version: 66.07
glider: 542
mission: 9
dive: 44
start: 12 18 114 3 26 11
data:
$ID,542
$MISSION,9
$DIVE,44
$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,200
$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,-21803.984
$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,1790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,54
$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,2940
$C_ROLL_CLIMB,2690
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,24
$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,0.00079999998
$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
$GPS1,181214,031704,-5558.682,-35.955,38,0.9,38,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.1
$GPS2,181214,032517,-5558.640,-35.858,18,0.9,18,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.144,-0.181
$KALMAN_X,20618.3,-450.6,363.1,-57614.3,-197.7
$KALMAN_Y,35672.6,-765.1,-241.2,-31818.2,5355.3
$MHEAD_RNG_PITCHd_Wd,161.3,6568,-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,-0.44,-146.1,0.0,0.0,0,75,0.00,0.00,-57.53,0.000,2,0.000,0.000,62,2952,2812,0,0,0,0,0,0
$GC,77,-0.44,-146.1,3.4,-3.9,7,96,6.60,1.60,-3.33,0.000,4,0.261,0.079,1634,3900,2936,0,0,0,0,0,0
$GC,264,-0.44,-146.1,40.5,-15.0,37,272,0.00,1.58,0.00,0.000,6,0.000,0.037,1634,2915,2938,0,0,0,0,0,0
$GC,378,-0.44,-146.1,57.8,-15.3,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2914,2938,0,0,0,0,0,0
$GC,493,-0.44,-146.1,75.3,-15.5,75,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2914,2938,0,0,0,0,0,0
$GC,605,-0.44,-146.1,93.3,-17.1,94,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2914,2938,0,0,0,0,0,0
$GC,834,-0.44,-146.1,129.4,-15.5,119,837,0.00,1.62,0.00,0.000,4,0.000,0.067,1626,3903,2938,0,0,0,0,0,0
$GC,891,-0.44,-146.1,139.2,-15.3,124,895,0.00,1.52,0.00,0.000,6,0.000,0.037,1626,2937,2938,0,0,0,0,0,0
$GC,1223,-0.44,-146.1,187.1,-13.8,155,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2936,2938,0,0,0,0,0,0
$GC,1543,-0.44,-146.1,229.0,-12.6,185,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2936,2937,0,0,0,0,0,0
$GC,1854,-0.44,-146.1,267.2,-11.9,208,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2936,2937,0,0,0,0,0,0
$GC,2165,-0.44,-146.1,301.9,-11.3,223,2169,0.00,1.60,0.00,0.000,4,0.000,0.067,1619,3894,2937,0,0,0,0,0,0
$GC,2213,-0.44,-146.1,307.5,-12.7,225,2216,0.00,1.50,0.00,0.000,6,0.000,0.037,1619,2931,2937,0,0,0,0,0,0
$GC,2547,-0.44,-146.1,345.9,-11.5,241,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2925,2937,0,0,0,0,0,0
$GC,2855,-0.44,-146.1,381.2,-11.3,256,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2925,2937,0,0,0,0,0,0
$GC,3164,-0.44,-146.1,417.9,-11.8,271,3167,0.00,1.62,0.00,0.000,4,0.000,0.067,1611,3903,2937,0,0,0,0,0,0
$GC,3201,-0.44,-146.1,422.9,-13.1,272,3210,0.12,1.52,0.00,0.000,6,0.197,0.037,1643,2926,2938,0,0,0,0,0,0
$GC,3518,-0.44,-146.1,454.3,-9.9,288,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2926,2938,0,0,0,0,0,0
$GC,3827,-0.44,-146.1,484.9,-9.8,303,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2926,2938,0,0,0,0,0,0
$GC,4136,-0.44,-146.1,515.4,-9.8,318,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,2938,0,0,0,0,0,0
$GC,4445,-0.44,-146.1,545.8,-9.7,333,4449,0.00,2.10,0.00,0.000,4,0.000,0.044,1643,1545,2939,0,0,0,0,0,0
$GC,4477,-0.44,-146.1,549.1,-9.3,334,4482,0.00,2.28,0.00,0.000,6,0.000,0.060,1632,2938,2938,0,0,0,0,0,0
$GC,4799,-0.44,-146.1,581.7,-10.3,350,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2939,2939,0,0,0,0,0,0
$GC,5109,-0.44,-146.1,613.0,-9.9,365,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2939,2939,0,0,0,0,0,0
$GC,5418,-0.44,-146.1,641.5,-8.7,380,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2939,2939,0,0,0,0,0,0
$GC,5727,-0.44,-146.1,668.5,-8.7,395,5731,0.00,2.15,0.00,0.000,4,0.000,0.044,1632,1544,2938,0,0,0,0,0,0
$GC,5754,-0.44,-146.1,671.0,-8.8,396,5759,0.00,2.28,0.00,0.000,6,0.000,0.060,1622,2939,2939,0,0,0,0,0,0
$GC,6075,-0.44,-146.1,702.8,-10.2,412,6079,0.00,1.55,0.00,0.000,4,0.000,0.067,1614,3896,2939,0,0,0,0,0,0
$GC,6107,-0.44,-146.1,706.8,-12.0,413,6113,0.12,1.48,0.00,0.000,6,0.196,0.037,1646,2944,2939,0,0,0,0,0,0
$GC,6430,-0.44,-146.1,735.3,-8.7,429,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2944,2939,0,0,0,0,0,0
$GC,6739,-0.44,-146.1,763.1,-9.2,444,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2944,2939,0,0,0,0,0,0
$GC,7048,-0.44,-146.1,792.6,-9.7,459,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2944,2939,0,0,0,0,0,0
$GC,7357,-0.44,-146.1,822.3,-9.6,474,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2944,2939,0,0,0,0,0,0
$GC,7667,-0.44,-146.1,852.0,-9.4,489,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2943,2939,0,0,0,0,0,0
$GC,7976,-0.44,-146.1,881.6,-9.6,504,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2944,2939,0,0,0,0,0,0
$GC,8285,-0.44,-146.1,909.4,-9.2,519,8289,0.00,1.58,0.00,0.000,4,0.000,0.067,1639,3898,2939,0,0,0,0,0,0
$GC,8317,-0.44,-146.1,912.8,-11.3,520,8322,0.00,1.50,0.00,0.000,6,0.000,0.037,1639,2926,2939,0,0,0,0,0,0
$GC,8640,-0.44,-146.1,943.3,-9.5,536,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,2939,0,0,0,0,0,0
$GC,8949,-0.44,-146.1,971.6,-8.9,551,8953,0.00,1.60,0.00,0.000,4,0.000,0.067,1631,3893,2939,0,0,0,0,0,0
$GC,8975,-0.44,-146.1,974.4,-10.5,552,8980,0.00,1.48,0.00,0.000,6,0.000,0.037,1631,2942,2939,0,0,0,0,0,0
$STATE,9260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9264,-0.13,0.0,1001.0,9.2,566,9403,0.38,0.00,132.85,1.784,6,0.169,0.000,1742,2690,2342,0,0,0,0,0,0
$STATE,9404,end apogee,CONTROL_FINISHED_OK
$STATE,9404,begin climb
$GC,9405,0.44,146.1,1004.4,0.0,573,9555,0.60,0.00,146.43,1.740,6,0.127,0.000,1921,2690,1746,0,0,0,0,0,0
$GC,9856,0.44,146.1,949.9,13.1,595,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2689,1737,0,0,0,0,0,0
$GC,10165,0.44,146.1,907.2,13.7,610,10169,0.00,2.08,0.00,0.000,4,0.000,0.064,1921,3903,1735,0,0,0,0,0,0
$GC,10203,0.44,146.1,901.0,16.4,611,10211,0.00,1.98,0.00,0.000,6,0.000,0.040,1930,2721,1734,0,0,0,0,0,0
$GC,10519,0.44,146.1,853.8,14.7,627,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2721,1734,0,0,0,0,0,0
$GC,10828,0.44,146.1,808.3,14.6,642,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2721,1733,0,0,0,0,0,0
$GC,11138,0.44,146.1,763.6,14.5,657,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2721,1733,0,0,0,0,0,0
$GC,11447,0.44,146.1,718.1,14.6,672,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2721,1732,0,0,0,0,0,0
$GC,11756,0.44,146.1,672.6,14.8,687,11760,0.00,1.95,0.00,0.000,4,0.000,0.063,1930,3899,1731,0,0,0,0,0,0
$GC,11781,0.44,146.1,669.0,15.9,688,11785,0.00,1.92,0.00,0.000,6,0.000,0.041,1940,2678,1731,0,0,0,0,0,0
$GC,12113,0.44,146.1,615.0,16.6,704,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2677,1731,0,0,0,0,0,0
$GC,12422,0.44,146.1,564.0,16.4,719,12426,0.00,2.03,0.00,0.000,4,0.000,0.063,1940,3909,1731,0,0,0,0,0,0
$GC,12449,0.44,146.1,559.0,18.1,720,12453,0.00,1.95,0.00,0.000,6,0.000,0.040,1949,2696,1730,0,0,0,0,0,0
$GC,12776,0.44,146.1,503.3,17.0,736,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2696,1731,0,0,0,0,0,0
$GC,13085,0.44,146.1,451.3,16.8,751,13089,0.00,2.00,0.00,0.000,4,0.000,0.063,1949,3897,1731,0,0,0,0,0,0
$GC,13107,0.44,146.1,447.4,17.2,752,13111,0.00,1.92,0.00,0.000,6,0.000,0.040,1959,2676,1730,0,0,0,0,0,0
$GC,13439,0.44,146.1,391.6,16.5,768,13440,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2674,1730,0,0,0,0,0,0
$GC,13751,0.44,146.1,341.7,15.7,783,13755,0.00,2.00,0.00,0.000,4,0.000,0.063,1959,3900,1730,0,0,0,0,0,0
$GC,13798,0.44,146.1,333.2,19.3,785,13803,0.15,1.90,0.00,0.000,6,0.217,0.041,1933,2683,1730,0,0,0,0,0,0
$GC,14126,0.44,146.1,291.0,12.5,801,14130,0.00,2.00,0.00,0.000,4,0.000,0.063,1932,3907,1729,0,0,0,0,0,0
$GC,14141,0.44,146.1,288.4,12.8,801,14149,0.00,1.92,0.00,0.000,6,0.000,0.038,1941,2696,1729,0,0,0,0,0,0
$GC,14459,0.44,146.1,247.9,12.7,817,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2695,1729,0,0,0,0,0,0
$GC,14780,0.44,146.1,208.4,13.4,847,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2696,1730,0,0,0,0,0,0
$GC,15105,0.44,146.1,164.3,14.4,878,15109,0.00,1.98,0.00,0.000,4,0.000,0.063,1941,3905,1729,0,0,0,0,0,0
$GC,15142,0.44,146.1,158.6,17.3,881,15146,0.00,1.90,0.00,0.000,6,0.000,0.041,1950,2683,1729,0,0,0,0,0,0
$GC,15472,0.44,146.1,112.1,13.0,912,15476,0.00,2.00,0.00,0.000,4,0.000,0.063,1951,3895,1729,0,0,0,0,0,0
$GC,15507,0.44,146.1,107.5,13.7,915,15511,0.00,1.92,0.00,0.000,6,0.000,0.040,1960,2685,1729,0,0,0,0,0,0
$GC,15859,0.44,146.1,60.7,13.3,971,15866,0.00,2.17,0.00,0.000,4,0.000,0.049,1970,1281,1730,0,0,0,0,0,0
$GC,15909,0.44,146.1,54.2,12.0,979,15917,0.15,2.30,0.00,0.000,6,0.199,0.057,1933,2708,1729,0,0,0,0,0,0
$GC,16024,0.45,163.0,43.1,8.8,998,16033,0.00,0.00,5.78,0.836,6,0.000,0.000,1933,2708,1675,0,0,0,0,0,0
$GC,16141,0.45,163.0,30.8,10.0,1017,16148,0.00,1.92,0.00,0.000,4,0.000,0.065,1933,3890,1673,0,0,0,0,0,0
$GC,16175,0.45,163.0,27.2,10.9,1022,16184,0.00,1.92,0.00,0.000,6,0.000,0.041,1941,2686,1672,0,0,0,0,0,0
$GC,16260,0.45,163.0,17.6,10.8,1035,16269,0.00,2.22,0.00,0.000,4,0.000,0.050,1952,1282,1672,0,0,0,0,0,0
$GC,16289,0.45,163.0,14.5,10.6,1039,16298,0.00,2.28,0.00,0.000,6,0.000,0.058,1952,2675,1672,0,0,0,0,0,0
$GC,16374,0.45,163.0,4.8,10.4,1052,16383,0.00,1.98,0.00,0.000,4,0.000,0.065,1952,3893,1671,0,0,0,0,0,0
$STATE,16390,end climb,SURFACE_DEPTH_REACHED
$STATE,16390,begin surface coast
$FINISH,0.9,1.026007
$STATE,16416,end surface coast,CONTROL_FINISHED_OK
$STATE,16416,begin surface
$SM_CCo,16429,14.38,0.185,0,0,1524,200.16
$SM_GC,2.85,0.00,0.00,14.38,0.000,0.000,0.185,59,2925,1524,-5.41,-0.42,200.16
$IRIDIUM_FIX,-5531.31,-30.73,171214,222239
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,21.7,15.612
$10V_AH,10.1,10.199
$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,13.250,78.675,285.050,14.375,0.000,27.662,20.901,320.027,0.000,0.000,21.114,2592.077,10910.369,425.564,2835.384,169.168,33.360,1352.021,0.000,2287.454,0.000,0.539,0.000
$DEVICE_MAMPS,260.865,78.795,1783.980,185.130,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.885,2163.062,1000.183,1021.231,0.000,0.000,0.000,0.000,0.000,0.000
$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,70367,1058
$CAP_FILE_SIZE,130884,0
$CFSIZE,259252224,223563776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181214,080128,-5559.537,-33.132,38,0.8,38,-19.9