version: 66.07
glider: 542
mission: 9
dive: 76
start: 12 23 114 1 31 24
data:
$ID,542
$MISSION,9
$DIVE,76
$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,-21878.873
$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,44
$R_STBD_OVSHOOT,17
$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
$GPS1,231214,012305,-5559.061,-34.404,36,1.0,36,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-60.2
$GPS2,231214,013030,-5559.015,-34.347,16,0.8,17,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.165,-0.005
$KALMAN_X,44587.4,-185.7,-120.4,-79773.8,2903.9
$KALMAN_Y,51433.4,74.5,215.5,-49594.2,-1772.2
$MHEAD_RNG_PITCHd_Wd,111.5,4857,-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,-73.9,0.0,0.0,0,58,0.00,0.00,-41.83,0.000,2,0.000,0.000,54,2900,2418,0,0,0,0,0,0
$GC,61,-0.60,-143.1,3.1,-3.6,5,95,6.20,1.73,-17.10,0.000,4,0.249,0.085,1582,3904,2927,0,0,0,0,0,0
$GC,301,-0.60,-143.1,45.9,-20.1,43,308,0.00,1.55,0.00,0.000,6,0.000,0.034,1582,2918,2928,0,0,0,0,0,0
$GC,415,-0.60,-143.1,68.9,-19.5,62,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2917,2928,0,0,0,0,0,0
$GC,528,-0.60,-143.1,91.2,-19.5,81,536,0.00,1.65,0.00,0.000,4,0.000,0.064,1575,3903,2928,0,0,0,0,0,0
$GC,601,-0.60,-143.1,105.0,-19.9,91,605,0.00,1.52,0.00,0.000,6,0.000,0.035,1576,2929,2929,0,0,0,0,0,0
$GC,931,-0.60,-143.1,165.9,-18.7,122,935,0.00,1.62,0.00,0.000,4,0.000,0.064,1568,3898,2929,0,0,0,0,0,0
$GC,970,-0.60,-143.1,173.7,-19.2,125,978,0.00,1.52,0.00,0.000,6,0.000,0.034,1569,2920,2929,0,0,0,0,0,0
$GC,1295,-0.60,-143.1,231.2,-17.3,156,1299,0.00,1.62,0.00,0.000,4,0.000,0.063,1561,3899,2929,0,0,0,0,0,0
$GC,1343,-0.60,-143.1,239.4,-18.8,160,1347,0.08,1.50,0.00,0.000,6,0.194,0.034,1585,2938,2929,0,0,0,0,0,0
$GC,1677,-0.60,-143.1,293.6,-16.3,179,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2937,2928,0,0,0,0,0,0
$GC,1984,-0.60,-143.1,343.6,-15.9,194,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2938,2929,0,0,0,0,0,0
$GC,2295,-0.60,-143.1,392.8,-16.5,209,2299,0.00,1.60,0.00,0.000,4,0.000,0.065,1578,3905,2929,0,0,0,0,0,0
$GC,2395,-0.60,-143.1,410.8,-18.0,213,2400,0.00,1.50,0.00,0.000,6,0.000,0.033,1579,2924,2929,0,0,0,0,0,0
$GC,2717,-0.60,-143.1,463.7,-16.4,229,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2919,2929,0,0,0,0,0,0
$GC,3027,-0.60,-143.1,513.7,-16.1,244,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2919,2930,0,0,0,0,0,0
$GC,3335,-0.60,-143.1,564.9,-16.7,259,3339,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3905,2929,0,0,0,0,0,0
$GC,3367,-0.60,-143.1,570.9,-18.5,260,3372,0.00,1.52,0.00,0.000,6,0.000,0.033,1571,2919,2930,0,0,0,0,0,0
$GC,3690,-0.60,-143.1,625.4,-16.8,276,3694,0.00,1.62,0.00,0.000,4,0.000,0.065,1564,3900,2930,0,0,0,0,0,0
$GC,3726,-0.60,-143.1,632.2,-17.5,277,3735,0.12,1.50,0.00,0.000,6,0.207,0.033,1593,2928,2930,0,0,0,0,0,0
$GC,4043,-0.60,-143.1,676.6,-13.6,293,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2928,2930,0,0,0,0,0,0
$GC,4353,-0.60,-143.1,718.2,-13.1,308,4357,0.00,1.60,0.00,0.000,4,0.000,0.064,1586,3900,2930,0,0,0,0,0,0
$GC,4390,-0.60,-143.1,723.8,-14.1,309,4399,0.00,1.50,0.00,0.000,6,0.000,0.032,1586,2920,2930,0,0,0,0,0,0
$GC,4707,-0.60,-143.1,765.8,-13.3,325,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2919,2930,0,0,0,0,0,0
$GC,5017,-0.60,-143.1,807.4,-13.3,340,5020,0.00,1.62,0.00,0.000,4,0.000,0.064,1579,3907,2930,0,0,0,0,0,0
$GC,5054,-0.60,-143.1,813.0,-14.9,341,5062,0.00,1.50,0.00,0.000,6,0.000,0.032,1579,2924,2930,0,0,0,0,0,0
$GC,5371,-0.60,-143.1,856.6,-13.9,357,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2924,2930,0,0,0,0,0,0
$GC,5681,-0.60,-143.1,899.9,-14.0,372,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2925,2930,0,0,0,0,0,0
$GC,5989,-0.60,-143.1,943.3,-14.1,387,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2924,2930,0,0,0,0,0,0
$GC,6299,-0.60,-143.1,985.9,-13.6,402,6303,0.00,1.60,0.00,0.000,4,0.000,0.065,1571,3898,2930,0,0,0,0,0,0
$GC,6346,-0.60,-143.1,992.5,-14.4,404,6350,0.00,1.45,0.00,0.000,6,0.000,0.034,1571,2943,2930,0,0,0,0,0,0
$STATE,6408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6408,begin apogee
$GC,6413,-0.13,0.0,1001.9,14.2,407,6552,0.57,0.00,131.12,1.793,6,0.171,0.000,1742,2711,2342,0,0,0,0,0,0
$STATE,6552,end apogee,CONTROL_FINISHED_OK
$STATE,6552,begin climb
$GC,6554,0.60,143.1,1005.8,0.0,414,6703,0.80,0.00,144.98,1.748,6,0.120,0.000,1979,2711,1758,0,0,0,0,0,0
$GC,7000,0.60,143.1,930.5,18.8,436,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2711,1749,0,0,0,0,0,0
$GC,7309,0.60,143.1,872.3,18.6,451,7313,0.00,2.05,0.00,0.000,4,0.000,0.063,1979,3921,1747,0,0,0,0,0,0
$GC,7377,0.60,143.1,858.4,21.2,454,7381,0.00,1.92,0.00,0.000,6,0.000,0.036,1988,2741,1746,0,0,0,0,0,0
$GC,7710,0.60,143.1,793.1,19.1,470,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2741,1745,0,0,0,0,0,0
$GC,8019,0.60,143.1,733.6,19.2,485,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2741,1744,0,0,0,0,0,0
$GC,8328,0.60,143.1,673.2,19.4,500,8331,0.00,1.92,0.00,0.000,4,0.000,0.061,1988,3903,1744,0,0,0,0,0,0
$GC,8361,0.60,143.1,666.1,21.0,501,8365,0.00,1.92,0.00,0.000,6,0.000,0.037,1997,2699,1743,0,0,0,0,0,0
$GC,8682,0.60,143.1,602.6,19.3,517,8686,0.00,2.00,0.00,0.000,4,0.000,0.061,1998,3913,1743,0,0,0,0,0,0
$GC,8731,0.60,143.1,591.6,23.0,519,8736,0.00,1.92,0.00,0.000,6,0.000,0.037,2006,2715,1743,0,0,0,0,0,0
$GC,9058,0.60,143.1,526.6,19.7,535,9062,0.00,1.95,0.00,0.000,4,0.000,0.061,2007,3906,1743,0,0,0,0,0,0
$GC,9104,0.60,143.1,516.9,22.1,537,9108,0.12,1.90,0.00,0.000,6,0.223,0.037,1988,2707,1742,0,0,0,0,0,0
$GC,9435,0.60,143.1,456.2,18.5,553,9439,0.00,1.98,0.00,0.000,4,0.000,0.061,1988,3899,1742,0,0,0,0,0,0
$GC,9461,0.60,143.1,450.9,19.7,554,9466,0.00,1.90,0.00,0.000,6,0.000,0.036,1996,2712,1742,0,0,0,0,0,0
$GC,9789,0.60,143.1,387.6,19.4,570,9792,0.00,1.95,0.00,0.000,4,0.000,0.060,1997,3905,1742,0,0,0,0,0,0
$GC,9821,0.60,143.1,380.2,21.7,571,9826,0.00,1.92,0.00,0.000,6,0.000,0.036,2006,2698,1742,0,0,0,0,0,0
$GC,10146,0.60,143.1,318.5,18.9,587,10150,0.00,1.98,0.00,0.000,4,0.000,0.060,2006,3909,1742,0,0,0,0,0,0
$GC,10194,0.60,143.1,308.4,21.5,589,10198,0.12,1.90,0.00,0.000,6,0.226,0.037,1988,2702,1742,0,0,0,0,0,0
$GC,10527,0.60,143.1,251.0,16.9,605,10531,0.00,1.98,0.00,0.000,4,0.000,0.060,1988,3913,1742,0,0,0,0,0,0
$GC,10587,0.60,143.1,239.5,20.0,609,10590,0.00,1.90,0.00,0.000,6,0.000,0.037,1995,2708,1741,0,0,0,0,0,0
$GC,10916,0.60,143.1,178.7,17.7,640,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2708,1741,0,0,0,0,0,0
$GC,11236,0.60,143.1,125.4,16.5,670,11240,0.00,1.95,0.00,0.000,4,0.000,0.060,1996,3909,1742,0,0,0,0,0,0
$GC,11286,0.60,143.1,115.8,18.6,674,11297,0.00,1.90,0.00,0.000,6,0.000,0.035,2006,2708,1741,0,0,0,0,0,0
$GC,11633,0.60,143.1,60.7,15.1,726,11642,0.00,1.98,0.00,0.000,4,0.000,0.061,2005,3904,1742,0,0,0,0,0,0
$GC,11691,0.60,143.1,50.9,18.3,735,11699,0.05,1.90,0.00,0.000,6,0.219,0.036,1987,2707,1742,0,0,0,0,0,0
$GC,11806,0.60,143.1,33.6,13.7,754,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2707,1742,0,0,0,0,0,0
$GC,11926,0.60,143.1,18.2,12.4,773,11934,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2706,1742,0,0,0,0,0,0
$GC,12009,0.60,143.1,5.4,15.0,786,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2706,1741,0,0,0,0,0,0
$STATE,12026,end climb,SURFACE_DEPTH_REACHED
$STATE,12026,begin surface coast
$FINISH,1.2,1.027234
$STATE,12052,end surface coast,CONTROL_FINISHED_OK
$STATE,12052,begin surface
$SM_CCo,12065,21.23,0.199,0,0,1523,200.16
$SM_GC,2.57,0.00,0.00,21.23,0.000,0.000,0.199,65,2956,1523,-5.39,0.74,200.16
$IRIDIUM_FIX,-5535.12,-34.61,221214,212159
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.7,20.616
$10V_AH,10.1,13.452
$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,13.250,70.900,276.100,21.225,0.000,25.139,50.146,260.228,0.000,0.000,20.033,1976.709,7679.381,420.177,2305.597,152.745,33.361,1181.857,0.000,1835.807,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,84.915,1793.160,198.900,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.863,1657.263,802.241,833.767,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,53780,792
$CAP_FILE_SIZE,104951,0
$CFSIZE,259252224,221564928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231214,045404,-5559.432,-31.645,39,0.9,39,-19.9