version: 66.07
glider: 542
mission: 9
dive: 78
start: 12 23 114 8 36 47
data:
$ID,542
$MISSION,9
$DIVE,78
$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,-21883.629
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,231214,082828,-5600.364,-33.299,40,1.0,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-62.8
$GPS2,231214,083553,-5600.338,-33.268,18,1.5,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.048,0.158
$KALMAN_X,45079.2,-386.8,54.0,-79131.9,2598.8
$KALMAN_Y,50344.9,168.3,132.9,-50963.8,-1961.5
$MHEAD_RNG_PITCHd_Wd,36.7,3442,-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,-49.85,0.000,2,0.000,0.000,56,2938,2639,0,0,0,0,0,0
$GC,69,-0.60,-145.0,3.4,-3.4,6,95,6.20,2.28,-8.40,0.000,4,0.249,0.053,1594,1504,2936,0,0,0,0,0,0
$GC,305,-0.60,-145.0,43.8,-14.7,44,315,0.00,2.38,0.00,0.000,6,0.000,0.060,1584,2925,2937,0,0,0,0,0,0
$GC,421,-0.60,-145.0,64.7,-20.1,63,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2937,0,0,0,0,0,0
$GC,534,-0.60,-145.0,88.4,-20.2,82,541,0.00,1.60,0.00,0.000,4,0.000,0.067,1577,3900,2938,0,0,0,0,0,0
$GC,606,-0.60,-145.0,103.3,-20.5,93,610,0.00,1.55,0.00,0.000,6,0.000,0.033,1577,2897,2937,0,0,0,0,0,0
$GC,936,-0.60,-145.0,165.2,-18.7,124,937,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2893,2938,0,0,0,0,0,0
$GC,1256,-0.60,-145.0,219.2,-17.1,154,1259,0.00,1.67,0.00,0.000,4,0.000,0.067,1569,3914,2938,0,0,0,0,0,0
$GC,1316,-0.60,-145.0,230.0,-19.1,159,1320,0.00,1.52,0.00,0.000,6,0.000,0.034,1569,2927,2938,0,0,0,0,0,0
$GC,1640,-0.60,-145.0,286.7,-17.4,180,1643,0.00,1.62,0.00,0.000,4,0.000,0.065,1561,3903,2938,0,0,0,0,0,0
$GC,1700,-0.60,-145.0,298.4,-18.9,182,1711,0.10,1.50,0.00,0.000,6,0.187,0.034,1590,2936,2938,0,0,0,0,0,0
$GC,2016,-0.60,-145.0,345.9,-14.5,198,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2936,2937,0,0,0,0,0,0
$GC,2329,-0.60,-145.0,391.6,-15.0,213,2332,0.00,1.60,0.00,0.000,4,0.000,0.067,1583,3903,2938,0,0,0,0,0,0
$GC,2418,-0.60,-145.0,407.0,-16.4,217,2422,0.00,1.50,0.00,0.000,6,0.000,0.034,1586,2923,2938,0,0,0,0,0,0
$GC,2750,-0.60,-145.0,459.0,-15.2,233,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2917,2938,0,0,0,0,0,0
$GC,3060,-0.60,-145.0,505.7,-14.8,248,3064,0.00,1.62,0.00,0.000,4,0.000,0.065,1579,3901,2938,0,0,0,0,0,0
$GC,3109,-0.60,-145.0,513.7,-15.7,250,3114,0.00,1.50,0.00,0.000,6,0.000,0.032,1579,2926,2938,0,0,0,0,0,0
$GC,3437,-0.60,-145.0,561.5,-14.1,266,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2921,2938,0,0,0,0,0,0
$GC,3746,-0.60,-145.0,604.4,-14.1,281,3750,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3909,2938,0,0,0,0,0,0
$GC,3801,-0.60,-145.0,613.0,-15.3,283,3806,0.00,1.52,0.00,0.000,6,0.000,0.032,1571,2920,2938,0,0,0,0,0,0
$GC,4123,-0.60,-145.0,660.6,-15.1,299,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2915,2938,0,0,0,0,0,0
$GC,4433,-0.60,-145.0,707.8,-15.4,314,4437,0.00,1.62,0.00,0.000,4,0.000,0.066,1564,3901,2939,0,0,0,0,0,0
$GC,4523,-0.60,-145.0,723.0,-17.0,318,4527,0.08,1.48,0.00,0.000,6,0.185,0.034,1586,2941,2939,0,0,0,0,0,0
$GC,4854,-0.60,-145.0,770.1,-14.0,334,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2941,2938,0,0,0,0,0,0
$GC,5163,-0.60,-145.0,813.4,-14.0,349,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2941,2938,0,0,0,0,0,0
$GC,5473,-0.60,-145.0,856.8,-14.0,364,5476,0.00,1.58,0.00,0.000,4,0.000,0.066,1580,3901,2938,0,0,0,0,0,0
$GC,5541,-0.60,-145.0,867.0,-15.6,367,5544,0.00,1.50,0.00,0.000,6,0.000,0.033,1581,2923,2938,0,0,0,0,0,0
$GC,5872,-0.60,-145.0,914.6,-14.2,383,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2920,2938,0,0,0,0,0,0
$GC,6182,-0.60,-145.0,958.3,-14.2,398,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2919,2938,0,0,0,0,0,0
$STATE,6490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6490,begin apogee
$GC,6495,-0.13,0.0,1002.2,14.3,413,6633,0.52,0.00,132.77,1.792,6,0.169,0.000,1738,2718,2343,0,0,0,0,0,0
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6635,0.60,145.0,1007.9,0.0,420,6791,0.80,2.60,145.80,1.742,4,0.129,0.045,1985,1324,1749,0,0,0,0,0,0
$GC,6829,0.60,145.0,983.8,16.9,429,6834,0.00,2.53,0.00,0.000,6,0.000,0.054,1985,2721,1745,0,0,0,0,0,0
$GC,7157,0.60,145.0,923.8,18.7,445,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2721,1740,0,0,0,0,0,0
$GC,7466,0.60,145.0,866.7,18.7,460,7470,0.00,1.92,0.00,0.000,4,0.000,0.063,1985,3890,1738,0,0,0,0,0,0
$GC,7511,0.60,145.0,857.7,21.3,462,7515,0.00,1.90,0.00,0.000,6,0.000,0.037,1994,2722,1737,0,0,0,0,0,0
$GC,7843,0.60,145.0,793.1,19.3,478,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2722,1736,0,0,0,0,0,0
$GC,8152,0.60,145.0,733.3,19.3,493,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2722,1736,0,0,0,0,0,0
$GC,8461,0.60,145.0,673.5,19.0,508,8465,0.00,1.95,0.00,0.000,4,0.000,0.062,1994,3884,1735,0,0,0,0,0,0
$GC,8522,0.60,145.0,660.5,21.5,510,8529,0.00,1.90,0.00,0.000,6,0.000,0.037,2003,2711,1734,0,0,0,0,0,0
$GC,8837,0.60,145.0,599.5,19.1,526,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2711,1734,0,0,0,0,0,0
$GC,9147,0.60,145.0,540.1,19.4,541,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2711,1734,0,0,0,0,0,0
$GC,9457,0.60,145.0,479.9,19.3,556,9460,0.00,1.92,0.00,0.000,4,0.000,0.062,2004,3896,1734,0,0,0,0,0,0
$GC,9516,0.60,145.0,466.8,21.0,558,9524,0.00,1.90,0.00,0.000,6,0.000,0.037,2013,2711,1733,0,0,0,0,0,0
$GC,9833,0.60,145.0,403.4,20.1,574,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2711,1734,0,0,0,0,0,0
$GC,10145,0.60,145.0,341.9,19.3,589,10149,0.00,1.92,0.00,0.000,4,0.000,0.061,2013,3902,1733,0,0,0,0,0,0
$GC,10239,0.60,145.0,321.9,22.5,593,10243,0.15,1.90,0.00,0.000,6,0.219,0.037,1987,2697,1733,0,0,0,0,0,0
$GC,10572,0.60,145.0,263.1,17.5,609,10576,0.00,1.92,0.00,0.000,4,0.000,0.061,1987,3891,1733,0,0,0,0,0,0
$GC,10619,0.60,145.0,253.9,19.2,611,10623,0.00,1.85,0.00,0.000,6,0.000,0.037,1995,2700,1733,0,0,0,0,0,0
$GC,10952,0.60,145.0,194.7,17.7,641,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2700,1733,0,0,0,0,0,0
$GC,11271,0.60,145.0,142.8,15.6,671,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2700,1733,0,0,0,0,0,0
$GC,11592,0.60,145.0,92.4,15.2,705,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2700,1733,0,0,0,0,0,0
$GC,11831,0.60,145.0,58.4,13.7,746,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2700,1733,0,0,0,0,0,0
$GC,11946,0.60,145.0,42.4,13.6,765,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2700,1733,0,0,0,0,0,0
$GC,12059,0.60,145.0,26.0,14.8,784,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2700,1733,0,0,0,0,0,0
$GC,12143,0.60,145.0,13.7,15.0,797,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2700,1733,0,0,0,0,0,0
$STATE,12213,end climb,SURFACE_DEPTH_REACHED
$STATE,12213,begin surface coast
$FINISH,1.1,1.011985
$STATE,12233,end surface coast,CONTROL_FINISHED_OK
$STATE,12234,begin surface
$SM_CCo,12245,20.77,0.188,0,0,1524,200.16
$SM_GC,2.93,0.00,0.00,20.77,0.000,0.000,0.188,56,2932,1524,-5.41,0.06,200.16
$IRIDIUM_FIX,-5535.12,-30.76,231214,040432
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,20.923
$10V_AH,10.0,13.652
$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,13.100,54.550,278.575,20.775,0.000,27.906,40.003,263.263,0.000,0.000,20.796,2000.840,7804.873,374.434,2391.902,141.965,33.355,1165.463,0.000,1908.352,0.000,0.539,0.000
$DEVICE_MAMPS,249.390,66.555,1791.630,188.190,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.793,1687.068,821.980,861.145,0.000,0.000,0.000,0.000,0.000,0.000
$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,57034,811
$CAP_FILE_SIZE,101827,0
$CFSIZE,259252224,221442048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231214,120228,-5558.428,-31.119,40,0.8,40,-19.9