version: 66.07
glider: 542
mission: 9
dive: 83
start: 12 24 114 2 28 38
data:
$ID,542
$MISSION,9
$DIVE,83
$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,-21896.943
$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,39
$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
$GPS1,241214,021958,-5559.667,-32.946,37,0.8,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-56.7
$GPS2,241214,022744,-5559.671,-32.976,20,1.1,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.151,0.067
$KALMAN_X,50658.7,-701.8,-192.5,-83839.7,4695.5
$KALMAN_Y,49902.4,-311.3,177.3,-48850.9,-1325.3
$MHEAD_RNG_PITCHd_Wd,313.8,3141,-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,-73.9,0.0,0.0,0,58,0.00,0.00,-41.83,0.000,2,0.000,0.000,56,2902,2412,0,0,0,0,0,0
$GC,61,-0.59,-129.4,3.1,-4.8,5,88,6.30,1.70,-15.52,0.000,4,0.254,0.080,1583,3895,2871,0,0,0,0,0,0
$GC,358,-0.59,-129.4,59.7,-21.1,53,365,0.00,1.55,0.00,0.000,6,0.000,0.034,1583,2907,2874,0,0,0,0,0,0
$GC,470,-0.59,-129.4,82.8,-19.7,72,480,0.00,1.65,0.00,0.000,4,0.000,0.061,1576,3893,2874,0,0,0,0,0,0
$GC,673,-0.59,-129.4,123.8,-18.5,96,683,0.00,1.50,0.00,0.000,6,0.000,0.034,1576,2923,2874,0,0,0,0,0,0
$GC,1000,-0.59,-129.4,183.9,-17.6,127,1004,0.00,1.60,0.00,0.000,4,0.000,0.061,1569,3889,2874,0,0,0,0,0,0
$GC,1073,-0.59,-129.4,198.0,-18.3,133,1081,0.08,1.48,0.00,0.000,6,0.190,0.034,1590,2936,2874,0,0,0,0,0,0
$GC,1398,-0.59,-129.4,249.6,-15.2,164,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2936,2874,0,0,0,0,0,0
$GC,1719,-0.59,-129.4,297.6,-14.6,180,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2936,2874,0,0,0,0,0,0
$GC,2031,-0.59,-129.4,343.5,-14.7,195,2035,0.00,1.58,0.00,0.000,4,0.000,0.062,1583,3892,2874,0,0,0,0,0,0
$GC,2086,-0.59,-129.4,353.1,-16.4,197,2091,0.00,1.50,0.00,0.000,6,0.000,0.032,1583,2919,2874,0,0,0,0,0,0
$GC,2411,-0.59,-129.4,401.1,-15.0,213,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2918,2874,0,0,0,0,0,0
$GC,2717,-0.59,-129.4,447.3,-14.7,228,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2918,2874,0,0,0,0,0,0
$GC,3026,-0.59,-129.4,492.0,-14.6,243,3030,0.00,1.60,0.00,0.000,4,0.000,0.061,1576,3891,2874,0,0,0,0,0,0
$GC,3100,-0.59,-129.4,503.2,-15.8,246,3103,0.00,1.45,0.00,0.000,6,0.000,0.033,1576,2940,2874,0,0,0,0,0,0
$GC,3426,-0.59,-129.4,550.4,-14.3,262,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2933,2874,0,0,0,0,0,0
$GC,3735,-0.59,-129.4,594.0,-14.2,277,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2933,2874,0,0,0,0,0,0
$GC,4045,-0.59,-129.4,636.8,-13.7,292,4049,0.00,1.58,0.00,0.000,4,0.000,0.062,1569,3893,2874,0,0,0,0,0,0
$GC,4127,-0.59,-129.4,649.7,-15.4,295,4136,0.10,1.50,0.00,0.000,6,0.207,0.033,1592,2916,2874,0,0,0,0,0,0
$GC,4445,-0.59,-129.4,688.5,-12.1,311,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2915,2875,0,0,0,0,0,0
$GC,4753,-0.59,-129.4,725.3,-11.6,326,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2915,2874,0,0,0,0,0,0
$GC,5063,-0.59,-129.4,760.5,-11.4,341,5067,0.00,1.60,0.00,0.000,4,0.000,0.062,1585,3890,2874,0,0,0,0,0,0
$GC,5109,-0.59,-129.4,766.3,-13.1,343,5113,0.00,1.45,0.00,0.000,6,0.000,0.033,1585,2935,2875,0,0,0,0,0,0
$GC,5442,-0.59,-129.4,805.7,-11.6,359,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2929,2875,0,0,0,0,0,0
$GC,5750,-0.59,-129.4,838.7,-10.5,374,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2929,2874,0,0,0,0,0,0
$GC,6060,-0.59,-129.4,873.9,-11.6,389,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2929,2874,0,0,0,0,0,0
$GC,6369,-0.59,-129.4,909.5,-11.3,404,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2929,2874,0,0,0,0,0,0
$GC,6678,-0.59,-129.4,944.0,-11.2,419,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2929,2874,0,0,0,0,0,0
$GC,6988,-0.59,-129.4,980.0,-11.8,434,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2929,2874,0,0,0,0,0,0
$STATE,7151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7151,begin apogee
$GC,7155,-0.13,0.0,1000.1,12.3,442,7277,0.52,0.00,118.00,1.791,6,0.171,0.000,1741,2717,2342,0,0,0,0,0,0
$STATE,7277,end apogee,CONTROL_FINISHED_OK
$STATE,7278,begin climb
$GC,7279,0.59,129.4,1003.9,0.0,448,7413,0.75,0.00,129.77,1.741,6,0.125,0.000,1968,2716,1813,0,0,0,0,0,0
$GC,7711,0.59,129.4,937.9,17.5,469,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2716,1805,0,0,0,0,0,0
$GC,8020,0.59,129.4,883.7,17.6,484,8024,0.00,2.03,0.00,0.000,4,0.000,0.059,1968,3917,1802,0,0,0,0,0,0
$GC,8069,0.59,129.4,874.2,20.3,486,8073,0.00,1.95,0.00,0.000,6,0.000,0.036,1977,2736,1801,0,0,0,0,0,0
$GC,8396,0.59,129.4,816.1,17.8,502,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2736,1801,0,0,0,0,0,0
$GC,8706,0.59,129.4,760.0,18.5,517,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2736,1800,0,0,0,0,0,0
$GC,9014,0.59,129.4,703.8,17.9,532,9018,0.00,1.92,0.00,0.000,4,0.000,0.058,1977,3901,1800,0,0,0,0,0,0
$GC,9082,0.59,129.4,690.4,19.8,535,9085,0.00,1.90,0.00,0.000,6,0.000,0.037,1986,2710,1798,0,0,0,0,0,0
$GC,9414,0.59,129.4,630.1,17.9,551,9418,0.00,1.95,0.00,0.000,4,0.000,0.058,1986,3903,1798,0,0,0,0,0,0
$GC,9470,0.59,129.4,618.6,20.5,553,9474,0.00,1.90,0.00,0.000,6,0.000,0.037,1995,2709,1797,0,0,0,0,0,0
$GC,9791,0.59,129.4,559.5,18.3,569,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2709,1798,0,0,0,0,0,0
$GC,10101,0.59,129.4,504.9,17.2,584,10104,0.00,1.95,0.00,0.000,4,0.000,0.058,1995,3903,1797,0,0,0,0,0,0
$GC,10167,0.59,129.4,492.0,20.3,587,10171,0.00,1.90,0.00,0.000,6,0.000,0.037,2005,2700,1797,0,0,0,0,0,0
$GC,10500,0.59,129.4,430.4,18.6,603,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2699,1797,0,0,0,0,0,0
$GC,10810,0.59,129.4,374.1,18.2,618,10814,0.00,1.92,0.00,0.000,4,0.000,0.058,2005,3899,1797,0,0,0,0,0,0
$GC,10894,0.59,129.4,356.7,20.1,621,10902,0.10,1.90,0.00,0.000,6,0.207,0.036,1986,2707,1797,0,0,0,0,0,0
$GC,11213,0.59,129.4,304.6,16.6,637,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2707,1796,0,0,0,0,0,0
$GC,11519,0.59,129.4,253.9,16.1,652,11523,0.00,1.92,0.00,0.000,4,0.000,0.058,1986,3896,1796,0,0,0,0,0,0
$GC,11580,0.59,129.4,242.5,18.3,656,11591,0.00,1.90,0.00,0.000,6,0.000,0.035,1995,2702,1796,0,0,0,0,0,0
$GC,11908,0.59,129.4,188.2,16.3,687,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2703,1796,0,0,0,0,0,0
$GC,12228,0.59,129.4,137.5,15.7,717,12232,0.00,1.95,0.00,0.000,4,0.000,0.058,1995,3890,1796,0,0,0,0,0,0
$GC,12324,0.59,129.4,119.5,17.3,725,12333,0.00,1.88,0.00,0.000,6,0.000,0.035,2003,2712,1796,0,0,0,0,0,0
$GC,12665,0.59,129.4,69.0,14.3,774,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2712,1796,0,0,0,0,0,0
$GC,12781,0.59,129.4,52.9,14.2,793,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2712,1796,0,0,0,0,0,0
$GC,12894,0.59,129.4,36.6,13.6,812,12902,0.00,1.92,0.00,0.000,4,0.000,0.059,2004,3884,1797,0,0,0,0,0,0
$GC,12952,0.59,129.4,26.9,17.5,821,12962,0.10,1.88,0.00,0.000,6,0.212,0.036,1986,2701,1796,0,0,0,0,0,0
$GC,13037,0.59,129.4,14.0,14.5,834,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2701,1796,0,0,0,0,0,0
$STATE,13120,end climb,SURFACE_DEPTH_REACHED
$STATE,13120,begin surface coast
$FINISH,0.8,1.005522
$STATE,13146,end surface coast,CONTROL_FINISHED_OK
$STATE,13146,begin surface
$SM_CCo,13159,26.75,0.190,0,0,1524,200.16
$SM_GC,2.16,0.00,0.00,26.75,0.000,0.000,0.190,59,2929,1524,-5.40,-0.03,200.16
$IRIDIUM_FIX,-5535.12,-26.95,231214,222253
$TT8_MAMPS,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.8,21.677
$10V_AH,10.0,14.154
$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,13.200,53.150,247.775,26.750,0.000,27.471,44.222,278.413,0.000,0.000,22.799,2106.520,8576.170,373.082,2442.192,156.614,33.360,1161.966,0.000,1940.939,0.000,0.539,0.000
$DEVICE_MAMPS,253.980,80.325,1790.865,190.485,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.384,1757.491,825.320,848.814,0.000,0.000,0.000,0.000,0.000,0.000
$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,57229,851
$CAP_FILE_SIZE,105466,0
$CFSIZE,259252224,221122560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241214,060934,-5559.574,-35.674,35,1.0,35,-19.8