version: 66.07
glider: 542
mission: 9
dive: 87
start: 12 24 114 16 36 41
data:
$ID,542
$MISSION,9
$DIVE,87
$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,-21906.463
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,241214,162834,-5557.591,-28.826,27,0.8,34,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.6
$GPS2,241214,163547,-5557.557,-28.849,16,0.9,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.149,-0.071
$KALMAN_X,49810.1,-169.2,-104.1,-79344.8,1551.0
$KALMAN_Y,46282.7,540.2,221.0,-42224.2,-3194.8
$MHEAD_RNG_PITCHd_Wd,264.3,4679,-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,-41.90,0.000,2,0.000,0.000,56,2938,2435,0,0,0,0,0,0
$GC,61,-0.60,-146.1,3.0,-2.9,5,96,6.40,2.28,-16.80,0.000,4,0.260,0.053,1592,1507,2941,0,0,0,0,0,0
$GC,135,-0.60,-146.1,13.6,-18.1,15,144,0.00,2.35,0.00,0.000,6,0.000,0.057,1582,2924,2941,0,0,0,0,0,0
$GC,219,-0.60,-146.1,30.9,-22.1,28,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2924,2942,0,0,0,0,0,0
$GC,336,-0.60,-146.1,54.8,-20.5,47,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2924,2942,0,0,0,0,0,0
$GC,448,-0.60,-146.1,78.4,-20.6,66,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2924,2941,0,0,0,0,0,0
$GC,561,-0.60,-146.1,100.7,-19.5,85,564,0.00,1.60,0.00,0.000,4,0.000,0.063,1575,3903,2942,0,0,0,0,0,0
$GC,634,-0.60,-146.1,115.0,-19.7,91,638,0.00,1.55,0.00,0.000,6,0.000,0.034,1576,2905,2943,0,0,0,0,0,0
$GC,964,-0.60,-146.1,177.5,-18.0,122,967,0.00,1.62,0.00,0.000,4,0.000,0.062,1568,3910,2943,0,0,0,0,0,0
$GC,1034,-0.60,-146.1,190.8,-19.2,128,1037,0.00,1.52,0.00,0.000,6,0.000,0.034,1568,2923,2943,0,0,0,0,0,0
$GC,1366,-0.60,-146.1,249.6,-16.9,159,1370,0.00,1.62,0.00,0.000,4,0.000,0.060,1561,3905,2942,0,0,0,0,0,0
$GC,1449,-0.60,-146.1,266.2,-19.0,163,1458,0.10,1.50,0.00,0.000,6,0.188,0.034,1590,2929,2942,0,0,0,0,0,0
$GC,1767,-0.60,-146.1,315.6,-15.8,179,1771,0.00,1.62,0.00,0.000,4,0.000,0.063,1583,3898,2942,0,0,0,0,0,0
$GC,1860,-0.60,-146.1,331.1,-16.7,183,1863,0.00,1.50,0.00,0.000,6,0.000,0.033,1583,2922,2942,0,0,0,0,0,0
$GC,2194,-0.60,-146.1,382.9,-14.9,199,2198,0.00,1.62,0.00,0.000,4,0.000,0.062,1575,3932,2942,0,0,0,0,0,0
$GC,2254,-0.60,-146.1,393.4,-16.3,201,2263,0.00,1.55,0.00,0.000,6,0.000,0.031,1575,2924,2942,0,0,0,0,0,0
$GC,2572,-0.60,-146.1,443.6,-16.2,217,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2922,2942,0,0,0,0,0,0
$GC,2880,-0.60,-146.1,493.4,-16.0,232,2884,0.00,1.60,0.00,0.000,4,0.000,0.061,1568,3899,2942,0,0,0,0,0,0
$GC,2929,-0.60,-146.1,502.0,-17.4,234,2934,0.00,1.50,0.00,0.000,6,0.000,0.033,1568,2929,2943,0,0,0,0,0,0
$GC,3257,-0.60,-146.1,555.9,-16.4,250,3261,0.00,1.60,0.00,0.000,4,0.000,0.062,1560,3900,2942,0,0,0,0,0,0
$GC,3302,-0.60,-146.1,563.9,-18.1,252,3306,0.10,1.48,0.00,0.000,6,0.187,0.034,1589,2936,2942,0,0,0,0,0,0
$GC,3634,-0.60,-146.1,614.1,-15.1,268,3638,0.00,1.58,0.00,0.000,4,0.000,0.062,1582,3896,2942,0,0,0,0,0,0
$GC,3680,-0.60,-146.1,621.2,-16.0,270,3684,0.00,1.48,0.00,0.000,6,0.000,0.033,1582,2928,2943,0,0,0,0,0,0
$GC,4012,-0.60,-146.1,670.9,-14.4,286,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2922,2942,0,0,0,0,0,0
$GC,4322,-0.60,-146.1,715.4,-14.2,301,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2922,2942,0,0,0,0,0,0
$GC,4631,-0.60,-146.1,758.7,-14.0,316,4634,0.00,1.60,0.00,0.000,4,0.000,0.062,1575,3898,2942,0,0,0,0,0,0
$GC,4668,-0.60,-146.1,764.7,-16.0,317,4676,0.00,1.50,0.00,0.000,6,0.000,0.032,1575,2919,2943,0,0,0,0,0,0
$GC,4984,-0.60,-146.1,810.7,-14.6,333,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2919,2943,0,0,0,0,0,0
$GC,5294,-0.60,-146.1,855.0,-14.2,348,5298,0.00,1.60,0.00,0.000,4,0.000,0.061,1568,3897,2942,0,0,0,0,0,0
$GC,5331,-0.60,-146.1,861.0,-15.7,349,5339,0.00,1.48,0.00,0.000,6,0.000,0.032,1568,2924,2943,0,0,0,0,0,0
$GC,5648,-0.60,-146.1,906.9,-14.6,365,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,2942,0,0,0,0,0,0
$GC,5957,-0.60,-146.1,951.8,-14.5,380,5960,0.00,1.60,0.00,0.000,4,0.000,0.061,1560,3903,2942,0,0,0,0,0,0
$GC,6011,-0.60,-146.1,961.0,-16.9,382,6017,0.12,1.48,0.00,0.000,6,0.202,0.033,1589,2941,2943,0,0,0,0,0,0
$STATE,6311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6311,begin apogee
$GC,6316,-0.13,0.0,1000.1,12.7,397,6454,0.50,0.00,133.32,1.782,6,0.172,0.000,1738,2714,2342,0,0,0,0,0,0
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6457,0.60,146.1,1004.3,0.0,404,6609,0.80,0.00,147.00,1.733,6,0.125,0.000,1976,2714,1746,0,0,0,0,0,0
$GC,6910,0.60,146.1,930.0,18.4,426,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2714,1738,0,0,0,0,0,0
$GC,7219,0.60,146.1,874.4,17.8,441,7223,0.00,2.00,0.00,0.000,4,0.000,0.058,1976,3905,1736,0,0,0,0,0,0
$GC,7268,0.60,146.1,864.5,20.8,443,7272,0.00,1.92,0.00,0.000,6,0.000,0.036,1985,2741,1734,0,0,0,0,0,0
$GC,7595,0.60,146.1,803.0,19.2,459,7598,0.00,1.92,0.00,0.000,4,0.000,0.057,1985,3900,1734,0,0,0,0,0,0
$GC,7626,0.60,146.1,796.4,21.9,460,7631,0.00,1.95,0.00,0.000,6,0.000,0.036,1994,2710,1733,0,0,0,0,0,0
$GC,7949,0.60,146.1,734.3,19.2,476,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2710,1733,0,0,0,0,0,0
$GC,8258,0.60,146.1,676.4,18.1,491,8261,0.00,1.98,0.00,0.000,4,0.000,0.058,1994,3928,1732,0,0,0,0,0,0
$GC,8302,0.60,146.1,667.6,20.8,493,8306,0.00,1.95,0.00,0.000,6,0.000,0.037,2004,2708,1731,0,0,0,0,0,0
$GC,8635,0.60,146.1,605.3,18.8,509,8638,0.00,1.95,0.00,0.000,4,0.000,0.057,2004,3900,1732,0,0,0,0,0,0
$GC,8706,0.60,146.1,589.6,22.8,512,8711,0.00,1.92,0.00,0.000,6,0.000,0.036,2013,2710,1731,0,0,0,0,0,0
$GC,9034,0.60,146.1,524.2,19.6,528,9038,0.00,1.98,0.00,0.000,4,0.000,0.058,2014,3902,1731,0,0,0,0,0,0
$GC,9082,0.60,146.1,513.5,21.6,530,9088,0.10,1.92,0.00,0.000,6,0.199,0.037,1994,2707,1731,0,0,0,0,0,0
$GC,9410,0.60,146.1,454.7,17.8,546,9413,0.00,1.95,0.00,0.000,4,0.000,0.057,1994,3903,1731,0,0,0,0,0,0
$GC,9464,0.60,146.1,443.4,21.0,548,9469,0.00,1.92,0.00,0.000,6,0.000,0.037,2002,2705,1731,0,0,0,0,0,0
$GC,9786,0.60,146.1,383.0,19.2,564,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2705,1731,0,0,0,0,0,0
$GC,10097,0.60,146.1,323.2,19.3,579,10101,0.00,1.95,0.00,0.000,4,0.000,0.057,2002,3906,1731,0,0,0,0,0,0
$GC,10165,0.60,146.1,308.6,22.1,582,10169,0.00,1.90,0.00,0.000,6,0.000,0.037,2012,2701,1730,0,0,0,0,0,0
$GC,10487,0.60,146.1,244.6,19.7,598,10491,0.00,1.95,0.00,0.000,4,0.000,0.057,2012,3906,1730,0,0,0,0,0,0
$GC,10547,0.60,146.1,232.2,23.7,603,10551,0.15,1.90,0.00,0.000,6,0.215,0.037,1986,2700,1730,0,0,0,0,0,0
$GC,10876,0.60,146.1,175.7,16.9,634,10880,0.00,1.95,0.00,0.000,4,0.000,0.058,1985,3901,1730,0,0,0,0,0,0
$GC,10938,0.60,146.1,163.5,19.6,639,10946,0.00,1.90,0.00,0.000,6,0.000,0.037,1994,2713,1730,0,0,0,0,0,0
$GC,11264,0.60,146.1,109.1,15.5,670,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2713,1730,0,0,0,0,0,0
$GC,11602,0.60,146.1,61.2,13.9,724,11611,0.00,1.95,0.00,0.000,4,0.000,0.060,1993,3898,1730,0,0,0,0,0,0
$GC,11675,0.60,146.1,49.4,16.4,736,11684,0.00,1.90,0.00,0.000,6,0.000,0.035,2003,2700,1730,0,0,0,0,0,0
$GC,11792,0.60,146.1,32.1,14.9,755,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2699,1730,0,0,0,0,0,0
$GC,11909,0.60,146.1,15.8,13.8,774,11917,0.00,2.20,0.00,0.000,4,0.000,0.045,2014,1291,1730,0,0,0,0,0,0
$GC,11944,0.60,146.1,10.5,14.2,779,11954,0.08,2.28,0.00,0.000,6,0.194,0.051,1992,2724,1730,0,0,0,0,0,0
$STATE,11998,end climb,SURFACE_DEPTH_REACHED
$STATE,11998,begin surface coast
$FINISH,1.1,1.013527
$STATE,12024,end surface coast,CONTROL_FINISHED_OK
$STATE,12024,begin surface
$SM_CCo,12036,20.23,0.190,0,0,1524,200.16
$SM_GC,2.88,0.00,0.00,20.23,0.000,0.000,0.190,53,2940,1524,-5.43,0.28,200.16
$IRIDIUM_FIX,-5535.12,-30.80,241214,131351
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.8,22.302
$10V_AH,10.0,14.539
$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,13.475,82.675,280.325,20.225,0.000,26.155,20.181,275.980,0.000,0.000,19.145,1991.048,7573.724,412.715,2375.826,139.563,33.357,1223.308,0.000,1901.188,0.000,0.539,0.000
$DEVICE_MAMPS,260.100,62.730,1781.685,190.485,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.059,1641.871,792.253,823.914,0.000,0.000,0.000,0.000,0.000,0.000
$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,53738,791
$CAP_FILE_SIZE,110206,0
$CFSIZE,259252224,220884992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,241214,195851,-5558.582,-30.849,19,7.4,38,-19.9