version: 66.07
glider: 542
mission: 9
dive: 21
start: 12 14 114 6 3 42
data:
$ID,542
$MISSION,9
$DIVE,21
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21747.889
$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,36
$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
$GPS1,141214,054634,-5557.172,-3.892,24,1.0,24,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.2
$GPS2,141214,060247,-5557.215,-3.783,18,1.0,18,-20.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.259,0.015
$KALMAN_X,11256.5,-195.1,-168.4,-14741.9,5511.8
$KALMAN_Y,-19197.7,1616.5,419.7,22622.2,-7027.8
$MHEAD_RNG_PITCHd_Wd,293.4,27637,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,6300,-0.59,-146.1,936.5,-13.1,1024,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2746,3102,0,0,0,0,0,0
$GC,6415,-0.59,-146.1,951.3,-12.8,1043,6421,0.00,1.92,0.00,0.000,4,0.000,0.074,1575,3906,3102,0,0,0,0,0,0
$GC,6453,-0.59,-146.1,956.7,-14.6,1049,6461,0.08,1.88,0.00,0.000,6,0.179,0.047,1606,2740,3101,0,0,0,0,0,0
$GC,6567,-0.59,-146.1,969.6,-10.4,1068,6576,0.00,1.95,0.00,0.000,4,0.000,0.074,1597,3896,3101,0,0,0,0,0,0
$GC,6594,-0.59,-146.1,972.5,-11.2,1072,6603,0.00,1.85,0.00,0.000,6,0.000,0.047,1597,2750,3101,0,0,0,0,0,0
$GC,6710,-0.59,-146.1,985.2,-10.8,1091,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2749,3102,0,0,0,0,0,0
$GC,6823,-0.59,-146.1,997.7,-11.6,1110,6832,0.00,1.92,0.00,0.000,4,0.000,0.075,1588,3893,3102,0,0,0,0,0,0
$STATE,6845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6846,begin apogee
$GC,6851,-0.16,0.0,1000.1,11.3,1113,6993,0.47,0.00,133.70,1.798,6,0.162,0.000,1738,2643,2502,0,0,0,0,0,0
$STATE,6994,end apogee,CONTROL_FINISHED_OK
$STATE,6994,begin climb
$GC,6995,0.59,146.1,1003.4,0.0,1133,7152,0.80,2.67,144.95,1.753,4,0.116,0.058,1991,1252,1903,0,0,0,0,0,0
$GC,7190,0.59,146.1,979.3,17.4,1161,7197,0.00,2.60,0.00,0.000,6,0.000,0.061,1992,2660,1899,0,0,0,0,0,0
$GC,7304,0.59,146.1,956.7,19.7,1180,7313,0.00,2.25,0.00,0.000,4,0.000,0.070,1992,3901,1895,0,0,0,0,0,0
$GC,7350,0.59,146.1,947.2,22.1,1187,7357,0.00,2.17,0.00,0.000,6,0.000,0.052,2001,2655,1894,0,0,0,0,0,0
$GC,7463,0.59,146.1,923.2,20.8,1206,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2655,1893,0,0,0,0,0,0
$GC,7577,0.59,146.1,900.3,19.5,1225,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2655,1893,0,0,0,0,0,0
$GC,7690,0.59,146.1,877.0,20.7,1244,7699,0.00,2.20,0.00,0.000,4,0.000,0.071,2001,3894,1892,0,0,0,0,0,0
$GC,7723,0.59,146.1,870.0,21.9,1249,7730,0.00,2.10,0.00,0.000,6,0.000,0.050,2011,2647,1891,0,0,0,0,0,0
$GC,7836,0.59,146.1,845.7,21.2,1268,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2647,1891,0,0,0,0,0,0
$GC,7952,0.59,146.1,822.1,21.6,1287,7959,0.00,2.17,0.00,0.000,4,0.000,0.070,2011,3904,1891,0,0,0,0,0,0
$GC,8006,0.59,146.1,808.9,24.6,1296,8016,0.08,2.10,0.00,0.000,6,0.231,0.050,2002,2659,1890,0,0,0,0,0,0
$GC,8123,0.59,146.1,785.0,19.8,1315,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2659,1890,0,0,0,0,0,0
$GC,8235,0.59,146.1,762.2,20.1,1334,8244,0.00,2.15,0.00,0.000,4,0.000,0.072,2001,3900,1890,0,0,0,0,0,0
$GC,8281,0.59,146.1,752.3,24.2,1341,8288,0.00,2.08,0.00,0.000,6,0.000,0.050,2010,2645,1890,0,0,0,0,0,0
$GC,8393,0.59,146.1,728.2,20.5,1360,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2645,1890,0,0,0,0,0,0
$GC,8508,0.59,146.1,704.7,20.6,1379,8515,0.00,2.12,0.00,0.000,4,0.000,0.071,2010,3899,1890,0,0,0,0,0,0
$GC,8551,0.59,146.1,694.6,24.1,1386,8560,0.00,2.08,0.00,0.000,6,0.000,0.050,2020,2652,1890,0,0,0,0,0,0
$GC,8668,0.59,146.1,669.6,21.8,1405,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2652,1890,0,0,0,0,0,0
$GC,8780,0.59,146.1,645.1,21.5,1424,8789,0.00,2.15,0.00,0.000,4,0.000,0.070,2020,3903,1890,0,0,0,0,0,0
$GC,8837,0.59,146.1,631.8,24.5,1433,8845,0.15,2.05,0.00,0.000,6,0.236,0.050,1997,2651,1889,0,0,0,0,0,0
$GC,8952,0.59,146.1,607.4,19.7,1452,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2651,1889,0,0,0,0,0,0
$GC,9068,0.59,146.1,584.7,18.9,1471,9074,0.00,2.10,0.00,0.000,4,0.000,0.071,1997,3899,1889,0,0,0,0,0,0
$GC,9123,0.59,146.1,572.1,23.4,1480,9132,0.00,2.05,0.00,0.000,6,0.000,0.050,2006,2656,1889,0,0,0,0,0,0
$GC,9238,0.59,146.1,548.6,20.0,1499,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2656,1889,0,0,0,0,0,0
$GC,9349,0.59,146.1,526.0,19.3,1518,9358,0.00,2.12,0.00,0.000,4,0.000,0.072,2006,3899,1889,0,0,0,0,0,0
$GC,9395,0.59,146.1,516.5,22.0,1525,9402,0.00,2.03,0.00,0.000,6,0.000,0.050,2016,2650,1889,0,0,0,0,0,0
$GC,9509,0.59,146.1,493.4,19.1,1544,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2651,1889,0,0,0,0,0,0
$GC,9623,0.59,146.1,471.2,20.3,1563,9630,0.00,2.10,0.00,0.000,4,0.000,0.070,2015,3902,1889,0,0,0,0,0,0
$GC,9690,0.59,146.1,455.9,24.3,1574,9700,0.10,2.05,0.00,0.000,6,0.226,0.050,1998,2652,1889,0,0,0,0,0,0
$GC,9808,0.59,146.1,433.5,18.8,1593,9815,0.00,2.10,0.00,0.000,4,0.000,0.071,1999,3906,1889,0,0,0,0,0,0
$GC,9870,0.59,146.1,420.4,21.1,1603,9877,0.00,2.03,0.00,0.000,6,0.000,0.050,2007,2652,1889,0,0,0,0,0,0
$GC,9983,0.59,146.1,398.3,18.5,1622,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2652,1889,0,0,0,0,0,0
$GC,10098,0.59,146.1,376.9,18.6,1641,10105,0.00,2.10,0.00,0.000,4,0.000,0.071,2007,3909,1889,0,0,0,0,0,0
$GC,10137,0.59,146.1,368.9,20.8,1647,10144,0.00,2.03,0.00,0.000,6,0.000,0.050,2017,2652,1888,0,0,0,0,0,0
$GC,10249,0.59,146.1,345.7,20.7,1666,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2652,1889,0,0,0,0,0,0
$GC,10366,0.59,146.1,322.8,20.5,1685,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2652,1889,0,0,0,0,0,0
$GC,10477,0.59,146.1,300.0,20.3,1704,10486,0.00,2.10,0.00,0.000,4,0.000,0.070,2017,3899,1889,0,0,0,0,0,0
$GC,10560,0.59,146.1,281.9,23.3,1717,10567,0.15,2.00,0.00,0.000,6,0.237,0.049,1994,2651,1889,0,0,0,0,0,0
$GC,10674,0.59,146.1,259.5,17.8,1736,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2651,1889,0,0,0,0,0,0
$GC,10788,0.59,146.1,239.2,19.1,1755,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2651,1888,0,0,0,0,0,0
$GC,10901,0.59,146.1,220.4,16.2,1774,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2651,1888,0,0,0,0,0,0
$GC,11015,0.59,146.1,202.7,15.2,1793,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2651,1889,0,0,0,0,0,0
$GC,11129,0.59,146.1,186.7,14.2,1812,11138,0.00,2.10,0.00,0.000,4,0.000,0.070,1994,3899,1889,0,0,0,0,0,0
$GC,11202,0.59,146.1,175.5,16.2,1824,11211,0.00,2.03,0.00,0.000,6,0.000,0.050,2002,2651,1888,0,0,0,0,0,0
$GC,11318,0.59,146.1,158.6,15.1,1843,11325,0.00,2.08,0.00,0.000,4,0.000,0.070,2002,3909,1888,0,0,0,0,0,0
$GC,11345,0.59,146.1,154.6,15.8,1847,11352,0.00,2.00,0.00,0.000,6,0.000,0.050,2012,2654,1888,0,0,0,0,0,0
$GC,11457,0.59,146.1,138.1,14.2,1866,11466,0.00,2.28,0.00,0.000,4,0.000,0.060,2023,1252,1889,0,0,0,0,0,0
$GC,11514,0.59,146.1,130.8,12.9,1875,11522,0.12,2.28,0.00,0.000,6,0.233,0.063,1996,2659,1889,0,0,0,0,0,0
$GC,11628,0.59,146.1,115.9,12.9,1894,11637,0.00,2.33,0.00,0.000,4,0.000,0.059,2005,1241,1889,0,0,0,0,0,0
$GC,11686,0.59,146.1,108.8,12.3,1903,11693,0.00,2.30,0.00,0.000,6,0.000,0.065,2005,2653,1888,0,0,0,0,0,0
$GC,11799,0.59,146.1,93.9,12.8,1922,11808,0.00,2.05,0.00,0.000,4,0.000,0.073,2005,3896,1889,0,0,0,0,0,0
$GC,11920,0.59,146.1,75.5,15.5,1942,11929,0.00,2.00,0.00,0.000,6,0.000,0.050,2015,2659,1888,0,0,0,0,0,0
$GC,12037,0.59,146.1,58.6,14.9,1961,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2659,1889,0,0,0,0,0,0
$GC,12150,0.59,146.1,42.1,15.0,1980,12159,0.00,2.08,0.00,0.000,4,0.000,0.071,2015,3893,1888,0,0,0,0,0,0
$GC,12207,0.59,146.1,32.6,17.4,1989,12215,0.12,1.98,0.00,0.000,6,0.239,0.050,1998,2647,1888,0,0,0,0,0,0
$GC,12327,0.59,146.1,14.2,14.7,2008,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2647,1888,0,0,0,0,0,0
$STATE,12402,end climb,SURFACE_DEPTH_REACHED
$STATE,12403,begin surface coast
$FINISH,0.8,1.027396
$STATE,12430,end surface coast,CONTROL_FINISHED_OK
$STATE,12430,begin surface
$SM_CCo,12442,40.42,0.177,0,0,1479,250.20
$SM_GC,1.77,0.00,0.00,40.42,0.000,0.000,0.177,62,2750,1479,-5.44,0.14,250.20
$IRIDIUM_FIX,-5531.31,-3.84,141214,020258
$TT8_MAMPS,0.026215
$HUMID,54.48
$INTERNAL_PRESSURE,8.92579
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,21.5,11.772
$10V_AH,10.1,7.145
$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,14.800,223.025,278.650,40.425,0.000,27.112,17.956,745.553,0.000,0.000,20.869,4615.736,1267.749,794.035,6396.669,337.521,33.355,2635.896,0.000,5031.297,0.000,0.539,0.000
$DEVICE_MAMPS,258.570,91.800,1797.750,177.480,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1433.926,5140.482,3434.957,5539.322,0.000,0.000,0.000,0.000,0.000,0.000
$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,150578,2024
$CAP_FILE_SIZE,238068,0
$CFSIZE,259252224,225210368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141214,093258,-5557.799,-6.304,39,0.8,39,-20.1