version: 66.07
glider: 542
mission: 9
dive: 12
start: 12 13 114 8 38 12
data:
$ID,542
$MISSION,9
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,65
$T_MISSION,75
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21723.605
$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,1802
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,120
$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
$GPS1,131214,082604,-5559.600,0.507,28,0.8,29,-20.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.4
$GPS2,131214,083718,-5559.570,0.435,20,0.8,21,-20.1
$SPEED_LIMITS,0.178,0.262
$TGT_NAME,TARGET
$TGT_LATLONG,-56.000,-0.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.133,0.393
$KALMAN_X,862.7,141.1,-32.0,-462.6,517.1
$KALMAN_Y,-4007.3,-1340.7,-534.3,6986.0,-490.5
$MHEAD_RNG_PITCHd_Wd,1.4,6118208,-9.3,-10.256
$D_GRID,200
$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,15,-0.42,-146.1,0.0,0.0,0,83,0.00,0.00,-66.22,0.000,2,0.000,0.000,53,2293,2990,0,0,0,0,0,0
$GC,85,-0.42,-146.1,3.4,-5.0,8,104,7.10,2.53,-2.38,0.000,4,0.271,0.094,1648,3716,3094,0,0,0,0,0,0
$GC,272,-0.42,-146.1,35.5,-11.9,38,281,0.00,2.38,0.00,0.000,6,0.000,0.059,1648,2295,3095,0,0,0,0,0,0
$GC,389,-0.42,-146.1,50.2,-12.5,57,396,0.00,2.47,0.00,0.000,4,0.000,0.086,1637,3714,3095,0,0,0,0,0,0
$GC,498,-0.42,-146.1,65.5,-14.4,75,505,0.00,2.33,0.00,0.000,6,0.000,0.059,1637,2296,3095,0,0,0,0,0,0
$GC,610,-0.42,-146.1,80.1,-12.0,94,620,0.10,2.50,0.00,0.000,4,0.194,0.085,1650,3719,3095,0,0,0,0,0,0
$GC,719,-0.42,-146.1,92.8,-10.4,112,728,0.00,2.35,0.00,0.000,6,0.000,0.059,1651,2297,3095,0,0,0,0,0,0
$GC,835,-0.42,-146.1,105.7,-11.6,131,842,0.00,2.42,0.00,0.000,4,0.000,0.084,1639,3714,3095,0,0,0,0,0,0
$GC,946,-0.42,-146.1,120.3,-13.4,149,953,0.00,2.30,0.00,0.000,6,0.000,0.058,1639,2296,3095,0,0,0,0,0,0
$GC,1062,-0.42,-146.1,136.0,-12.9,168,1070,0.00,2.45,0.00,0.000,4,0.000,0.085,1628,3711,3095,0,0,0,0,0,0
$GC,1147,-0.42,-146.1,147.8,-12.3,182,1157,0.10,2.33,0.00,0.000,6,0.164,0.058,1659,2294,3095,0,0,0,0,0,0
$GC,1269,-0.42,-146.1,159.3,-8.8,201,1279,0.00,2.42,0.00,0.000,4,0.000,0.083,1649,3722,3095,0,0,0,0,0,0
$GC,1410,-0.42,-146.1,174.0,-9.9,224,1419,0.00,2.33,0.00,0.000,6,0.000,0.057,1649,2297,3095,0,0,0,0,0,0
$GC,1526,-0.42,-146.1,185.8,-10.7,243,1533,0.00,2.40,0.00,0.000,4,0.000,0.083,1638,3719,3095,0,0,0,0,0,0
$STATE,1642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1643,begin apogee
$GC,1649,-0.18,0.0,200.2,12.3,262,1777,0.30,0.00,120.85,1.333,6,0.157,0.000,1732,2300,2500,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1779,0.42,146.1,208.1,0.0,280,1916,0.65,2.65,128.70,1.287,4,0.136,0.067,1933,905,1904,0,0,0,0,0,0
$GC,1941,0.60,297.7,201.2,7.8,303,2090,0.20,2.60,139.02,1.260,6,0.103,0.068,1995,2299,1286,0,0,0,0,0,0
$GC,2196,0.60,297.7,161.6,16.5,342,2205,0.00,2.60,0.00,0.000,4,0.000,0.076,1995,3712,1279,0,0,0,0,0,0
$GC,2315,0.60,297.7,139.6,19.0,362,2324,0.00,2.47,0.00,0.000,6,0.000,0.060,2005,2310,1277,0,0,0,0,0,0
$GC,2432,0.60,297.7,119.5,16.2,381,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2309,1277,0,0,0,0,0,0
$GC,2546,0.60,297.7,100.7,15.7,400,2555,0.00,2.53,0.00,0.000,4,0.000,0.079,2005,3713,1276,0,0,0,0,0,0
$GC,2608,0.60,297.7,89.2,19.0,410,2617,0.00,2.42,0.00,0.000,6,0.000,0.060,2016,2300,1275,0,0,0,0,0,0
$GC,2724,0.60,297.7,68.6,17.9,429,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2300,1275,0,0,0,0,0,0
$GC,2837,0.60,297.7,47.1,19.9,448,2846,0.00,2.47,0.00,0.000,4,0.000,0.078,2016,3710,1275,0,0,0,0,0,0
$GC,2948,0.60,297.7,24.3,22.5,466,2958,0.08,2.40,0.00,0.000,6,0.210,0.060,2007,2292,1275,0,0,0,0,0,0
$GC,3032,0.60,297.7,8.5,19.6,479,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2292,1274,0,0,0,0,0,0
$STATE,3066,end climb,SURFACE_DEPTH_REACHED
$STATE,3066,begin surface coast
$FINISH,0.4,1.013821
$STATE,3086,end surface coast,CONTROL_FINISHED_OK
$STATE,3086,begin surface
$SM_CCo,3159,0.00,0.000,0,0,1273,300.98
$SM_GC,1.03,5.53,0.00,0.00,0.070,0.000,0.000,62,2291,1273,-5.38,-0.25,300.98
$IRIDIUM_FIX,-5538.94,0.00,131214,080817
$TT8_MAMPS,0.026215
$HUMID,55.31
$INTERNAL_PRESSURE,8.8965
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,22.0,10.283
$10V_AH,10.0,5.225
$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,14.050,53.675,388.575,0.000,0.000,55.293,63.666,372.129,4.250,0.000,23.058,1052.062,376.607,383.002,1937.303,96.313,33.321,941.997,0.000,1265.669,0.000,28.023,0.000
$DEVICE_MAMPS,270.810,94.095,1332.630,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.937,1277.700,894.480,1371.819,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,37174,487
$CAP_FILE_SIZE,62265,0
$CFSIZE,259252224,226254848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131214,093158,-5559.215,0.243,36,0.8,36,-20.1