version: 66.07
glider: 542
mission: 9
dive: 15
start: 12 13 114 12 28 50
data:
$ID,542
$MISSION,9
$DIVE,15
$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,-21732.854
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,131214,121357,-5558.561,-0.105,37,1.3,41,-20.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.7
$GPS2,131214,122754,-5558.542,-0.178,21,0.9,21,-20.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,TARGET
$TGT_LATLONG,-56.000,-0.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.056,0.273
$KALMAN_X,1734.4,473.7,230.0,-2558.6,552.2
$KALMAN_Y,-7655.5,-1119.0,488.1,11294.5,-2266.3
$MHEAD_RNG_PITCHd_Wd,8.6,6116304,-16.2,-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,-0.58,-146.1,0.0,0.0,0,83,0.00,0.00,-66.05,0.000,2,0.000,0.000,64,2482,2980,0,0,0,0,0,0
$GC,85,-0.58,-146.1,3.2,-3.1,8,103,6.65,2.45,-2.85,0.000,4,0.264,0.081,1595,3906,3097,0,0,0,0,0,0
$GC,373,-0.58,-146.1,63.6,-19.9,55,380,0.00,2.33,0.00,0.000,6,0.000,0.055,1595,2496,3098,0,0,0,0,0,0
$GC,485,-0.58,-146.1,85.4,-18.3,74,494,0.00,2.42,0.00,0.000,4,0.000,0.078,1584,3900,3098,0,0,0,0,0,0
$GC,724,-0.58,-146.1,136.3,-21.7,113,732,0.12,2.30,0.00,0.000,6,0.210,0.054,1613,2494,3098,0,0,0,0,0,0
$GC,840,-0.58,-146.1,158.5,-17.9,132,849,0.00,2.40,0.00,0.000,4,0.000,0.077,1603,3893,3098,0,0,0,0,0,0
$GC,932,-0.58,-146.1,176.9,-20.0,146,941,0.00,2.30,0.00,0.000,6,0.000,0.054,1602,2504,3097,0,0,0,0,0,0
$GC,1060,-0.58,-146.1,200.5,-19.2,165,1067,0.00,2.35,0.00,0.000,4,0.000,0.078,1592,3903,3098,0,0,0,0,0,0
$GC,1111,-0.58,-146.1,211.2,-20.4,173,1118,0.00,2.28,0.00,0.000,6,0.000,0.054,1591,2497,3098,0,0,0,0,0,0
$GC,1226,-0.58,-146.1,233.3,-18.2,192,1235,0.00,2.40,0.00,0.000,4,0.000,0.078,1581,3904,3098,0,0,0,0,0,0
$GC,1329,-0.58,-146.1,252.9,-18.6,209,1337,0.12,2.28,0.00,0.000,6,0.206,0.054,1610,2501,3098,0,0,0,0,0,0
$GC,1447,-0.58,-146.1,270.2,-13.6,228,1456,0.00,2.38,0.00,0.000,4,0.000,0.078,1599,3896,3098,0,0,0,0,0,0
$GC,1510,-0.58,-146.1,279.9,-14.5,238,1522,0.00,2.30,0.00,0.000,6,0.000,0.054,1599,2500,3098,0,0,0,0,0,0
$GC,1631,-0.58,-146.1,295.7,-13.1,257,1638,0.00,2.38,0.00,0.000,4,0.000,0.078,1588,3900,3098,0,0,0,0,0,0
$GC,1734,-0.58,-146.1,310.7,-14.3,274,1743,0.00,2.30,0.00,0.000,6,0.000,0.054,1588,2499,3098,0,0,0,0,0,0
$GC,1854,-0.58,-146.1,326.3,-12.1,293,1861,0.00,2.35,0.00,0.000,4,0.000,0.077,1578,3902,3098,0,0,0,0,0,0
$GC,1922,-0.58,-146.1,336.0,-14.8,304,1931,0.12,2.30,0.00,0.000,6,0.187,0.054,1614,2499,3098,0,0,0,0,0,0
$GC,2042,-0.58,-146.1,349.3,-11.2,323,2050,0.00,2.35,0.00,0.000,4,0.000,0.077,1603,3903,3098,0,0,0,0,0,0
$GC,2116,-0.58,-146.1,358.7,-12.4,335,2123,0.00,2.28,0.00,0.000,6,0.000,0.054,1603,2494,3098,0,0,0,0,0,0
$GC,2234,-0.58,-146.1,374.2,-12.7,354,2246,0.00,2.38,0.00,0.000,4,0.000,0.077,1593,3897,3098,0,0,0,0,0,0
$GC,2323,-0.58,-146.1,387.4,-14.5,368,2332,0.00,2.28,0.00,0.000,6,0.000,0.053,1592,2504,3098,0,0,0,0,0,0
$GC,2441,-0.58,-146.1,404.2,-14.6,387,2449,0.00,2.35,0.00,0.000,4,0.000,0.077,1582,3911,3098,0,0,0,0,0,0
$GC,2518,-0.58,-146.1,416.0,-16.4,399,2526,0.12,2.28,0.00,0.000,6,0.202,0.052,1611,2499,3098,0,0,0,0,0,0
$GC,2637,-0.58,-146.1,432.0,-12.6,418,2646,0.00,2.38,0.00,0.000,4,0.000,0.077,1601,3905,3098,0,0,0,0,0,0
$GC,2722,-0.58,-146.1,444.2,-14.5,432,2731,0.00,2.30,0.00,0.000,6,0.000,0.054,1600,2493,3098,0,0,0,0,0,0
$GC,2841,-0.58,-146.1,460.3,-13.4,451,2848,0.00,2.33,0.00,0.000,4,0.000,0.076,1590,3900,3098,0,0,0,0,0,0
$GC,2925,-0.58,-146.1,473.0,-15.0,465,2932,0.00,2.25,0.00,0.000,6,0.000,0.052,1589,2498,3099,0,0,0,0,0,0
$GC,3043,-0.58,-146.1,490.2,-13.8,484,3052,0.00,2.35,0.00,0.000,4,0.000,0.076,1579,3895,3099,0,0,0,0,0,0
$STATE,3106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3106,begin apogee
$GC,3113,-0.17,0.0,500.7,16.1,494,3247,0.52,0.00,126.35,1.518,6,0.173,0.000,1737,2486,2502,0,0,0,0,0,0
$STATE,3248,end apogee,CONTROL_FINISHED_OK
$STATE,3248,begin climb
$GC,3249,0.58,146.1,508.0,0.0,513,3391,0.80,0.00,135.20,1.473,6,0.122,0.000,1978,2486,1904,0,0,0,0,0,0
$GC,3498,0.58,146.1,481.4,15.2,551,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2486,1898,0,0,0,0,0,0
$GC,3610,0.58,146.1,463.7,15.2,570,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2486,1897,0,0,0,0,0,0
$GC,3726,0.58,146.1,446.1,15.1,589,3733,0.00,2.50,0.00,0.000,4,0.000,0.073,1978,3901,1895,0,0,0,0,0,0
$GC,3823,0.58,146.1,428.2,17.9,605,3830,0.00,2.38,0.00,0.000,6,0.000,0.053,1988,2502,1893,0,0,0,0,0,0
$GC,3937,0.58,146.1,407.9,17.6,624,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2501,1893,0,0,0,0,0,0
$GC,4052,0.58,146.1,389.2,15.1,643,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2501,1893,0,0,0,0,0,0
$GC,4164,0.58,146.1,370.4,16.4,662,4173,0.00,2.45,0.00,0.000,4,0.000,0.073,1988,3901,1893,0,0,0,0,0,0
$GC,4244,0.58,146.1,355.2,19.5,675,4251,0.00,2.35,0.00,0.000,6,0.000,0.054,2000,2491,1892,0,0,0,0,0,0
$GC,4356,0.58,146.1,334.4,17.4,694,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2491,1892,0,0,0,0,0,0
$GC,4472,0.58,146.1,314.4,17.7,713,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2491,1892,0,0,0,0,0,0
$GC,4584,0.58,146.1,295.0,16.8,732,4593,0.00,2.42,0.00,0.000,4,0.000,0.074,2000,3894,1892,0,0,0,0,0,0
$GC,4687,0.58,146.1,274.8,19.7,749,4694,0.00,2.30,0.00,0.000,6,0.000,0.053,2010,2495,1891,0,0,0,0,0,0
$GC,4801,0.58,146.1,254.0,17.5,768,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2495,1892,0,0,0,0,0,0
$GC,4916,0.58,146.1,234.0,16.9,787,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2495,1892,0,0,0,0,0,0
$GC,5029,0.58,146.1,214.1,17.7,806,5038,0.00,2.40,0.00,0.000,4,0.000,0.073,2010,3897,1891,0,0,0,0,0,0
$GC,5110,0.58,146.1,198.2,19.8,819,5117,0.12,2.30,0.00,0.000,6,0.247,0.052,1996,2488,1891,0,0,0,0,0,0
$GC,5223,0.58,146.1,179.7,15.0,838,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2488,1891,0,0,0,0,0,0
$GC,5340,0.58,146.1,163.1,13.9,857,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2488,1891,0,0,0,0,0,0
$GC,5452,0.58,146.1,148.5,12.3,876,5461,0.00,2.38,0.00,0.000,4,0.000,0.073,1996,3890,1891,0,0,0,0,0,0
$GC,5535,0.58,146.1,136.1,14.4,890,5544,0.00,2.30,0.00,0.000,6,0.000,0.054,2006,2491,1891,0,0,0,0,0,0
$GC,5651,0.58,146.1,122.3,11.6,909,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2491,1891,0,0,0,0,0,0
$GC,5764,0.58,146.1,109.6,10.9,928,5773,0.00,2.40,0.00,0.000,4,0.000,0.073,2006,3904,1891,0,0,0,0,0,0
$GC,5907,0.58,146.1,88.2,15.9,952,5916,0.00,2.30,0.00,0.000,6,0.000,0.054,2017,2504,1891,0,0,0,0,0,0
$GC,6022,0.58,146.1,72.4,13.7,971,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2504,1891,0,0,0,0,0,0
$GC,6135,0.58,146.1,56.0,14.8,990,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2504,1891,0,0,0,0,0,0
$GC,6249,0.58,146.1,39.6,14.5,1009,6256,0.00,2.33,0.00,0.000,4,0.000,0.074,2017,3902,1891,0,0,0,0,0,0
$GC,6379,0.58,146.1,17.0,17.2,1030,6389,0.12,2.30,0.00,0.000,6,0.235,0.054,1996,2498,1890,0,0,0,0,0,0
$GC,6463,0.58,146.1,4.7,14.1,1043,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2498,1890,0,0,0,0,0,0
$STATE,6478,end climb,SURFACE_DEPTH_REACHED
$STATE,6479,begin surface coast
$FINISH,0.6,1.027321
$STATE,6504,end surface coast,CONTROL_FINISHED_OK
$STATE,6505,begin surface
$SM_CCo,6516,41.47,0.175,0,0,1476,250.45
$SM_GC,1.61,0.00,0.00,41.47,0.000,0.000,0.175,58,2497,1476,-5.45,-0.11,250.45
$IRIDIUM_FIX,-5538.94,0.00,131214,101017
$TT8_MAMPS,0.026215
$HUMID,55.27
$INTERNAL_PRESSURE,8.92579
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.1,10.698
$10V_AH,10.1,5.605
$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,14.150,98.400,261.550,41.475,0.000,26.426,19.322,644.660,19.250,0.000,23.491,2418.254,620.597,474.594,3690.056,177.460,33.321,1446.128,0.000,2639.670,0.000,125.194,0.000
$DEVICE_MAMPS,263.925,81.090,1517.760,175.185,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.467,2688.519,1823.577,2891.775,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354440
$DATA_FILE_SIZE,77148,1049
$CAP_FILE_SIZE,123288,0
$CFSIZE,259252224,226009088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131214,141859,-5557.863,-0.271,16,1.1,16,-20.1