version: 66.07
glider: 542
mission: 9
dive: 216
start: 1 16 115 23 54 54
data:
$ID,542
$MISSION,9
$DIVE,216
$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,-22278.414
$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,21
$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
$GPS1,160115,234505,-5551.691,-24.593,39,0.8,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-61.4
$GPS2,160115,235400,-5551.679,-24.641,18,1.0,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.088,0.214
$KALMAN_X,124053.2,214.8,155.4,-149882.9,-532.4
$KALMAN_Y,10570.5,-341.7,-119.3,5613.1,802.6
$MHEAD_RNG_PITCHd_Wd,357.6,13572,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,68,0.00,0.00,-49.40,0.000,2,0.000,0.000,45,2931,2185,0,0,0,0,0,0
$GC,70,-0.44,-146.1,3.1,-3.1,6,113,6.50,1.65,-27.38,0.000,4,0.236,0.080,1630,3905,2937,0,0,0,0,0,0
$GC,384,-0.44,-146.1,51.3,-17.6,56,393,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2892,2938,0,0,0,0,0,0
$GC,501,-0.44,-146.1,71.5,-17.5,75,508,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3901,2938,0,0,0,0,0,0
$GC,582,-0.44,-146.1,85.0,-16.5,88,589,0.00,1.50,0.00,0.000,6,0.000,0.033,1622,2933,2939,0,0,0,0,0,0
$GC,816,-0.44,-146.1,121.1,-13.5,117,817,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2939,0,0,0,0,0,0
$GC,1135,-0.44,-146.1,168.2,-16.6,147,1139,0.00,1.62,0.00,0.000,4,0.000,0.060,1615,3904,2938,0,0,0,0,0,0
$GC,1193,-0.44,-146.1,178.2,-16.3,152,1197,0.08,1.50,0.00,0.000,6,0.165,0.034,1639,2933,2938,0,0,0,0,0,0
$GC,1525,-0.44,-146.1,221.8,-12.3,183,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2938,0,0,0,0,0,0
$GC,1851,-0.44,-146.1,263.4,-12.7,209,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2938,0,0,0,0,0,0
$GC,2158,-0.44,-146.1,303.1,-12.4,224,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2939,0,0,0,0,0,0
$GC,2470,-0.44,-146.1,340.5,-11.9,239,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2931,2939,0,0,0,0,0,0
$GC,2778,-0.44,-146.1,376.3,-11.5,254,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2939,0,0,0,0,0,0
$GC,3085,-0.44,-146.1,410.8,-11.1,269,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2932,2938,0,0,0,0,0,0
$GC,3395,-0.44,-146.1,444.6,-10.7,284,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2938,0,0,0,0,0,0
$GC,3704,-0.44,-146.1,477.3,-10.6,299,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2932,2939,0,0,0,0,0,0
$GC,4013,-0.44,-146.1,509.7,-10.4,314,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2932,2938,0,0,0,0,0,0
$GC,4323,-0.44,-146.1,543.0,-11.0,329,4327,0.00,1.62,0.00,0.000,4,0.000,0.060,1631,3931,2938,0,0,0,0,0,0
$GC,4372,-0.44,-146.1,549.1,-12.0,331,4377,0.00,1.55,0.00,0.000,6,0.000,0.030,1631,2918,2939,0,0,0,0,0,0
$GC,4700,-0.44,-146.1,587.5,-11.9,347,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2939,0,0,0,0,0,0
$GC,5010,-0.44,-146.1,623.5,-11.3,362,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2939,0,0,0,0,0,0
$GC,5319,-0.44,-146.1,659.4,-11.7,377,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2914,2939,0,0,0,0,0,0
$GC,5628,-0.44,-146.1,696.1,-12.2,392,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2939,0,0,0,0,0,0
$GC,5938,-0.44,-146.1,733.5,-12.1,407,5942,0.00,1.62,0.00,0.000,4,0.000,0.061,1623,3913,2939,0,0,0,0,0,0
$GC,5983,-0.44,-146.1,739.3,-13.2,409,5987,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2929,2939,0,0,0,0,0,0
$GC,6315,-0.44,-146.1,780.9,-12.5,425,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2922,2939,0,0,0,0,0,0
$GC,6625,-0.44,-146.1,818.5,-12.1,440,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2922,2939,0,0,0,0,0,0
$GC,6934,-0.44,-146.1,855.7,-11.8,455,6938,0.00,1.62,0.00,0.000,4,0.000,0.061,1615,3897,2939,0,0,0,0,0,0
$GC,6972,-0.44,-146.1,860.8,-13.1,456,6980,0.08,1.48,0.00,0.000,6,0.163,0.031,1640,2938,2939,0,0,0,0,0,0
$GC,7289,-0.44,-146.1,892.5,-9.8,472,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2937,2939,0,0,0,0,0,0
$GC,7597,-0.44,-146.1,922.2,-9.5,487,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2938,2939,0,0,0,0,0,0
$GC,7908,-0.44,-146.1,951.4,-9.4,502,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2937,2939,0,0,0,0,0,0
$GC,8216,-0.44,-146.1,981.3,-9.7,517,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2937,2939,0,0,0,0,0,0
$STATE,8421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8421,begin apogee
$GC,8426,-0.13,0.0,1001.4,9.7,527,8564,0.35,0.00,135.00,1.795,6,0.158,0.000,1744,2724,2342,0,0,0,0,0,0
$STATE,8565,end apogee,CONTROL_FINISHED_OK
$STATE,8565,begin climb
$GC,8568,0.44,146.1,1005.9,0.0,534,8724,0.65,0.00,148.12,1.751,6,0.121,0.000,1928,2724,1745,0,0,0,0,0,0
$GC,9032,0.44,146.1,954.9,12.4,557,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2724,1737,0,0,0,0,0,0
$GC,9342,0.44,146.1,916.1,12.5,572,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2724,1735,0,0,0,0,0,0
$GC,9651,0.44,146.1,877.3,12.8,587,9655,0.00,2.00,0.00,0.000,4,0.000,0.060,1928,3898,1734,0,0,0,0,0,0
$GC,9698,0.44,146.1,870.9,14.9,589,9701,0.00,1.88,0.00,0.000,6,0.000,0.035,1938,2714,1732,0,0,0,0,0,0
$GC,10030,0.44,146.1,825.5,13.6,605,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2713,1732,0,0,0,0,0,0
$GC,10339,0.44,146.1,783.6,13.5,620,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2713,1732,0,0,0,0,0,0
$GC,10648,0.44,146.1,742.0,13.4,635,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2713,1731,0,0,0,0,0,0
$GC,10959,0.44,146.1,700.4,13.7,650,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2713,1731,0,0,0,0,0,0
$GC,11267,0.44,146.1,659.9,12.9,665,11271,0.00,1.98,0.00,0.000,4,0.000,0.058,1938,3893,1731,0,0,0,0,0,0
$GC,11316,0.44,146.1,652.5,15.1,667,11320,0.00,1.90,0.00,0.000,6,0.000,0.034,1947,2706,1730,0,0,0,0,0,0
$GC,11644,0.44,146.1,607.7,13.7,683,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2706,1731,0,0,0,0,0,0
$GC,11952,0.44,146.1,566.5,13.2,698,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2706,1730,0,0,0,0,0,0
$GC,12262,0.44,146.1,525.5,13.3,713,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2706,1730,0,0,0,0,0,0
$GC,12571,0.44,146.1,484.0,13.5,728,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2707,1730,0,0,0,0,0,0
$GC,12880,0.44,146.1,443.3,13.1,743,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2706,1730,0,0,0,0,0,0
$GC,13190,0.44,146.1,402.6,13.5,758,13194,0.00,2.00,0.00,0.000,4,0.000,0.059,1947,3899,1730,0,0,0,0,0,0
$GC,13240,0.44,146.1,394.9,14.8,760,13244,0.00,1.90,0.00,0.000,6,0.000,0.034,1956,2711,1730,0,0,0,0,0,0
$GC,13567,0.44,146.1,349.7,13.7,776,13568,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2710,1730,0,0,0,0,0,0
$GC,13879,0.44,146.1,306.8,14.0,791,13883,0.00,1.95,0.00,0.000,4,0.000,0.057,1956,3900,1730,0,0,0,0,0,0
$GC,13940,0.44,146.1,296.8,15.1,793,13948,0.10,1.90,0.00,0.000,6,0.191,0.034,1937,2704,1730,0,0,0,0,0,0
$GC,14259,0.44,146.1,257.7,12.1,809,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2703,1730,0,0,0,0,0,0
$GC,14575,0.44,146.1,221.2,11.5,835,14576,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2703,1730,0,0,0,0,0,0
$GC,14895,0.44,146.1,186.7,10.3,865,14901,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2703,1730,0,0,0,0,0,0
$GC,15220,0.44,146.1,154.0,9.6,896,15221,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2703,1729,0,0,0,0,0,0
$GC,15540,0.44,146.1,122.3,9.9,926,15544,0.00,2.20,0.00,0.000,4,0.000,0.044,1946,1286,1730,0,0,0,0,0,0
$GC,15572,0.44,146.1,118.7,9.7,928,15583,0.00,2.33,0.00,0.000,6,0.000,0.052,1947,2725,1729,0,0,0,0,0,0
$GC,15909,0.46,166.7,85.5,8.6,972,15924,0.00,0.00,11.77,0.997,6,0.000,0.000,1946,2725,1661,0,0,0,0,0,0
$GC,16159,0.46,166.7,62.6,9.7,1014,16168,0.00,1.92,0.00,0.000,4,0.000,0.060,1946,3893,1658,0,0,0,0,0,0
$GC,16195,0.46,166.7,59.0,10.6,1019,16202,0.00,1.90,0.00,0.000,6,0.000,0.035,1956,2704,1658,0,0,0,0,0,0
$GC,16308,0.47,176.6,47.3,9.1,1038,16318,0.00,0.00,6.50,0.809,6,0.000,0.000,1956,2704,1620,0,0,0,0,0,0
$GC,16425,0.47,176.6,35.8,10.5,1057,16432,0.00,1.95,0.00,0.000,4,0.000,0.059,1956,3886,1618,0,0,0,0,0,0
$GC,16482,0.47,176.6,28.9,12.4,1066,16491,0.00,1.88,0.00,0.000,6,0.000,0.035,1965,2717,1618,0,0,0,0,0,0
$GC,16567,0.47,176.6,19.6,10.2,1079,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2716,1618,0,0,0,0,0,0
$GC,16651,0.47,176.6,10.5,10.6,1092,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2716,1618,0,0,0,0,0,0
$STATE,16722,end climb,SURFACE_DEPTH_REACHED
$STATE,16722,begin surface coast
$FINISH,1.1,1.015142
$STATE,16754,end surface coast,CONTROL_FINISHED_OK
$STATE,16754,begin surface
$SM_CCo,16767,9.93,0.179,0,0,1524,200.16
$SM_GC,3.40,0.00,0.00,9.93,0.000,0.000,0.179,52,2930,1524,-5.43,0.00,200.16
$IRIDIUM_FIX,-5531.31,-26.89,160115,181832
$TT8_MAMPS,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,43.419
$10V_AH,9.9,29.856
$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,13.000,47.275,301.400,9.925,0.000,28.500,43.063,325.769,0.000,0.000,21.327,2658.442,11010.804,429.216,2957.468,250.219,33.370,1353.023,0.000,2389.917,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,79.560,1794.690,179.010,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.258,2301.501,1112.304,1151.390,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353444
$DATA_FILE_SIZE,77051,1108
$CAP_FILE_SIZE,122793,0
$CFSIZE,259252224,211828736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170115,043534,-5549.690,-26.434,26,0.9,27,-19.9