version: 66.07
glider: 542
mission: 9
dive: 68
start: 12 21 114 21 10 7
data:
$ID,542
$MISSION,9
$DIVE,68
$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,-21860.004
$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,48
$R_STBD_OVSHOOT,16
$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
$GPS1,211214,210203,-5559.862,-30.869,40,1.3,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-58.9
$GPS2,211214,210913,-5559.824,-30.681,16,1.1,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.150,-0.068
$KALMAN_X,38085.4,-571.2,-137.4,-69077.5,3112.3
$KALMAN_Y,53077.4,64.8,-124.8,-52378.1,769.3
$MHEAD_RNG_PITCHd_Wd,265.4,777,-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,15,-0.54,-73.9,0.0,0.0,0,59,0.00,0.00,-42.55,0.000,2,0.000,0.000,56,2896,2436,0,0,0,0,0,0
$GC,62,-0.60,-146.1,3.2,-3.0,5,89,6.12,1.75,-15.23,0.000,4,0.246,0.085,1579,3912,2939,0,0,0,0,0,0
$GC,346,-0.60,-146.1,61.4,-23.3,51,353,0.00,1.55,0.00,0.000,6,0.000,0.034,1579,2923,2941,0,0,0,0,0,0
$GC,460,-0.60,-146.1,84.8,-21.2,70,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2921,2942,0,0,0,0,0,0
$GC,687,-0.60,-146.1,129.1,-19.3,97,691,0.00,1.62,0.00,0.000,4,0.000,0.060,1572,3900,2942,0,0,0,0,0,0
$GC,783,-0.60,-146.1,148.9,-20.9,105,786,0.00,1.52,0.00,0.000,6,0.000,0.035,1579,2926,2942,0,0,0,0,0,0
$GC,1112,-0.60,-146.1,211.9,-17.7,136,1116,0.00,1.62,0.00,0.000,4,0.000,0.061,1571,3903,2941,0,0,0,0,0,0
$GC,1163,-0.60,-146.1,221.3,-18.6,140,1173,0.00,1.52,0.00,0.000,6,0.000,0.035,1578,2921,2941,0,0,0,0,0,0
$GC,1483,-0.60,-146.1,275.9,-17.3,164,1487,0.00,1.62,0.00,0.000,4,0.000,0.060,1571,3910,2941,0,0,0,0,0,0
$GC,1515,-0.60,-146.1,282.2,-18.4,165,1520,0.00,1.52,0.00,0.000,6,0.000,0.034,1578,2935,2941,0,0,0,0,0,0
$GC,1840,-0.60,-146.1,339.1,-17.9,181,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2929,2941,0,0,0,0,0,0
$GC,2148,-0.60,-146.1,394.6,-17.9,196,2152,0.00,1.60,0.00,0.000,4,0.000,0.060,1571,3904,2941,0,0,0,0,0,0
$GC,2203,-0.60,-146.1,405.4,-18.0,198,2208,0.00,1.52,0.00,0.000,6,0.000,0.034,1577,2923,2941,0,0,0,0,0,0
$GC,2525,-0.60,-146.1,459.6,-16.5,214,2529,0.00,1.62,0.00,0.000,4,0.000,0.060,1570,3917,2942,0,0,0,0,0,0
$GC,2574,-0.60,-146.1,468.8,-18.0,216,2579,0.00,1.52,0.00,0.000,6,0.000,0.033,1577,2928,2942,0,0,0,0,0,0
$GC,2902,-0.60,-146.1,521.0,-15.5,232,2906,0.00,1.62,0.00,0.000,4,0.000,0.061,1570,3913,2942,0,0,0,0,0,0
$GC,2956,-0.60,-146.1,530.1,-15.9,234,2961,0.00,1.52,0.00,0.000,6,0.000,0.033,1577,2931,2942,0,0,0,0,0,0
$GC,3278,-0.60,-146.1,576.8,-14.3,250,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2924,2942,0,0,0,0,0,0
$GC,3588,-0.60,-146.1,622.1,-15.0,265,3591,0.00,1.60,0.00,0.000,4,0.000,0.061,1570,3900,2942,0,0,0,0,0,0
$GC,3633,-0.60,-146.1,629.3,-16.4,267,3636,0.00,1.50,0.00,0.000,6,0.000,0.034,1577,2925,2942,0,0,0,0,0,0
$GC,3964,-0.60,-146.1,678.4,-14.7,283,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2919,2942,0,0,0,0,0,0
$GC,4274,-0.60,-146.1,724.2,-14.8,298,4278,0.00,1.60,0.00,0.000,4,0.000,0.060,1570,3898,2942,0,0,0,0,0,0
$GC,4342,-0.60,-146.1,735.2,-15.7,301,4346,0.00,1.48,0.00,0.000,6,0.000,0.034,1576,2933,2942,0,0,0,0,0,0
$GC,4674,-0.60,-146.1,783.5,-14.4,317,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,2942,0,0,0,0,0,0
$GC,4983,-0.60,-146.1,829.1,-14.9,332,4986,0.00,1.60,0.00,0.000,4,0.000,0.060,1569,3905,2942,0,0,0,0,0,0
$GC,5044,-0.60,-146.1,839.0,-16.0,334,5051,0.00,1.50,0.00,0.000,6,0.000,0.034,1576,2923,2942,0,0,0,0,0,0
$GC,5360,-0.60,-146.1,886.2,-14.9,350,5363,0.00,1.60,0.00,0.000,4,0.000,0.060,1568,3903,2942,0,0,0,0,0,0
$GC,5397,-0.60,-146.1,892.5,-16.7,351,5405,0.00,1.50,0.00,0.000,6,0.000,0.034,1569,2923,2942,0,0,0,0,0,0
$GC,5713,-0.60,-146.1,939.8,-15.0,367,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,2942,0,0,0,0,0,0
$GC,6023,-0.60,-146.1,985.2,-14.3,382,6027,0.00,1.60,0.00,0.000,4,0.000,0.062,1562,3903,2942,0,0,0,0,0,0
$GC,6077,-0.60,-146.1,993.9,-15.8,384,6083,0.08,1.48,0.00,0.000,6,0.186,0.034,1584,2940,2942,0,0,0,0,0,0
$STATE,6130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6130,begin apogee
$GC,6134,-0.13,0.0,1001.1,14.0,387,6273,0.52,0.00,134.00,1.805,6,0.171,0.000,1741,2717,2342,0,0,0,0,0,0
$STATE,6274,end apogee,CONTROL_FINISHED_OK
$STATE,6274,begin climb
$GC,6276,0.60,146.1,1005.0,0.0,394,6433,0.80,0.00,148.55,1.765,6,0.124,0.000,1975,2717,1745,0,0,0,0,0,0
$GC,6740,0.60,146.1,925.7,19.5,417,6744,0.00,2.05,0.00,0.000,4,0.000,0.058,1975,3903,1737,0,0,0,0,0,0
$GC,6778,0.60,146.1,917.4,21.5,418,6786,0.00,1.98,0.00,0.000,6,0.000,0.036,1984,2734,1735,0,0,0,0,0,0
$GC,7094,0.60,146.1,852.5,20.6,434,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2734,1734,0,0,0,0,0,0
$GC,7403,0.60,146.1,788.9,20.9,449,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2734,1733,0,0,0,0,0,0
$GC,7713,0.60,146.1,727.0,19.9,464,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2734,1732,0,0,0,0,0,0
$GC,8022,0.60,146.1,666.3,19.6,479,8026,0.00,1.95,0.00,0.000,4,0.000,0.059,1984,3914,1732,0,0,0,0,0,0
$GC,8054,0.60,146.1,659.2,21.0,480,8059,0.00,1.95,0.00,0.000,6,0.000,0.037,1993,2713,1731,0,0,0,0,0,0
$GC,8376,0.60,146.1,594.2,20.0,496,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2712,1731,0,0,0,0,0,0
$GC,8685,0.60,146.1,533.1,19.6,511,8689,0.00,1.95,0.00,0.000,4,0.000,0.057,1993,3905,1731,0,0,0,0,0,0
$GC,8710,0.60,146.1,527.3,21.3,512,8716,0.00,1.92,0.00,0.000,6,0.000,0.036,2003,2708,1731,0,0,0,0,0,0
$GC,9039,0.60,146.1,460.4,20.4,528,9043,0.00,1.98,0.00,0.000,4,0.000,0.058,2003,3924,1731,0,0,0,0,0,0
$GC,9064,0.60,146.1,454.2,22.3,529,9069,0.00,1.95,0.00,0.000,6,0.000,0.036,2012,2713,1730,0,0,0,0,0,0
$GC,9395,0.60,146.1,385.9,20.7,545,9399,0.00,1.95,0.00,0.000,4,0.000,0.057,2012,3908,1730,0,0,0,0,0,0
$GC,9434,0.60,146.1,376.4,22.7,546,9443,0.10,1.92,0.00,0.000,6,0.207,0.037,1993,2708,1730,0,0,0,0,0,0
$GC,9749,0.60,146.1,317.1,18.3,562,9753,0.00,1.95,0.00,0.000,4,0.000,0.057,1993,3906,1730,0,0,0,0,0,0
$GC,9776,0.60,146.1,311.7,19.5,563,9781,0.00,1.92,0.00,0.000,6,0.000,0.037,2001,2698,1730,0,0,0,0,0,0
$GC,10106,0.60,146.1,250.5,18.5,579,10110,0.00,1.98,0.00,0.000,4,0.000,0.057,2002,3916,1730,0,0,0,0,0,0
$GC,10143,0.60,146.1,242.8,22.0,581,10147,0.00,1.90,0.00,0.000,6,0.000,0.037,2011,2707,1729,0,0,0,0,0,0
$GC,10473,0.60,146.1,176.3,19.5,612,10477,0.00,1.95,0.00,0.000,4,0.000,0.057,2011,3910,1730,0,0,0,0,0,0
$GC,10545,0.60,146.1,160.7,21.4,618,10556,0.10,1.92,0.00,0.000,6,0.203,0.037,1992,2706,1730,0,0,0,0,0,0
$GC,10872,0.60,146.1,103.7,15.8,649,10876,0.00,1.95,0.00,0.000,4,0.000,0.057,1992,3908,1730,0,0,0,0,0,0
$GC,10920,0.60,146.1,95.5,16.9,655,10927,0.00,1.90,0.00,0.000,6,0.000,0.037,2001,2696,1730,0,0,0,0,0,0
$GC,11159,0.60,146.1,58.6,14.8,696,11168,0.00,2.20,0.00,0.000,4,0.000,0.046,2011,1295,1730,0,0,0,0,0,0
$GC,11253,0.60,146.1,45.6,12.9,711,11260,0.00,2.28,0.00,0.000,6,0.000,0.053,2011,2721,1729,0,0,0,0,0,0
$GC,11369,0.60,146.1,28.6,16.4,730,11378,0.00,1.90,0.00,0.000,4,0.000,0.061,2011,3891,1730,0,0,0,0,0,0
$GC,11447,0.60,146.1,14.1,20.5,742,11457,0.10,1.88,0.00,0.000,6,0.201,0.038,1992,2714,1730,0,0,0,0,0,0
$STATE,11513,end climb,SURFACE_DEPTH_REACHED
$STATE,11513,begin surface coast
$FINISH,1.1,1.026947
$STATE,11533,end surface coast,CONTROL_FINISHED_OK
$STATE,11534,begin surface
$SM_CCo,11546,20.25,0.184,0,0,1524,200.16
$SM_GC,2.40,0.00,0.00,20.25,0.000,0.000,0.184,64,2923,1524,-5.39,-0.23,200.16
$IRIDIUM_FIX,-5538.94,-34.65,211214,171731
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.7,19.352
$10V_AH,10.0,12.658
$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,13.125,81.600,282.550,20.250,0.000,27.135,41.799,254.290,0.000,0.000,19.405,1897.836,7315.193,431.761,2218.512,137.243,33.361,1170.927,0.000,1760.396,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,84.915,1804.635,184.365,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.547,1561.853,746.079,777.254,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,50404,755
$CAP_FILE_SIZE,104034,0
$CFSIZE,259252224,222060544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221214,002350,-5600.140,-31.810,22,0.7,22,-19.9