version: 66.07
glider: 542
mission: 9
dive: 158
start: 1 5 115 11 53 0
data:
$ID,542
$MISSION,9
$DIVE,158
$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,-22102.596
$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,29
$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
$GPS1,050115,114334,-5556.090,-23.513,24,0.9,24,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-74.3
$GPS2,050115,115206,-5556.036,-23.486,18,1.7,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.036,0.228
$KALMAN_X,83066.9,232.6,323.6,-107895.2,-1831.6
$KALMAN_Y,27196.5,355.4,193.0,-20098.3,-1525.0
$MHEAD_RNG_PITCHd_Wd,28.9,21537,-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,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.85,0.000,2,0.000,0.000,62,2948,2265,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.2,4,97,6.60,1.60,-24.77,0.000,4,0.253,0.080,1630,3891,2940,0,0,0,0,0,0
$GC,367,-0.44,-146.1,50.1,-15.8,54,376,0.00,1.55,0.00,0.000,6,0.000,0.031,1630,2893,2942,0,0,0,0,0,0
$GC,483,-0.44,-146.1,68.2,-15.8,73,491,0.00,1.67,0.00,0.000,4,0.000,0.058,1622,3891,2942,0,0,0,0,0,0
$GC,534,-0.44,-146.1,76.9,-17.5,81,541,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2930,2942,0,0,0,0,0,0
$GC,649,-0.44,-146.1,96.3,-16.3,100,656,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2930,2942,0,0,0,0,0,0
$GC,869,-0.44,-146.1,131.7,-14.9,122,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2930,2942,0,0,0,0,0,0
$GC,1189,-0.44,-146.1,178.5,-14.2,152,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2930,2941,0,0,0,0,0,0
$GC,1507,-0.44,-146.1,221.8,-13.4,182,1511,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3895,2941,0,0,0,0,0,0
$GC,1568,-0.44,-146.1,230.1,-14.2,187,1572,0.08,1.48,0.00,0.000,6,0.177,0.031,1638,2936,2942,0,0,0,0,0,0
$GC,1893,-0.44,-146.1,271.2,-12.6,210,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2935,2942,0,0,0,0,0,0
$GC,2204,-0.44,-146.1,307.5,-11.7,225,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2935,2942,0,0,0,0,0,0
$GC,2513,-0.44,-146.1,344.7,-12.0,240,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2934,2942,0,0,0,0,0,0
$GC,2824,-0.44,-146.1,380.9,-11.7,255,2827,0.00,1.60,0.00,0.000,4,0.000,0.061,1630,3898,2941,0,0,0,0,0,0
$GC,2873,-0.44,-146.1,387.5,-11.9,257,2878,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2914,2942,0,0,0,0,0,0
$GC,3201,-0.44,-146.1,426.6,-12.0,273,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2910,2942,0,0,0,0,0,0
$GC,3510,-0.44,-146.1,463.2,-12.0,288,3513,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3894,2942,0,0,0,0,0,0
$GC,3559,-0.44,-146.1,469.8,-13.0,290,3563,0.00,1.45,0.00,0.000,6,0.000,0.030,1623,2931,2942,0,0,0,0,0,0
$GC,3886,-0.44,-146.1,511.0,-12.7,306,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2925,2942,0,0,0,0,0,0
$GC,4195,-0.44,-146.1,550.3,-12.8,321,4199,0.00,1.60,0.00,0.000,4,0.000,0.060,1615,3896,2942,0,0,0,0,0,0
$GC,4251,-0.44,-146.1,558.1,-13.6,323,4255,0.08,1.45,0.00,0.000,6,0.171,0.030,1639,2942,2942,0,0,0,0,0,0
$GC,4571,-0.44,-146.1,594.5,-11.4,339,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2942,0,0,0,0,0,0
$GC,4881,-0.44,-146.1,629.1,-11.0,354,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2942,0,0,0,0,0,0
$GC,5191,-0.44,-146.1,661.8,-10.4,369,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2942,0,0,0,0,0,0
$GC,5499,-0.44,-146.1,693.8,-10.6,384,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,5809,-0.44,-146.1,725.7,-10.4,399,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2942,0,0,0,0,0,0
$GC,6119,-0.44,-146.1,757.3,-10.2,414,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2942,0,0,0,0,0,0
$GC,6427,-0.44,-146.1,788.8,-10.4,429,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2938,2941,0,0,0,0,0,0
$GC,6737,-0.44,-146.1,821.8,-11.0,444,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7047,-0.44,-146.1,855.5,-10.7,459,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7355,-0.44,-146.1,888.0,-10.5,474,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7665,-0.44,-146.1,919.7,-10.0,489,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2941,0,0,0,0,0,0
$GC,7975,-0.44,-146.1,949.1,-9.4,504,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,8283,-0.44,-146.1,978.2,-9.9,519,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$STATE,8509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8509,begin apogee
$GC,8514,-0.13,0.0,1001.0,10.0,530,8652,0.35,0.00,134.48,1.798,6,0.164,0.000,1742,2717,2341,0,0,0,0,0,0
$STATE,8653,end apogee,CONTROL_FINISHED_OK
$STATE,8653,begin climb
$GC,8655,0.44,146.1,1006.0,0.0,537,8811,0.65,0.00,148.32,1.742,6,0.125,0.000,1926,2716,1745,0,0,0,0,0,0
$GC,9120,0.44,146.1,952.6,13.4,560,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2716,1736,0,0,0,0,0,0
$GC,9428,0.44,146.1,911.1,13.6,575,9432,0.00,1.98,0.00,0.000,4,0.000,0.058,1926,3892,1735,0,0,0,0,0,0
$GC,9477,0.44,146.1,903.2,16.1,577,9482,0.00,1.90,0.00,0.000,6,0.000,0.035,1935,2730,1734,0,0,0,0,0,0
$GC,9805,0.44,146.1,854.4,15.2,593,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2730,1733,0,0,0,0,0,0
$GC,10114,0.44,146.1,808.4,15.0,608,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1732,0,0,0,0,0,0
$GC,10423,0.44,146.1,761.8,15.0,623,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1732,0,0,0,0,0,0
$GC,10734,0.44,146.1,716.2,14.5,638,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1732,0,0,0,0,0,0
$GC,11042,0.44,146.1,671.3,14.3,653,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2729,1731,0,0,0,0,0,0
$GC,11351,0.44,146.1,628.6,13.3,668,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1731,0,0,0,0,0,0
$GC,11662,0.44,146.1,588.5,12.9,683,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2730,1731,0,0,0,0,0,0
$GC,11970,0.44,146.1,549.5,12.5,698,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1731,0,0,0,0,0,0
$GC,12279,0.44,146.1,510.6,12.7,713,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1731,0,0,0,0,0,0
$GC,12590,0.44,146.1,470.3,13.1,728,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1731,0,0,0,0,0,0
$GC,12898,0.44,146.1,429.4,13.4,743,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2730,1731,0,0,0,0,0,0
$GC,13208,0.44,146.1,388.8,12.8,758,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1731,0,0,0,0,0,0
$GC,13520,0.44,146.1,349.6,12.3,773,13521,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1730,0,0,0,0,0,0
$GC,13826,0.44,146.1,312.5,11.8,788,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1731,0,0,0,0,0,0
$GC,14139,0.44,146.1,274.6,13.2,803,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1730,0,0,0,0,0,0
$GC,14450,0.44,146.1,235.8,11.8,823,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1730,0,0,0,0,0,0
$GC,14769,0.44,146.1,199.2,11.2,853,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1730,0,0,0,0,0,0
$GC,15095,0.44,146.1,161.7,10.3,884,15096,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1730,0,0,0,0,0,0
$GC,15416,0.44,146.1,130.0,10.1,914,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2730,1730,0,0,0,0,0,0
$GC,15733,0.44,146.1,97.8,10.3,945,15742,0.00,2.25,0.00,0.000,4,0.000,0.044,1946,1300,1730,0,0,0,0,0,0
$GC,15800,0.44,146.1,90.7,10.9,956,15807,0.00,2.25,0.00,0.000,6,0.000,0.052,1946,2725,1730,0,0,0,0,0,0
$GC,16041,0.44,146.1,64.8,10.9,997,16048,0.00,1.90,0.00,0.000,4,0.000,0.059,1946,3890,1729,0,0,0,0,0,0
$GC,16102,0.44,146.1,57.3,12.3,1007,16109,0.00,1.88,0.00,0.000,6,0.000,0.034,1955,2699,1729,0,0,0,0,0,0
$GC,16216,0.44,146.1,44.4,11.1,1026,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2699,1729,0,0,0,0,0,0
$GC,16331,0.44,146.1,32.3,10.2,1045,16337,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2699,1729,0,0,0,0,0,0
$GC,16450,0.44,146.1,20.0,10.3,1064,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2699,1729,0,0,0,0,0,0
$GC,16534,0.44,146.1,11.3,10.1,1077,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2699,1728,0,0,0,0,0,0
$GC,16617,0.44,146.1,3.0,10.1,1090,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2699,1729,0,0,0,0,0,0
$STATE,16634,end climb,SURFACE_DEPTH_REACHED
$STATE,16634,begin surface coast
$FINISH,1.3,1.011930
$STATE,16673,end surface coast,CONTROL_FINISHED_OK
$STATE,16673,begin surface
$SM_CCo,16686,29.73,0.147,0,0,1523,200.16
$SM_GC,2.08,0.00,0.00,29.73,0.000,0.000,0.147,53,2937,1523,-5.42,0.23,200.16
$IRIDIUM_FIX,-5535.12,-26.92,050115,060647
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.0,33.560
$10V_AH,10.0,22.406
$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,12.925,31.450,282.800,29.725,0.000,27.085,40.697,313.845,0.000,0.000,21.025,2630.406,11066.854,427.270,2879.926,219.727,33.360,1306.580,0.000,2335.774,0.000,0.539,0.000
$DEVICE_MAMPS,253.215,80.325,1797.750,146.880,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.921,2295.215,1112.255,1138.621,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,77087,1098
$CAP_FILE_SIZE,117168,0
$CFSIZE,259252224,216121344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050115,163251,-5553.424,-22.998,24,1.2,40,-19.9