version: 66.07
glider: 542
mission: 9
dive: 174
start: 1 8 115 14 58 53
data:
$ID,542
$MISSION,9
$DIVE,174
$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,-22149.354
$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,61
$R_STBD_OVSHOOT,36
$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
$GPS1,080115,144936,-5550.700,-32.244,32,1.0,32,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-61.9
$GPS2,080115,145759,-5550.713,-32.300,17,1.2,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.074,0.219
$KALMAN_X,91080.0,164.3,159.3,-124786.5,-80.8
$KALMAN_Y,45278.6,-414.0,-161.0,-27184.2,1954.2
$MHEAD_RNG_PITCHd_Wd,38.6,10849,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.44,-146.0,0.0,0.0,0,53,0.00,0.00,-33.30,0.000,2,0.000,0.000,45,2890,2231,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.0,-3.0,4,97,6.53,0.00,-26.08,0.000,6,0.244,0.000,1637,2891,2938,0,0,0,0,0,0
$GC,172,-0.44,-146.1,17.5,-16.6,21,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,2940,0,0,0,0,0,0
$GC,256,-0.44,-146.1,30.9,-15.5,34,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,2940,0,0,0,0,0,0
$GC,373,-0.44,-146.1,50.2,-15.9,53,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,2940,0,0,0,0,0,0
$GC,485,-0.44,-146.1,68.4,-15.8,72,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,2940,0,0,0,0,0,0
$GC,600,-0.44,-146.1,85.7,-14.9,91,606,0.00,1.65,0.00,0.000,4,0.000,0.062,1630,3888,2940,0,0,0,0,0,0
$GC,654,-0.44,-146.1,94.1,-15.1,100,661,0.00,1.50,0.00,0.000,6,0.000,0.032,1629,2910,2940,0,0,0,0,0,0
$GC,876,-0.44,-146.1,130.8,-16.7,124,878,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2940,0,0,0,0,0,0
$GC,1196,-0.44,-146.1,181.6,-16.0,154,1200,0.00,1.62,0.00,0.000,4,0.000,0.061,1622,3881,2940,0,0,0,0,0,0
$GC,1258,-0.44,-146.1,192.7,-17.3,159,1267,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2916,2940,0,0,0,0,0,0
$GC,1584,-0.44,-146.1,239.7,-13.2,190,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2915,2940,0,0,0,0,0,0
$GC,1898,-0.44,-146.1,279.2,-12.4,209,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2915,2940,0,0,0,0,0,0
$GC,2207,-0.44,-146.1,316.2,-12.0,224,2210,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3892,2940,0,0,0,0,0,0
$GC,2277,-0.44,-146.1,325.2,-14.0,227,2281,0.08,1.45,0.00,0.000,6,0.170,0.031,1639,2947,2940,0,0,0,0,0,0
$GC,2611,-0.44,-146.1,361.9,-10.6,243,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2944,2940,0,0,0,0,0,0
$GC,2920,-0.44,-146.1,396.8,-11.7,258,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2944,2940,0,0,0,0,0,0
$GC,3227,-0.44,-146.1,433.0,-11.3,273,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2944,2940,0,0,0,0,0,0
$GC,3537,-0.44,-146.1,467.2,-11.1,288,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2944,2941,0,0,0,0,0,0
$GC,3847,-0.44,-146.1,501.9,-11.5,303,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2940,0,0,0,0,0,0
$GC,4155,-0.44,-146.1,537.9,-11.7,318,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,4465,-0.44,-146.1,573.1,-11.2,333,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2944,2941,0,0,0,0,0,0
$GC,4775,-0.44,-146.1,606.3,-10.6,348,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,5083,-0.44,-146.1,639.3,-10.9,363,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2940,0,0,0,0,0,0
$GC,5393,-0.44,-146.1,672.3,-10.6,378,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,5703,-0.44,-146.1,703.7,-9.9,393,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,6012,-0.44,-146.1,733.7,-9.4,408,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,6321,-0.44,-146.1,764.7,-10.2,423,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,6630,-0.44,-146.1,795.7,-10.0,438,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2941,0,0,0,0,0,0
$GC,6939,-0.44,-146.1,826.9,-10.2,453,6943,0.00,2.15,0.00,0.000,4,0.000,0.037,1638,1532,2941,0,0,0,0,0,0
$GC,6980,-0.44,-146.1,830.7,-9.4,455,6984,0.00,2.22,0.00,0.000,6,0.000,0.053,1628,2918,2941,0,0,0,0,0,0
$GC,7306,-0.44,-146.1,867.4,-11.4,471,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2919,2941,0,0,0,0,0,0
$GC,7615,-0.44,-146.1,903.5,-11.8,486,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2919,2941,0,0,0,0,0,0
$GC,7925,-0.44,-146.1,939.5,-11.6,501,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2919,2941,0,0,0,0,0,0
$GC,8234,-0.44,-146.1,974.2,-11.1,516,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2919,2941,0,0,0,0,0,0
$STATE,8480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8480,begin apogee
$GC,8484,-0.13,0.0,1001.4,11.0,528,8623,0.40,0.00,134.55,1.782,6,0.169,0.000,1744,2711,2342,0,0,0,0,0,0
$STATE,8624,end apogee,CONTROL_FINISHED_OK
$STATE,8624,begin climb
$GC,8626,0.44,146.1,1006.3,0.0,535,8779,0.60,0.00,147.80,1.718,6,0.124,0.000,1921,2709,1745,0,0,0,0,0,0
$GC,9081,0.44,146.1,958.8,11.8,557,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2710,1738,0,0,0,0,0,0
$GC,9390,0.44,146.1,920.2,12.8,572,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2710,1735,0,0,0,0,0,0
$GC,9699,0.44,146.1,882.1,12.5,587,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2710,1735,0,0,0,0,0,0
$GC,10009,0.44,146.1,842.9,12.7,602,10013,0.00,2.00,0.00,0.000,4,0.000,0.060,1921,3894,1734,0,0,0,0,0,0
$GC,10055,0.44,146.1,836.4,14.6,604,10059,0.00,1.85,0.00,0.000,6,0.000,0.034,1930,2729,1732,0,0,0,0,0,0
$GC,10387,0.44,146.1,789.9,14.2,620,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1732,0,0,0,0,0,0
$GC,10697,0.44,146.1,745.9,14.3,635,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2730,1732,0,0,0,0,0,0
$GC,11005,0.44,146.1,701.8,14.3,650,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1731,0,0,0,0,0,0
$GC,11315,0.44,146.1,658.1,14.0,665,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1731,0,0,0,0,0,0
$GC,11625,0.44,146.1,615.4,13.8,680,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1731,0,0,0,0,0,0
$GC,11933,0.44,146.1,574.4,12.9,695,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,12243,0.44,146.1,535.8,12.3,710,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2730,1730,0,0,0,0,0,0
$GC,12553,0.44,146.1,498.2,12.2,725,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,12861,0.44,146.1,459.1,12.5,740,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,13171,0.44,146.1,421.1,12.0,755,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,13482,0.44,146.1,385.5,11.3,770,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,13793,0.44,146.1,350.0,11.3,785,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,14099,0.44,146.1,315.3,11.1,800,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2730,1730,0,0,0,0,0,0
$GC,14410,0.44,146.1,282.3,10.3,815,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,14717,0.44,146.1,250.3,10.3,830,14718,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2730,1730,0,0,0,0,0,0
$GC,15039,0.44,146.1,218.0,10.4,859,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,15366,0.44,146.1,183.6,11.2,890,15367,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,15683,0.44,146.1,147.7,11.0,920,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,16001,0.44,146.1,113.3,11.0,950,16002,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2729,1730,0,0,0,0,0,0
$GC,16336,0.46,170.1,78.8,8.5,998,16351,0.00,0.00,13.05,0.988,6,0.000,0.000,1930,2729,1646,0,0,0,0,0,0
$GC,16458,0.47,183.3,67.8,9.0,1018,16474,0.00,2.30,8.55,0.885,4,0.000,0.044,1941,1294,1593,0,0,0,0,0,0
$GC,16511,0.50,217.7,63.1,8.0,1026,16535,0.00,2.33,17.70,0.933,6,0.000,0.050,1941,2730,1452,0,0,0,0,0,0
$GC,16643,0.50,217.7,50.7,10.4,1047,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2730,1446,0,0,0,0,0,0
$GC,16755,0.50,217.7,39.4,9.9,1066,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2729,1444,0,0,0,0,0,0
$GC,16870,0.50,217.7,28.4,9.7,1085,16879,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2729,1443,0,0,0,0,0,0
$GC,16955,0.50,217.7,19.9,10.8,1098,16963,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2729,1442,0,0,0,0,0,0
$GC,17040,0.56,294.0,13.2,6.2,1111,17090,0.00,2.38,37.62,0.787,4,0.000,0.045,1950,1301,1136,0,0,0,0,0,0
$GC,17123,0.62,375.2,7.4,6.0,1122,17165,0.08,2.33,34.67,0.762,6,0.076,0.050,1988,2712,806,0,0,0,0,0,0
$STATE,17172,end climb,SURFACE_DEPTH_REACHED
$STATE,17172,begin surface coast
$FINISH,1.1,1.014284
$STATE,17200,end surface coast,CONTROL_FINISHED_OK
$STATE,17200,begin surface
$SM_CCo,17273,0.00,0.000,0,0,796,379.23
$SM_GC,1.63,5.35,0.00,0.00,0.057,0.000,0.000,62,2933,796,-5.32,0.08,379.23
$IRIDIUM_FIX,-5531.31,-26.89,080115,050521
$TT8_MAMPS,0.024717
$HUMID,56.30
$INTERNAL_PRESSURE,8.91603
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.1,36.251
$10V_AH,10.0,24.443
$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,13.025,27.525,393.950,0.000,0.000,30.413,22.279,316.818,0.000,0.000,19.929,2680.291,11476.159,440.453,2953.851,219.520,33.366,1404.046,0.000,2408.115,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,61.965,1782.450,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.155,2353.509,1141.944,1161.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353504
$DATA_FILE_SIZE,76871,1132
$CAP_FILE_SIZE,122023,0
$CFSIZE,259252224,214917120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080115,194759,-5548.065,-30.042,39,1.1,39,-19.9