version: 66.07
glider: 542
mission: 9
dive: 95
start: 12 25 114 21 38 41
data:
$ID,542
$MISSION,9
$DIVE,95
$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,-21926.656
$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,30
$R_STBD_OVSHOOT,37
$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
$GPS1,251214,213028,-5557.888,-32.844,40,0.7,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.0
$GPS2,251214,213747,-5557.886,-32.797,16,1.3,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.017,-0.164
$KALMAN_X,56790.2,-284.1,-303.4,-90088.9,3060.7
$KALMAN_Y,42714.3,279.0,73.7,-38854.5,-2133.6
$MHEAD_RNG_PITCHd_Wd,205.7,4870,-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,-73.9,0.0,0.0,0,50,0.00,0.00,-33.62,0.000,2,0.000,0.000,50,2958,2245,0,0,0,0,0,0
$GC,53,-0.59,-136.2,3.1,-4.2,4,88,6.25,1.60,-24.08,0.000,4,0.249,0.082,1583,3896,2899,0,0,0,0,0,0
$GC,194,-0.59,-136.2,24.3,-19.9,25,203,0.00,1.58,0.00,0.000,6,0.000,0.033,1583,2892,2901,0,0,0,0,0,0
$GC,274,-0.59,-136.2,41.5,-21.1,38,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2891,2902,0,0,0,0,0,0
$GC,391,-0.59,-136.2,64.6,-19.8,57,398,0.00,1.65,0.00,0.000,4,0.000,0.060,1575,3879,2902,0,0,0,0,0,0
$GC,433,-0.59,-136.2,74.2,-21.7,64,442,0.00,1.48,0.00,0.000,6,0.000,0.034,1575,2928,2902,0,0,0,0,0,0
$GC,547,-0.59,-136.2,97.7,-20.3,83,553,0.00,1.60,0.00,0.000,4,0.000,0.060,1568,3887,2902,0,0,0,0,0,0
$GC,677,-0.59,-136.2,124.0,-20.1,95,681,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2939,2902,0,0,0,0,0,0
$GC,1008,-0.59,-136.2,189.4,-19.5,126,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2932,2902,0,0,0,0,0,0
$GC,1326,-0.59,-136.2,250.8,-19.8,156,1330,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3882,2902,0,0,0,0,0,0
$GC,1417,-0.59,-136.2,269.6,-20.6,160,1421,0.10,1.48,0.00,0.000,6,0.182,0.033,1590,2928,2902,0,0,0,0,0,0
$GC,1751,-0.59,-136.2,326.5,-17.0,176,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2925,2902,0,0,0,0,0,0
$GC,2061,-0.59,-136.2,375.7,-15.6,191,2065,0.00,1.58,0.00,0.000,4,0.000,0.061,1583,3880,2901,0,0,0,0,0,0
$GC,2101,-0.59,-136.2,383.0,-17.4,192,2110,0.00,1.48,0.00,0.000,6,0.000,0.033,1583,2914,2902,0,0,0,0,0,0
$GC,2416,-0.59,-136.2,434.9,-16.4,208,2419,0.00,1.60,0.00,0.000,4,0.000,0.061,1576,3886,2902,0,0,0,0,0,0
$GC,2483,-0.59,-136.2,446.7,-18.3,211,2487,0.00,1.45,0.00,0.000,6,0.000,0.033,1576,2934,2902,0,0,0,0,0,0
$GC,2815,-0.59,-136.2,501.3,-16.1,227,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2928,2902,0,0,0,0,0,0
$GC,3124,-0.59,-136.2,549.2,-15.0,242,3128,0.00,1.58,0.00,0.000,4,0.000,0.060,1568,3889,2902,0,0,0,0,0,0
$GC,3180,-0.59,-136.2,558.6,-17.0,244,3184,0.00,1.45,0.00,0.000,6,0.000,0.033,1568,2932,2902,0,0,0,0,0,0
$GC,3501,-0.59,-136.2,608.2,-15.3,260,3505,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3886,2902,0,0,0,0,0,0
$GC,3533,-0.59,-136.2,613.9,-17.3,261,3539,0.12,1.48,0.00,0.000,6,0.199,0.032,1591,2924,2902,0,0,0,0,0,0
$GC,3856,-0.59,-136.2,658.7,-13.9,277,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2923,2902,0,0,0,0,0,0
$GC,4164,-0.59,-136.2,700.3,-13.0,292,4168,0.00,1.58,0.00,0.000,4,0.000,0.061,1584,3882,2902,0,0,0,0,0,0
$GC,4202,-0.59,-136.2,705.9,-15.0,293,4210,0.00,1.48,0.00,0.000,6,0.000,0.031,1584,2915,2902,0,0,0,0,0,0
$GC,4519,-0.59,-136.2,748.3,-13.6,309,4523,0.00,1.60,0.00,0.000,4,0.000,0.061,1577,3890,2902,0,0,0,0,0,0
$GC,4544,-0.59,-136.2,752.3,-14.0,310,4549,0.00,1.48,0.00,0.000,6,0.000,0.031,1577,2933,2902,0,0,0,0,0,0
$GC,4872,-0.59,-136.2,796.4,-13.4,326,4875,0.00,1.55,0.00,0.000,4,0.000,0.061,1569,3877,2902,0,0,0,0,0,0
$GC,4921,-0.59,-136.2,803.7,-13.9,328,4926,0.00,1.45,0.00,0.000,6,0.000,0.032,1570,2917,2902,0,0,0,0,0,0
$GC,5248,-0.59,-136.2,849.1,-14.0,344,5252,0.00,1.60,0.00,0.000,4,0.000,0.061,1562,3889,2903,0,0,0,0,0,0
$GC,5297,-0.59,-136.2,856.4,-14.7,346,5302,0.10,1.45,0.00,0.000,6,0.184,0.031,1591,2937,2903,0,0,0,0,0,0
$GC,5625,-0.59,-136.2,895.3,-11.7,362,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2937,2903,0,0,0,0,0,0
$GC,5934,-0.59,-136.2,932.5,-12.2,377,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2937,2903,0,0,0,0,0,0
$GC,6244,-0.59,-136.2,970.2,-12.7,392,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2937,2903,0,0,0,0,0,0
$STATE,6489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6489,begin apogee
$GC,6494,-0.13,0.0,1001.0,12.4,404,6621,0.50,0.00,124.45,1.792,6,0.170,0.000,1741,2714,2342,0,0,0,0,0,0
$STATE,6622,end apogee,CONTROL_FINISHED_OK
$STATE,6622,begin climb
$GC,6624,0.59,136.2,1004.8,0.0,410,6772,0.77,2.58,136.57,1.735,4,0.125,0.045,1983,1330,1785,0,0,0,0,0,0
$GC,6782,0.59,136.2,985.5,16.9,417,6787,0.00,2.50,0.00,0.000,6,0.000,0.048,1983,2698,1783,0,0,0,0,0,0
$GC,7104,0.59,136.2,925.0,18.9,433,7108,0.00,2.00,0.00,0.000,4,0.000,0.057,1983,3896,1776,0,0,0,0,0,0
$GC,7152,0.59,136.2,914.7,20.3,435,7158,0.00,1.95,0.00,0.000,6,0.000,0.036,1992,2736,1775,0,0,0,0,0,0
$GC,7480,0.59,136.2,850.3,20.0,451,7484,0.00,1.95,0.00,0.000,4,0.000,0.057,1992,3900,1773,0,0,0,0,0,0
$GC,7495,0.59,136.2,846.7,19.8,451,7503,0.00,1.95,0.00,0.000,6,0.000,0.036,2001,2714,1773,0,0,0,0,0,0
$GC,7811,0.59,136.2,782.4,20.3,467,7815,0.00,1.95,0.00,0.000,4,0.000,0.056,2001,3906,1772,0,0,0,0,0,0
$GC,7878,0.59,136.2,767.6,22.6,470,7882,0.00,1.92,0.00,0.000,6,0.000,0.037,2010,2706,1772,0,0,0,0,0,0
$GC,8210,0.59,136.2,697.2,21.0,486,8213,0.00,1.98,0.00,0.000,4,0.000,0.057,2011,3907,1771,0,0,0,0,0,0
$GC,8287,0.59,136.2,679.1,22.8,489,8292,0.10,1.95,0.00,0.000,6,0.207,0.037,1992,2704,1771,0,0,0,0,0,0
$GC,8609,0.59,136.2,618.6,18.4,505,8612,0.00,1.95,0.00,0.000,4,0.000,0.056,1992,3897,1771,0,0,0,0,0,0
$GC,8654,0.59,136.2,609.5,20.5,507,8657,0.00,1.90,0.00,0.000,6,0.000,0.037,2001,2700,1770,0,0,0,0,0,0
$GC,8985,0.59,136.2,545.2,19.4,523,8989,0.00,1.98,0.00,0.000,4,0.000,0.056,2001,3909,1771,0,0,0,0,0,0
$GC,9076,0.59,136.2,525.8,22.0,527,9080,0.00,1.90,0.00,0.000,6,0.000,0.037,2010,2712,1770,0,0,0,0,0,0
$GC,9408,0.59,136.2,459.3,20.2,543,9412,0.00,1.95,0.00,0.000,4,0.000,0.056,2010,3893,1770,0,0,0,0,0,0
$GC,9457,0.59,136.2,448.1,22.0,545,9462,0.10,1.90,0.00,0.000,6,0.205,0.037,1991,2711,1770,0,0,0,0,0,0
$GC,9786,0.59,136.2,386.2,18.7,561,9790,0.00,1.90,0.00,0.000,4,0.000,0.057,1991,3900,1770,0,0,0,0,0,0
$GC,9854,0.59,136.2,371.6,21.4,564,9858,0.00,1.90,0.00,0.000,6,0.000,0.037,1999,2696,1770,0,0,0,0,0,0
$GC,10186,0.59,136.2,308.9,18.5,580,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2696,1770,0,0,0,0,0,0
$GC,10497,0.59,136.2,250.2,18.9,595,10500,0.00,1.92,0.00,0.000,4,0.000,0.056,1999,3897,1770,0,0,0,0,0,0
$GC,10557,0.59,136.2,237.8,22.0,599,10561,0.00,1.88,0.00,0.000,6,0.000,0.037,2008,2706,1769,0,0,0,0,0,0
$GC,10887,0.59,136.2,173.6,18.5,630,10891,0.00,1.92,0.00,0.000,4,0.000,0.057,2009,3909,1769,0,0,0,0,0,0
$GC,10924,0.59,136.2,166.6,20.5,633,10928,0.12,1.90,0.00,0.000,6,0.222,0.035,1989,2697,1769,0,0,0,0,0,0
$GC,11253,0.59,136.2,112.4,15.3,664,11257,0.00,1.95,0.00,0.000,4,0.000,0.057,1989,3906,1769,0,0,0,0,0,0
$GC,11325,0.59,136.2,99.2,18.5,670,11335,0.00,1.90,0.00,0.000,6,0.000,0.035,1998,2704,1769,0,0,0,0,0,0
$GC,11683,0.59,136.2,43.6,14.5,731,11690,0.00,1.95,0.00,0.000,4,0.000,0.057,1998,3894,1769,0,0,0,0,0,0
$GC,11768,0.59,136.2,29.9,16.6,745,11778,0.08,1.88,0.00,0.000,6,0.210,0.036,1986,2710,1769,0,0,0,0,0,0
$GC,11854,0.59,136.2,18.0,13.5,758,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2710,1769,0,0,0,0,0,0
$GC,11938,0.59,136.2,7.0,12.7,771,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2709,1769,0,0,0,0,0,0
$STATE,11965,end climb,SURFACE_DEPTH_REACHED
$STATE,11965,begin surface coast
$FINISH,1.3,1.014343
$STATE,11992,end surface coast,CONTROL_FINISHED_OK
$STATE,11992,begin surface
$SM_CCo,12004,24.30,0.196,0,0,1524,200.16
$SM_GC,2.54,0.00,0.00,24.30,0.000,0.000,0.196,63,2933,1524,-5.40,0.08,200.16
$IRIDIUM_FIX,-5538.94,-23.10,251214,171733
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.8,23.516
$10V_AH,10.0,15.347
$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,13.325,88.850,261.025,24.300,0.000,28.616,46.662,253.220,0.000,0.000,18.674,1986.660,7565.337,382.478,2389.179,147.010,33.359,1212.117,0.000,1911.979,0.000,0.539,0.000
$DEVICE_MAMPS,248.625,81.855,1792.395,195.840,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.753,1618.798,779.137,808.992,0.000,0.000,0.000,0.000,0.000,0.000
$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,53598,779
$CAP_FILE_SIZE,112949,0
$CFSIZE,259252224,220385280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261214,010028,-5559.493,-32.750,39,0.9,43,-19.9