version: 66.07
glider: 542
mission: 9
dive: 25
start: 12 14 114 21 1 1
data:
$ID,542
$MISSION,9
$DIVE,25
$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,-21758.33
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,141214,205222,-5558.239,-16.026,39,0.9,39,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-54.5
$GPS2,141214,210005,-5558.271,-15.930,19,1.0,19,-20.0
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.185,0.176
$KALMAN_X,19091.2,-1278.6,-569.3,-33649.2,8001.0
$KALMAN_Y,-18910.8,355.3,332.5,21714.8,-2793.9
$MHEAD_RNG_PITCHd_Wd,333.4,14919,-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,13,begin dive
$GC,15,-0.57,-146.1,0.0,0.0,0,67,0.00,0.00,-50.00,0.000,2,0.000,0.000,61,2797,2633,0,0,0,0,0,0
$GC,69,-0.57,-146.1,3.1,-2.9,6,95,6.40,0.00,-12.25,0.000,6,0.254,0.000,1612,2798,3096,0,0,0,0,0,0
$GC,170,-0.57,-146.1,23.4,-18.8,21,179,0.00,1.85,0.00,0.000,4,0.000,0.068,1604,3886,3098,0,0,0,0,0,0
$GC,211,-0.57,-146.1,31.9,-20.3,27,218,0.00,1.83,0.00,0.000,6,0.000,0.042,1607,2779,3098,0,0,0,0,0,0
$GC,325,-0.57,-146.1,52.3,-18.4,46,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2778,3098,0,0,0,0,0,0
$GC,438,-0.57,-146.1,73.7,-16.8,65,445,0.00,1.88,0.00,0.000,4,0.000,0.070,1598,3876,3098,0,0,0,0,0,0
$GC,523,-0.57,-146.1,92.2,-26.8,79,530,0.00,1.80,0.00,0.000,6,0.000,0.044,1604,2767,3098,0,0,0,0,0,0
$GC,747,-0.57,-146.1,130.3,-16.0,103,751,0.00,1.90,0.00,0.000,4,0.000,0.072,1596,3879,3099,0,0,0,0,0,0
$GC,888,-0.57,-146.1,151.6,-13.9,115,891,0.00,1.80,0.00,0.000,6,0.000,0.044,1596,2763,3098,0,0,0,0,0,0
$GC,1217,-0.57,-146.1,189.9,-11.6,146,1221,0.00,1.88,0.00,0.000,4,0.000,0.070,1587,3883,3098,0,0,0,0,0,0
$GC,1372,-0.57,-146.1,209.3,-12.2,159,1380,0.08,1.80,0.00,0.000,6,0.184,0.044,1610,2772,3098,0,0,0,0,0,0
$GC,1697,-0.57,-146.1,239.6,-10.3,190,1701,0.00,1.85,0.00,0.000,4,0.000,0.072,1601,3893,3098,0,0,0,0,0,0
$GC,1793,-0.57,-146.1,251.8,-12.8,198,1797,0.00,1.83,0.00,0.000,6,0.000,0.043,1601,2770,3098,0,0,0,0,0,0
$GC,2119,-0.57,-146.1,299.3,-15.6,214,2123,0.00,1.85,0.00,0.000,4,0.000,0.072,1593,3893,3098,0,0,0,0,0,0
$GC,2237,-0.57,-146.1,319.2,-16.8,219,2241,0.00,1.80,0.00,0.000,6,0.000,0.043,1593,2775,3098,0,0,0,0,0,0
$GC,2566,-0.57,-146.1,376.8,-18.0,235,2569,0.00,1.83,0.00,0.000,4,0.000,0.070,1584,3888,3098,0,0,0,0,0,0
$GC,2728,-0.57,-146.1,408.4,-19.1,242,2733,0.08,1.80,0.00,0.000,6,0.175,0.042,1608,2769,3098,0,0,0,0,0,0
$GC,3055,-0.57,-146.1,459.0,-14.9,258,3059,0.00,1.83,0.00,0.000,4,0.000,0.070,1600,3884,3098,0,0,0,0,0,0
$GC,3213,-0.57,-146.1,483.1,-15.5,265,3216,0.00,1.77,0.00,0.000,6,0.000,0.043,1600,2765,3098,0,0,0,0,0,0
$GC,3545,-0.57,-146.1,530.5,-14.1,281,3549,0.00,1.85,0.00,0.000,4,0.000,0.070,1591,3885,3098,0,0,0,0,0,0
$GC,3651,-0.57,-146.1,547.2,-15.1,285,3658,0.00,1.80,0.00,0.000,6,0.000,0.041,1591,2763,3099,0,0,0,0,0,0
$GC,3967,-0.57,-146.1,593.8,-14.8,301,3970,0.00,1.85,0.00,0.000,4,0.000,0.070,1583,3882,3099,0,0,0,0,0,0
$GC,4117,-0.57,-146.1,618.5,-16.1,307,4125,0.10,1.77,0.00,0.000,6,0.177,0.041,1613,2771,3099,0,0,0,0,0,0
$GC,4433,-0.57,-146.1,660.0,-12.9,323,4437,0.00,1.85,0.00,0.000,4,0.000,0.070,1604,3875,3099,0,0,0,0,0,0
$GC,4568,-0.57,-146.1,678.9,-14.0,329,4571,0.00,1.75,0.00,0.000,6,0.000,0.043,1605,2769,3099,0,0,0,0,0,0
$GC,4900,-0.57,-146.1,722.9,-13.2,345,4903,0.00,1.85,0.00,0.000,4,0.000,0.070,1596,3890,3099,0,0,0,0,0,0
$GC,5044,-0.57,-146.1,744.2,-14.6,351,5049,0.00,1.80,0.00,0.000,6,0.000,0.041,1596,2768,3099,0,0,0,0,0,0
$GC,5366,-0.57,-146.1,787.7,-13.4,367,5370,0.00,1.88,0.00,0.000,4,0.000,0.070,1587,3887,3099,0,0,0,0,0,0
$GC,5517,-0.57,-146.1,809.8,-14.8,373,5524,0.08,1.80,0.00,0.000,6,0.177,0.041,1611,2764,3100,0,0,0,0,0,0
$GC,5832,-0.57,-146.1,847.2,-11.3,389,5835,0.00,1.83,0.00,0.000,4,0.000,0.070,1603,3882,3099,0,0,0,0,0,0
$GC,5954,-0.57,-146.1,862.0,-12.3,394,5958,0.00,1.77,0.00,0.000,6,0.000,0.041,1602,2770,3100,0,0,0,0,0,0
$GC,6275,-0.57,-146.1,899.2,-11.9,410,6279,0.00,1.83,0.00,0.000,4,0.000,0.070,1594,3889,3100,0,0,0,0,0,0
$GC,6414,-0.57,-146.1,917.1,-12.4,416,6419,0.00,1.80,0.00,0.000,6,0.000,0.041,1594,2766,3100,0,0,0,0,0,0
$GC,6742,-0.57,-146.1,955.0,-11.2,432,6745,0.00,1.83,0.00,0.000,4,0.000,0.070,1586,3890,3100,0,0,0,0,0,0
$GC,6877,-0.57,-146.1,971.9,-12.3,438,6881,0.12,1.77,0.00,0.000,6,0.194,0.041,1616,2762,3100,0,0,0,0,0,0
$STATE,7166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7166,begin apogee
$GC,7170,-0.16,0.0,1000.5,9.7,452,7309,0.43,0.00,133.27,1.789,6,0.158,0.000,1747,2654,2500,0,0,0,0,0,0
$STATE,7310,end apogee,CONTROL_FINISHED_OK
$STATE,7310,begin climb
$GC,7312,0.57,146.1,1003.1,0.0,459,7463,0.75,2.60,143.52,1.740,4,0.116,0.054,1986,1283,1904,0,0,0,0,0,0
$GC,7601,0.57,146.1,962.4,17.2,472,7610,0.00,2.45,0.00,0.000,6,0.000,0.058,1986,2650,1897,0,0,0,0,0,0
$GC,7918,0.57,146.1,902.3,18.9,488,7922,0.00,2.15,0.00,0.000,4,0.000,0.067,1986,3902,1894,0,0,0,0,0,0
$GC,8017,0.57,146.1,881.2,21.7,492,8025,0.00,2.05,0.00,0.000,6,0.000,0.044,1995,2692,1891,0,0,0,0,0,0
$GC,8333,0.57,146.1,819.6,19.4,508,8337,0.00,2.05,0.00,0.000,4,0.000,0.066,1995,3897,1890,0,0,0,0,0,0
$GC,8387,0.57,146.1,807.1,21.9,510,8392,0.00,2.05,0.00,0.000,6,0.000,0.044,2004,2668,1889,0,0,0,0,0,0
$GC,8709,0.57,146.1,741.7,20.4,526,8713,0.00,2.08,0.00,0.000,4,0.000,0.067,2004,3897,1890,0,0,0,0,0,0
$GC,8780,0.57,146.1,725.6,22.4,529,8785,0.00,2.03,0.00,0.000,6,0.000,0.044,2014,2670,1889,0,0,0,0,0,0
$GC,9108,0.57,146.1,659.0,20.2,545,9112,0.00,2.05,0.00,0.000,4,0.000,0.066,2014,3898,1889,0,0,0,0,0,0
$GC,9184,0.57,146.1,641.6,22.3,548,9189,0.12,2.00,0.00,0.000,6,0.227,0.044,1992,2674,1889,0,0,0,0,0,0
$GC,9506,0.57,146.1,581.7,18.2,564,9510,0.00,2.05,0.00,0.000,4,0.000,0.067,1992,3900,1888,0,0,0,0,0,0
$GC,9566,0.57,146.1,569.2,22.1,566,9574,0.00,2.03,0.00,0.000,6,0.000,0.044,2000,2657,1888,0,0,0,0,0,0
$GC,9882,0.57,146.1,512.8,17.3,582,9886,0.00,2.05,0.00,0.000,4,0.000,0.067,2001,3897,1888,0,0,0,0,0,0
$GC,9942,0.57,146.1,501.1,19.9,584,9950,0.00,2.00,0.00,0.000,6,0.000,0.045,2010,2669,1888,0,0,0,0,0,0
$GC,10259,0.57,146.1,447.4,16.9,600,10263,0.00,2.05,0.00,0.000,4,0.000,0.067,2010,3903,1888,0,0,0,0,0,0
$GC,10315,0.57,146.1,436.8,19.3,602,10319,0.12,1.95,0.00,0.000,6,0.239,0.045,1993,2671,1887,0,0,0,0,0,0
$GC,10634,0.57,146.1,385.6,16.1,617,10637,0.00,2.03,0.00,0.000,4,0.000,0.067,1993,3899,1888,0,0,0,0,0,0
$GC,10705,0.57,146.1,371.4,19.8,620,10710,0.00,2.00,0.00,0.000,6,0.000,0.044,2002,2664,1888,0,0,0,0,0,0
$GC,11032,0.57,146.1,314.1,17.3,636,11036,0.00,2.05,0.00,0.000,4,0.000,0.067,2002,3903,1887,0,0,0,0,0,0
$GC,11123,0.57,146.1,297.3,19.7,640,11127,0.00,1.95,0.00,0.000,6,0.000,0.046,2011,2667,1887,0,0,0,0,0,0
$GC,11448,0.57,146.1,241.3,17.9,657,11452,0.00,2.05,0.00,0.000,4,0.000,0.067,2011,3909,1887,0,0,0,0,0,0
$GC,11532,0.57,146.1,223.1,20.8,664,11542,0.10,2.00,0.00,0.000,6,0.221,0.046,1994,2674,1887,0,0,0,0,0,0
$GC,11859,0.57,146.1,165.0,17.9,695,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2673,1887,0,0,0,0,0,0
$GC,12179,0.57,146.1,111.0,15.6,725,12182,0.00,2.00,0.00,0.000,4,0.000,0.067,1994,3900,1887,0,0,0,0,0,0
$GC,12346,0.57,146.1,82.1,16.7,748,12353,0.00,1.95,0.00,0.000,6,0.000,0.044,2003,2663,1887,0,0,0,0,0,0
$GC,12588,0.57,146.1,48.1,14.3,789,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2663,1887,0,0,0,0,0,0
$GC,12700,0.57,146.1,32.3,14.1,808,12709,0.00,2.25,0.00,0.000,4,0.000,0.054,2013,1266,1887,0,0,0,0,0,0
$GC,12796,0.57,146.1,19.2,14.1,823,12805,0.00,2.30,0.00,0.000,6,0.000,0.061,2013,2669,1887,0,0,0,0,0,0
$GC,12881,0.57,146.1,6.2,15.7,836,12890,0.00,2.25,0.00,0.000,4,0.000,0.051,2024,1268,1887,0,0,0,0,0,0
$STATE,12897,end climb,SURFACE_DEPTH_REACHED
$STATE,12897,begin surface coast
$FINISH,0.8,1.027374
$STATE,12917,end surface coast,CONTROL_FINISHED_OK
$STATE,12917,begin surface
$SM_CCo,12931,31.98,0.174,0,0,1558,230.09
$SM_GC,1.41,0.00,0.00,31.98,0.000,0.000,0.174,56,2781,1558,-5.46,0.31,230.09
$IRIDIUM_FIX,-5538.94,-11.55,141214,171743
$TT8_MAMPS,0.026215
$HUMID,55.47
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,21.6,12.477
$10V_AH,10.1,7.969
$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,13.750,117.350,276.800,31.975,0.000,26.983,41.177,280.459,0.000,0.000,21.904,2189.859,7797.369,437.903,2860.386,143.350,33.357,1441.952,0.000,2340.247,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,93.330,1788.570,174.420,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.645,1759.801,851.543,892.242,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,57102,841
$CAP_FILE_SIZE,128899,0
$CFSIZE,259252224,224972800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151214,003816,-5556.326,-19.112,37,0.8,37,-20.0