version: 66.07
glider: 542
mission: 9
dive: 49
start: 12 18 114 23 59 6
data:
$ID,542
$MISSION,9
$DIVE,49
$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,-21815.613
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,181214,235034,-5602.524,-29.875,35,0.8,35,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.3
$GPS2,181214,235812,-5602.469,-29.844,18,0.9,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.072,-0.148
$KALMAN_X,22483.8,-361.9,134.8,-53100.5,1022.6
$KALMAN_Y,46707.2,-842.3,-288.7,-49815.4,6978.4
$MHEAD_RNG_PITCHd_Wd,225.9,4576,-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,-73.9,0.0,0.0,0,59,0.00,0.00,-42.60,0.000,2,0.000,0.000,53,2942,2429,0,0,0,0,0,0
$GC,61,-0.59,-129.8,3.1,-4.7,5,89,6.55,1.65,-15.20,0.000,4,0.268,0.087,1587,3900,2872,0,0,0,0,0,0
$GC,157,-0.59,-129.8,16.4,-18.7,19,166,0.00,1.60,0.00,0.000,6,0.000,0.037,1587,2900,2875,0,0,0,0,0,0
$GC,240,-0.59,-129.8,32.1,-18.2,32,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2899,2875,0,0,0,0,0,0
$GC,357,-0.59,-129.8,53.3,-18.6,51,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2899,2875,0,0,0,0,0,0
$GC,469,-0.59,-129.8,75.0,-19.4,70,478,0.00,1.67,0.00,0.000,4,0.000,0.063,1579,3895,2875,0,0,0,0,0,0
$GC,502,-0.59,-129.8,81.1,-19.4,75,511,0.00,1.52,0.00,0.000,6,0.000,0.037,1580,2925,2875,0,0,0,0,0,0
$GC,740,-0.59,-129.8,122.6,-17.5,105,743,0.00,1.62,0.00,0.000,4,0.000,0.064,1572,3893,2875,0,0,0,0,0,0
$GC,847,-0.59,-129.8,144.5,-19.1,114,858,0.00,1.52,0.00,0.000,6,0.000,0.036,1573,2924,2875,0,0,0,0,0,0
$GC,1174,-0.59,-129.8,201.8,-17.2,145,1178,0.00,1.62,0.00,0.000,4,0.000,0.065,1566,3896,2875,0,0,0,0,0,0
$GC,1231,-0.59,-129.8,212.8,-18.2,150,1235,0.10,1.50,0.00,0.000,6,0.193,0.037,1594,2941,2875,0,0,0,0,0,0
$GC,1561,-0.59,-129.8,263.1,-14.8,177,1565,0.00,1.60,0.00,0.000,4,0.000,0.064,1586,3903,2875,0,0,0,0,0,0
$GC,1608,-0.59,-129.8,270.6,-16.5,179,1612,0.00,1.52,0.00,0.000,6,0.000,0.036,1586,2926,2875,0,0,0,0,0,0
$GC,1943,-0.59,-129.8,319.0,-14.1,195,1946,0.00,1.62,0.00,0.000,4,0.000,0.063,1579,3899,2875,0,0,0,0,0,0
$GC,1992,-0.59,-129.8,327.3,-15.7,197,1997,0.00,1.52,0.00,0.000,6,0.000,0.035,1579,2924,2875,0,0,0,0,0,0
$GC,2321,-0.59,-129.8,375.0,-14.7,213,2325,0.00,1.62,0.00,0.000,4,0.000,0.063,1572,3900,2875,0,0,0,0,0,0
$GC,2382,-0.59,-129.8,385.0,-16.2,215,2390,0.00,1.50,0.00,0.000,6,0.000,0.035,1572,2927,2875,0,0,0,0,0,0
$GC,2698,-0.59,-129.8,431.0,-14.3,231,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2927,2875,0,0,0,0,0,0
$GC,3008,-0.59,-129.8,475.9,-14.4,246,3011,0.00,1.60,0.00,0.000,4,0.000,0.064,1565,3897,2876,0,0,0,0,0,0
$GC,3053,-0.59,-129.8,482.9,-15.5,248,3057,0.08,1.48,0.00,0.000,6,0.197,0.036,1587,2946,2876,0,0,0,0,0,0
$GC,3384,-0.59,-129.8,528.2,-13.7,264,3387,0.00,1.58,0.00,0.000,4,0.000,0.063,1580,3899,2876,0,0,0,0,0,0
$GC,3422,-0.59,-129.8,534.1,-15.4,265,3429,0.00,1.50,0.00,0.000,6,0.000,0.034,1582,2922,2876,0,0,0,0,0,0
$GC,3738,-0.59,-129.8,579.5,-14.4,281,3741,0.00,1.60,0.00,0.000,4,0.000,0.063,1574,3894,2876,0,0,0,0,0,0
$GC,3783,-0.59,-129.8,586.5,-15.6,283,3786,0.00,1.48,0.00,0.000,6,0.000,0.035,1578,2938,2876,0,0,0,0,0,0
$GC,4115,-0.59,-129.8,635.2,-14.6,299,4118,0.00,1.60,0.00,0.000,4,0.000,0.064,1571,3903,2876,0,0,0,0,0,0
$GC,4152,-0.59,-129.8,641.5,-16.5,300,4160,0.00,1.52,0.00,0.000,6,0.000,0.034,1576,2919,2876,0,0,0,0,0,0
$GC,4469,-0.59,-129.8,689.4,-15.5,316,4472,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3906,2876,0,0,0,0,0,0
$GC,4514,-0.59,-129.8,696.9,-16.8,318,4518,0.08,1.50,0.00,0.000,6,0.193,0.036,1590,2939,2877,0,0,0,0,0,0
$GC,4845,-0.59,-129.8,745.3,-14.4,334,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2939,2877,0,0,0,0,0,0
$GC,5155,-0.59,-129.8,788.8,-14.1,349,5159,0.00,1.58,0.00,0.000,4,0.000,0.065,1583,3894,2877,0,0,0,0,0,0
$GC,5192,-0.59,-129.8,794.8,-15.5,350,5201,0.00,1.52,0.00,0.000,6,0.000,0.035,1589,2917,2877,0,0,0,0,0,0
$GC,5509,-0.59,-129.8,839.1,-14.3,366,5512,0.00,1.62,0.00,0.000,4,0.000,0.065,1582,3900,2877,0,0,0,0,0,0
$GC,5541,-0.59,-129.8,844.4,-15.7,367,5546,0.00,1.52,0.00,0.000,6,0.000,0.034,1582,2917,2877,0,0,0,0,0,0
$GC,5863,-0.59,-129.8,891.3,-14.1,383,5866,0.00,1.62,0.00,0.000,4,0.000,0.064,1574,3901,2877,0,0,0,0,0,0
$GC,5912,-0.59,-129.8,899.1,-16.1,385,5916,0.00,1.48,0.00,0.000,6,0.000,0.036,1574,2940,2877,0,0,0,0,0,0
$GC,6239,-0.59,-129.8,947.4,-14.5,401,6243,0.00,1.60,0.00,0.000,4,0.000,0.065,1567,3906,2877,0,0,0,0,0,0
$GC,6271,-0.59,-129.8,952.9,-16.7,402,6277,0.12,1.52,0.00,0.000,6,0.209,0.035,1596,2924,2877,0,0,0,0,0,0
$GC,6593,-0.59,-129.8,994.3,-12.7,418,6597,0.00,1.60,0.00,0.000,4,0.000,0.065,1589,3896,2877,0,0,0,0,0,0
$GC,6625,-0.59,-129.8,999.0,-14.4,419,6629,0.00,1.48,0.00,0.000,6,0.000,0.035,1589,2930,2877,0,0,0,0,0,0
$STATE,6636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6636,begin apogee
$GC,6640,-0.13,0.0,1000.5,14.5,420,6762,0.52,0.00,119.53,1.797,6,0.177,0.000,1744,2724,2341,0,0,0,0,0,0
$STATE,6763,end apogee,CONTROL_FINISHED_OK
$STATE,6763,begin climb
$GC,6765,0.59,129.8,1005.4,0.0,426,6899,0.77,0.00,130.80,1.756,6,0.125,0.000,1971,2724,1812,0,0,0,0,0,0
$GC,7209,0.59,129.8,940.1,16.9,448,7213,0.00,2.05,0.00,0.000,4,0.000,0.060,1971,3898,1803,0,0,0,0,0,0
$GC,7246,0.59,129.8,932.3,19.9,449,7254,0.00,1.98,0.00,0.000,6,0.000,0.037,1980,2734,1801,0,0,0,0,0,0
$GC,7563,0.59,129.8,876.6,17.5,465,7566,0.00,2.00,0.00,0.000,4,0.000,0.060,1980,3906,1800,0,0,0,0,0,0
$GC,7585,0.59,129.8,872.1,19.3,466,7589,0.00,1.98,0.00,0.000,6,0.000,0.038,1990,2701,1799,0,0,0,0,0,0
$GC,7917,0.59,129.8,810.0,19.2,482,7921,0.00,2.00,0.00,0.000,4,0.000,0.061,1990,3903,1799,0,0,0,0,0,0
$GC,7966,0.59,129.8,799.0,22.2,484,7971,0.00,1.95,0.00,0.000,6,0.000,0.039,1999,2716,1798,0,0,0,0,0,0
$GC,8293,0.59,129.8,734.2,20.0,500,8296,0.00,1.98,0.00,0.000,4,0.000,0.062,1999,3899,1798,0,0,0,0,0,0
$GC,8337,0.59,129.8,724.2,22.5,502,8341,0.00,1.92,0.00,0.000,6,0.000,0.039,2008,2706,1797,0,0,0,0,0,0
$GC,8670,0.59,129.8,656.8,19.9,518,8674,0.00,1.98,0.00,0.000,4,0.000,0.061,2009,3909,1797,0,0,0,0,0,0
$GC,8737,0.59,129.8,641.6,22.7,521,8742,0.15,1.92,0.00,0.000,6,0.223,0.040,1984,2708,1796,0,0,0,0,0,0
$GC,9064,0.59,129.8,583.1,17.4,537,9067,0.00,1.95,0.00,0.000,4,0.000,0.061,1984,3900,1796,0,0,0,0,0,0
$GC,9101,0.59,129.8,575.4,20.6,538,9109,0.00,1.92,0.00,0.000,6,0.000,0.038,1992,2710,1796,0,0,0,0,0,0
$GC,9417,0.59,129.8,518.8,18.2,554,9421,0.00,1.95,0.00,0.000,4,0.000,0.062,1992,3900,1796,0,0,0,0,0,0
$GC,9449,0.59,129.8,512.1,20.3,555,9454,0.00,1.92,0.00,0.000,6,0.000,0.039,2001,2709,1796,0,0,0,0,0,0
$GC,9771,0.59,129.8,451.9,19.4,571,9775,0.00,1.98,0.00,0.000,4,0.000,0.062,2002,3897,1796,0,0,0,0,0,0
$GC,9817,0.59,129.8,442.6,23.1,573,9821,0.12,1.90,0.00,0.000,6,0.230,0.039,1983,2700,1795,0,0,0,0,0,0
$GC,10151,0.59,129.8,383.6,17.2,589,10154,0.00,1.95,0.00,0.000,4,0.000,0.061,1983,3900,1796,0,0,0,0,0,0
$GC,10173,0.59,129.8,378.8,19.2,590,10176,0.00,1.90,0.00,0.000,6,0.000,0.039,1992,2699,1796,0,0,0,0,0,0
$GC,10505,0.59,129.8,319.7,17.8,606,10508,0.00,1.98,0.00,0.000,4,0.000,0.061,1992,3903,1795,0,0,0,0,0,0
$GC,10554,0.59,129.8,309.5,20.9,608,10558,0.00,1.90,0.00,0.000,6,0.000,0.039,2001,2716,1795,0,0,0,0,0,0
$GC,10871,0.59,129.8,247.5,19.4,624,10875,0.00,1.92,0.00,0.000,4,0.000,0.061,2002,3905,1795,0,0,0,0,0,0
$GC,10898,0.59,129.8,241.7,20.6,626,10908,0.00,1.92,0.00,0.000,6,0.000,0.040,2010,2701,1795,0,0,0,0,0,0
$GC,11226,0.59,129.8,179.3,18.8,657,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2701,1795,0,0,0,0,0,0
$GC,11545,0.59,129.8,121.8,16.4,687,11549,0.00,1.95,0.00,0.000,4,0.000,0.060,2010,3900,1795,0,0,0,0,0,0
$GC,11626,0.59,129.8,105.4,19.5,694,11630,0.15,1.88,0.00,0.000,6,0.224,0.037,1985,2700,1795,0,0,0,0,0,0
$GC,11978,0.59,129.8,56.9,13.4,751,11985,0.00,1.98,0.00,0.000,4,0.000,0.061,1985,3914,1795,0,0,0,0,0,0
$GC,12016,0.59,129.8,51.6,14.4,757,12024,0.00,1.90,0.00,0.000,6,0.000,0.037,1994,2717,1795,0,0,0,0,0,0
$GC,12128,0.59,129.8,35.1,15.2,776,12137,0.00,1.95,0.00,0.000,4,0.000,0.062,1994,3896,1795,0,0,0,0,0,0
$GC,12151,0.59,129.8,31.6,16.7,779,12158,0.00,1.90,0.00,0.000,6,0.000,0.039,2003,2705,1795,0,0,0,0,0,0
$GC,12270,0.59,129.8,11.7,16.2,798,12278,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2705,1795,0,0,0,0,0,0
$STATE,12328,end climb,SURFACE_DEPTH_REACHED
$STATE,12328,begin surface coast
$FINISH,1.4,1.027229
$STATE,12354,end surface coast,CONTROL_FINISHED_OK
$STATE,12354,begin surface
$SM_CCo,12366,26.85,0.181,0,0,1525,200.16
$SM_GC,2.17,0.00,0.00,26.85,0.000,0.000,0.181,54,2949,1525,-5.42,0.54,200.16
$IRIDIUM_FIX,-5542.76,-26.98,181214,202031
$TT8_MAMPS,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,16.402
$10V_AH,10.1,10.734
$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,13.875,108.325,250.325,26.850,0.000,33.362,39.909,272.615,0.000,0.000,20.584,2070.051,7735.798,430.988,2470.348,145.189,33.361,1278.944,0.000,1970.485,0.000,0.540,0.000
$DEVICE_MAMPS,267.750,87.210,1796.985,181.305,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.249,1685.940,815.434,848.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354016
$DATA_FILE_SIZE,56972,811
$CAP_FILE_SIZE,121381,0
$CFSIZE,259252224,223240192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191214,032652,-5603.263,-30.188,37,1.0,37,-19.9