version: 66.07
glider: 542
mission: 9
dive: 14
start: 12 13 114 10 31 3
data:
$ID,542
$MISSION,9
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,165
$T_MISSION,180
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21730.541
$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,1802
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,41
$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,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,120
$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
$GPS1,131214,102207,-5559.071,0.400,13,1.9,14,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-64.1
$GPS2,131214,103006,-5559.052,0.381,17,1.2,18,-20.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,TARGET
$TGT_LATLONG,-56.000,-0.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.214
$KALMAN_X,1445.0,220.3,118.8,-1329.2,1256.1
$KALMAN_Y,-6111.2,-1260.7,212.4,9224.4,-2109.7
$MHEAD_RNG_PITCHd_Wd,349.4,6117252,-18.7,-10.101
$D_GRID,500
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-131.4,0.0,0.0,0,75,0.00,0.00,-57.90,0.000,2,0.000,0.000,58,2289,2788,0,0,0,0,0,0
$GC,77,-0.64,-146.1,3.2,-6.1,7,103,6.68,2.83,-7.97,0.000,4,0.265,0.090,1575,3899,3097,0,0,0,0,0,0
$GC,371,-0.64,-146.1,66.5,-20.9,55,378,0.00,2.30,0.00,0.000,6,0.000,0.056,1578,2512,3099,0,0,0,0,0,0
$GC,483,-0.64,-146.1,89.2,-20.5,74,492,0.00,2.42,0.00,0.000,4,0.000,0.080,1568,3903,3098,0,0,0,0,0,0
$GC,641,-0.64,-146.1,121.9,-19.5,100,649,0.00,2.35,0.00,0.000,6,0.000,0.056,1568,2495,3098,0,0,0,0,0,0
$GC,768,-0.64,-146.1,145.6,-19.3,119,775,0.00,2.40,0.00,0.000,4,0.000,0.080,1558,3904,3098,0,0,0,0,0,0
$GC,818,-0.64,-146.1,156.5,-21.3,127,826,0.15,2.30,0.00,0.000,6,0.207,0.054,1592,2498,3099,0,0,0,0,0,0
$GC,938,-0.64,-146.1,177.9,-16.4,146,946,0.00,2.42,0.00,0.000,4,0.000,0.080,1582,3904,3098,0,0,0,0,0,0
$GC,1067,-0.64,-146.1,200.7,-16.7,167,1074,0.00,2.30,0.00,0.000,6,0.000,0.054,1582,2486,3098,0,0,0,0,0,0
$GC,1182,-0.64,-146.1,220.5,-16.3,186,1191,0.00,2.42,0.00,0.000,4,0.000,0.080,1571,3900,3098,0,0,0,0,0,0
$GC,1251,-0.64,-146.1,232.8,-18.2,197,1258,0.00,2.28,0.00,0.000,6,0.000,0.054,1571,2497,3098,0,0,0,0,0,0
$GC,1367,-0.64,-146.1,252.6,-16.4,216,1376,0.00,2.40,0.00,0.000,4,0.000,0.080,1561,3899,3099,0,0,0,0,0,0
$GC,1449,-0.64,-146.1,266.9,-17.3,229,1457,0.12,2.28,0.00,0.000,6,0.208,0.054,1588,2502,3098,0,0,0,0,0,0
$GC,1563,-0.64,-146.1,283.4,-14.0,248,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2502,3098,0,0,0,0,0,0
$GC,1679,-0.64,-146.1,298.0,-12.2,267,1686,0.00,2.38,0.00,0.000,4,0.000,0.078,1578,3909,3098,0,0,0,0,0,0
$GC,1826,-0.64,-146.1,319.3,-15.0,291,1834,0.00,2.30,0.00,0.000,6,0.000,0.054,1579,2488,3098,0,0,0,0,0,0
$GC,1946,-0.64,-146.1,336.7,-14.3,310,1955,0.00,2.40,0.00,0.000,4,0.000,0.078,1567,3901,3098,0,0,0,0,0,0
$GC,2005,-0.64,-146.1,346.2,-17.8,319,2012,0.00,2.28,0.00,0.000,6,0.000,0.054,1567,2493,3099,0,0,0,0,0,0
$GC,2121,-0.64,-146.1,365.4,-16.2,338,2131,0.00,2.40,0.00,0.000,4,0.000,0.077,1556,3909,3099,0,0,0,0,0,0
$GC,2218,-0.64,-146.1,383.4,-19.2,353,2226,0.15,2.28,0.00,0.000,6,0.203,0.053,1592,2499,3099,0,0,0,0,0,0
$GC,2336,-0.64,-146.1,402.4,-15.2,372,2345,0.00,2.40,0.00,0.000,4,0.000,0.078,1582,3900,3099,0,0,0,0,0,0
$GC,2432,-0.64,-146.1,419.0,-17.9,387,2440,0.00,2.30,0.00,0.000,6,0.000,0.054,1582,2462,3099,0,0,0,0,0,0
$GC,2550,-0.64,-146.1,438.7,-16.3,406,2559,0.00,2.42,0.00,0.000,4,0.000,0.077,1571,3900,3099,0,0,0,0,0,0
$GC,2643,-0.64,-146.1,455.3,-18.2,421,2651,0.00,2.25,0.00,0.000,6,0.000,0.053,1571,2503,3099,0,0,0,0,0,0
$GC,2761,-0.64,-146.1,475.6,-16.5,440,2770,0.00,2.35,0.00,0.000,4,0.000,0.076,1560,3897,3099,0,0,0,0,0,0
$GC,2841,-0.64,-146.1,490.6,-19.0,453,2848,0.12,2.25,0.00,0.000,6,0.203,0.052,1589,2500,3099,0,0,0,0,0,0
$STATE,2898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2898,begin apogee
$GC,2901,-0.17,0.0,500.6,15.2,462,3036,0.50,0.00,126.35,1.502,6,0.174,0.000,1740,2499,2501,0,0,0,0,0,0
$STATE,3037,end apogee,CONTROL_FINISHED_OK
$STATE,3037,begin climb
$GC,3038,0.64,146.1,506.7,0.0,481,3181,0.88,2.70,134.82,1.459,4,0.124,0.061,2011,1082,1903,0,0,0,0,0,0
$GC,3230,0.64,146.1,487.4,15.6,509,3237,0.00,2.62,0.00,0.000,6,0.000,0.063,2011,2512,1898,0,0,0,0,0,0
$GC,3343,0.64,146.1,467.2,18.4,528,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2512,1896,0,0,0,0,0,0
$GC,3458,0.64,146.1,446.9,18.1,547,3465,0.00,2.45,0.00,0.000,4,0.000,0.073,2012,3903,1894,0,0,0,0,0,0
$GC,3543,0.64,146.1,429.2,21.1,561,3550,0.00,2.40,0.00,0.000,6,0.000,0.054,2022,2501,1892,0,0,0,0,0,0
$GC,3657,0.64,146.1,407.4,18.1,580,3666,0.00,2.47,0.00,0.000,4,0.000,0.073,2022,3897,1892,0,0,0,0,0,0
$GC,3731,0.64,146.1,391.8,22.6,592,3740,0.00,2.40,0.00,0.000,6,0.000,0.055,2033,2494,1892,0,0,0,0,0,0
$GC,3847,0.64,146.1,369.6,19.2,611,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2493,1891,0,0,0,0,0,0
$GC,3959,0.64,146.1,348.4,19.0,630,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2493,1891,0,0,0,0,0,0
$GC,4073,0.64,146.1,327.0,19.2,649,4080,0.00,2.42,0.00,0.000,4,0.000,0.073,2033,3904,1891,0,0,0,0,0,0
$GC,4194,0.64,146.1,300.5,22.1,669,4202,0.15,2.35,0.00,0.000,6,0.242,0.054,2013,2485,1890,0,0,0,0,0,0
$GC,4308,0.64,146.1,280.3,16.7,688,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2485,1890,0,0,0,0,0,0
$GC,4423,0.64,146.1,261.7,16.5,707,4430,0.00,2.42,0.00,0.000,4,0.000,0.073,2013,3907,1890,0,0,0,0,0,0
$GC,4521,0.64,146.1,243.7,19.7,723,4528,0.00,2.33,0.00,0.000,6,0.000,0.054,2023,2496,1890,0,0,0,0,0,0
$GC,4633,0.64,146.1,223.8,17.0,742,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2496,1890,0,0,0,0,0,0
$GC,4749,0.64,146.1,206.3,14.5,761,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2496,1890,0,0,0,0,0,0
$GC,4860,0.64,146.1,188.7,15.6,780,4869,0.00,2.40,0.00,0.000,4,0.000,0.073,2023,3903,1890,0,0,0,0,0,0
$GC,5001,0.64,146.1,162.6,18.3,804,5010,0.00,2.33,0.00,0.000,6,0.000,0.053,2034,2494,1890,0,0,0,0,0,0
$GC,5115,0.64,146.1,144.0,17.0,823,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2495,1890,0,0,0,0,0,0
$GC,5228,0.64,146.1,126.1,15.3,842,5237,0.00,2.38,0.00,0.000,4,0.000,0.073,2034,3897,1890,0,0,0,0,0,0
$GC,5367,0.64,146.1,101.3,17.8,865,5375,0.15,2.28,0.00,0.000,6,0.245,0.054,2013,2498,1890,0,0,0,0,0,0
$GC,5480,0.64,146.1,85.3,12.5,884,5489,0.00,2.38,0.00,0.000,4,0.000,0.073,2013,3898,1890,0,0,0,0,0,0
$GC,5588,0.64,146.1,68.8,16.5,902,5597,0.00,2.30,0.00,0.000,6,0.000,0.056,2023,2502,1890,0,0,0,0,0,0
$GC,5705,0.64,146.1,52.3,14.7,921,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2502,1890,0,0,0,0,0,0
$GC,5817,0.64,146.1,35.6,15.1,940,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2502,1890,0,0,0,0,0,0
$GC,5935,0.64,146.1,18.7,15.0,959,5945,0.00,2.35,0.00,0.000,4,0.000,0.074,2023,3895,1890,0,0,0,0,0,0
$STATE,6025,end climb,SURFACE_DEPTH_REACHED
$STATE,6025,begin surface coast
$FINISH,0.5,1.019515
$STATE,6045,end surface coast,CONTROL_FINISHED_OK
$STATE,6045,begin surface
$SM_CCo,6059,41.33,0.178,0,0,1478,250.20
$SM_GC,1.81,0.00,0.00,41.33,0.000,0.000,0.178,66,2488,1478,-5.42,-0.34,250.20
$IRIDIUM_FIX,-5535.12,-3.85,131214,090918
$TT8_MAMPS,0.026215
$HUMID,54.56
$INTERNAL_PRESSURE,8.92579
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.1,10.541
$10V_AH,10.1,5.440
$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,14.275,100.000,261.175,41.325,0.000,25.412,41.696,315.136,19.250,0.000,19.822,2248.478,563.391,451.029,3173.451,161.356,33.321,1355.600,0.000,2458.671,0.000,123.420,0.000
$DEVICE_MAMPS,265.455,90.270,1501.695,178.245,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.502,2502.864,1698.182,2692.865,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,73788,976
$CAP_FILE_SIZE,111413,0
$CFSIZE,259252224,226091008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131214,121357,-5558.561,-0.105,37,1.3,41,-20.1