version: 66.07
glider: 542
mission: 9
dive: 197
start: 1 13 115 4 13 21
data:
$ID,542
$MISSION,9
$DIVE,197
$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,-22219.143
$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,53
$R_STBD_OVSHOOT,32
$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
$GPS1,130115,040122,-5553.407,-111.818,40,0.9,40,-19.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.6
$GPS2,130115,041226,-5553.460,-111.805,15,0.9,16,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.095,0.210
$KALMAN_X,132538.1,-570.7,-240.4,-206011.4,2563.1
$KALMAN_Y,23817.3,485.6,293.1,-12188.2,-3692.7
$MHEAD_RNG_PITCHd_Wd,355.3,19922,-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,15,-0.44,-146.1,0.0,0.0,0,59,0.00,0.00,-41.50,0.000,2,0.000,0.000,45,2894,2245,0,0,0,0,0,0
$GC,61,-0.44,-146.1,3.1,-3.3,5,97,6.50,1.75,-24.08,0.000,4,0.239,0.081,1629,3898,2939,0,0,0,0,0,0
$GC,222,-0.44,-146.1,27.1,-20.7,29,231,0.00,1.52,0.00,0.000,6,0.000,0.032,1629,2922,2942,0,0,0,0,0,0
$GC,302,-0.44,-146.1,42.4,-17.2,42,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2942,0,0,0,0,0,0
$GC,419,-0.44,-146.1,62.4,-17.2,61,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2942,0,0,0,0,0,0
$GC,533,-0.44,-146.1,82.4,-17.7,80,540,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2920,2942,0,0,0,0,0,0
$GC,760,-0.44,-146.1,118.8,-16.0,110,761,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2920,2942,0,0,0,0,0,0
$GC,1080,-0.44,-146.1,166.5,-15.0,140,1083,0.00,1.62,0.00,0.000,4,0.000,0.060,1622,3919,2942,0,0,0,0,0,0
$GC,1150,-0.44,-146.1,177.4,-15.6,146,1153,0.00,1.52,0.00,0.000,6,0.000,0.032,1622,2930,2942,0,0,0,0,0,0
$GC,1483,-0.44,-146.1,227.2,-15.0,177,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2942,0,0,0,0,0,0
$GC,1817,-0.44,-146.1,275.2,-14.5,201,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2923,2942,0,0,0,0,0,0
$GC,2123,-0.44,-146.1,318.9,-14.0,216,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2924,2942,0,0,0,0,0,0
$GC,2435,-0.44,-146.1,362.2,-14.1,231,2438,0.00,1.62,0.00,0.000,4,0.000,0.061,1614,3922,2942,0,0,0,0,0,0
$GC,2489,-0.44,-146.1,371.0,-14.7,233,2495,0.08,1.52,0.00,0.000,6,0.171,0.032,1638,2938,2942,0,0,0,0,0,0
$GC,2811,-0.44,-146.1,413.5,-13.1,249,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2942,0,0,0,0,0,0
$GC,3121,-0.44,-146.1,453.4,-12.6,264,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,3430,-0.44,-146.1,490.5,-11.5,279,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,3739,-0.44,-146.1,524.8,-10.9,294,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,4049,-0.44,-146.1,558.2,-10.6,309,4053,0.00,1.60,0.00,0.000,4,0.000,0.062,1630,3893,2942,0,0,0,0,0,0
$GC,4086,-0.44,-146.1,562.7,-11.6,310,4094,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2919,2942,0,0,0,0,0,0
$GC,4402,-0.44,-146.1,597.1,-10.8,326,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2942,0,0,0,0,0,0
$GC,4713,-0.44,-146.1,629.9,-10.6,341,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2942,0,0,0,0,0,0
$GC,5021,-0.44,-146.1,662.7,-10.5,356,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,5331,-0.44,-146.1,695.6,-10.7,371,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,5640,-0.44,-146.1,728.9,-10.8,386,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,5949,-0.44,-146.1,762.4,-10.8,401,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,6259,-0.44,-146.1,796.1,-10.9,416,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2918,2943,0,0,0,0,0,0
$GC,6568,-0.44,-146.1,830.3,-11.0,431,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,6877,-0.44,-146.1,865.0,-11.3,446,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,7187,-0.44,-146.1,899.7,-11.1,461,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,7496,-0.44,-146.1,934.6,-11.4,476,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2918,2943,0,0,0,0,0,0
$GC,7805,-0.44,-146.1,968.8,-11.1,491,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2918,2943,0,0,0,0,0,0
$STATE,8092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8092,begin apogee
$GC,8098,-0.13,0.0,1001.0,11.0,505,8236,0.38,0.00,135.05,1.763,6,0.161,0.000,1740,2723,2341,0,0,0,0,0,0
$STATE,8237,end apogee,CONTROL_FINISHED_OK
$STATE,8237,begin climb
$GC,8238,0.44,146.1,1006.5,0.0,512,8390,0.62,0.00,147.27,1.719,6,0.122,0.000,1924,2723,1746,0,0,0,0,0,0
$GC,8691,0.44,146.1,962.5,11.1,534,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2723,1738,0,0,0,0,0,0
$GC,9000,0.44,146.1,927.7,11.3,549,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2723,1736,0,0,0,0,0,0
$GC,9310,0.44,146.1,892.5,11.5,564,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2723,1735,0,0,0,0,0,0
$GC,9619,0.44,146.1,856.3,11.9,579,9623,0.00,1.98,0.00,0.000,4,0.000,0.060,1924,3886,1735,0,0,0,0,0,0
$GC,9668,0.44,146.1,849.4,13.9,581,9672,0.00,1.88,0.00,0.000,6,0.000,0.036,1933,2734,1733,0,0,0,0,0,0
$GC,9996,0.44,146.1,807.8,12.8,597,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2733,1733,0,0,0,0,0,0
$GC,10305,0.44,146.1,767.7,13.3,612,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2734,1732,0,0,0,0,0,0
$GC,10614,0.44,146.1,726.1,13.4,627,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2734,1732,0,0,0,0,0,0
$GC,10924,0.44,146.1,684.8,13.5,642,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2734,1732,0,0,0,0,0,0
$GC,11232,0.44,146.1,643.1,13.4,657,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2734,1732,0,0,0,0,0,0
$GC,11542,0.44,146.1,602.3,13.0,672,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2733,1731,0,0,0,0,0,0
$GC,11852,0.44,146.1,562.0,12.8,687,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2734,1731,0,0,0,0,0,0
$GC,12160,0.44,146.1,521.8,13.1,702,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2734,1731,0,0,0,0,0,0
$GC,12470,0.44,146.1,480.2,13.5,717,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2734,1731,0,0,0,0,0,0
$GC,12780,0.44,146.1,438.7,13.3,732,12784,0.00,1.95,0.00,0.000,4,0.000,0.059,1932,3896,1731,0,0,0,0,0,0
$GC,12828,0.44,146.1,431.2,14.8,734,12833,0.00,1.90,0.00,0.000,6,0.000,0.036,1942,2712,1729,0,0,0,0,0,0
$GC,13157,0.44,146.1,386.9,13.3,750,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2711,1730,0,0,0,0,0,0
$GC,13467,0.44,146.1,345.5,13.4,765,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2711,1730,0,0,0,0,0,0
$GC,13776,0.44,146.1,306.2,12.4,780,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2711,1730,0,0,0,0,0,0
$GC,14088,0.44,146.1,269.9,11.4,795,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2711,1730,0,0,0,0,0,0
$GC,14397,0.44,146.1,233.5,11.8,816,14401,0.00,1.95,0.00,0.000,4,0.000,0.057,1942,3894,1730,0,0,0,0,0,0
$GC,14447,0.44,146.1,226.7,13.3,820,14457,0.00,1.90,0.00,0.000,6,0.000,0.034,1951,2702,1730,0,0,0,0,0,0
$GC,14776,0.44,146.1,185.8,13.2,851,14782,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,15101,0.44,146.1,143.7,12.4,882,15102,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2702,1730,0,0,0,0,0,0
$GC,15421,0.44,148.1,110.2,9.4,912,15424,0.00,1.98,0.00,0.000,4,0.000,0.059,1952,3900,1730,0,0,0,0,0,0
$GC,15490,0.44,148.1,102.1,10.3,918,15494,0.00,1.88,0.00,0.000,6,0.000,0.035,1961,2705,1730,0,0,0,0,0,0
$GC,15844,0.44,148.6,66.9,9.5,977,15850,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2706,1730,0,0,0,0,0,0
$GC,15957,0.44,148.6,55.2,10.8,996,15966,0.00,1.98,0.00,0.000,4,0.000,0.058,1961,3896,1730,0,0,0,0,0,0
$GC,16015,0.44,148.6,48.4,12.1,1005,16023,0.08,1.88,0.00,0.000,6,0.181,0.035,1935,2716,1730,0,0,0,0,0,0
$GC,16131,0.46,164.5,37.7,8.8,1024,16146,0.00,0.00,10.60,0.854,6,0.000,0.000,1935,2715,1670,0,0,0,0,0,0
$GC,16255,0.47,179.6,27.4,8.9,1044,16273,0.00,0.00,9.30,0.810,6,0.000,0.000,1935,2715,1608,0,0,0,0,0,0
$GC,16348,0.47,179.6,18.6,9.5,1058,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2715,1605,0,0,0,0,0,0
$GC,16433,0.47,179.6,10.1,10.0,1071,16442,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2714,1605,0,0,0,0,0,0
$STATE,16516,end climb,SURFACE_DEPTH_REACHED
$STATE,16516,begin surface coast
$FINISH,1.1,1.026511
$STATE,16548,end surface coast,CONTROL_FINISHED_OK
$STATE,16548,begin surface
$SM_CCo,16560,11.75,0.154,0,0,1524,200.16
$SM_GC,3.32,0.00,0.00,11.75,0.000,0.000,0.154,61,2928,1524,-5.40,-0.06,200.16
$IRIDIUM_FIX,-5531.31,-112.89,130115,040408
$TT8_MAMPS,0.026964
$HUMID,57.16
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.1,40.160
$10V_AH,9.9,27.384
$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,12.800,32.500,302.225,11.750,0.000,53.602,119.773,299.722,0.000,0.000,19.928,2606.796,11034.565,406.523,2973.769,212.335,33.373,1310.712,0.000,2324.026,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,81.090,1763.325,153.765,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.625,2250.951,1072.832,1119.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353492
$DATA_FILE_SIZE,73748,1089
$CAP_FILE_SIZE,119096,0
$CFSIZE,259252224,213225472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130115,085052,-5551.804,-113.420,41,1.0,42,-19.5