version: 66.07
glider: 542
mission: 9
dive: 50
start: 12 19 114 3 34 59
data:
$ID,542
$MISSION,9
$DIVE,50
$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,-21817.938
$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,29
$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
$GPS1,191214,032652,-5603.263,-30.188,37,1.0,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.6
$GPS2,191214,033405,-5603.209,-30.151,18,1.1,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.126,-0.107
$KALMAN_X,23789.3,-308.6,-8.6,-54633.5,2301.1
$KALMAN_Y,48343.0,-927.2,-577.3,-52446.6,7746.6
$MHEAD_RNG_PITCHd_Wd,249.4,5945,-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,-42.70,0.000,2,0.000,0.000,53,2951,2456,0,0,0,0,0,0
$GC,62,-0.60,-139.6,3.1,-3.9,5,88,6.40,0.00,-14.77,0.000,6,0.261,0.000,1587,2951,2914,0,0,0,0,0,0
$GC,163,-0.60,-139.6,19.4,-20.7,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2951,2915,0,0,0,0,0,0
$GC,245,-0.60,-139.6,36.3,-20.0,33,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2951,2915,0,0,0,0,0,0
$GC,358,-0.60,-139.6,60.5,-21.1,52,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2951,2915,0,0,0,0,0,0
$GC,473,-0.60,-139.6,84.9,-21.5,71,479,0.00,1.58,0.00,0.000,4,0.000,0.065,1580,3893,2915,0,0,0,0,0,0
$GC,538,-0.60,-139.6,99.1,-20.9,82,546,0.00,1.58,0.00,0.000,6,0.000,0.037,1581,2898,2915,0,0,0,0,0,0
$GC,759,-0.60,-139.6,142.0,-19.6,103,763,0.00,1.65,0.00,0.000,4,0.000,0.064,1573,3896,2915,0,0,0,0,0,0
$GC,884,-0.60,-139.6,167.4,-19.5,114,888,0.00,1.52,0.00,0.000,6,0.000,0.037,1577,2932,2916,0,0,0,0,0,0
$GC,1217,-0.60,-139.6,224.3,-17.2,145,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2926,2915,0,0,0,0,0,0
$GC,1539,-0.60,-139.6,277.6,-16.1,168,1543,0.00,1.62,0.00,0.000,4,0.000,0.065,1570,3900,2915,0,0,0,0,0,0
$GC,1585,-0.60,-139.6,285.6,-17.8,170,1589,0.00,1.52,0.00,0.000,6,0.000,0.036,1576,2923,2915,0,0,0,0,0,0
$GC,1919,-0.60,-139.6,338.9,-15.9,186,1922,0.00,1.62,0.00,0.000,4,0.000,0.063,1569,3897,2915,0,0,0,0,0,0
$GC,1956,-0.60,-139.6,346.1,-17.4,187,1965,0.00,1.52,0.00,0.000,6,0.000,0.035,1569,2922,2915,0,0,0,0,0,0
$GC,2275,-0.60,-139.6,397.7,-15.9,203,2279,0.00,1.62,0.00,0.000,4,0.000,0.064,1561,3902,2915,0,0,0,0,0,0
$GC,2331,-0.60,-139.6,408.0,-17.8,205,2335,0.10,1.50,0.00,0.000,6,0.196,0.037,1591,2941,2915,0,0,0,0,0,0
$GC,2651,-0.60,-139.6,455.6,-14.8,221,2655,0.00,1.58,0.00,0.000,4,0.000,0.064,1584,3893,2915,0,0,0,0,0,0
$GC,2719,-0.60,-139.6,466.4,-16.2,224,2722,0.00,1.50,0.00,0.000,6,0.000,0.036,1587,2925,2916,0,0,0,0,0,0
$GC,3050,-0.60,-139.6,515.6,-14.7,240,3054,0.00,1.62,0.00,0.000,4,0.000,0.063,1580,3903,2916,0,0,0,0,0,0
$GC,3111,-0.60,-139.6,525.3,-15.3,242,3119,0.00,1.50,0.00,0.000,6,0.000,0.034,1581,2926,2916,0,0,0,0,0,0
$GC,3427,-0.60,-139.6,571.8,-14.8,258,3430,0.00,1.60,0.00,0.000,4,0.000,0.063,1574,3895,2916,0,0,0,0,0,0
$GC,3458,-0.60,-139.6,577.1,-16.1,259,3463,0.00,1.50,0.00,0.000,6,0.000,0.034,1574,2932,2916,0,0,0,0,0,0
$GC,3781,-0.60,-139.6,625.0,-14.7,275,3784,0.00,1.60,0.00,0.000,4,0.000,0.063,1566,3896,2916,0,0,0,0,0,0
$GC,3826,-0.60,-139.6,632.1,-16.3,277,3830,0.08,1.50,0.00,0.000,6,0.192,0.036,1588,2930,2916,0,0,0,0,0,0
$GC,4158,-0.60,-139.6,675.4,-12.9,293,4161,0.00,1.62,0.00,0.000,4,0.000,0.065,1581,3897,2916,0,0,0,0,0,0
$GC,4202,-0.60,-139.6,681.4,-13.8,295,4206,0.00,1.50,0.00,0.000,6,0.000,0.035,1581,2929,2916,0,0,0,0,0,0
$GC,4534,-0.60,-139.6,723.6,-12.6,311,4538,0.00,1.60,0.00,0.000,4,0.000,0.064,1574,3894,2916,0,0,0,0,0,0
$GC,4581,-0.60,-139.6,729.8,-14.6,313,4585,0.00,1.50,0.00,0.000,6,0.000,0.036,1578,2922,2916,0,0,0,0,0,0
$GC,4913,-0.60,-139.6,772.4,-12.8,329,4917,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3900,2916,0,0,0,0,0,0
$GC,4944,-0.60,-139.6,777.0,-14.4,330,4949,0.00,1.52,0.00,0.000,6,0.000,0.035,1577,2919,2916,0,0,0,0,0,0
$GC,5267,-0.60,-139.6,818.5,-12.8,346,5271,0.00,1.62,0.00,0.000,4,0.000,0.064,1570,3901,2916,0,0,0,0,0,0
$GC,5304,-0.60,-139.6,823.9,-13.7,347,5312,0.00,1.50,0.00,0.000,6,0.000,0.035,1576,2932,2916,0,0,0,0,0,0
$GC,5620,-0.60,-139.6,864.8,-12.6,363,5624,0.00,1.58,0.00,0.000,4,0.000,0.063,1569,3890,2916,0,0,0,0,0,0
$GC,5669,-0.60,-139.6,871.8,-13.8,365,5674,0.00,1.48,0.00,0.000,6,0.000,0.035,1569,2932,2916,0,0,0,0,0,0
$GC,5996,-0.60,-139.6,915.3,-13.2,381,6000,0.00,1.60,0.00,0.000,4,0.000,0.064,1562,3899,2916,0,0,0,0,0,0
$GC,6055,-0.60,-139.6,924.2,-14.8,383,6064,0.12,1.52,0.00,0.000,6,0.208,0.035,1591,2916,2916,0,0,0,0,0,0
$GC,6372,-0.60,-139.6,960.0,-11.1,399,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2916,2916,0,0,0,0,0,0
$GC,6681,-0.60,-139.6,994.3,-11.3,414,6685,0.00,1.62,0.00,0.000,4,0.000,0.065,1583,3900,2916,0,0,0,0,0,0
$GC,6718,-0.60,-139.6,999.2,-12.6,415,6726,0.00,1.48,0.00,0.000,6,0.000,0.035,1587,2933,2916,0,0,0,0,0,0
$STATE,6744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6744,begin apogee
$GC,6748,-0.13,0.0,1002.2,12.4,417,6880,0.52,0.00,128.57,1.808,6,0.177,0.000,1741,2710,2342,0,0,0,0,0,0
$STATE,6881,end apogee,CONTROL_FINISHED_OK
$STATE,6881,begin climb
$GC,6882,0.60,139.6,1005.4,0.0,423,7032,0.77,2.30,141.43,1.765,4,0.126,0.060,1972,3896,1771,0,0,0,0,0,0
$GC,7047,0.60,139.6,982.5,20.0,431,7052,0.00,2.12,0.00,0.000,6,0.000,0.035,1981,2735,1769,0,0,0,0,0,0
$GC,7375,0.60,139.6,917.0,20.0,447,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2735,1762,0,0,0,0,0,0
$GC,7685,0.60,139.6,853.9,20.5,462,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2735,1760,0,0,0,0,0,0
$GC,7993,0.60,139.6,790.3,20.6,477,7997,0.00,1.98,0.00,0.000,4,0.000,0.062,1981,3890,1759,0,0,0,0,0,0
$GC,8040,0.60,139.6,780.2,22.8,479,8044,0.00,1.92,0.00,0.000,6,0.000,0.038,1991,2704,1758,0,0,0,0,0,0
$GC,8372,0.60,139.6,709.1,21.2,495,8376,0.00,2.00,0.00,0.000,4,0.000,0.061,1991,3900,1758,0,0,0,0,0,0
$GC,8387,0.60,139.6,705.4,21.0,495,8395,0.00,1.95,0.00,0.000,6,0.000,0.037,2000,2706,1758,0,0,0,0,0,0
$GC,8703,0.60,139.6,637.5,21.2,511,8707,0.00,1.98,0.00,0.000,4,0.000,0.060,1999,3897,1758,0,0,0,0,0,0
$GC,8741,0.60,139.6,628.3,23.3,512,8749,0.00,1.92,0.00,0.000,6,0.000,0.039,2009,2713,1757,0,0,0,0,0,0
$GC,9057,0.60,139.6,560.2,21.3,528,9061,0.00,1.98,0.00,0.000,4,0.000,0.061,2009,3892,1757,0,0,0,0,0,0
$GC,9103,0.60,139.6,549.9,23.2,530,9107,0.15,1.90,0.00,0.000,6,0.222,0.039,1984,2701,1756,0,0,0,0,0,0
$GC,9435,0.60,139.6,486.1,18.9,546,9438,0.00,1.98,0.00,0.000,4,0.000,0.061,1984,3898,1756,0,0,0,0,0,0
$GC,9466,0.60,139.6,479.3,20.2,547,9471,0.00,1.92,0.00,0.000,6,0.000,0.038,1992,2707,1756,0,0,0,0,0,0
$GC,9789,0.60,139.6,418.0,18.6,563,9793,0.00,1.98,0.00,0.000,4,0.000,0.061,1993,3892,1756,0,0,0,0,0,0
$GC,9837,0.60,139.6,407.5,22.2,565,9842,0.00,1.90,0.00,0.000,6,0.000,0.039,2002,2714,1756,0,0,0,0,0,0
$GC,10168,0.60,139.6,345.2,19.0,581,10172,0.00,1.95,0.00,0.000,4,0.000,0.061,2002,3900,1756,0,0,0,0,0,0
$GC,10191,0.60,139.6,340.2,20.3,582,10194,0.00,1.90,0.00,0.000,6,0.000,0.039,2011,2698,1755,0,0,0,0,0,0
$GC,10522,0.60,139.6,276.3,18.8,598,10526,0.00,1.98,0.00,0.000,4,0.000,0.060,2011,3904,1755,0,0,0,0,0,0
$GC,10583,0.60,139.6,263.0,21.8,600,10594,0.10,1.92,0.00,0.000,6,0.209,0.038,1992,2708,1755,0,0,0,0,0,0
$GC,10908,0.60,139.6,206.8,17.9,627,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2708,1755,0,0,0,0,0,0
$GC,11228,0.60,139.6,148.8,17.7,657,11231,0.00,1.95,0.00,0.000,4,0.000,0.061,1992,3900,1755,0,0,0,0,0,0
$GC,11276,0.60,139.6,139.4,19.3,661,11280,0.00,1.90,0.00,0.000,6,0.000,0.039,2001,2696,1755,0,0,0,0,0,0
$GC,11609,0.60,139.6,83.2,15.6,700,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2696,1755,0,0,0,0,0,0
$GC,11849,0.60,139.6,47.5,14.9,741,11856,0.00,1.98,0.00,0.000,4,0.000,0.062,2001,3911,1755,0,0,0,0,0,0
$GC,11876,0.60,139.6,43.6,14.1,745,11883,0.00,1.92,0.00,0.000,6,0.000,0.038,2010,2702,1755,0,0,0,0,0,0
$GC,11992,0.60,139.6,25.6,15.8,764,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2701,1755,0,0,0,0,0,0
$GC,12075,0.60,139.6,12.0,17.2,777,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2701,1755,0,0,0,0,0,0
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12133,begin surface coast
$FINISH,1.1,1.025339
$STATE,12153,end surface coast,CONTROL_FINISHED_OK
$STATE,12153,begin surface
$SM_CCo,12165,22.77,0.194,0,0,1524,200.16
$SM_GC,2.54,0.00,0.00,22.77,0.000,0.000,0.194,55,2937,1524,-5.43,0.20,200.16
$IRIDIUM_FIX,-5538.94,-30.83,181214,232306
$TT8_MAMPS,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,16.557
$10V_AH,10.1,10.833
$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,13.600,93.950,270.000,22.775,0.000,28.565,23.542,266.028,0.000,0.000,20.777,2011.278,7657.204,428.158,2380.443,145.897,33.357,1254.959,0.000,1909.924,0.000,0.539,0.000
$DEVICE_MAMPS,260.865,68.085,1807.695,194.310,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.391,1633.281,775.776,801.706,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,53844,789
$CAP_FILE_SIZE,116635,0
$CFSIZE,259252224,223178752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191214,065928,-5603.756,-30.907,46,0.8,46,-19.9