version: 66.07
glider: 542
mission: 9
dive: 35
start: 12 16 114 10 20 27
data:
$ID,542
$MISSION,9
$DIVE,35
$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,-21782.17
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,161214,101135,-5552.328,-35.832,26,1.6,26,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-55.4
$GPS2,161214,101933,-5552.222,-35.747,16,1.3,31,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.045,-0.226
$KALMAN_X,20635.3,-180.5,-473.4,-56926.5,262.4
$KALMAN_Y,13784.6,-1312.2,-468.6,2756.4,13947.5
$MHEAD_RNG_PITCHd_Wd,188.5,15586,-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,-49.33,0.000,2,0.000,0.000,62,2805,2555,0,0,0,0,0,0
$GC,68,-0.58,-146.1,3.0,-3.6,6,95,6.47,1.88,-11.55,0.000,4,0.262,0.081,1597,3899,2937,0,0,0,0,0,0
$GC,323,-0.58,-146.1,51.9,-17.7,47,330,0.00,1.77,0.00,0.000,6,0.000,0.037,1599,2804,2938,0,0,0,0,0,0
$GC,436,-0.58,-146.1,71.1,-16.8,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2804,2938,0,0,0,0,0,0
$GC,550,-0.58,-146.1,89.3,-16.0,85,556,0.00,1.83,0.00,0.000,4,0.000,0.064,1591,3900,2938,0,0,0,0,0,0
$GC,591,-0.58,-146.1,96.5,-17.4,92,598,0.00,1.77,0.00,0.000,6,0.000,0.039,1592,2803,2939,0,0,0,0,0,0
$GC,820,-0.58,-146.1,132.9,-16.3,115,824,0.00,1.83,0.00,0.000,4,0.000,0.065,1584,3899,2939,0,0,0,0,0,0
$GC,868,-0.58,-146.1,140.8,-17.4,119,872,0.00,1.73,0.00,0.000,6,0.000,0.037,1589,2807,2939,0,0,0,0,0,0
$GC,1198,-0.58,-146.1,192.6,-16.2,150,1202,0.00,1.83,0.00,0.000,4,0.000,0.066,1581,3894,2939,0,0,0,0,0,0
$GC,1266,-0.58,-146.1,204.5,-18.1,156,1270,0.12,1.73,0.00,0.000,6,0.207,0.037,1611,2796,2939,0,0,0,0,0,0
$GC,1607,-0.58,-146.1,253.8,-13.6,187,1611,0.00,1.83,0.00,0.000,4,0.000,0.065,1603,3901,2939,0,0,0,0,0,0
$GC,1707,-0.58,-146.1,269.8,-15.0,191,1712,0.00,1.73,0.00,0.000,6,0.000,0.036,1603,2810,2939,0,0,0,0,0,0
$GC,2031,-0.58,-146.1,317.5,-14.9,207,2035,0.00,1.80,0.00,0.000,4,0.000,0.065,1594,3905,2939,0,0,0,0,0,0
$GC,2086,-0.58,-146.1,327.0,-15.5,209,2091,0.00,1.73,0.00,0.000,6,0.000,0.036,1594,2810,2939,0,0,0,0,0,0
$GC,2410,-0.58,-146.1,377.3,-16.2,225,2414,0.00,1.77,0.00,0.000,4,0.000,0.063,1585,3896,2939,0,0,0,0,0,0
$GC,2465,-0.58,-146.1,387.8,-18.2,227,2469,0.00,1.70,0.00,0.000,6,0.000,0.036,1586,2812,2939,0,0,0,0,0,0
$GC,2786,-0.58,-146.1,442.8,-17.3,243,2790,0.00,1.77,0.00,0.000,4,0.000,0.064,1578,3899,2939,0,0,0,0,0,0
$GC,2864,-0.58,-146.1,458.1,-19.6,246,2869,0.10,1.70,0.00,0.000,6,0.185,0.037,1607,2808,2939,0,0,0,0,0,0
$GC,3185,-0.58,-146.1,509.9,-15.7,262,3188,0.00,1.80,0.00,0.000,4,0.000,0.064,1599,3907,2939,0,0,0,0,0,0
$GC,3233,-0.58,-146.1,518.2,-16.3,264,3238,0.00,1.75,0.00,0.000,6,0.000,0.036,1602,2806,2939,0,0,0,0,0,0
$GC,3561,-0.58,-146.1,568.6,-14.9,280,3565,0.00,1.77,0.00,0.000,4,0.000,0.064,1594,3896,2939,0,0,0,0,0,0
$GC,3666,-0.58,-146.1,585.9,-15.6,284,3674,0.00,1.73,0.00,0.000,6,0.000,0.036,1594,2798,2939,0,0,0,0,0,0
$GC,3983,-0.58,-146.1,632.3,-14.4,300,3987,0.00,1.83,0.00,0.000,4,0.000,0.065,1586,3900,2940,0,0,0,0,0,0
$GC,4054,-0.58,-146.1,643.8,-15.1,303,4059,0.00,1.73,0.00,0.000,6,0.000,0.035,1586,2801,2940,0,0,0,0,0,0
$GC,4382,-0.58,-146.1,691.3,-14.4,319,4386,0.00,1.80,0.00,0.000,4,0.000,0.064,1577,3906,2939,0,0,0,0,0,0
$GC,4454,-0.58,-146.1,702.8,-15.7,322,4459,0.10,1.73,0.00,0.000,6,0.184,0.037,1607,2802,2940,0,0,0,0,0,0
$GC,4780,-0.58,-146.1,743.6,-12.0,338,4784,0.00,1.80,0.00,0.000,4,0.000,0.065,1600,3905,2940,0,0,0,0,0,0
$GC,4841,-0.58,-146.1,751.7,-13.3,340,4848,0.00,1.73,0.00,0.000,6,0.000,0.036,1602,2804,2940,0,0,0,0,0,0
$GC,5156,-0.58,-146.1,790.5,-12.0,356,5160,0.00,1.80,0.00,0.000,4,0.000,0.065,1594,3893,2940,0,0,0,0,0,0
$GC,5246,-0.58,-146.1,802.2,-12.8,360,5250,0.00,1.67,0.00,0.000,6,0.000,0.037,1593,2806,2940,0,0,0,0,0,0
$GC,5578,-0.58,-146.1,841.9,-11.8,376,5582,0.00,1.77,0.00,0.000,4,0.000,0.064,1585,3897,2940,0,0,0,0,0,0
$GC,5626,-0.58,-146.1,848.5,-12.7,378,5631,0.00,1.73,0.00,0.000,6,0.000,0.036,1585,2797,2940,0,0,0,0,0,0
$GC,5954,-0.58,-146.1,887.9,-11.8,394,5957,0.00,1.80,0.00,0.000,4,0.000,0.064,1577,3902,2940,0,0,0,0,0,0
$GC,6009,-0.58,-146.1,895.1,-13.2,396,6014,0.10,1.73,0.00,0.000,6,0.186,0.036,1607,2795,2940,0,0,0,0,0,0
$GC,6330,-0.58,-146.1,928.0,-10.0,412,6334,0.00,1.83,0.00,0.000,4,0.000,0.064,1598,3900,2940,0,0,0,0,0,0
$GC,6384,-0.58,-146.1,934.4,-11.9,414,6388,0.00,1.70,0.00,0.000,6,0.000,0.035,1602,2809,2940,0,0,0,0,0,0
$GC,6705,-0.58,-146.1,967.8,-10.2,430,6709,0.00,1.77,0.00,0.000,4,0.000,0.065,1594,3900,2940,0,0,0,0,0,0
$GC,6767,-0.58,-146.1,974.9,-11.9,432,6774,0.00,1.70,0.00,0.000,6,0.000,0.036,1594,2807,2940,0,0,0,0,0,0
$STATE,6998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6998,begin apogee
$GC,7003,-0.16,0.0,1000.4,10.7,444,7141,0.50,0.00,133.25,1.808,6,0.178,0.000,1740,2652,2342,0,0,0,0,0,0
$STATE,7142,end apogee,CONTROL_FINISHED_OK
$STATE,7142,begin climb
$GC,7144,0.58,146.1,1002.7,0.0,451,7294,0.80,0.00,146.02,1.759,6,0.123,0.000,1980,2652,1746,0,0,0,0,0,0
$GC,7595,0.58,146.1,920.7,20.0,473,7599,0.00,2.17,0.00,0.000,4,0.000,0.061,1980,3899,1737,0,0,0,0,0,0
$GC,7644,0.58,146.1,909.8,22.5,475,7649,0.00,2.03,0.00,0.000,6,0.000,0.039,1989,2712,1735,0,0,0,0,0,0
$GC,7972,0.58,146.1,840.3,20.9,491,7976,0.00,2.00,0.00,0.000,4,0.000,0.060,1990,3898,1733,0,0,0,0,0,0
$GC,7994,0.58,146.1,835.0,23.3,492,7998,0.00,2.03,0.00,0.000,6,0.000,0.040,1999,2662,1733,0,0,0,0,0,0
$GC,8326,0.58,146.1,762.9,21.5,508,8330,0.00,2.05,0.00,0.000,4,0.000,0.060,2000,3894,1732,0,0,0,0,0,0
$GC,8373,0.58,146.1,753.0,24.6,510,8377,0.00,2.00,0.00,0.000,6,0.000,0.041,2009,2662,1732,0,0,0,0,0,0
$GC,8705,0.58,146.1,679.2,21.4,526,8709,0.00,2.05,0.00,0.000,4,0.000,0.060,2009,3894,1732,0,0,0,0,0,0
$GC,8781,0.58,146.1,660.6,23.4,529,8786,0.00,2.00,0.00,0.000,6,0.000,0.040,2018,2671,1731,0,0,0,0,0,0
$GC,9104,0.58,146.1,588.4,22.6,545,9108,0.00,2.03,0.00,0.000,4,0.000,0.060,2018,3903,1731,0,0,0,0,0,0
$GC,9158,0.58,146.1,574.8,25.4,547,9163,0.12,2.00,0.00,0.000,6,0.215,0.040,1994,2669,1730,0,0,0,0,0,0
$GC,9480,0.58,146.1,509.7,20.2,563,9484,0.00,2.03,0.00,0.000,4,0.000,0.060,1994,3899,1730,0,0,0,0,0,0
$GC,9540,0.58,146.1,496.0,22.7,565,9548,0.00,2.00,0.00,0.000,6,0.000,0.040,2003,2661,1730,0,0,0,0,0,0
$GC,9856,0.58,146.1,432.1,19.8,581,9860,0.00,2.03,0.00,0.000,4,0.000,0.060,2003,3894,1730,0,0,0,0,0,0
$GC,9902,0.58,146.1,422.2,23.2,583,9906,0.00,1.95,0.00,0.000,6,0.000,0.041,2012,2668,1730,0,0,0,0,0,0
$GC,10237,0.58,146.1,352.9,20.7,599,10241,0.00,2.00,0.00,0.000,4,0.000,0.060,2013,3901,1730,0,0,0,0,0,0
$GC,10284,0.58,146.1,341.9,23.5,601,10289,0.12,1.95,0.00,0.000,6,0.230,0.041,1995,2657,1729,0,0,0,0,0,0
$GC,10613,0.58,146.1,279.5,18.6,617,10616,0.00,2.03,0.00,0.000,4,0.000,0.060,1995,3896,1730,0,0,0,0,0,0
$GC,10661,0.58,146.1,268.3,21.5,619,10667,0.00,1.98,0.00,0.000,6,0.000,0.040,2003,2663,1729,0,0,0,0,0,0
$GC,10987,0.58,146.1,205.1,20.6,645,10991,0.00,2.00,0.00,0.000,4,0.000,0.062,2004,3900,1729,0,0,0,0,0,0
$GC,11020,0.58,146.1,197.6,21.4,648,11024,0.00,1.92,0.00,0.000,6,0.000,0.040,2013,2666,1729,0,0,0,0,0,0
$GC,11353,0.58,146.1,133.6,18.9,679,11357,0.00,2.03,0.00,0.000,4,0.000,0.061,2013,3905,1729,0,0,0,0,0,0
$GC,11403,0.58,146.1,122.1,22.2,683,11413,0.10,1.98,0.00,0.000,6,0.214,0.041,1995,2677,1729,0,0,0,0,0,0
$GC,11749,0.58,146.1,62.7,16.1,733,11756,0.00,2.22,0.00,0.000,4,0.000,0.050,2005,1260,1729,0,0,0,0,0,0
$GC,11780,0.58,146.1,57.1,16.1,738,11789,0.00,2.28,0.00,0.000,6,0.000,0.055,2005,2660,1729,0,0,0,0,0,0
$GC,11897,0.58,146.1,38.0,17.0,757,11904,0.00,1.98,0.00,0.000,4,0.000,0.063,2005,3897,1729,0,0,0,0,0,0
$GC,11912,0.58,146.1,35.2,17.5,759,11919,0.00,1.98,0.00,0.000,6,0.000,0.041,2015,2639,1729,0,0,0,0,0,0
$GC,12030,0.58,146.1,12.7,19.7,778,12039,0.00,2.10,0.00,0.000,4,0.000,0.066,2015,3899,1729,0,0,0,0,0,0
$GC,12066,0.58,146.1,5.6,19.6,783,12075,0.10,1.98,0.00,0.000,6,0.206,0.044,1996,2669,1728,0,0,0,0,0,0
$STATE,12082,end climb,SURFACE_DEPTH_REACHED
$STATE,12083,begin surface coast
$FINISH,1.0,1.006281
$STATE,12096,end surface coast,CONTROL_FINISHED_OK
$STATE,12096,begin surface
$SM_CCo,12109,24.52,0.205,0,0,1482,210.22
$SM_GC,1.99,0.00,0.00,24.52,0.000,0.000,0.205,68,2831,1482,-5.42,0.59,210.22
$IRIDIUM_FIX,-5531.31,-34.53,161214,060620
$TT8_MAMPS,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.6,14.112
$10V_AH,10.1,9.046
$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,13.925,120.700,279.275,24.525,0.000,26.900,45.831,281.822,0.000,0.000,34.088,2030.787,7482.537,440.346,2509.062,150.676,33.363,1309.191,0.000,1992.338,0.000,0.539,0.000
$DEVICE_MAMPS,262.395,81.090,1807.695,205.020,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.145,1620.925,769.074,800.274,0.000,0.000,0.000,0.000,0.000,0.000
$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,53687,787
$CAP_FILE_SIZE,121887,0
$CFSIZE,259252224,224280576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161214,134352,-5552.641,-36.192,36,0.7,36,-19.8