version: 66.07
glider: 542
mission: 9
dive: 156
start: 1 5 115 2 2 6
data:
$ID,542
$MISSION,9
$DIVE,156
$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,-22096.738
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,050115,015104,-5600.104,-27.765,31,1.0,31,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-72.6
$GPS2,050115,020112,-5600.100,-27.889,17,1.3,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.151,0.175
$KALMAN_X,82722.9,737.9,254.5,-112545.9,-3466.1
$KALMAN_Y,28595.5,-187.7,-41.8,-28230.4,226.5
$MHEAD_RNG_PITCHd_Wd,60.6,28051,-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,15,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.60,0.000,2,0.000,0.000,58,2937,2249,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.5,4,97,6.57,1.62,-25.92,0.000,4,0.252,0.082,1630,3892,2940,0,0,0,0,0,0
$GC,258,-0.44,-146.1,31.3,-17.1,35,265,0.00,1.55,0.00,0.000,6,0.000,0.031,1630,2896,2940,0,0,0,0,0,0
$GC,372,-0.44,-146.1,52.0,-18.1,54,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2895,2941,0,0,0,0,0,0
$GC,488,-0.44,-146.1,72.1,-17.8,73,494,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2895,2941,0,0,0,0,0,0
$GC,600,-0.44,-146.1,93.1,-17.8,92,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2895,2941,0,0,0,0,0,0
$GC,823,-0.44,-146.1,129.7,-14.5,116,827,0.00,1.62,0.00,0.000,4,0.000,0.059,1623,3893,2941,0,0,0,0,0,0
$GC,861,-0.44,-146.1,135.3,-15.4,119,865,0.00,1.48,0.00,0.000,6,0.000,0.031,1623,2931,2941,0,0,0,0,0,0
$GC,1191,-0.44,-146.1,187.2,-15.7,150,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2925,2941,0,0,0,0,0,0
$GC,1511,-0.44,-146.1,236.5,-15.1,180,1515,0.00,1.60,0.00,0.000,4,0.000,0.060,1615,3886,2941,0,0,0,0,0,0
$GC,1596,-0.44,-146.1,250.4,-16.2,187,1603,0.08,1.45,0.00,0.000,6,0.179,0.031,1638,2936,2941,0,0,0,0,0,0
$GC,1913,-0.44,-146.1,292.5,-12.8,203,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,2223,-0.44,-146.1,331.4,-12.3,218,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,2533,-0.44,-146.1,368.7,-12.1,233,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,2839,-0.44,-146.1,404.1,-11.5,248,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,3149,-0.44,-146.1,440.2,-11.9,263,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2941,0,0,0,0,0,0
$GC,3458,-0.44,-146.1,475.9,-11.5,278,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,3767,-0.44,-146.1,511.7,-11.5,293,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,4077,-0.44,-146.1,548.0,-12.0,308,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,4386,-0.44,-146.1,583.5,-11.3,323,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,4695,-0.44,-146.1,618.0,-11.0,338,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2941,0,0,0,0,0,0
$GC,5005,-0.44,-146.1,651.9,-11.1,353,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,5314,-0.44,-146.1,686.9,-11.6,368,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,5623,-0.44,-146.1,721.9,-11.3,383,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,5933,-0.44,-146.1,755.1,-10.5,398,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2940,0,0,0,0,0,0
$GC,6242,-0.44,-146.1,786.1,-9.8,413,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,6551,-0.44,-146.1,816.3,-9.8,428,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,6862,-0.44,-146.1,844.8,-9.0,443,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,7170,-0.44,-146.1,871.6,-8.5,458,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,7480,-0.44,-146.1,896.3,-8.0,473,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,7790,-0.44,-146.1,920.8,-7.9,488,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2935,2941,0,0,0,0,0,0
$GC,8098,-0.44,-146.1,945.0,-7.8,503,8102,0.00,2.12,0.00,0.000,4,0.000,0.040,1638,1534,2941,0,0,0,0,0,0
$GC,8136,-0.44,-146.1,948.0,-7.4,504,8144,0.00,2.25,0.00,0.000,6,0.000,0.053,1628,2922,2941,0,0,0,0,0,0
$GC,8453,-0.44,-146.1,974.6,-8.8,520,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2922,2941,0,0,0,0,0,0
$STATE,8739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8739,begin apogee
$GC,8744,-0.13,0.0,1000.6,9.1,534,8883,0.40,0.00,133.93,1.783,6,0.168,0.000,1745,2704,2342,0,0,0,0,0,0
$STATE,8884,end apogee,CONTROL_FINISHED_OK
$STATE,8884,begin climb
$GC,8886,0.44,146.1,1003.0,0.0,541,9037,0.60,0.00,147.23,1.737,6,0.125,0.000,1922,2704,1746,0,0,0,0,0,0
$GC,9338,0.44,146.1,946.9,13.8,563,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2704,1737,0,0,0,0,0,0
$GC,9648,0.44,146.1,903.8,13.7,578,9652,0.00,2.03,0.00,0.000,4,0.000,0.060,1922,3894,1736,0,0,0,0,0,0
$GC,9697,0.44,146.1,896.1,15.1,580,9701,0.00,1.88,0.00,0.000,6,0.000,0.034,1931,2745,1734,0,0,0,0,0,0
$GC,10025,0.44,146.1,848.8,14.9,596,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2743,1733,0,0,0,0,0,0
$GC,10333,0.44,146.1,806.2,13.5,611,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1733,0,0,0,0,0,0
$GC,10643,0.44,146.1,763.4,13.8,626,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1732,0,0,0,0,0,0
$GC,10953,0.44,146.1,721.1,13.7,641,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1732,0,0,0,0,0,0
$GC,11261,0.44,146.1,679.9,13.5,656,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2743,1732,0,0,0,0,0,0
$GC,11571,0.44,146.1,638.0,13.8,671,11572,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2743,1731,0,0,0,0,0,0
$GC,11881,0.44,146.1,595.7,13.8,686,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1731,0,0,0,0,0,0
$GC,12189,0.44,146.1,552.7,13.9,701,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2743,1731,0,0,0,0,0,0
$GC,12499,0.44,146.1,511.3,13.3,716,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1731,0,0,0,0,0,0
$GC,12809,0.44,146.1,471.4,12.9,731,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2743,1730,0,0,0,0,0,0
$GC,13117,0.44,146.1,432.6,12.5,746,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1730,0,0,0,0,0,0
$GC,13429,0.44,146.1,394.5,12.0,761,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1730,0,0,0,0,0,0
$GC,13738,0.44,146.1,357.5,12.2,776,13739,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1730,0,0,0,0,0,0
$GC,14049,0.44,146.1,320.2,12.0,791,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1731,0,0,0,0,0,0
$GC,14355,0.44,146.1,284.1,11.5,806,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1730,0,0,0,0,0,0
$GC,14667,0.44,146.1,249.1,11.4,821,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2744,1730,0,0,0,0,0,0
$GC,14985,0.44,146.1,214.6,10.0,851,14989,0.00,1.90,0.00,0.000,4,0.000,0.059,1930,3903,1730,0,0,0,0,0,0
$GC,15035,0.44,146.1,209.4,10.8,855,15039,0.00,1.88,0.00,0.000,6,0.000,0.034,1940,2699,1729,0,0,0,0,0,0
$GC,15365,0.46,173.7,180.7,8.3,886,15398,0.00,0.00,23.25,1.283,6,0.000,0.000,1940,2699,1632,0,0,0,0,0,0
$GC,15715,0.46,173.7,144.9,11.8,919,15716,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2699,1628,0,0,0,0,0,0
$GC,16035,0.46,173.7,101.4,15.1,949,16041,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2699,1628,0,0,0,0,0,0
$GC,16391,0.46,173.7,52.0,13.1,1010,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2699,1628,0,0,0,0,0,0
$GC,16506,0.46,173.7,38.7,11.5,1029,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2699,1628,0,0,0,0,0,0
$GC,16621,0.46,173.7,25.7,10.9,1048,16630,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2699,1628,0,0,0,0,0,0
$GC,16705,0.46,173.7,16.9,9.7,1061,16714,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2699,1628,0,0,0,0,0,0
$GC,16791,0.46,173.7,8.2,10.1,1074,16799,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2699,1628,0,0,0,0,0,0
$STATE,16842,end climb,SURFACE_DEPTH_REACHED
$STATE,16842,begin surface coast
$FINISH,1.2,1.004180
$STATE,16881,end surface coast,CONTROL_FINISHED_OK
$STATE,16881,begin surface
$SM_CCo,16893,12.27,0.174,0,0,1523,200.16
$SM_GC,3.54,0.00,0.00,12.27,0.000,0.000,0.174,62,2939,1523,-5.40,0.25,200.16
$IRIDIUM_FIX,-5538.94,-30.83,040115,181815
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,33.236
$10V_AH,9.9,22.149
$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,12.650,22.075,304.400,12.275,0.000,59.934,99.858,267.191,0.000,0.000,20.160,2604.274,11420.231,402.999,2872.291,217.240,33.368,1283.470,0.000,2285.642,0.000,0.539,0.000
$DEVICE_MAMPS,251.685,81.855,1783.215,173.655,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.476,2251.637,1056.324,1063.116,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,73730,1088
$CAP_FILE_SIZE,114993,0
$CFSIZE,259252224,216260608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050115,064504,-5558.486,-25.286,36,0.8,36,-19.9