version: 66.07
glider: 542
mission: 9
dive: 33
start: 12 16 114 3 8 42
data:
$ID,542
$MISSION,9
$DIVE,33
$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,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-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,-21777.512
$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,34
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$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
$GPS1,161214,025928,-5552.100,-35.346,46,0.8,46,-19.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-53.8
$GPS2,161214,030748,-5552.018,-35.255,22,1.1,22,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.016,-0.230
$KALMAN_X,23783.0,-1097.2,-431.5,-58672.6,3432.0
$KALMAN_Y,6790.6,-1172.2,-839.3,10350.9,13442.8
$MHEAD_RNG_PITCHd_Wd,195.9,15753,-17.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.58,-146.1,0.0,0.0,0,68,0.00,0.00,-50.50,0.000,2,0.000,0.000,56,2793,2583,0,0,0,0,0,0
$GC,70,-0.58,-146.1,3.0,-3.8,6,96,6.45,1.90,-10.18,0.000,4,0.259,0.083,1599,3895,2935,0,0,0,0,0,0
$GC,349,-0.58,-146.1,53.8,-16.4,51,356,0.00,1.77,0.00,0.000,6,0.000,0.039,1599,2804,2936,0,0,0,0,0,0
$GC,461,-0.58,-146.1,73.8,-17.3,70,470,0.00,1.85,0.00,0.000,4,0.000,0.064,1591,3897,2936,0,0,0,0,0,0
$GC,569,-0.58,-146.1,93.6,-19.2,88,577,0.00,1.75,0.00,0.000,6,0.000,0.038,1591,2809,2936,0,0,0,0,0,0
$GC,799,-0.58,-146.1,135.9,-19.1,112,803,0.00,1.83,0.00,0.000,4,0.000,0.065,1582,3909,2936,0,0,0,0,0,0
$GC,826,-0.58,-146.1,141.7,-20.1,114,836,0.08,1.77,0.00,0.000,6,0.188,0.037,1605,2799,2936,0,0,0,0,0,0
$GC,1154,-0.58,-146.1,194.9,-15.7,145,1158,0.00,1.80,0.00,0.000,4,0.000,0.065,1597,3901,2936,0,0,0,0,0,0
$GC,1215,-0.58,-146.1,205.8,-15.9,150,1226,0.00,1.75,0.00,0.000,6,0.000,0.037,1603,2808,2936,0,0,0,0,0,0
$GC,1540,-0.58,-146.1,253.7,-14.8,180,1544,0.00,1.80,0.00,0.000,4,0.000,0.065,1595,3902,2936,0,0,0,0,0,0
$GC,1634,-0.58,-146.1,269.0,-16.0,184,1639,0.00,1.75,0.00,0.000,6,0.000,0.036,1595,2806,2936,0,0,0,0,0,0
$GC,1963,-0.58,-146.1,318.2,-14.7,200,1966,0.00,1.80,0.00,0.000,4,0.000,0.066,1587,3903,2936,0,0,0,0,0,0
$GC,2078,-0.58,-146.1,336.4,-15.9,205,2082,0.00,1.67,0.00,0.000,6,0.000,0.037,1587,2808,2936,0,0,0,0,0,0
$GC,2412,-0.58,-146.1,386.1,-14.5,221,2415,0.00,1.80,0.00,0.000,4,0.000,0.065,1579,3906,2937,0,0,0,0,0,0
$GC,2459,-0.58,-146.1,393.6,-16.2,223,2464,0.12,1.70,0.00,0.000,6,0.201,0.037,1609,2805,2937,0,0,0,0,0,0
$GC,2791,-0.58,-146.1,435.9,-12.1,239,2795,0.00,1.83,0.00,0.000,4,0.000,0.066,1601,3900,2937,0,0,0,0,0,0
$GC,2903,-0.58,-146.1,450.7,-14.0,244,2907,0.00,1.67,0.00,0.000,6,0.000,0.037,1604,2807,2937,0,0,0,0,0,0
$GC,3235,-0.58,-146.1,491.4,-12.2,260,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2807,2937,0,0,0,0,0,0
$GC,3544,-0.58,-146.1,529.4,-12.4,275,3548,0.00,1.83,0.00,0.000,4,0.000,0.065,1596,3906,2937,0,0,0,0,0,0
$GC,3627,-0.58,-146.1,541.2,-14.4,278,3635,0.00,1.73,0.00,0.000,6,0.000,0.037,1596,2810,2938,0,0,0,0,0,0
$GC,3943,-0.58,-146.1,582.6,-13.3,294,3947,0.00,1.83,0.00,0.000,4,0.000,0.067,1587,3897,2938,0,0,0,0,0,0
$GC,4033,-0.58,-146.1,595.6,-14.1,298,4037,0.00,1.73,0.00,0.000,6,0.000,0.038,1587,2805,2938,0,0,0,0,0,0
$GC,4364,-0.58,-146.1,641.0,-13.5,314,4368,0.00,1.80,0.00,0.000,4,0.000,0.065,1579,3907,2938,0,0,0,0,0,0
$GC,4458,-0.58,-146.1,655.1,-14.4,318,4463,0.10,1.73,0.00,0.000,6,0.183,0.036,1609,2803,2938,0,0,0,0,0,0
$GC,4785,-0.58,-146.1,693.4,-11.5,334,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2803,2938,0,0,0,0,0,0
$GC,5094,-0.58,-146.1,728.5,-11.3,349,5097,0.00,1.80,0.00,0.000,4,0.000,0.066,1601,3903,2938,0,0,0,0,0,0
$GC,5171,-0.58,-146.1,738.6,-13.0,352,5176,0.00,1.73,0.00,0.000,6,0.000,0.036,1601,2806,2938,0,0,0,0,0,0
$GC,5492,-0.58,-146.1,777.3,-12.0,368,5496,0.00,1.80,0.00,0.000,4,0.000,0.065,1593,3909,2938,0,0,0,0,0,0
$GC,5565,-0.58,-146.1,787.0,-14.2,371,5568,0.00,1.70,0.00,0.000,6,0.000,0.036,1593,2807,2938,0,0,0,0,0,0
$GC,5891,-0.58,-146.1,828.9,-12.9,387,5895,0.00,1.80,0.00,0.000,4,0.000,0.065,1584,3912,2937,0,0,0,0,0,0
$GC,5936,-0.58,-146.1,834.9,-14.4,389,5940,0.10,1.70,0.00,0.000,6,0.209,0.037,1608,2802,2937,0,0,0,0,0,0
$GC,6268,-0.58,-146.1,874.4,-11.7,405,6272,0.00,1.80,0.00,0.000,4,0.000,0.065,1599,3909,2937,0,0,0,0,0,0
$GC,6322,-0.58,-146.1,881.7,-13.8,407,6327,0.00,1.73,0.00,0.000,6,0.000,0.036,1599,2810,2937,0,0,0,0,0,0
$GC,6644,-0.58,-146.1,920.5,-12.2,423,6648,0.00,1.80,0.00,0.000,4,0.000,0.066,1591,3914,2937,0,0,0,0,0,0
$GC,6721,-0.58,-146.1,931.0,-13.8,426,6726,0.00,1.73,0.00,0.000,6,0.000,0.036,1591,2807,2938,0,0,0,0,0,0
$GC,7043,-0.58,-146.1,970.9,-12.2,442,7047,0.00,1.80,0.00,0.000,4,0.000,0.065,1582,3913,2937,0,0,0,0,0,0
$GC,7088,-0.58,-146.1,977.1,-14.7,444,7092,0.12,1.70,0.00,0.000,6,0.200,0.036,1613,2802,2937,0,0,0,0,0,0
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7320,-0.16,0.0,1001.3,10.3,455,7458,0.43,0.00,132.85,1.812,6,0.161,0.000,1742,2650,2342,0,0,0,0,0,0
$STATE,7459,end apogee,CONTROL_FINISHED_OK
$STATE,7459,begin climb
$GC,7460,0.58,146.1,1004.0,0.0,462,7615,0.77,2.60,145.48,1.763,4,0.122,0.050,1986,1285,1745,0,0,0,0,0,0
$GC,7627,0.58,146.1,981.2,18.6,470,7631,0.00,2.58,0.00,0.000,6,0.000,0.053,1986,2676,1744,0,0,0,0,0,0
$GC,7953,0.58,146.1,915.4,20.5,486,7956,0.00,2.10,0.00,0.000,4,0.000,0.060,1986,3903,1736,0,0,0,0,0,0
$GC,7992,0.58,146.1,906.3,24.2,488,7995,0.00,2.03,0.00,0.000,6,0.000,0.041,1995,2700,1734,0,0,0,0,0,0
$GC,8323,0.58,146.1,834.7,21.6,504,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2700,1733,0,0,0,0,0,0
$GC,8633,0.58,146.1,767.6,21.5,519,8636,0.00,2.00,0.00,0.000,4,0.000,0.061,1995,3900,1732,0,0,0,0,0,0
$GC,8659,0.58,146.1,761.1,23.3,520,8664,0.00,2.03,0.00,0.000,6,0.000,0.040,2005,2669,1732,0,0,0,0,0,0
$GC,8986,0.58,146.1,689.1,21.6,536,8990,0.00,2.05,0.00,0.000,4,0.000,0.061,2005,3910,1732,0,0,0,0,0,0
$GC,9035,0.58,146.1,677.2,24.2,538,9040,0.00,2.03,0.00,0.000,6,0.000,0.041,2015,2673,1731,0,0,0,0,0,0
$GC,9363,0.58,146.1,605.4,21.9,554,9366,0.00,2.03,0.00,0.000,4,0.000,0.060,2015,3907,1731,0,0,0,0,0,0
$GC,9400,0.58,146.1,596.1,25.4,555,9408,0.10,2.00,0.00,0.000,6,0.213,0.041,1998,2673,1730,0,0,0,0,0,0
$GC,9717,0.58,146.1,532.3,19.9,571,9720,0.00,2.03,0.00,0.000,4,0.000,0.061,1998,3900,1730,0,0,0,0,0,0
$GC,9784,0.58,146.1,517.6,22.8,574,9788,0.00,1.98,0.00,0.000,6,0.000,0.041,2006,2664,1729,0,0,0,0,0,0
$GC,10116,0.58,146.1,449.1,20.6,590,10120,0.00,2.03,0.00,0.000,4,0.000,0.061,2006,3909,1729,0,0,0,0,0,0
$GC,10130,0.58,146.1,445.3,20.5,590,10139,0.00,2.00,0.00,0.000,6,0.000,0.039,2016,2666,1730,0,0,0,0,0,0
$GC,10447,0.58,146.1,378.9,21.0,606,10451,0.00,2.03,0.00,0.000,4,0.000,0.061,2016,3902,1729,0,0,0,0,0,0
$GC,10508,0.58,146.1,364.8,23.6,608,10518,0.10,1.98,0.00,0.000,6,0.212,0.041,1998,2672,1729,0,0,0,0,0,0
$GC,10824,0.58,146.1,304.6,19.1,624,10827,0.00,2.03,0.00,0.000,4,0.000,0.060,1998,3908,1729,0,0,0,0,0,0
$GC,10873,0.58,146.1,293.8,21.5,626,10878,0.00,2.00,0.00,0.000,6,0.000,0.041,2006,2665,1729,0,0,0,0,0,0
$GC,11195,0.58,146.1,231.9,19.4,645,11199,0.00,2.03,0.00,0.000,4,0.000,0.061,2007,3903,1729,0,0,0,0,0,0
$GC,11245,0.58,146.1,220.1,22.3,649,11253,0.00,2.00,0.00,0.000,6,0.000,0.041,2016,2660,1729,0,0,0,0,0,0
$GC,11571,0.58,146.1,156.5,18.8,680,11575,0.00,2.05,0.00,0.000,4,0.000,0.061,2016,3901,1729,0,0,0,0,0,0
$GC,11608,0.58,146.1,147.8,23.8,683,11617,0.10,1.98,0.00,0.000,6,0.211,0.041,1998,2671,1728,0,0,0,0,0,0
$GC,11938,0.58,146.1,93.0,13.9,718,11945,0.00,2.00,0.00,0.000,4,0.000,0.061,1998,3911,1729,0,0,0,0,0,0
$GC,11951,0.58,146.1,90.8,14.4,720,11959,0.00,1.98,0.00,0.000,6,0.000,0.040,2006,2673,1728,0,0,0,0,0,0
$GC,12192,0.58,146.1,53.8,14.9,761,12199,0.00,2.03,0.00,0.000,4,0.000,0.065,2006,3907,1728,0,0,0,0,0,0
$GC,12277,0.58,146.1,39.4,17.5,775,12284,0.00,1.98,0.00,0.000,6,0.000,0.041,2016,2645,1728,0,0,0,0,0,0
$GC,12394,0.58,146.1,19.1,18.4,794,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2645,1728,0,0,0,0,0,0
$GC,12478,0.58,146.1,5.3,18.7,807,12487,0.00,2.08,0.00,0.000,4,0.000,0.063,2016,3898,1728,0,0,0,0,0,0
$STATE,12494,end climb,SURFACE_DEPTH_REACHED
$STATE,12494,begin surface coast
$FINISH,0.9,1.027249
$STATE,12502,end surface coast,CONTROL_FINISHED_OK
$STATE,12502,begin surface
$SM_CCo,12516,24.38,0.207,0,0,1482,210.22
$SM_GC,2.00,0.00,0.00,24.38,0.000,0.000,0.207,62,2800,1482,-5.44,-0.28,210.22
$IRIDIUM_FIX,-5527.50,-34.49,151214,232340
$TT8_MAMPS,0.025466
$HUMID,55.07
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.6,13.789
$10V_AH,10.1,8.842
$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,13.725,117.650,278.325,24.375,0.000,26.030,22.732,335.629,0.000,0.000,24.495,2073.504,7805.952,427.587,2585.836,150.148,33.355,1331.334,0.000,2046.084,0.000,0.540,0.000
$DEVICE_MAMPS,258.570,83.385,1812.285,206.550,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,575.394,1668.077,782.286,816.376,0.000,0.000,0.000,0.000,0.000,0.000
$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,57084,810
$CAP_FILE_SIZE,122954,0
$CFSIZE,259252224,224419840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161214,063857,-5552.343,-35.447,37,1.6,39,-19.9