version: 66.07
glider: 542
mission: 9
dive: 86
start: 12 24 114 13 8 30
data:
$ID,542
$MISSION,9
$DIVE,86
$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,-21904.102
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,241214,130029,-5558.209,-32.162,43,0.9,43,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-60.3
$GPS2,241214,130736,-5558.158,-32.196,19,1.1,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.144,0.080
$KALMAN_X,49490.9,-345.9,69.0,-82481.8,1387.8
$KALMAN_Y,46281.7,453.7,498.1,-43526.1,-3884.9
$MHEAD_RNG_PITCHd_Wd,80.8,4100,-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,-73.9,0.0,0.0,0,58,0.00,0.00,-41.88,0.000,2,0.000,0.000,61,2939,2420,0,0,0,0,0,0
$GC,61,-0.60,-139.8,3.2,-3.9,5,88,6.30,1.65,-15.57,0.000,4,0.256,0.086,1584,3900,2914,0,0,0,0,0,0
$GC,300,-0.60,-139.8,51.6,-20.9,43,307,0.00,1.58,0.00,0.000,6,0.000,0.034,1585,2899,2915,0,0,0,0,0,0
$GC,413,-0.60,-139.8,75.0,-20.5,62,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2898,2915,0,0,0,0,0,0
$GC,525,-0.60,-139.8,97.0,-18.1,81,534,0.00,1.65,0.00,0.000,4,0.000,0.060,1577,3887,2914,0,0,0,0,0,0
$GC,578,-0.60,-139.8,106.6,-19.2,87,581,0.00,1.50,0.00,0.000,6,0.000,0.034,1577,2926,2915,0,0,0,0,0,0
$GC,909,-0.60,-139.8,169.0,-17.8,118,910,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2920,2915,0,0,0,0,0,0
$GC,1228,-0.60,-139.8,226.9,-18.6,148,1232,0.00,1.60,0.00,0.000,4,0.000,0.061,1570,3887,2915,0,0,0,0,0,0
$GC,1275,-0.60,-139.8,236.3,-20.0,152,1278,0.00,1.48,0.00,0.000,6,0.000,0.034,1570,2929,2915,0,0,0,0,0,0
$GC,1600,-0.60,-139.8,297.2,-18.7,171,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2922,2915,0,0,0,0,0,0
$GC,1907,-0.60,-139.8,352.8,-17.6,186,1910,0.00,1.60,0.00,0.000,4,0.000,0.061,1562,3893,2914,0,0,0,0,0,0
$GC,1977,-0.60,-139.8,365.5,-18.5,189,1981,0.10,1.48,0.00,0.000,6,0.191,0.034,1591,2938,2915,0,0,0,0,0,0
$GC,2308,-0.60,-139.8,417.6,-15.1,205,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2937,2915,0,0,0,0,0,0
$GC,2618,-0.60,-139.8,463.2,-14.2,220,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2938,2915,0,0,0,0,0,0
$GC,2927,-0.60,-139.8,506.9,-14.1,235,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2937,2915,0,0,0,0,0,0
$GC,3236,-0.60,-139.8,549.9,-13.6,250,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2938,2915,0,0,0,0,0,0
$GC,3546,-0.60,-139.8,590.0,-13.1,265,3550,0.00,1.58,0.00,0.000,4,0.000,0.062,1584,3896,2915,0,0,0,0,0,0
$GC,3606,-0.60,-139.8,598.7,-14.1,267,3614,0.00,1.50,0.00,0.000,6,0.000,0.032,1584,2915,2916,0,0,0,0,0,0
$GC,3922,-0.60,-139.8,641.8,-13.9,283,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2915,2916,0,0,0,0,0,0
$GC,4232,-0.60,-139.8,684.4,-13.9,298,4236,0.00,1.60,0.00,0.000,4,0.000,0.062,1577,3890,2916,0,0,0,0,0,0
$GC,4286,-0.60,-139.8,692.9,-14.7,300,4292,0.00,1.48,0.00,0.000,6,0.000,0.032,1577,2929,2916,0,0,0,0,0,0
$GC,4609,-0.60,-139.8,737.9,-14.1,316,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2923,2916,0,0,0,0,0,0
$GC,4919,-0.60,-139.8,782.7,-14.8,331,4923,0.00,1.60,0.00,0.000,4,0.000,0.063,1570,3900,2916,0,0,0,0,0,0
$GC,4981,-0.60,-139.8,792.6,-16.1,333,4987,0.00,1.48,0.00,0.000,6,0.000,0.033,1570,2923,2915,0,0,0,0,0,0
$GC,5296,-0.60,-139.8,839.0,-14.6,349,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,2916,0,0,0,0,0,0
$GC,5605,-0.60,-139.8,884.8,-15.2,364,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,2916,0,0,0,0,0,0
$GC,5914,-0.60,-139.8,932.5,-15.4,379,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,2916,0,0,0,0,0,0
$GC,6224,-0.60,-139.8,978.4,-14.7,394,6228,0.00,1.60,0.00,0.000,4,0.000,0.062,1562,3900,2916,0,0,0,0,0,0
$GC,6269,-0.60,-139.8,985.7,-16.4,396,6273,0.08,1.48,0.00,0.000,6,0.189,0.033,1585,2940,2916,0,0,0,0,0,0
$STATE,6372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6372,begin apogee
$GC,6376,-0.13,0.0,1000.6,13.8,401,6507,0.52,0.00,127.65,1.787,6,0.176,0.000,1740,2714,2342,0,0,0,0,0,0
$STATE,6508,end apogee,CONTROL_FINISHED_OK
$STATE,6508,begin climb
$GC,6510,0.60,139.8,1005.4,0.0,407,6658,0.77,0.00,139.68,1.733,6,0.125,0.000,1973,2714,1771,0,0,0,0,0,0
$GC,6966,0.60,139.8,935.2,17.7,429,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2713,1763,0,0,0,0,0,0
$GC,7275,0.60,139.8,880.9,17.5,444,7279,0.00,1.98,0.00,0.000,4,0.000,0.057,1973,3898,1762,0,0,0,0,0,0
$GC,7321,0.60,139.8,872.2,19.4,446,7325,0.00,1.88,0.00,0.000,6,0.000,0.037,1981,2737,1760,0,0,0,0,0,0
$GC,7654,0.60,139.8,810.0,19.2,462,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2737,1760,0,0,0,0,0,0
$GC,7962,0.60,139.8,750.2,19.2,477,7966,0.00,1.92,0.00,0.000,4,0.000,0.057,1981,3897,1759,0,0,0,0,0,0
$GC,8007,0.60,139.8,740.8,20.9,479,8011,0.00,1.90,0.00,0.000,6,0.000,0.037,1991,2711,1758,0,0,0,0,0,0
$GC,8340,0.60,139.8,674.7,19.8,495,8343,0.00,1.95,0.00,0.000,4,0.000,0.057,1991,3899,1758,0,0,0,0,0,0
$GC,8385,0.60,139.8,664.9,22.2,497,8388,0.00,1.90,0.00,0.000,6,0.000,0.037,2000,2707,1757,0,0,0,0,0,0
$GC,8717,0.60,139.8,596.5,20.7,513,8721,0.00,1.95,0.00,0.000,4,0.000,0.057,2000,3900,1758,0,0,0,0,0,0
$GC,8788,0.60,139.8,579.7,23.4,516,8793,0.00,1.90,0.00,0.000,6,0.000,0.036,2009,2717,1757,0,0,0,0,0,0
$GC,9116,0.60,139.8,510.8,21.1,532,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2717,1757,0,0,0,0,0,0
$GC,9426,0.60,139.8,445.4,21.1,547,9430,0.00,1.92,0.00,0.000,4,0.000,0.057,2010,3897,1757,0,0,0,0,0,0
$GC,9520,0.60,139.8,423.2,22.8,551,9525,0.10,1.90,0.00,0.000,6,0.199,0.036,1991,2710,1756,0,0,0,0,0,0
$GC,9849,0.60,139.8,360.6,19.0,567,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2710,1756,0,0,0,0,0,0
$GC,10157,0.60,139.8,304.7,17.6,582,10160,0.00,1.92,0.00,0.000,4,0.000,0.057,1991,3902,1756,0,0,0,0,0,0
$GC,10228,0.60,139.8,291.2,20.5,585,10232,0.00,1.90,0.00,0.000,6,0.000,0.037,1999,2696,1756,0,0,0,0,0,0
$GC,10552,0.60,139.8,233.0,18.9,604,10553,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2696,1756,0,0,0,0,0,0
$GC,10870,0.60,139.8,176.8,18.8,634,10874,0.00,1.95,0.00,0.000,4,0.000,0.057,1999,3900,1756,0,0,0,0,0,0
$GC,10930,0.60,139.8,165.1,21.8,639,10934,0.00,1.88,0.00,0.000,6,0.000,0.036,2008,2708,1756,0,0,0,0,0,0
$GC,11260,0.60,139.8,104.1,18.2,670,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2708,1756,0,0,0,0,0,0
$GC,11608,0.60,139.8,47.8,15.2,727,11615,0.00,1.95,0.00,0.000,4,0.000,0.058,2008,3897,1756,0,0,0,0,0,0
$GC,11723,0.60,139.8,27.1,18.6,746,11733,0.10,1.90,0.00,0.000,6,0.205,0.036,1990,2701,1756,0,0,0,0,0,0
$GC,11811,0.60,139.8,12.4,15.8,759,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2701,1756,0,0,0,0,0,0
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11875,begin surface coast
$FINISH,1.2,1.027152
$STATE,11901,end surface coast,CONTROL_FINISHED_OK
$STATE,11901,begin surface
$SM_CCo,11913,22.80,0.184,0,0,1525,200.16
$SM_GC,2.49,0.00,0.00,22.80,0.000,0.000,0.184,58,2930,1525,-5.41,0.00,200.16
$IRIDIUM_FIX,-5538.94,-38.49,241214,090900
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.8,22.143
$10V_AH,10.0,14.440
$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,13.175,56.200,267.325,22.800,0.000,25.749,21.111,269.615,0.000,0.000,21.377,1927.386,7690.026,351.655,2258.779,140.195,33.355,1100.364,0.000,1801.092,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,85.680,1787.040,183.600,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.033,1594.464,755.854,780.991,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,53585,773
$CAP_FILE_SIZE,98910,0
$CFSIZE,259252224,220950528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241214,162834,-5557.591,-28.826,27,0.8,34,-19.9