version: 66.07
glider: 542
mission: 9
dive: 69
start: 12 22 114 0 32 51
data:
$ID,542
$MISSION,9
$DIVE,69
$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,-21862.486
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,221214,002350,-5600.140,-31.810,22,0.7,22,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-60.9
$GPS2,221214,003157,-5600.094,-31.764,50,0.7,50,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.134,-0.096
$KALMAN_X,39672.5,-402.9,9.1,-72104.4,4030.0
$KALMAN_Y,54059.2,-31.0,-61.7,-53830.7,1757.3
$MHEAD_RNG_PITCHd_Wd,254.3,1835,-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,-73.9,0.0,0.0,0,67,0.00,0.00,-50.25,0.000,2,0.000,0.000,56,2924,2606,0,0,0,0,0,0
$GC,70,-0.60,-144.2,3.2,-3.5,6,96,6.20,1.62,-9.40,0.000,4,0.250,0.082,1582,3894,2932,0,0,0,0,0,0
$GC,323,-0.60,-144.2,59.2,-21.3,47,330,0.00,1.58,0.00,0.000,6,0.000,0.034,1582,2882,2933,0,0,0,0,0,0
$GC,437,-0.60,-144.2,80.9,-17.2,66,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2881,2933,0,0,0,0,0,0
$GC,672,-0.60,-144.2,120.0,-17.4,97,676,0.00,1.67,0.00,0.000,4,0.000,0.060,1574,3901,2934,0,0,0,0,0,0
$GC,711,-0.60,-144.2,127.6,-18.5,100,720,0.00,1.50,0.00,0.000,6,0.000,0.034,1579,2931,2933,0,0,0,0,0,0
$GC,1038,-0.60,-144.2,180.3,-15.8,131,1042,0.00,1.60,0.00,0.000,4,0.000,0.062,1572,3896,2933,0,0,0,0,0,0
$GC,1096,-0.60,-144.2,190.3,-16.7,136,1099,0.00,1.50,0.00,0.000,6,0.000,0.035,1576,2933,2933,0,0,0,0,0,0
$GC,1428,-0.60,-144.2,244.9,-16.6,167,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2927,2933,0,0,0,0,0,0
$GC,1746,-0.60,-144.2,296.5,-15.6,184,1750,0.00,1.60,0.00,0.000,4,0.000,0.061,1569,3898,2933,0,0,0,0,0,0
$GC,1808,-0.60,-144.2,307.0,-17.2,186,1817,0.00,1.50,0.00,0.000,6,0.000,0.036,1569,2925,2933,0,0,0,0,0,0
$GC,2123,-0.60,-144.2,358.3,-15.8,202,2126,0.00,1.60,0.00,0.000,4,0.000,0.061,1561,3896,2933,0,0,0,0,0,0
$GC,2173,-0.60,-144.2,366.9,-16.7,204,2178,0.08,1.50,0.00,0.000,6,0.190,0.034,1583,2928,2933,0,0,0,0,0,0
$GC,2500,-0.60,-144.2,414.0,-14.1,220,2503,0.00,1.60,0.00,0.000,4,0.000,0.061,1576,3898,2933,0,0,0,0,0,0
$GC,2533,-0.60,-144.2,419.0,-15.4,221,2536,0.00,1.50,0.00,0.000,6,0.000,0.034,1579,2927,2933,0,0,0,0,0,0
$GC,2854,-0.60,-144.2,465.2,-14.5,237,2858,0.00,1.60,0.00,0.000,4,0.000,0.060,1572,3897,2933,0,0,0,0,0,0
$GC,2921,-0.60,-144.2,476.1,-15.9,240,2925,0.00,1.50,0.00,0.000,6,0.000,0.034,1578,2920,2933,0,0,0,0,0,0
$GC,3253,-0.60,-144.2,525.9,-15.3,256,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2916,2933,0,0,0,0,0,0
$GC,3563,-0.60,-144.2,574.0,-15.7,271,3567,0.00,1.62,0.00,0.000,4,0.000,0.061,1570,3905,2933,0,0,0,0,0,0
$GC,3608,-0.60,-144.2,581.7,-17.5,273,3612,0.00,1.50,0.00,0.000,6,0.000,0.034,1575,2926,2934,0,0,0,0,0,0
$GC,3941,-0.60,-144.2,635.1,-16.2,289,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2922,2934,0,0,0,0,0,0
$GC,4249,-0.60,-144.2,685.2,-16.4,304,4253,0.00,1.60,0.00,0.000,4,0.000,0.060,1568,3899,2934,0,0,0,0,0,0
$GC,4304,-0.60,-144.2,694.8,-17.4,306,4309,0.00,1.50,0.00,0.000,6,0.000,0.033,1569,2928,2934,0,0,0,0,0,0
$GC,4627,-0.60,-144.2,747.8,-16.5,322,4630,0.00,1.60,0.00,0.000,4,0.000,0.060,1562,3902,2934,0,0,0,0,0,0
$GC,4660,-0.60,-144.2,753.8,-18.5,323,4664,0.08,1.48,0.00,0.000,6,0.192,0.034,1586,2941,2934,0,0,0,0,0,0
$GC,4980,-0.60,-144.2,803.0,-15.2,339,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2939,2934,0,0,0,0,0,0
$GC,5290,-0.60,-144.2,848.5,-14.4,354,5293,0.00,1.58,0.00,0.000,4,0.000,0.062,1580,3901,2934,0,0,0,0,0,0
$GC,5357,-0.60,-144.2,859.0,-15.3,357,5361,0.00,1.50,0.00,0.000,6,0.000,0.033,1581,2922,2934,0,0,0,0,0,0
$GC,5689,-0.60,-144.2,907.7,-14.7,373,5693,0.00,1.62,0.00,0.000,4,0.000,0.060,1574,3907,2934,0,0,0,0,0,0
$GC,5727,-0.60,-144.2,913.9,-16.4,374,5735,0.00,1.50,0.00,0.000,6,0.000,0.033,1574,2922,2934,0,0,0,0,0,0
$GC,6043,-0.60,-144.2,962.1,-15.1,390,6047,0.00,1.60,0.00,0.000,4,0.000,0.060,1567,3900,2934,0,0,0,0,0,0
$GC,6089,-0.60,-144.2,969.2,-16.4,392,6093,0.00,1.48,0.00,0.000,6,0.000,0.034,1567,2935,2934,0,0,0,0,0,0
$STATE,6296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6296,begin apogee
$GC,6301,-0.13,0.0,1002.1,15.7,402,6439,0.60,0.00,132.15,1.802,6,0.184,0.000,1741,2715,2342,0,0,0,0,0,0
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6441,0.60,144.2,1007.7,0.0,409,6592,0.77,0.00,146.48,1.773,6,0.125,0.000,1972,2715,1754,0,0,0,0,0,0
$GC,6892,0.60,144.2,939.2,17.3,431,6896,0.00,2.08,0.00,0.000,4,0.000,0.057,1972,3898,1745,0,0,0,0,0,0
$GC,6929,0.60,144.2,931.9,20.5,432,6937,0.00,1.95,0.00,0.000,6,0.000,0.035,1981,2746,1743,0,0,0,0,0,0
$GC,7246,0.60,144.2,874.8,18.0,448,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2744,1742,0,0,0,0,0,0
$GC,7555,0.60,144.2,820.0,17.1,463,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2744,1741,0,0,0,0,0,0
$GC,7864,0.60,144.2,765.5,17.2,478,7868,0.00,1.92,0.00,0.000,4,0.000,0.057,1981,3906,1741,0,0,0,0,0,0
$GC,7891,0.60,144.2,760.1,19.6,479,7895,0.00,1.95,0.00,0.000,6,0.000,0.037,1991,2692,1740,0,0,0,0,0,0
$GC,8218,0.60,144.2,700.6,18.4,495,8221,0.00,2.00,0.00,0.000,4,0.000,0.057,1991,3909,1739,0,0,0,0,0,0
$GC,8266,0.60,144.2,690.5,21.6,497,8271,0.00,1.95,0.00,0.000,6,0.000,0.036,2000,2706,1739,0,0,0,0,0,0
$GC,8594,0.60,144.2,626.7,19.6,513,8598,0.00,1.95,0.00,0.000,4,0.000,0.057,2000,3901,1739,0,0,0,0,0,0
$GC,8631,0.60,144.2,618.1,22.0,514,8639,0.00,1.92,0.00,0.000,6,0.000,0.036,2009,2706,1738,0,0,0,0,0,0
$GC,8948,0.60,144.2,554.8,19.9,530,8952,0.00,1.95,0.00,0.000,4,0.000,0.057,2010,3900,1738,0,0,0,0,0,0
$GC,9003,0.60,144.2,542.4,22.6,532,9009,0.10,1.90,0.00,0.000,6,0.203,0.036,1991,2716,1738,0,0,0,0,0,0
$GC,9324,0.60,144.2,484.0,18.1,548,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2716,1738,0,0,0,0,0,0
$GC,9634,0.60,144.2,426.9,18.3,563,9638,0.00,1.90,0.00,0.000,4,0.000,0.056,1991,3900,1738,0,0,0,0,0,0
$GC,9694,0.60,144.2,413.9,21.2,565,9702,0.00,1.90,0.00,0.000,6,0.000,0.036,1999,2716,1737,0,0,0,0,0,0
$GC,10014,0.60,144.2,353.4,19.1,581,10017,0.00,1.92,0.00,0.000,4,0.000,0.057,1999,3902,1738,0,0,0,0,0,0
$GC,10061,0.60,144.2,343.1,21.4,583,10065,0.00,1.88,0.00,0.000,6,0.000,0.037,2009,2706,1737,0,0,0,0,0,0
$GC,10395,0.60,144.2,276.7,19.6,599,10399,0.00,1.95,0.00,0.000,4,0.000,0.057,2009,3909,1737,0,0,0,0,0,0
$GC,10423,0.60,144.2,270.4,21.8,600,10427,0.12,1.90,0.00,0.000,6,0.220,0.036,1990,2699,1737,0,0,0,0,0,0
$GC,10747,0.60,144.2,214.4,17.1,625,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2698,1737,0,0,0,0,0,0
$GC,11066,0.60,144.2,158.3,17.3,655,11070,0.00,1.95,0.00,0.000,4,0.000,0.057,1990,3907,1737,0,0,0,0,0,0
$GC,11091,0.60,144.2,153.7,18.4,657,11096,0.00,1.90,0.00,0.000,6,0.000,0.036,1998,2714,1737,0,0,0,0,0,0
$GC,11421,0.60,144.2,99.1,14.6,688,11428,0.00,1.95,0.00,0.000,4,0.000,0.058,1998,3903,1737,0,0,0,0,0,0
$GC,11459,0.60,144.2,93.8,16.7,694,11466,0.00,1.90,0.00,0.000,6,0.000,0.037,2007,2711,1737,0,0,0,0,0,0
$GC,11700,0.60,144.2,55.0,15.4,735,11707,0.00,2.17,0.00,0.000,4,0.000,0.044,2018,1282,1738,0,0,0,0,0,0
$GC,11764,0.60,144.2,44.8,15.0,745,11771,0.12,2.28,0.00,0.000,6,0.213,0.052,1990,2731,1737,0,0,0,0,0,0
$GC,11880,0.60,144.2,26.3,15.3,764,11889,0.00,1.88,0.00,0.000,4,0.000,0.058,1989,3894,1737,0,0,0,0,0,0
$GC,11904,0.60,144.2,22.7,15.7,767,11913,0.00,1.88,0.00,0.000,6,0.000,0.037,1998,2710,1737,0,0,0,0,0,0
$GC,11988,0.60,144.2,8.0,17.2,780,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2711,1737,0,0,0,0,0,0
$STATE,12016,end climb,SURFACE_DEPTH_REACHED
$STATE,12016,begin surface coast
$FINISH,1.0,1.027225
$STATE,12036,end surface coast,CONTROL_FINISHED_OK
$STATE,12036,begin surface
$SM_CCo,12048,20.95,0.184,0,0,1523,200.16
$SM_GC,2.37,0.00,0.00,20.95,0.000,0.000,0.184,57,2922,1523,-5.42,-0.23,200.16
$IRIDIUM_FIX,-5535.12,-26.95,211214,212125
$TT8_MAMPS,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.7,19.513
$10V_AH,10.1,12.757
$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,13.325,88.000,278.625,20.950,0.000,26.802,19.484,291.991,0.000,0.000,52.613,1982.722,7622.662,424.069,2369.041,161.623,33.358,1215.046,0.000,1857.865,0.000,0.540,0.000
$DEVICE_MAMPS,250.155,81.855,1802.340,184.365,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.191,1627.426,775.690,804.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353976
$DATA_FILE_SIZE,53683,787
$CAP_FILE_SIZE,110684,0
$CFSIZE,259252224,221986816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221214,035504,-5600.903,-33.040,28,1.0,28,-19.9