version: 66.07
glider: 542
mission: 9
dive: 175
start: 1 8 115 19 57 0
data:
$ID,542
$MISSION,9
$DIVE,175
$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,-22152.215
$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
$GPS1,080115,194759,-5548.065,-30.042,39,1.1,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-57.5
$GPS2,080115,195606,-5548.097,-30.018,16,1.7,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.023,0.215
$KALMAN_X,92075.7,171.1,2.0,-123276.8,517.5
$KALMAN_Y,45090.9,24.2,-245.7,-22504.8,1203.9
$MHEAD_RNG_PITCHd_Wd,13.7,5736,-18.7,-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,-0.45,-127.5,0.0,0.0,0,92,0.00,0.00,-73.70,0.000,2,0.000,0.000,48,2943,2405,0,0,0,0,0,0
$GC,94,-0.47,-146.1,3.1,-2.8,9,129,6.57,1.62,-16.55,0.000,4,0.249,0.082,1621,3896,2941,0,0,0,0,0,0
$GC,149,-0.47,-146.1,11.7,-17.9,16,158,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2900,2942,0,0,0,0,0,0
$GC,234,-0.47,-146.1,27.0,-18.7,29,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2942,0,0,0,0,0,0
$GC,314,-0.47,-146.1,41.8,-18.3,42,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2942,0,0,0,0,0,0
$GC,430,-0.47,-146.1,61.9,-18.2,61,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2942,0,0,0,0,0,0
$GC,542,-0.47,-146.1,81.9,-17.8,80,548,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2942,0,0,0,0,0,0
$GC,770,-0.47,-146.1,119.6,-16.9,110,771,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2942,0,0,0,0,0,0
$GC,1089,-0.47,-146.1,171.9,-16.0,140,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2943,0,0,0,0,0,0
$GC,1408,-0.47,-146.1,223.1,-16.1,170,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2943,0,0,0,0,0,0
$GC,1734,-0.47,-146.1,271.9,-14.4,194,1738,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3900,2942,0,0,0,0,0,0
$GC,1812,-0.47,-146.1,284.0,-14.8,197,1817,0.00,1.52,0.00,0.000,6,0.000,0.031,1613,2909,2943,0,0,0,0,0,0
$GC,2136,-0.47,-146.1,328.0,-13.1,213,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2904,2942,0,0,0,0,0,0
$GC,2446,-0.47,-146.1,367.5,-12.9,228,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2904,2943,0,0,0,0,0,0
$GC,2753,-0.47,-146.1,409.3,-13.6,243,2756,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3910,2943,0,0,0,0,0,0
$GC,2830,-0.47,-146.1,420.7,-14.7,246,2835,0.08,1.50,0.00,0.000,6,0.168,0.031,1629,2933,2943,0,0,0,0,0,0
$GC,3152,-0.47,-146.1,458.8,-11.5,262,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2932,2942,0,0,0,0,0,0
$GC,3460,-0.47,-146.1,495.9,-11.9,277,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2932,2942,0,0,0,0,0,0
$GC,3770,-0.47,-146.1,532.2,-11.5,292,3774,0.00,1.60,0.00,0.000,4,0.000,0.060,1622,3896,2943,0,0,0,0,0,0
$GC,3819,-0.47,-146.1,538.4,-12.2,294,3824,0.00,1.50,0.00,0.000,6,0.000,0.029,1622,2904,2943,0,0,0,0,0,0
$GC,4147,-0.47,-146.1,578.7,-12.4,310,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2902,2943,0,0,0,0,0,0
$GC,4457,-0.47,-146.1,618.5,-12.8,325,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2902,2943,0,0,0,0,0,0
$GC,4765,-0.47,-146.1,658.1,-12.8,340,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2902,2943,0,0,0,0,0,0
$GC,5075,-0.47,-146.1,697.9,-12.7,355,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2902,2943,0,0,0,0,0,0
$GC,5385,-0.47,-146.1,736.4,-12.0,370,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2901,2943,0,0,0,0,0,0
$GC,5693,-0.47,-146.1,772.4,-11.4,385,5697,0.00,1.65,0.00,0.000,4,0.000,0.060,1614,3910,2943,0,0,0,0,0,0
$GC,5742,-0.47,-146.1,778.6,-11.9,387,5747,0.00,1.50,0.00,0.000,6,0.000,0.029,1614,2932,2943,0,0,0,0,0,0
$GC,6071,-0.47,-146.1,818.4,-12.2,403,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2931,2943,0,0,0,0,0,0
$GC,6379,-0.47,-146.1,854.2,-11.2,418,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2930,2943,0,0,0,0,0,0
$GC,6688,-0.47,-146.1,888.1,-10.9,433,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2930,2943,0,0,0,0,0,0
$GC,6998,-0.47,-146.1,924.1,-11.7,448,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2930,2943,0,0,0,0,0,0
$GC,7307,-0.47,-146.1,960.5,-11.9,463,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2930,2943,0,0,0,0,0,0
$GC,7616,-0.47,-146.1,998.0,-12.1,478,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2930,2943,0,0,0,0,0,0
$STATE,7636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7636,begin apogee
$GC,7641,-0.13,0.0,1000.6,11.8,479,7779,0.43,0.00,135.15,1.780,6,0.167,0.000,1738,2711,2342,0,0,0,0,0,0
$STATE,7780,end apogee,CONTROL_FINISHED_OK
$STATE,7780,begin climb
$GC,7782,0.47,146.1,1006.3,0.0,486,7935,0.68,2.45,145.75,1.727,4,0.126,0.041,1943,1346,1745,0,0,0,0,0,0
$GC,7969,0.47,146.1,990.2,11.5,495,7974,0.00,2.40,0.00,0.000,6,0.000,0.049,1943,2724,1741,0,0,0,0,0,0
$GC,8297,0.47,146.1,945.8,13.8,511,8300,0.00,1.98,0.00,0.000,4,0.000,0.057,1943,3897,1736,0,0,0,0,0,0
$GC,8345,0.47,146.1,937.6,16.1,513,8350,0.00,1.90,0.00,0.000,6,0.000,0.032,1952,2748,1734,0,0,0,0,0,0
$GC,8673,0.47,146.1,889.2,14.7,529,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1734,0,0,0,0,0,0
$GC,8983,0.47,146.1,843.0,15.1,544,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1733,0,0,0,0,0,0
$GC,9292,0.47,146.1,794.8,15.9,559,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1732,0,0,0,0,0,0
$GC,9601,0.47,146.1,745.6,15.7,574,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1731,0,0,0,0,0,0
$GC,9911,0.47,146.1,698.2,15.4,589,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1732,0,0,0,0,0,0
$GC,10220,0.47,146.1,650.1,16.2,604,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1732,0,0,0,0,0,0
$GC,10529,0.47,146.1,600.4,15.6,619,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1731,0,0,0,0,0,0
$GC,10839,0.47,146.1,551.3,16.0,634,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2746,1731,0,0,0,0,0,0
$GC,11148,0.47,146.1,502.8,15.7,649,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1731,0,0,0,0,0,0
$GC,11457,0.47,146.1,456.2,14.7,664,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1731,0,0,0,0,0,0
$GC,11767,0.47,146.1,415.1,12.7,679,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1731,0,0,0,0,0,0
$GC,12076,0.47,146.1,375.8,13.2,694,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1730,0,0,0,0,0,0
$GC,12387,0.47,146.1,333.4,13.8,709,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1731,0,0,0,0,0,0
$GC,12697,0.47,146.1,289.8,14.1,724,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2747,1730,0,0,0,0,0,0
$GC,13007,0.47,146.1,248.2,13.5,739,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2747,1730,0,0,0,0,0,0
$GC,13333,0.47,146.1,204.4,12.8,770,13337,0.00,2.25,0.00,0.000,4,0.000,0.044,1962,1288,1730,0,0,0,0,0,0
$GC,13375,0.47,146.1,199.2,11.9,773,13379,0.00,2.28,0.00,0.000,6,0.000,0.052,1963,2719,1730,0,0,0,0,0,0
$GC,13702,0.47,146.1,154.8,13.3,803,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2719,1730,0,0,0,0,0,0
$GC,14028,0.47,146.1,113.0,11.6,834,14031,0.00,1.88,0.00,0.000,4,0.000,0.059,1962,3894,1730,0,0,0,0,0,0
$GC,14078,0.47,146.1,106.1,12.8,838,14088,0.00,1.88,0.00,0.000,6,0.000,0.034,1971,2711,1728,0,0,0,0,0,0
$GC,14425,0.47,146.1,63.7,10.6,894,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2710,1729,0,0,0,0,0,0
$GC,14541,0.47,146.1,52.0,10.5,913,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2710,1728,0,0,0,0,0,0
$GC,14654,0.47,146.1,39.9,11.0,932,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2710,1728,0,0,0,0,0,0
$GC,14769,0.47,146.1,27.6,11.4,951,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2710,1728,0,0,0,0,0,0
$GC,14855,0.47,146.1,18.3,10.4,964,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2710,1728,0,0,0,0,0,0
$GC,14938,0.47,146.1,8.7,11.2,977,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2710,1728,0,0,0,0,0,0
$STATE,14984,end climb,SURFACE_DEPTH_REACHED
$STATE,14984,begin surface coast
$FINISH,1.2,1.025845
$STATE,15010,end surface coast,CONTROL_FINISHED_OK
$STATE,15010,begin surface
$SM_CCo,15023,25.25,0.161,0,0,1524,200.16
$SM_GC,2.62,0.00,0.00,25.25,0.000,0.000,0.161,54,2927,1524,-5.43,-0.08,200.16
$IRIDIUM_FIX,-5531.31,-30.69,080115,141423
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.1,36.411
$10V_AH,9.9,24.560
$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,12.950,33.375,280.900,25.250,0.000,26.851,19.401,311.324,0.000,0.000,19.294,2372.849,9875.449,406.559,2682.670,193.631,33.361,1288.479,0.000,2161.574,0.000,0.541,0.000
$DEVICE_MAMPS,249.390,81.855,1780.155,161.415,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.319,2050.069,980.369,1016.798,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353520
$DATA_FILE_SIZE,66970,988
$CAP_FILE_SIZE,112032,0
$CFSIZE,259252224,214867968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090115,000900,-5545.603,-29.399,36,0.8,37,-19.9