version: 66.07
glider: 542
mission: 9
dive: 57
start: 12 20 114 4 33 5
data:
$ID,542
$MISSION,9
$DIVE,57
$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,-21834.254
$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
$GPS1,201214,042504,-5602.528,-31.505,33,1.1,33,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-70.8
$GPS2,201214,043211,-5602.515,-31.496,20,0.8,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.121,0.112
$KALMAN_X,24760.7,234.7,-302.8,-57233.4,45.5
$KALMAN_Y,50885.5,102.3,-199.3,-55128.3,3265.4
$MHEAD_RNG_PITCHd_Wd,67.0,4909,-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,-73.9,0.0,0.0,0,50,0.00,0.00,-33.90,0.000,2,0.000,0.000,57,2928,2252,0,0,0,0,0,0
$GC,53,-0.59,-132.4,3.1,-4.5,4,95,6.32,2.33,-23.92,0.000,4,0.256,0.059,1594,1501,2884,0,0,0,0,0,0
$GC,225,-0.59,-132.4,24.9,-15.6,30,234,0.00,2.38,0.00,0.000,6,0.000,0.060,1584,2925,2885,0,0,0,0,0,0
$GC,308,-0.59,-132.4,40.1,-19.8,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2885,0,0,0,0,0,0
$GC,420,-0.59,-132.4,62.9,-19.8,62,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2885,0,0,0,0,0,0
$GC,533,-0.59,-132.4,85.9,-20.4,81,542,0.00,1.60,0.00,0.000,4,0.000,0.066,1576,3900,2885,0,0,0,0,0,0
$GC,579,-0.59,-132.4,94.6,-19.9,88,586,0.00,1.58,0.00,0.000,6,0.000,0.037,1576,2892,2886,0,0,0,0,0,0
$GC,808,-0.59,-132.4,136.0,-17.4,111,809,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2891,2886,0,0,0,0,0,0
$GC,1127,-0.59,-132.4,193.8,-18.4,141,1131,0.00,1.65,0.00,0.000,4,0.000,0.065,1569,3910,2886,0,0,0,0,0,0
$GC,1198,-0.59,-132.4,207.7,-19.4,147,1202,0.00,1.52,0.00,0.000,6,0.000,0.037,1569,2930,2886,0,0,0,0,0,0
$GC,1529,-0.59,-132.4,265.0,-16.7,174,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,2886,0,0,0,0,0,0
$GC,1839,-0.59,-132.4,315.0,-15.9,189,1843,0.00,1.62,0.00,0.000,4,0.000,0.065,1561,3933,2886,0,0,0,0,0,0
$GC,1877,-0.59,-132.4,322.3,-17.5,190,1887,0.10,1.55,0.00,0.000,6,0.191,0.036,1590,2936,2886,0,0,0,0,0,0
$GC,2194,-0.59,-132.4,367.0,-13.9,206,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2936,2886,0,0,0,0,0,0
$GC,2502,-0.59,-132.4,412.2,-14.6,221,2506,0.00,1.60,0.00,0.000,4,0.000,0.066,1583,3901,2886,0,0,0,0,0,0
$GC,2557,-0.59,-132.4,421.1,-15.7,223,2561,0.00,1.52,0.00,0.000,6,0.000,0.036,1583,2923,2887,0,0,0,0,0,0
$GC,2878,-0.59,-132.4,469.5,-15.0,239,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2919,2886,0,0,0,0,0,0
$GC,3187,-0.59,-132.4,514.6,-14.5,254,3191,0.00,1.62,0.00,0.000,4,0.000,0.065,1576,3901,2887,0,0,0,0,0,0
$GC,3236,-0.59,-132.4,522.4,-16.0,256,3241,0.00,1.52,0.00,0.000,6,0.000,0.035,1576,2922,2887,0,0,0,0,0,0
$GC,3564,-0.59,-132.4,570.7,-14.5,272,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2919,2886,0,0,0,0,0,0
$GC,3873,-0.59,-132.4,615.5,-14.0,287,3876,0.00,1.62,0.00,0.000,4,0.000,0.064,1568,3903,2887,0,0,0,0,0,0
$GC,3921,-0.59,-132.4,623.1,-15.4,289,3927,0.10,1.52,0.00,0.000,6,0.213,0.036,1591,2926,2887,0,0,0,0,0,0
$GC,4249,-0.59,-132.4,664.4,-12.6,305,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2887,0,0,0,0,0,0
$GC,4558,-0.59,-132.4,702.2,-12.4,320,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2887,0,0,0,0,0,0
$GC,4867,-0.59,-132.4,739.5,-12.0,335,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2887,0,0,0,0,0,0
$GC,5177,-0.59,-132.4,777.5,-12.3,350,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2886,0,0,0,0,0,0
$GC,5486,-0.59,-132.4,815.2,-12.2,365,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2886,0,0,0,0,0,0
$GC,5795,-0.59,-132.4,854.6,-12.9,380,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2886,0,0,0,0,0,0
$GC,6105,-0.59,-132.4,895.4,-13.3,395,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2887,0,0,0,0,0,0
$GC,6414,-0.59,-132.4,938.0,-13.9,410,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2886,0,0,0,0,0,0
$GC,6723,-0.59,-132.4,980.0,-13.4,425,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2926,2886,0,0,0,0,0,0
$STATE,6887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6887,begin apogee
$GC,6892,-0.13,0.0,1002.6,13.6,433,7017,0.50,0.00,121.75,1.806,6,0.179,0.000,1738,2713,2342,0,0,0,0,0,0
$STATE,7018,end apogee,CONTROL_FINISHED_OK
$STATE,7018,begin climb
$GC,7019,0.59,132.4,1008.8,0.0,439,7156,0.80,0.00,133.80,1.753,6,0.125,0.000,1973,2712,1802,0,0,0,0,0,0
$GC,7458,0.59,132.4,946.5,16.3,461,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2712,1792,0,0,0,0,0,0
$GC,7767,0.59,132.4,895.6,16.7,476,7771,0.00,2.05,0.00,0.000,4,0.000,0.063,1973,3897,1791,0,0,0,0,0,0
$GC,7822,0.59,132.4,885.0,19.3,478,7827,0.00,1.95,0.00,0.000,6,0.000,0.039,1982,2727,1789,0,0,0,0,0,0
$GC,8144,0.59,132.4,826.3,18.9,494,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2726,1788,0,0,0,0,0,0
$GC,8453,0.59,132.4,767.1,19.7,509,8457,0.00,1.98,0.00,0.000,4,0.000,0.061,1982,3909,1787,0,0,0,0,0,0
$GC,8515,0.59,132.4,753.7,23.1,511,8522,0.00,1.95,0.00,0.000,6,0.000,0.040,1992,2696,1787,0,0,0,0,0,0
$GC,8830,0.59,132.4,687.3,21.1,527,8833,0.00,2.00,0.00,0.000,4,0.000,0.061,1992,3903,1787,0,0,0,0,0,0
$GC,8875,0.59,132.4,677.2,24.4,529,8878,0.00,1.92,0.00,0.000,6,0.000,0.040,2001,2702,1786,0,0,0,0,0,0
$GC,9207,0.59,132.4,605.2,21.6,545,9211,0.00,1.95,0.00,0.000,4,0.000,0.061,2001,3900,1786,0,0,0,0,0,0
$GC,9255,0.59,132.4,593.1,25.4,547,9260,0.00,1.92,0.00,0.000,6,0.000,0.039,2010,2714,1785,0,0,0,0,0,0
$GC,9583,0.59,132.4,520.4,22.2,563,9586,0.00,1.98,0.00,0.000,4,0.000,0.060,2010,3927,1785,0,0,0,0,0,0
$GC,9632,0.59,132.4,508.1,26.1,565,9637,0.12,1.98,0.00,0.000,6,0.212,0.039,1986,2704,1785,0,0,0,0,0,0
$GC,9958,0.59,132.4,443.0,19.5,581,9962,0.00,1.98,0.00,0.000,4,0.000,0.060,1986,3910,1785,0,0,0,0,0,0
$GC,10003,0.59,132.4,433.2,21.9,583,10007,0.00,1.90,0.00,0.000,6,0.000,0.040,1994,2700,1785,0,0,0,0,0,0
$GC,10337,0.59,132.4,367.6,19.5,599,10341,0.00,1.98,0.00,0.000,4,0.000,0.060,1994,3906,1785,0,0,0,0,0,0
$GC,10375,0.59,132.4,358.9,22.0,600,10385,0.00,1.92,0.00,0.000,6,0.000,0.038,2004,2712,1785,0,0,0,0,0,0
$GC,10692,0.59,132.4,297.0,19.5,616,10696,0.00,1.98,0.00,0.000,4,0.000,0.060,2004,3904,1785,0,0,0,0,0,0
$GC,10729,0.59,132.4,288.4,22.7,617,10738,0.10,1.92,0.00,0.000,6,0.215,0.038,1986,2706,1785,0,0,0,0,0,0
$GC,11051,0.59,132.4,231.1,18.2,637,11054,0.00,1.95,0.00,0.000,4,0.000,0.060,1986,3900,1785,0,0,0,0,0,0
$GC,11112,0.59,132.4,217.8,21.2,642,11123,0.00,1.90,0.00,0.000,6,0.000,0.038,1994,2714,1785,0,0,0,0,0,0
$GC,11440,0.59,132.4,158.3,17.9,673,11443,0.00,1.95,0.00,0.000,4,0.000,0.060,1994,3909,1784,0,0,0,0,0,0
$GC,11490,0.59,132.4,149.3,19.6,677,11494,0.00,1.88,0.00,0.000,6,0.000,0.039,2003,2705,1785,0,0,0,0,0,0
$GC,11817,0.59,132.4,93.0,15.7,711,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2706,1785,0,0,0,0,0,0
$GC,12055,0.59,132.4,55.4,15.6,752,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2706,1785,0,0,0,0,0,0
$GC,12172,0.59,132.4,37.7,15.3,771,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2706,1785,0,0,0,0,0,0
$GC,12288,0.59,132.4,20.4,14.4,790,12297,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2705,1785,0,0,0,0,0,0
$GC,12372,0.59,132.4,7.8,14.9,803,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2706,1785,0,0,0,0,0,0
$STATE,12406,end climb,SURFACE_DEPTH_REACHED
$STATE,12406,begin surface coast
$FINISH,1.3,1.016200
$STATE,12432,end surface coast,CONTROL_FINISHED_OK
$STATE,12432,begin surface
$SM_CCo,12444,26.77,0.177,0,0,1524,200.16
$SM_GC,2.78,0.00,0.00,26.77,0.000,0.000,0.177,64,2955,1524,-5.40,0.71,200.16
$IRIDIUM_FIX,-5538.94,-30.80,201214,010104
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.7,17.619
$10V_AH,10.1,11.535
$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,13.350,63.375,255.550,26.775,0.000,25.547,19.216,267.207,0.000,0.000,22.487,2007.303,8036.873,408.620,2304.497,144.899,33.362,1173.075,0.000,1850.550,0.000,0.539,0.000
$DEVICE_MAMPS,256.275,65.790,1806.165,177.480,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.159,1693.214,812.078,842.023,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,57004,812
$CAP_FILE_SIZE,103437,0
$CFSIZE,259252224,222752768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201214,080205,-5601.196,-27.788,34,0.9,34,-19.9