version: 66.07
glider: 542
mission: 9
dive: 62
start: 12 20 114 23 38 17
data:
$ID,542
$MISSION,9
$DIVE,62
$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,-21845.883
$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,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
$GPS1,201214,232704,-5602.131,-33.408,34,0.8,34,-19.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-54.6
$GPS2,201214,233723,-5602.130,-33.226,17,0.8,17,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.114,0.121
$KALMAN_X,35442.4,-783.3,-223.8,-68768.9,5722.4
$KALMAN_Y,52822.7,-482.2,-41.0,-55913.9,1378.7
$MHEAD_RNG_PITCHd_Wd,336.6,5170,-25.5,-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,15,-0.54,-75.1,0.0,0.0,0,51,0.00,0.00,-34.05,0.000,2,0.000,0.000,65,2949,2251,0,0,0,0,0,0
$GC,53,-0.58,-122.4,3.1,-5.5,4,88,6.18,1.60,-20.70,0.000,4,0.246,0.087,1589,3906,2841,0,0,0,0,0,0
$GC,358,-0.58,-122.4,57.6,-20.9,53,365,0.00,1.58,0.00,0.000,6,0.000,0.037,1589,2907,2844,0,0,0,0,0,0
$GC,470,-0.58,-122.4,79.3,-18.8,72,479,0.00,1.67,0.00,0.000,4,0.000,0.063,1581,3903,2844,0,0,0,0,0,0
$GC,525,-0.58,-122.4,89.8,-19.5,81,534,0.00,1.52,0.00,0.000,6,0.000,0.035,1581,2924,2844,0,0,0,0,0,0
$GC,758,-0.58,-122.4,132.3,-17.9,107,759,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2923,2844,0,0,0,0,0,0
$GC,1077,-0.58,-122.4,187.8,-16.9,137,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2923,2844,0,0,0,0,0,0
$GC,1394,-0.58,-122.4,240.1,-15.6,167,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2923,2844,0,0,0,0,0,0
$GC,1716,-0.58,-122.4,287.6,-14.2,186,1719,0.00,1.62,0.00,0.000,4,0.000,0.064,1573,3929,2844,0,0,0,0,0,0
$GC,1816,-0.58,-122.4,304.2,-16.4,190,1822,0.00,1.58,0.00,0.000,6,0.000,0.035,1573,2926,2844,0,0,0,0,0,0
$GC,2138,-0.58,-122.4,353.8,-15.4,206,2142,0.00,1.62,0.00,0.000,4,0.000,0.064,1566,3933,2844,0,0,0,0,0,0
$GC,2199,-0.58,-122.4,364.3,-16.2,208,2209,0.10,1.55,0.00,0.000,6,0.194,0.033,1595,2926,2844,0,0,0,0,0,0
$GC,2516,-0.58,-122.4,409.4,-14.2,224,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2926,2845,0,0,0,0,0,0
$GC,2825,-0.58,-122.4,453.4,-14.3,239,2829,0.00,1.60,0.00,0.000,4,0.000,0.062,1587,3898,2845,0,0,0,0,0,0
$GC,2884,-0.58,-122.4,463.0,-15.2,241,2893,0.00,1.50,0.00,0.000,6,0.000,0.032,1587,2919,2845,0,0,0,0,0,0
$GC,3201,-0.58,-122.4,508.0,-14.0,257,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2919,2845,0,0,0,0,0,0
$GC,3511,-0.58,-122.4,550.6,-13.4,272,3514,0.00,1.60,0.00,0.000,4,0.000,0.062,1580,3893,2845,0,0,0,0,0,0
$GC,3587,-0.58,-122.4,562.2,-14.6,275,3592,0.00,1.48,0.00,0.000,6,0.000,0.032,1580,2932,2845,0,0,0,0,0,0
$GC,3909,-0.58,-122.4,605.0,-13.0,291,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2928,2845,0,0,0,0,0,0
$GC,4219,-0.58,-122.4,645.9,-13.5,306,4223,0.00,1.60,0.00,0.000,4,0.000,0.061,1573,3903,2846,0,0,0,0,0,0
$GC,4279,-0.58,-122.4,655.1,-15.0,308,4288,0.10,1.50,0.00,0.000,6,0.213,0.033,1595,2933,2846,0,0,0,0,0,0
$GC,4596,-0.58,-122.4,694.8,-12.5,324,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2933,2846,0,0,0,0,0,0
$GC,4905,-0.58,-122.4,733.0,-12.3,339,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2933,2846,0,0,0,0,0,0
$GC,5214,-0.58,-122.4,770.6,-12.2,354,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2933,2845,0,0,0,0,0,0
$GC,5524,-0.58,-122.4,808.8,-12.2,369,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2933,2846,0,0,0,0,0,0
$GC,5833,-0.58,-122.4,846.2,-11.8,384,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2933,2846,0,0,0,0,0,0
$GC,6142,-0.58,-122.4,883.1,-12.1,399,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2933,2846,0,0,0,0,0,0
$GC,6452,-0.58,-122.4,919.6,-11.6,414,6456,0.00,1.58,0.00,0.000,4,0.000,0.063,1588,3896,2846,0,0,0,0,0,0
$GC,6512,-0.58,-122.4,927.6,-13.3,416,6520,0.00,1.48,0.00,0.000,6,0.000,0.033,1588,2919,2846,0,0,0,0,0,0
$GC,6828,-0.58,-122.4,965.5,-11.9,432,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2919,2846,0,0,0,0,0,0
$STATE,7137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7137,begin apogee
$GC,7141,-0.13,0.0,1001.5,11.4,447,7260,0.52,0.00,111.85,1.811,6,0.178,0.000,1742,2721,2342,0,0,0,0,0,0
$STATE,7260,end apogee,CONTROL_FINISHED_OK
$STATE,7260,begin climb
$GC,7262,0.58,122.4,1004.7,0.0,453,7389,0.77,0.00,123.32,1.765,6,0.124,0.000,1972,2721,1842,0,0,0,0,0,0
$GC,7690,0.58,122.4,937.3,18.2,474,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2721,1832,0,0,0,0,0,0
$GC,7997,0.58,122.4,883.1,17.4,489,8000,0.00,2.00,0.00,0.000,4,0.000,0.059,1972,3898,1831,0,0,0,0,0,0
$GC,8073,0.58,122.4,867.2,20.6,492,8079,0.00,1.92,0.00,0.000,6,0.000,0.034,1980,2731,1829,0,0,0,0,0,0
$GC,8396,0.58,122.4,807.9,18.7,508,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2731,1829,0,0,0,0,0,0
$GC,8705,0.58,122.4,750.6,18.3,523,8708,0.00,1.95,0.00,0.000,4,0.000,0.058,1980,3904,1828,0,0,0,0,0,0
$GC,8773,0.58,122.4,736.5,21.2,526,8777,0.00,1.92,0.00,0.000,6,0.000,0.037,1989,2716,1827,0,0,0,0,0,0
$GC,9104,0.58,122.4,673.1,18.8,542,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2716,1826,0,0,0,0,0,0
$GC,9414,0.58,122.4,617.6,17.8,557,9417,0.00,1.95,0.00,0.000,4,0.000,0.059,1990,3903,1826,0,0,0,0,0,0
$GC,9476,0.58,122.4,605.1,19.6,559,9483,0.00,1.90,0.00,0.000,6,0.000,0.036,1999,2697,1826,0,0,0,0,0,0
$GC,9791,0.58,122.4,545.3,18.7,575,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2697,1826,0,0,0,0,0,0
$GC,10100,0.58,122.4,486.0,19.2,590,10104,0.00,1.98,0.00,0.000,4,0.000,0.058,1999,3907,1825,0,0,0,0,0,0
$GC,10199,0.58,122.4,464.2,21.9,594,10204,0.10,1.90,0.00,0.000,6,0.215,0.036,1981,2719,1825,0,0,0,0,0,0
$GC,10520,0.58,122.4,405.8,18.0,610,10524,0.00,1.92,0.00,0.000,4,0.000,0.059,1981,3898,1825,0,0,0,0,0,0
$GC,10575,0.58,122.4,394.8,20.7,612,10579,0.00,1.90,0.00,0.000,6,0.000,0.035,1989,2707,1825,0,0,0,0,0,0
$GC,10896,0.58,122.4,337.5,17.7,628,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2707,1825,0,0,0,0,0,0
$GC,11208,0.58,122.4,282.4,17.5,643,11211,0.00,1.95,0.00,0.000,4,0.000,0.058,1989,3907,1825,0,0,0,0,0,0
$GC,11285,0.58,122.4,266.3,20.2,646,11290,0.00,1.90,0.00,0.000,6,0.000,0.035,1998,2708,1825,0,0,0,0,0,0
$GC,11616,0.58,122.4,207.5,17.3,673,11620,0.00,1.95,0.00,0.000,4,0.000,0.058,1998,3909,1825,0,0,0,0,0,0
$GC,11697,0.58,122.4,191.3,19.8,680,11701,0.00,1.85,0.00,0.000,6,0.000,0.037,2007,2711,1825,0,0,0,0,0,0
$GC,12029,0.58,122.4,135.6,15.7,711,12031,0.12,0.00,0.00,0.000,6,0.236,0.000,1980,2711,1825,0,0,0,0,0,0
$GC,12353,0.58,122.4,94.7,10.2,745,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2710,1825,0,0,0,0,0,0
$GC,12590,0.58,122.4,63.8,12.5,786,12599,0.00,2.22,0.00,0.000,4,0.000,0.044,1990,1289,1825,0,0,0,0,0,0
$GC,12651,0.58,122.4,56.7,10.9,796,12660,0.00,2.30,0.00,0.000,6,0.000,0.054,1990,2730,1825,0,0,0,0,0,0
$GC,12767,0.58,122.4,43.8,11.9,815,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2731,1825,0,0,0,0,0,0
$GC,12883,0.58,122.4,29.3,11.2,834,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2731,1825,0,0,0,0,0,0
$GC,12967,0.58,122.4,17.5,13.9,847,12976,0.00,1.88,0.00,0.000,4,0.000,0.063,1990,3883,1825,0,0,0,0,0,0
$GC,13009,0.58,122.4,11.4,14.4,853,13018,0.00,1.88,0.00,0.000,6,0.000,0.038,1999,2701,1825,0,0,0,0,0,0
$STATE,13080,end climb,SURFACE_DEPTH_REACHED
$STATE,13080,begin surface coast
$FINISH,1.0,1.015844
$STATE,13112,end surface coast,CONTROL_FINISHED_OK
$STATE,13112,begin surface
$SM_CCo,13125,29.55,0.189,0,0,1524,200.16
$SM_GC,1.71,0.00,0.00,29.55,0.000,0.000,0.189,54,2922,1524,-5.42,-0.20,200.16
$IRIDIUM_FIX,-5538.94,-26.98,201214,232328
$TT8_MAMPS,0.026964
$HUMID,56.18
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.8,18.388
$10V_AH,10.0,12.065
$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,13.150,60.975,235.175,29.550,0.000,51.985,36.155,338.009,0.000,0.000,19.563,2147.861,8483.279,390.447,2595.896,159.006,33.348,1188.960,0.000,1999.660,0.000,0.539,0.000
$DEVICE_MAMPS,246.330,87.210,1810.755,188.955,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.253,1808.104,874.831,918.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,60546,869
$CAP_FILE_SIZE,109902,0
$CFSIZE,259252224,222425088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211214,031934,-5600.694,-35.083,88,0.8,88,-19.8