version: 66.07
glider: 542
mission: 9
dive: 159
start: 1 5 115 16 42 23
data:
$ID,542
$MISSION,9
$DIVE,159
$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,-22105.504
$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,34
$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
$GPS1,050115,163251,-5553.424,-22.998,24,1.2,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-73.8
$GPS2,050115,164129,-5553.420,-23.016,19,1.2,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.062,0.222
$KALMAN_X,83390.7,40.7,35.3,-107248.0,-491.5
$KALMAN_Y,27651.9,91.5,161.5,-15418.5,-786.3
$MHEAD_RNG_PITCHd_Wd,4.3,17210,-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,-33.75,0.000,2,0.000,0.000,49,2938,2266,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-2.9,4,97,6.60,2.28,-24.88,0.000,4,0.249,0.054,1641,1514,2940,0,0,0,0,0,0
$GC,210,-0.44,-146.1,19.8,-13.2,27,219,0.00,2.33,0.00,0.000,6,0.000,0.054,1630,2918,2941,0,0,0,0,0,0
$GC,292,-0.44,-146.1,33.3,-17.5,40,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2941,0,0,0,0,0,0
$GC,407,-0.44,-146.1,54.3,-19.3,59,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2941,0,0,0,0,0,0
$GC,520,-0.44,-146.1,76.2,-18.8,78,528,0.00,1.60,0.00,0.000,4,0.000,0.061,1623,3897,2941,0,0,0,0,0,0
$GC,549,-0.44,-146.1,81.3,-18.7,82,556,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2889,2941,0,0,0,0,0,0
$GC,779,-0.44,-146.1,124.4,-19.8,111,780,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,2941,0,0,0,0,0,0
$GC,1098,-0.44,-146.1,170.8,-14.6,141,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,2942,0,0,0,0,0,0
$GC,1423,-0.44,-146.1,217.4,-14.8,172,1426,0.00,1.67,0.00,0.000,4,0.000,0.061,1615,3905,2941,0,0,0,0,0,0
$GC,1487,-0.44,-146.1,227.8,-16.0,177,1495,0.08,1.48,0.00,0.000,6,0.177,0.032,1638,2939,2942,0,0,0,0,0,0
$GC,1821,-0.44,-146.1,274.0,-13.5,201,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,2127,-0.44,-146.1,313.3,-12.4,216,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,2438,-0.44,-146.1,352.8,-12.8,231,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2941,0,0,0,0,0,0
$GC,2745,-0.44,-146.1,390.5,-11.4,246,2749,0.00,1.60,0.00,0.000,4,0.000,0.062,1631,3902,2941,0,0,0,0,0,0
$GC,2791,-0.44,-146.1,395.9,-11.6,248,2794,0.00,1.48,0.00,0.000,6,0.000,0.031,1631,2924,2942,0,0,0,0,0,0
$GC,3124,-0.44,-146.1,432.3,-11.4,264,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,3432,-0.44,-146.1,469.9,-12.7,279,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,3742,-0.44,-146.1,508.0,-12.0,294,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2941,0,0,0,0,0,0
$GC,4051,-0.44,-146.1,545.7,-11.9,309,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2941,0,0,0,0,0,0
$GC,4360,-0.44,-146.1,583.5,-12.1,324,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,4670,-0.44,-146.1,620.9,-12.0,339,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,4979,-0.44,-146.1,657.4,-11.5,354,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,5288,-0.44,-146.1,692.1,-11.0,369,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,5598,-0.44,-146.1,726.1,-11.1,384,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2919,2942,0,0,0,0,0,0
$GC,5907,-0.44,-146.1,761.4,-11.5,399,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2941,0,0,0,0,0,0
$GC,6216,-0.44,-146.1,795.5,-10.6,414,6220,0.00,1.62,0.00,0.000,4,0.000,0.061,1623,3899,2941,0,0,0,0,0,0
$GC,6254,-0.44,-146.1,799.8,-11.4,415,6261,0.00,1.45,0.00,0.000,6,0.000,0.031,1624,2923,2941,0,0,0,0,0,0
$GC,6569,-0.44,-146.1,835.0,-11.1,431,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,6879,-0.44,-146.1,867.8,-10.4,446,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2942,0,0,0,0,0,0
$GC,7189,-0.44,-146.1,898.5,-9.7,461,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,7498,-0.44,-146.1,927.7,-9.5,476,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,7807,-0.44,-146.1,958.8,-10.3,491,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,8117,-0.44,-146.1,990.7,-10.1,506,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$STATE,8218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8218,begin apogee
$GC,8222,-0.13,0.0,1001.4,10.4,511,8361,0.40,0.00,134.32,1.794,6,0.171,0.000,1739,2724,2342,0,0,0,0,0,0
$STATE,8362,end apogee,CONTROL_FINISHED_OK
$STATE,8362,begin climb
$GC,8363,0.44,146.1,1005.2,0.0,518,8520,0.65,0.00,148.55,1.742,6,0.124,0.000,1925,2724,1745,0,0,0,0,0,0
$GC,8830,0.44,146.1,949.3,13.5,541,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2724,1736,0,0,0,0,0,0
$GC,9138,0.44,146.1,907.7,13.3,556,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2724,1735,0,0,0,0,0,0
$GC,9448,0.44,146.1,867.0,12.7,571,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2724,1734,0,0,0,0,0,0
$GC,9756,0.44,146.1,827.1,13.4,586,9760,0.00,1.98,0.00,0.000,4,0.000,0.060,1925,3910,1733,0,0,0,0,0,0
$GC,9801,0.44,146.1,820.5,16.0,588,9805,0.00,1.83,0.00,0.000,6,0.000,0.034,1934,2740,1732,0,0,0,0,0,0
$GC,10134,0.44,146.1,773.5,14.1,604,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1732,0,0,0,0,0,0
$GC,10442,0.44,146.1,731.5,13.3,619,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1732,0,0,0,0,0,0
$GC,10752,0.44,146.1,691.1,12.9,634,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1731,0,0,0,0,0,0
$GC,11062,0.44,146.1,650.6,13.6,649,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1731,0,0,0,0,0,0
$GC,11370,0.44,146.1,608.8,13.6,664,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1730,0,0,0,0,0,0
$GC,11681,0.44,146.1,567.7,13.0,679,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1731,0,0,0,0,0,0
$GC,11989,0.44,146.1,526.2,13.8,694,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1731,0,0,0,0,0,0
$GC,12299,0.44,146.1,482.0,14.9,709,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1731,0,0,0,0,0,0
$GC,12609,0.44,146.1,435.7,15.0,724,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1731,0,0,0,0,0,0
$GC,12919,0.44,146.1,389.6,14.7,739,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2740,1731,0,0,0,0,0,0
$GC,13227,0.44,146.1,346.3,13.4,754,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1730,0,0,0,0,0,0
$GC,13538,0.44,146.1,306.8,12.5,769,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1730,0,0,0,0,0,0
$GC,13845,0.44,146.1,268.1,12.8,784,13846,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2740,1730,0,0,0,0,0,0
$GC,14161,0.44,146.1,230.9,11.4,806,14162,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2739,1730,0,0,0,0,0,0
$GC,14479,0.44,146.1,196.2,11.1,836,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2740,1730,0,0,0,0,0,0
$GC,14798,0.45,154.0,166.2,9.2,866,14809,0.00,0.00,5.05,1.078,6,0.000,0.000,1934,2739,1715,0,0,0,0,0,0
$GC,15127,0.45,154.0,133.1,10.4,897,15131,0.00,2.25,0.00,0.000,4,0.000,0.044,1945,1287,1715,0,0,0,0,0,0
$GC,15182,0.45,160.9,128.0,9.2,901,15194,0.00,2.28,5.55,1.020,6,0.000,0.053,1945,2731,1686,0,0,0,0,0,0
$GC,15518,0.45,160.9,91.3,10.5,939,15527,0.00,1.88,0.00,0.000,4,0.000,0.060,1945,3883,1684,0,0,0,0,0,0
$GC,15620,0.45,160.9,78.4,13.5,956,15629,0.00,1.85,0.00,0.000,6,0.000,0.034,1954,2713,1683,0,0,0,0,0,0
$GC,15737,0.45,160.9,65.1,11.2,975,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1683,0,0,0,0,0,0
$GC,15850,0.45,160.9,52.4,11.6,994,15858,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1683,0,0,0,0,0,0
$GC,15964,0.45,160.9,39.9,11.5,1013,15970,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1683,0,0,0,0,0,0
$GC,16079,0.45,160.9,27.0,10.8,1032,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1683,0,0,0,0,0,0
$GC,16163,0.45,160.9,17.8,10.6,1045,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1683,0,0,0,0,0,0
$GC,16247,0.45,160.9,9.0,10.1,1058,16256,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1683,0,0,0,0,0,0
$STATE,16305,end climb,SURFACE_DEPTH_REACHED
$STATE,16305,begin surface coast
$FINISH,1.3,1.010486
$STATE,16337,end surface coast,CONTROL_FINISHED_OK
$STATE,16337,begin surface
$SM_CCo,16350,20.38,0.165,0,0,1526,200.16
$SM_GC,3.23,0.00,0.00,20.38,0.000,0.000,0.165,59,2929,1526,-5.41,-0.03,200.16
$IRIDIUM_FIX,-5535.12,-19.21,050115,111116
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,22.0,33.726
$10V_AH,10.0,22.532
$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,12.875,29.700,293.475,20.375,0.000,26.049,42.976,318.107,0.000,0.000,21.550,2559.582,10865.780,436.730,2822.430,201.618,33.362,1304.902,0.000,2265.799,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,61.965,1793.925,165.240,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.958,2231.017,1072.774,1101.638,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353828
$DATA_FILE_SIZE,73786,1072
$CAP_FILE_SIZE,115322,0
$CFSIZE,259252224,216051712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050115,211629,-5551.179,-25.114,39,0.9,39,-19.9