version: 66.07
glider: 542
mission: 9
dive: 24
start: 12 14 114 17 17 9
data:
$ID,542
$MISSION,9
$DIVE,24
$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,0.003
$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,230
$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,-21756.008
$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,2770
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$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
$GPS1,141214,170035,-5558.343,-12.547,26,0.9,26,-20.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-62.3
$GPS2,141214,171612,-5558.330,-12.512,19,0.9,19,-20.0
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.255,0.013
$KALMAN_X,17878.4,-1322.4,-571.3,-28853.4,7934.1
$KALMAN_Y,-19429.5,564.2,422.0,21823.9,-4449.8
$MHEAD_RNG_PITCHd_Wd,293.0,18374,-16.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.57,-146.1,0.0,0.0,0,75,0.00,0.00,-57.60,0.000,2,0.000,0.000,58,2731,2743,0,0,0,0,0,0
$GC,77,-0.57,-146.1,3.1,-4.0,7,103,6.53,2.05,-9.90,0.000,4,0.257,0.089,1600,3896,3097,0,0,0,0,0,0
$GC,319,-0.57,-146.1,47.9,-18.0,46,328,0.00,1.88,0.00,0.000,6,0.000,0.047,1600,2773,3098,0,0,0,0,0,0
$GC,434,-0.57,-146.1,68.3,-17.9,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2772,3099,0,0,0,0,0,0
$GC,546,-0.57,-146.1,88.2,-18.1,84,555,0.00,1.95,0.00,0.000,4,0.000,0.073,1591,3899,3099,0,0,0,0,0,0
$GC,612,-0.57,-146.1,100.9,-19.3,95,619,0.00,1.83,0.00,0.000,6,0.000,0.047,1591,2768,3099,0,0,0,0,0,0
$GC,936,-0.57,-146.1,161.3,-17.7,126,939,0.00,1.92,0.00,0.000,4,0.000,0.074,1583,3904,3099,0,0,0,0,0,0
$GC,1020,-0.57,-146.1,177.0,-18.9,133,1024,0.12,1.85,0.00,0.000,6,0.200,0.047,1612,2759,3099,0,0,0,0,0,0
$GC,1349,-0.57,-146.1,229.4,-15.8,164,1353,0.00,1.92,0.00,0.000,4,0.000,0.074,1604,3899,3099,0,0,0,0,0,0
$GC,1445,-0.57,-146.1,245.4,-16.4,172,1455,0.00,1.85,0.00,0.000,6,0.000,0.046,1604,2771,3099,0,0,0,0,0,0
$GC,1772,-0.57,-146.1,296.1,-15.0,190,1775,0.00,1.88,0.00,0.000,4,0.000,0.074,1595,3898,3099,0,0,0,0,0,0
$GC,1900,-0.57,-146.1,316.3,-14.9,195,1908,0.00,1.85,0.00,0.000,6,0.000,0.046,1595,2766,3099,0,0,0,0,0,0
$GC,2218,-0.57,-146.1,363.1,-15.1,211,2222,0.00,1.90,0.00,0.000,4,0.000,0.074,1586,3900,3099,0,0,0,0,0,0
$GC,2369,-0.57,-146.1,388.5,-16.9,217,2377,0.08,1.85,0.00,0.000,6,0.184,0.046,1609,2764,3099,0,0,0,0,0,0
$GC,2685,-0.57,-146.1,431.2,-13.0,233,2689,0.00,1.90,0.00,0.000,4,0.000,0.073,1601,3900,3099,0,0,0,0,0,0
$GC,2762,-0.57,-146.1,442.5,-14.6,236,2767,0.00,1.83,0.00,0.000,6,0.000,0.044,1601,2773,3099,0,0,0,0,0,0
$GC,3084,-0.57,-146.1,488.6,-14.0,252,3088,0.00,1.88,0.00,0.000,4,0.000,0.073,1592,3899,3099,0,0,0,0,0,0
$GC,3166,-0.57,-146.1,501.4,-14.9,255,3175,0.00,1.83,0.00,0.000,6,0.000,0.042,1592,2763,3100,0,0,0,0,0,0
$GC,3483,-0.57,-146.1,547.7,-14.6,271,3487,0.00,1.90,0.00,0.000,4,0.000,0.070,1583,3897,3100,0,0,0,0,0,0
$GC,3566,-0.57,-146.1,561.1,-16.3,274,3575,0.10,1.83,0.00,0.000,6,0.171,0.041,1614,2762,3100,0,0,0,0,0,0
$GC,3882,-0.57,-146.1,601.5,-12.5,290,3886,0.00,1.88,0.00,0.000,4,0.000,0.070,1606,3899,3100,0,0,0,0,0,0
$GC,3959,-0.57,-146.1,612.0,-14.1,293,3964,0.00,1.80,0.00,0.000,6,0.000,0.041,1605,2773,3100,0,0,0,0,0,0
$GC,4281,-0.57,-146.1,652.9,-12.9,309,4284,0.00,1.85,0.00,0.000,4,0.000,0.070,1597,3910,3100,0,0,0,0,0,0
$GC,4371,-0.57,-146.1,665.3,-13.9,313,4375,0.00,1.80,0.00,0.000,6,0.000,0.042,1597,2768,3100,0,0,0,0,0,0
$GC,4703,-0.57,-146.1,708.0,-12.6,329,4706,0.00,1.88,0.00,0.000,4,0.000,0.070,1588,3904,3101,0,0,0,0,0,0
$GC,4785,-0.57,-146.1,719.6,-13.1,332,4793,0.00,1.83,0.00,0.000,6,0.000,0.041,1588,2766,3101,0,0,0,0,0,0
$GC,5102,-0.57,-146.1,762.3,-13.8,348,5106,0.10,1.90,0.00,0.000,4,0.213,0.070,1603,3907,3101,0,0,0,0,0,0
$GC,5191,-0.57,-146.1,774.1,-12.9,352,5195,0.00,1.80,0.00,0.000,6,0.000,0.043,1603,2766,3101,0,0,0,0,0,0
$GC,5523,-0.57,-146.1,816.0,-12.7,368,5527,0.00,1.88,0.00,0.000,4,0.000,0.070,1594,3905,3101,0,0,0,0,0,0
$GC,5601,-0.57,-146.1,826.1,-12.9,371,5605,0.00,1.80,0.00,0.000,6,0.000,0.042,1594,2762,3101,0,0,0,0,0,0
$GC,5922,-0.57,-146.1,868.3,-13.4,387,5926,0.00,1.88,0.00,0.000,4,0.000,0.070,1585,3900,3101,0,0,0,0,0,0
$GC,6016,-0.57,-146.1,881.4,-13.8,391,6021,0.08,1.80,0.00,0.000,6,0.177,0.042,1609,2773,3101,0,0,0,0,0,0
$GC,6343,-0.57,-146.1,918.1,-10.7,407,6346,0.00,1.85,0.00,0.000,4,0.000,0.070,1601,3899,3101,0,0,0,0,0,0
$GC,6448,-0.57,-146.1,930.7,-12.2,411,6456,0.00,1.80,0.00,0.000,6,0.000,0.041,1601,2772,3101,0,0,0,0,0,0
$GC,6764,-0.57,-146.1,967.7,-11.9,427,6768,0.00,1.88,0.00,0.000,4,0.000,0.071,1592,3896,3101,0,0,0,0,0,0
$GC,6840,-0.57,-146.1,977.7,-13.6,430,6845,0.00,1.80,0.00,0.000,6,0.000,0.041,1592,2769,3101,0,0,0,0,0,0
$STATE,7037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7037,begin apogee
$GC,7041,-0.16,0.0,1002.3,12.4,440,7180,0.50,0.00,133.80,1.796,6,0.166,0.000,1742,2644,2500,0,0,0,0,0,0
$STATE,7181,end apogee,CONTROL_FINISHED_OK
$STATE,7181,begin climb
$GC,7182,0.57,146.1,1007.0,0.0,447,7334,0.77,2.58,143.70,1.746,4,0.118,0.054,1987,1282,1903,0,0,0,0,0,0
$GC,7413,0.57,146.1,979.7,15.8,458,7418,0.00,2.53,0.00,0.000,6,0.000,0.059,1987,2677,1898,0,0,0,0,0,0
$GC,7740,0.57,146.1,920.0,18.3,474,7743,0.00,2.10,0.00,0.000,4,0.000,0.067,1987,3897,1892,0,0,0,0,0,0
$GC,7818,0.57,146.1,903.9,20.9,477,7822,0.00,2.05,0.00,0.000,6,0.000,0.045,1996,2676,1891,0,0,0,0,0,0
$GC,8133,0.57,146.1,846.2,18.1,492,8137,0.00,2.10,0.00,0.000,4,0.000,0.067,1996,3900,1891,0,0,0,0,0,0
$GC,8187,0.57,146.1,834.9,21.7,494,8192,0.00,2.08,0.00,0.000,6,0.000,0.044,2006,2662,1890,0,0,0,0,0,0
$GC,8509,0.57,146.1,774.0,19.1,510,8513,0.00,2.10,0.00,0.000,4,0.000,0.067,2006,3898,1890,0,0,0,0,0,0
$GC,8558,0.57,146.1,763.1,22.7,512,8563,0.08,2.05,0.00,0.000,6,0.233,0.046,1996,2661,1889,0,0,0,0,0,0
$GC,8879,0.57,146.1,700.0,20.1,528,8883,0.00,2.08,0.00,0.000,4,0.000,0.067,1996,3899,1889,0,0,0,0,0,0
$GC,8927,0.57,146.1,688.9,23.2,530,8932,0.00,2.03,0.00,0.000,6,0.000,0.045,2005,2669,1888,0,0,0,0,0,0
$GC,9255,0.57,146.1,622.2,20.1,546,9258,0.00,2.08,0.00,0.000,4,0.000,0.067,2005,3909,1888,0,0,0,0,0,0
$GC,9303,0.57,146.1,611.2,22.3,548,9309,0.00,2.03,0.00,0.000,6,0.000,0.046,2015,2669,1888,0,0,0,0,0,0
$GC,9632,0.57,146.1,547.3,19.2,564,9635,0.00,2.05,0.00,0.000,4,0.000,0.067,2015,3900,1888,0,0,0,0,0,0
$GC,9691,0.57,146.1,533.9,22.6,566,9700,0.12,2.00,0.00,0.000,6,0.226,0.044,1992,2671,1887,0,0,0,0,0,0
$GC,10008,0.57,146.1,479.5,17.1,582,10011,0.00,2.05,0.00,0.000,4,0.000,0.067,1992,3904,1887,0,0,0,0,0,0
$GC,10062,0.57,146.1,469.1,19.2,584,10067,0.00,2.00,0.00,0.000,6,0.000,0.045,2001,2674,1888,0,0,0,0,0,0
$GC,10384,0.57,146.1,414.1,17.1,600,10388,0.00,2.05,0.00,0.000,4,0.000,0.067,2001,3910,1887,0,0,0,0,0,0
$GC,10438,0.57,146.1,403.2,20.0,602,10443,0.00,2.03,0.00,0.000,6,0.000,0.044,2010,2660,1887,0,0,0,0,0,0
$GC,10761,0.57,146.1,346.7,18.0,618,10764,0.00,2.03,0.00,0.000,4,0.000,0.067,2010,3900,1887,0,0,0,0,0,0
$GC,10792,0.57,146.1,339.9,21.1,619,10798,0.10,1.98,0.00,0.000,6,0.227,0.043,1994,2671,1887,0,0,0,0,0,0
$GC,11118,0.57,146.1,286.7,16.4,635,11122,0.00,2.03,0.00,0.000,4,0.000,0.066,1994,3900,1887,0,0,0,0,0,0
$GC,11189,0.57,146.1,272.1,19.2,638,11194,0.00,1.98,0.00,0.000,6,0.000,0.043,2002,2671,1887,0,0,0,0,0,0
$GC,11512,0.57,146.1,216.3,17.2,662,11516,0.00,2.03,0.00,0.000,4,0.000,0.067,2002,3907,1887,0,0,0,0,0,0
$GC,11621,0.57,146.1,195.1,19.8,671,11628,0.00,2.00,0.00,0.000,6,0.000,0.044,2012,2665,1887,0,0,0,0,0,0
$GC,11946,0.57,146.1,137.9,18.3,702,11950,0.00,2.05,0.00,0.000,4,0.000,0.067,2012,3909,1887,0,0,0,0,0,0
$GC,12066,0.57,146.1,113.2,19.4,712,12078,0.10,2.00,0.00,0.000,6,0.223,0.045,1994,2669,1887,0,0,0,0,0,0
$GC,12416,0.57,146.1,62.3,14.7,765,12423,0.00,2.03,0.00,0.000,4,0.000,0.067,1994,3903,1887,0,0,0,0,0,0
$GC,12693,0.57,146.1,14.3,16.5,811,12702,0.00,2.00,0.00,0.000,6,0.000,0.048,2003,2663,1887,0,0,0,0,0,0
$STATE,12769,end climb,SURFACE_DEPTH_REACHED
$STATE,12769,begin surface coast
$FINISH,0.8,1.015969
$STATE,12795,end surface coast,CONTROL_FINISHED_OK
$STATE,12796,begin surface
$SM_CCo,12807,31.95,0.180,0,0,1559,230.09
$SM_GC,1.54,0.00,0.00,31.95,0.000,0.000,0.180,61,2797,1559,-5.44,0.76,230.09
$IRIDIUM_FIX,-5538.94,-7.70,141214,131355
$TT8_MAMPS,0.026215
$HUMID,55.59
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,21.6,12.317
$10V_AH,10.1,7.857
$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,13.950,121.675,277.500,31.950,0.000,56.962,129.263,531.109,0.000,0.000,22.159,2137.802,7937.078,437.772,3066.501,171.794,33.359,1391.774,0.000,2193.775,0.000,0.540,0.000
$DEVICE_MAMPS,257.040,88.740,1796.220,179.775,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.799,1708.194,808.576,835.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354168
$DATA_FILE_SIZE,57106,827
$CAP_FILE_SIZE,131136,0
$CFSIZE,259252224,225038336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141214,205222,-5558.239,-16.026,39,0.9,39,-20.0