version: 66.07
glider: 542
mission: 9
dive: 71
start: 12 22 114 7 43 0
data:
$ID,542
$MISSION,9
$DIVE,71
$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,-21867.143
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,221214,073453,-5601.074,-35.216,43,0.8,43,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-61.1
$GPS2,221214,074206,-5601.060,-35.087,16,1.3,16,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.163,0.026
$KALMAN_X,41792.8,-51.6,-318.4,-77680.2,4121.9
$KALMAN_Y,54249.3,-313.3,-427.9,-55151.3,1774.0
$MHEAD_RNG_PITCHd_Wd,100.8,5622,-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,-73.9,0.0,0.0,0,66,0.00,0.00,-49.70,0.000,2,0.000,0.000,49,2948,2579,0,0,0,0,0,0
$GC,69,-0.60,-138.0,3.1,-4.0,6,95,6.15,2.30,-10.38,0.000,4,0.245,0.056,1599,1516,2907,0,0,0,0,0,0
$GC,367,-0.60,-138.0,42.2,-16.2,54,376,0.00,2.33,0.00,0.000,6,0.000,0.057,1589,2924,2908,0,0,0,0,0,0
$GC,480,-0.60,-138.0,59.6,-16.5,73,487,0.00,2.17,0.00,0.000,4,0.000,0.040,1594,1509,2909,0,0,0,0,0,0
$GC,512,-0.60,-138.0,66.2,-19.8,78,521,0.00,2.35,0.00,0.000,6,0.000,0.056,1584,2936,2909,0,0,0,0,0,0
$GC,630,-0.60,-138.0,89.6,-19.4,97,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2936,2909,0,0,0,0,0,0
$GC,859,-0.60,-138.0,131.6,-17.2,123,861,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2936,2909,0,0,0,0,0,0
$GC,1179,-0.60,-138.0,182.5,-14.9,153,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2936,2909,0,0,0,0,0,0
$GC,1498,-0.60,-138.0,233.2,-16.5,183,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2936,2909,0,0,0,0,0,0
$GC,1826,-0.60,-138.0,286.9,-15.7,204,1830,0.00,1.55,0.00,0.000,4,0.000,0.064,1577,3897,2909,0,0,0,0,0,0
$GC,1864,-0.60,-138.0,293.5,-16.9,205,1872,0.00,1.52,0.00,0.000,6,0.000,0.034,1579,2904,2909,0,0,0,0,0,0
$GC,2182,-0.60,-138.0,340.2,-14.0,221,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2903,2909,0,0,0,0,0,0
$GC,2490,-0.60,-138.0,384.0,-14.2,236,2493,0.00,1.65,0.00,0.000,4,0.000,0.062,1571,3922,2909,0,0,0,0,0,0
$GC,2584,-0.60,-138.0,399.6,-17.0,240,2589,0.00,1.52,0.00,0.000,6,0.000,0.034,1578,2925,2909,0,0,0,0,0,0
$GC,2911,-0.60,-138.0,447.4,-14.3,256,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2920,2909,0,0,0,0,0,0
$GC,3221,-0.60,-138.0,492.3,-14.7,271,3225,0.00,1.60,0.00,0.000,4,0.000,0.062,1571,3896,2909,0,0,0,0,0,0
$GC,3266,-0.60,-138.0,499.5,-15.9,273,3270,0.00,1.48,0.00,0.000,6,0.000,0.034,1578,2928,2909,0,0,0,0,0,0
$GC,3598,-0.60,-138.0,547.2,-14.3,289,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2922,2909,0,0,0,0,0,0
$GC,3908,-0.60,-138.0,592.1,-14.7,304,3912,0.00,1.60,0.00,0.000,4,0.000,0.061,1571,3900,2909,0,0,0,0,0,0
$GC,3961,-0.60,-138.0,601.3,-16.2,306,3967,0.00,1.50,0.00,0.000,6,0.000,0.033,1578,2925,2910,0,0,0,0,0,0
$GC,4284,-0.60,-138.0,649.6,-14.8,322,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2910,0,0,0,0,0,0
$GC,4594,-0.60,-138.0,695.1,-14.7,337,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2910,0,0,0,0,0,0
$GC,4902,-0.60,-138.0,739.7,-14.4,352,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2910,0,0,0,0,0,0
$GC,5212,-0.60,-138.0,783.8,-14.0,367,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2921,2910,0,0,0,0,0,0
$GC,5521,-0.60,-138.0,828.1,-14.5,382,5525,0.00,1.60,0.00,0.000,4,0.000,0.062,1571,3898,2910,0,0,0,0,0,0
$GC,5576,-0.60,-138.0,836.7,-15.3,384,5581,0.00,1.50,0.00,0.000,6,0.000,0.033,1578,2918,2910,0,0,0,0,0,0
$GC,5898,-0.60,-138.0,881.0,-14.2,400,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2916,2910,0,0,0,0,0,0
$GC,6206,-0.60,-138.0,925.1,-14.4,415,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2917,2910,0,0,0,0,0,0
$GC,6516,-0.60,-138.0,968.7,-14.2,430,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2917,2909,0,0,0,0,0,0
$STATE,6741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6741,begin apogee
$GC,6746,-0.13,0.0,1000.0,13.6,441,6876,0.55,0.00,126.38,1.803,6,0.174,0.000,1741,2728,2342,0,0,0,0,0,0
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6877,begin climb
$GC,6878,0.60,138.0,1004.5,0.0,447,7026,0.77,0.00,139.93,1.758,6,0.124,0.000,1974,2728,1778,0,0,0,0,0,0
$GC,7334,0.60,138.0,931.7,17.7,470,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2728,1769,0,0,0,0,0,0
$GC,7643,0.60,138.0,875.4,18.2,485,7647,0.00,1.98,0.00,0.000,4,0.000,0.058,1974,3907,1767,0,0,0,0,0,0
$GC,7674,0.60,138.0,868.7,21.1,486,7679,0.00,1.95,0.00,0.000,6,0.000,0.036,1983,2728,1766,0,0,0,0,0,0
$GC,7997,0.60,138.0,806.4,19.0,502,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2728,1766,0,0,0,0,0,0
$GC,8306,0.60,138.0,747.5,19.0,517,8309,0.00,1.95,0.00,0.000,4,0.000,0.057,1982,3910,1765,0,0,0,0,0,0
$GC,8354,0.60,138.0,737.0,21.5,519,8359,0.00,1.95,0.00,0.000,6,0.000,0.037,1992,2706,1764,0,0,0,0,0,0
$GC,8682,0.60,138.0,673.3,19.7,535,8686,0.00,2.00,0.00,0.000,4,0.000,0.057,1992,3930,1764,0,0,0,0,0,0
$GC,8713,0.60,138.0,666.1,22.5,536,8718,0.00,1.98,0.00,0.000,6,0.000,0.036,2002,2702,1763,0,0,0,0,0,0
$GC,9035,0.60,138.0,600.9,19.9,552,9039,0.00,1.98,0.00,0.000,4,0.000,0.057,2002,3913,1763,0,0,0,0,0,0
$GC,9090,0.60,138.0,588.4,22.3,554,9094,0.00,1.92,0.00,0.000,6,0.000,0.037,2011,2713,1763,0,0,0,0,0,0
$GC,9412,0.60,138.0,521.8,21.0,570,9415,0.00,1.95,0.00,0.000,4,0.000,0.057,2011,3894,1763,0,0,0,0,0,0
$GC,9478,0.60,138.0,506.3,23.0,573,9483,0.15,1.88,0.00,0.000,6,0.220,0.037,1985,2708,1762,0,0,0,0,0,0
$GC,9811,0.60,138.0,440.8,19.8,589,9814,0.00,1.95,0.00,0.000,4,0.000,0.057,1985,3903,1762,0,0,0,0,0,0
$GC,9856,0.60,138.0,431.3,21.9,591,9859,0.00,1.90,0.00,0.000,6,0.000,0.037,1994,2700,1762,0,0,0,0,0,0
$GC,10190,0.60,138.0,366.9,18.9,607,10193,0.00,1.95,0.00,0.000,4,0.000,0.057,1994,3902,1762,0,0,0,0,0,0
$GC,10237,0.60,138.0,357.3,21.8,609,10241,0.00,1.85,0.00,0.000,6,0.000,0.037,2003,2711,1762,0,0,0,0,0,0
$GC,10571,0.60,138.0,294.3,18.9,625,10574,0.00,1.92,0.00,0.000,4,0.000,0.057,2003,3913,1762,0,0,0,0,0,0
$GC,10618,0.60,138.0,284.7,21.1,627,10622,0.00,1.88,0.00,0.000,6,0.000,0.037,2012,2707,1762,0,0,0,0,0,0
$GC,10947,0.60,138.0,224.4,17.5,649,10951,0.12,1.95,0.00,0.000,4,0.233,0.057,1985,3914,1762,0,0,0,0,0,0
$GC,10995,0.60,138.0,215.9,17.5,653,10999,0.00,1.90,0.00,0.000,6,0.000,0.037,1993,2708,1762,0,0,0,0,0,0
$GC,11325,0.60,138.0,157.9,18.0,684,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2708,1762,0,0,0,0,0,0
$GC,11644,0.60,138.0,104.8,18.3,714,11648,0.00,1.95,0.00,0.000,4,0.000,0.058,1994,3897,1761,0,0,0,0,0,0
$GC,11713,0.60,138.0,92.9,17.2,723,11722,0.00,1.90,0.00,0.000,6,0.000,0.037,2003,2700,1762,0,0,0,0,0,0
$GC,11956,0.60,138.0,56.3,10.8,764,11964,0.00,1.98,0.00,0.000,4,0.000,0.059,2003,3904,1762,0,0,0,0,0,0
$GC,11978,0.60,138.0,53.9,11.2,767,11985,0.00,1.90,0.00,0.000,6,0.000,0.037,2012,2709,1762,0,0,0,0,0,0
$GC,12090,0.60,138.0,35.9,12.8,786,12099,0.00,1.95,0.00,0.000,4,0.000,0.057,2012,3896,1762,0,0,0,0,0,0
$GC,12161,0.60,138.0,23.6,17.7,797,12170,0.12,1.88,0.00,0.000,6,0.207,0.036,1986,2711,1762,0,0,0,0,0,0
$GC,12246,0.60,138.0,10.4,14.2,810,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2710,1762,0,0,0,0,0,0
$STATE,12316,end climb,SURFACE_DEPTH_REACHED
$STATE,12316,begin surface coast
$FINISH,1.0,1.014754
$STATE,12360,end surface coast,CONTROL_FINISHED_OK
$STATE,12360,begin surface
$SM_CCo,12373,23.25,0.187,0,0,1525,200.16
$SM_GC,3.11,0.00,0.00,23.25,0.000,0.000,0.187,54,2949,1525,-5.43,0.54,200.16
$IRIDIUM_FIX,-5538.94,-30.80,221214,030336
$TT8_MAMPS,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,19.828
$10V_AH,10.1,12.956
$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,13.200,71.675,266.300,23.250,0.000,27.648,19.668,278.419,0.000,0.000,18.854,2044.764,7843.855,404.112,2405.500,134.947,33.361,1180.008,0.000,1931.449,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,64.260,1803.105,186.660,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.956,1756.328,884.889,925.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,57159,828
$CAP_FILE_SIZE,104722,0
$CFSIZE,259252224,221872128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221214,111052,-5600.778,-31.248,41,0.8,41,-19.9