version: 66.07
glider: 542
mission: 9
dive: 82
start: 12 23 114 22 53 23
data:
$ID,542
$MISSION,9
$DIVE,82
$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,-21894.602
$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,29
$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
$GPS1,231214,224111,-5559.577,-31.115,34,0.8,34,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.4
$GPS2,231214,225229,-5559.574,-31.141,18,0.9,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.164,0.019
$KALMAN_X,49240.7,-516.6,-249.5,-80649.7,3714.1
$KALMAN_Y,50420.8,-117.4,-7.1,-49194.9,-1088.2
$MHEAD_RNG_PITCHd_Wd,296.6,1421,-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,-73.9,0.0,0.0,0,59,0.00,0.00,-42.12,0.000,2,0.000,0.000,53,2950,2415,0,0,0,0,0,0
$GC,62,-0.60,-138.1,3.0,-4.0,5,97,6.35,1.60,-16.98,0.000,4,0.254,0.086,1583,3887,2906,0,0,0,0,0,0
$GC,363,-0.60,-138.1,60.7,-20.4,54,372,0.00,1.55,0.00,0.000,6,0.000,0.034,1583,2903,2908,0,0,0,0,0,0
$GC,479,-0.60,-138.1,83.2,-19.3,73,486,0.00,1.62,0.00,0.000,4,0.000,0.060,1576,3901,2908,0,0,0,0,0,0
$GC,747,-0.60,-138.1,135.7,-18.4,103,750,0.00,1.52,0.00,0.000,6,0.000,0.035,1576,2930,2908,0,0,0,0,0,0
$GC,1077,-0.60,-138.1,196.4,-18.6,134,1080,0.00,1.60,0.00,0.000,4,0.000,0.062,1568,3886,2908,0,0,0,0,0,0
$GC,1300,-0.60,-138.1,239.0,-18.6,153,1304,0.08,1.50,0.00,0.000,6,0.190,0.034,1590,2923,2908,0,0,0,0,0,0
$GC,1622,-0.60,-138.1,288.2,-14.9,172,1625,0.00,1.60,0.00,0.000,4,0.000,0.061,1583,3887,2908,0,0,0,0,0,0
$GC,1682,-0.60,-138.1,297.9,-15.6,174,1692,0.00,1.48,0.00,0.000,6,0.000,0.032,1582,2923,2908,0,0,0,0,0,0
$GC,2000,-0.60,-138.1,344.8,-15.0,190,2003,0.00,1.60,0.00,0.000,4,0.000,0.062,1575,3892,2908,0,0,0,0,0,0
$GC,2091,-0.60,-138.1,360.0,-16.4,194,2094,0.00,1.48,0.00,0.000,6,0.000,0.034,1575,2932,2908,0,0,0,0,0,0
$GC,2423,-0.60,-138.1,411.1,-15.0,210,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2926,2908,0,0,0,0,0,0
$GC,2732,-0.60,-138.1,458.6,-15.7,225,2735,0.00,1.60,0.00,0.000,4,0.000,0.061,1568,3898,2909,0,0,0,0,0,0
$GC,2793,-0.60,-138.1,468.9,-16.5,227,2801,0.00,1.50,0.00,0.000,6,0.000,0.033,1568,2919,2909,0,0,0,0,0,0
$GC,3109,-0.60,-138.1,519.1,-15.7,243,3112,0.00,1.60,0.00,0.000,4,0.000,0.061,1561,3892,2909,0,0,0,0,0,0
$GC,3191,-0.60,-138.1,533.4,-17.3,246,3200,0.12,1.50,0.00,0.000,6,0.204,0.032,1590,2916,2909,0,0,0,0,0,0
$GC,3508,-0.60,-138.1,576.5,-13.4,262,3512,0.00,1.60,0.00,0.000,4,0.000,0.062,1582,3889,2909,0,0,0,0,0,0
$GC,3545,-0.60,-138.1,582.1,-14.1,263,3554,0.00,1.48,0.00,0.000,6,0.000,0.032,1582,2925,2909,0,0,0,0,0,0
$GC,3862,-0.60,-138.1,624.0,-13.1,279,3866,0.00,1.60,0.00,0.000,4,0.000,0.062,1575,3898,2910,0,0,0,0,0,0
$GC,3921,-0.60,-138.1,632.9,-14.7,281,3928,0.00,1.48,0.00,0.000,6,0.000,0.032,1575,2923,2909,0,0,0,0,0,0
$GC,4237,-0.60,-138.1,678.7,-15.3,297,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,2910,0,0,0,0,0,0
$GC,4546,-0.60,-138.1,725.9,-15.2,312,4550,0.00,1.60,0.00,0.000,4,0.000,0.063,1568,3896,2909,0,0,0,0,0,0
$GC,4646,-0.60,-138.1,742.5,-16.3,316,4651,0.00,1.45,0.00,0.000,6,0.000,0.033,1568,2943,2910,0,0,0,0,0,0
$GC,4967,-0.60,-138.1,792.7,-15.3,332,4972,0.10,1.60,0.00,0.000,4,0.212,0.063,1583,3917,2910,0,0,0,0,0,0
$GC,5036,-0.60,-138.1,803.1,-14.9,335,5040,0.00,1.50,0.00,0.000,6,0.000,0.033,1583,2931,2910,0,0,0,0,0,0
$GC,5367,-0.60,-138.1,849.9,-13.9,351,5371,0.00,1.58,0.00,0.000,4,0.000,0.062,1576,3886,2910,0,0,0,0,0,0
$GC,5416,-0.60,-138.1,857.5,-15.2,353,5421,0.00,1.48,0.00,0.000,6,0.000,0.032,1575,2926,2910,0,0,0,0,0,0
$GC,5744,-0.60,-138.1,903.2,-13.9,369,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2921,2910,0,0,0,0,0,0
$GC,6053,-0.60,-138.1,945.3,-13.6,384,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2921,2910,0,0,0,0,0,0
$GC,6363,-0.60,-138.1,986.3,-13.1,399,6367,0.00,1.60,0.00,0.000,4,0.000,0.062,1569,3896,2910,0,0,0,0,0,0
$GC,6411,-0.60,-138.1,993.8,-15.8,401,6416,0.00,1.50,0.00,0.000,6,0.000,0.033,1569,2921,2910,0,0,0,0,0,0
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6474,-0.13,0.0,1001.9,14.2,404,6603,0.60,0.00,125.95,1.791,6,0.182,0.000,1743,2724,2342,0,0,0,0,0,0
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6606,0.60,138.1,1005.8,0.0,410,6751,0.75,0.00,139.07,1.744,6,0.122,0.000,1968,2724,1779,0,0,0,0,0,0
$GC,7058,0.60,138.1,934.7,17.5,432,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2724,1770,0,0,0,0,0,0
$GC,7368,0.60,138.1,881.7,17.1,447,7372,0.00,2.00,0.00,0.000,4,0.000,0.060,1967,3889,1768,0,0,0,0,0,0
$GC,7417,0.60,138.1,872.1,20.7,449,7422,0.00,1.90,0.00,0.000,6,0.000,0.036,1975,2738,1767,0,0,0,0,0,0
$GC,7745,0.60,138.1,814.5,18.0,465,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2738,1766,0,0,0,0,0,0
$GC,8055,0.60,138.1,760.0,17.7,480,8058,0.00,1.92,0.00,0.000,4,0.000,0.057,1976,3898,1766,0,0,0,0,0,0
$GC,8092,0.60,138.1,752.2,20.1,481,8100,0.00,1.92,0.00,0.000,6,0.000,0.035,1985,2715,1765,0,0,0,0,0,0
$GC,8408,0.60,138.1,694.7,18.2,497,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2715,1765,0,0,0,0,0,0
$GC,8718,0.60,138.1,638.3,18.4,512,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2715,1764,0,0,0,0,0,0
$GC,9027,0.60,138.1,581.6,18.5,527,9031,0.00,1.95,0.00,0.000,4,0.000,0.058,1985,3892,1765,0,0,0,0,0,0
$GC,9081,0.60,138.1,570.3,20.6,529,9086,0.00,1.90,0.00,0.000,6,0.000,0.036,1994,2711,1763,0,0,0,0,0,0
$GC,9403,0.60,138.1,509.6,18.7,545,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2711,1763,0,0,0,0,0,0
$GC,9712,0.60,138.1,453.6,18.2,560,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2711,1763,0,0,0,0,0,0
$GC,10022,0.60,138.1,397.8,18.2,575,10026,0.00,1.92,0.00,0.000,4,0.000,0.057,1994,3899,1763,0,0,0,0,0,0
$GC,10090,0.60,138.1,384.0,20.6,578,10094,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2706,1763,0,0,0,0,0,0
$GC,10421,0.60,138.1,321.3,18.8,594,10425,0.00,1.92,0.00,0.000,4,0.000,0.057,2004,3893,1763,0,0,0,0,0,0
$GC,10454,0.60,138.1,314.4,20.5,595,10459,0.08,1.88,0.00,0.000,6,0.207,0.035,1992,2714,1763,0,0,0,0,0,0
$GC,10777,0.60,138.1,258.2,18.1,611,10781,0.00,1.92,0.00,0.000,4,0.000,0.057,1991,3901,1762,0,0,0,0,0,0
$GC,10834,0.60,138.1,245.9,21.3,614,10837,0.00,1.88,0.00,0.000,6,0.000,0.037,2000,2707,1763,0,0,0,0,0,0
$GC,11166,0.60,138.1,182.4,18.8,645,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2707,1763,0,0,0,0,0,0
$GC,11486,0.60,138.1,124.7,17.6,675,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2707,1763,0,0,0,0,0,0
$GC,11829,0.60,138.1,71.2,14.1,723,11836,0.00,1.95,0.00,0.000,4,0.000,0.059,2000,3893,1762,0,0,0,0,0,0
$GC,11915,0.60,138.1,57.3,16.9,737,11922,0.00,1.88,0.00,0.000,6,0.000,0.036,2009,2709,1763,0,0,0,0,0,0
$GC,12028,0.60,138.1,38.9,15.4,756,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2708,1763,0,0,0,0,0,0
$GC,12147,0.60,138.1,21.0,14.2,775,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2708,1762,0,0,0,0,0,0
$GC,12231,0.60,138.1,8.8,15.0,788,12240,0.00,1.95,0.00,0.000,4,0.000,0.058,2009,3896,1763,0,0,0,0,0,0
$STATE,12266,end climb,SURFACE_DEPTH_REACHED
$STATE,12266,begin surface coast
$FINISH,1.0,1.027196
$STATE,12286,end surface coast,CONTROL_FINISHED_OK
$STATE,12286,begin surface
$SM_CCo,12299,23.67,0.181,0,0,1525,200.16
$SM_GC,2.46,0.00,0.00,23.67,0.000,0.000,0.181,60,2902,1525,-5.40,-0.79,200.16
$IRIDIUM_FIX,-5535.12,-26.92,231214,222235
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.8,21.533
$10V_AH,10.0,14.051
$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,13.275,70.800,265.025,23.675,0.000,53.809,43.627,391.501,0.000,0.000,20.877,1997.442,7870.907,401.788,2570.841,164.554,33.364,1208.528,0.000,1928.595,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,86.445,1790.865,181.305,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.620,1649.692,782.368,809.454,0.000,0.000,0.000,0.000,0.000,0.000
$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,53603,796
$CAP_FILE_SIZE,110980,0
$CFSIZE,259252224,221179904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241214,021958,-5559.667,-32.946,37,0.8,37,-19.9