version: 66.07
glider: 542
mission: 9
dive: 28
start: 12 15 114 8 22 1
data:
$ID,542
$MISSION,9
$DIVE,28
$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,-21765.879
$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,35
$R_STBD_OVSHOOT,38
$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
$GPS1,151214,081313,-5553.321,-25.659,42,1.8,42,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.8
$GPS2,151214,082105,-5553.238,-25.767,31,1.0,31,-19.9
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.214,-0.139
$KALMAN_X,19965.6,-300.4,-54.4,-46217.8,3813.1
$KALMAN_Y,-14836.8,478.3,305.2,26872.4,979.8
$MHEAD_RNG_PITCHd_Wd,256.9,13268,-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,-57.40,0.000,2,0.000,0.000,57,2797,2829,0,0,0,0,0,0
$GC,77,-0.57,-146.1,3.2,-3.3,7,96,6.40,1.88,-7.15,0.000,4,0.256,0.084,1601,3891,3098,0,0,0,0,0,0
$GC,208,-0.57,-146.1,31.2,-18.6,27,215,0.00,1.83,0.00,0.000,6,0.000,0.041,1601,2776,3100,0,0,0,0,0,0
$GC,319,-0.57,-146.1,52.3,-19.3,46,328,0.00,2.28,0.00,0.000,4,0.000,0.051,1601,1364,3100,0,0,0,0,0,0
$GC,365,-0.57,-146.1,59.9,-16.3,53,372,0.00,2.30,0.00,0.000,6,0.000,0.062,1591,2770,3101,0,0,0,0,0,0
$GC,478,-0.57,-146.1,78.8,-18.0,72,487,0.00,1.90,0.00,0.000,4,0.000,0.070,1583,3886,3101,0,0,0,0,0,0
$GC,577,-0.57,-146.1,97.2,-18.3,89,585,0.12,1.80,0.00,0.000,6,0.206,0.041,1612,2760,3101,0,0,0,0,0,0
$GC,801,-0.57,-146.1,131.7,-14.4,111,805,0.00,1.92,0.00,0.000,4,0.000,0.068,1604,3896,3101,0,0,0,0,0,0
$GC,885,-0.57,-146.1,145.2,-15.3,118,895,0.00,1.83,0.00,0.000,6,0.000,0.041,1603,2765,3100,0,0,0,0,0,0
$GC,1213,-0.57,-146.1,191.6,-14.2,149,1216,0.00,1.88,0.00,0.000,4,0.000,0.068,1595,3893,3100,0,0,0,0,0,0
$GC,1343,-0.57,-146.1,212.2,-14.7,160,1354,0.00,1.80,0.00,0.000,6,0.000,0.040,1595,2776,3101,0,0,0,0,0,0
$GC,1679,-0.57,-146.1,259.0,-13.4,189,1683,0.00,1.85,0.00,0.000,4,0.000,0.068,1586,3893,3101,0,0,0,0,0,0
$GC,1772,-0.57,-146.1,272.4,-15.0,193,1776,0.12,1.77,0.00,0.000,6,0.198,0.040,1617,2769,3100,0,0,0,0,0,0
$GC,2105,-0.57,-146.1,309.6,-11.0,209,2109,0.00,1.88,0.00,0.000,4,0.000,0.068,1608,3901,3101,0,0,0,0,0,0
$GC,2205,-0.57,-146.1,321.7,-11.5,213,2210,0.00,1.83,0.00,0.000,6,0.000,0.040,1608,2763,3101,0,0,0,0,0,0
$GC,2529,-0.57,-146.1,358.7,-11.5,229,2532,0.00,1.88,0.00,0.000,4,0.000,0.067,1599,3900,3100,0,0,0,0,0,0
$GC,2628,-0.57,-146.1,371.8,-12.3,233,2633,0.00,1.80,0.00,0.000,6,0.000,0.038,1599,2773,3100,0,0,0,0,0,0
$GC,2951,-0.57,-146.1,411.2,-12.6,249,2955,0.00,1.85,0.00,0.000,4,0.000,0.067,1591,3897,3101,0,0,0,0,0,0
$GC,3067,-0.57,-146.1,428.0,-13.8,254,3072,0.00,1.80,0.00,0.000,6,0.000,0.038,1591,2770,3100,0,0,0,0,0,0
$GC,3395,-0.57,-146.1,472.0,-13.3,270,3399,0.00,1.85,0.00,0.000,4,0.000,0.067,1582,3896,3101,0,0,0,0,0,0
$GC,3501,-0.57,-146.1,487.4,-14.9,274,3508,0.12,1.80,0.00,0.000,6,0.193,0.040,1613,2769,3101,0,0,0,0,0,0
$GC,3816,-0.57,-146.1,523.3,-11.5,290,3820,0.00,1.85,0.00,0.000,4,0.000,0.067,1605,3896,3101,0,0,0,0,0,0
$GC,3892,-0.57,-146.1,533.2,-12.7,293,3897,0.00,1.83,0.00,0.000,6,0.000,0.038,1605,2749,3101,0,0,0,0,0,0
$GC,4214,-0.57,-146.1,573.2,-12.6,309,4218,0.00,1.88,0.00,0.000,4,0.000,0.067,1596,3895,3101,0,0,0,0,0,0
$GC,4336,-0.57,-146.1,590.3,-13.8,314,4341,0.00,1.80,0.00,0.000,6,0.000,0.038,1596,2765,3101,0,0,0,0,0,0
$GC,4658,-0.57,-146.1,634.8,-13.9,330,4662,0.00,1.85,0.00,0.000,4,0.000,0.066,1588,3894,3101,0,0,0,0,0,0
$GC,4752,-0.57,-146.1,649.6,-15.2,334,4756,0.00,1.77,0.00,0.000,6,0.000,0.038,1587,2773,3101,0,0,0,0,0,0
$GC,5079,-0.57,-146.1,698.9,-15.0,350,5083,0.10,1.85,0.00,0.000,4,0.208,0.067,1603,3903,3101,0,0,0,0,0,0
$GC,5172,-0.57,-146.1,712.6,-13.2,354,5177,0.00,1.80,0.00,0.000,6,0.000,0.038,1603,2771,3101,0,0,0,0,0,0
$GC,5500,-0.57,-146.1,757.1,-13.5,370,5504,0.00,1.90,0.00,0.000,4,0.000,0.068,1594,3900,3101,0,0,0,0,0,0
$GC,5599,-0.57,-146.1,771.7,-14.5,374,5604,0.00,1.80,0.00,0.000,6,0.000,0.038,1595,2763,3101,0,0,0,0,0,0
$GC,5921,-0.57,-146.1,816.4,-14.0,390,5925,0.00,1.85,0.00,0.000,4,0.000,0.067,1586,3894,3101,0,0,0,0,0,0
$GC,6004,-0.57,-146.1,829.6,-16.5,393,6013,0.08,1.77,0.00,0.000,6,0.178,0.038,1609,2770,3101,0,0,0,0,0,0
$GC,6320,-0.57,-146.1,870.1,-12.7,409,6324,0.00,1.88,0.00,0.000,4,0.000,0.067,1601,3897,3101,0,0,0,0,0,0
$GC,6397,-0.57,-146.1,880.7,-13.6,412,6401,0.00,1.80,0.00,0.000,6,0.000,0.038,1601,2767,3101,0,0,0,0,0,0
$GC,6718,-0.57,-146.1,923.4,-13.3,428,6722,0.00,1.85,0.00,0.000,4,0.000,0.067,1593,3897,3101,0,0,0,0,0,0
$GC,6818,-0.57,-146.1,937.5,-13.8,432,6822,0.00,1.80,0.00,0.000,6,0.000,0.039,1593,2764,3101,0,0,0,0,0,0
$GC,7139,-0.57,-146.1,981.8,-13.8,448,7143,0.00,1.83,0.00,0.000,4,0.000,0.067,1584,3895,3101,0,0,0,0,0,0
$GC,7216,-0.57,-146.1,993.6,-14.9,451,7221,0.08,1.77,0.00,0.000,6,0.174,0.038,1608,2769,3101,0,0,0,0,0,0
$STATE,7268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7269,begin apogee
$GC,7273,-0.16,0.0,1000.6,13.5,454,7412,0.45,0.00,134.20,1.796,6,0.159,0.000,1746,2640,2499,0,0,0,0,0,0
$STATE,7413,end apogee,CONTROL_FINISHED_OK
$STATE,7413,begin climb
$GC,7414,0.57,146.1,1006.2,0.0,461,7566,0.75,2.55,144.35,1.750,4,0.115,0.050,1986,1279,1903,0,0,0,0,0,0
$GC,7626,0.57,146.1,984.0,14.1,471,7632,0.00,2.53,0.00,0.000,6,0.000,0.055,1985,2659,1899,0,0,0,0,0,0
$GC,7954,0.57,146.1,927.8,17.6,487,7958,0.00,2.12,0.00,0.000,4,0.000,0.063,1985,3903,1894,0,0,0,0,0,0
$GC,8030,0.57,146.1,912.4,20.0,490,8035,0.00,2.05,0.00,0.000,6,0.000,0.041,1994,2695,1892,0,0,0,0,0,0
$GC,8352,0.57,146.1,852.3,19.0,506,8356,0.00,2.08,0.00,0.000,4,0.000,0.063,1994,3909,1891,0,0,0,0,0,0
$GC,8407,0.57,146.1,840.3,22.5,508,8411,0.00,2.08,0.00,0.000,6,0.000,0.042,2004,2659,1890,0,0,0,0,0,0
$GC,8729,0.57,146.1,776.1,20.0,524,8733,0.00,2.10,0.00,0.000,4,0.000,0.063,2004,3914,1890,0,0,0,0,0,0
$GC,8797,0.57,146.1,761.1,23.6,527,8801,0.00,2.03,0.00,0.000,6,0.000,0.042,2013,2665,1889,0,0,0,0,0,0
$GC,9128,0.57,146.1,694.4,20.0,543,9132,0.00,2.08,0.00,0.000,4,0.000,0.064,2014,3904,1889,0,0,0,0,0,0
$GC,9211,0.57,146.1,675.8,23.5,546,9219,0.12,2.03,0.00,0.000,6,0.221,0.041,1991,2666,1888,0,0,0,0,0,0
$GC,9528,0.57,146.1,618.5,18.0,562,9531,0.00,2.08,0.00,0.000,4,0.000,0.063,1991,3913,1888,0,0,0,0,0,0
$GC,9598,0.57,146.1,603.7,20.6,565,9604,0.00,2.03,0.00,0.000,6,0.000,0.041,2000,2666,1887,0,0,0,0,0,0
$GC,9927,0.57,146.1,543.6,18.5,581,9930,0.00,2.05,0.00,0.000,4,0.000,0.063,2000,3907,1887,0,0,0,0,0,0
$GC,9958,0.57,146.1,536.5,21.8,582,9964,0.00,2.00,0.00,0.000,6,0.000,0.041,2009,2673,1887,0,0,0,0,0,0
$GC,10281,0.57,146.1,473.5,20.1,598,10285,0.00,2.05,0.00,0.000,4,0.000,0.063,2009,3899,1887,0,0,0,0,0,0
$GC,10363,0.57,146.1,454.7,23.3,601,10372,0.10,2.00,0.00,0.000,6,0.223,0.041,1993,2660,1887,0,0,0,0,0,0
$GC,10681,0.57,146.1,394.3,19.0,617,10685,0.00,2.05,0.00,0.000,4,0.000,0.063,1993,3906,1887,0,0,0,0,0,0
$GC,10728,0.57,146.1,384.2,22.7,619,10732,0.00,1.98,0.00,0.000,6,0.000,0.042,2002,2662,1887,0,0,0,0,0,0
$GC,11063,0.57,146.1,317.4,20.0,635,11066,0.00,2.05,0.00,0.000,4,0.000,0.063,2002,3909,1887,0,0,0,0,0,0
$GC,11130,0.57,146.1,302.0,21.7,638,11134,0.00,1.98,0.00,0.000,6,0.000,0.042,2011,2665,1887,0,0,0,0,0,0
$GC,11454,0.57,146.1,235.6,20.8,656,11457,0.00,2.05,0.00,0.000,4,0.000,0.063,2011,3913,1887,0,0,0,0,0,0
$GC,11500,0.57,146.1,225.2,22.6,660,11504,0.15,1.98,0.00,0.000,6,0.232,0.042,1987,2666,1887,0,0,0,0,0,0
$GC,11826,0.57,146.1,165.8,17.1,690,11830,0.00,2.05,0.00,0.000,4,0.000,0.064,1987,3916,1887,0,0,0,0,0,0
$GC,11864,0.57,146.1,157.8,19.6,693,11872,0.00,2.00,0.00,0.000,6,0.000,0.041,1996,2661,1887,0,0,0,0,0,0
$GC,12189,0.57,146.1,103.6,15.6,724,12193,0.00,2.05,0.00,0.000,4,0.000,0.064,1996,3914,1887,0,0,0,0,0,0
$GC,12307,0.57,146.1,82.0,17.7,742,12314,0.00,2.00,0.00,0.000,6,0.000,0.041,2006,2648,1887,0,0,0,0,0,0
$GC,12553,0.57,146.1,47.3,13.6,783,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2647,1887,0,0,0,0,0,0
$GC,12664,0.57,146.1,33.1,12.5,802,12673,0.00,2.08,0.00,0.000,4,0.000,0.063,2006,3904,1887,0,0,0,0,0,0
$GC,12741,0.57,146.1,22.2,14.9,814,12749,0.00,1.98,0.00,0.000,6,0.000,0.042,2016,2669,1887,0,0,0,0,0,0
$GC,12825,0.57,146.1,10.4,12.6,827,12834,0.00,2.05,0.00,0.000,4,0.000,0.066,2015,3900,1887,0,0,0,0,0,0
$GC,12860,0.57,146.1,5.6,12.7,832,12870,0.12,1.98,0.00,0.000,6,0.213,0.042,1991,2666,1887,0,0,0,0,0,0
$STATE,12877,end climb,SURFACE_DEPTH_REACHED
$STATE,12877,begin surface coast
$FINISH,0.8,1.013592
$STATE,12897,end surface coast,CONTROL_FINISHED_OK
$STATE,12897,begin surface
$SM_CCo,12910,31.85,0.176,0,0,1558,230.09
$SM_GC,1.51,0.00,0.00,31.85,0.000,0.000,0.176,63,2787,1558,-5.43,0.48,230.09
$IRIDIUM_FIX,-5531.31,-19.18,151214,040417
$TT8_MAMPS,0.026215
$HUMID,54.52
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.6,12.960
$10V_AH,10.1,8.302
$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,14.100,133.000,278.550,31.850,0.000,26.572,42.059,276.803,0.000,0.000,33.844,2178.271,7865.892,446.597,2775.670,149.299,33.361,1433.516,0.000,2252.393,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,91.800,1796.220,175.950,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.842,1749.008,844.818,867.802,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353996
$DATA_FILE_SIZE,57073,837
$CAP_FILE_SIZE,132331,0
$CFSIZE,259252224,224755712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151214,115858,-5552.799,-28.546,40,0.7,40,-19.9