version: 66.07
glider: 542
mission: 9
dive: 20
start: 12 14 114 2 16 13
data:
$ID,542
$MISSION,9
$DIVE,20
$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,333
$T_MISSION,348
$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,-21745.572
$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,43
$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,2745
$C_ROLL_CLIMB,2654
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,20
$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,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
$GPS1,141214,015823,-5556.328,-1.630,38,0.8,38,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-58.3
$GPS2,141214,021517,-5556.391,-1.523,19,0.8,20,-20.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.260,-0.000
$KALMAN_X,9528.6,-886.3,-294.2,-9863.9,6667.0
$KALMAN_Y,-17601.7,1244.9,302.7,23045.8,-6663.8
$MHEAD_RNG_PITCHd_Wd,290.1,30239,-17.5,-10.010
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,6225,-0.59,-146.1,935.7,-11.4,1014,6234,0.00,1.95,0.00,0.000,4,0.000,0.074,1601,3893,3100,0,0,0,0,0,0
$GC,6263,-0.59,-146.1,940.2,-12.7,1020,6272,0.00,1.85,0.00,0.000,6,0.000,0.047,1601,2747,3100,0,0,0,0,0,0
$GC,6379,-0.59,-146.1,953.9,-11.2,1039,6386,0.00,1.92,0.00,0.000,4,0.000,0.075,1592,3906,3099,0,0,0,0,0,0
$GC,6422,-0.59,-146.1,959.6,-13.5,1046,6431,0.00,1.88,0.00,0.000,6,0.000,0.047,1592,2742,3099,0,0,0,0,0,0
$GC,6538,-0.59,-146.1,973.6,-13.0,1065,6545,0.00,1.92,0.00,0.000,4,0.000,0.074,1583,3903,3100,0,0,0,0,0,0
$GC,6565,-0.59,-146.1,977.2,-12.9,1069,6572,0.00,1.88,0.00,0.000,6,0.000,0.048,1583,2740,3100,0,0,0,0,0,0
$GC,6677,-0.59,-146.1,992.6,-13.4,1088,6687,0.00,1.95,0.00,0.000,4,0.000,0.074,1574,3897,3100,0,0,0,0,0,0
$GC,6713,-0.59,-146.1,997.2,-14.4,1093,6721,0.08,1.85,0.00,0.000,6,0.178,0.047,1611,2749,3100,0,0,0,0,0,0
$STATE,6732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6732,begin apogee
$GC,6735,-0.16,0.0,1000.5,14.8,1096,6877,0.40,0.00,134.18,1.806,6,0.158,0.000,1739,2627,2500,0,0,0,0,0,0
$STATE,6878,end apogee,CONTROL_FINISHED_OK
$STATE,6878,begin climb
$GC,6880,0.59,146.1,1004.6,0.0,1116,7037,0.80,2.62,144.60,1.756,4,0.118,0.059,1991,1269,1902,0,0,0,0,0,0
$GC,7092,0.59,146.1,980.3,16.1,1147,7100,0.00,2.55,0.00,0.000,6,0.000,0.063,1991,2655,1898,0,0,0,0,0,0
$GC,7206,0.59,146.1,959.8,18.4,1166,7214,0.00,2.25,0.00,0.000,4,0.000,0.072,1991,3896,1894,0,0,0,0,0,0
$GC,7263,0.59,146.1,948.3,21.6,1175,7270,0.00,2.12,0.00,0.000,6,0.000,0.051,2001,2671,1893,0,0,0,0,0,0
$GC,7376,0.59,146.1,926.2,18.9,1194,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2670,1892,0,0,0,0,0,0
$GC,7491,0.59,146.1,905.0,18.7,1213,7498,0.00,2.15,0.00,0.000,4,0.000,0.070,2001,3897,1892,0,0,0,0,0,0
$GC,7542,0.59,146.1,894.6,21.9,1221,7549,0.00,2.12,0.00,0.000,6,0.000,0.051,2010,2645,1891,0,0,0,0,0,0
$GC,7655,0.59,146.1,872.1,19.8,1240,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2645,1891,0,0,0,0,0,0
$GC,7770,0.59,146.1,850.4,19.8,1259,7777,0.00,2.17,0.00,0.000,4,0.000,0.071,2010,3901,1891,0,0,0,0,0,0
$GC,7802,0.59,146.1,843.3,21.4,1264,7810,0.00,2.12,0.00,0.000,6,0.000,0.050,2020,2649,1891,0,0,0,0,0,0
$GC,7918,0.59,146.1,820.0,20.1,1283,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2649,1891,0,0,0,0,0,0
$GC,8030,0.59,146.1,797.3,20.1,1302,8039,0.00,2.17,0.00,0.000,4,0.000,0.071,2020,3903,1890,0,0,0,0,0,0
$GC,8092,0.59,146.1,783.5,23.5,1312,8102,0.12,2.10,0.00,0.000,6,0.226,0.051,1998,2652,1889,0,0,0,0,0,0
$GC,8209,0.59,146.1,761.4,18.3,1331,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2652,1889,0,0,0,0,0,0
$GC,8322,0.59,146.1,740.7,18.8,1350,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2652,1890,0,0,0,0,0,0
$GC,8438,0.59,146.1,720.3,17.8,1369,8445,0.00,2.12,0.00,0.000,4,0.000,0.071,1998,3900,1889,0,0,0,0,0,0
$GC,8499,0.59,146.1,707.8,20.1,1379,8507,0.00,2.05,0.00,0.000,6,0.000,0.050,2008,2649,1889,0,0,0,0,0,0
$GC,8613,0.59,146.1,685.8,19.7,1398,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2650,1889,0,0,0,0,0,0
$GC,8726,0.59,146.1,665.0,19.8,1417,8733,0.00,2.12,0.00,0.000,4,0.000,0.070,2007,3903,1889,0,0,0,0,0,0
$GC,8770,0.59,146.1,655.5,22.0,1424,8778,0.00,2.08,0.00,0.000,6,0.000,0.051,2017,2654,1889,0,0,0,0,0,0
$GC,8885,0.59,146.1,633.0,19.3,1443,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2654,1889,0,0,0,0,0,0
$GC,8998,0.59,146.1,610.6,19.6,1462,9007,0.00,2.12,0.00,0.000,4,0.000,0.072,2017,3900,1889,0,0,0,0,0,0
$GC,9056,0.59,146.1,598.4,22.2,1471,9064,0.15,2.03,0.00,0.000,6,0.239,0.050,1994,2653,1889,0,0,0,0,0,0
$GC,9170,0.59,146.1,576.7,17.7,1490,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2653,1889,0,0,0,0,0,0
$GC,9285,0.59,146.1,556.8,18.4,1509,9292,0.00,2.10,0.00,0.000,4,0.000,0.071,1994,3907,1889,0,0,0,0,0,0
$GC,9339,0.59,146.1,545.5,21.0,1518,9348,0.00,2.08,0.00,0.000,6,0.000,0.050,2003,2647,1889,0,0,0,0,0,0
$GC,9454,0.59,146.1,524.3,18.5,1537,9461,0.00,2.10,0.00,0.000,4,0.000,0.071,2003,3898,1889,0,0,0,0,0,0
$GC,9487,0.59,146.1,517.4,21.0,1542,9496,0.00,2.05,0.00,0.000,6,0.000,0.052,2013,2653,1889,0,0,0,0,0,0
$GC,9603,0.59,146.1,495.0,19.5,1561,9609,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2653,1889,0,0,0,0,0,0
$GC,9715,0.59,146.1,473.4,19.1,1580,9724,0.00,2.10,0.00,0.000,4,0.000,0.072,2013,3896,1889,0,0,0,0,0,0
$GC,9755,0.59,146.1,464.9,22.6,1586,9765,0.08,2.05,0.00,0.000,6,0.229,0.052,2003,2648,1889,0,0,0,0,0,0
$GC,9871,0.59,146.1,443.7,18.7,1605,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2648,1889,0,0,0,0,0,0
$GC,9983,0.59,146.1,423.6,17.1,1624,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2648,1889,0,0,0,0,0,0
$GC,10098,0.59,146.1,403.7,17.5,1643,10105,0.00,2.10,0.00,0.000,4,0.000,0.072,2003,3906,1889,0,0,0,0,0,0
$GC,10141,0.59,146.1,394.9,19.9,1650,10150,0.00,2.05,0.00,0.000,6,0.000,0.051,2012,2653,1889,0,0,0,0,0,0
$GC,10257,0.59,146.1,373.7,18.7,1669,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2653,1889,0,0,0,0,0,0
$GC,10370,0.59,146.1,352.3,19.0,1688,10379,0.00,2.10,0.00,0.000,4,0.000,0.071,2011,3894,1889,0,0,0,0,0,0
$GC,10404,0.59,146.1,345.7,21.9,1693,10411,0.00,2.00,0.00,0.000,6,0.000,0.050,2022,2652,1889,0,0,0,0,0,0
$GC,10516,0.59,146.1,323.2,19.1,1712,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2652,1889,0,0,0,0,0,0
$GC,10630,0.59,146.1,301.8,19.5,1731,10637,0.00,2.08,0.00,0.000,4,0.000,0.071,2021,3898,1888,0,0,0,0,0,0
$GC,10692,0.59,146.1,288.3,22.6,1741,10700,0.12,2.03,0.00,0.000,6,0.223,0.050,1998,2655,1888,0,0,0,0,0,0
$GC,10805,0.59,146.1,267.4,17.2,1760,10815,0.00,2.10,0.00,0.000,4,0.000,0.072,1998,3899,1888,0,0,0,0,0,0
$GC,10828,0.59,146.1,263.5,18.4,1763,10836,0.00,2.03,0.00,0.000,6,0.000,0.051,2006,2655,1888,0,0,0,0,0,0
$GC,10941,0.59,146.1,243.6,17.7,1782,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2655,1888,0,0,0,0,0,0
$GC,11057,0.59,146.1,224.0,17.0,1801,11064,0.00,2.28,0.00,0.000,4,0.000,0.060,2017,1239,1888,0,0,0,0,0,0
$GC,11087,0.59,146.1,219.7,16.1,1805,11094,0.00,2.33,0.00,0.000,6,0.000,0.064,2017,2658,1889,0,0,0,0,0,0
$GC,11200,0.59,146.1,200.5,15.6,1824,11209,0.00,2.05,0.00,0.000,4,0.000,0.072,2017,3894,1888,0,0,0,0,0,0
$GC,11274,0.59,146.1,186.6,18.8,1836,11283,0.10,2.03,0.00,0.000,6,0.226,0.051,2001,2653,1888,0,0,0,0,0,0
$GC,11390,0.59,146.1,169.9,13.3,1855,11397,0.00,2.05,0.00,0.000,4,0.000,0.072,2000,3897,1888,0,0,0,0,0,0
$GC,11421,0.59,146.1,164.4,17.2,1860,11431,0.00,2.03,0.00,0.000,6,0.000,0.053,2009,2651,1888,0,0,0,0,0,0
$GC,11537,0.59,146.1,146.5,15.9,1879,11544,0.00,2.10,0.00,0.000,4,0.000,0.071,2009,3899,1888,0,0,0,0,0,0
$GC,11663,0.59,146.1,124.3,17.0,1900,11672,0.00,2.03,0.00,0.000,6,0.000,0.051,2018,2649,1888,0,0,0,0,0,0
$GC,11778,0.59,146.1,106.4,14.6,1919,11785,0.00,2.25,0.00,0.000,4,0.000,0.060,2029,1233,1888,0,0,0,0,0,0
$GC,11829,0.59,146.1,99.1,14.0,1927,11837,0.15,2.33,0.00,0.000,6,0.226,0.064,1995,2663,1888,0,0,0,0,0,0
$GC,11944,0.59,146.1,83.7,12.9,1946,11952,0.00,2.05,0.00,0.000,4,0.000,0.074,1995,3900,1889,0,0,0,0,0,0
$GC,12013,0.59,146.1,73.2,16.0,1957,12020,0.00,1.98,0.00,0.000,6,0.000,0.052,2004,2651,1888,0,0,0,0,0,0
$GC,12126,0.59,146.1,57.1,12.8,1976,12135,0.00,2.28,0.00,0.000,4,0.000,0.060,2014,1240,1888,0,0,0,0,0,0
$GC,12160,0.59,146.1,52.7,13.1,1981,12167,0.00,2.30,0.00,0.000,6,0.000,0.065,2014,2659,1888,0,0,0,0,0,0
$GC,12272,0.59,146.1,36.2,13.6,2000,12281,0.00,2.05,0.00,0.000,4,0.000,0.073,2014,3899,1888,0,0,0,0,0,0
$GC,12348,0.59,146.1,24.0,17.7,2012,12358,0.10,2.00,0.00,0.000,6,0.227,0.051,1997,2658,1888,0,0,0,0,0,0
$GC,12435,0.59,146.1,10.7,13.5,2025,12444,0.00,2.08,0.00,0.000,4,0.000,0.073,1997,3892,1888,0,0,0,0,0,0
$STATE,12487,end climb,SURFACE_DEPTH_REACHED
$STATE,12488,begin surface coast
$FINISH,0.8,1.027133
$STATE,12507,end surface coast,CONTROL_FINISHED_OK
$STATE,12508,begin surface
$SM_CCo,12521,40.45,0.173,0,0,1476,250.20
$SM_GC,1.67,0.00,0.00,40.45,0.000,0.000,0.173,64,2725,1476,-5.43,-0.57,250.20
$IRIDIUM_FIX,-5535.12,0.00,131214,222251
$TT8_MAMPS,0.026964
$HUMID,54.72
$INTERNAL_PRESSURE,8.91603
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.6,11.581
$10V_AH,10.1,6.843
$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,14.650,247.950,278.775,40.450,0.000,27.860,42.167,757.867,0.000,0.000,23.026,4647.596,1280.857,817.695,6471.323,315.612,33.380,2687.666,0.000,5051.700,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,86.445,1806.165,172.890,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1441.736,5162.674,3444.923,5558.971,0.000,0.000,0.000,0.000,0.000,0.000
$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,150643,2036
$CAP_FILE_SIZE,244639,0
$CFSIZE,259252224,225333248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141214,054634,-5557.172,-3.892,24,1.0,24,-20.1