version: 66.07
glider: 542
mission: 9
dive: 64
start: 12 21 114 7 7 17
data:
$ID,542
$MISSION,9
$DIVE,64
$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,-21850.543
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,211214,065830,-5601.315,-36.665,40,0.9,40,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-64.7
$GPS2,211214,070623,-5601.295,-36.545,20,0.8,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.135,0.094
$KALMAN_X,36602.6,-715.8,-196.6,-73449.4,5027.4
$KALMAN_Y,52456.7,-201.6,-214.7,-54120.1,1183.0
$MHEAD_RNG_PITCHd_Wd,74.9,7190,-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,-73.9,0.0,0.0,0,66,0.00,0.00,-49.70,0.000,2,0.000,0.000,51,2939,2598,0,0,0,0,0,0
$GC,69,-0.60,-146.1,3.1,-3.3,6,95,6.28,2.30,-10.25,0.000,4,0.252,0.057,1592,1509,2937,0,0,0,0,0,0
$GC,219,-0.60,-146.1,27.5,-14.7,29,228,0.00,2.35,0.00,0.000,6,0.000,0.055,1582,2927,2939,0,0,0,0,0,0
$GC,299,-0.60,-146.1,43.6,-20.8,42,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2928,2939,0,0,0,0,0,0
$GC,413,-0.60,-146.1,68.0,-21.4,61,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2927,2939,0,0,0,0,0,0
$GC,525,-0.60,-146.1,91.4,-20.8,80,532,0.00,1.60,0.00,0.000,4,0.000,0.063,1575,3906,2939,0,0,0,0,0,0
$GC,665,-0.60,-146.1,121.9,-20.5,96,669,0.00,1.58,0.00,0.000,6,0.000,0.034,1574,2897,2940,0,0,0,0,0,0
$GC,997,-0.60,-146.1,186.4,-20.0,127,1001,0.00,1.62,0.00,0.000,4,0.000,0.061,1567,3903,2939,0,0,0,0,0,0
$GC,1106,-0.60,-146.1,210.4,-21.5,136,1116,0.00,1.52,0.00,0.000,6,0.000,0.035,1567,2918,2940,0,0,0,0,0,0
$GC,1438,-0.60,-146.1,274.6,-18.2,162,1442,0.00,1.62,0.00,0.000,4,0.000,0.062,1559,3900,2939,0,0,0,0,0,0
$GC,1529,-0.60,-146.1,292.4,-19.2,166,1534,0.10,1.50,0.00,0.000,6,0.195,0.034,1587,2931,2940,0,0,0,0,0,0
$GC,1861,-0.60,-146.1,346.5,-15.7,182,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2929,2939,0,0,0,0,0,0
$GC,2173,-0.60,-146.1,395.6,-15.9,197,2177,0.00,1.60,0.00,0.000,4,0.000,0.063,1580,3898,2939,0,0,0,0,0,0
$GC,2286,-0.60,-146.1,415.4,-17.0,202,2289,0.00,1.50,0.00,0.000,6,0.000,0.034,1580,2917,2940,0,0,0,0,0,0
$GC,2618,-0.60,-146.1,468.6,-15.7,218,2621,0.00,1.62,0.00,0.000,4,0.000,0.061,1573,3900,2940,0,0,0,0,0,0
$GC,2656,-0.60,-146.1,475.1,-17.0,219,2663,0.00,1.48,0.00,0.000,6,0.000,0.032,1573,2928,2940,0,0,0,0,0,0
$GC,2971,-0.60,-146.1,525.1,-15.5,235,2975,0.00,1.60,0.00,0.000,4,0.000,0.061,1566,3902,2940,0,0,0,0,0,0
$GC,3032,-0.60,-146.1,535.5,-17.2,237,3039,0.00,1.48,0.00,0.000,6,0.000,0.033,1566,2928,2940,0,0,0,0,0,0
$GC,3348,-0.60,-146.1,585.1,-15.6,253,3352,0.00,1.60,0.00,0.000,4,0.000,0.061,1559,3903,2940,0,0,0,0,0,0
$GC,3430,-0.60,-146.1,599.5,-17.5,256,3439,0.12,1.50,0.00,0.000,6,0.207,0.033,1588,2929,2940,0,0,0,0,0,0
$GC,3747,-0.60,-146.1,643.8,-13.8,272,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2929,2940,0,0,0,0,0,0
$GC,4056,-0.60,-146.1,686.3,-13.9,287,4059,0.00,1.60,0.00,0.000,4,0.000,0.061,1581,3905,2940,0,0,0,0,0,0
$GC,4138,-0.60,-146.1,698.7,-14.7,290,4146,0.00,1.50,0.00,0.000,6,0.000,0.032,1581,2923,2940,0,0,0,0,0,0
$GC,4455,-0.60,-146.1,742.4,-13.8,306,4459,0.00,1.60,0.00,0.000,4,0.000,0.061,1573,3900,2940,0,0,0,0,0,0
$GC,4515,-0.60,-146.1,751.7,-15.3,308,4523,0.00,1.48,0.00,0.000,6,0.000,0.032,1573,2925,2940,0,0,0,0,0,0
$GC,4831,-0.60,-146.1,796.2,-13.8,324,4835,0.00,1.60,0.00,0.000,4,0.000,0.062,1566,3901,2940,0,0,0,0,0,0
$GC,4880,-0.60,-146.1,803.9,-15.8,326,4885,0.00,1.48,0.00,0.000,6,0.000,0.033,1565,2928,2940,0,0,0,0,0,0
$GC,5208,-0.60,-146.1,850.4,-13.8,342,5211,0.00,1.60,0.00,0.000,4,0.000,0.060,1559,3902,2940,0,0,0,0,0,0
$GC,5279,-0.60,-146.1,861.4,-14.8,345,5284,0.10,1.48,0.00,0.000,6,0.193,0.033,1588,2939,2940,0,0,0,0,0,0
$GC,5606,-0.60,-146.1,900.9,-11.8,361,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2938,2940,0,0,0,0,0,0
$GC,5915,-0.60,-146.1,937.3,-11.6,376,5919,0.00,1.58,0.00,0.000,4,0.000,0.062,1580,3900,2940,0,0,0,0,0,0
$GC,5983,-0.60,-146.1,945.9,-12.9,379,5987,0.00,1.48,0.00,0.000,6,0.000,0.033,1580,2929,2940,0,0,0,0,0,0
$GC,6315,-0.60,-146.1,986.4,-12.4,395,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2923,2940,0,0,0,0,0,0
$STATE,6437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6437,begin apogee
$GC,6442,-0.13,0.0,1001.8,12.3,401,6581,0.55,0.00,133.45,1.808,6,0.186,0.000,1739,2714,2342,0,0,0,0,0,0
$STATE,6581,end apogee,CONTROL_FINISHED_OK
$STATE,6582,begin climb
$GC,6583,0.60,146.1,1004.5,0.0,408,6739,0.80,2.55,147.75,1.773,4,0.125,0.045,1987,1331,1746,0,0,0,0,0,0
$GC,6760,0.60,146.1,978.7,18.8,416,6765,0.00,2.53,0.00,0.000,6,0.000,0.050,1987,2740,1743,0,0,0,0,0,0
$GC,7083,0.60,146.1,911.7,21.3,432,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2741,1736,0,0,0,0,0,0
$GC,7392,0.60,146.1,846.7,20.8,447,7395,0.00,1.95,0.00,0.000,4,0.000,0.060,1987,3897,1735,0,0,0,0,0,0
$GC,7451,0.60,146.1,832.5,23.1,449,7460,0.00,1.90,0.00,0.000,6,0.000,0.035,1996,2740,1733,0,0,0,0,0,0
$GC,7768,0.60,146.1,765.5,21.6,465,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2740,1732,0,0,0,0,0,0
$GC,8078,0.60,146.1,703.1,19.8,480,8081,0.00,1.92,0.00,0.000,4,0.000,0.058,1996,3900,1732,0,0,0,0,0,0
$GC,8133,0.60,146.1,691.0,21.5,482,8136,0.00,1.90,0.00,0.000,6,0.000,0.037,2005,2697,1731,0,0,0,0,0,0
$GC,8453,0.60,146.1,627.8,19.6,498,8456,0.00,1.98,0.00,0.000,4,0.000,0.057,2005,3900,1731,0,0,0,0,0,0
$GC,8490,0.60,146.1,619.4,21.9,499,8498,0.00,1.90,0.00,0.000,6,0.000,0.036,2014,2718,1730,0,0,0,0,0,0
$GC,8806,0.60,146.1,554.7,20.6,515,8811,0.12,1.92,0.00,0.000,4,0.245,0.057,1987,3909,1730,0,0,0,0,0,0
$GC,8859,0.60,146.1,543.3,20.4,517,8864,0.00,1.92,0.00,0.000,6,0.000,0.037,1995,2714,1730,0,0,0,0,0,0
$GC,9181,0.60,146.1,482.9,18.7,533,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2713,1730,0,0,0,0,0,0
$GC,9491,0.60,146.1,426.9,18.0,548,9494,0.00,1.92,0.00,0.000,4,0.000,0.058,1995,3897,1730,0,0,0,0,0,0
$GC,9546,0.60,146.1,415.8,19.5,550,9550,0.00,1.88,0.00,0.000,6,0.000,0.037,2004,2694,1730,0,0,0,0,0,0
$GC,9868,0.60,146.1,357.8,17.9,566,9871,0.00,1.92,0.00,0.000,4,0.000,0.057,2004,3897,1730,0,0,0,0,0,0
$GC,9928,0.60,146.1,345.2,20.3,568,9938,0.00,1.90,0.00,0.000,6,0.000,0.035,2014,2702,1729,0,0,0,0,0,0
$GC,10245,0.60,146.1,284.6,18.9,584,10248,0.00,1.95,0.00,0.000,4,0.000,0.058,2014,3902,1729,0,0,0,0,0,0
$GC,10294,0.60,146.1,273.6,22.6,586,10299,0.12,1.90,0.00,0.000,6,0.212,0.036,1988,2706,1729,0,0,0,0,0,0
$GC,10616,0.60,146.1,218.3,15.7,610,10620,0.00,1.95,0.00,0.000,4,0.000,0.058,1988,3907,1729,0,0,0,0,0,0
$GC,10654,0.60,146.1,212.3,18.9,613,10657,0.00,1.88,0.00,0.000,6,0.000,0.037,1997,2699,1729,0,0,0,0,0,0
$GC,10984,0.60,146.1,155.8,16.8,644,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2698,1729,0,0,0,0,0,0
$GC,11305,0.60,146.1,102.3,17.6,674,11309,0.00,1.95,0.00,0.000,4,0.000,0.059,1997,3900,1729,0,0,0,0,0,0
$GC,11380,0.60,146.1,87.9,19.0,686,11387,0.00,1.88,0.00,0.000,6,0.000,0.036,2006,2716,1729,0,0,0,0,0,0
$GC,11625,0.60,146.1,47.7,14.5,727,11633,0.00,1.95,0.00,0.000,4,0.000,0.061,2006,3898,1729,0,0,0,0,0,0
$GC,11692,0.60,146.1,36.3,15.6,738,11702,0.10,1.90,0.00,0.000,6,0.221,0.038,1988,2708,1729,0,0,0,0,0,0
$GC,11813,0.60,146.1,17.8,16.3,757,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2708,1729,0,0,0,0,0,0
$GC,11897,0.60,146.1,4.1,18.3,770,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2708,1729,0,0,0,0,0,0
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,0.9,1.016303
$STATE,11932,end surface coast,CONTROL_FINISHED_OK
$STATE,11932,begin surface
$SM_CCo,11945,20.25,0.184,0,0,1524,200.16
$SM_GC,2.90,0.00,0.00,20.25,0.000,0.000,0.184,59,2941,1524,-5.41,0.28,200.16
$IRIDIUM_FIX,-5538.94,-34.65,211214,030301
$TT8_MAMPS,0.026215
$HUMID,55.78
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.6,18.702
$10V_AH,10.1,12.267
$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,13.525,85.950,281.200,20.250,0.000,28.400,41.419,288.335,0.000,0.000,22.937,1958.239,7495.807,412.297,2432.311,140.860,33.357,1248.478,0.000,1927.191,0.000,0.539,0.000
$DEVICE_MAMPS,252.450,63.495,1808.460,183.600,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.229,1615.414,775.814,799.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,53592,775
$CAP_FILE_SIZE,111596,0
$CFSIZE,259252224,222294016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211214,102827,-5600.316,-32.770,70,1.1,70,-19.9