version: 66.07
glider: 542
mission: 9
dive: 217
start: 1 17 115 4 45 6
data:
$ID,542
$MISSION,9
$DIVE,217
$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,-22281.494
$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,29
$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
$GPS1,170115,043534,-5549.690,-26.434,26,0.9,27,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-68.2
$GPS2,170115,044412,-5549.674,-26.423,18,1.2,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.125,0.194
$KALMAN_X,124927.2,-583.0,98.1,-151745.2,822.2
$KALMAN_Y,9540.6,-34.6,-232.3,10169.7,151.0
$MHEAD_RNG_PITCHd_Wd,347.0,9425,-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,17,-0.44,-146.1,0.0,0.0,0,53,0.00,0.00,-34.25,0.000,2,0.000,0.000,45,2937,2270,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.1,-3.4,4,90,6.60,1.65,-22.23,0.000,4,0.243,0.080,1634,3890,2939,0,0,0,0,0,0
$GC,362,-0.44,-146.1,49.3,-15.8,53,369,0.00,1.55,0.00,0.000,6,0.000,0.031,1634,2899,2941,0,0,0,0,0,0
$GC,474,-0.44,-146.1,67.9,-16.4,72,483,0.00,1.67,0.00,0.000,4,0.000,0.060,1626,3889,2941,0,0,0,0,0,0
$GC,574,-0.44,-146.1,84.9,-17.0,88,581,0.00,1.50,0.00,0.000,6,0.000,0.033,1626,2920,2942,0,0,0,0,0,0
$GC,803,-0.44,-146.1,124.5,-18.0,116,811,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2920,2942,0,0,0,0,0,0
$GC,1132,-0.44,-146.1,179.5,-15.4,147,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2919,2942,0,0,0,0,0,0
$GC,1457,-0.44,-146.1,228.6,-14.9,178,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2919,2942,0,0,0,0,0,0
$GC,1770,-0.44,-146.1,273.0,-13.6,200,1774,0.00,1.62,0.00,0.000,4,0.000,0.060,1619,3919,2942,0,0,0,0,0,0
$GC,1826,-0.44,-146.1,280.8,-13.5,202,1830,0.00,1.52,0.00,0.000,6,0.000,0.031,1618,2928,2942,0,0,0,0,0,0
$GC,2147,-0.44,-146.1,323.6,-12.9,218,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2920,2941,0,0,0,0,0,0
$GC,2460,-0.44,-146.1,363.6,-12.8,233,2463,0.00,1.62,0.00,0.000,4,0.000,0.060,1611,3926,2942,0,0,0,0,0,0
$GC,2537,-0.44,-146.1,374.9,-13.5,236,2542,0.08,1.52,0.00,0.000,6,0.164,0.032,1636,2938,2942,0,0,0,0,0,0
$GC,2858,-0.44,-146.1,413.8,-12.2,252,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2937,2942,0,0,0,0,0,0
$GC,3168,-0.44,-146.1,451.9,-12.6,267,3172,0.00,1.58,0.00,0.000,4,0.000,0.061,1627,3887,2942,0,0,0,0,0,0
$GC,3206,-0.44,-146.1,457.0,-13.4,268,3214,0.00,1.48,0.00,0.000,6,0.000,0.030,1628,2911,2942,0,0,0,0,0,0
$GC,3522,-0.44,-146.1,498.0,-13.0,284,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2911,2942,0,0,0,0,0,0
$GC,3833,-0.44,-146.1,536.2,-11.9,299,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2911,2942,0,0,0,0,0,0
$GC,4141,-0.44,-146.1,572.8,-11.7,314,4144,0.00,1.62,0.00,0.000,4,0.000,0.060,1621,3887,2942,0,0,0,0,0,0
$GC,4190,-0.44,-146.1,578.8,-12.1,316,4195,0.00,1.45,0.00,0.000,6,0.000,0.031,1621,2922,2942,0,0,0,0,0,0
$GC,4518,-0.44,-146.1,616.7,-11.3,332,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2917,2942,0,0,0,0,0,0
$GC,4827,-0.44,-146.1,650.3,-10.6,347,4830,0.00,1.62,0.00,0.000,4,0.000,0.060,1613,3889,2942,0,0,0,0,0,0
$GC,4876,-0.44,-146.1,656.1,-11.8,349,4881,0.08,1.45,0.00,0.000,6,0.161,0.031,1638,2944,2942,0,0,0,0,0,0
$GC,5204,-0.44,-146.1,686.2,-9.0,365,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,5512,-0.44,-146.1,715.8,-9.5,380,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,5822,-0.44,-146.1,745.5,-9.8,395,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,6131,-0.44,-146.1,777.4,-10.6,410,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,6440,-0.44,-146.1,811.1,-11.0,425,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,6750,-0.44,-146.1,844.8,-10.9,440,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,7059,-0.44,-146.1,878.8,-11.2,455,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,7368,-0.44,-146.1,911.9,-10.6,470,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,7678,-0.44,-146.1,944.8,-10.9,485,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2942,0,0,0,0,0,0
$GC,7987,-0.44,-146.1,978.1,-10.7,500,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2943,2943,0,0,0,0,0,0
$STATE,8212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8212,begin apogee
$GC,8217,-0.13,0.0,1001.3,9.9,511,8356,0.35,0.00,136.23,1.796,6,0.158,0.000,1741,2724,2342,0,0,0,0,0,0
$STATE,8357,end apogee,CONTROL_FINISHED_OK
$STATE,8357,begin climb
$GC,8359,0.44,146.1,1006.3,0.0,518,8515,0.62,2.55,147.10,1.740,4,0.124,0.044,1934,1328,1746,0,0,0,0,0,0
$GC,8543,0.44,146.1,991.6,11.6,526,8550,0.00,2.45,0.00,0.000,6,0.000,0.052,1934,2711,1743,0,0,0,0,0,0
$GC,8859,0.44,146.1,950.4,13.3,542,8863,0.00,2.00,0.00,0.000,4,0.000,0.058,1934,3886,1737,0,0,0,0,0,0
$GC,8908,0.44,146.1,942.7,16.2,544,8912,0.00,1.92,0.00,0.000,6,0.000,0.035,1942,2724,1735,0,0,0,0,0,0
$GC,9236,0.44,146.1,896.7,14.0,560,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2725,1734,0,0,0,0,0,0
$GC,9544,0.44,146.1,851.4,14.6,575,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1733,0,0,0,0,0,0
$GC,9855,0.44,146.1,806.7,14.3,590,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1733,0,0,0,0,0,0
$GC,10163,0.44,146.1,764.2,13.7,605,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1732,0,0,0,0,0,0
$GC,10472,0.44,146.1,721.8,13.7,620,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2725,1732,0,0,0,0,0,0
$GC,10783,0.44,146.1,680.1,13.4,635,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1732,0,0,0,0,0,0
$GC,11091,0.44,146.1,639.5,12.9,650,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2725,1731,0,0,0,0,0,0
$GC,11400,0.44,146.1,598.5,13.5,665,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2725,1731,0,0,0,0,0,0
$GC,11711,0.44,146.1,556.0,13.9,680,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1731,0,0,0,0,0,0
$GC,12019,0.44,146.1,512.1,14.1,695,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1731,0,0,0,0,0,0
$GC,12328,0.44,146.1,468.5,14.1,710,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2724,1731,0,0,0,0,0,0
$GC,12639,0.44,146.1,426.4,13.6,725,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2725,1731,0,0,0,0,0,0
$GC,12947,0.44,146.1,385.3,13.0,740,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2725,1731,0,0,0,0,0,0
$GC,13258,0.44,146.1,346.0,12.8,755,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2724,1731,0,0,0,0,0,0
$GC,13567,0.44,146.1,306.7,12.6,770,13570,0.00,1.95,0.00,0.000,4,0.000,0.058,1943,3899,1731,0,0,0,0,0,0
$GC,13615,0.44,146.1,299.8,14.5,772,13620,0.00,1.90,0.00,0.000,6,0.000,0.035,1952,2712,1730,0,0,0,0,0,0
$GC,13943,0.44,146.1,259.4,12.0,788,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2711,1730,0,0,0,0,0,0
$GC,14259,0.44,146.1,222.4,10.9,814,14261,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2711,1730,0,0,0,0,0,0
$GC,14580,0.44,146.1,185.7,11.5,844,14583,0.00,1.95,0.00,0.000,4,0.000,0.058,1952,3893,1730,0,0,0,0,0,0
$GC,14630,0.44,146.1,178.5,13.6,848,14640,0.00,1.90,0.00,0.000,6,0.000,0.034,1961,2702,1730,0,0,0,0,0,0
$GC,14958,0.44,146.1,140.1,11.3,879,14959,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1730,0,0,0,0,0,0
$GC,15278,0.44,146.1,103.2,11.7,909,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1730,0,0,0,0,0,0
$GC,15627,0.44,146.1,63.8,9.8,968,15635,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1730,0,0,0,0,0,0
$GC,15742,0.45,155.3,53.0,9.1,987,15750,0.00,0.00,3.85,0.716,6,0.000,0.000,1961,2702,1708,0,0,0,0,0,0
$GC,15857,0.45,155.3,41.8,9.8,1006,15865,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2702,1708,0,0,0,0,0,0
$GC,15971,0.46,171.0,31.1,8.8,1025,15987,0.00,2.25,10.38,0.832,4,0.000,0.044,1972,1293,1644,0,0,0,0,0,0
$GC,16015,0.48,198.0,26.8,8.3,1031,16041,0.00,2.30,15.30,0.842,6,0.000,0.053,1972,2716,1530,0,0,0,0,0,0
$GC,16117,0.48,198.0,16.1,10.6,1046,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2716,1525,0,0,0,0,0,0
$GC,16201,0.48,198.0,6.2,11.3,1059,16210,0.00,1.95,0.00,0.000,4,0.000,0.060,1972,3891,1525,0,0,0,0,0,0
$STATE,16230,end climb,SURFACE_DEPTH_REACHED
$STATE,16230,begin surface coast
$FINISH,1.9,1.026994
$STATE,16237,end surface coast,CONTROL_FINISHED_OK
$STATE,16237,begin surface
$SM_CCo,16312,0.00,0.000,0,0,1522,201.14
$SM_GC,2.35,5.18,0.00,0.00,0.054,0.000,0.000,58,2898,1522,-5.32,-0.93,201.14
$IRIDIUM_FIX,-5527.50,-22.99,160115,232356
$TT8_MAMPS,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.0,43.588
$10V_AH,9.9,29.982
$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,12.900,46.875,312.850,0.000,0.000,26.420,37.009,318.324,0.000,0.000,21.365,2558.830,10776.721,386.720,2870.545,230.310,33.367,1314.793,0.000,2314.679,0.000,0.541,0.000
$DEVICE_MAMPS,243.270,80.325,1796.220,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.725,2199.791,1039.565,1077.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353464
$DATA_FILE_SIZE,73658,1064
$CAP_FILE_SIZE,120763,0
$CFSIZE,259252224,211763200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170115,091805,-5547.873,-28.112,33,0.9,34,-19.9