version: 66.07
glider: 542
mission: 9
dive: 70
start: 12 22 114 4 3 41
data:
$ID,542
$MISSION,9
$DIVE,70
$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,-21864.812
$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,28
$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
$GPS1,221214,035504,-5600.903,-33.040,28,1.0,28,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-59.2
$GPS2,221214,040247,-5600.870,-33.006,21,0.9,21,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.164,0.015
$KALMAN_X,40931.0,-52.9,-363.6,-74620.2,4619.3
$KALMAN_Y,54543.6,-181.7,51.3,-55708.2,1470.2
$MHEAD_RNG_PITCHd_Wd,295.0,3505,-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,12,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,-51.30,0.000,6,0.000,0.000,46,2930,2644,0,0,0,0,0,0
$GC,76,-0.60,-146.1,3.7,-3.1,7,95,6.32,1.65,-7.65,0.000,4,0.254,0.080,1583,3912,2939,0,0,0,0,0,0
$GC,345,-0.60,-146.1,59.7,-21.1,51,352,0.00,1.60,0.00,0.000,6,0.000,0.034,1586,2899,2942,0,0,0,0,0,0
$GC,461,-0.60,-146.1,82.3,-19.8,70,468,0.00,2.10,0.00,0.000,4,0.000,0.041,1588,1527,2942,0,0,0,0,0,0
$GC,521,-0.60,-146.1,94.7,-17.9,80,528,0.00,2.28,0.00,0.000,6,0.000,0.057,1578,2934,2942,0,0,0,0,0,0
$GC,745,-0.60,-146.1,138.1,-18.8,103,747,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2934,2942,0,0,0,0,0,0
$GC,1063,-0.60,-146.1,197.9,-19.3,133,1067,0.00,1.55,0.00,0.000,4,0.000,0.062,1571,3893,2942,0,0,0,0,0,0
$GC,1113,-0.60,-146.1,207.4,-20.9,137,1117,0.00,1.50,0.00,0.000,6,0.000,0.034,1575,2920,2942,0,0,0,0,0,0
$GC,1442,-0.60,-146.1,269.0,-18.0,163,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2914,2942,0,0,0,0,0,0
$GC,1751,-0.60,-146.1,320.3,-15.5,178,1754,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3897,2942,0,0,0,0,0,0
$GC,1806,-0.60,-146.1,330.0,-16.8,180,1810,0.00,1.50,0.00,0.000,6,0.000,0.034,1569,2925,2942,0,0,0,0,0,0
$GC,2129,-0.60,-146.1,377.2,-14.2,196,2133,0.00,1.60,0.00,0.000,4,0.000,0.061,1561,3892,2941,0,0,0,0,0,0
$GC,2161,-0.60,-146.1,382.8,-15.9,197,2167,0.12,1.50,0.00,0.000,6,0.205,0.033,1591,2919,2942,0,0,0,0,0,0
$GC,2484,-0.60,-146.1,423.9,-12.9,213,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2941,0,0,0,0,0,0
$GC,2792,-0.60,-146.1,463.9,-12.8,228,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2942,0,0,0,0,0,0
$GC,3102,-0.60,-146.1,503.0,-12.6,243,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2942,0,0,0,0,0,0
$GC,3411,-0.60,-146.1,542.2,-12.7,258,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2942,0,0,0,0,0,0
$GC,3720,-0.60,-146.1,581.6,-12.9,273,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2942,0,0,0,0,0,0
$GC,4030,-0.60,-146.1,621.3,-12.7,288,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2942,0,0,0,0,0,0
$GC,4339,-0.60,-146.1,660.6,-12.6,303,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2942,0,0,0,0,0,0
$GC,4648,-0.60,-146.1,699.3,-12.4,318,4652,0.00,1.60,0.00,0.000,4,0.000,0.062,1583,3893,2942,0,0,0,0,0,0
$GC,4686,-0.60,-146.1,704.6,-13.3,319,4694,0.00,1.45,0.00,0.000,6,0.000,0.033,1587,2935,2942,0,0,0,0,0,0
$GC,5002,-0.60,-146.1,744.4,-12.8,335,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2942,0,0,0,0,0,0
$GC,5311,-0.60,-146.1,784.3,-12.8,350,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2942,0,0,0,0,0,0
$GC,5621,-0.60,-146.1,825.3,-13.5,365,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2943,0,0,0,0,0,0
$GC,5930,-0.60,-146.1,866.4,-13.3,380,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2942,0,0,0,0,0,0
$GC,6239,-0.60,-146.1,908.4,-13.6,395,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2942,0,0,0,0,0,0
$GC,6549,-0.60,-146.1,950.1,-13.4,410,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2942,0,0,0,0,0,0
$GC,6858,-0.60,-146.1,991.5,-13.4,425,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2935,2942,0,0,0,0,0,0
$STATE,6939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6939,begin apogee
$GC,6943,-0.13,0.0,1002.6,13.5,429,7082,0.50,0.00,133.82,1.808,6,0.168,0.000,1738,2710,2342,0,0,0,0,0,0
$STATE,7083,end apogee,CONTROL_FINISHED_OK
$STATE,7083,begin climb
$GC,7085,0.60,146.1,1007.4,0.0,436,7238,0.80,0.00,148.00,1.763,6,0.126,0.000,1977,2710,1745,0,0,0,0,0,0
$GC,7540,0.60,146.1,933.9,18.7,458,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2710,1737,0,0,0,0,0,0
$GC,7849,0.60,146.1,876.4,18.1,473,7852,0.00,2.00,0.00,0.000,4,0.000,0.059,1976,3904,1735,0,0,0,0,0,0
$GC,7886,0.60,146.1,868.2,20.7,474,7894,0.00,1.92,0.00,0.000,6,0.000,0.036,1986,2744,1733,0,0,0,0,0,0
$GC,8203,0.60,146.1,807.2,19.0,490,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2743,1733,0,0,0,0,0,0
$GC,8512,0.60,146.1,748.1,18.9,505,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2743,1732,0,0,0,0,0,0
$GC,8821,0.60,146.1,689.4,18.7,520,8825,0.00,1.90,0.00,0.000,4,0.000,0.058,1986,3900,1732,0,0,0,0,0,0
$GC,8876,0.60,146.1,678.1,20.6,522,8880,0.00,1.92,0.00,0.000,6,0.000,0.037,1995,2707,1731,0,0,0,0,0,0
$GC,9197,0.60,146.1,617.8,18.5,538,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2707,1731,0,0,0,0,0,0
$GC,9507,0.60,146.1,561.0,18.2,553,9510,0.00,1.95,0.00,0.000,4,0.000,0.057,1995,3899,1730,0,0,0,0,0,0
$GC,9575,0.60,146.1,547.8,20.6,556,9579,0.00,1.90,0.00,0.000,6,0.000,0.037,2004,2716,1730,0,0,0,0,0,0
$GC,9906,0.60,146.1,486.5,18.5,572,9910,0.00,1.92,0.00,0.000,4,0.000,0.057,2004,3897,1730,0,0,0,0,0,0
$GC,9955,0.60,146.1,476.3,21.2,574,9960,0.00,1.90,0.00,0.000,6,0.000,0.037,2014,2710,1730,0,0,0,0,0,0
$GC,10283,0.60,146.1,413.4,19.3,590,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2710,1730,0,0,0,0,0,0
$GC,10594,0.60,146.1,353.2,19.8,605,10598,0.00,1.92,0.00,0.000,4,0.000,0.057,2014,3903,1730,0,0,0,0,0,0
$GC,10687,0.60,146.1,332.6,21.7,609,10691,0.15,1.88,0.00,0.000,6,0.219,0.037,1988,2708,1729,0,0,0,0,0,0
$GC,11020,0.60,146.1,272.3,17.6,625,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2708,1729,0,0,0,0,0,0
$GC,11333,0.60,146.1,216.0,17.6,648,11337,0.00,1.95,0.00,0.000,4,0.000,0.058,1988,3910,1729,0,0,0,0,0,0
$GC,11426,0.60,146.1,196.6,19.5,656,11430,0.00,1.90,0.00,0.000,6,0.000,0.037,1996,2700,1729,0,0,0,0,0,0
$GC,11759,0.60,146.1,134.5,17.9,687,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2700,1729,0,0,0,0,0,0
$GC,12084,0.60,146.1,79.7,15.2,728,12093,0.00,1.95,0.00,0.000,4,0.000,0.059,1996,3890,1729,0,0,0,0,0,0
$GC,12177,0.60,146.1,64.6,15.8,743,12185,0.00,1.88,0.00,0.000,6,0.000,0.036,2005,2707,1729,0,0,0,0,0,0
$GC,12290,0.60,146.1,47.5,14.8,762,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1729,0,0,0,0,0,0
$GC,12405,0.60,146.1,27.8,18.0,781,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1729,0,0,0,0,0,0
$GC,12489,0.60,146.1,12.7,19.9,794,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1729,0,0,0,0,0,0
$STATE,12541,end climb,SURFACE_DEPTH_REACHED
$STATE,12541,begin surface coast
$FINISH,1.0,1.016673
$STATE,12561,end surface coast,CONTROL_FINISHED_OK
$STATE,12561,begin surface
$SM_CCo,12573,20.20,0.186,0,0,1524,200.16
$SM_GC,2.43,0.00,0.00,20.20,0.000,0.000,0.186,53,2947,1524,-5.43,0.48,200.16
$IRIDIUM_FIX,-5535.12,-30.76,221214,000016
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,19.675
$10V_AH,10.1,12.852
$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,13.250,47.525,281.825,20.200,0.000,25.466,27.132,292.890,0.000,0.000,23.858,1977.214,8300.415,383.168,2252.582,146.863,33.362,1114.155,0.000,1769.367,0.000,0.540,0.000
$DEVICE_MAMPS,253.980,79.560,1807.695,185.895,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.536,1639.522,746.074,767.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353988
$DATA_FILE_SIZE,53898,805
$CAP_FILE_SIZE,98416,0
$CFSIZE,259252224,221933568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221214,073453,-5601.074,-35.216,43,0.8,43,-19.8