version: 66.07
glider: 542
mission: 9
dive: 34
start: 12 16 114 6 47 23
data:
$ID,542
$MISSION,9
$DIVE,34
$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,-21779.84
$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,36
$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
$GPS1,161214,063857,-5552.343,-35.447,37,1.6,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-58.6
$GPS2,161214,064629,-5552.239,-35.350,19,1.1,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.036,-0.228
$KALMAN_X,22264.6,-887.7,7.5,-57910.3,1023.9
$KALMAN_Y,10362.9,-1106.7,-1026.3,6496.1,14489.2
$MHEAD_RNG_PITCHd_Wd,191.1,15404,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-146.1,0.0,0.0,0,66,0.00,0.00,-49.10,0.000,2,0.000,0.000,61,2799,2553,0,0,0,0,0,0
$GC,68,-0.58,-146.1,3.3,-4.7,6,94,6.47,1.85,-11.90,0.000,4,0.262,0.084,1597,3900,2938,0,0,0,0,0,0
$GC,102,-0.58,-146.1,7.8,-10.2,10,112,0.00,1.77,0.00,0.000,6,0.000,0.036,1604,2805,2939,0,0,0,0,0,0
$GC,187,-0.58,-146.1,22.9,-17.6,23,196,0.00,1.88,0.00,0.000,4,0.000,0.065,1596,3904,2939,0,0,0,0,0,0
$GC,461,-0.58,-146.1,78.4,-18.2,69,468,0.00,1.77,0.00,0.000,6,0.000,0.037,1604,2809,2940,0,0,0,0,0,0
$GC,574,-0.58,-146.1,97.5,-17.3,88,581,0.00,1.85,0.00,0.000,4,0.000,0.064,1596,3903,2940,0,0,0,0,0,0
$GC,693,-0.58,-146.1,120.1,-17.6,99,697,0.00,1.73,0.00,0.000,6,0.000,0.037,1602,2807,2940,0,0,0,0,0,0
$GC,1025,-0.58,-146.1,176.3,-16.5,130,1028,0.00,1.83,0.00,0.000,4,0.000,0.065,1594,3907,2940,0,0,0,0,0,0
$GC,1109,-0.58,-146.1,191.5,-16.9,137,1117,0.00,1.77,0.00,0.000,6,0.000,0.037,1594,2800,2940,0,0,0,0,0,0
$GC,1435,-0.58,-146.1,240.5,-14.4,168,1438,0.00,1.83,0.00,0.000,4,0.000,0.065,1586,3903,2940,0,0,0,0,0,0
$GC,1530,-0.58,-146.1,255.7,-15.1,175,1535,0.00,1.77,0.00,0.000,6,0.000,0.037,1586,2793,2940,0,0,0,0,0,0
$GC,1859,-0.58,-146.1,302.5,-14.1,191,1863,0.00,1.83,0.00,0.000,4,0.000,0.066,1578,3903,2940,0,0,0,0,0,0
$GC,1943,-0.58,-146.1,316.1,-15.9,194,1953,0.10,1.75,0.00,0.000,6,0.187,0.037,1607,2797,2939,0,0,0,0,0,0
$GC,2260,-0.58,-146.1,355.8,-12.5,210,2264,0.00,1.83,0.00,0.000,4,0.000,0.065,1599,3907,2940,0,0,0,0,0,0
$GC,2321,-0.58,-146.1,364.6,-13.9,212,2331,0.00,1.73,0.00,0.000,6,0.000,0.037,1606,2811,2939,0,0,0,0,0,0
$GC,2637,-0.58,-146.1,406.5,-13.2,228,2640,0.00,1.80,0.00,0.000,4,0.000,0.066,1598,3907,2940,0,0,0,0,0,0
$GC,2685,-0.58,-146.1,413.7,-14.0,230,2691,0.00,1.75,0.00,0.000,6,0.000,0.036,1598,2806,2939,0,0,0,0,0,0
$GC,3013,-0.58,-146.1,459.2,-14.3,246,3017,0.00,1.80,0.00,0.000,4,0.000,0.066,1589,3906,2940,0,0,0,0,0,0
$GC,3090,-0.58,-146.1,471.8,-15.7,249,3095,0.00,1.73,0.00,0.000,6,0.000,0.037,1589,2809,2940,0,0,0,0,0,0
$GC,3412,-0.58,-146.1,520.5,-15.0,265,3415,0.00,1.80,0.00,0.000,4,0.000,0.065,1581,3912,2940,0,0,0,0,0,0
$GC,3506,-0.58,-146.1,536.4,-16.9,269,3511,0.08,1.73,0.00,0.000,6,0.186,0.036,1603,2806,2940,0,0,0,0,0,0
$GC,3832,-0.58,-146.1,582.5,-14.1,285,3836,0.00,1.80,0.00,0.000,4,0.000,0.065,1595,3906,2940,0,0,0,0,0,0
$GC,3887,-0.58,-146.1,591.1,-15.7,287,3891,0.00,1.73,0.00,0.000,6,0.000,0.037,1603,2810,2940,0,0,0,0,0,0
$GC,4208,-0.58,-146.1,635.7,-13.9,303,4212,0.00,1.80,0.00,0.000,4,0.000,0.064,1595,3896,2940,0,0,0,0,0,0
$GC,4298,-0.58,-146.1,649.6,-15.8,307,4302,0.00,1.70,0.00,0.000,6,0.000,0.036,1602,2801,2940,0,0,0,0,0,0
$GC,4630,-0.58,-146.1,695.6,-13.8,323,4633,0.00,1.80,0.00,0.000,4,0.000,0.065,1594,3903,2940,0,0,0,0,0,0
$GC,4720,-0.58,-146.1,709.2,-15.1,327,4723,0.00,1.70,0.00,0.000,6,0.000,0.037,1594,2804,2940,0,0,0,0,0,0
$GC,5052,-0.58,-146.1,756.0,-13.7,343,5056,0.00,1.80,0.00,0.000,4,0.000,0.065,1586,3893,2940,0,0,0,0,0,0
$GC,5111,-0.58,-146.1,765.1,-15.4,345,5120,0.00,1.70,0.00,0.000,6,0.000,0.036,1586,2806,2940,0,0,0,0,0,0
$GC,5428,-0.58,-146.1,810.8,-14.6,361,5431,0.00,1.80,0.00,0.000,4,0.000,0.065,1578,3911,2940,0,0,0,0,0,0
$GC,5484,-0.58,-146.1,819.5,-16.3,363,5488,0.12,1.67,0.00,0.000,6,0.204,0.037,1608,2805,2940,0,0,0,0,0,0
$GC,5804,-0.58,-146.1,859.0,-11.9,379,5807,0.00,1.80,0.00,0.000,4,0.000,0.065,1599,3907,2940,0,0,0,0,0,0
$GC,5849,-0.58,-146.1,864.7,-13.0,381,5853,0.00,1.67,0.00,0.000,6,0.000,0.036,1599,2806,2940,0,0,0,0,0,0
$GC,6181,-0.58,-146.1,904.2,-11.7,397,6185,0.00,1.80,0.00,0.000,4,0.000,0.066,1591,3910,2940,0,0,0,0,0,0
$GC,6241,-0.58,-146.1,912.2,-13.5,399,6249,0.00,1.73,0.00,0.000,6,0.000,0.035,1591,2804,2940,0,0,0,0,0,0
$GC,6558,-0.58,-146.1,950.3,-12.0,415,6562,0.00,1.80,0.00,0.000,4,0.000,0.065,1583,3894,2940,0,0,0,0,0,0
$GC,6634,-0.58,-146.1,960.7,-13.7,418,6640,0.08,1.73,0.00,0.000,6,0.187,0.035,1605,2799,2940,0,0,0,0,0,0
$GC,6957,-0.58,-146.1,995.2,-10.6,434,6960,0.00,1.77,0.00,0.000,4,0.000,0.065,1597,3902,2940,0,0,0,0,0,0
$STATE,7000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7000,begin apogee
$GC,7006,-0.16,0.0,1000.4,12.4,436,7144,0.47,0.00,133.23,1.803,6,0.170,0.000,1745,2673,2342,0,0,0,0,0,0
$STATE,7145,end apogee,CONTROL_FINISHED_OK
$STATE,7145,begin climb
$GC,7146,0.58,146.1,1003.2,0.0,443,7299,0.77,2.62,145.23,1.758,4,0.119,0.048,1988,1269,1746,0,0,0,0,0,0
$GC,7314,0.58,146.1,978.6,18.8,451,7320,0.00,2.60,0.00,0.000,6,0.000,0.052,1988,2663,1744,0,0,0,0,0,0
$GC,7643,0.58,146.1,909.1,21.6,467,7647,0.00,2.12,0.00,0.000,4,0.000,0.061,1989,3906,1736,0,0,0,0,0,0
$GC,7710,0.58,146.1,893.2,24.6,470,7713,0.00,2.05,0.00,0.000,6,0.000,0.041,1997,2683,1734,0,0,0,0,0,0
$GC,8041,0.58,146.1,817.7,23.0,486,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2681,1733,0,0,0,0,0,0
$GC,8351,0.58,146.1,746.0,23.0,501,8355,0.00,2.03,0.00,0.000,4,0.000,0.060,1998,3903,1732,0,0,0,0,0,0
$GC,8396,0.58,146.1,734.1,28.4,503,8400,0.00,2.03,0.00,0.000,6,0.000,0.041,2007,2655,1731,0,0,0,0,0,0
$GC,8728,0.58,146.1,656.5,22.9,519,8732,0.00,2.05,0.00,0.000,4,0.000,0.061,2007,3903,1732,0,0,0,0,0,0
$GC,8798,0.58,146.1,638.2,25.1,522,8803,0.00,2.03,0.00,0.000,6,0.000,0.041,2017,2662,1731,0,0,0,0,0,0
$GC,9126,0.58,146.1,562.2,23.0,538,9130,0.00,2.05,0.00,0.000,4,0.000,0.061,2017,3902,1731,0,0,0,0,0,0
$GC,9205,0.58,146.1,542.9,24.8,541,9209,0.15,1.98,0.00,0.000,6,0.229,0.041,1993,2658,1730,0,0,0,0,0,0
$GC,9520,0.58,146.1,480.5,19.4,556,9523,0.00,2.05,0.00,0.000,4,0.000,0.060,1993,3903,1730,0,0,0,0,0,0
$GC,9564,0.58,146.1,470.7,21.7,558,9568,0.00,1.98,0.00,0.000,6,0.000,0.041,2002,2666,1730,0,0,0,0,0,0
$GC,9897,0.58,146.1,403.4,19.8,574,9901,0.00,2.03,0.00,0.000,4,0.000,0.061,2002,3913,1730,0,0,0,0,0,0
$GC,9941,0.58,146.1,393.5,22.7,576,9945,0.00,1.98,0.00,0.000,6,0.000,0.041,2012,2670,1730,0,0,0,0,0,0
$GC,10274,0.58,146.1,324.8,20.6,592,10277,0.00,2.03,0.00,0.000,4,0.000,0.061,2011,3905,1730,0,0,0,0,0,0
$GC,10319,0.58,146.1,314.5,23.2,594,10323,0.12,1.98,0.00,0.000,6,0.233,0.041,1994,2661,1729,0,0,0,0,0,0
$GC,10644,0.58,146.1,255.2,17.6,610,10648,0.00,2.03,0.00,0.000,4,0.000,0.061,1994,3913,1730,0,0,0,0,0,0
$GC,10671,0.58,146.1,249.7,19.6,611,10676,0.00,2.00,0.00,0.000,6,0.000,0.041,2003,2668,1729,0,0,0,0,0,0
$GC,10999,0.58,146.1,190.3,18.3,641,11002,0.00,2.03,0.00,0.000,4,0.000,0.062,2003,3905,1729,0,0,0,0,0,0
$GC,11057,0.58,146.1,178.4,21.1,646,11060,0.00,1.95,0.00,0.000,6,0.000,0.041,2012,2658,1729,0,0,0,0,0,0
$GC,11389,0.58,146.1,119.1,16.2,677,11392,0.00,2.05,0.00,0.000,4,0.000,0.062,2013,3913,1729,0,0,0,0,0,0
$GC,11438,0.58,146.1,109.2,19.0,681,11447,0.10,2.00,0.00,0.000,6,0.211,0.041,1995,2664,1729,0,0,0,0,0,0
$GC,11790,0.58,146.1,56.5,14.1,737,11797,0.00,2.22,0.00,0.000,4,0.000,0.049,2004,1251,1729,0,0,0,0,0,0
$GC,11867,0.58,146.1,45.3,13.7,750,11876,0.00,2.33,0.00,0.000,6,0.000,0.056,2005,2683,1729,0,0,0,0,0,0
$GC,11983,0.58,146.1,29.1,16.5,769,11993,0.00,1.98,0.00,0.000,4,0.000,0.066,2004,3891,1729,0,0,0,0,0,0
$GC,12033,0.58,146.1,20.5,17.9,776,12042,0.00,1.95,0.00,0.000,6,0.000,0.041,2014,2663,1729,0,0,0,0,0,0
$GC,12117,0.58,146.1,5.4,16.9,789,12126,0.00,2.05,0.00,0.000,4,0.000,0.061,2014,3903,1729,0,0,0,0,0,0
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12133,begin surface coast
$FINISH,0.9,1.023658
$STATE,12153,end surface coast,CONTROL_FINISHED_OK
$STATE,12153,begin surface
$SM_CCo,12166,24.35,0.197,0,0,1484,210.22
$SM_GC,1.86,0.00,0.00,24.35,0.000,0.000,0.197,64,2807,1484,-5.43,-0.08,210.22
$IRIDIUM_FIX,-5531.31,-34.53,161214,030353
$TT8_MAMPS,0.026215
$HUMID,55.74
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.6,13.949
$10V_AH,10.1,8.945
$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,13.650,125.450,278.450,24.350,0.000,25.816,41.791,272.537,0.000,0.000,22.026,2052.673,7458.452,418.730,2557.429,157.182,33.354,1328.965,0.000,2066.502,0.000,0.540,0.000
$DEVICE_MAMPS,262.395,84.150,1803.105,197.370,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.260,1649.353,798.875,823.442,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,57051,794
$CAP_FILE_SIZE,123591,0
$CFSIZE,259252224,224350208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161214,101135,-5552.328,-35.832,26,1.6,26,-19.8