version: 66.07
glider: 542
mission: 9
dive: 61
start: 12 20 114 19 55 59
data:
$ID,542
$MISSION,9
$DIVE,61
$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,-21843.555
$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,22
$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
$GPS1,201214,194752,-5602.219,-31.740,35,0.9,35,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-64.9
$GPS2,201214,195505,-5602.236,-31.683,15,1.2,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.164,0.017
$KALMAN_X,33131.5,-318.9,-6.4,-65544.9,4028.5
$KALMAN_Y,53853.7,-370.2,-617.2,-56676.7,3887.6
$MHEAD_RNG_PITCHd_Wd,295.7,4493,-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,-73.9,0.0,0.0,0,51,0.00,0.00,-34.35,0.000,2,0.000,0.000,59,2930,2262,0,0,0,0,0,0
$GC,53,-0.59,-131.4,3.0,-4.6,4,88,6.30,1.60,-21.83,0.000,4,0.257,0.083,1582,3900,2878,0,0,0,0,0,0
$GC,288,-0.59,-131.4,43.7,-19.2,41,295,0.00,1.58,0.00,0.000,6,0.000,0.036,1582,2901,2880,0,0,0,0,0,0
$GC,401,-0.59,-131.4,65.5,-18.9,60,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2900,2880,0,0,0,0,0,0
$GC,516,-0.59,-131.4,86.5,-18.1,79,523,0.00,1.65,0.00,0.000,4,0.000,0.063,1574,3899,2880,0,0,0,0,0,0
$GC,623,-0.59,-131.4,107.4,-17.9,94,633,0.00,1.52,0.00,0.000,6,0.000,0.036,1579,2921,2881,0,0,0,0,0,0
$GC,950,-0.59,-131.4,165.4,-17.2,125,954,0.00,1.62,0.00,0.000,4,0.000,0.063,1571,3897,2880,0,0,0,0,0,0
$GC,1098,-0.59,-131.4,194.7,-19.0,138,1102,0.00,1.50,0.00,0.000,6,0.000,0.036,1578,2933,2880,0,0,0,0,0,0
$GC,1441,-0.59,-131.4,254.7,-17.3,169,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2926,2880,0,0,0,0,0,0
$GC,1748,-0.59,-131.4,308.2,-17.1,184,1751,0.00,1.60,0.00,0.000,4,0.000,0.064,1571,3893,2880,0,0,0,0,0,0
$GC,1818,-0.59,-131.4,320.8,-18.3,187,1821,0.00,1.50,0.00,0.000,6,0.000,0.037,1577,2927,2880,0,0,0,0,0,0
$GC,2151,-0.59,-131.4,378.5,-17.0,203,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2922,2881,0,0,0,0,0,0
$GC,2460,-0.59,-131.4,431.6,-17.1,218,2463,0.00,1.60,0.00,0.000,4,0.000,0.063,1570,3893,2880,0,0,0,0,0,0
$GC,2536,-0.59,-131.4,445.6,-18.0,221,2541,0.00,1.50,0.00,0.000,6,0.000,0.035,1576,2923,2880,0,0,0,0,0,0
$GC,2859,-0.59,-131.4,496.8,-15.7,237,2862,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3902,2880,0,0,0,0,0,0
$GC,2926,-0.59,-131.4,508.2,-16.8,240,2930,0.00,1.50,0.00,0.000,6,0.000,0.036,1568,2928,2880,0,0,0,0,0,0
$GC,3258,-0.59,-131.4,558.6,-14.7,256,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,2881,0,0,0,0,0,0
$GC,3568,-0.59,-131.4,602.9,-13.8,271,3572,0.10,1.60,0.00,0.000,4,0.219,0.065,1583,3900,2881,0,0,0,0,0,0
$GC,3628,-0.59,-131.4,611.5,-13.9,273,3635,0.00,1.50,0.00,0.000,6,0.000,0.035,1588,2920,2881,0,0,0,0,0,0
$GC,3944,-0.59,-131.4,648.8,-11.6,289,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2919,2881,0,0,0,0,0,0
$GC,4254,-0.59,-131.4,683.6,-11.4,304,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2919,2881,0,0,0,0,0,0
$GC,4562,-0.59,-131.4,718.0,-11.1,319,4566,0.00,1.62,0.00,0.000,4,0.000,0.064,1581,3904,2881,0,0,0,0,0,0
$GC,4633,-0.59,-131.4,727.1,-12.4,322,4638,0.00,1.50,0.00,0.000,6,0.000,0.035,1581,2932,2881,0,0,0,0,0,0
$GC,4962,-0.59,-131.4,768.5,-12.9,338,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2926,2881,0,0,0,0,0,0
$GC,5270,-0.59,-131.4,807.7,-12.7,353,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2926,2881,0,0,0,0,0,0
$GC,5580,-0.59,-131.4,847.5,-12.8,368,5584,0.00,1.60,0.00,0.000,4,0.000,0.065,1574,3897,2881,0,0,0,0,0,0
$GC,5625,-0.59,-131.4,854.1,-15.3,370,5629,0.00,1.48,0.00,0.000,6,0.000,0.036,1578,2938,2881,0,0,0,0,0,0
$GC,5958,-0.59,-131.4,898.2,-13.3,386,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2934,2881,0,0,0,0,0,0
$GC,6267,-0.59,-131.4,939.1,-13.5,401,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2935,2881,0,0,0,0,0,0
$GC,6575,-0.59,-131.4,979.8,-13.0,416,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2935,2882,0,0,0,0,0,0
$STATE,6739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6739,begin apogee
$GC,6743,-0.13,0.0,1001.5,13.1,424,6867,0.55,0.00,120.25,1.804,6,0.184,0.000,1738,2717,2342,0,0,0,0,0,0
$STATE,6868,end apogee,CONTROL_FINISHED_OK
$STATE,6868,begin climb
$GC,6870,0.59,131.4,1006.1,0.0,430,7006,0.77,0.00,132.23,1.755,6,0.126,0.000,1970,2717,1805,0,0,0,0,0,0
$GC,7302,0.59,131.4,940.5,17.8,451,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2717,1796,0,0,0,0,0,0
$GC,7610,0.59,131.4,886.7,17.4,466,7614,0.00,2.00,0.00,0.000,4,0.000,0.061,1967,3897,1794,0,0,0,0,0,0
$GC,7648,0.59,131.4,879.2,19.6,467,7656,0.00,1.92,0.00,0.000,6,0.000,0.037,1976,2734,1793,0,0,0,0,0,0
$GC,7965,0.59,131.4,822.5,18.1,483,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2734,1792,0,0,0,0,0,0
$GC,8273,0.59,131.4,766.4,18.3,498,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2734,1792,0,0,0,0,0,0
$GC,8583,0.59,131.4,709.4,18.5,513,8586,0.00,1.95,0.00,0.000,4,0.000,0.061,1976,3906,1792,0,0,0,0,0,0
$GC,8637,0.59,131.4,697.8,22.4,515,8642,0.00,1.95,0.00,0.000,6,0.000,0.039,1985,2701,1790,0,0,0,0,0,0
$GC,8959,0.59,131.4,636.4,19.0,531,8962,0.00,1.98,0.00,0.000,4,0.000,0.060,1985,3897,1790,0,0,0,0,0,0
$GC,9004,0.59,131.4,627.1,21.2,533,9007,0.00,1.90,0.00,0.000,6,0.000,0.038,1994,2706,1790,0,0,0,0,0,0
$GC,9336,0.59,131.4,563.1,19.3,549,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2705,1790,0,0,0,0,0,0
$GC,9645,0.59,131.4,505.4,18.2,564,9649,0.00,1.98,0.00,0.000,4,0.000,0.060,1994,3893,1790,0,0,0,0,0,0
$GC,9676,0.59,131.4,498.6,20.8,565,9681,0.00,1.90,0.00,0.000,6,0.000,0.037,2004,2710,1789,0,0,0,0,0,0
$GC,9999,0.59,131.4,437.3,18.8,581,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2710,1789,0,0,0,0,0,0
$GC,10309,0.59,131.4,379.6,18.2,596,10313,0.00,1.95,0.00,0.000,4,0.000,0.060,2004,3908,1789,0,0,0,0,0,0
$GC,10370,0.59,131.4,366.6,20.5,598,10380,0.10,1.92,0.00,0.000,6,0.215,0.038,1986,2704,1789,0,0,0,0,0,0
$GC,10687,0.59,131.4,314.1,16.7,614,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2704,1789,0,0,0,0,0,0
$GC,10998,0.59,131.4,263.1,16.7,629,11001,0.00,1.95,0.00,0.000,4,0.000,0.060,1986,3898,1789,0,0,0,0,0,0
$GC,11035,0.59,131.4,255.5,19.2,630,11045,0.00,1.90,0.00,0.000,6,0.000,0.037,1994,2706,1789,0,0,0,0,0,0
$GC,11362,0.59,131.4,199.6,17.7,659,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2705,1788,0,0,0,0,0,0
$GC,11681,0.59,131.4,142.9,17.2,689,11685,0.00,1.95,0.00,0.000,4,0.000,0.060,1994,3902,1788,0,0,0,0,0,0
$GC,11729,0.59,131.4,133.3,20.8,693,11733,0.00,1.88,0.00,0.000,6,0.000,0.039,2003,2707,1788,0,0,0,0,0,0
$GC,12066,0.59,131.4,75.0,15.2,736,12075,0.00,1.95,0.00,0.000,4,0.000,0.060,2004,3893,1789,0,0,0,0,0,0
$GC,12217,0.59,131.4,48.8,17.6,761,12224,0.10,1.88,0.00,0.000,6,0.207,0.037,1985,2710,1789,0,0,0,0,0,0
$GC,12330,0.59,131.4,33.1,11.9,780,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2710,1789,0,0,0,0,0,0
$GC,12449,0.59,131.4,15.1,16.7,799,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2710,1788,0,0,0,0,0,0
$STATE,12532,end climb,SURFACE_DEPTH_REACHED
$STATE,12532,begin surface coast
$FINISH,1.2,1.014999
$STATE,12558,end surface coast,CONTROL_FINISHED_OK
$STATE,12558,begin surface
$SM_CCo,12570,25.77,0.185,0,0,1524,200.16
$SM_GC,2.17,0.00,0.00,25.77,0.000,0.000,0.185,66,2939,1524,-5.39,0.28,200.16
$IRIDIUM_FIX,-5538.94,-30.80,201214,151556
$TT8_MAMPS,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,18.244
$10V_AH,10.0,11.957
$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,13.000,59.750,252.475,25.775,0.000,28.194,18.468,269.786,0.000,0.000,17.764,2027.179,8137.568,377.496,2338.132,149.191,33.358,1150.443,0.000,1881.768,0.000,0.539,0.000
$DEVICE_MAMPS,257.040,83.385,1803.870,185.130,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.638,1684.782,798.888,824.518,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,57173,816
$CAP_FILE_SIZE,104228,0
$CFSIZE,259252224,222494720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201214,232704,-5602.131,-33.408,34,0.8,34,-19.8