version: 66.07
glider: 542
mission: 9
dive: 157
start: 1 5 115 6 53 53
data:
$ID,542
$MISSION,9
$DIVE,157
$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,-22099.654
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,050115,064504,-5558.486,-25.286,36,0.8,36,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.8
$GPS2,050115,065259,-5558.481,-25.311,16,0.9,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.093,0.211
$KALMAN_X,82643.0,673.8,181.4,-109661.9,-2665.5
$KALMAN_Y,27419.0,349.1,-173.4,-24467.3,-800.7
$MHEAD_RNG_PITCHd_Wd,43.8,25441,-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,-34.40,0.000,2,0.000,0.000,62,2948,2273,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.2,-3.8,4,91,6.57,1.65,-24.15,0.000,4,0.253,0.083,1629,3903,2940,0,0,0,0,0,0
$GC,215,-0.44,-146.1,24.0,-17.6,28,224,0.00,1.58,0.00,0.000,6,0.000,0.032,1630,2899,2941,0,0,0,0,0,0
$GC,297,-0.44,-146.1,38.1,-17.5,41,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2899,2941,0,0,0,0,0,0
$GC,411,-0.44,-146.1,58.1,-17.2,60,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2899,2941,0,0,0,0,0,0
$GC,526,-0.44,-146.1,78.4,-18.3,79,533,0.00,1.67,0.00,0.000,4,0.000,0.059,1622,3897,2942,0,0,0,0,0,0
$GC,552,-0.44,-146.1,83.4,-18.2,83,558,0.00,1.50,0.00,0.000,6,0.000,0.031,1622,2919,2942,0,0,0,0,0,0
$GC,784,-0.44,-146.1,127.0,-18.7,112,785,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2919,2942,0,0,0,0,0,0
$GC,1103,-0.44,-146.1,180.3,-15.6,142,1106,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3893,2942,0,0,0,0,0,0
$GC,1163,-0.44,-146.1,190.0,-15.5,147,1167,0.08,1.48,0.00,0.000,6,0.180,0.032,1637,2939,2942,0,0,0,0,0,0
$GC,1492,-0.44,-146.1,229.6,-11.1,178,1496,0.00,1.60,0.00,0.000,4,0.000,0.061,1630,3897,2942,0,0,0,0,0,0
$GC,1530,-0.44,-146.1,234.1,-12.1,181,1539,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2897,2942,0,0,0,0,0,0
$GC,1863,-0.44,-146.1,272.5,-12.0,204,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2897,2942,0,0,0,0,0,0
$GC,2176,-0.44,-146.1,311.2,-13.1,219,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2896,2942,0,0,0,0,0,0
$GC,2480,-0.44,-146.1,351.1,-12.6,234,2484,0.00,1.65,0.00,0.000,4,0.000,0.060,1622,3910,2942,0,0,0,0,0,0
$GC,2518,-0.44,-146.1,356.4,-13.7,235,2526,0.00,1.48,0.00,0.000,6,0.000,0.031,1623,2928,2942,0,0,0,0,0,0
$GC,2837,-0.44,-146.1,397.0,-12.7,251,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2927,2941,0,0,0,0,0,0
$GC,3143,-0.44,-146.1,434.1,-12.0,266,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2927,2942,0,0,0,0,0,0
$GC,3453,-0.44,-146.1,469.9,-11.7,281,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2926,2942,0,0,0,0,0,0
$GC,3762,-0.44,-146.1,506.6,-12.0,296,3765,0.00,1.60,0.00,0.000,4,0.000,0.060,1615,3895,2942,0,0,0,0,0,0
$GC,3833,-0.44,-146.1,516.1,-13.1,299,3839,0.10,1.48,0.00,0.000,6,0.197,0.031,1645,2933,2942,0,0,0,0,0,0
$GC,4161,-0.44,-146.1,550.4,-10.5,315,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,4470,-0.44,-146.1,584.1,-11.1,330,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,4779,-0.44,-146.1,618.2,-10.8,345,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,5089,-0.44,-146.1,651.6,-10.7,360,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,5401,-0.44,-146.1,684.1,-10.4,375,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,5707,-0.44,-146.1,716.2,-10.3,390,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,6018,-0.44,-146.1,747.7,-10.0,405,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,6326,-0.44,-146.1,777.2,-9.2,420,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,6636,-0.44,-146.1,804.9,-9.0,435,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2933,2942,0,0,0,0,0,0
$GC,6946,-0.44,-146.1,831.1,-8.4,450,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,7254,-0.44,-146.1,857.3,-8.7,465,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,7565,-0.44,-146.1,884.2,-8.5,480,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,7873,-0.44,-146.1,911.1,-8.4,495,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,8183,-0.44,-146.1,936.7,-8.2,510,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,8493,-0.44,-146.1,962.1,-8.2,525,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2933,2942,0,0,0,0,0,0
$GC,8801,-0.44,-146.1,987.7,-8.4,540,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2933,2942,0,0,0,0,0,0
$STATE,8964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8964,begin apogee
$GC,8969,-0.13,0.0,1001.3,8.2,548,9108,0.32,0.00,134.10,1.795,6,0.163,0.000,1740,2716,2342,0,0,0,0,0,0
$STATE,9108,end apogee,CONTROL_FINISHED_OK
$STATE,9109,begin climb
$GC,9111,0.44,146.1,1004.2,0.0,555,9262,0.62,0.00,147.62,1.733,6,0.128,0.000,1923,2715,1746,0,0,0,0,0,0
$GC,9564,0.44,146.1,949.0,13.5,577,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2715,1737,0,0,0,0,0,0
$GC,9872,0.44,146.1,907.5,13.3,592,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2715,1735,0,0,0,0,0,0
$GC,10182,0.44,146.1,867.6,12.4,607,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2715,1733,0,0,0,0,0,0
$GC,10492,0.44,146.1,829.0,12.2,622,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2714,1733,0,0,0,0,0,0
$GC,10800,0.44,146.1,792.1,11.7,637,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2715,1732,0,0,0,0,0,0
$GC,11110,0.44,146.1,756.7,11.6,652,11114,0.00,1.98,0.00,0.000,4,0.000,0.059,1923,3892,1732,0,0,0,0,0,0
$GC,11159,0.44,146.1,750.0,13.2,654,11163,0.00,1.85,0.00,0.000,6,0.000,0.034,1932,2720,1730,0,0,0,0,0,0
$GC,11485,0.44,146.1,708.4,12.6,670,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1731,0,0,0,0,0,0
$GC,11794,0.44,146.1,668.4,12.7,685,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1731,0,0,0,0,0,0
$GC,12104,0.44,146.1,630.1,12.1,700,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,12413,0.44,146.1,592.5,11.9,715,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,12722,0.44,146.1,554.0,12.8,730,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,13032,0.44,146.1,515.7,12.3,745,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,13341,0.44,146.1,476.9,12.5,760,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,13650,0.44,146.1,438.9,12.1,775,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,13960,0.44,146.1,401.2,12.4,790,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,14271,0.44,146.1,362.8,12.5,805,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2720,1730,0,0,0,0,0,0
$GC,14581,0.44,146.1,322.5,13.4,820,14584,0.00,1.95,0.00,0.000,4,0.000,0.058,1932,3906,1730,0,0,0,0,0,0
$GC,14619,0.44,146.1,316.3,16.1,821,14627,0.00,1.90,0.00,0.000,6,0.000,0.035,1941,2712,1729,0,0,0,0,0,0
$GC,14937,0.44,146.1,271.5,14.5,837,14938,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2712,1729,0,0,0,0,0,0
$GC,15252,0.44,146.1,224.5,15.7,859,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2712,1729,0,0,0,0,0,0
$GC,15570,0.44,146.1,178.2,13.5,889,15571,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2712,1729,0,0,0,0,0,0
$GC,15890,0.44,146.1,141.3,9.9,919,15897,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2711,1729,0,0,0,0,0,0
$GC,16216,0.44,146.1,106.5,10.8,950,16219,0.00,1.95,0.00,0.000,4,0.000,0.057,1941,3903,1729,0,0,0,0,0,0
$GC,16253,0.44,146.1,102.3,12.9,953,16257,0.00,1.88,0.00,0.000,6,0.000,0.034,1951,2702,1729,0,0,0,0,0,0
$GC,16606,0.45,154.7,66.9,9.1,1012,16614,0.00,0.00,2.85,0.603,6,0.000,0.000,1950,2701,1715,0,0,0,0,0,0
$GC,16721,0.45,154.7,56.1,10.1,1031,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2701,1714,0,0,0,0,0,0
$GC,16833,0.45,154.7,44.9,9.6,1050,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2701,1714,0,0,0,0,0,0
$GC,16949,0.45,154.7,33.3,10.4,1069,16956,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2701,1714,0,0,0,0,0,0
$GC,17067,0.45,154.7,21.2,9.6,1088,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2701,1714,0,0,0,0,0,0
$GC,17152,0.45,158.2,13.1,9.4,1101,17161,0.00,0.00,2.78,0.483,6,0.000,0.000,1951,2701,1693,0,0,0,0,0,0
$GC,17238,0.46,163.8,5.1,9.3,1114,17246,0.00,0.00,2.72,0.456,6,0.000,0.000,1950,2701,1672,0,0,0,0,0,0
$STATE,17260,end climb,SURFACE_DEPTH_REACHED
$STATE,17260,begin surface coast
$FINISH,1.3,1.013386
$STATE,17292,end surface coast,CONTROL_FINISHED_OK
$STATE,17292,begin surface
$SM_CCo,17304,16.10,0.181,0,0,1524,200.16
$SM_GC,3.91,0.00,0.00,16.10,0.000,0.000,0.181,63,2942,1524,-5.40,0.34,200.16
$IRIDIUM_FIX,-5538.94,-23.10,050115,010129
$TT8_MAMPS,0.026215
$HUMID,57.20
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,33.397
$10V_AH,10.0,22.277
$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,12.875,31.000,290.075,16.100,0.000,25.672,23.176,300.019,0.000,0.000,18.976,2700.467,11582.969,404.598,2881.182,224.800,33.369,1321.075,0.000,2366.639,0.000,0.540,0.000
$DEVICE_MAMPS,253.215,82.620,1795.455,181.305,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.831,2303.210,1072.799,1112.266,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,76900,1122
$CAP_FILE_SIZE,123409,0
$CFSIZE,259252224,216178688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050115,114334,-5556.090,-23.513,24,0.9,24,-19.9