,0
$GC,7340,0.56,146.1,869.7,18.0,450,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2734,1733,0,0,0,0,0,0
$GC,7650,0.56,146.1,814.3,17.7,465,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2734,1733,0,0,0,0,0,0
$GC,7959,0.56,146.1,760.0,17.1,480,7962,0.00,1.92,0.00,0.000,4,0.000,0.057,1980,3896,1732,0,0,0,0,0,0
$GC,8007,0.56,146.1,750.5,20.0,482,8012,0.00,1.90,0.00,0.000,6,0.000,0.035,1989,2712,1731,0,0,0,0,0,0
$GC,8335,0.56,146.1,693.3,17.4,498,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2712,1731,0,0,0,0,0,0
$GC,8644,0.56,146.1,639.9,16.9,513,8647,0.00,1.95,0.00,0.000,4,0.000,0.057,1990,3902,1730,0,0,0,0,0,0
$GC,8704,0.56,146.1,628.2,18.8,515,8712,0.00,1.90,0.00,0.000,6,0.000,0.034,1999,2710,1730,0,0,0,0,0,0
$GC,9021,0.56,146.1,572.9,17.5,531,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2710,1730,0,0,0,0,0,0
$GC,9330,0.56,146.1,518.9,17.3,546,9333,0.00,1.95,0.00,0.000,4,0.000,0.057,1999,3893,1729,0,0,0,0,0,0
$GC,9390,0.56,146.1,507.2,20.1,548,9398,0.10,1.88,0.00,0.000,6,0.210,0.035,1980,2715,1729,0,0,0,0,0,0
$GC,9707,0.56,146.1,457.4,15.5,564,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2715,1729,0,0,0,0,0,0
$GC,10015,0.56,146.1,406.3,17.0,579,10019,0.00,1.92,0.00,0.000,4,0.000,0.056,1980,3894,1729,0,0,0,0,0,0
$GC,10064,0.56,146.1,396.8,18.1,581,10069,0.00,1.88,0.00,0.000,6,0.000,0.034,1988,2713,1729,0,0,0,0,0,0
$GC,10395,0.56,146.1,337.8,17.9,597,10398,0.00,1.92,0.00,0.000,4,0.000,0.056,1988,3893,1729,0,0,0,0,0,0
$GC,10443,0.56,146.1,326.9,21.2,599,10449,0.00,1.88,0.00,0.000,6,0.000,0.034,1997,2706,1729,0,0,0,0,0,0
$GC,10774,0.56,146.1,266.1,18.2,615,10778,0.00,1.95,0.00,0.000,4,0.000,0.056,1998,3905,1729,0,0,0,0,0,0
$GC,10821,0.56,146.1,256.6,20.5,617,10825,0.15,1.85,0.00,0.000,6,0.223,0.034,1972,2706,1729,0,0,0,0,0,0
$GC,11151,0.56,146.1,206.0,14.8,646,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2706,1729,0,0,0,0,0,0
$GC,11470,0.56,146.1,160.5,14.0,676,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2707,1729,0,0,0,0,0,0
$GC,11789,0.56,146.1,123.5,9.6,706,11793,0.00,1.95,0.00,0.000,4,0.000,0.057,1972,3887,1729,0,0,0,0,0,0
$GC,11828,0.56,146.1,118.8,11.7,709,11835,0.00,1.88,0.00,0.000,6,0.000,0.035,1980,2708,1729,0,0,0,0,0,0
$GC,12165,0.56,146.1,82.0,12.6,753,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2708,1729,0,0,0,0,0,0
$GC,12406,0.56,146.1,49.3,13.9,794,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2708,1729,0,0,0,0,0,0
$GC,12522,0.56,146.1,33.3,14.6,813,12529,0.00,1.92,0.00,0.000,4,0.000,0.057,1980,3894,1729,0,0,0,0,0,0
$GC,12586,0.56,146.1,23.2,16.3,823,12595,0.00,1.88,0.00,0.000,6,0.000,0.034,1989,2707,1729,0,0,0,0,0,0
$GC,12670,0.56,146.1,11.0,13.6,836,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2707,1729,0,0,0,0,0,0
$STATE,12734,end climb,SURFACE_DEPTH_REACHED
$STATE,12734,begin surface coast
$FINISH,1.3,1.016531
$STATE,12760,end surface coast,CONTROL_FINISHED_OK
$STATE,12760,begin surface
$SM_CCo,12773,21.50,0.178,0,0,1522,200.16
$SM_GC,2.97,0.00,0.00,21.50,0.000,0.000,0.178,55,2933,1522,-5.42,0.08,200.16
$IRIDIUM_FIX,-5538.94,-26.98,040115,131346
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,22.0,32.907
$10V_AH,10.0,21.924
$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,13.400,73.975,281.300,21.500,0.000,25.365,40.170,312.012,0.000,0.000,16.659,2094.483,8045.034,436.312,2527.965,191.048,33.366,1290.732,0.000,2004.915,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,83.385,1786.275,178.245,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.274,1766.523,858.300,912.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,57029,850
$CAP_FILE_SIZE,113384,0
$CFSIZE,259252224,216412160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040115,222522,-5602.014,-27.288,39,0.8,39,-19.9