version: 66.07
glider: 542
mission: 9
dive: 67
start: 12 21 114 17 37 7
data:
$ID,542
$MISSION,9
$DIVE,67
$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,-21857.594
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,211214,172800,-5600.938,-34.323,46,0.8,46,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.7
$GPS2,211214,173612,-5600.932,-34.242,18,1.0,18,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.131,0.100
$KALMAN_X,37357.3,-401.9,-277.9,-72052.1,2827.5
$KALMAN_Y,52832.2,116.6,178.3,-54549.2,554.3
$MHEAD_RNG_PITCHd_Wd,72.4,4720,-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,-73.9,0.0,0.0,0,73,0.00,0.00,-52.00,0.000,6,0.000,0.000,58,2929,2644,0,0,0,0,0,0
$GC,75,-0.60,-146.1,3.1,-2.7,7,102,6.35,2.28,-8.30,0.000,4,0.258,0.057,1596,1508,2939,0,0,0,0,0,0
$GC,364,-0.60,-146.1,54.1,-14.2,54,373,0.00,2.35,0.00,0.000,6,0.000,0.057,1586,2925,2940,0,0,0,0,0,0
$GC,479,-0.60,-146.1,76.8,-21.9,73,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2925,2940,0,0,0,0,0,0
$GC,590,-0.60,-146.1,100.4,-20.2,92,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2925,2940,0,0,0,0,0,0
$GC,908,-0.60,-146.1,160.4,-17.9,122,909,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2925,2940,0,0,0,0,0,0
$GC,1228,-0.60,-146.1,217.6,-17.9,152,1231,0.00,1.60,0.00,0.000,4,0.000,0.064,1578,3909,2940,0,0,0,0,0,0
$GC,1274,-0.60,-146.1,226.3,-19.1,156,1278,0.00,1.58,0.00,0.000,6,0.000,0.035,1578,2890,2940,0,0,0,0,0,0
$GC,1598,-0.60,-146.1,282.5,-16.6,178,1602,0.00,1.67,0.00,0.000,4,0.000,0.063,1570,3914,2940,0,0,0,0,0,0
$GC,1653,-0.60,-146.1,292.4,-17.5,180,1658,0.00,1.52,0.00,0.000,6,0.000,0.034,1570,2926,2940,0,0,0,0,0,0
$GC,1975,-0.60,-146.1,344.6,-16.5,196,1979,0.00,1.62,0.00,0.000,4,0.000,0.062,1563,3904,2940,0,0,0,0,0,0
$GC,2058,-0.60,-146.1,360.0,-18.6,199,2067,0.12,1.52,0.00,0.000,6,0.210,0.034,1592,2918,2940,0,0,0,0,0,0
$GC,2376,-0.60,-146.1,406.6,-14.6,215,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2918,2940,0,0,0,0,0,0
$GC,2684,-0.60,-146.1,451.4,-14.4,230,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2918,2940,0,0,0,0,0,0
$GC,2994,-0.60,-146.1,494.8,-13.7,245,2997,0.00,1.62,0.00,0.000,4,0.000,0.063,1585,3903,2940,0,0,0,0,0,0
$GC,3061,-0.60,-146.1,505.0,-15.4,248,3065,0.00,1.48,0.00,0.000,6,0.000,0.034,1585,2942,2941,0,0,0,0,0,0
$GC,3393,-0.60,-146.1,551.6,-13.8,264,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2935,2941,0,0,0,0,0,0
$GC,3703,-0.60,-146.1,594.3,-13.9,279,3706,0.00,1.60,0.00,0.000,4,0.000,0.063,1577,3909,2941,0,0,0,0,0,0
$GC,3747,-0.60,-146.1,601.0,-14.6,281,3751,0.00,1.50,0.00,0.000,6,0.000,0.034,1578,2925,2941,0,0,0,0,0,0
$GC,4079,-0.60,-146.1,649.1,-14.6,297,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2919,2941,0,0,0,0,0,0
$GC,4389,-0.60,-146.1,694.3,-14.5,312,4393,0.00,1.60,0.00,0.000,4,0.000,0.061,1570,3896,2941,0,0,0,0,0,0
$GC,4449,-0.60,-146.1,704.3,-16.0,314,4457,0.00,1.50,0.00,0.000,6,0.000,0.033,1570,2916,2941,0,0,0,0,0,0
$GC,4766,-0.60,-146.1,752.0,-15.2,330,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2916,2941,0,0,0,0,0,0
$GC,5075,-0.60,-146.1,798.0,-14.7,345,5079,0.00,1.62,0.00,0.000,4,0.000,0.063,1563,3908,2942,0,0,0,0,0,0
$GC,5152,-0.60,-146.1,810.7,-16.3,348,5158,0.12,1.50,0.00,0.000,6,0.207,0.034,1592,2933,2942,0,0,0,0,0,0
$GC,5474,-0.60,-146.1,853.0,-12.8,364,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2932,2941,0,0,0,0,0,0
$GC,5783,-0.60,-146.1,893.0,-12.6,379,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2932,2942,0,0,0,0,0,0
$GC,6092,-0.60,-146.1,931.8,-12.2,394,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2932,2942,0,0,0,0,0,0
$GC,6402,-0.60,-146.1,970.3,-12.5,409,6406,0.00,1.60,0.00,0.000,4,0.000,0.063,1585,3908,2941,0,0,0,0,0,0
$GC,6448,-0.60,-146.1,976.2,-13.5,411,6452,0.00,1.48,0.00,0.000,6,0.000,0.034,1585,2938,2942,0,0,0,0,0,0
$STATE,6634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6634,begin apogee
$GC,6638,-0.13,0.0,1000.3,12.6,420,6778,0.52,0.00,133.98,1.812,6,0.178,0.000,1738,2703,2341,0,0,0,0,0,0
$STATE,6778,end apogee,CONTROL_FINISHED_OK
$STATE,6778,begin climb
$GC,6780,0.60,146.1,1003.6,0.0,427,6933,0.80,0.00,147.35,1.759,6,0.129,0.000,1974,2702,1745,0,0,0,0,0,0
$GC,7236,0.60,146.1,927.7,18.5,449,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2703,1737,0,0,0,0,0,0
$GC,7545,0.60,146.1,870.4,18.8,464,7549,0.00,2.08,0.00,0.000,4,0.000,0.060,1974,3926,1735,0,0,0,0,0,0
$GC,7591,0.60,146.1,861.3,19.9,466,7595,0.00,1.95,0.00,0.000,6,0.000,0.037,1983,2735,1733,0,0,0,0,0,0
$GC,7923,0.60,146.1,798.4,18.7,482,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2734,1732,0,0,0,0,0,0
$GC,8232,0.60,146.1,738.6,19.4,497,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2734,1732,0,0,0,0,0,0
$GC,8542,0.60,146.1,678.3,19.4,512,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2734,1731,0,0,0,0,0,0
$GC,8851,0.60,146.1,618.9,19.2,527,8854,0.00,1.92,0.00,0.000,4,0.000,0.060,1983,3903,1731,0,0,0,0,0,0
$GC,8906,0.60,146.1,606.9,22.0,529,8910,0.00,1.88,0.00,0.000,6,0.000,0.037,1992,2711,1731,0,0,0,0,0,0
$GC,9228,0.60,146.1,541.5,20.4,545,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2711,1731,0,0,0,0,0,0
$GC,9536,0.60,146.1,478.8,20.1,560,9540,0.00,1.98,0.00,0.000,4,0.000,0.060,1992,3916,1731,0,0,0,0,0,0
$GC,9585,0.60,146.1,467.9,22.6,562,9590,0.00,1.92,0.00,0.000,6,0.000,0.037,2002,2717,1730,0,0,0,0,0,0
$GC,9913,0.60,146.1,401.7,20.2,578,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2717,1730,0,0,0,0,0,0
$GC,10224,0.60,146.1,339.1,20.0,593,10228,0.00,1.95,0.00,0.000,4,0.000,0.059,2002,3911,1730,0,0,0,0,0,0
$GC,10295,0.60,146.1,322.6,22.4,596,10301,0.00,1.92,0.00,0.000,6,0.000,0.037,2011,2703,1730,0,0,0,0,0,0
$GC,10625,0.60,146.1,260.3,18.4,612,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2702,1730,0,0,0,0,0,0
$GC,10942,0.60,146.1,203.2,17.9,639,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2703,1729,0,0,0,0,0,0
$GC,11262,0.60,146.1,144.8,17.0,669,11266,0.00,1.98,0.00,0.000,4,0.000,0.060,2011,3916,1730,0,0,0,0,0,0
$GC,11369,0.60,146.1,122.3,20.2,678,11381,0.10,1.92,0.00,0.000,6,0.200,0.037,1992,2707,1729,0,0,0,0,0,0
$GC,11711,0.60,146.1,71.7,12.7,726,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2706,1729,0,0,0,0,0,0
$GC,11825,0.60,146.1,54.6,15.1,745,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2705,1730,0,0,0,0,0,0
$GC,11939,0.60,146.1,40.4,12.4,764,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2706,1729,0,0,0,0,0,0
$GC,12055,0.60,146.1,23.0,14.5,783,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2706,1729,0,0,0,0,0,0
$GC,12139,0.60,146.1,10.2,15.7,796,12148,0.00,1.98,0.00,0.000,4,0.000,0.062,1992,3900,1729,0,0,0,0,0,0
$STATE,12179,end climb,SURFACE_DEPTH_REACHED
$STATE,12179,begin surface coast
$FINISH,1.2,1.027218
$STATE,12187,end surface coast,CONTROL_FINISHED_OK
$STATE,12188,begin surface
$SM_CCo,12200,20.33,0.187,0,0,1525,200.16
$SM_GC,3.28,0.00,0.00,20.33,0.000,0.000,0.187,65,2898,1525,-5.39,-0.90,200.16
$IRIDIUM_FIX,-5538.94,-30.83,211214,101054
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.7,19.191
$10V_AH,10.0,12.564
$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,13.325,53.000,281.325,20.325,0.000,32.485,17.235,333.294,0.000,0.000,20.203,1982.139,7819.271,378.622,2379.623,156.618,33.356,1157.518,0.000,1868.015,0.000,0.539,0.000
$DEVICE_MAMPS,257.805,64.260,1812.285,187.425,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.103,1663.117,795.709,836.665,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354152
$DATA_FILE_SIZE,53811,803
$CAP_FILE_SIZE,101700,0
$CFSIZE,259252224,222117888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211214,210203,-5559.862,-30.869,40,1.3,40,-19.9