version: 66.07
glider: 542
mission: 9
dive: 26
start: 12 15 114 0 47 1
data:
$ID,542
$MISSION,9
$DIVE,26
$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,-21760.654
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,151214,003816,-5556.326,-19.112,37,0.8,37,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-60.7
$GPS2,151214,004605,-5556.230,-19.052,17,0.9,17,-20.0
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.227,0.117
$KALMAN_X,18745.1,-893.8,-600.9,-36883.2,5946.1
$KALMAN_Y,-18477.8,394.8,217.7,25143.1,-1742.1
$MHEAD_RNG_PITCHd_Wd,317.4,13315,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-57.90,0.000,2,0.000,0.000,53,2782,2847,0,0,0,0,0,0
$GC,77,-0.57,-146.1,3.2,-3.1,7,96,6.50,1.90,-6.55,0.000,4,0.259,0.081,1603,3896,3098,0,0,0,0,0,0
$GC,159,-0.57,-146.1,21.2,-18.2,19,168,0.00,1.85,0.00,0.000,6,0.000,0.045,1603,2780,3100,0,0,0,0,0,0
$GC,240,-0.57,-146.1,35.2,-17.5,32,249,0.00,2.33,0.00,0.000,4,0.000,0.054,1603,1353,3100,0,0,0,0,0,0
$GC,285,-0.57,-146.1,42.5,-15.7,39,292,0.00,2.35,0.00,0.000,6,0.000,0.063,1593,2781,3100,0,0,0,0,0,0
$GC,398,-0.57,-146.1,63.0,-18.9,58,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2781,3100,0,0,0,0,0,0
$GC,510,-0.57,-146.1,84.4,-18.7,77,517,0.00,1.85,0.00,0.000,4,0.000,0.071,1584,3897,3100,0,0,0,0,0,0
$GC,569,-0.57,-146.1,96.8,-21.5,87,578,0.08,1.85,0.00,0.000,6,0.193,0.043,1607,2762,3100,0,0,0,0,0,0
$GC,799,-0.57,-146.1,140.6,-19.6,109,803,0.00,1.88,0.00,0.000,4,0.000,0.070,1598,3895,3100,0,0,0,0,0,0
$GC,917,-0.57,-146.1,164.1,-20.4,119,920,0.00,1.80,0.00,0.000,6,0.000,0.043,1598,2771,3099,0,0,0,0,0,0
$GC,1247,-0.57,-146.1,228.5,-19.7,150,1250,0.00,1.88,0.00,0.000,4,0.000,0.071,1589,3903,3100,0,0,0,0,0,0
$GC,1340,-0.57,-146.1,246.8,-19.8,158,1344,0.00,1.83,0.00,0.000,6,0.000,0.044,1590,2765,3100,0,0,0,0,0,0
$GC,1675,-0.57,-146.1,307.6,-17.3,175,1678,0.00,1.90,0.00,0.000,4,0.000,0.071,1580,3904,3100,0,0,0,0,0,0
$GC,1813,-0.57,-146.1,333.3,-18.6,181,1818,0.12,1.83,0.00,0.000,6,0.195,0.043,1611,2754,3100,0,0,0,0,0,0
$GC,2146,-0.57,-146.1,378.7,-12.6,197,2150,0.00,1.88,0.00,0.000,4,0.000,0.070,1602,3895,3100,0,0,0,0,0,0
$GC,2260,-0.57,-146.1,394.0,-13.1,202,2264,0.00,1.80,0.00,0.000,6,0.000,0.043,1603,2763,3100,0,0,0,0,0,0
$GC,2592,-0.57,-146.1,436.3,-12.4,218,2595,0.00,1.88,0.00,0.000,4,0.000,0.070,1594,3905,3100,0,0,0,0,0,0
$GC,2704,-0.57,-146.1,451.8,-14.2,223,2708,0.00,1.80,0.00,0.000,6,0.000,0.043,1594,2770,3100,0,0,0,0,0,0
$GC,3036,-0.57,-146.1,498.0,-14.8,239,3040,0.00,1.85,0.00,0.000,4,0.000,0.070,1585,3900,3100,0,0,0,0,0,0
$GC,3142,-0.57,-146.1,515.5,-16.0,243,3150,0.12,1.83,0.00,0.000,6,0.198,0.042,1615,2743,3100,0,0,0,0,0,0
$GC,3458,-0.57,-146.1,556.3,-13.2,259,3462,0.00,1.90,0.00,0.000,4,0.000,0.070,1606,3906,3100,0,0,0,0,0,0
$GC,3579,-0.57,-146.1,574.4,-14.9,264,3585,0.00,1.83,0.00,0.000,6,0.000,0.041,1607,2771,3100,0,0,0,0,0,0
$GC,3902,-0.57,-146.1,619.1,-13.6,280,3906,0.00,1.90,0.00,0.000,4,0.000,0.071,1598,3905,3100,0,0,0,0,0,0
$GC,3995,-0.57,-146.1,633.1,-14.6,284,4001,0.00,1.83,0.00,0.000,6,0.000,0.041,1598,2763,3100,0,0,0,0,0,0
$GC,4323,-0.57,-146.1,677.6,-13.3,300,4327,0.00,1.88,0.00,0.000,4,0.000,0.070,1589,3900,3100,0,0,0,0,0,0
$GC,4445,-0.57,-146.1,695.6,-14.8,305,4450,0.00,1.80,0.00,0.000,6,0.000,0.041,1589,2773,3100,0,0,0,0,0,0
$GC,4766,-0.57,-146.1,740.1,-13.7,321,4770,0.00,1.83,0.00,0.000,4,0.000,0.069,1581,3895,3101,0,0,0,0,0,0
$GC,4871,-0.57,-146.1,756.0,-14.7,325,4880,0.10,1.80,0.00,0.000,6,0.175,0.041,1611,2771,3101,0,0,0,0,0,0
$GC,5187,-0.57,-146.1,792.1,-11.0,341,5191,0.00,1.88,0.00,0.000,4,0.000,0.071,1603,3892,3100,0,0,0,0,0,0
$GC,5279,-0.57,-146.1,803.2,-11.8,345,5283,0.00,1.77,0.00,0.000,6,0.000,0.041,1603,2765,3100,0,0,0,0,0,0
$GC,5610,-0.57,-146.1,843.1,-11.8,361,5614,0.00,1.88,0.00,0.000,4,0.000,0.070,1594,3905,3100,0,0,0,0,0,0
$GC,5704,-0.57,-146.1,855.3,-13.3,365,5709,0.00,1.83,0.00,0.000,6,0.000,0.041,1594,2764,3100,0,0,0,0,0,0
$GC,6032,-0.57,-146.1,894.9,-12.0,381,6036,0.00,1.85,0.00,0.000,4,0.000,0.070,1586,3903,3100,0,0,0,0,0,0
$GC,6144,-0.57,-146.1,909.8,-13.2,386,6148,0.12,1.80,0.00,0.000,6,0.194,0.042,1617,2759,3100,0,0,0,0,0,0
$GC,6475,-0.57,-146.1,946.3,-11.0,402,6479,0.00,1.88,0.00,0.000,4,0.000,0.070,1608,3897,3100,0,0,0,0,0,0
$GC,6580,-0.57,-146.1,959.1,-12.4,406,6588,0.00,1.77,0.00,0.000,6,0.000,0.041,1608,2779,3100,0,0,0,0,0,0
$GC,6897,-0.57,-146.1,994.7,-11.1,422,6901,0.00,1.88,0.00,0.000,4,0.000,0.070,1599,3902,3100,0,0,0,0,0,0
$STATE,6942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6942,begin apogee
$GC,6947,-0.16,0.0,1000.2,12.9,424,7084,0.47,0.00,133.85,1.792,6,0.160,0.000,1744,2665,2499,0,0,0,0,0,0
$STATE,7085,end apogee,CONTROL_FINISHED_OK
$STATE,7085,begin climb
$GC,7087,0.57,146.1,1004.5,0.0,431,7239,0.75,2.62,143.80,1.741,4,0.115,0.053,1982,1276,1903,0,0,0,0,0,0
$GC,7316,0.57,146.1,977.1,16.2,441,7324,0.00,2.55,0.00,0.000,6,0.000,0.058,1982,2668,1898,0,0,0,0,0,0
$GC,7633,0.57,146.1,920.0,18.4,457,7637,0.00,2.10,0.00,0.000,4,0.000,0.065,1982,3900,1893,0,0,0,0,0,0
$GC,7724,0.57,146.1,901.8,20.2,461,7727,0.00,2.05,0.00,0.000,6,0.000,0.044,1992,2674,1891,0,0,0,0,0,0
$GC,8055,0.57,146.1,839.0,18.8,477,8059,0.00,2.10,0.00,0.000,4,0.000,0.066,1992,3901,1891,0,0,0,0,0,0
$GC,8115,0.57,146.1,826.0,20.9,479,8123,0.00,2.05,0.00,0.000,6,0.000,0.044,2001,2670,1890,0,0,0,0,0,0
$GC,8432,0.57,146.1,763.5,19.9,495,8435,0.00,2.10,0.00,0.000,4,0.000,0.067,2001,3911,1890,0,0,0,0,0,0
$GC,8493,0.57,146.1,750.0,21.9,497,8500,0.00,2.03,0.00,0.000,6,0.000,0.045,2011,2664,1889,0,0,0,0,0,0
$GC,8808,0.57,146.1,685.7,20.3,513,8812,0.00,2.08,0.00,0.000,4,0.000,0.066,2011,3900,1889,0,0,0,0,0,0
$GC,8870,0.57,146.1,671.6,23.5,515,8877,0.15,2.00,0.00,0.000,6,0.238,0.043,1988,2656,1888,0,0,0,0,0,0
$GC,9185,0.57,146.1,609.1,20.0,531,9188,0.00,2.08,0.00,0.000,4,0.000,0.066,1988,3900,1888,0,0,0,0,0,0
$GC,9246,0.57,146.1,595.3,23.0,533,9254,0.00,1.98,0.00,0.000,6,0.000,0.043,1997,2665,1888,0,0,0,0,0,0
$GC,9562,0.57,146.1,530.1,20.2,549,9565,0.00,2.08,0.00,0.000,4,0.000,0.067,1997,3911,1888,0,0,0,0,0,0
$GC,9623,0.57,146.1,516.2,22.8,551,9630,0.00,1.98,0.00,0.000,6,0.000,0.044,2006,2670,1888,0,0,0,0,0,0
$GC,9938,0.57,146.1,451.8,20.0,567,9941,0.00,2.05,0.00,0.000,4,0.000,0.065,2007,3911,1888,0,0,0,0,0,0
$GC,9993,0.57,146.1,439.7,21.3,569,9998,0.10,2.00,0.00,0.000,6,0.227,0.042,1990,2673,1888,0,0,0,0,0,0
$GC,10317,0.57,146.1,383.6,16.9,585,10321,0.00,2.03,0.00,0.000,4,0.000,0.065,1990,3901,1887,0,0,0,0,0,0
$GC,10379,0.57,146.1,370.9,20.3,587,10386,0.00,1.95,0.00,0.000,6,0.000,0.041,1999,2666,1887,0,0,0,0,0,0
$GC,10696,0.57,146.1,313.8,17.9,603,10700,0.00,2.05,0.00,0.000,4,0.000,0.065,1998,3910,1887,0,0,0,0,0,0
$GC,10756,0.57,146.1,301.4,19.8,605,10764,0.00,2.00,0.00,0.000,6,0.000,0.042,2008,2668,1887,0,0,0,0,0,0
$GC,11075,0.57,146.1,248.1,16.6,621,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2667,1887,0,0,0,0,0,0
$GC,11395,0.57,146.1,200.3,13.9,651,11399,0.00,2.03,0.00,0.000,4,0.000,0.064,2008,3903,1887,0,0,0,0,0,0
$GC,11490,0.57,146.1,185.1,15.8,659,11495,0.12,1.95,0.00,0.000,6,0.235,0.043,1991,2666,1887,0,0,0,0,0,0
$GC,11816,0.57,146.1,145.0,14.6,689,11820,0.00,2.03,0.00,0.000,4,0.000,0.065,1991,3903,1887,0,0,0,0,0,0
$GC,11992,0.57,146.1,114.3,16.9,704,12003,0.00,1.98,0.00,0.000,6,0.000,0.041,2000,2666,1887,0,0,0,0,0,0
$GC,12336,0.57,146.1,67.2,13.7,756,12345,0.00,2.05,0.00,0.000,4,0.000,0.066,2000,3901,1887,0,0,0,0,0,0
$GC,12445,0.57,146.1,50.4,15.3,774,12454,0.00,1.98,0.00,0.000,6,0.000,0.042,2009,2663,1887,0,0,0,0,0,0
$GC,12561,0.57,146.1,35.1,12.5,793,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2663,1887,0,0,0,0,0,0
$GC,12679,0.57,146.1,19.4,14.7,812,12688,0.00,2.22,0.00,0.000,4,0.000,0.052,2020,1269,1887,0,0,0,0,0,0
$STATE,12799,end climb,SURFACE_DEPTH_REACHED
$STATE,12799,begin surface coast
$FINISH,0.8,1.025084
$STATE,12821,end surface coast,CONTROL_FINISHED_OK
$STATE,12821,begin surface
$SM_CCo,12836,31.92,0.179,0,0,1559,230.09
$SM_GC,1.47,0.00,0.00,31.92,0.000,0.000,0.179,60,2788,1559,-5.44,0.51,230.09
$IRIDIUM_FIX,-5535.12,-19.23,141214,202046
$TT8_MAMPS,0.026215
$HUMID,55.39
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,21.6,12.638
$10V_AH,10.1,8.078
$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,14.075,126.050,277.650,31.925,0.000,25.015,50.149,281.112,0.000,0.000,20.165,2170.229,7797.617,444.981,2771.473,154.325,33.356,1425.574,0.000,2252.759,0.000,0.540,0.000
$DEVICE_MAMPS,258.570,81.090,1791.630,179.010,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.331,1731.964,831.932,870.495,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354024
$DATA_FILE_SIZE,57090,834
$CAP_FILE_SIZE,128392,0
$CFSIZE,259252224,224903168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151214,042253,-5554.485,-22.422,49,0.8,49,-20.0