version: 66.07
glider: 542
mission: 9
dive: 31
start: 12 15 114 19 49 37
data:
$ID,542
$MISSION,9
$DIVE,31
$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,210
$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,-21772.863
$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,2810
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,23
$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
$GPS1,151214,193804,-5551.712,-33.628,24,0.8,24,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-59.9
$GPS2,151214,194841,-5551.588,-33.613,17,1.0,17,-19.9
$SPEED_LIMITS,0.165,0.255
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.016,-0.255
$KALMAN_X,25362.3,-477.0,-108.9,-59510.4,5217.1
$KALMAN_Y,-2433.9,-628.3,-475.9,19445.8,8662.9
$MHEAD_RNG_PITCHd_Wd,203.4,16022,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.1,0.0,0.0,0,69,0.00,0.00,-50.12,0.000,2,0.000,0.000,59,2784,2761,0,0,0,0,0,0
$GC,71,-0.57,-146.1,3.3,-4.0,6,98,6.35,1.90,-9.05,0.000,4,0.252,0.081,1602,3893,3098,0,0,0,0,0,0
$GC,335,-0.57,-146.1,52.6,-17.5,49,343,0.00,1.75,0.00,0.000,6,0.000,0.039,1602,2816,3099,0,0,0,0,0,0
$GC,449,-0.57,-146.1,72.7,-16.9,68,457,0.00,2.28,0.00,0.000,4,0.000,0.048,1602,1407,3100,0,0,0,0,0,0
$GC,487,-0.57,-146.1,78.7,-15.6,74,495,0.00,2.33,0.00,0.000,6,0.000,0.060,1592,2806,3099,0,0,0,0,0,0
$GC,598,-0.57,-146.1,97.6,-17.9,93,607,0.00,1.83,0.00,0.000,4,0.000,0.067,1584,3900,3100,0,0,0,0,0,0
$GC,697,-0.57,-146.1,117.9,-20.9,102,709,0.10,1.77,0.00,0.000,6,0.187,0.039,1613,2803,3100,0,0,0,0,0,0
$GC,1025,-0.57,-146.1,179.9,-19.7,133,1028,0.00,1.83,0.00,0.000,4,0.000,0.067,1604,3900,3100,0,0,0,0,0,0
$GC,1074,-0.57,-146.1,190.9,-20.4,137,1082,0.00,1.75,0.00,0.000,6,0.000,0.038,1604,2807,3100,0,0,0,0,0,0
$GC,1401,-0.57,-146.1,255.0,-19.1,167,1405,0.00,1.80,0.00,0.000,4,0.000,0.067,1596,3898,3099,0,0,0,0,0,0
$GC,1457,-0.57,-146.1,266.7,-19.7,169,1461,0.00,1.73,0.00,0.000,6,0.000,0.038,1596,2802,3100,0,0,0,0,0,0
$GC,1779,-0.57,-146.1,326.2,-17.9,185,1783,0.00,1.83,0.00,0.000,4,0.000,0.066,1587,3907,3099,0,0,0,0,0,0
$GC,1834,-0.57,-146.1,336.9,-18.3,187,1839,0.08,1.75,0.00,0.000,6,0.187,0.037,1610,2806,3100,0,0,0,0,0,0
$GC,2157,-0.57,-146.1,386.9,-15.0,203,2160,0.00,1.80,0.00,0.000,4,0.000,0.067,1602,3898,3100,0,0,0,0,0,0
$GC,2229,-0.57,-146.1,398.7,-15.5,206,2233,0.00,1.73,0.00,0.000,6,0.000,0.037,1602,2809,3100,0,0,0,0,0,0
$GC,2557,-0.57,-146.1,446.8,-14.1,222,2560,0.00,1.80,0.00,0.000,4,0.000,0.066,1593,3903,3100,0,0,0,0,0,0
$GC,2624,-0.57,-146.1,457.3,-15.0,225,2628,0.00,1.70,0.00,0.000,6,0.000,0.037,1593,2809,3100,0,0,0,0,0,0
$GC,2956,-0.57,-146.1,506.8,-14.2,241,2960,0.00,1.77,0.00,0.000,4,0.000,0.065,1585,3905,3100,0,0,0,0,0,0
$GC,3055,-0.57,-146.1,522.6,-15.2,245,3062,0.08,1.75,0.00,0.000,6,0.180,0.037,1608,2803,3101,0,0,0,0,0,0
$GC,3378,-0.57,-146.1,563.1,-12.7,261,3381,0.00,1.80,0.00,0.000,4,0.000,0.066,1600,3899,3101,0,0,0,0,0,0
$GC,3445,-0.57,-146.1,572.1,-12.8,264,3449,0.00,1.73,0.00,0.000,6,0.000,0.037,1600,2807,3101,0,0,0,0,0,0
$GC,3776,-0.57,-146.1,615.8,-13.0,280,3780,0.00,1.80,0.00,0.000,4,0.000,0.066,1592,3907,3101,0,0,0,0,0,0
$GC,3831,-0.57,-146.1,623.5,-13.5,282,3836,0.00,1.73,0.00,0.000,6,0.000,0.037,1592,2809,3101,0,0,0,0,0,0
$GC,4152,-0.57,-146.1,667.4,-13.8,298,4156,0.00,1.77,0.00,0.000,4,0.000,0.065,1584,3899,3101,0,0,0,0,0,0
$GC,4229,-0.57,-146.1,679.2,-14.5,301,4234,0.08,1.70,0.00,0.000,6,0.181,0.037,1607,2808,3101,0,0,0,0,0,0
$GC,4551,-0.57,-146.1,720.1,-12.8,317,4555,0.00,1.80,0.00,0.000,4,0.000,0.066,1599,3906,3102,0,0,0,0,0,0
$GC,4628,-0.57,-146.1,731.2,-14.3,320,4633,0.00,1.73,0.00,0.000,6,0.000,0.037,1599,2809,3101,0,0,0,0,0,0
$GC,4950,-0.57,-146.1,775.4,-13.7,336,4954,0.00,1.77,0.00,0.000,4,0.000,0.066,1591,3897,3101,0,0,0,0,0,0
$GC,5006,-0.57,-146.1,783.9,-14.8,338,5010,0.00,1.70,0.00,0.000,6,0.000,0.037,1591,2801,3101,0,0,0,0,0,0
$GC,5327,-0.57,-146.1,830.6,-14.7,354,5330,0.00,1.80,0.00,0.000,4,0.000,0.066,1582,3903,3101,0,0,0,0,0,0
$GC,5376,-0.57,-146.1,838.4,-15.5,356,5381,0.10,1.73,0.00,0.000,6,0.177,0.037,1613,2803,3102,0,0,0,0,0,0
$GC,5702,-0.57,-146.1,879.6,-12.5,372,5706,0.00,1.80,0.00,0.000,4,0.000,0.067,1605,3904,3101,0,0,0,0,0,0
$GC,5751,-0.57,-146.1,886.2,-13.6,374,5756,0.00,1.73,0.00,0.000,6,0.000,0.037,1605,2806,3101,0,0,0,0,0,0
$GC,6078,-0.57,-146.1,928.4,-13.1,390,6082,0.00,1.80,0.00,0.000,4,0.000,0.066,1597,3893,3101,0,0,0,0,0,0
$GC,6155,-0.57,-146.1,939.3,-14.1,393,6160,0.00,1.73,0.00,0.000,6,0.000,0.036,1597,2798,3101,0,0,0,0,0,0
$GC,6478,-0.57,-146.1,981.6,-13.0,409,6481,0.00,1.80,0.00,0.000,4,0.000,0.067,1588,3900,3101,0,0,0,0,0,0
$GC,6532,-0.57,-146.1,989.7,-14.1,411,6538,0.08,1.73,0.00,0.000,6,0.179,0.037,1612,2803,3101,0,0,0,0,0,0
$STATE,6625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6626,begin apogee
$GC,6630,-0.16,0.0,1001.1,12.2,416,6769,0.43,0.00,134.00,1.824,6,0.156,0.000,1743,2651,2500,0,0,0,0,0,0
$STATE,6770,end apogee,CONTROL_FINISHED_OK
$STATE,6770,begin climb
$GC,6771,0.57,146.1,1006.1,0.0,423,6924,0.75,2.58,144.32,1.776,4,0.112,0.050,1983,1292,1903,0,0,0,0,0,0
$GC,6975,0.57,146.1,984.1,15.1,432,6979,0.00,2.50,0.00,0.000,6,0.000,0.054,1983,2670,1900,0,0,0,0,0,0
$GC,7289,0.57,146.1,929.1,17.2,447,7293,0.00,2.10,0.00,0.000,4,0.000,0.063,1983,3899,1894,0,0,0,0,0,0
$GC,7367,0.57,146.1,913.8,19.7,450,7374,0.00,2.03,0.00,0.000,6,0.000,0.040,1992,2704,1892,0,0,0,0,0,0
$GC,7682,0.57,146.1,857.3,17.8,466,7686,0.00,2.05,0.00,0.000,4,0.000,0.062,1992,3907,1891,0,0,0,0,0,0
$GC,7705,0.57,146.1,853.0,18.5,467,7709,0.00,2.05,0.00,0.000,6,0.000,0.041,2002,2658,1891,0,0,0,0,0,0
$GC,8037,0.57,146.1,793.4,18.2,483,8041,0.00,2.08,0.00,0.000,4,0.000,0.062,2002,3899,1890,0,0,0,0,0,0
$GC,8085,0.57,146.1,783.3,20.1,485,8090,0.00,2.03,0.00,0.000,6,0.000,0.041,2011,2666,1889,0,0,0,0,0,0
$GC,8413,0.57,146.1,722.5,18.8,501,8416,0.00,2.08,0.00,0.000,4,0.000,0.062,2012,3910,1889,0,0,0,0,0,0
$GC,8507,0.57,146.1,702.2,21.5,505,8512,0.10,2.03,0.00,0.000,6,0.220,0.041,1994,2671,1888,0,0,0,0,0,0
$GC,8833,0.57,146.1,643.4,18.0,521,8837,0.00,2.03,0.00,0.000,4,0.000,0.062,1994,3900,1889,0,0,0,0,0,0
$GC,8910,0.57,146.1,627.1,21.6,524,8915,0.00,2.00,0.00,0.000,6,0.000,0.041,2003,2666,1888,0,0,0,0,0,0
$GC,9231,0.57,146.1,565.9,19.4,540,9235,0.00,2.05,0.00,0.000,4,0.000,0.063,2003,3907,1888,0,0,0,0,0,0
$GC,9313,0.57,146.1,547.7,23.5,543,9321,0.00,2.00,0.00,0.000,6,0.000,0.041,2013,2664,1888,0,0,0,0,0,0
$GC,9630,0.57,146.1,485.8,19.4,559,9633,0.00,2.05,0.00,0.000,4,0.000,0.062,2013,3909,1888,0,0,0,0,0,0
$GC,9720,0.57,146.1,466.0,23.2,563,9724,0.15,1.98,0.00,0.000,6,0.233,0.041,1989,2667,1887,0,0,0,0,0,0
$GC,10046,0.57,146.1,409.6,17.0,579,10049,0.00,2.03,0.00,0.000,4,0.000,0.063,1989,3900,1887,0,0,0,0,0,0
$GC,10105,0.57,146.1,397.9,19.3,581,10114,0.00,1.98,0.00,0.000,6,0.000,0.040,1998,2668,1887,0,0,0,0,0,0
$GC,10425,0.57,146.1,342.3,18.0,597,10428,0.00,2.03,0.00,0.000,4,0.000,0.062,1998,3903,1887,0,0,0,0,0,0
$GC,10479,0.57,146.1,330.2,20.9,599,10484,0.00,1.98,0.00,0.000,6,0.000,0.040,2007,2669,1887,0,0,0,0,0,0
$GC,10803,0.57,146.1,268.3,19.3,615,10807,0.00,2.00,0.00,0.000,4,0.000,0.062,2007,3905,1887,0,0,0,0,0,0
$GC,10850,0.57,146.1,258.3,22.4,617,10855,0.12,1.95,0.00,0.000,6,0.231,0.041,1990,2668,1887,0,0,0,0,0,0
$GC,11175,0.57,146.1,197.2,17.9,645,11179,0.00,2.03,0.00,0.000,4,0.000,0.063,1990,3910,1888,0,0,0,0,0,0
$GC,11233,0.57,146.1,185.3,20.9,650,11236,0.00,1.98,0.00,0.000,6,0.000,0.041,1998,2659,1887,0,0,0,0,0,0
$GC,11565,0.57,146.1,123.6,18.0,681,11569,0.00,2.03,0.00,0.000,4,0.000,0.063,1999,3900,1888,0,0,0,0,0,0
$GC,11669,0.57,146.1,103.5,19.4,690,11673,0.00,1.95,0.00,0.000,6,0.000,0.041,2008,2663,1887,0,0,0,0,0,0
$GC,12022,0.57,146.1,51.3,13.3,749,12029,0.00,2.20,0.00,0.000,4,0.000,0.049,2019,1255,1887,0,0,0,0,0,0
$GC,12073,0.57,146.1,44.9,12.3,757,12080,0.12,2.28,0.00,0.000,6,0.224,0.057,1992,2676,1887,0,0,0,0,0,0
$GC,12186,0.57,146.1,30.2,13.0,776,12195,0.00,1.98,0.00,0.000,4,0.000,0.064,1992,3890,1887,0,0,0,0,0,0
$GC,12240,0.57,146.1,21.9,16.3,784,12249,0.00,1.95,0.00,0.000,6,0.000,0.040,2000,2663,1887,0,0,0,0,0,0
$GC,12325,0.57,146.1,8.3,15.3,797,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2662,1888,0,0,0,0,0,0
$STATE,12365,end climb,SURFACE_DEPTH_REACHED
$STATE,12365,begin surface coast
$FINISH,0.8,1.025247
$STATE,12385,end surface coast,CONTROL_FINISHED_OK
$STATE,12385,begin surface
$SM_CCo,12396,23.77,0.208,0,0,1642,210.22
$SM_GC,2.35,0.00,0.00,23.77,0.000,0.000,0.208,64,2828,1642,-5.43,0.48,210.22
$IRIDIUM_FIX,-5527.50,-30.66,151214,121226
$TT8_MAMPS,0.026215
$HUMID,54.76
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.6,13.454
$10V_AH,10.1,8.632
$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,13.775,127.050,278.325,23.775,0.000,54.291,122.083,291.626,0.000,0.000,19.269,2094.706,7670.285,420.755,2721.213,152.316,33.352,1352.240,0.000,2094.451,0.000,0.539,0.000
$DEVICE_MAMPS,251.685,81.090,1823.760,208.080,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.797,1658.526,779.029,829.405,0.000,0.000,0.000,0.000,0.000,0.000
$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,57069,806
$CAP_FILE_SIZE,127922,0
$CFSIZE,259252224,224550912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151214,231828,-5551.645,-34.748,75,0.8,75,-19.9