version: 66.07
glider: 542
mission: 9
dive: 75
start: 12 22 114 21 56 35
data:
$ID,542
$MISSION,9
$DIVE,75
$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,-21876.543
$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,51
$R_STBD_OVSHOOT,35
$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
$GPS1,221214,214430,-5559.564,-32.339,38,0.9,38,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.1
$GPS2,221214,215541,-5559.517,-32.244,16,1.1,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.154,0.060
$KALMAN_X,44213.2,-339.7,-337.9,-76846.0,3752.8
$KALMAN_Y,51700.5,83.3,144.8,-50721.1,-1458.1
$MHEAD_RNG_PITCHd_Wd,311.1,2490,-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,-50.00,0.000,2,0.000,0.000,45,2891,2603,0,0,0,0,0,0
$GC,69,-0.59,-136.1,3.3,-4.2,6,96,6.32,2.17,-8.75,0.000,4,0.252,0.058,1594,1524,2899,0,0,0,0,0,0
$GC,141,-0.59,-136.1,14.8,-16.8,16,150,0.00,2.33,0.00,0.000,6,0.000,0.058,1584,2914,2901,0,0,0,0,0,0
$GC,225,-0.59,-136.1,30.8,-19.7,29,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2914,2901,0,0,0,0,0,0
$GC,339,-0.59,-136.1,54.5,-21.0,48,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2914,2901,0,0,0,0,0,0
$GC,454,-0.59,-136.1,78.3,-20.9,67,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2914,2901,0,0,0,0,0,0
$GC,564,-0.59,-136.1,102.3,-19.9,85,568,0.00,1.62,0.00,0.000,4,0.000,0.064,1577,3903,2901,0,0,0,0,0,0
$GC,638,-0.59,-136.1,117.9,-19.7,91,646,0.00,1.52,0.00,0.000,6,0.000,0.034,1579,2919,2901,0,0,0,0,0,0
$GC,963,-0.59,-136.1,181.9,-19.8,122,967,0.00,1.65,0.00,0.000,4,0.000,0.063,1571,3927,2901,0,0,0,0,0,0
$GC,1069,-0.59,-136.1,203.5,-20.9,131,1073,0.00,1.55,0.00,0.000,6,0.000,0.034,1572,2928,2901,0,0,0,0,0,0
$GC,1399,-0.59,-136.1,262.0,-16.8,159,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2922,2901,0,0,0,0,0,0
$GC,1706,-0.59,-136.1,313.4,-16.8,174,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2922,2901,0,0,0,0,0,0
$GC,2018,-0.59,-136.1,364.9,-16.7,189,2022,0.00,1.62,0.00,0.000,4,0.000,0.063,1565,3907,2901,0,0,0,0,0,0
$GC,2079,-0.59,-136.1,376.4,-18.3,191,2088,0.12,1.52,0.00,0.000,6,0.205,0.034,1594,2922,2901,0,0,0,0,0,0
$GC,2396,-0.59,-136.1,424.8,-15.4,207,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2922,2901,0,0,0,0,0,0
$GC,2704,-0.59,-136.1,470.1,-14.7,222,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2922,2901,0,0,0,0,0,0
$GC,3014,-0.59,-136.1,515.2,-14.5,237,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2922,2902,0,0,0,0,0,0
$GC,3324,-0.59,-136.1,560.1,-14.7,252,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2922,2902,0,0,0,0,0,0
$GC,3632,-0.59,-136.1,603.6,-14.2,267,3636,0.00,1.62,0.00,0.000,4,0.000,0.063,1587,3911,2901,0,0,0,0,0,0
$GC,3681,-0.59,-136.1,611.1,-15.8,269,3686,0.00,1.52,0.00,0.000,6,0.000,0.033,1587,2922,2902,0,0,0,0,0,0
$GC,4010,-0.59,-136.1,658.9,-14.7,285,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2916,2902,0,0,0,0,0,0
$GC,4318,-0.59,-136.1,703.8,-14.3,300,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2916,2902,0,0,0,0,0,0
$GC,4627,-0.59,-136.1,749.4,-14.8,315,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2917,2902,0,0,0,0,0,0
$GC,4937,-0.59,-136.1,794.0,-14.0,330,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2916,2902,0,0,0,0,0,0
$GC,5246,-0.59,-136.1,836.5,-13.5,345,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2916,2902,0,0,0,0,0,0
$GC,5555,-0.59,-136.1,877.3,-13.0,360,5559,0.00,1.62,0.00,0.000,4,0.000,0.063,1579,3906,2902,0,0,0,0,0,0
$GC,5601,-0.59,-136.1,883.5,-14.4,362,5604,0.00,1.48,0.00,0.000,6,0.000,0.034,1579,2935,2902,0,0,0,0,0,0
$GC,5933,-0.59,-136.1,926.5,-12.5,378,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2927,2902,0,0,0,0,0,0
$GC,6242,-0.59,-136.1,964.9,-12.3,393,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2928,2902,0,0,0,0,0,0
$STATE,6529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6529,begin apogee
$GC,6534,-0.13,0.0,1000.9,12.7,407,6662,0.55,0.00,124.90,1.808,6,0.173,0.000,1742,2713,2342,0,0,0,0,0,0
$STATE,6663,end apogee,CONTROL_FINISHED_OK
$STATE,6663,begin climb
$GC,6664,0.59,136.1,1004.2,0.0,413,6808,0.77,0.00,137.45,1.758,6,0.121,0.000,1976,2713,1787,0,0,0,0,0,0
$GC,7115,0.59,136.1,930.0,18.5,435,7119,0.00,2.05,0.00,0.000,4,0.000,0.060,1976,3906,1779,0,0,0,0,0,0
$GC,7162,0.59,136.1,920.8,21.3,437,7166,0.00,1.95,0.00,0.000,6,0.000,0.037,1985,2732,1776,0,0,0,0,0,0
$GC,7494,0.59,136.1,857.5,18.8,453,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2732,1776,0,0,0,0,0,0
$GC,7803,0.59,136.1,800.4,18.4,468,7807,0.00,1.95,0.00,0.000,4,0.000,0.060,1985,3904,1775,0,0,0,0,0,0
$GC,7848,0.59,136.1,791.0,21.0,470,7852,0.00,1.92,0.00,0.000,6,0.000,0.037,1994,2709,1773,0,0,0,0,0,0
$GC,8180,0.59,136.1,727.2,19.0,486,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2709,1773,0,0,0,0,0,0
$GC,8489,0.59,136.1,670.4,17.9,501,8493,0.00,1.98,0.00,0.000,4,0.000,0.060,1995,3907,1773,0,0,0,0,0,0
$GC,8588,0.59,136.1,649.9,21.8,505,8593,0.00,1.92,0.00,0.000,6,0.000,0.037,2004,2712,1772,0,0,0,0,0,0
$GC,8911,0.59,136.1,590.6,18.5,521,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2712,1772,0,0,0,0,0,0
$GC,9219,0.59,136.1,534.1,18.1,536,9223,0.00,1.98,0.00,0.000,4,0.000,0.060,2004,3904,1771,0,0,0,0,0,0
$GC,9287,0.59,136.1,520.5,21.2,539,9292,0.12,1.90,0.00,0.000,6,0.228,0.037,1986,2702,1771,0,0,0,0,0,0
$GC,9619,0.59,136.1,465.1,16.7,555,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2703,1771,0,0,0,0,0,0
$GC,9928,0.59,136.1,413.0,17.0,570,9932,0.00,1.98,0.00,0.000,4,0.000,0.060,1986,3914,1771,0,0,0,0,0,0
$GC,10034,0.59,136.1,391.7,19.9,574,10044,0.00,1.92,0.00,0.000,6,0.000,0.037,1994,2709,1771,0,0,0,0,0,0
$GC,10350,0.59,136.1,332.7,18.3,590,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2709,1770,0,0,0,0,0,0
$GC,10661,0.59,136.1,276.8,18.2,605,10665,0.00,1.95,0.00,0.000,4,0.000,0.060,1994,3910,1770,0,0,0,0,0,0
$GC,10710,0.59,136.1,265.7,22.3,607,10715,0.00,1.92,0.00,0.000,6,0.000,0.036,2004,2702,1770,0,0,0,0,0,0
$GC,11037,0.59,136.1,205.5,18.3,633,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2702,1770,0,0,0,0,0,0
$GC,11357,0.59,136.1,148.8,17.5,663,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2702,1771,0,0,0,0,0,0
$GC,11687,0.59,136.1,89.5,16.2,699,11695,0.00,1.98,0.00,0.000,4,0.000,0.060,2004,3901,1771,0,0,0,0,0,0
$GC,11823,0.59,136.1,64.6,17.8,722,11833,0.00,1.90,0.00,0.000,6,0.000,0.037,2013,2704,1770,0,0,0,0,0,0
$GC,11940,0.59,136.1,46.6,14.3,741,11947,0.12,0.00,0.00,0.000,6,0.226,0.000,1985,2703,1770,0,0,0,0,0,0
$GC,12053,0.59,136.1,32.0,12.3,760,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2703,1770,0,0,0,0,0,0
$GC,12174,0.59,136.1,16.2,13.4,779,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2703,1771,0,0,0,0,0,0
$GC,12258,0.59,136.1,3.4,17.4,792,12267,0.00,1.95,0.00,0.000,4,0.000,0.057,1984,3896,1770,0,0,0,0,0,0
$STATE,12274,end climb,SURFACE_DEPTH_REACHED
$STATE,12274,begin surface coast
$FINISH,1.1,1.027222
$STATE,12282,end surface coast,CONTROL_FINISHED_OK
$STATE,12282,begin surface
$SM_CCo,12295,24.33,0.185,0,0,1525,200.16
$SM_GC,2.58,0.00,0.00,24.33,0.000,0.000,0.185,60,2902,1525,-5.40,-0.79,200.16
$IRIDIUM_FIX,-5538.94,-26.95,221214,212156
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.7,20.458
$10V_AH,10.0,13.354
$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,13.175,51.325,262.350,24.325,0.000,52.266,66.397,364.240,0.000,0.000,18.774,1956.569,8054.774,397.181,2440.979,143.320,33.366,1141.014,0.000,1805.633,0.000,0.540,0.000
$DEVICE_MAMPS,252.450,64.260,1807.695,185.130,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.016,1644.766,779.118,804.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,53648,795
$CAP_FILE_SIZE,102063,0
$CFSIZE,259252224,221626368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231214,012305,-5559.061,-34.404,36,1.0,36,-19.8