version: 66.07
glider: 542
mission: 9
dive: 89
start: 12 24 114 23 46 35
data:
$ID,542
$MISSION,9
$DIVE,89
$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,-21911.359
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,241214,233828,-5559.581,-32.686,36,0.9,36,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-65.4
$GPS2,241214,234541,-5559.532,-32.606,21,1.0,21,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.060,0.154
$KALMAN_X,51785.3,119.6,85.3,-85690.2,1955.4
$KALMAN_Y,45791.1,239.5,237.2,-45096.6,-2757.5
$MHEAD_RNG_PITCHd_Wd,41.2,2835,-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,-34.10,0.000,2,0.000,0.000,61,2960,2247,0,0,0,0,0,0
$GC,53,-0.60,-140.1,3.0,-3.8,4,89,6.28,1.60,-24.27,0.000,4,0.255,0.084,1582,3895,2915,0,0,0,0,0,0
$GC,359,-0.60,-140.1,59.8,-20.6,53,366,0.00,1.58,0.00,0.000,6,0.000,0.034,1582,2897,2916,0,0,0,0,0,0
$GC,470,-0.60,-140.1,82.7,-18.7,72,480,0.00,1.67,0.00,0.000,4,0.000,0.061,1575,3896,2916,0,0,0,0,0,0
$GC,636,-0.60,-140.1,115.2,-19.8,94,640,0.00,1.52,0.00,0.000,6,0.000,0.034,1576,2924,2916,0,0,0,0,0,0
$GC,969,-0.60,-140.1,174.9,-18.0,125,972,0.00,1.60,0.00,0.000,4,0.000,0.060,1568,3885,2916,0,0,0,0,0,0
$GC,1108,-0.60,-140.1,202.7,-19.6,137,1112,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2929,2916,0,0,0,0,0,0
$GC,1449,-0.60,-140.1,265.6,-18.4,165,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2923,2916,0,0,0,0,0,0
$GC,1756,-0.60,-140.1,321.6,-18.6,180,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,2916,0,0,0,0,0,0
$GC,2068,-0.60,-140.1,376.0,-17.3,195,2071,0.00,1.60,0.00,0.000,4,0.000,0.062,1561,3891,2916,0,0,0,0,0,0
$GC,2190,-0.60,-140.1,399.3,-17.4,200,2196,0.12,1.50,0.00,0.000,6,0.201,0.033,1591,2921,2916,0,0,0,0,0,0
$GC,2512,-0.60,-140.1,445.8,-14.3,216,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2921,2917,0,0,0,0,0,0
$GC,2821,-0.60,-140.1,488.1,-13.7,231,2825,0.00,1.60,0.00,0.000,4,0.000,0.061,1584,3892,2917,0,0,0,0,0,0
$GC,2881,-0.60,-140.1,497.2,-15.2,233,2889,0.00,1.48,0.00,0.000,6,0.000,0.032,1583,2925,2917,0,0,0,0,0,0
$GC,3198,-0.60,-140.1,544.0,-14.9,249,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2917,0,0,0,0,0,0
$GC,3507,-0.60,-140.1,590.1,-14.6,264,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2917,0,0,0,0,0,0
$GC,3816,-0.60,-140.1,635.7,-15.0,279,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2918,0,0,0,0,0,0
$GC,4126,-0.60,-140.1,681.2,-14.5,294,4130,0.00,1.60,0.00,0.000,4,0.000,0.062,1577,3899,2917,0,0,0,0,0,0
$GC,4174,-0.60,-140.1,689.0,-15.0,296,4179,0.00,1.48,0.00,0.000,6,0.000,0.032,1576,2933,2917,0,0,0,0,0,0
$GC,4502,-0.60,-140.1,737.2,-14.6,312,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2927,2918,0,0,0,0,0,0
$GC,4812,-0.60,-140.1,781.1,-13.7,327,4815,0.00,1.58,0.00,0.000,4,0.000,0.060,1569,3891,2918,0,0,0,0,0,0
$GC,4860,-0.60,-140.1,788.8,-15.9,329,4865,0.00,1.48,0.00,0.000,6,0.000,0.032,1569,2926,2917,0,0,0,0,0,0
$GC,5189,-0.60,-140.1,835.6,-14.3,345,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2921,2917,0,0,0,0,0,0
$GC,5497,-0.60,-140.1,879.3,-14.0,360,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,2917,0,0,0,0,0,0
$GC,5807,-0.60,-140.1,922.1,-13.8,375,5810,0.00,1.58,0.00,0.000,4,0.000,0.062,1562,3885,2917,0,0,0,0,0,0
$GC,5861,-0.60,-140.1,930.7,-15.1,377,5866,0.08,1.45,0.00,0.000,6,0.181,0.033,1585,2939,2917,0,0,0,0,0,0
$GC,6183,-0.60,-140.1,970.7,-12.1,393,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2937,2918,0,0,0,0,0,0
$STATE,6429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6429,begin apogee
$GC,6433,-0.13,0.0,1000.1,12.2,405,6564,0.52,0.00,127.78,1.787,6,0.171,0.000,1741,2715,2341,0,0,0,0,0,0
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6567,0.60,140.1,1003.0,0.0,411,6712,0.77,0.00,141.32,1.740,6,0.124,0.000,1972,2715,1770,0,0,0,0,0,0
$GC,7020,0.60,140.1,925.0,19.3,433,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2715,1761,0,0,0,0,0,0
$GC,7328,0.60,140.1,865.9,19.3,448,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2715,1759,0,0,0,0,0,0
$GC,7638,0.60,140.1,807.5,18.4,463,7642,0.00,1.98,0.00,0.000,4,0.000,0.057,1972,3882,1758,0,0,0,0,0,0
$GC,7709,0.60,140.1,792.0,21.6,466,7714,0.00,1.88,0.00,0.000,6,0.000,0.036,1981,2733,1756,0,0,0,0,0,0
$GC,8037,0.60,140.1,728.1,19.5,482,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2733,1756,0,0,0,0,0,0
$GC,8346,0.60,140.1,667.9,19.4,497,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2734,1756,0,0,0,0,0,0
$GC,8656,0.60,140.1,608.4,19.1,512,8659,0.00,1.90,0.00,0.000,4,0.000,0.057,1981,3893,1756,0,0,0,0,0,0
$GC,8710,0.60,140.1,597.0,20.1,514,8715,0.00,1.90,0.00,0.000,6,0.000,0.037,1990,2715,1755,0,0,0,0,0,0
$GC,9032,0.60,140.1,536.5,18.5,530,9036,0.00,1.95,0.00,0.000,4,0.000,0.057,1990,3895,1754,0,0,0,0,0,0
$GC,9078,0.60,140.1,527.4,20.9,532,9082,0.00,1.88,0.00,0.000,6,0.000,0.037,1999,2697,1754,0,0,0,0,0,0
$GC,9410,0.60,140.1,463.6,18.8,548,9414,0.00,1.95,0.00,0.000,4,0.000,0.057,1999,3897,1754,0,0,0,0,0,0
$GC,9470,0.60,140.1,450.6,22.0,550,9478,0.00,1.90,0.00,0.000,6,0.000,0.036,2009,2714,1754,0,0,0,0,0,0
$GC,9787,0.60,140.1,388.5,19.5,566,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2714,1754,0,0,0,0,0,0
$GC,10098,0.60,140.1,329.8,18.7,581,10101,0.00,1.90,0.00,0.000,4,0.000,0.056,2009,3889,1754,0,0,0,0,0,0
$GC,10193,0.60,140.1,308.9,21.6,585,10198,0.10,1.88,0.00,0.000,6,0.201,0.036,1990,2712,1753,0,0,0,0,0,0
$GC,10522,0.60,140.1,250.3,17.8,601,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2712,1754,0,0,0,0,0,0
$GC,10839,0.60,140.1,194.2,18.1,630,10843,0.00,1.92,0.00,0.000,4,0.000,0.057,1990,3889,1753,0,0,0,0,0,0
$GC,10908,0.60,140.1,180.7,20.1,636,10912,0.00,1.83,0.00,0.000,6,0.000,0.036,1998,2708,1753,0,0,0,0,0,0
$GC,11241,0.60,140.1,125.8,14.9,667,11245,0.00,1.90,0.00,0.000,4,0.000,0.057,1998,3895,1753,0,0,0,0,0,0
$GC,11312,0.60,140.1,113.0,19.6,673,11316,0.00,1.88,0.00,0.000,6,0.000,0.037,2007,2704,1753,0,0,0,0,0,0
$GC,11659,0.60,140.1,56.2,15.7,727,11666,0.00,1.95,0.00,0.000,4,0.000,0.058,2007,3893,1753,0,0,0,0,0,0
$GC,11737,0.60,140.1,42.3,18.0,740,11747,0.10,1.88,0.00,0.000,6,0.205,0.036,1988,2711,1753,0,0,0,0,0,0
$GC,11855,0.60,140.1,26.7,13.4,759,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2710,1754,0,0,0,0,0,0
$GC,11939,0.60,140.1,15.3,12.6,772,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2710,1753,0,0,0,0,0,0
$GC,12023,0.60,140.1,3.2,14.5,785,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2710,1753,0,0,0,0,0,0
$STATE,12038,end climb,SURFACE_DEPTH_REACHED
$STATE,12038,begin surface coast
$FINISH,1.2,1.013115
$STATE,12064,end surface coast,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$SM_CCo,12077,23.15,0.187,0,0,1524,200.16
$SM_GC,2.35,0.00,0.00,23.15,0.000,0.000,0.187,57,2935,1524,-5.41,0.14,200.16
$IRIDIUM_FIX,-5535.12,-23.07,241214,161601
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.8,22.594
$10V_AH,10.0,14.738
$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,13.150,55.875,269.100,23.150,0.000,31.141,19.010,261.738,0.000,0.000,23.918,1965.337,7741.277,377.308,2310.022,141.400,33.358,1130.860,0.000,1850.438,0.000,0.539,0.000
$DEVICE_MAMPS,254.745,84.150,1787.040,187.425,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.881,1643.001,785.648,829.908,0.000,0.000,0.000,0.000,0.000,0.000
$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,53726,791
$CAP_FILE_SIZE,100215,0
$CFSIZE,259252224,220762112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251214,030928,-5558.090,-30.668,38,1.1,38,-19.9