version: 66.07
glider: 542
mission: 9
dive: 29
start: 12 15 114 12 7 37
data:
$ID,542
$MISSION,9
$DIVE,29
$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,-21768.209
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,151214,115858,-5552.799,-28.546,40,0.7,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.8
$GPS2,151214,120641,-5552.743,-28.500,18,0.8,18,-19.9
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.212,-0.143
$KALMAN_X,21561.9,-181.0,-342.5,-50478.1,4575.4
$KALMAN_Y,-10507.7,404.3,207.3,23632.3,4068.7
$MHEAD_RNG_PITCHd_Wd,256.0,13529,-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,-49.65,0.000,2,0.000,0.000,62,2787,2667,0,0,0,0,0,0
$GC,69,-0.57,-146.1,3.3,-4.2,6,95,6.35,1.88,-11.68,0.000,4,0.254,0.079,1601,3897,3097,0,0,0,0,0,0
$GC,247,-0.57,-146.1,37.4,-18.4,34,256,0.00,1.85,0.00,0.000,6,0.000,0.041,1602,2772,3098,0,0,0,0,0,0
$GC,360,-0.57,-146.1,59.1,-20.0,53,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2771,3098,0,0,0,0,0,0
$GC,472,-0.57,-146.1,79.7,-16.7,72,481,0.00,1.90,0.00,0.000,4,0.000,0.068,1594,3890,3098,0,0,0,0,0,0
$GC,614,-0.57,-146.1,105.1,-17.3,94,624,0.00,1.83,0.00,0.000,6,0.000,0.040,1594,2765,3098,0,0,0,0,0,0
$GC,942,-0.57,-146.1,154.7,-13.7,125,946,0.00,1.90,0.00,0.000,4,0.000,0.067,1585,3890,3098,0,0,0,0,0,0
$GC,1048,-0.57,-146.1,171.0,-14.7,134,1058,0.08,1.83,0.00,0.000,6,0.188,0.039,1608,2759,3098,0,0,0,0,0,0
$GC,1374,-0.57,-146.1,207.3,-10.5,165,1378,0.00,1.90,0.00,0.000,4,0.000,0.068,1599,3887,3098,0,0,0,0,0,0
$GC,1493,-0.57,-146.1,220.7,-11.4,175,1496,0.00,1.77,0.00,0.000,6,0.000,0.040,1600,2770,3098,0,0,0,0,0,0
$GC,1823,-0.57,-146.1,257.7,-11.3,203,1826,0.00,1.85,0.00,0.000,4,0.000,0.067,1591,3904,3098,0,0,0,0,0,0
$GC,1891,-0.57,-146.1,266.7,-13.4,206,1895,0.00,1.80,0.00,0.000,6,0.000,0.040,1591,2767,3098,0,0,0,0,0,0
$GC,2223,-0.57,-146.1,308.9,-13.1,222,2227,0.00,1.88,0.00,0.000,4,0.000,0.067,1582,3903,3098,0,0,0,0,0,0
$GC,2328,-0.57,-146.1,325.1,-15.1,226,2339,0.08,1.83,0.00,0.000,6,0.185,0.039,1605,2766,3098,0,0,0,0,0,0
$GC,2645,-0.57,-146.1,367.5,-13.6,242,2649,0.00,1.88,0.00,0.000,4,0.000,0.067,1597,3904,3098,0,0,0,0,0,0
$GC,2750,-0.57,-146.1,383.2,-14.6,246,2760,0.00,1.83,0.00,0.000,6,0.000,0.038,1597,2766,3099,0,0,0,0,0,0
$GC,3067,-0.57,-146.1,427.5,-13.6,262,3070,0.00,1.85,0.00,0.000,4,0.000,0.067,1589,3895,3099,0,0,0,0,0,0
$GC,3160,-0.57,-146.1,441.9,-15.2,266,3165,0.00,1.80,0.00,0.000,6,0.000,0.037,1589,2765,3099,0,0,0,0,0,0
$GC,3489,-0.57,-146.1,488.4,-14.2,282,3493,0.10,1.88,0.00,0.000,4,0.210,0.066,1603,3897,3099,0,0,0,0,0,0
$GC,3566,-0.57,-146.1,499.3,-13.2,285,3570,0.00,1.77,0.00,0.000,6,0.000,0.039,1603,2768,3099,0,0,0,0,0,0
$GC,3886,-0.57,-146.1,541.0,-13.2,301,3890,0.00,1.85,0.00,0.000,4,0.000,0.067,1595,3896,3099,0,0,0,0,0,0
$GC,3946,-0.57,-146.1,549.8,-14.0,303,3954,0.00,1.80,0.00,0.000,6,0.000,0.038,1595,2768,3099,0,0,0,0,0,0
$GC,4262,-0.57,-146.1,591.3,-13.1,319,4266,0.00,1.85,0.00,0.000,4,0.000,0.066,1586,3897,3099,0,0,0,0,0,0
$GC,4361,-0.57,-146.1,605.3,-14.0,323,4366,0.08,1.80,0.00,0.000,6,0.182,0.038,1610,2763,3099,0,0,0,0,0,0
$GC,4683,-0.57,-146.1,641.9,-11.6,339,4687,0.00,1.88,0.00,0.000,4,0.000,0.067,1601,3892,3099,0,0,0,0,0,0
$GC,4788,-0.57,-146.1,655.2,-12.1,343,4796,0.00,1.77,0.00,0.000,6,0.000,0.037,1601,2773,3099,0,0,0,0,0,0
$GC,5105,-0.57,-146.1,691.7,-11.3,359,5109,0.00,1.85,0.00,0.000,4,0.000,0.067,1593,3906,3099,0,0,0,0,0,0
$GC,5198,-0.57,-146.1,704.0,-12.2,363,5204,0.00,1.80,0.00,0.000,6,0.000,0.037,1592,2768,3099,0,0,0,0,0,0
$GC,5527,-0.57,-146.1,744.3,-12.5,379,5530,0.00,1.85,0.00,0.000,4,0.000,0.067,1584,3900,3100,0,0,0,0,0,0
$GC,5609,-0.57,-146.1,756.2,-13.8,382,5618,0.08,1.80,0.00,0.000,6,0.177,0.037,1608,2764,3100,0,0,0,0,0,0
$GC,5926,-0.57,-146.1,792.8,-11.7,398,5929,0.00,1.85,0.00,0.000,4,0.000,0.067,1599,3896,3099,0,0,0,0,0,0
$GC,6003,-0.57,-146.1,802.8,-12.8,401,6007,0.00,1.77,0.00,0.000,6,0.000,0.038,1599,2775,3099,0,0,0,0,0,0
$GC,6324,-0.57,-146.1,843.2,-12.6,417,6328,0.00,1.85,0.00,0.000,4,0.000,0.067,1591,3906,3100,0,0,0,0,0,0
$GC,6401,-0.57,-146.1,854.1,-14.3,420,6406,0.00,1.80,0.00,0.000,6,0.000,0.037,1591,2771,3100,0,0,0,0,0,0
$GC,6723,-0.57,-146.1,898.4,-14.1,436,6727,0.00,1.88,0.00,0.000,4,0.000,0.067,1582,3887,3100,0,0,0,0,0,0
$GC,6800,-0.57,-146.1,910.7,-16.2,439,6806,0.10,1.77,0.00,0.000,6,0.179,0.037,1613,2766,3100,0,0,0,0,0,0
$GC,7123,-0.57,-146.1,951.9,-12.7,455,7126,0.00,1.85,0.00,0.000,4,0.000,0.067,1604,3897,3100,0,0,0,0,0,0
$GC,7212,-0.57,-146.1,963.8,-12.8,459,7216,0.00,1.77,0.00,0.000,6,0.000,0.038,1604,2763,3100,0,0,0,0,0,0
$STATE,7481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7481,begin apogee
$GC,7486,-0.16,0.0,1000.2,13.5,472,7624,0.45,0.00,133.55,1.808,6,0.157,0.000,1742,2650,2500,0,0,0,0,0,0
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7625,begin climb
$GC,7626,0.57,146.1,1006.8,0.0,479,7779,0.77,2.53,144.30,1.759,4,0.115,0.050,1989,1286,1903,0,0,0,0,0,0
$GC,7858,0.57,146.1,982.3,14.3,490,7862,0.00,2.47,0.00,0.000,6,0.000,0.057,1988,2662,1899,0,0,0,0,0,0
$GC,8184,0.57,146.1,927.0,17.4,506,8188,0.00,2.10,0.00,0.000,4,0.000,0.064,1989,3899,1894,0,0,0,0,0,0
$GC,8271,0.57,146.1,909.4,20.6,510,8276,0.00,2.05,0.00,0.000,6,0.000,0.041,1998,2686,1891,0,0,0,0,0,0
$GC,8599,0.57,146.1,849.6,18.4,526,8602,0.00,2.08,0.00,0.000,4,0.000,0.063,1998,3903,1891,0,0,0,0,0,0
$GC,8643,0.57,146.1,840.3,21.5,528,8647,0.00,2.03,0.00,0.000,6,0.000,0.042,2007,2666,1890,0,0,0,0,0,0
$GC,8975,0.57,146.1,773.8,20.0,544,8978,0.00,2.08,0.00,0.000,4,0.000,0.063,2008,3899,1889,0,0,0,0,0,0
$GC,9023,0.57,146.1,762.2,24.6,546,9029,0.10,2.03,0.00,0.000,6,0.220,0.041,1992,2664,1889,0,0,0,0,0,0
$GC,9351,0.57,146.1,698.6,19.5,562,9354,0.00,2.05,0.00,0.000,4,0.000,0.063,1992,3907,1889,0,0,0,0,0,0
$GC,9429,0.57,146.1,681.6,22.5,565,9433,0.00,2.00,0.00,0.000,6,0.000,0.042,2000,2666,1889,0,0,0,0,0,0
$GC,9750,0.57,146.1,616.7,20.4,581,9753,0.00,2.05,0.00,0.000,4,0.000,0.063,2001,3901,1888,0,0,0,0,0,0
$GC,9804,0.57,146.1,604.1,24.2,583,9809,0.00,2.00,0.00,0.000,6,0.000,0.041,2010,2663,1888,0,0,0,0,0,0
$GC,10126,0.57,146.1,537.9,20.5,599,10129,0.00,2.05,0.00,0.000,4,0.000,0.063,2010,3903,1888,0,0,0,0,0,0
$GC,10194,0.57,146.1,522.6,22.9,602,10198,0.08,1.98,0.00,0.000,6,0.214,0.041,1988,2675,1887,0,0,0,0,0,0
$GC,10525,0.57,146.1,458.1,19.8,618,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2674,1888,0,0,0,0,0,0
$GC,10834,0.57,146.1,398.0,19.5,633,10838,0.00,2.00,0.00,0.000,4,0.000,0.063,1988,3907,1887,0,0,0,0,0,0
$GC,10935,0.57,146.1,375.7,22.5,637,10939,0.00,2.00,0.00,0.000,6,0.000,0.041,1997,2663,1887,0,0,0,0,0,0
$GC,11258,0.57,146.1,312.3,19.3,653,11262,0.00,2.03,0.00,0.000,4,0.000,0.063,1998,3900,1887,0,0,0,0,0,0
$GC,11305,0.57,146.1,302.5,22.3,655,11309,0.00,1.95,0.00,0.000,6,0.000,0.041,2006,2667,1887,0,0,0,0,0,0
$GC,11630,0.57,146.1,237.1,19.8,673,11634,0.00,2.03,0.00,0.000,4,0.000,0.063,2007,3903,1887,0,0,0,0,0,0
$GC,11710,0.57,146.1,219.1,22.1,680,11715,0.12,1.95,0.00,0.000,6,0.233,0.041,1989,2664,1887,0,0,0,0,0,0
$GC,12034,0.57,146.1,161.0,17.4,710,12038,0.00,2.03,0.00,0.000,4,0.000,0.063,1990,3903,1887,0,0,0,0,0,0
$GC,12081,0.57,146.1,151.7,19.9,714,12085,0.00,1.95,0.00,0.000,6,0.000,0.041,1998,2665,1887,0,0,0,0,0,0
$GC,12412,0.57,146.1,92.7,17.0,748,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2664,1887,0,0,0,0,0,0
$GC,12653,0.57,146.1,55.2,13.8,789,12660,0.00,2.05,0.00,0.000,4,0.000,0.064,1998,3904,1887,0,0,0,0,0,0
$GC,12719,0.57,146.1,45.1,15.4,800,12728,0.00,1.98,0.00,0.000,6,0.000,0.040,2008,2661,1887,0,0,0,0,0,0
$GC,12836,0.57,146.1,29.8,13.4,819,12845,0.00,2.05,0.00,0.000,4,0.000,0.064,2008,3901,1887,0,0,0,0,0,0
$GC,12872,0.57,146.1,24.4,15.2,824,12882,0.10,1.98,0.00,0.000,6,0.214,0.041,1990,2665,1887,0,0,0,0,0,0
$GC,12957,0.57,146.1,12.3,13.9,837,12966,0.00,2.05,0.00,0.000,4,0.000,0.066,1990,3899,1887,0,0,0,0,0,0
$GC,13006,0.57,146.1,5.9,14.1,844,13015,0.00,1.98,0.00,0.000,6,0.000,0.044,1999,2671,1887,0,0,0,0,0,0
$STATE,13028,end climb,SURFACE_DEPTH_REACHED
$STATE,13028,begin surface coast
$FINISH,0.8,1.027225
$STATE,13054,end surface coast,CONTROL_FINISHED_OK
$STATE,13054,begin surface
$SM_CCo,13067,31.83,0.205,0,0,1561,230.09
$SM_GC,1.43,0.00,0.00,31.83,0.000,0.000,0.205,64,2780,1561,-5.43,0.28,230.09
$IRIDIUM_FIX,-5531.31,-19.18,151214,040417
$TT8_MAMPS,0.026215
$HUMID,54.72
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.6,13.122
$10V_AH,10.1,8.413
$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,13.850,123.775,277.850,31.825,0.000,29.647,41.145,279.219,0.000,0.000,21.052,2200.114,8007.958,434.859,2770.652,150.032,33.359,1421.201,0.000,2255.205,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,93.330,1808.460,205.020,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.003,1773.181,858.136,888.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354000
$DATA_FILE_SIZE,60483,851
$CAP_FILE_SIZE,130096,0
$CFSIZE,259252224,224686080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151214,154734,-5552.438,-31.092,63,0.8,63,-19.9