version: 66.07
glider: 542
mission: 9
dive: 74
start: 12 22 114 18 12 5
data:
$ID,542
$MISSION,9
$DIVE,74
$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,-21874.215
$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,27
$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
$GPS1,221214,180333,-5600.552,-35.708,53,1.7,56,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-59.0
$GPS2,221214,181111,-5600.522,-35.658,20,0.9,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.125,0.107
$KALMAN_X,44128.7,-667.5,-369.3,-79936.0,4760.9
$KALMAN_Y,52709.2,13.9,-353.7,-53021.1,40.6
$MHEAD_RNG_PITCHd_Wd,69.3,5939,-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,14,-0.54,-73.9,0.0,0.0,0,66,0.00,0.00,-49.72,0.000,2,0.000,0.000,46,2931,2598,0,0,0,0,0,0
$GC,69,-0.59,-132.4,3.3,-4.5,6,95,6.43,2.25,-8.10,0.000,4,0.259,0.050,1603,1501,2884,0,0,0,0,0,0
$GC,349,-0.59,-132.4,46.5,-13.6,51,356,0.00,2.33,0.00,0.000,6,0.000,0.060,1592,2921,2885,0,0,0,0,0,0
$GC,462,-0.59,-132.4,67.7,-19.5,70,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2922,2885,0,0,0,0,0,0
$GC,576,-0.59,-132.4,90.2,-19.3,89,583,0.00,1.60,0.00,0.000,4,0.000,0.063,1584,3903,2885,0,0,0,0,0,0
$GC,635,-0.59,-132.4,102.9,-21.8,98,638,0.00,1.58,0.00,0.000,6,0.000,0.034,1585,2893,2885,0,0,0,0,0,0
$GC,967,-0.59,-132.4,163.5,-17.8,129,971,0.00,1.67,0.00,0.000,4,0.000,0.064,1577,3912,2885,0,0,0,0,0,0
$GC,1018,-0.59,-132.4,173.7,-18.7,133,1026,0.00,1.55,0.00,0.000,6,0.000,0.034,1578,2915,2885,0,0,0,0,0,0
$GC,1344,-0.59,-132.4,231.1,-18.3,164,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2914,2885,0,0,0,0,0,0
$GC,1669,-0.59,-132.4,284.9,-16.1,185,1673,0.00,1.65,0.00,0.000,4,0.000,0.065,1571,3926,2885,0,0,0,0,0,0
$GC,1717,-0.59,-132.4,293.0,-17.3,187,1720,0.00,1.52,0.00,0.000,6,0.000,0.035,1571,2939,2885,0,0,0,0,0,0
$GC,2051,-0.59,-132.4,347.2,-15.9,203,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2932,2885,0,0,0,0,0,0
$GC,2360,-0.59,-132.4,396.3,-15.7,218,2363,0.00,1.60,0.00,0.000,4,0.000,0.064,1563,3904,2885,0,0,0,0,0,0
$GC,2409,-0.59,-132.4,405.0,-16.6,220,2415,0.10,1.52,0.00,0.000,6,0.213,0.034,1589,2918,2885,0,0,0,0,0,0
$GC,2736,-0.59,-132.4,449.6,-13.3,236,2740,0.00,1.62,0.00,0.000,4,0.000,0.064,1582,3903,2885,0,0,0,0,0,0
$GC,2814,-0.59,-132.4,460.9,-15.0,239,2818,0.00,1.50,0.00,0.000,6,0.000,0.033,1582,2923,2885,0,0,0,0,0,0
$GC,3135,-0.59,-132.4,505.0,-13.8,255,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2918,2885,0,0,0,0,0,0
$GC,3445,-0.59,-132.4,548.1,-13.8,270,3448,0.00,1.62,0.00,0.000,4,0.000,0.063,1575,3904,2886,0,0,0,0,0,0
$GC,3490,-0.59,-132.4,554.8,-15.4,272,3494,0.00,1.50,0.00,0.000,6,0.000,0.034,1574,2925,2885,0,0,0,0,0,0
$GC,3822,-0.59,-132.4,604.4,-15.2,288,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2919,2886,0,0,0,0,0,0
$GC,4131,-0.59,-132.4,650.8,-15.2,303,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2919,2885,0,0,0,0,0,0
$GC,4441,-0.59,-132.4,696.6,-14.7,318,4445,0.00,1.62,0.00,0.000,4,0.000,0.063,1567,3917,2886,0,0,0,0,0,0
$GC,4524,-0.59,-132.4,710.0,-15.6,321,4532,0.08,1.50,0.00,0.000,6,0.188,0.033,1589,2936,2886,0,0,0,0,0,0
$GC,4841,-0.59,-132.4,753.0,-13.2,337,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2936,2886,0,0,0,0,0,0
$GC,5149,-0.59,-132.4,792.9,-12.9,352,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2936,2886,0,0,0,0,0,0
$GC,5459,-0.59,-132.4,831.4,-12.3,367,5462,0.00,1.58,0.00,0.000,4,0.000,0.064,1583,3897,2886,0,0,0,0,0,0
$GC,5508,-0.59,-132.4,837.9,-13.0,369,5512,0.00,1.48,0.00,0.000,6,0.000,0.033,1589,2921,2886,0,0,0,0,0,0
$GC,5835,-0.59,-132.4,878.6,-12.5,385,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2916,2886,0,0,0,0,0,0
$GC,6144,-0.59,-132.4,916.3,-12.3,400,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2917,2886,0,0,0,0,0,0
$GC,6454,-0.59,-132.4,954.7,-12.6,415,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2916,2886,0,0,0,0,0,0
$GC,6763,-0.59,-132.4,992.5,-12.3,430,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2916,2885,0,0,0,0,0,0
$STATE,6846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6846,begin apogee
$GC,6850,-0.13,0.0,1002.3,11.8,434,6974,0.50,0.00,121.18,1.802,6,0.172,0.000,1738,2708,2342,0,0,0,0,0,0
$STATE,6975,end apogee,CONTROL_FINISHED_OK
$STATE,6975,begin climb
$GC,6977,0.59,132.4,1006.0,0.0,440,7118,0.77,2.42,133.02,1.769,4,0.125,0.046,1981,1324,1801,0,0,0,0,0,0
$GC,7139,0.59,132.4,985.6,16.6,447,7147,0.00,2.55,0.00,0.000,6,0.000,0.054,1981,2718,1798,0,0,0,0,0,0
$GC,7455,0.59,132.4,927.5,18.6,463,7459,0.00,2.03,0.00,0.000,4,0.000,0.062,1981,3911,1792,0,0,0,0,0,0
$GC,7509,0.59,132.4,916.1,20.4,465,7515,0.00,1.98,0.00,0.000,6,0.000,0.037,1990,2740,1790,0,0,0,0,0,0
$GC,7832,0.59,132.4,855.7,18.6,481,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2738,1789,0,0,0,0,0,0
$GC,8141,0.59,132.4,798.3,18.8,496,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2739,1788,0,0,0,0,0,0
$GC,8450,0.59,132.4,741.0,18.7,511,8454,0.00,1.92,0.00,0.000,4,0.000,0.062,1990,3898,1788,0,0,0,0,0,0
$GC,8499,0.59,132.4,730.8,21.8,513,8503,0.00,1.92,0.00,0.000,6,0.000,0.037,1999,2715,1787,0,0,0,0,0,0
$GC,8826,0.59,132.4,669.2,18.9,529,8829,0.00,1.95,0.00,0.000,4,0.000,0.060,2000,3895,1787,0,0,0,0,0,0
$GC,8885,0.59,132.4,656.3,21.1,531,8894,0.00,1.90,0.00,0.000,6,0.000,0.036,2008,2714,1787,0,0,0,0,0,0
$GC,9203,0.59,132.4,594.0,19.7,547,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2714,1786,0,0,0,0,0,0
$GC,9511,0.59,132.4,532.9,19.7,562,9515,0.00,1.95,0.00,0.000,4,0.000,0.060,2008,3889,1787,0,0,0,0,0,0
$GC,9583,0.59,132.4,517.2,21.5,565,9588,0.10,1.90,0.00,0.000,6,0.207,0.037,1990,2700,1786,0,0,0,0,0,0
$GC,9909,0.59,132.4,458.7,17.5,581,9913,0.00,1.92,0.00,0.000,4,0.000,0.060,1990,3890,1786,0,0,0,0,0,0
$GC,9964,0.59,132.4,447.5,20.1,583,9969,0.00,1.90,0.00,0.000,6,0.000,0.036,1998,2701,1786,0,0,0,0,0,0
$GC,10288,0.59,132.4,389.8,17.6,599,10292,0.00,1.95,0.00,0.000,4,0.000,0.060,1998,3897,1786,0,0,0,0,0,0
$GC,10356,0.59,132.4,376.2,20.8,602,10360,0.00,1.88,0.00,0.000,6,0.000,0.037,2007,2705,1785,0,0,0,0,0,0
$GC,10688,0.59,132.4,316.1,18.2,618,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2705,1785,0,0,0,0,0,0
$GC,10999,0.59,132.4,258.4,18.8,633,11003,0.00,1.92,0.00,0.000,4,0.000,0.059,2007,3890,1785,0,0,0,0,0,0
$GC,11059,0.59,132.4,245.1,22.3,636,11070,0.10,1.88,0.00,0.000,6,0.207,0.036,1988,2711,1785,0,0,0,0,0,0
$GC,11386,0.59,132.4,191.9,16.1,667,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2711,1785,0,0,0,0,0,0
$GC,11706,0.59,132.4,143.4,16.2,697,11709,0.00,1.92,0.00,0.000,4,0.000,0.060,1988,3895,1785,0,0,0,0,0,0
$GC,11809,0.59,132.4,124.1,18.4,706,11812,0.00,1.85,0.00,0.000,6,0.000,0.037,1997,2698,1784,0,0,0,0,0,0
$GC,12148,0.59,132.4,77.0,11.1,751,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2697,1785,0,0,0,0,0,0
$GC,12259,0.59,132.4,59.1,16.7,770,12268,0.00,2.17,0.00,0.000,4,0.000,0.044,2007,1304,1785,0,0,0,0,0,0
$GC,12282,0.59,132.4,55.3,16.4,773,12289,0.00,2.22,0.00,0.000,6,0.000,0.056,2007,2715,1785,0,0,0,0,0,0
$GC,12394,0.59,132.4,37.9,15.5,792,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2715,1785,0,0,0,0,0,0
$GC,12513,0.59,132.4,17.8,17.2,811,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2715,1784,0,0,0,0,0,0
$GC,12597,0.59,132.4,3.3,17.8,824,12606,0.00,1.90,0.00,0.000,4,0.000,0.060,2007,3890,1783,0,0,0,0,0,0
$STATE,12613,end climb,SURFACE_DEPTH_REACHED
$STATE,12613,begin surface coast
$FINISH,0.9,1.005051
$STATE,12633,end surface coast,CONTROL_FINISHED_OK
$STATE,12633,begin surface
$SM_CCo,12646,25.77,0.187,0,0,1524,200.16
$SM_GC,2.17,0.00,0.00,25.77,0.000,0.000,0.187,55,2890,1524,-5.42,-1.13,200.16
$IRIDIUM_FIX,-5538.94,-30.80,221214,141429
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.7,20.299
$10V_AH,10.0,13.255
$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,13.200,73.575,254.200,25.775,0.000,26.588,49.696,266.126,0.000,0.000,23.064,2063.502,8094.518,378.153,2442.521,155.643,33.353,1199.199,0.000,1951.910,0.000,0.539,0.000
$DEVICE_MAMPS,259.335,65.025,1802.340,186.660,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.537,1718.673,822.039,861.409,0.000,0.000,0.000,0.000,0.000,0.000
$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,57083,829
$CAP_FILE_SIZE,108988,0
$CFSIZE,259252224,221683712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,221214,214430,-5559.564,-32.339,38,0.9,38,-19.9