version: 66.07
glider: 542
mission: 9
dive: 63
start: 12 21 114 3 28 17
data:
$ID,542
$MISSION,9
$DIVE,63
$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,-21848.213
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,211214,031934,-5600.694,-35.083,88,0.8,88,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-58.7
$GPS2,211214,032723,-5600.683,-34.964,20,1.1,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.157,-0.050
$KALMAN_X,36121.9,-903.6,-720.5,-70615.9,6203.2
$KALMAN_Y,52927.6,-463.6,-179.0,-53233.6,1608.4
$MHEAD_RNG_PITCHd_Wd,272.0,5294,-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,-73.9,0.0,0.0,0,67,0.00,0.00,-50.42,0.000,2,0.000,0.000,47,2925,2633,0,0,0,0,0,0
$GC,70,-0.59,-134.8,3.4,-4.3,6,89,6.40,1.65,-7.35,0.000,4,0.259,0.077,1583,3905,2893,0,0,0,0,0,0
$GC,329,-0.59,-134.8,57.3,-19.4,48,338,0.00,1.58,0.00,0.000,6,0.000,0.036,1582,2905,2894,0,0,0,0,0,0
$GC,445,-0.59,-134.8,80.2,-19.8,67,451,0.00,1.67,0.00,0.000,4,0.000,0.060,1575,3920,2894,0,0,0,0,0,0
$GC,534,-0.59,-134.8,96.8,-17.9,82,541,0.00,1.55,0.00,0.000,6,0.000,0.033,1577,2920,2894,0,0,0,0,0,0
$GC,755,-0.59,-134.8,133.9,-17.2,104,756,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2919,2894,0,0,0,0,0,0
$GC,1073,-0.59,-134.8,189.0,-16.5,134,1077,0.00,1.62,0.00,0.000,4,0.000,0.061,1570,3899,2894,0,0,0,0,0,0
$GC,1120,-0.59,-134.8,197.1,-16.9,138,1124,0.00,1.50,0.00,0.000,6,0.000,0.034,1576,2931,2894,0,0,0,0,0,0
$GC,1452,-0.59,-134.8,251.7,-16.7,169,1456,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3903,2894,0,0,0,0,0,0
$GC,1575,-0.59,-134.8,274.0,-17.0,174,1580,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2931,2894,0,0,0,0,0,0
$GC,1896,-0.59,-134.8,327.1,-16.7,190,1901,0.10,1.62,0.00,0.000,4,0.221,0.063,1583,3913,2894,0,0,0,0,0,0
$GC,1973,-0.59,-134.8,340.1,-16.1,193,1978,0.00,1.55,0.00,0.000,6,0.000,0.033,1585,2918,2894,0,0,0,0,0,0
$GC,2299,-0.59,-134.8,390.0,-16.0,209,2303,0.00,1.62,0.00,0.000,4,0.000,0.062,1579,3900,2894,0,0,0,0,0,0
$GC,2393,-0.59,-134.8,407.0,-16.8,213,2398,0.00,1.50,0.00,0.000,6,0.000,0.033,1578,2928,2894,0,0,0,0,0,0
$GC,2721,-0.59,-134.8,459.2,-16.1,229,2725,0.00,1.60,0.00,0.000,4,0.000,0.061,1571,3896,2894,0,0,0,0,0,0
$GC,2815,-0.59,-134.8,475.2,-16.9,233,2820,0.00,1.50,0.00,0.000,6,0.000,0.033,1573,2925,2894,0,0,0,0,0,0
$GC,3142,-0.59,-134.8,525.1,-14.8,249,3146,0.00,1.60,0.00,0.000,4,0.000,0.061,1566,3895,2894,0,0,0,0,0,0
$GC,3255,-0.59,-134.8,543.1,-16.8,254,3260,0.08,1.48,0.00,0.000,6,0.196,0.034,1589,2936,2894,0,0,0,0,0,0
$GC,3587,-0.59,-134.8,588.4,-13.2,270,3591,0.00,1.60,0.00,0.000,4,0.000,0.063,1582,3909,2894,0,0,0,0,0,0
$GC,3659,-0.59,-134.8,599.0,-14.9,273,3663,0.00,1.50,0.00,0.000,6,0.000,0.033,1582,2922,2894,0,0,0,0,0,0
$GC,3986,-0.59,-134.8,642.9,-13.4,289,3990,0.00,1.62,0.00,0.000,4,0.000,0.061,1574,3907,2894,0,0,0,0,0,0
$GC,4068,-0.59,-134.8,655.6,-15.2,292,4076,0.00,1.50,0.00,0.000,6,0.000,0.033,1574,2917,2894,0,0,0,0,0,0
$GC,4384,-0.59,-134.8,701.0,-14.4,308,4388,0.00,1.62,0.00,0.000,4,0.000,0.061,1567,3909,2894,0,0,0,0,0,0
$GC,4452,-0.59,-134.8,711.6,-15.9,311,4456,0.08,1.48,0.00,0.000,6,0.194,0.033,1589,2946,2895,0,0,0,0,0,0
$GC,4784,-0.59,-134.8,755.4,-12.8,327,4788,0.00,1.58,0.00,0.000,4,0.000,0.061,1582,3905,2895,0,0,0,0,0,0
$GC,4838,-0.59,-134.8,763.5,-14.1,329,4843,0.00,1.52,0.00,0.000,6,0.000,0.032,1582,2910,2895,0,0,0,0,0,0
$GC,5161,-0.59,-134.8,806.1,-13.1,345,5165,0.00,1.62,0.00,0.000,4,0.000,0.061,1574,3900,2895,0,0,0,0,0,0
$GC,5256,-0.59,-134.8,819.9,-14.1,349,5259,0.00,1.48,0.00,0.000,6,0.000,0.033,1575,2927,2895,0,0,0,0,0,0
$GC,5582,-0.59,-134.8,864.1,-13.4,365,5585,0.00,1.60,0.00,0.000,4,0.000,0.060,1567,3903,2895,0,0,0,0,0,0
$GC,5672,-0.59,-134.8,877.4,-14.5,369,5677,0.08,1.48,0.00,0.000,6,0.192,0.033,1589,2936,2895,0,0,0,0,0,0
$GC,6004,-0.59,-134.8,919.5,-12.4,385,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2935,2895,0,0,0,0,0,0
$GC,6314,-0.59,-134.8,957.5,-12.2,400,6318,0.00,1.58,0.00,0.000,4,0.000,0.062,1582,3899,2895,0,0,0,0,0,0
$GC,6385,-0.59,-134.8,967.4,-13.8,403,6391,0.00,1.50,0.00,0.000,6,0.000,0.032,1582,2915,2895,0,0,0,0,0,0
$STATE,6650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6650,begin apogee
$GC,6654,-0.13,0.0,1001.9,13.2,416,6781,0.55,0.00,123.80,1.808,6,0.184,0.000,1741,2725,2341,0,0,0,0,0,0
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6784,0.59,134.8,1006.1,0.0,422,6929,0.77,0.00,135.93,1.756,6,0.125,0.000,1974,2725,1791,0,0,0,0,0,0
$GC,7237,0.59,134.8,936.3,17.3,444,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2724,1784,0,0,0,0,0,0
$GC,7546,0.59,134.8,882.6,17.5,459,7550,0.00,2.00,0.00,0.000,4,0.000,0.059,1974,3892,1781,0,0,0,0,0,0
$GC,7583,0.59,134.8,875.4,20.2,460,7591,0.00,1.92,0.00,0.000,6,0.000,0.035,1983,2725,1780,0,0,0,0,0,0
$GC,7900,0.59,134.8,818.2,18.0,476,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2725,1779,0,0,0,0,0,0
$GC,8208,0.59,134.8,761.7,17.9,491,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2725,1779,0,0,0,0,0,0
$GC,8518,0.59,134.8,705.6,18.1,506,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2725,1778,0,0,0,0,0,0
$GC,8828,0.59,134.8,649.7,17.8,521,8831,0.00,1.95,0.00,0.000,4,0.000,0.058,1983,3912,1777,0,0,0,0,0,0
$GC,8872,0.59,134.8,641.1,21.2,523,8875,0.00,1.90,0.00,0.000,6,0.000,0.037,1992,2711,1776,0,0,0,0,0,0
$GC,9203,0.59,134.8,577.9,18.8,539,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2711,1776,0,0,0,0,0,0
$GC,9513,0.59,134.8,519.6,18.9,554,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2711,1776,0,0,0,0,0,0
$GC,9822,0.59,134.8,460.8,18.9,569,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2711,1776,0,0,0,0,0,0
$GC,10131,0.59,134.8,401.7,19.1,584,10135,0.00,1.95,0.00,0.000,4,0.000,0.058,1993,3906,1776,0,0,0,0,0,0
$GC,10186,0.59,134.8,389.8,21.1,586,10190,0.00,1.90,0.00,0.000,6,0.000,0.036,2002,2710,1775,0,0,0,0,0,0
$GC,10508,0.59,134.8,326.1,19.7,602,10511,0.00,1.95,0.00,0.000,4,0.000,0.059,2002,3909,1775,0,0,0,0,0,0
$GC,10541,0.59,134.8,319.0,21.2,603,10545,0.12,1.90,0.00,0.000,6,0.230,0.037,1984,2698,1775,0,0,0,0,0,0
$GC,10864,0.59,134.8,261.9,17.6,619,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2698,1775,0,0,0,0,0,0
$GC,11179,0.59,134.8,209.1,17.2,645,11183,0.00,1.98,0.00,0.000,4,0.000,0.060,1984,3899,1775,0,0,0,0,0,0
$GC,11230,0.59,134.8,199.5,18.2,649,11237,0.00,1.88,0.00,0.000,6,0.000,0.036,1992,2715,1775,0,0,0,0,0,0
$GC,11555,0.59,134.8,145.3,16.4,680,11558,0.00,1.92,0.00,0.000,4,0.000,0.060,1992,3903,1775,0,0,0,0,0,0
$GC,11602,0.59,134.8,137.0,18.2,684,11605,0.00,1.88,0.00,0.000,6,0.000,0.036,2002,2700,1775,0,0,0,0,0,0
$GC,11932,0.59,134.8,85.4,14.9,722,11939,0.00,1.98,0.00,0.000,4,0.000,0.060,2002,3900,1775,0,0,0,0,0,0
$GC,11976,0.59,134.8,77.9,18.3,729,11984,0.00,1.88,0.00,0.000,6,0.000,0.037,2011,2717,1775,0,0,0,0,0,0
$GC,12089,0.59,134.8,59.6,16.2,748,12098,0.00,2.22,0.00,0.000,4,0.000,0.047,2021,1299,1775,0,0,0,0,0,0
$GC,12123,0.59,134.8,54.3,16.4,753,12131,0.15,2.25,0.00,0.000,6,0.215,0.054,1986,2729,1775,0,0,0,0,0,0
$GC,12239,0.59,134.8,38.9,13.4,772,12248,0.00,1.88,0.00,0.000,4,0.000,0.060,1986,3886,1775,0,0,0,0,0,0
$GC,12274,0.59,134.8,33.7,15.4,777,12281,0.00,1.88,0.00,0.000,6,0.000,0.039,1994,2710,1774,0,0,0,0,0,0
$GC,12393,0.59,134.8,13.4,19.3,796,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2709,1775,0,0,0,0,0,0
$STATE,12469,end climb,SURFACE_DEPTH_REACHED
$STATE,12469,begin surface coast
$FINISH,1.1,1.026111
$STATE,12501,end surface coast,CONTROL_FINISHED_OK
$STATE,12502,begin surface
$SM_CCo,12513,24.58,0.181,0,0,1523,200.16
$SM_GC,2.25,0.00,0.00,24.58,0.000,0.000,0.181,54,2936,1523,-5.43,0.17,200.16
$IRIDIUM_FIX,-5538.94,-34.68,201214,232352
$TT8_MAMPS,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,18.539
$10V_AH,10.0,12.168
$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,13.550,82.675,259.725,24.575,0.000,27.337,42.165,284.236,0.000,0.000,22.637,2063.107,7907.428,393.501,2490.910,153.956,33.352,1230.029,0.000,1991.874,0.000,0.540,0.000
$DEVICE_MAMPS,259.335,77.265,1807.695,181.305,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.153,1683.547,802.196,834.132,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,57016,813
$CAP_FILE_SIZE,114301,0
$CFSIZE,259252224,222359552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211214,065830,-5601.315,-36.665,40,0.9,40,-19.8