version: 66.07
glider: 542
mission: 9
dive: 155
start: 1 4 115 22 33 54
data:
$ID,542
$MISSION,9
$DIVE,155
$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,-22093.828
$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,28
$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
$GPS1,040115,222522,-5602.014,-27.288,39,0.8,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.9
$GPS2,040115,223300,-5602.021,-27.338,14,1.0,14,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.002,0.165
$KALMAN_X,83486.5,354.9,231.9,-112336.8,-2716.0
$KALMAN_Y,29511.3,-778.7,-320.1,-31823.3,1795.2
$MHEAD_RNG_PITCHd_Wd,19.2,4650,-25.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.54,-73.9,0.0,0.0,0,51,0.00,0.00,-34.15,0.000,2,0.000,0.000,55,2939,2262,0,0,0,0,0,0
$GC,54,-0.60,-143.8,3.1,-3.5,4,96,6.43,1.62,-24.65,0.000,4,0.255,0.081,1581,3900,2930,0,0,0,0,0,0
$GC,364,-0.60,-143.8,65.7,-23.4,54,373,0.00,1.58,0.00,0.000,6,0.000,0.033,1581,2894,2932,0,0,0,0,0,0
$GC,480,-0.60,-143.8,91.4,-21.8,73,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2893,2931,0,0,0,0,0,0
$GC,705,-0.60,-143.8,139.2,-20.2,97,708,0.00,1.65,0.00,0.000,4,0.000,0.059,1574,3896,2932,0,0,0,0,0,0
$GC,848,-0.60,-143.8,168.8,-19.2,109,855,0.00,1.50,0.00,0.000,6,0.000,0.032,1573,2922,2932,0,0,0,0,0,0
$GC,1173,-0.60,-143.8,227.2,-17.8,140,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2922,2931,0,0,0,0,0,0
$GC,1489,-0.60,-143.8,283.0,-17.8,161,1492,0.00,1.60,0.00,0.000,4,0.000,0.060,1566,3889,2932,0,0,0,0,0,0
$GC,1611,-0.60,-143.8,307.4,-18.8,166,1616,0.00,1.50,0.00,0.000,6,0.000,0.031,1566,2922,2932,0,0,0,0,0,0
$GC,1935,-0.60,-143.8,366.4,-18.3,182,1939,0.00,1.62,0.00,0.000,4,0.000,0.058,1558,3900,2932,0,0,0,0,0,0
$GC,2013,-0.60,-143.8,382.0,-19.6,185,2019,0.10,1.50,0.00,0.000,6,0.208,0.031,1585,2920,2932,0,0,0,0,0,0
$GC,2336,-0.60,-143.8,432.9,-15.6,201,2339,0.00,1.60,0.00,0.000,4,0.000,0.059,1578,3890,2932,0,0,0,0,0,0
$GC,2407,-0.60,-143.8,445.4,-16.9,204,2412,0.00,1.48,0.00,0.000,6,0.000,0.031,1578,2925,2932,0,0,0,0,0,0
$GC,2735,-0.60,-143.8,497.8,-16.2,220,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2932,0,0,0,0,0,0
$GC,3045,-0.60,-143.8,547.0,-15.5,235,3048,0.00,1.60,0.00,0.000,4,0.000,0.059,1571,3892,2932,0,0,0,0,0,0
$GC,3127,-0.60,-143.8,561.1,-16.1,238,3135,0.00,1.48,0.00,0.000,6,0.000,0.031,1571,2923,2932,0,0,0,0,0,0
$GC,3443,-0.60,-143.8,610.1,-15.4,254,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2922,2932,0,0,0,0,0,0
$GC,3753,-0.60,-143.8,657.2,-15.3,269,3757,0.00,1.60,0.00,0.000,4,0.000,0.060,1563,3893,2932,0,0,0,0,0,0
$GC,3843,-0.60,-143.8,672.4,-17.2,273,3848,0.08,1.45,0.00,0.000,6,0.184,0.031,1586,2941,2933,0,0,0,0,0,0
$GC,4175,-0.60,-143.8,720.4,-14.4,289,4179,0.00,1.58,0.00,0.000,4,0.000,0.060,1579,3892,2933,0,0,0,0,0,0
$GC,4221,-0.60,-143.8,727.6,-16.3,291,4224,0.00,1.48,0.00,0.000,6,0.000,0.031,1579,2915,2932,0,0,0,0,0,0
$GC,4552,-0.60,-143.8,778.3,-15.1,307,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2910,2932,0,0,0,0,0,0
$GC,4863,-0.60,-143.8,825.2,-15.3,322,4866,0.00,1.62,0.00,0.000,4,0.000,0.059,1572,3895,2932,0,0,0,0,0,0
$GC,4922,-0.60,-143.8,835.4,-16.6,324,4931,0.00,1.48,0.00,0.000,6,0.000,0.031,1572,2923,2933,0,0,0,0,0,0
$GC,5239,-0.60,-143.8,884.7,-15.7,340,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2923,2932,0,0,0,0,0,0
$GC,5549,-0.60,-143.8,934.4,-16.3,355,5553,0.00,1.60,0.00,0.000,4,0.000,0.060,1564,3896,2932,0,0,0,0,0,0
$GC,5631,-0.60,-143.8,949.0,-16.9,358,5639,0.08,1.48,0.00,0.000,6,0.183,0.031,1586,2935,2933,0,0,0,0,0,0
$GC,5948,-0.60,-143.8,995.5,-14.5,374,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2935,2932,0,0,0,0,0,0
$STATE,5987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5987,begin apogee
$GC,5991,-0.13,0.0,1001.5,14.6,376,6130,0.52,0.00,132.40,1.802,6,0.178,0.000,1738,2714,2342,0,0,0,0,0,0
$STATE,6131,end apogee,CONTROL_FINISHED_OK
$STATE,6131,begin climb
$GC,6133,0.60,143.8,1007.6,0.0,383,6286,0.80,2.47,145.15,1.753,4,0.123,0.041,1982,1331,1753,0,0,0,0,0,0
$GC,6329,0.60,143.8,985.3,15.3,392,6335,0.00,2.45,0.00,0.000,6,0.000,0.049,1983,2712,1750,0,0,0,0,0,0
$GC,6652,0.60,143.8,929.5,17.5,408,6656,0.00,1.95,0.00,0.000,4,0.000,0.057,1982,3893,1744,0,0,0,0,0,0
$GC,6706,0.60,143.8,918.1,19.7,410,6711,0.00,1.90,0.00,0.000,6,0.000,0.034,1992,2738,1743,0,0,0,0,0,0
$GC,7028,0.60,143.8,857.8,18.9,426,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2737,1742,0,0,0,0,0,0
$GC,7338,0.60,143.8,798.6,19.5,441,7342,0.00,1.90,0.00,0.000,4,0.000,0.056,1992,3897,1741,0,0,0,0,0,0
$GC,7387,0.60,143.8,787.6,22.7,443,7392,0.00,1.90,0.00,0.000,6,0.000,0.034,2001,2716,1740,0,0,0,0,0,0
$GC,7715,0.60,143.8,721.3,20.4,459,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2716,1740,0,0,0,0,0,0
$GC,8025,0.60,143.8,656.7,21.3,474,8029,0.00,1.95,0.00,0.000,4,0.000,0.056,2001,3890,1740,0,0,0,0,0,0
$GC,8102,0.60,143.8,638.3,22.9,477,8107,0.00,1.90,0.00,0.000,6,0.000,0.034,2010,2700,1739,0,0,0,0,0,0
$GC,8424,0.60,143.8,570.4,21.0,493,8428,0.00,1.92,0.00,0.000,4,0.000,0.054,2010,3892,1739,0,0,0,0,0,0
$GC,8484,0.60,143.8,555.9,24.0,495,8493,0.10,1.90,0.00,0.000,6,0.201,0.034,1992,2706,1738,0,0,0,0,0,0
$GC,8801,0.60,143.8,496.7,18.4,511,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2706,1738,0,0,0,0,0,0
$GC,9111,0.60,143.8,440.1,17.9,526,9114,0.00,1.98,0.00,0.000,4,0.000,0.056,1992,3926,1738,0,0,0,0,0,0
$GC,9165,0.60,143.8,428.6,20.9,528,9170,0.00,1.95,0.00,0.000,6,0.000,0.034,2000,2705,1738,0,0,0,0,0,0
$GC,9488,0.60,143.8,370.1,17.9,544,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2705,1738,0,0,0,0,0,0
$GC,9800,0.60,143.8,317.1,17.1,559,9804,0.00,1.92,0.00,0.000,4,0.000,0.055,2000,3892,1738,0,0,0,0,0,0
$GC,9900,0.60,143.8,297.5,18.7,563,9905,0.00,1.88,0.00,0.000,6,0.000,0.034,2009,2710,1738,0,0,0,0,0,0
$GC,10226,0.60,143.8,240.1,18.5,581,10230,0.00,1.92,0.00,0.000,4,0.000,0.055,2009,3893,1738,0,0,0,0,0,0
$GC,10276,0.60,143.8,228.9,21.3,585,10285,0.10,1.88,0.00,0.000,6,0.202,0.034,1991,2709,1738,0,0,0,0,0,0
$GC,10602,0.60,143.8,171.3,17.8,616,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2709,1737,0,0,0,0,0,0
$GC,10923,0.60,143.8,116.4,16.7,646,10927,0.00,1.92,0.00,0.000,4,0.000,0.056,1991,3896,1738,0,0,0,0,0,0
$GC,11007,0.60,143.8,102.1,17.7,653,11011,0.00,1.85,0.00,0.000,6,0.000,0.034,1999,2704,1738,0,0,0,0,0,0
$GC,11363,0.60,143.8,51.1,13.8,713,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2705,1738,0,0,0,0,0,0
$GC,11476,0.60,143.8,36.0,13.0,732,11485,0.00,1.95,0.00,0.000,4,0.000,0.057,1999,3889,1738,0,0,0,0,0,0
$GC,11540,0.60,143.8,26.5,15.1,742,11550,0.00,1.85,0.00,0.000,6,0.000,0.034,2008,2716,1738,0,0,0,0,0,0
$GC,11627,0.60,143.8,14.3,13.8,755,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2716,1737,0,0,0,0,0,0
$STATE,11703,end climb,SURFACE_DEPTH_REACHED
$STATE,11703,begin surface coast
$FINISH,1.3,1.013209
$STATE,11729,end surface coast,CONTROL_FINISHED_OK
$STATE,11729,begin surface
$SM_CCo,11742,22.52,0.183,0,0,1523,200.16
$SM_GC,3.35,0.00,0.00,22.52,0.000,0.000,0.183,58,2936,1523,-5.41,0.17,200.16
$IRIDIUM_FIX,-5538.94,-30.83,040115,181815
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,22.0,33.066
$10V_AH,10.0,22.022
$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,13.550,70.975,277.550,22.525,0.000,27.037,41.085,271.935,0.000,0.000,16.595,1941.576,7342.603,391.600,2390.453,156.872,33.363,1199.752,0.000,1909.469,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,81.090,1802.340,182.835,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.936,1604.594,779.026,810.438,0.000,0.000,0.000,0.000,0.000,0.000
$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,53593,771
$CAP_FILE_SIZE,105412,0
$CFSIZE,259252224,216354816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050115,015104,-5600.104,-27.765,31,1.0,31,-19.9