version: 66.07
glider: 542
mission: 9
dive: 46
start: 12 18 114 13 5 29
data:
$ID,542
$MISSION,9
$DIVE,46
$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,-21808.635
$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,53
$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,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,181214,125058,-5600.499,-31.454,55,0.8,55,-19.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-59.1
$GPS2,181214,130435,-5600.345,-31.268,19,1.5,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.006,-0.165
$KALMAN_X,21379.2,145.3,-58.6,-53776.4,1175.3
$KALMAN_Y,39927.2,-55.4,-65.6,-40122.6,4018.2
$MHEAD_RNG_PITCHd_Wd,197.7,1460,-25.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.54,-73.9,0.0,0.0,0,67,0.00,0.00,-50.38,0.000,2,0.000,0.000,54,2943,2527,0,0,0,0,0,0
$GC,69,-0.60,-138.2,3.1,-4.0,6,95,6.47,1.62,-12.00,0.000,4,0.261,0.088,1584,3905,2907,0,0,0,0,0,0
$GC,220,-0.60,-138.2,31.9,-19.7,29,227,0.00,1.62,0.00,0.000,6,0.000,0.039,1591,2896,2909,0,0,0,0,0,0
$GC,333,-0.60,-138.2,55.2,-21.1,48,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2896,2909,0,0,0,0,0,0
$GC,449,-0.60,-138.2,77.7,-20.0,67,456,0.00,1.70,0.00,0.000,4,0.000,0.066,1583,3893,2909,0,0,0,0,0,0
$GC,504,-0.60,-138.2,89.2,-20.2,76,511,0.00,1.52,0.00,0.000,6,0.000,0.038,1588,2931,2910,0,0,0,0,0,0
$GC,733,-0.60,-138.2,133.9,-19.3,102,734,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2930,2910,0,0,0,0,0,0
$GC,1053,-0.60,-138.2,191.4,-18.2,132,1057,0.00,1.65,0.00,0.000,4,0.000,0.067,1581,3895,2909,0,0,0,0,0,0
$GC,1103,-0.60,-138.2,201.1,-18.4,136,1114,0.00,1.55,0.00,0.000,6,0.000,0.037,1581,2918,2910,0,0,0,0,0,0
$GC,1429,-0.60,-138.2,257.7,-17.3,165,1433,0.00,1.65,0.00,0.000,4,0.000,0.066,1574,3916,2910,0,0,0,0,0,0
$GC,1461,-0.60,-138.2,263.9,-18.1,166,1466,0.00,1.58,0.00,0.000,6,0.000,0.037,1574,2929,2910,0,0,0,0,0,0
$GC,1783,-0.60,-138.2,317.5,-16.2,182,1786,0.00,1.62,0.00,0.000,4,0.000,0.067,1566,3895,2910,0,0,0,0,0,0
$GC,1843,-0.60,-138.2,328.0,-16.9,184,1854,0.08,1.52,0.00,0.000,6,0.189,0.037,1588,2927,2910,0,0,0,0,0,0
$GC,2161,-0.60,-138.2,371.5,-13.4,200,2164,0.00,1.62,0.00,0.000,4,0.000,0.067,1581,3899,2910,0,0,0,0,0,0
$GC,2210,-0.60,-138.2,379.1,-14.2,202,2215,0.00,1.52,0.00,0.000,6,0.000,0.037,1581,2926,2910,0,0,0,0,0,0
$GC,2537,-0.60,-138.2,423.7,-13.5,218,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2922,2910,0,0,0,0,0,0
$GC,2847,-0.60,-138.2,466.1,-13.6,233,2850,0.00,1.62,0.00,0.000,4,0.000,0.066,1574,3896,2909,0,0,0,0,0,0
$GC,2914,-0.60,-138.2,476.0,-14.6,236,2918,0.00,1.50,0.00,0.000,6,0.000,0.037,1574,2932,2910,0,0,0,0,0,0
$GC,3246,-0.60,-138.2,523.2,-14.1,252,3250,0.00,1.60,0.00,0.000,4,0.000,0.067,1566,3890,2911,0,0,0,0,0,0
$GC,3302,-0.60,-138.2,531.7,-15.8,254,3306,0.08,1.50,0.00,0.000,6,0.192,0.037,1588,2929,2911,0,0,0,0,0,0
$GC,3622,-0.60,-138.2,572.9,-12.8,270,3626,0.00,1.60,0.00,0.000,4,0.000,0.065,1580,3894,2911,0,0,0,0,0,0
$GC,3648,-0.60,-138.2,576.8,-14.0,271,3654,0.00,1.52,0.00,0.000,6,0.000,0.035,1581,2922,2911,0,0,0,0,0,0
$GC,3977,-0.60,-138.2,619.0,-13.0,287,3981,0.00,1.62,0.00,0.000,4,0.000,0.065,1573,3900,2911,0,0,0,0,0,0
$GC,4008,-0.60,-138.2,623.8,-14.3,288,4013,0.00,1.52,0.00,0.000,6,0.000,0.036,1573,2926,2910,0,0,0,0,0,0
$GC,4330,-0.60,-138.2,667.9,-13.9,304,4334,0.00,1.62,0.00,0.000,4,0.000,0.066,1566,3903,2911,0,0,0,0,0,0
$GC,4368,-0.60,-138.2,673.8,-15.4,305,4376,0.08,1.50,0.00,0.000,6,0.195,0.036,1588,2941,2911,0,0,0,0,0,0
$GC,4685,-0.60,-138.2,714.6,-12.8,321,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2941,2910,0,0,0,0,0,0
$GC,4993,-0.60,-138.2,754.0,-13.0,336,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2941,2911,0,0,0,0,0,0
$GC,5303,-0.60,-138.2,794.4,-13.3,351,5307,0.00,1.58,0.00,0.000,4,0.000,0.066,1581,3895,2911,0,0,0,0,0,0
$GC,5329,-0.60,-138.2,798.6,-14.7,352,5334,0.00,1.52,0.00,0.000,6,0.000,0.036,1581,2920,2911,0,0,0,0,0,0
$GC,5657,-0.60,-138.2,844.7,-13.9,368,5660,0.00,1.62,0.00,0.000,4,0.000,0.065,1574,3903,2911,0,0,0,0,0,0
$GC,5713,-0.60,-138.2,853.5,-15.7,370,5717,0.00,1.50,0.00,0.000,6,0.000,0.037,1574,2934,2911,0,0,0,0,0,0
$GC,6034,-0.60,-138.2,901.5,-14.9,386,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2932,2911,0,0,0,0,0,0
$GC,6343,-0.60,-138.2,947.1,-14.7,401,6347,0.00,1.60,0.00,0.000,4,0.000,0.067,1566,3899,2911,0,0,0,0,0,0
$GC,6388,-0.60,-138.2,954.2,-15.8,403,6393,0.08,1.50,0.00,0.000,6,0.191,0.037,1588,2936,2911,0,0,0,0,0,0
$GC,6720,-0.60,-138.2,999.6,-13.5,419,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2936,2910,0,0,0,0,0,0
$STATE,6740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6740,begin apogee
$GC,6744,-0.13,0.0,1002.4,13.4,420,6874,0.50,0.00,127.20,1.802,6,0.171,0.000,1738,2707,2341,0,0,0,0,0,0
$STATE,6875,end apogee,CONTROL_FINISHED_OK
$STATE,6875,begin climb
$GC,6876,0.60,138.2,1007.6,0.0,426,7022,0.77,0.00,138.40,1.761,6,0.126,0.000,1969,2707,1778,0,0,0,0,0,0
$GC,7329,0.60,138.2,940.1,17.2,448,7333,0.00,2.08,0.00,0.000,4,0.000,0.062,1968,3897,1769,0,0,0,0,0,0
$GC,7367,0.60,138.2,932.7,18.8,449,7375,0.00,2.00,0.00,0.000,6,0.000,0.038,1978,2725,1767,0,0,0,0,0,0
$GC,7683,0.60,138.2,875.6,18.1,465,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2725,1767,0,0,0,0,0,0
$GC,7993,0.60,138.2,819.8,18.3,480,7997,0.00,2.00,0.00,0.000,4,0.000,0.062,1978,3904,1765,0,0,0,0,0,0
$GC,8061,0.60,138.2,806.3,20.2,483,8065,0.00,1.95,0.00,0.000,6,0.000,0.040,1988,2708,1764,0,0,0,0,0,0
$GC,8393,0.60,138.2,742.8,19.3,499,8397,0.00,1.98,0.00,0.000,4,0.000,0.062,1988,3899,1764,0,0,0,0,0,0
$GC,8416,0.60,138.2,738.3,19.8,500,8420,0.00,1.92,0.00,0.000,6,0.000,0.040,1997,2705,1763,0,0,0,0,0,0
$GC,8747,0.60,138.2,670.1,21.0,516,8751,0.00,2.00,0.00,0.000,4,0.000,0.061,1997,3894,1763,0,0,0,0,0,0
$GC,8784,0.60,138.2,661.1,23.0,517,8793,0.00,1.92,0.00,0.000,6,0.000,0.038,2006,2717,1762,0,0,0,0,0,0
$GC,9101,0.60,138.2,593.4,21.3,533,9105,0.00,1.98,0.00,0.000,4,0.000,0.061,2007,3907,1762,0,0,0,0,0,0
$GC,9128,0.60,138.2,586.9,23.9,534,9133,0.10,1.95,0.00,0.000,6,0.219,0.039,1989,2708,1762,0,0,0,0,0,0
$GC,9455,0.60,138.2,522.7,19.7,550,9459,0.00,1.95,0.00,0.000,4,0.000,0.061,1989,3902,1762,0,0,0,0,0,0
$GC,9500,0.60,138.2,512.7,23.2,552,9504,0.00,1.92,0.00,0.000,6,0.000,0.041,1997,2700,1762,0,0,0,0,0,0
$GC,9832,0.60,138.2,445.1,19.9,568,9835,0.00,1.98,0.00,0.000,4,0.000,0.061,1998,3900,1762,0,0,0,0,0,0
$GC,9864,0.60,138.2,437.8,22.2,569,9868,0.00,1.92,0.00,0.000,6,0.000,0.040,2007,2714,1762,0,0,0,0,0,0
$GC,10187,0.60,138.2,371.1,20.6,585,10191,0.00,1.92,0.00,0.000,4,0.000,0.062,2007,3897,1761,0,0,0,0,0,0
$GC,10202,0.60,138.2,367.2,21.1,585,10211,0.10,1.92,0.00,0.000,6,0.217,0.038,1989,2700,1761,0,0,0,0,0,0
$GC,10521,0.60,138.2,308.5,18.6,601,10525,0.00,1.98,0.00,0.000,4,0.000,0.062,1989,3902,1762,0,0,0,0,0,0
$GC,10581,0.60,138.2,295.5,20.3,603,10589,0.00,1.92,0.00,0.000,6,0.000,0.040,1998,2711,1761,0,0,0,0,0,0
$GC,10899,0.60,138.2,236.6,18.5,622,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2711,1762,0,0,0,0,0,0
$GC,11219,0.60,138.2,175.2,20.1,652,11223,0.00,1.98,0.00,0.000,4,0.000,0.063,1998,3897,1762,0,0,0,0,0,0
$GC,11255,0.60,138.2,167.6,23.1,655,11259,0.00,1.90,0.00,0.000,6,0.000,0.040,2007,2709,1761,0,0,0,0,0,0
$GC,11584,0.60,138.2,100.8,19.3,686,11588,0.00,1.95,0.00,0.000,4,0.000,0.063,2007,3897,1761,0,0,0,0,0,0
$GC,11664,0.60,138.2,85.0,19.7,699,11673,0.10,1.90,0.00,0.000,6,0.213,0.040,1989,2711,1761,0,0,0,0,0,0
$GC,11906,0.60,138.2,45.5,14.9,740,11915,0.00,1.95,0.00,0.000,4,0.000,0.063,1989,3890,1761,0,0,0,0,0,0
$GC,11921,0.60,138.2,42.9,16.5,742,11930,0.00,1.90,0.00,0.000,6,0.000,0.040,1997,2702,1761,0,0,0,0,0,0
$GC,12038,0.60,138.2,25.0,15.8,761,12047,0.00,1.98,0.00,0.000,4,0.000,0.063,1997,3890,1761,0,0,0,0,0,0
$GC,12061,0.60,138.2,21.0,16.9,764,12070,0.00,1.90,0.00,0.000,6,0.000,0.044,2006,2716,1761,0,0,0,0,0,0
$GC,12146,0.60,138.2,6.2,18.9,777,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2715,1761,0,0,0,0,0,0
$STATE,12167,end climb,SURFACE_DEPTH_REACHED
$STATE,12167,begin surface coast
$FINISH,1.1,1.027213
$STATE,12187,end surface coast,CONTROL_FINISHED_OK
$STATE,12187,begin surface
$SM_CCo,12199,23.27,0.189,0,0,1525,200.16
$SM_GC,2.32,0.00,0.00,23.27,0.000,0.000,0.189,57,2938,1525,-5.41,0.23,200.16
$IRIDIUM_FIX,-5538.94,-30.80,181214,121216
$TT8_MAMPS,0.026215
$HUMID,55.27
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.6,15.944
$10V_AH,10.0,10.428
$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,13.550,95.600,265.600,23.275,0.000,78.316,182.678,314.976,0.000,0.000,21.299,1985.889,7916.245,421.091,2571.041,141.309,33.351,1235.281,0.000,1850.429,0.000,0.540,0.000
$DEVICE_MAMPS,260.865,87.975,1801.575,188.955,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.323,1616.912,759.256,780.207,0.000,0.000,0.000,0.000,0.000,0.000
$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,53636,783
$CAP_FILE_SIZE,116895,0
$CFSIZE,259252224,223444992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181214,163022,-5601.210,-30.813,21,0.8,35,-19.9