version: 66.07
glider: 542
mission: 9
dive: 48
start: 12 18 114 20 14 11
data:
$ID,542
$MISSION,9
$DIVE,48
$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,-21813.287
$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,26
$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,0.00079999998
$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
$GPS1,181214,200605,-5601.884,-30.250,41,0.9,41,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-62.3
$GPS2,181214,201317,-5601.810,-30.218,15,1.2,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.013,-0.165
$KALMAN_X,21676.5,92.0,-185.2,-52811.6,498.8
$KALMAN_Y,44724.0,-588.8,-386.8,-46771.5,6788.5
$MHEAD_RNG_PITCHd_Wd,204.4,3360,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.54,-74.0,0.0,0.0,0,58,0.00,0.00,-42.00,0.000,2,0.000,0.000,50,2937,2418,0,0,0,0,0,0
$GC,61,-0.59,-135.0,3.1,-4.3,5,88,6.25,1.67,-15.68,0.000,4,0.251,0.090,1582,3900,2893,0,0,0,0,0,0
$GC,229,-0.59,-135.0,32.5,-18.9,31,236,0.00,1.60,0.00,0.000,6,0.000,0.037,1587,2897,2896,0,0,0,0,0,0
$GC,340,-0.59,-135.0,55.5,-20.6,50,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2896,2895,0,0,0,0,0,0
$GC,455,-0.59,-135.0,76.9,-18.8,69,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2897,2895,0,0,0,0,0,0
$GC,567,-0.59,-135.0,99.1,-20.5,88,573,0.00,2.12,0.00,0.000,4,0.000,0.045,1588,1522,2895,0,0,0,0,0,0
$GC,618,-0.59,-135.0,107.7,-16.2,93,623,0.00,2.30,0.00,0.000,6,0.000,0.060,1578,2925,2895,0,0,0,0,0,0
$GC,945,-0.59,-135.0,167.2,-17.8,123,948,0.00,1.60,0.00,0.000,4,0.000,0.066,1571,3903,2896,0,0,0,0,0,0
$GC,1094,-0.59,-135.0,194.3,-17.0,136,1098,0.00,1.52,0.00,0.000,6,0.000,0.037,1575,2929,2896,0,0,0,0,0,0
$GC,1427,-0.59,-135.0,247.1,-15.9,167,1430,0.00,1.62,0.00,0.000,4,0.000,0.064,1568,3899,2896,0,0,0,0,0,0
$GC,1465,-0.59,-135.0,254.0,-16.8,169,1473,0.00,1.52,0.00,0.000,6,0.000,0.036,1569,2919,2896,0,0,0,0,0,0
$GC,1783,-0.59,-135.0,301.1,-14.6,185,1786,0.00,1.62,0.00,0.000,4,0.000,0.065,1561,3896,2897,0,0,0,0,0,0
$GC,1843,-0.59,-135.0,311.2,-16.0,187,1852,0.12,1.52,0.00,0.000,6,0.212,0.036,1591,2924,2896,0,0,0,0,0,0
$GC,2162,-0.59,-135.0,351.5,-12.6,203,2165,0.00,1.62,0.00,0.000,4,0.000,0.065,1584,3903,2896,0,0,0,0,0,0
$GC,2199,-0.59,-135.0,357.2,-14.1,204,2210,0.00,1.52,0.00,0.000,6,0.000,0.035,1590,2924,2896,0,0,0,0,0,0
$GC,2518,-0.59,-135.0,397.1,-12.8,220,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2924,2897,0,0,0,0,0,0
$GC,2825,-0.59,-135.0,435.4,-12.0,235,2828,0.00,1.62,0.00,0.000,4,0.000,0.065,1583,3905,2897,0,0,0,0,0,0
$GC,2873,-0.59,-135.0,442.2,-13.7,237,2879,0.00,1.52,0.00,0.000,6,0.000,0.036,1588,2929,2897,0,0,0,0,0,0
$GC,3202,-0.59,-135.0,483.0,-12.5,253,3205,0.00,1.62,0.00,0.000,4,0.000,0.065,1581,3905,2897,0,0,0,0,0,0
$GC,3239,-0.59,-135.0,488.4,-13.6,254,3247,0.00,1.52,0.00,0.000,6,0.000,0.036,1581,2925,2897,0,0,0,0,0,0
$GC,3555,-0.59,-135.0,529.1,-12.6,270,3559,0.00,1.62,0.00,0.000,4,0.000,0.065,1574,3909,2897,0,0,0,0,0,0
$GC,3593,-0.59,-135.0,534.6,-15.1,271,3601,0.00,1.50,0.00,0.000,6,0.000,0.037,1574,2931,2897,0,0,0,0,0,0
$GC,3909,-0.59,-135.0,576.9,-13.7,287,3913,0.00,1.62,0.00,0.000,4,0.000,0.065,1566,3899,2898,0,0,0,0,0,0
$GC,3963,-0.59,-135.0,584.9,-15.2,289,3968,0.12,1.52,0.00,0.000,6,0.209,0.035,1595,2919,2898,0,0,0,0,0,0
$GC,4285,-0.59,-135.0,623.1,-11.8,305,4289,0.00,1.62,0.00,0.000,4,0.000,0.065,1589,3902,2898,0,0,0,0,0,0
$GC,4317,-0.59,-135.0,627.4,-12.7,306,4322,0.00,1.52,0.00,0.000,6,0.000,0.035,1589,2919,2898,0,0,0,0,0,0
$GC,4639,-0.59,-135.0,667.1,-12.4,322,4643,0.00,1.62,0.00,0.000,4,0.000,0.064,1581,3900,2898,0,0,0,0,0,0
$GC,4686,-0.59,-135.0,672.9,-13.4,324,4689,0.00,1.48,0.00,0.000,6,0.000,0.037,1581,2942,2899,0,0,0,0,0,0
$GC,5017,-0.59,-135.0,716.5,-13.0,340,5021,0.00,1.60,0.00,0.000,4,0.000,0.065,1574,3908,2898,0,0,0,0,0,0
$GC,5055,-0.59,-135.0,721.9,-14.2,341,5063,0.00,1.52,0.00,0.000,6,0.000,0.035,1574,2922,2898,0,0,0,0,0,0
$GC,5372,-0.59,-135.0,765.1,-13.8,357,5376,0.00,1.60,0.00,0.000,4,0.000,0.064,1567,3893,2898,0,0,0,0,0,0
$GC,5403,-0.59,-135.0,770.3,-15.2,358,5409,0.12,1.50,0.00,0.000,6,0.209,0.036,1596,2928,2898,0,0,0,0,0,0
$GC,5725,-0.59,-135.0,808.8,-12.3,374,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2928,2898,0,0,0,0,0,0
$GC,6034,-0.59,-135.0,846.1,-12.2,389,6038,0.00,1.60,0.00,0.000,4,0.000,0.064,1589,3899,2898,0,0,0,0,0,0
$GC,6067,-0.59,-135.0,850.6,-14.3,390,6071,0.00,1.48,0.00,0.000,6,0.000,0.035,1592,2942,2898,0,0,0,0,0,0
$GC,6388,-0.59,-135.0,891.6,-12.8,406,6392,0.00,1.58,0.00,0.000,4,0.000,0.064,1585,3894,2898,0,0,0,0,0,0
$GC,6426,-0.59,-135.0,897.3,-14.3,407,6434,0.00,1.52,0.00,0.000,6,0.000,0.035,1585,2906,2898,0,0,0,0,0,0
$GC,6742,-0.59,-135.0,938.7,-13.3,423,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2906,2898,0,0,0,0,0,0
$GC,7051,-0.59,-135.0,979.1,-13.1,438,7055,0.00,1.65,0.00,0.000,4,0.000,0.065,1578,3907,2898,0,0,0,0,0,0
$GC,7098,-0.59,-135.0,985.5,-14.5,440,7102,0.00,1.50,0.00,0.000,6,0.000,0.037,1578,2931,2898,0,0,0,0,0,0
$STATE,7202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7202,begin apogee
$GC,7206,-0.13,0.0,1000.0,13.6,445,7333,0.55,0.00,123.85,1.792,6,0.177,0.000,1739,2718,2341,0,0,0,0,0,0
$STATE,7334,end apogee,CONTROL_FINISHED_OK
$STATE,7334,begin climb
$GC,7336,0.59,135.0,1004.5,0.0,451,7480,0.77,0.00,135.50,1.756,6,0.127,0.000,1971,2718,1791,0,0,0,0,0,0
$GC,7788,0.59,135.0,933.0,17.9,473,7792,0.00,2.08,0.00,0.000,4,0.000,0.061,1971,3914,1782,0,0,0,0,0,0
$GC,7825,0.59,135.0,925.5,19.9,474,7833,0.00,2.00,0.00,0.000,6,0.000,0.037,1980,2732,1780,0,0,0,0,0,0
$GC,8141,0.59,135.0,868.4,17.8,490,8145,0.00,2.00,0.00,0.000,4,0.000,0.061,1980,3905,1779,0,0,0,0,0,0
$GC,8156,0.59,135.0,865.3,18.2,490,8164,0.00,2.00,0.00,0.000,6,0.000,0.037,1990,2702,1778,0,0,0,0,0,0
$GC,8473,0.59,135.0,806.3,18.4,506,8477,0.00,2.00,0.00,0.000,4,0.000,0.060,1990,3903,1778,0,0,0,0,0,0
$GC,8510,0.59,135.0,798.3,20.3,507,8519,0.00,1.98,0.00,0.000,6,0.000,0.039,1999,2704,1777,0,0,0,0,0,0
$GC,8827,0.59,135.0,738.3,19.1,523,8831,0.00,2.00,0.00,0.000,4,0.000,0.060,1999,3902,1777,0,0,0,0,0,0
$GC,8842,0.59,135.0,734.7,19.6,523,8850,0.00,1.95,0.00,0.000,6,0.000,0.037,2008,2711,1777,0,0,0,0,0,0
$GC,9159,0.59,135.0,672.2,19.6,539,9162,0.00,1.95,0.00,0.000,4,0.000,0.060,2008,3905,1777,0,0,0,0,0,0
$GC,9207,0.59,135.0,661.2,22.6,541,9213,0.10,1.95,0.00,0.000,6,0.210,0.039,1990,2713,1776,0,0,0,0,0,0
$GC,9535,0.59,135.0,601.2,18.4,557,9539,0.00,1.98,0.00,0.000,4,0.000,0.060,1990,3906,1776,0,0,0,0,0,0
$GC,9557,0.59,135.0,596.8,19.6,558,9561,0.00,1.92,0.00,0.000,6,0.000,0.039,1999,2701,1775,0,0,0,0,0,0
$GC,9890,0.59,135.0,531.7,19.9,574,9893,0.00,1.98,0.00,0.000,4,0.000,0.060,1999,3903,1775,0,0,0,0,0,0
$GC,9944,0.59,135.0,519.4,22.3,576,9949,0.00,1.92,0.00,0.000,6,0.000,0.039,2008,2713,1775,0,0,0,0,0,0
$GC,10266,0.59,135.0,452.1,21.2,592,10269,0.00,1.95,0.00,0.000,4,0.000,0.060,2008,3900,1775,0,0,0,0,0,0
$GC,10289,0.59,135.0,447.0,21.7,593,10293,0.15,1.90,0.00,0.000,6,0.223,0.037,1983,2701,1775,0,0,0,0,0,0
$GC,10624,0.59,135.0,383.3,18.7,609,10627,0.00,1.95,0.00,0.000,4,0.000,0.060,1983,3903,1775,0,0,0,0,0,0
$GC,10655,0.59,135.0,375.9,20.2,610,10661,0.00,1.92,0.00,0.000,6,0.000,0.037,1991,2708,1775,0,0,0,0,0,0
$GC,10978,0.59,135.0,315.4,18.6,626,10982,0.00,1.95,0.00,0.000,4,0.000,0.060,1992,3900,1775,0,0,0,0,0,0
$GC,11010,0.59,135.0,308.4,20.2,627,11015,0.00,1.92,0.00,0.000,6,0.000,0.037,2001,2701,1775,0,0,0,0,0,0
$GC,11334,0.59,135.0,248.0,19.3,643,11338,0.00,1.92,0.00,0.000,4,0.000,0.060,2000,3899,1775,0,0,0,0,0,0
$GC,11382,0.59,135.0,238.4,21.8,647,11386,0.00,1.90,0.00,0.000,6,0.000,0.038,2010,2712,1775,0,0,0,0,0,0
$GC,11712,0.59,135.0,174.5,18.8,678,11716,0.00,1.95,0.00,0.000,4,0.000,0.060,2010,3906,1775,0,0,0,0,0,0
$GC,11783,0.59,135.0,160.3,20.7,684,11788,0.15,1.90,0.00,0.000,6,0.222,0.038,1984,2701,1775,0,0,0,0,0,0
$GC,12116,0.59,135.0,108.5,14.0,715,12119,0.00,1.98,0.00,0.000,4,0.000,0.060,1984,3912,1774,0,0,0,0,0,0
$GC,12141,0.59,135.0,104.7,15.0,717,12145,0.00,1.90,0.00,0.000,6,0.000,0.037,1993,2701,1774,0,0,0,0,0,0
$GC,12497,0.59,135.0,53.9,13.7,775,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2701,1774,0,0,0,0,0,0
$GC,12609,0.59,135.0,38.2,14.4,794,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2701,1774,0,0,0,0,0,0
$GC,12727,0.59,135.0,22.1,14.1,813,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2701,1774,0,0,0,0,0,0
$GC,12811,0.59,135.0,9.2,15.9,826,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2701,1774,0,0,0,0,0,0
$STATE,12850,end climb,SURFACE_DEPTH_REACHED
$STATE,12850,begin surface coast
$FINISH,1.0,1.027235
$STATE,12876,end surface coast,CONTROL_FINISHED_OK
$STATE,12876,begin surface
$SM_CCo,12888,24.77,0.190,0,0,1524,200.16
$SM_GC,2.18,0.00,0.00,24.77,0.000,0.000,0.190,55,2940,1524,-5.42,0.28,200.16
$IRIDIUM_FIX,-5538.94,-26.95,181214,161653
$TT8_MAMPS,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,16.255
$10V_AH,10.1,10.632
$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,13.500,106.175,259.350,24.775,0.000,28.497,21.916,271.867,0.000,0.000,18.145,2124.503,8148.053,440.181,2475.786,158.625,33.355,1305.566,0.000,2005.972,0.000,0.541,0.000
$DEVICE_MAMPS,250.920,90.270,1792.395,190.485,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.938,1729.607,822.012,847.304,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,57170,836
$CAP_FILE_SIZE,122758,0
$CFSIZE,259252224,223305728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181214,235034,-5602.524,-29.875,35,0.8,35,-19.9