version: 66.07
glider: 542
mission: 9
dive: 80
start: 12 23 114 15 41 11
data:
$ID,542
$MISSION,9
$DIVE,80
$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,-21889.291
$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,29
$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
$GPS1,231214,153304,-5559.293,-32.054,38,0.8,38,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.7
$GPS2,231214,154017,-5559.272,-32.032,17,0.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.151,-0.067
$KALMAN_X,47733.9,60.0,-400.1,-80497.1,4307.7
$KALMAN_Y,51624.3,305.6,129.6,-50412.1,-362.8
$MHEAD_RNG_PITCHd_Wd,266.1,2499,-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,-73.9,0.0,0.0,0,51,0.00,0.00,-34.50,0.000,2,0.000,0.000,56,2942,2241,0,0,0,0,0,0
$GC,54,-0.59,-131.8,3.0,-4.5,4,88,6.38,0.00,-24.73,0.000,6,0.259,0.000,1590,2942,2881,0,0,0,0,0,0
$GC,163,-0.59,-131.8,16.5,-19.0,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2941,2883,0,0,0,0,0,0
$GC,247,-0.59,-131.8,32.9,-19.8,33,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2942,2883,0,0,0,0,0,0
$GC,360,-0.59,-131.8,54.9,-19.3,52,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2942,2883,0,0,0,0,0,0
$GC,475,-0.59,-131.8,76.4,-18.8,71,482,0.00,1.58,0.00,0.000,4,0.000,0.063,1583,3890,2883,0,0,0,0,0,0
$GC,604,-0.59,-131.8,103.8,-21.7,92,607,0.00,1.55,0.00,0.000,6,0.000,0.034,1583,2899,2883,0,0,0,0,0,0
$GC,936,-0.59,-131.8,165.1,-18.3,123,937,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2896,2883,0,0,0,0,0,0
$GC,1255,-0.59,-131.8,219.7,-16.6,153,1259,0.00,1.65,0.00,0.000,4,0.000,0.063,1575,3908,2883,0,0,0,0,0,0
$GC,1339,-0.59,-131.8,235.6,-18.1,160,1350,0.00,1.55,0.00,0.000,6,0.000,0.033,1575,2913,2884,0,0,0,0,0,0
$GC,1658,-0.59,-131.8,289.8,-17.2,180,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2913,2883,0,0,0,0,0,0
$GC,1969,-0.59,-131.8,342.4,-16.6,195,1973,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3896,2883,0,0,0,0,0,0
$GC,2040,-0.59,-131.8,355.5,-17.7,198,2046,0.10,1.50,0.00,0.000,6,0.212,0.033,1591,2930,2883,0,0,0,0,0,0
$GC,2370,-0.59,-131.8,403.0,-14.8,214,2373,0.00,1.62,0.00,0.000,4,0.000,0.063,1584,3899,2883,0,0,0,0,0,0
$GC,2429,-0.59,-131.8,413.1,-16.3,216,2438,0.00,1.50,0.00,0.000,6,0.000,0.031,1584,2921,2884,0,0,0,0,0,0
$GC,2746,-0.59,-131.8,459.2,-14.5,232,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2921,2883,0,0,0,0,0,0
$GC,3056,-0.59,-131.8,503.3,-13.9,247,3060,0.00,1.60,0.00,0.000,4,0.000,0.062,1576,3895,2884,0,0,0,0,0,0
$GC,3093,-0.59,-131.8,509.2,-14.9,248,3101,0.00,1.48,0.00,0.000,6,0.000,0.032,1577,2931,2884,0,0,0,0,0,0
$GC,3409,-0.59,-131.8,555.0,-14.5,264,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2930,2884,0,0,0,0,0,0
$GC,3719,-0.59,-131.8,600.1,-14.4,279,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2930,2884,0,0,0,0,0,0
$GC,4028,-0.59,-131.8,642.6,-13.8,294,4031,0.00,1.62,0.00,0.000,4,0.000,0.063,1569,3903,2884,0,0,0,0,0,0
$GC,4076,-0.59,-131.8,650.2,-15.4,296,4081,0.00,1.50,0.00,0.000,6,0.000,0.032,1570,2925,2884,0,0,0,0,0,0
$GC,4405,-0.59,-131.8,697.2,-14.4,312,4409,0.00,1.60,0.00,0.000,4,0.000,0.060,1562,3897,2884,0,0,0,0,0,0
$GC,4442,-0.59,-131.8,703.4,-15.6,313,4451,0.12,1.50,0.00,0.000,6,0.206,0.032,1590,2922,2884,0,0,0,0,0,0
$GC,4759,-0.59,-131.8,743.7,-12.5,329,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2922,2885,0,0,0,0,0,0
$GC,5068,-0.59,-131.8,781.3,-11.9,344,5071,0.00,1.60,0.00,0.000,4,0.000,0.061,1584,3898,2885,0,0,0,0,0,0
$GC,5116,-0.59,-131.8,788.0,-13.7,346,5121,0.00,1.50,0.00,0.000,6,0.000,0.031,1584,2920,2885,0,0,0,0,0,0
$GC,5445,-0.59,-131.8,828.9,-12.7,362,5448,0.00,1.60,0.00,0.000,4,0.000,0.061,1577,3893,2885,0,0,0,0,0,0
$GC,5499,-0.59,-131.8,836.9,-13.9,364,5504,0.00,1.48,0.00,0.000,6,0.000,0.031,1577,2928,2885,0,0,0,0,0,0
$GC,5821,-0.59,-131.8,879.6,-13.6,380,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2925,2885,0,0,0,0,0,0
$GC,6131,-0.59,-131.8,920.6,-13.2,395,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2925,2885,0,0,0,0,0,0
$GC,6439,-0.59,-131.8,962.3,-13.4,410,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2925,2885,0,0,0,0,0,0
$STATE,6727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6727,begin apogee
$GC,6732,-0.13,0.0,1001.6,13.6,424,6855,0.57,0.00,120.47,1.796,6,0.181,0.000,1744,2714,2342,0,0,0,0,0,0
$STATE,6856,end apogee,CONTROL_FINISHED_OK
$STATE,6856,begin climb
$GC,6857,0.59,131.8,1006.1,0.0,430,6995,0.75,0.00,132.68,1.756,6,0.125,0.000,1969,2713,1804,0,0,0,0,0,0
$GC,7290,0.59,131.8,942.0,16.6,451,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2713,1795,0,0,0,0,0,0
$GC,7599,0.59,131.8,891.3,16.7,466,7603,0.00,2.03,0.00,0.000,4,0.000,0.060,1966,3892,1793,0,0,0,0,0,0
$GC,7658,0.59,131.8,880.1,17.9,468,7666,0.00,1.90,0.00,0.000,6,0.000,0.035,1974,2744,1791,0,0,0,0,0,0
$GC,7975,0.59,131.8,826.3,17.6,484,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2743,1790,0,0,0,0,0,0
$GC,8284,0.59,131.8,772.9,17.3,499,8288,0.00,1.92,0.00,0.000,4,0.000,0.059,1974,3906,1790,0,0,0,0,0,0
$GC,8316,0.59,131.8,766.4,19.1,500,8321,0.00,1.95,0.00,0.000,6,0.000,0.036,1984,2710,1789,0,0,0,0,0,0
$GC,8638,0.59,131.8,708.9,17.8,516,8642,0.00,1.98,0.00,0.000,4,0.000,0.059,1984,3900,1789,0,0,0,0,0,0
$GC,8670,0.59,131.8,702.4,20.0,517,8675,0.00,1.92,0.00,0.000,6,0.000,0.035,1993,2707,1789,0,0,0,0,0,0
$GC,8992,0.59,131.8,642.3,18.7,533,8996,0.00,1.95,0.00,0.000,4,0.000,0.057,1993,3900,1789,0,0,0,0,0,0
$GC,9047,0.59,131.8,630.8,21.4,535,9051,0.00,1.92,0.00,0.000,6,0.000,0.036,2002,2704,1788,0,0,0,0,0,0
$GC,9368,0.59,131.8,568.1,19.5,551,9372,0.00,1.98,0.00,0.000,4,0.000,0.057,2003,3898,1788,0,0,0,0,0,0
$GC,9400,0.59,131.8,561.0,22.0,552,9405,0.00,1.92,0.00,0.000,6,0.000,0.035,2012,2701,1789,0,0,0,0,0,0
$GC,9723,0.59,131.8,495.8,20.2,568,9727,0.12,1.95,0.00,0.000,4,0.238,0.057,1984,3903,1788,0,0,0,0,0,0
$GC,9777,0.59,131.8,484.1,20.2,570,9782,0.00,1.90,0.00,0.000,6,0.000,0.036,1993,2719,1788,0,0,0,0,0,0
$GC,10099,0.59,131.8,425.1,18.0,586,10103,0.00,1.95,0.00,0.000,4,0.000,0.057,1993,3899,1788,0,0,0,0,0,0
$GC,10159,0.59,131.8,412.6,21.2,588,10167,0.00,1.90,0.00,0.000,6,0.000,0.036,2002,2710,1788,0,0,0,0,0,0
$GC,10477,0.59,131.8,353.9,18.7,604,10481,0.00,1.92,0.00,0.000,4,0.000,0.057,2002,3897,1788,0,0,0,0,0,0
$GC,10502,0.59,131.8,349.1,19.1,605,10506,0.00,1.88,0.00,0.000,6,0.000,0.036,2011,2707,1788,0,0,0,0,0,0
$GC,10836,0.59,131.8,284.2,19.3,621,10840,0.00,1.92,0.00,0.000,4,0.000,0.057,2011,3907,1788,0,0,0,0,0,0
$GC,10937,0.59,131.8,261.8,22.5,625,10942,0.10,1.90,0.00,0.000,6,0.205,0.036,1993,2714,1788,0,0,0,0,0,0
$GC,11267,0.59,131.8,205.1,17.8,653,11268,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2713,1788,0,0,0,0,0,0
$GC,11589,0.59,131.8,150.1,16.7,683,11592,0.00,1.92,0.00,0.000,4,0.000,0.058,1992,3901,1788,0,0,0,0,0,0
$GC,11627,0.59,131.8,142.1,18.9,686,11638,0.00,1.90,0.00,0.000,6,0.000,0.035,2001,2710,1787,0,0,0,0,0,0
$GC,11960,0.59,131.8,87.6,14.8,724,11967,0.00,1.95,0.00,0.000,4,0.000,0.059,2001,3901,1787,0,0,0,0,0,0
$GC,12031,0.59,131.8,75.1,17.4,736,12040,0.00,1.90,0.00,0.000,6,0.000,0.037,2009,2706,1787,0,0,0,0,0,0
$GC,12148,0.59,131.8,57.0,14.6,755,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2705,1787,0,0,0,0,0,0
$GC,12260,0.59,131.8,39.1,15.9,774,12269,0.00,1.95,0.00,0.000,4,0.000,0.059,2010,3893,1787,0,0,0,0,0,0
$GC,12299,0.59,131.8,32.8,17.0,780,12308,0.10,1.88,0.00,0.000,6,0.204,0.036,1991,2712,1787,0,0,0,0,0,0
$GC,12420,0.59,131.8,15.6,14.2,799,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2712,1787,0,0,0,0,0,0
$GC,12504,0.59,131.8,4.3,13.6,812,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2712,1787,0,0,0,0,0,0
$STATE,12519,end climb,SURFACE_DEPTH_REACHED
$STATE,12519,begin surface coast
$FINISH,1.0,1.027169
$STATE,12545,end surface coast,CONTROL_FINISHED_OK
$STATE,12545,begin surface
$SM_CCo,12557,25.98,0.184,0,0,1525,200.16
$SM_GC,2.49,0.00,0.00,25.98,0.000,0.000,0.184,66,2948,1525,-5.39,0.51,200.16
$IRIDIUM_FIX,-5535.12,-30.76,231214,121253
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.8,21.224
$10V_AH,10.0,13.853
$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,13.500,75.000,253.150,25.975,0.000,27.475,19.821,272.628,0.000,0.000,19.604,2044.542,8028.080,410.922,2385.273,150.369,33.364,1225.449,0.000,1920.442,0.000,0.539,0.000
$DEVICE_MAMPS,259.335,63.495,1796.220,183.600,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.224,1698.202,812.098,845.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,57022,818
$CAP_FILE_SIZE,111303,0
$CFSIZE,259252224,221306880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,231214,191204,-5600.431,-34.134,34,0.8,34,-19.8