version: 66.07
glider: 542
mission: 9
dive: 65
start: 12 21 114 10 36 53
data:
$ID,542
$MISSION,9
$DIVE,65
$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,-21852.938
$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,26
$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
$GPS1,211214,102827,-5600.316,-32.770,70,1.1,70,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-57.8
$GPS2,211214,103559,-5600.245,-32.691,20,0.8,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.157,0.051
$KALMAN_X,37189.6,-469.3,-273.5,-70218.9,4461.3
$KALMAN_Y,51825.5,61.0,-11.4,-52012.9,-97.1
$MHEAD_RNG_PITCHd_Wd,307.7,2824,-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,-50.40,0.000,2,0.000,0.000,50,2942,2618,0,0,0,0,0,0
$GC,70,-0.60,-146.1,3.1,-2.3,6,96,6.20,1.60,-9.57,0.000,4,0.249,0.077,1579,3900,2940,0,0,0,0,0,0
$GC,210,-0.60,-146.1,32.8,-22.0,27,217,0.00,1.60,0.00,0.000,6,0.000,0.035,1579,2899,2941,0,0,0,0,0,0
$GC,323,-0.60,-146.1,57.6,-20.0,46,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2898,2941,0,0,0,0,0,0
$GC,437,-0.60,-146.1,81.4,-20.6,65,444,0.00,2.12,0.00,0.000,4,0.000,0.043,1579,1526,2941,0,0,0,0,0,0
$GC,456,-0.60,-146.1,85.1,-20.6,68,463,0.00,2.28,0.00,0.000,6,0.000,0.054,1569,2932,2941,0,0,0,0,0,0
$GC,688,-0.60,-146.1,130.3,-19.8,96,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2932,2941,0,0,0,0,0,0
$GC,1006,-0.60,-146.1,189.9,-18.7,126,1010,0.00,1.58,0.00,0.000,4,0.000,0.061,1561,3903,2942,0,0,0,0,0,0
$GC,1079,-0.60,-146.1,204.9,-19.5,132,1090,0.10,1.52,0.00,0.000,6,0.194,0.034,1590,2919,2941,0,0,0,0,0,0
$GC,1405,-0.60,-146.1,256.9,-15.1,161,1408,0.00,1.62,0.00,0.000,4,0.000,0.062,1583,3899,2941,0,0,0,0,0,0
$GC,1460,-0.60,-146.1,266.1,-15.7,163,1464,0.00,1.50,0.00,0.000,6,0.000,0.034,1583,2929,2941,0,0,0,0,0,0
$GC,1783,-0.60,-146.1,315.3,-15.2,179,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2923,2941,0,0,0,0,0,0
$GC,2092,-0.60,-146.1,362.3,-14.8,194,2096,0.00,1.60,0.00,0.000,4,0.000,0.060,1575,3896,2941,0,0,0,0,0,0
$GC,2193,-0.60,-146.1,378.7,-15.9,198,2197,0.00,1.50,0.00,0.000,6,0.000,0.034,1575,2925,2941,0,0,0,0,0,0
$GC,2514,-0.60,-146.1,428.3,-15.5,214,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2919,2942,0,0,0,0,0,0
$GC,2824,-0.60,-146.1,475.0,-15.2,229,2828,0.00,1.60,0.00,0.000,4,0.000,0.060,1568,3894,2942,0,0,0,0,0,0
$GC,2940,-0.60,-146.1,493.8,-15.4,234,2945,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2926,2942,0,0,0,0,0,0
$GC,3268,-0.60,-146.1,542.1,-14.9,250,3271,0.00,1.60,0.00,0.000,4,0.000,0.060,1561,3897,2942,0,0,0,0,0,0
$GC,3336,-0.60,-146.1,553.2,-17.0,253,3340,0.10,1.48,0.00,0.000,6,0.189,0.034,1589,2939,2942,0,0,0,0,0,0
$GC,3667,-0.60,-146.1,598.6,-13.6,269,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2938,2942,0,0,0,0,0,0
$GC,3977,-0.60,-146.1,641.1,-13.8,284,3981,0.00,1.58,0.00,0.000,4,0.000,0.061,1583,3899,2942,0,0,0,0,0,0
$GC,4048,-0.60,-146.1,652.0,-14.8,287,4053,0.00,1.52,0.00,0.000,6,0.000,0.033,1582,2916,2943,0,0,0,0,0,0
$GC,4376,-0.60,-146.1,698.5,-13.8,303,4379,0.00,1.62,0.00,0.000,4,0.000,0.060,1575,3903,2942,0,0,0,0,0,0
$GC,4444,-0.60,-146.1,708.6,-15.2,306,4447,0.00,1.50,0.00,0.000,6,0.000,0.034,1575,2926,2942,0,0,0,0,0,0
$GC,4775,-0.60,-146.1,756.9,-14.8,322,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2920,2942,0,0,0,0,0,0
$GC,5085,-0.60,-146.1,801.1,-14.1,337,5088,0.00,1.60,0.00,0.000,4,0.000,0.060,1567,3899,2942,0,0,0,0,0,0
$GC,5158,-0.60,-146.1,812.3,-14.8,340,5162,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2933,2942,0,0,0,0,0,0
$GC,5484,-0.60,-146.1,859.6,-14.4,356,5488,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3893,2942,0,0,0,0,0,0
$GC,5539,-0.60,-146.1,868.4,-16.1,358,5544,0.10,1.48,0.00,0.000,6,0.190,0.034,1589,2928,2942,0,0,0,0,0,0
$GC,5860,-0.60,-146.1,909.5,-12.6,374,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2928,2942,0,0,0,0,0,0
$GC,6169,-0.60,-146.1,947.3,-12.4,389,6173,0.00,1.58,0.00,0.000,4,0.000,0.060,1582,3892,2942,0,0,0,0,0,0
$GC,6260,-0.60,-146.1,959.3,-13.7,393,6263,0.00,1.48,0.00,0.000,6,0.000,0.033,1582,2923,2942,0,0,0,0,0,0
$STATE,6590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6590,begin apogee
$GC,6594,-0.13,0.0,1001.4,12.4,409,6734,0.55,0.00,133.90,1.806,6,0.179,0.000,1744,2711,2342,0,0,0,0,0,0
$STATE,6734,end apogee,CONTROL_FINISHED_OK
$STATE,6734,begin climb
$GC,6736,0.60,146.1,1004.1,0.0,416,6888,0.77,0.00,148.23,1.765,6,0.126,0.000,1974,2711,1746,0,0,0,0,0,0
$GC,7187,0.60,146.1,926.6,19.3,438,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2711,1737,0,0,0,0,0,0
$GC,7497,0.60,146.1,868.5,18.7,453,7501,0.00,2.00,0.00,0.000,4,0.000,0.059,1974,3897,1734,0,0,0,0,0,0
$GC,7557,0.60,146.1,855.3,21.3,455,7565,0.00,1.92,0.00,0.000,6,0.000,0.036,1983,2735,1732,0,0,0,0,0,0
$GC,7874,0.60,146.1,792.8,19.4,471,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2735,1732,0,0,0,0,0,0
$GC,8183,0.60,146.1,732.4,19.2,486,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2735,1732,0,0,0,0,0,0
$GC,8492,0.60,146.1,672.5,19.7,501,8496,0.00,1.92,0.00,0.000,4,0.000,0.057,1983,3901,1731,0,0,0,0,0,0
$GC,8524,0.60,146.1,665.3,23.2,502,8529,0.00,1.92,0.00,0.000,6,0.000,0.036,1992,2716,1731,0,0,0,0,0,0
$GC,8847,0.60,146.1,600.7,20.2,518,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2716,1731,0,0,0,0,0,0
$GC,9155,0.60,146.1,539.7,19.6,533,9159,0.00,1.95,0.00,0.000,4,0.000,0.058,1992,3892,1731,0,0,0,0,0,0
$GC,9223,0.60,146.1,525.2,22.1,536,9227,0.00,1.88,0.00,0.000,6,0.000,0.037,2001,2707,1730,0,0,0,0,0,0
$GC,9555,0.60,146.1,457.2,20.2,552,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2707,1730,0,0,0,0,0,0
$GC,9864,0.60,146.1,396.5,19.2,567,9868,0.00,1.95,0.00,0.000,4,0.000,0.058,2002,3900,1730,0,0,0,0,0,0
$GC,9926,0.60,146.1,383.4,22.2,569,9933,0.00,1.88,0.00,0.000,6,0.000,0.037,2011,2712,1730,0,0,0,0,0,0
$GC,10243,0.60,146.1,321.8,19.0,585,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2711,1730,0,0,0,0,0,0
$GC,10552,0.60,146.1,263.3,18.7,600,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2711,1730,0,0,0,0,0,0
$GC,10867,0.60,146.1,203.3,19.1,626,10871,0.00,1.92,0.00,0.000,4,0.000,0.059,2010,3897,1729,0,0,0,0,0,0
$GC,10942,0.60,146.1,186.7,22.7,632,10953,0.10,1.90,0.00,0.000,6,0.207,0.036,1992,2702,1729,0,0,0,0,0,0
$GC,11269,0.60,146.1,129.4,17.9,663,11273,0.00,1.95,0.00,0.000,4,0.000,0.058,1992,3903,1729,0,0,0,0,0,0
$GC,11318,0.60,146.1,120.0,19.9,667,11322,0.00,1.88,0.00,0.000,6,0.000,0.037,2001,2709,1729,0,0,0,0,0,0
$GC,11664,0.60,146.1,61.5,14.6,718,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2709,1729,0,0,0,0,0,0
$GC,11780,0.60,146.1,44.4,15.5,737,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2709,1729,0,0,0,0,0,0
$GC,11894,0.60,146.1,26.6,17.3,756,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2709,1729,0,0,0,0,0,0
$GC,11979,0.60,146.1,13.1,15.3,769,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2708,1729,0,0,0,0,0,0
$STATE,12037,end climb,SURFACE_DEPTH_REACHED
$STATE,12037,begin surface coast
$FINISH,1.2,1.027205
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12069,21.02,0.177,0,0,1523,200.16
$SM_GC,2.56,0.00,0.00,21.02,0.000,0.000,0.177,56,2939,1523,-5.42,0.25,200.16
$IRIDIUM_FIX,-5538.94,-34.65,211214,030301
$TT8_MAMPS,0.026964
$HUMID,55.63
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.7,18.864
$10V_AH,10.1,12.365
$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,13.075,62.225,282.125,21.025,0.000,29.895,41.802,264.581,0.000,0.000,22.851,1958.856,7694.521,410.330,2338.223,143.909,33.360,1184.909,0.000,1855.417,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,77.265,1806.165,176.715,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.207,1613.734,762.487,787.079,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,53724,781
$CAP_FILE_SIZE,104190,0
$CFSIZE,259252224,222236672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211214,135933,-5559.759,-34.728,33,1.1,35,-19.8