version: 66.07
glider: 542
mission: 9
dive: 47
start: 12 18 114 16 39 17
data:
$ID,542
$MISSION,9
$DIVE,47
$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,-21810.959
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,181214,163022,-5601.210,-30.813,21,0.8,35,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.1
$GPS2,181214,163823,-5601.092,-30.767,17,1.0,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.037,-0.168
$KALMAN_X,21361.3,430.5,19.0,-53603.7,13.2
$KALMAN_Y,42299.5,-191.9,-319.2,-43489.0,5536.4
$MHEAD_RNG_PITCHd_Wd,187.5,2173,-24.6,-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,-0.53,-80.0,0.0,0.0,0,59,0.00,0.00,-42.65,0.000,2,0.000,0.000,49,2939,2421,0,0,0,0,0,0
$GC,62,-0.58,-145.0,3.1,-4.4,5,96,6.57,1.62,-16.48,0.000,4,0.266,0.086,1590,3893,2936,0,0,0,0,0,0
$GC,196,-0.58,-145.0,27.2,-21.5,25,205,0.00,1.60,0.00,0.000,6,0.000,0.038,1590,2899,2937,0,0,0,0,0,0
$GC,276,-0.58,-145.0,43.4,-21.3,38,285,0.00,1.70,0.00,0.000,4,0.000,0.063,1583,3900,2937,0,0,0,0,0,0
$GC,316,-0.58,-145.0,51.1,-19.2,44,325,0.00,1.55,0.00,0.000,6,0.000,0.037,1583,2925,2937,0,0,0,0,0,0
$GC,432,-0.58,-145.0,72.9,-18.1,63,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2924,2937,0,0,0,0,0,0
$GC,545,-0.58,-145.0,94.5,-19.2,82,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2924,2937,0,0,0,0,0,0
$GC,768,-0.58,-145.0,134.8,-18.0,105,771,0.00,1.65,0.00,0.000,4,0.000,0.067,1575,3920,2937,0,0,0,0,0,0
$GC,802,-0.58,-145.0,141.4,-18.9,108,805,0.00,1.58,0.00,0.000,6,0.000,0.037,1575,2929,2938,0,0,0,0,0,0
$GC,1134,-0.58,-145.0,197.4,-16.6,139,1137,0.00,1.62,0.00,0.000,4,0.000,0.066,1568,3893,2938,0,0,0,0,0,0
$GC,1182,-0.58,-145.0,205.8,-17.1,143,1186,0.10,1.52,0.00,0.000,6,0.199,0.038,1595,2929,2938,0,0,0,0,0,0
$GC,1521,-0.58,-145.0,253.3,-13.1,174,1525,0.00,1.62,0.00,0.000,4,0.000,0.066,1589,3899,2938,0,0,0,0,0,0
$GC,1566,-0.58,-145.0,259.8,-14.4,176,1570,0.00,1.52,0.00,0.000,6,0.000,0.037,1588,2926,2938,0,0,0,0,0,0
$GC,1898,-0.58,-145.0,305.0,-13.4,192,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2921,2938,0,0,0,0,0,0
$GC,2209,-0.58,-145.0,347.4,-14.2,207,2213,0.00,1.62,0.00,0.000,4,0.000,0.065,1581,3899,2938,0,0,0,0,0,0
$GC,2258,-0.58,-145.0,355.7,-16.0,209,2263,0.00,1.52,0.00,0.000,6,0.000,0.037,1581,2926,2938,0,0,0,0,0,0
$GC,2586,-0.58,-145.0,404.6,-14.7,225,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2920,2938,0,0,0,0,0,0
$GC,2895,-0.58,-145.0,450.5,-15.0,240,2899,0.00,1.62,0.00,0.000,4,0.000,0.065,1574,3900,2938,0,0,0,0,0,0
$GC,2933,-0.58,-145.0,456.8,-17.5,241,2941,0.00,1.50,0.00,0.000,6,0.000,0.037,1574,2923,2937,0,0,0,0,0,0
$GC,3249,-0.58,-145.0,505.8,-15.5,257,3253,0.00,1.62,0.00,0.000,4,0.000,0.065,1566,3902,2938,0,0,0,0,0,0
$GC,3281,-0.58,-145.0,511.6,-17.4,258,3287,0.12,1.52,0.00,0.000,6,0.213,0.036,1595,2925,2938,0,0,0,0,0,0
$GC,3603,-0.58,-145.0,555.8,-13.4,274,3607,0.00,1.62,0.00,0.000,4,0.000,0.066,1588,3904,2938,0,0,0,0,0,0
$GC,3641,-0.58,-145.0,561.4,-15.5,275,3649,0.00,1.50,0.00,0.000,6,0.000,0.036,1588,2934,2938,0,0,0,0,0,0
$GC,3957,-0.58,-145.0,605.1,-13.9,291,3961,0.00,1.60,0.00,0.000,4,0.000,0.065,1581,3900,2937,0,0,0,0,0,0
$GC,3994,-0.58,-145.0,611.1,-16.0,292,4002,0.00,1.52,0.00,0.000,6,0.000,0.036,1581,2919,2938,0,0,0,0,0,0
$GC,4311,-0.58,-145.0,657.0,-14.8,308,4314,0.00,1.62,0.00,0.000,4,0.000,0.064,1574,3903,2938,0,0,0,0,0,0
$GC,4343,-0.58,-145.0,662.4,-15.9,309,4348,0.00,1.50,0.00,0.000,6,0.000,0.036,1574,2936,2938,0,0,0,0,0,0
$GC,4665,-0.58,-145.0,712.1,-15.4,325,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2935,2938,0,0,0,0,0,0
$GC,4975,-0.58,-145.0,759.1,-14.8,340,4978,0.00,1.60,0.00,0.000,4,0.000,0.067,1566,3903,2939,0,0,0,0,0,0
$GC,5012,-0.58,-145.0,765.4,-15.9,341,5021,0.12,1.52,0.00,0.000,6,0.210,0.036,1595,2923,2939,0,0,0,0,0,0
$GC,5329,-0.58,-145.0,807.1,-13.0,357,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2924,2939,0,0,0,0,0,0
$GC,5638,-0.58,-145.0,847.3,-12.9,372,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2923,2939,0,0,0,0,0,0
$GC,5947,-0.58,-145.0,886.7,-12.7,387,5951,0.00,1.60,0.00,0.000,4,0.000,0.066,1588,3892,2939,0,0,0,0,0,0
$GC,5984,-0.58,-145.0,892.0,-14.3,388,5992,0.00,1.48,0.00,0.000,6,0.000,0.037,1588,2933,2939,0,0,0,0,0,0
$GC,6300,-0.58,-145.0,932.8,-12.9,404,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2933,2939,0,0,0,0,0,0
$GC,6609,-0.58,-145.0,971.4,-12.2,419,6613,0.00,1.60,0.00,0.000,4,0.000,0.067,1581,3903,2939,0,0,0,0,0,0
$GC,6634,-0.58,-145.0,974.3,-13.0,420,6637,0.00,1.50,0.00,0.000,6,0.000,0.037,1581,2931,2939,0,0,0,0,0,0
$STATE,6841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6841,begin apogee
$GC,6845,-0.13,0.0,1001.5,13.0,430,6984,0.55,0.00,133.10,1.795,6,0.179,0.000,1742,2717,2342,0,0,0,0,0,0
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6985,begin climb
$GC,6986,0.58,145.0,1005.2,0.0,437,7136,0.75,0.00,146.57,1.746,6,0.129,0.000,1965,2717,1749,0,0,0,0,0,0
$GC,7437,0.58,145.0,932.3,18.1,459,7441,0.00,2.05,0.00,0.000,4,0.000,0.061,1965,3897,1741,0,0,0,0,0,0
$GC,7459,0.58,145.0,928.1,18.9,460,7463,0.00,1.95,0.00,0.000,6,0.000,0.038,1974,2728,1739,0,0,0,0,0,0
$GC,7792,0.58,145.0,864.5,19.1,476,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2728,1738,0,0,0,0,0,0
$GC,8100,0.58,145.0,804.9,19.2,491,8103,0.00,1.95,0.00,0.000,4,0.000,0.060,1975,3897,1737,0,0,0,0,0,0
$GC,8109,0.58,145.0,802.7,19.3,491,8114,0.00,1.98,0.00,0.000,6,0.000,0.037,1984,2696,1736,0,0,0,0,0,0
$GC,8432,0.58,145.0,737.6,20.6,507,8435,0.00,2.00,0.00,0.000,4,0.000,0.061,1984,3907,1736,0,0,0,0,0,0
$GC,8446,0.58,145.0,733.8,20.3,507,8455,0.00,1.95,0.00,0.000,6,0.000,0.037,1993,2716,1736,0,0,0,0,0,0
$GC,8763,0.58,145.0,668.0,20.8,523,8767,0.00,1.98,0.00,0.000,4,0.000,0.061,1993,3891,1735,0,0,0,0,0,0
$GC,8789,0.58,145.0,662.0,22.8,524,8794,0.00,1.92,0.00,0.000,6,0.000,0.039,2002,2713,1735,0,0,0,0,0,0
$GC,9116,0.58,145.0,592.9,21.3,540,9120,0.00,1.98,0.00,0.000,4,0.000,0.061,2002,3903,1735,0,0,0,0,0,0
$GC,9149,0.58,145.0,585.2,24.3,541,9154,0.12,1.92,0.00,0.000,6,0.230,0.040,1985,2704,1734,0,0,0,0,0,0
$GC,9471,0.58,145.0,522.6,19.0,557,9474,0.00,1.98,0.00,0.000,4,0.000,0.060,1984,3900,1734,0,0,0,0,0,0
$GC,9508,0.58,145.0,514.3,20.4,558,9516,0.00,1.92,0.00,0.000,6,0.000,0.038,1993,2715,1734,0,0,0,0,0,0
$GC,9824,0.58,145.0,450.8,20.6,574,9828,0.00,1.98,0.00,0.000,4,0.000,0.061,1993,3896,1734,0,0,0,0,0,0
$GC,9847,0.58,145.0,445.9,21.8,575,9851,0.00,1.88,0.00,0.000,6,0.000,0.039,2002,2706,1733,0,0,0,0,0,0
$GC,10181,0.58,145.0,378.0,20.2,591,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2706,1734,0,0,0,0,0,0
$GC,10490,0.58,145.0,316.0,20.2,606,10494,0.00,1.95,0.00,0.000,4,0.000,0.060,2002,3898,1734,0,0,0,0,0,0
$GC,10539,0.58,145.0,304.4,23.0,608,10544,0.10,1.90,0.00,0.000,6,0.210,0.038,1984,2714,1733,0,0,0,0,0,0
$GC,10858,0.58,145.0,245.8,18.3,624,10862,0.00,1.92,0.00,0.000,4,0.000,0.060,1984,3903,1733,0,0,0,0,0,0
$GC,10896,0.58,145.0,238.8,21.0,627,10900,0.00,1.88,0.00,0.000,6,0.000,0.040,1992,2706,1733,0,0,0,0,0,0
$GC,11226,0.58,145.0,174.7,19.1,658,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2706,1733,0,0,0,0,0,0
$GC,11546,0.58,145.0,117.5,16.0,688,11549,0.00,1.95,0.00,0.000,4,0.000,0.060,1992,3900,1733,0,0,0,0,0,0
$GC,11619,0.58,145.0,102.9,19.0,694,11629,0.00,1.90,0.00,0.000,6,0.000,0.037,2002,2708,1733,0,0,0,0,0,0
$GC,11975,0.58,145.0,46.5,15.8,753,11982,0.00,2.22,0.00,0.000,4,0.000,0.050,2012,1285,1733,0,0,0,0,0,0
$GC,12041,0.58,145.0,36.6,13.7,764,12050,0.10,2.30,0.00,0.000,6,0.194,0.057,1984,2717,1733,0,0,0,0,0,0
$GC,12161,0.58,145.0,19.8,13.4,783,12170,0.00,1.90,0.00,0.000,4,0.000,0.064,1984,3880,1733,0,0,0,0,0,0
$GC,12178,0.58,145.0,16.5,15.0,785,12187,0.00,1.88,0.00,0.000,6,0.000,0.040,1991,2706,1733,0,0,0,0,0,0
$GC,12263,0.58,145.0,3.2,14.9,798,12271,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2705,1733,0,0,0,0,0,0
$STATE,12278,end climb,SURFACE_DEPTH_REACHED
$STATE,12278,begin surface coast
$FINISH,1.0,1.013458
$STATE,12298,end surface coast,CONTROL_FINISHED_OK
$STATE,12298,begin surface
$SM_CCo,12311,20.60,0.191,0,0,1523,200.16
$SM_GC,2.55,0.00,0.00,20.60,0.000,0.000,0.191,55,2933,1523,-5.42,0.08,200.16
$IRIDIUM_FIX,-5538.94,-30.83,181214,121203
$TT8_MAMPS,0.026215
$HUMID,55.63
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.6,16.106
$10V_AH,10.1,10.527
$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,13.750,91.975,279.675,20.600,0.000,28.224,51.262,289.536,0.000,0.000,19.795,2014.616,7841.815,444.536,2365.513,148.634,33.351,1242.236,0.000,1854.117,0.000,0.539,0.000
$DEVICE_MAMPS,266.220,86.445,1794.690,191.250,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.339,1671.969,795.523,825.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354008
$DATA_FILE_SIZE,56986,803
$CAP_FILE_SIZE,113397,0
$CFSIZE,259252224,223383552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181214,200605,-5601.884,-30.250,41,0.9,41,-19.9