version: 66.07
glider: 542
mission: 9
dive: 77
start: 12 23 114 5 2 23
data:
$ID,542
$MISSION,9
$DIVE,77
$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,-21881.305
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,231214,045404,-5559.432,-31.645,39,0.9,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.4
$GPS2,231214,050129,-5559.393,-31.646,20,1.0,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.157,-0.052
$KALMAN_X,43956.8,-339.4,-406.1,-75902.7,2082.9
$KALMAN_Y,51232.4,137.9,-110.9,-49830.5,-987.1
$MHEAD_RNG_PITCHd_Wd,271.5,2042,-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,-73.9,0.0,0.0,0,59,0.00,0.00,-42.62,0.000,2,0.000,0.000,56,2958,2449,0,0,0,0,0,0
$GC,62,-0.59,-134.7,3.2,-4.3,5,89,6.12,2.35,-14.62,0.000,4,0.244,0.057,1594,1509,2892,0,0,0,0,0,0
$GC,104,-0.59,-134.7,7.7,-9.5,10,112,0.00,2.35,0.00,0.000,6,0.000,0.056,1584,2923,2893,0,0,0,0,0,0
$GC,188,-0.59,-134.7,25.3,-22.8,23,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2893,0,0,0,0,0,0
$GC,269,-0.59,-134.7,42.7,-21.1,36,278,0.00,1.62,0.00,0.000,4,0.000,0.064,1576,3911,2894,0,0,0,0,0,0
$GC,314,-0.59,-134.7,53.3,-25.0,43,321,0.00,1.58,0.00,0.000,6,0.000,0.034,1579,2908,2894,0,0,0,0,0,0
$GC,427,-0.59,-134.7,77.6,-20.5,62,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2903,2894,0,0,0,0,0,0
$GC,539,-0.59,-134.7,99.9,-20.7,81,547,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2903,2894,0,0,0,0,0,0
$GC,758,-0.59,-134.7,142.7,-18.4,102,759,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2903,2894,0,0,0,0,0,0
$GC,1077,-0.59,-134.7,199.0,-18.1,132,1080,0.00,1.65,0.00,0.000,4,0.000,0.064,1571,3910,2894,0,0,0,0,0,0
$GC,1161,-0.59,-134.7,214.7,-19.0,139,1165,0.00,1.52,0.00,0.000,6,0.000,0.035,1571,2925,2895,0,0,0,0,0,0
$GC,1500,-0.59,-134.7,272.5,-17.1,165,1504,0.00,1.62,0.00,0.000,4,0.000,0.063,1564,3900,2894,0,0,0,0,0,0
$GC,1532,-0.59,-134.7,279.0,-18.0,166,1538,0.12,1.52,0.00,0.000,6,0.211,0.034,1593,2918,2895,0,0,0,0,0,0
$GC,1854,-0.59,-134.7,327.9,-14.9,182,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2917,2894,0,0,0,0,0,0
$GC,2166,-0.59,-134.7,373.1,-14.3,197,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2917,2895,0,0,0,0,0,0
$GC,2472,-0.59,-134.7,419.6,-15.3,212,2476,0.00,1.62,0.00,0.000,4,0.000,0.064,1585,3898,2894,0,0,0,0,0,0
$GC,2526,-0.59,-134.7,428.9,-17.1,214,2531,0.00,1.50,0.00,0.000,6,0.000,0.032,1586,2925,2895,0,0,0,0,0,0
$GC,2849,-0.59,-134.7,478.3,-15.3,230,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2920,2895,0,0,0,0,0,0
$GC,3158,-0.59,-134.7,525.1,-15.0,245,3162,0.00,1.62,0.00,0.000,4,0.000,0.064,1578,3905,2895,0,0,0,0,0,0
$GC,3194,-0.59,-134.7,531.2,-16.5,246,3203,0.00,1.50,0.00,0.000,6,0.000,0.033,1578,2926,2895,0,0,0,0,0,0
$GC,3512,-0.59,-134.7,580.1,-15.4,262,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2926,2895,0,0,0,0,0,0
$GC,3820,-0.59,-134.7,626.8,-14.9,277,3824,0.00,1.60,0.00,0.000,4,0.000,0.064,1571,3900,2895,0,0,0,0,0,0
$GC,3857,-0.59,-134.7,633.1,-16.9,278,3865,0.00,1.50,0.00,0.000,6,0.000,0.033,1571,2922,2896,0,0,0,0,0,0
$GC,4174,-0.59,-134.7,681.2,-15.5,294,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2922,2895,0,0,0,0,0,0
$GC,4483,-0.59,-134.7,727.5,-14.8,309,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2922,2896,0,0,0,0,0,0
$GC,4792,-0.59,-134.7,773.0,-14.7,324,4796,0.00,1.62,0.00,0.000,4,0.000,0.065,1563,3906,2896,0,0,0,0,0,0
$GC,4853,-0.59,-134.7,783.0,-16.1,326,4861,0.10,1.48,0.00,0.000,6,0.190,0.034,1592,2948,2895,0,0,0,0,0,0
$GC,5168,-0.59,-134.7,825.2,-13.1,342,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2948,2895,0,0,0,0,0,0
$GC,5478,-0.59,-134.7,865.2,-12.5,357,5482,0.00,1.58,0.00,0.000,4,0.000,0.065,1585,3907,2896,0,0,0,0,0,0
$GC,5516,-0.59,-134.7,870.8,-14.1,358,5524,0.00,1.52,0.00,0.000,6,0.000,0.032,1585,2916,2896,0,0,0,0,0,0
$GC,5832,-0.59,-134.7,911.4,-12.8,374,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2916,2896,0,0,0,0,0,0
$GC,6142,-0.59,-134.7,949.4,-12.2,389,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2916,2896,0,0,0,0,0,0
$GC,6451,-0.59,-134.7,986.4,-12.0,404,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2916,2896,0,0,0,0,0,0
$STATE,6573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6573,begin apogee
$GC,6577,-0.13,0.0,1001.1,11.9,410,6704,0.52,0.00,123.18,1.800,6,0.174,0.000,1740,2713,2341,0,0,0,0,0,0
$STATE,6705,end apogee,CONTROL_FINISHED_OK
$STATE,6705,begin climb
$GC,6707,0.59,134.7,1003.9,0.0,416,6852,0.77,0.00,136.07,1.766,6,0.124,0.000,1973,2712,1792,0,0,0,0,0,0
$GC,7160,0.59,134.7,928.0,18.7,438,7164,0.00,2.05,0.00,0.000,4,0.000,0.063,1973,3904,1783,0,0,0,0,0,0
$GC,7206,0.59,134.7,918.8,20.9,440,7210,0.00,1.95,0.00,0.000,6,0.000,0.037,1982,2733,1782,0,0,0,0,0,0
$GC,7538,0.59,134.7,853.4,19.9,456,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2733,1781,0,0,0,0,0,0
$GC,7848,0.59,134.7,793.7,19.5,471,7852,0.00,1.98,0.00,0.000,4,0.000,0.062,1983,3909,1779,0,0,0,0,0,0
$GC,7880,0.59,134.7,786.6,21.2,472,7885,0.00,1.95,0.00,0.000,6,0.000,0.036,1991,2714,1778,0,0,0,0,0,0
$GC,8202,0.59,134.7,722.0,20.0,488,8206,0.00,2.00,0.00,0.000,4,0.000,0.062,1992,3898,1778,0,0,0,0,0,0
$GC,8251,0.59,134.7,710.8,22.9,490,8255,0.00,1.95,0.00,0.000,6,0.000,0.037,2001,2701,1777,0,0,0,0,0,0
$GC,8577,0.59,134.7,643.0,20.9,506,8581,0.00,2.00,0.00,0.000,4,0.000,0.062,2001,3911,1777,0,0,0,0,0,0
$GC,8622,0.59,134.7,632.8,22.5,508,8626,0.00,1.92,0.00,0.000,6,0.000,0.037,2010,2705,1776,0,0,0,0,0,0
$GC,8955,0.59,134.7,563.3,20.4,524,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2705,1776,0,0,0,0,0,0
$GC,9263,0.59,134.7,501.4,19.7,539,9267,0.00,1.98,0.00,0.000,4,0.000,0.061,2011,3906,1776,0,0,0,0,0,0
$GC,9336,0.59,134.7,485.4,22.0,542,9340,0.15,1.90,0.00,0.000,6,0.223,0.037,1985,2708,1776,0,0,0,0,0,0
$GC,9662,0.59,134.7,428.0,17.3,558,9666,0.00,1.98,0.00,0.000,4,0.000,0.061,1985,3913,1776,0,0,0,0,0,0
$GC,9723,0.59,134.7,416.1,19.5,560,9730,0.00,1.90,0.00,0.000,6,0.000,0.037,1994,2708,1776,0,0,0,0,0,0
$GC,10039,0.59,134.7,360.5,17.3,576,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2708,1776,0,0,0,0,0,0
$GC,10350,0.59,134.7,308.0,16.9,591,10353,0.00,1.98,0.00,0.000,4,0.000,0.061,1994,3916,1776,0,0,0,0,0,0
$GC,10397,0.59,134.7,299.4,19.0,593,10400,0.00,1.90,0.00,0.000,6,0.000,0.037,2003,2709,1776,0,0,0,0,0,0
$GC,10720,0.59,134.7,240.9,18.3,610,10723,0.00,1.95,0.00,0.000,4,0.000,0.060,2003,3906,1776,0,0,0,0,0,0
$GC,10789,0.59,134.7,227.0,20.6,616,10794,0.12,1.90,0.00,0.000,6,0.227,0.037,1984,2696,1776,0,0,0,0,0,0
$GC,11122,0.59,134.7,172.9,16.7,647,11125,0.00,1.98,0.00,0.000,4,0.000,0.060,1985,3911,1775,0,0,0,0,0,0
$GC,11156,0.59,134.7,166.1,19.5,650,11160,0.00,1.90,0.00,0.000,6,0.000,0.037,1993,2701,1776,0,0,0,0,0,0
$GC,11488,0.59,134.7,111.1,15.3,681,11492,0.00,1.98,0.00,0.000,4,0.000,0.060,1993,3915,1776,0,0,0,0,0,0
$GC,11515,0.59,134.7,106.1,15.5,683,11523,0.00,1.92,0.00,0.000,6,0.000,0.037,2003,2707,1775,0,0,0,0,0,0
$GC,11867,0.59,134.7,51.3,14.1,740,11876,0.00,2.20,0.00,0.000,4,0.000,0.044,2013,1300,1775,0,0,0,0,0,0
$GC,11924,0.59,134.7,43.8,12.3,749,11932,0.12,2.25,0.00,0.000,6,0.210,0.054,1984,2728,1775,0,0,0,0,0,0
$GC,12042,0.59,134.7,28.6,13.0,768,12051,0.00,1.88,0.00,0.000,4,0.000,0.062,1984,3885,1775,0,0,0,0,0,0
$GC,12084,0.59,134.7,22.3,15.5,774,12093,0.00,1.88,0.00,0.000,6,0.000,0.038,1992,2704,1776,0,0,0,0,0,0
$GC,12169,0.59,134.7,10.8,13.2,787,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2704,1775,0,0,0,0,0,0
$STATE,12226,end climb,SURFACE_DEPTH_REACHED
$STATE,12226,begin surface coast
$FINISH,1.1,1.014432
$STATE,12252,end surface coast,CONTROL_FINISHED_OK
$STATE,12253,begin surface
$SM_CCo,12265,24.85,0.190,0,0,1525,200.16
$SM_GC,2.17,0.00,0.00,24.85,0.000,0.000,0.190,59,2936,1525,-5.40,0.17,200.16
$IRIDIUM_FIX,-5535.12,-34.65,231214,010134
$TT8_MAMPS,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.8,20.765
$10V_AH,10.0,13.551
$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,13.225,77.675,259.250,24.850,0.000,28.624,43.489,256.948,0.000,0.000,23.081,1999.027,7854.166,403.515,2328.885,152.890,33.361,1188.343,0.000,1855.620,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,65.025,1800.045,190.485,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.492,1665.223,802.200,824.848,0.000,0.000,0.000,0.000,0.000,0.000
$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,53607,800
$CAP_FILE_SIZE,108907,0
$CFSIZE,259252224,221499392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231214,082828,-5600.364,-33.299,40,1.0,40,-19.9