version: 66.07
glider: 542
mission: 9
dive: 27
start: 12 15 114 4 31 32
data:
$ID,542
$MISSION,9
$DIVE,27
$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,-21762.982
$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,31
$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
$GPS1,151214,042253,-5554.485,-22.422,49,0.8,49,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-58.6
$GPS2,151214,043036,-5554.359,-22.422,17,0.9,17,-20.0
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.255,-0.007
$KALMAN_X,18951.7,-527.8,-387.7,-41170.7,4761.1
$KALMAN_Y,-17311.1,486.5,238.1,27330.9,-654.5
$MHEAD_RNG_PITCHd_Wd,288.5,13066,-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,-57.92,0.000,2,0.000,0.000,59,2790,2859,0,0,0,0,0,0
$GC,77,-0.57,-146.1,3.5,-3.8,7,96,6.40,1.88,-5.95,0.000,4,0.255,0.082,1603,3892,3099,0,0,0,0,0,0
$GC,189,-0.57,-146.1,29.7,-20.1,24,198,0.00,1.83,0.00,0.000,6,0.000,0.041,1603,2774,3100,0,0,0,0,0,0
$GC,271,-0.57,-146.1,44.6,-17.0,37,278,0.00,2.25,0.00,0.000,4,0.000,0.051,1603,1356,3101,0,0,0,0,0,0
$GC,313,-0.57,-146.1,51.7,-15.1,44,322,0.00,2.35,0.00,0.000,6,0.000,0.062,1593,2761,3101,0,0,0,0,0,0
$GC,429,-0.57,-146.1,70.7,-17.7,63,435,0.00,1.90,0.00,0.000,4,0.000,0.069,1584,3893,3101,0,0,0,0,0,0
$GC,495,-0.57,-146.1,83.6,-19.4,74,502,0.08,1.83,0.00,0.000,6,0.195,0.041,1607,2769,3101,0,0,0,0,0,0
$GC,726,-0.57,-146.1,119.9,-15.1,104,730,0.00,1.90,0.00,0.000,4,0.000,0.069,1598,3903,3101,0,0,0,0,0,0
$GC,822,-0.57,-146.1,135.7,-16.3,112,831,0.00,1.85,0.00,0.000,6,0.000,0.041,1598,2765,3101,0,0,0,0,0,0
$GC,1149,-0.57,-146.1,183.7,-13.7,143,1153,0.00,1.92,0.00,0.000,4,0.000,0.069,1589,3903,3101,0,0,0,0,0,0
$GC,1275,-0.57,-146.1,203.3,-15.3,154,1278,0.00,1.83,0.00,0.000,6,0.000,0.041,1589,2759,3101,0,0,0,0,0,0
$GC,1604,-0.57,-146.1,254.7,-15.7,184,1607,0.00,1.90,0.00,0.000,4,0.000,0.068,1580,3906,3101,0,0,0,0,0,0
$GC,1704,-0.57,-146.1,272.5,-17.7,188,1709,0.10,1.83,0.00,0.000,6,0.185,0.041,1610,2770,3101,0,0,0,0,0,0
$GC,2027,-0.57,-146.1,319.5,-14.7,204,2030,0.00,1.88,0.00,0.000,4,0.000,0.068,1602,3900,3101,0,0,0,0,0,0
$GC,2132,-0.57,-146.1,336.9,-16.1,208,2142,0.00,1.83,0.00,0.000,6,0.000,0.040,1602,2764,3100,0,0,0,0,0,0
$GC,2449,-0.57,-146.1,386.4,-16.3,224,2453,0.00,1.88,0.00,0.000,4,0.000,0.067,1593,3900,3101,0,0,0,0,0,0
$GC,2548,-0.57,-146.1,403.8,-16.9,228,2553,0.00,1.83,0.00,0.000,6,0.000,0.039,1593,2765,3101,0,0,0,0,0,0
$GC,2871,-0.57,-146.1,453.9,-15.4,244,2874,0.00,1.85,0.00,0.000,4,0.000,0.067,1584,3902,3101,0,0,0,0,0,0
$GC,2983,-0.57,-146.1,472.4,-16.4,249,2988,0.12,1.80,0.00,0.000,6,0.200,0.040,1615,2757,3100,0,0,0,0,0,0
$GC,3315,-0.57,-146.1,514.1,-12.6,265,3318,0.00,1.88,0.00,0.000,4,0.000,0.067,1606,3901,3100,0,0,0,0,0,0
$GC,3431,-0.57,-146.1,529.4,-12.5,270,3436,0.00,1.80,0.00,0.000,6,0.000,0.039,1606,2770,3101,0,0,0,0,0,0
$GC,3758,-0.57,-146.1,568.1,-11.8,286,3762,0.00,1.85,0.00,0.000,4,0.000,0.069,1597,3907,3101,0,0,0,0,0,0
$GC,3826,-0.57,-146.1,576.5,-13.1,289,3830,0.00,1.80,0.00,0.000,6,0.000,0.040,1597,2762,3101,0,0,0,0,0,0
$GC,4158,-0.57,-146.1,616.6,-11.9,305,4162,0.00,1.88,0.00,0.000,4,0.000,0.067,1589,3905,3101,0,0,0,0,0,0
$GC,4248,-0.57,-146.1,628.3,-12.7,309,4252,0.00,1.80,0.00,0.000,6,0.000,0.040,1589,2761,3101,0,0,0,0,0,0
$GC,4580,-0.57,-146.1,669.6,-12.5,325,4584,0.00,1.88,0.00,0.000,4,0.000,0.067,1580,3903,3101,0,0,0,0,0,0
$GC,4657,-0.57,-146.1,680.4,-14.3,328,4662,0.10,1.80,0.00,0.000,6,0.178,0.039,1610,2770,3101,0,0,0,0,0,0
$GC,4979,-0.57,-146.1,716.1,-11.3,344,4982,0.00,1.88,0.00,0.000,4,0.000,0.067,1602,3910,3101,0,0,0,0,0,0
$GC,5055,-0.57,-146.1,726.0,-13.0,347,5060,0.00,1.83,0.00,0.000,6,0.000,0.037,1602,2766,3101,0,0,0,0,0,0
$GC,5378,-0.57,-146.1,765.5,-12.5,363,5382,0.00,1.88,0.00,0.000,4,0.000,0.067,1593,3910,3101,0,0,0,0,0,0
$GC,5460,-0.57,-146.1,777.1,-13.4,366,5469,0.00,1.83,0.00,0.000,6,0.000,0.038,1593,2764,3101,0,0,0,0,0,0
$GC,5777,-0.57,-146.1,818.8,-13.3,382,5781,0.00,1.90,0.00,0.000,4,0.000,0.067,1585,3909,3101,0,0,0,0,0,0
$GC,5877,-0.57,-146.1,833.6,-15.0,386,5881,0.08,1.80,0.00,0.000,6,0.177,0.039,1608,2770,3101,0,0,0,0,0,0
$GC,6198,-0.57,-146.1,873.4,-12.4,402,6201,0.00,1.85,0.00,0.000,4,0.000,0.067,1600,3900,3101,0,0,0,0,0,0
$GC,6288,-0.57,-146.1,885.4,-13.6,406,6292,0.00,1.77,0.00,0.000,6,0.000,0.040,1600,2768,3101,0,0,0,0,0,0
$GC,6620,-0.57,-146.1,929.8,-13.4,422,6623,0.00,1.88,0.00,0.000,4,0.000,0.067,1591,3913,3101,0,0,0,0,0,0
$GC,6714,-0.57,-146.1,943.9,-15.0,426,6718,0.00,1.83,0.00,0.000,6,0.000,0.038,1591,2764,3101,0,0,0,0,0,0
$GC,7041,-0.57,-146.1,988.8,-13.3,442,7045,0.00,1.88,0.00,0.000,4,0.000,0.067,1583,3896,3101,0,0,0,0,0,0
$STATE,7116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7116,begin apogee
$GC,7121,-0.16,0.0,1000.3,14.4,445,7259,0.50,0.00,134.35,1.797,6,0.170,0.000,1736,2653,2499,0,0,0,0,0,0
$STATE,7260,end apogee,CONTROL_FINISHED_OK
$STATE,7260,begin climb
$GC,7262,0.57,146.1,1006.2,0.0,452,7414,0.80,2.60,144.23,1.745,4,0.119,0.051,1988,1269,1904,0,0,0,0,0,0
$GC,7441,0.57,146.1,988.1,15.2,460,7449,0.00,2.60,0.00,0.000,6,0.000,0.056,1988,2664,1901,0,0,0,0,0,0
$GC,7757,0.57,146.1,932.6,17.7,476,7761,0.00,2.12,0.00,0.000,4,0.000,0.063,1989,3902,1894,0,0,0,0,0,0
$GC,7884,0.57,146.1,906.6,20.7,481,7891,0.00,2.08,0.00,0.000,6,0.000,0.043,1997,2679,1892,0,0,0,0,0,0
$GC,8199,0.57,146.1,846.8,18.8,497,8203,0.00,2.08,0.00,0.000,4,0.000,0.063,1997,3901,1891,0,0,0,0,0,0
$GC,8254,0.57,146.1,835.0,22.0,499,8259,0.00,2.05,0.00,0.000,6,0.000,0.042,2007,2665,1892,0,0,0,0,0,0
$GC,8576,0.57,146.1,772.2,19.5,515,8580,0.00,2.08,0.00,0.000,4,0.000,0.063,2007,3901,1891,0,0,0,0,0,0
$GC,8621,0.57,146.1,762.4,22.0,517,8626,0.12,2.00,0.00,0.000,6,0.235,0.042,1990,2667,1890,0,0,0,0,0,0
$GC,8947,0.57,146.1,702.5,18.2,533,8951,0.00,2.08,0.00,0.000,4,0.000,0.063,1987,3904,1890,0,0,0,0,0,0
$GC,9001,0.57,146.1,691.2,20.7,535,9006,0.00,2.03,0.00,0.000,6,0.000,0.042,1995,2667,1890,0,0,0,0,0,0
$GC,9323,0.57,146.1,632.8,17.8,551,9327,0.00,2.05,0.00,0.000,4,0.000,0.064,1996,3906,1889,0,0,0,0,0,0
$GC,9361,0.57,146.1,625.0,20.9,552,9369,0.00,2.03,0.00,0.000,6,0.000,0.042,2005,2663,1889,0,0,0,0,0,0
$GC,9677,0.57,146.1,565.9,18.4,568,9680,0.00,2.05,0.00,0.000,4,0.000,0.063,2005,3901,1889,0,0,0,0,0,0
$GC,9749,0.57,146.1,550.7,21.6,571,9753,0.00,1.98,0.00,0.000,6,0.000,0.043,2014,2666,1889,0,0,0,0,0,0
$GC,10076,0.57,146.1,489.3,18.5,587,10080,0.00,2.05,0.00,0.000,4,0.000,0.063,2015,3907,1889,0,0,0,0,0,0
$GC,10147,0.57,146.1,473.7,22.0,590,10153,0.12,2.00,0.00,0.000,6,0.221,0.042,1991,2671,1888,0,0,0,0,0,0
$GC,10475,0.57,146.1,417.1,17.2,606,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2670,1888,0,0,0,0,0,0
$GC,10786,0.57,146.1,367.5,15.8,621,10790,0.00,2.03,0.00,0.000,4,0.000,0.064,1991,3906,1888,0,0,0,0,0,0
$GC,10878,0.57,146.1,351.5,17.2,625,10882,0.00,1.98,0.00,0.000,6,0.000,0.042,2000,2656,1888,0,0,0,0,0,0
$GC,11212,0.57,146.1,299.8,15.1,641,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2656,1888,0,0,0,0,0,0
$GC,11520,0.57,146.1,249.6,16.8,656,11524,0.00,2.03,0.00,0.000,4,0.000,0.064,2000,3905,1888,0,0,0,0,0,0
$GC,11662,0.57,146.1,221.7,19.2,668,11671,0.00,1.98,0.00,0.000,6,0.000,0.042,2010,2667,1888,0,0,0,0,0,0
$GC,11989,0.57,146.1,164.3,17.9,699,11993,0.00,2.05,0.00,0.000,4,0.000,0.064,2010,3902,1888,0,0,0,0,0,0
$GC,12107,0.57,146.1,139.1,20.5,709,12115,0.10,1.98,0.00,0.000,6,0.218,0.041,1993,2664,1888,0,0,0,0,0,0
$GC,12435,0.57,146.1,92.8,13.1,744,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2664,1888,0,0,0,0,0,0
$GC,12675,0.57,146.1,63.1,12.5,785,12682,0.00,2.00,0.00,0.000,4,0.000,0.064,1992,3902,1888,0,0,0,0,0,0
$GC,12790,0.57,146.1,47.3,12.9,804,12799,0.00,1.98,0.00,0.000,6,0.000,0.042,2001,2661,1888,0,0,0,0,0,0
$GC,12906,0.57,146.1,33.8,11.1,823,12913,0.00,2.20,0.00,0.000,4,0.000,0.054,2011,1268,1888,0,0,0,0,0,0
$GC,12950,0.57,146.1,29.0,10.6,830,12960,0.08,2.30,0.00,0.000,6,0.208,0.058,1992,2678,1888,0,0,0,0,0,0
$GC,13036,0.57,146.1,18.7,12.5,843,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2677,1888,0,0,0,0,0,0
$GC,13120,0.57,146.1,7.3,13.9,856,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2677,1888,0,0,0,0,0,0
$STATE,13154,end climb,SURFACE_DEPTH_REACHED
$STATE,13154,begin surface coast
$FINISH,0.8,1.026850
$STATE,13180,end surface coast,CONTROL_FINISHED_OK
$STATE,13180,begin surface
$SM_CCo,13192,32.00,0.177,0,0,1559,230.09
$SM_GC,1.52,0.00,0.00,32.00,0.000,0.000,0.177,57,2795,1559,-5.45,0.71,230.09
$IRIDIUM_FIX,-5535.12,-19.21,151214,000046
$TT8_MAMPS,0.026215
$HUMID,55.35
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,21.6,12.799
$10V_AH,10.1,8.191
$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,13.775,125.750,278.575,32.000,0.000,27.044,41.523,282.808,0.000,0.000,19.359,2232.480,8038.640,443.080,2822.547,152.999,33.358,1445.742,0.000,2298.848,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,92.565,1796.985,177.480,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.735,1790.706,868.211,910.798,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354020
$DATA_FILE_SIZE,60437,865
$CAP_FILE_SIZE,132062,0
$CFSIZE,259252224,224821248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151214,081313,-5553.321,-25.659,42,1.8,42,-19.9