version: 66.07
glider: 542
mission: 9
dive: 73
start: 12 22 114 14 48 5
data:
$ID,542
$MISSION,9
$DIVE,73
$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,-21871.883
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,221214,144004,-5600.393,-33.204,76,0.8,76,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.5
$GPS2,221214,144711,-5600.307,-33.171,17,1.3,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.163,0.028
$KALMAN_X,43820.4,-810.5,-281.2,-77005.1,4948.9
$KALMAN_Y,53627.7,-197.6,65.0,-53750.4,280.4
$MHEAD_RNG_PITCHd_Wd,299.6,3333,-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,-49.80,0.000,2,0.000,0.000,49,2936,2583,0,0,0,0,0,0
$GC,69,-0.60,-145.5,3.3,-3.4,6,95,6.30,2.30,-10.18,0.000,4,0.255,0.057,1592,1507,2939,0,0,0,0,0,0
$GC,103,-0.60,-145.5,9.1,-13.5,10,112,0.00,2.38,0.00,0.000,6,0.000,0.058,1582,2928,2939,0,0,0,0,0,0
$GC,188,-0.60,-145.5,25.3,-21.8,23,197,0.00,1.60,0.00,0.000,4,0.000,0.063,1575,3902,2940,0,0,0,0,0,0
$GC,230,-0.60,-145.5,33.7,-20.1,29,237,0.00,1.58,0.00,0.000,6,0.000,0.034,1578,2902,2940,0,0,0,0,0,0
$GC,342,-0.60,-145.5,57.3,-20.0,48,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2901,2940,0,0,0,0,0,0
$GC,458,-0.60,-145.5,79.7,-19.6,67,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2901,2940,0,0,0,0,0,0
$GC,568,-0.60,-145.5,100.7,-17.0,86,572,0.00,2.12,0.00,0.000,4,0.000,0.043,1579,1524,2940,0,0,0,0,0,0
$GC,644,-0.60,-145.5,113.9,-16.6,92,648,0.00,2.30,0.00,0.000,6,0.000,0.060,1568,2931,2940,0,0,0,0,0,0
$GC,968,-0.60,-145.5,178.9,-19.9,122,972,0.00,1.60,0.00,0.000,4,0.000,0.065,1561,3910,2940,0,0,0,0,0,0
$GC,1062,-0.60,-145.5,198.5,-21.0,130,1066,0.08,1.52,0.00,0.000,6,0.204,0.035,1585,2927,2940,0,0,0,0,0,0
$GC,1390,-0.60,-145.5,254.4,-16.4,160,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2926,2940,0,0,0,0,0,0
$GC,1703,-0.60,-145.5,305.7,-16.9,175,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2926,2940,0,0,0,0,0,0
$GC,2009,-0.60,-145.5,357.1,-16.9,190,2013,0.00,1.62,0.00,0.000,4,0.000,0.064,1578,3906,2940,0,0,0,0,0,0
$GC,2047,-0.60,-145.5,364.2,-17.7,191,2055,0.00,1.50,0.00,0.000,6,0.000,0.034,1579,2925,2940,0,0,0,0,0,0
$GC,2363,-0.60,-145.5,417.3,-16.7,207,2367,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3909,2939,0,0,0,0,0,0
$GC,2419,-0.60,-145.5,427.4,-17.9,209,2422,0.00,1.50,0.00,0.000,6,0.000,0.034,1575,2931,2940,0,0,0,0,0,0
$GC,2740,-0.60,-145.5,480.8,-16.0,225,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2924,2940,0,0,0,0,0,0
$GC,3049,-0.60,-145.5,531.2,-16.2,240,3052,0.00,1.62,0.00,0.000,4,0.000,0.064,1567,3910,2940,0,0,0,0,0,0
$GC,3120,-0.60,-145.5,543.5,-17.2,243,3125,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2929,2940,0,0,0,0,0,0
$GC,3448,-0.60,-145.5,596.7,-16.4,259,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2922,2940,0,0,0,0,0,0
$GC,3757,-0.60,-145.5,648.0,-16.5,274,3760,0.00,1.62,0.00,0.000,4,0.000,0.064,1560,3911,2940,0,0,0,0,0,0
$GC,3825,-0.60,-145.5,659.8,-17.7,277,3829,0.10,1.50,0.00,0.000,6,0.187,0.034,1589,2936,2940,0,0,0,0,0,0
$GC,4156,-0.60,-145.5,708.5,-14.3,293,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2936,2940,0,0,0,0,0,0
$GC,4466,-0.60,-145.5,752.2,-14.1,308,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2936,2940,0,0,0,0,0,0
$GC,4776,-0.60,-145.5,796.1,-14.2,323,4780,0.00,1.60,0.00,0.000,4,0.000,0.066,1582,3909,2940,0,0,0,0,0,0
$GC,4825,-0.60,-145.5,804.3,-15.6,325,4829,0.00,1.50,0.00,0.000,6,0.000,0.033,1582,2922,2940,0,0,0,0,0,0
$GC,5152,-0.60,-145.5,853.6,-15.2,341,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2917,2941,0,0,0,0,0,0
$GC,5461,-0.60,-145.5,901.0,-15.3,356,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2916,2940,0,0,0,0,0,0
$GC,5770,-0.60,-145.5,947.0,-14.6,371,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2916,2940,0,0,0,0,0,0
$GC,6080,-0.60,-145.5,992.3,-14.9,386,6084,0.00,1.62,0.00,0.000,4,0.000,0.065,1575,3904,2940,0,0,0,0,0,0
$GC,6125,-0.60,-145.5,999.4,-15.8,388,6129,0.00,1.48,0.00,0.000,6,0.000,0.034,1575,2932,2940,0,0,0,0,0,0
$STATE,6134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6134,begin apogee
$GC,6138,-0.13,0.0,1001.1,15.2,388,6274,0.52,0.00,133.38,1.801,6,0.176,0.000,1734,2733,2342,0,0,0,0,0,0
$STATE,6275,end apogee,CONTROL_FINISHED_OK
$STATE,6275,begin climb
$GC,6277,0.60,145.5,1006.9,0.0,395,6431,0.85,0.00,148.12,1.754,6,0.127,0.000,1981,2733,1748,0,0,0,0,0,0
$GC,6738,0.60,145.5,933.0,18.6,418,6742,0.00,2.03,0.00,0.000,4,0.000,0.061,1981,3904,1739,0,0,0,0,0,0
$GC,6784,0.60,145.5,923.8,21.0,420,6788,0.00,1.98,0.00,0.000,6,0.000,0.037,1990,2720,1737,0,0,0,0,0,0
$GC,7116,0.60,145.5,857.9,19.9,436,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2720,1736,0,0,0,0,0,0
$GC,7425,0.60,145.5,795.0,20.2,451,7429,0.00,1.98,0.00,0.000,4,0.000,0.059,1990,3906,1735,0,0,0,0,0,0
$GC,7471,0.60,145.5,784.9,22.9,453,7475,0.00,1.95,0.00,0.000,6,0.000,0.037,1999,2695,1734,0,0,0,0,0,0
$GC,7803,0.60,145.5,713.1,21.7,469,7806,0.00,2.00,0.00,0.000,4,0.000,0.059,2000,3907,1734,0,0,0,0,0,0
$GC,7848,0.60,145.5,702.5,23.7,471,7851,0.00,1.92,0.00,0.000,6,0.000,0.037,2009,2703,1733,0,0,0,0,0,0
$GC,8180,0.60,145.5,628.6,22.0,487,8184,0.00,1.98,0.00,0.000,4,0.000,0.058,2009,3904,1733,0,0,0,0,0,0
$GC,8228,0.60,145.5,616.4,24.9,489,8234,0.10,1.92,0.00,0.000,6,0.201,0.037,1991,2712,1733,0,0,0,0,0,0
$GC,8556,0.60,145.5,551.7,19.2,505,8560,0.00,1.98,0.00,0.000,4,0.000,0.060,1991,3900,1733,0,0,0,0,0,0
$GC,8603,0.60,145.5,542.0,22.6,507,8606,0.00,1.90,0.00,0.000,6,0.000,0.037,1999,2705,1733,0,0,0,0,0,0
$GC,8935,0.60,145.5,478.9,18.6,523,8938,0.00,1.95,0.00,0.000,4,0.000,0.059,1998,3903,1733,0,0,0,0,0,0
$GC,8984,0.60,145.5,468.3,21.2,525,8989,0.00,1.92,0.00,0.000,6,0.000,0.037,2008,2706,1732,0,0,0,0,0,0
$GC,9311,0.60,145.5,404.6,19.1,541,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2705,1732,0,0,0,0,0,0
$GC,9620,0.60,145.5,345.2,19.0,556,9624,0.00,1.95,0.00,0.000,4,0.000,0.059,2008,3904,1732,0,0,0,0,0,0
$GC,9676,0.60,145.5,333.4,21.1,558,9681,0.10,1.90,0.00,0.000,6,0.203,0.037,1990,2714,1732,0,0,0,0,0,0
$GC,9996,0.60,145.5,278.2,17.4,574,10000,0.00,1.95,0.00,0.000,4,0.000,0.060,1989,3913,1732,0,0,0,0,0,0
$GC,10051,0.60,145.5,267.4,20.0,576,10057,0.00,1.92,0.00,0.000,6,0.000,0.036,1998,2708,1731,0,0,0,0,0,0
$GC,10381,0.60,145.5,207.4,18.4,602,10384,0.00,1.95,0.00,0.000,4,0.000,0.059,1998,3909,1732,0,0,0,0,0,0
$GC,10431,0.60,145.5,196.5,22.3,606,10441,0.00,1.92,0.00,0.000,6,0.000,0.036,2008,2704,1732,0,0,0,0,0,0
$GC,10759,0.60,145.5,130.3,19.1,637,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2704,1732,0,0,0,0,0,0
$GC,11090,0.60,145.5,73.6,15.3,681,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2704,1731,0,0,0,0,0,0
$GC,11202,0.60,145.5,56.8,14.8,700,11211,0.00,2.20,0.00,0.000,4,0.000,0.046,2018,1303,1732,0,0,0,0,0,0
$GC,11248,0.60,145.5,49.5,15.3,707,11256,0.12,2.25,0.00,0.000,6,0.212,0.053,1989,2737,1732,0,0,0,0,0,0
$GC,11364,0.60,145.5,33.9,12.0,726,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2737,1732,0,0,0,0,0,0
$GC,11482,0.60,145.5,18.1,10.4,745,11491,0.00,1.88,0.00,0.000,4,0.000,0.062,1989,3894,1731,0,0,0,0,0,0
$GC,11536,0.60,145.5,10.5,18.6,753,11545,0.00,1.88,0.00,0.000,6,0.000,0.039,1997,2712,1731,0,0,0,0,0,0
$STATE,11583,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,1.0,1.027219
$STATE,11603,end surface coast,CONTROL_FINISHED_OK
$STATE,11604,begin surface
$SM_CCo,11617,20.27,0.190,0,0,1525,200.16
$SM_GC,2.64,0.00,0.00,20.27,0.000,0.000,0.190,48,2930,1525,-5.45,0.00,200.16
$IRIDIUM_FIX,-5538.94,-30.80,221214,111131
$TT8_MAMPS,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.7,20.150
$10V_AH,10.0,13.152
$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,13.775,78.025,281.500,20.275,0.000,27.365,23.793,265.980,0.000,0.000,19.410,1916.169,7327.331,420.564,2252.740,150.859,33.359,1179.707,0.000,1805.128,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,65.790,1800.810,190.485,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.112,1593.159,772.532,808.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,53632,763
$CAP_FILE_SIZE,105538,0
$CFSIZE,259252224,221749248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221214,180333,-5600.552,-35.708,53,1.7,56,-19.8