version: 66.07
glider: 542
mission: 9
dive: 56
start: 12 20 114 1 7 21
data:
$ID,542
$MISSION,9
$DIVE,56
$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,-21831.922
$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,26
$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
$GPS1,201214,005836,-5601.487,-32.135,25,0.8,26,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.1
$GPS2,201214,010627,-5601.411,-32.152,26,1.5,39,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.063,-0.153
$KALMAN_X,26351.8,-384.3,-329.8,-58857.6,2098.8
$KALMAN_Y,49730.5,64.2,22.7,-52118.5,2896.4
$MHEAD_RNG_PITCHd_Wd,177.6,3434,-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,-73.9,0.0,0.0,0,59,0.00,0.00,-42.85,0.000,2,0.000,0.000,53,2932,2474,0,0,0,0,0,0
$GC,61,-0.60,-146.1,3.0,-3.3,5,89,6.38,1.65,-15.75,0.000,4,0.259,0.085,1578,3896,2939,0,0,0,0,0,0
$GC,338,-0.60,-146.1,55.3,-20.0,50,348,0.00,1.58,0.00,0.000,6,0.000,0.037,1579,2906,2941,0,0,0,0,0,0
$GC,454,-0.60,-146.1,77.8,-19.6,69,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2905,2941,0,0,0,0,0,0
$GC,566,-0.60,-146.1,99.0,-18.8,88,573,0.00,1.67,0.00,0.000,4,0.000,0.064,1572,3900,2941,0,0,0,0,0,0
$GC,628,-0.60,-146.1,111.2,-19.2,94,638,0.00,1.52,0.00,0.000,6,0.000,0.037,1572,2928,2942,0,0,0,0,0,0
$GC,956,-0.60,-146.1,170.0,-18.0,125,959,0.00,1.62,0.00,0.000,4,0.000,0.064,1565,3900,2942,0,0,0,0,0,0
$GC,1017,-0.60,-146.1,182.1,-18.6,130,1027,0.05,1.52,0.00,0.000,6,0.198,0.036,1580,2925,2942,0,0,0,0,0,0
$GC,1344,-0.60,-146.1,236.4,-16.2,161,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2925,2942,0,0,0,0,0,0
$GC,1653,-0.60,-146.1,288.4,-16.6,180,1657,0.00,1.62,0.00,0.000,4,0.000,0.065,1572,3900,2941,0,0,0,0,0,0
$GC,1744,-0.60,-146.1,304.7,-18.3,184,1748,0.00,1.52,0.00,0.000,6,0.000,0.036,1579,2923,2941,0,0,0,0,0,0
$GC,2076,-0.60,-146.1,359.0,-16.1,200,2079,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3898,2941,0,0,0,0,0,0
$GC,2114,-0.60,-146.1,365.8,-17.3,201,2122,0.00,1.50,0.00,0.000,6,0.000,0.036,1576,2921,2941,0,0,0,0,0,0
$GC,2430,-0.60,-146.1,414.7,-15.2,217,2433,0.00,1.62,0.00,0.000,4,0.000,0.063,1567,3903,2942,0,0,0,0,0,0
$GC,2497,-0.60,-146.1,426.2,-17.6,220,2501,0.00,1.50,0.00,0.000,6,0.000,0.036,1568,2938,2942,0,0,0,0,0,0
$GC,2829,-0.60,-146.1,479.4,-16.0,236,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2933,2942,0,0,0,0,0,0
$GC,3138,-0.60,-146.1,530.2,-16.7,251,3142,0.00,1.60,0.00,0.000,4,0.000,0.063,1561,3903,2942,0,0,0,0,0,0
$GC,3199,-0.60,-146.1,541.0,-17.7,253,3207,0.08,1.50,0.00,0.000,6,0.190,0.036,1583,2929,2942,0,0,0,0,0,0
$GC,3514,-0.60,-146.1,588.0,-14.8,269,3518,0.00,1.60,0.00,0.000,4,0.000,0.064,1576,3897,2942,0,0,0,0,0,0
$GC,3551,-0.60,-146.1,594.2,-15.5,270,3560,0.00,1.52,0.00,0.000,6,0.000,0.034,1579,2917,2942,0,0,0,0,0,0
$GC,3868,-0.60,-146.1,641.6,-15.1,286,3872,0.00,1.62,0.00,0.000,4,0.000,0.063,1572,3900,2942,0,0,0,0,0,0
$GC,3917,-0.60,-146.1,649.8,-15.6,288,3922,0.00,1.50,0.00,0.000,6,0.000,0.034,1571,2929,2942,0,0,0,0,0,0
$GC,4245,-0.60,-146.1,699.4,-15.1,304,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2924,2942,0,0,0,0,0,0
$GC,4555,-0.60,-146.1,745.8,-15.1,319,4558,0.00,1.60,0.00,0.000,4,0.000,0.065,1564,3895,2942,0,0,0,0,0,0
$GC,4599,-0.60,-146.1,753.3,-16.6,321,4604,0.08,1.50,0.00,0.000,6,0.190,0.037,1586,2929,2942,0,0,0,0,0,0
$GC,4932,-0.60,-146.1,801.0,-14.3,337,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2928,2942,0,0,0,0,0,0
$GC,5240,-0.60,-146.1,844.9,-14.3,352,5244,0.00,1.60,0.00,0.000,4,0.000,0.064,1579,3896,2942,0,0,0,0,0,0
$GC,5272,-0.60,-146.1,850.0,-16.3,353,5277,0.00,1.52,0.00,0.000,6,0.000,0.034,1579,2918,2942,0,0,0,0,0,0
$GC,5595,-0.60,-146.1,898.8,-15.1,369,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2916,2942,0,0,0,0,0,0
$GC,5903,-0.60,-146.1,945.4,-14.8,384,5907,0.00,1.62,0.00,0.000,4,0.000,0.064,1572,3903,2942,0,0,0,0,0,0
$GC,5941,-0.60,-146.1,951.8,-17.2,385,5949,0.00,1.52,0.00,0.000,6,0.000,0.035,1572,2919,2942,0,0,0,0,0,0
$STATE,6256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6256,begin apogee
$GC,6261,-0.13,0.0,1000.1,15.2,401,6399,0.57,0.00,134.32,1.807,6,0.182,0.000,1739,2711,2342,0,0,0,0,0,0
$STATE,6400,end apogee,CONTROL_FINISHED_OK
$STATE,6400,begin climb
$GC,6402,0.60,146.1,1005.9,0.0,408,6558,0.80,2.55,148.18,1.774,4,0.126,0.048,1987,1328,1745,0,0,0,0,0,0
$GC,6562,0.60,146.1,986.8,17.3,415,6570,0.00,2.58,0.00,0.000,6,0.000,0.049,1987,2717,1743,0,0,0,0,0,0
$GC,6878,0.60,146.1,926.9,19.5,431,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2717,1737,0,0,0,0,0,0
$GC,7188,0.60,146.1,867.7,18.9,446,7192,0.00,1.98,0.00,0.000,4,0.000,0.060,1987,3894,1735,0,0,0,0,0,0
$GC,7225,0.60,146.1,859.4,21.1,447,7234,0.00,1.92,0.00,0.000,6,0.000,0.039,1995,2741,1733,0,0,0,0,0,0
$GC,7542,0.60,146.1,795.2,20.1,463,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2740,1732,0,0,0,0,0,0
$GC,7852,0.60,146.1,732.2,20.1,478,7856,0.00,1.95,0.00,0.000,4,0.000,0.060,1996,3893,1732,0,0,0,0,0,0
$GC,7878,0.60,146.1,726.1,21.6,479,7883,0.00,1.95,0.00,0.000,6,0.000,0.039,2005,2700,1732,0,0,0,0,0,0
$GC,8205,0.60,146.1,657.6,20.8,495,8209,0.00,1.98,0.00,0.000,4,0.000,0.060,2005,3893,1731,0,0,0,0,0,0
$GC,8243,0.60,146.1,648.7,22.9,496,8251,0.00,1.92,0.00,0.000,6,0.000,0.040,2014,2715,1730,0,0,0,0,0,0
$GC,8559,0.60,146.1,579.2,21.9,512,8563,0.00,1.95,0.00,0.000,4,0.000,0.060,2014,3897,1730,0,0,0,0,0,0
$GC,8604,0.60,146.1,568.6,24.4,514,8608,0.15,1.92,0.00,0.000,6,0.225,0.041,1990,2693,1730,0,0,0,0,0,0
$GC,8930,0.60,146.1,504.4,19.3,530,8934,0.00,1.98,0.00,0.000,4,0.000,0.060,1990,3894,1730,0,0,0,0,0,0
$GC,8967,0.60,146.1,496.0,21.5,531,8977,0.00,1.92,0.00,0.000,6,0.000,0.039,1998,2706,1730,0,0,0,0,0,0
$GC,9284,0.60,146.1,434.2,19.4,547,9288,0.00,1.95,0.00,0.000,4,0.000,0.060,1998,3892,1730,0,0,0,0,0,0
$GC,9316,0.60,146.1,427.0,21.3,548,9321,0.00,1.90,0.00,0.000,6,0.000,0.038,2007,2716,1730,0,0,0,0,0,0
$GC,9638,0.60,146.1,365.0,18.7,564,9642,0.00,1.95,0.00,0.000,4,0.000,0.060,2007,3903,1729,0,0,0,0,0,0
$GC,9684,0.60,146.1,355.8,20.8,566,9688,0.12,1.88,0.00,0.000,6,0.228,0.040,1989,2709,1729,0,0,0,0,0,0
$GC,10015,0.60,146.1,298.5,17.8,582,10019,0.00,1.95,0.00,0.000,4,0.000,0.060,1989,3900,1729,0,0,0,0,0,0
$GC,10040,0.60,146.1,294.2,18.8,583,10043,0.00,1.90,0.00,0.000,6,0.000,0.039,1997,2698,1729,0,0,0,0,0,0
$GC,10364,0.60,146.1,234.6,18.4,602,10368,0.00,1.95,0.00,0.000,4,0.000,0.060,1997,3892,1729,0,0,0,0,0,0
$GC,10433,0.60,146.1,220.9,20.4,608,10437,0.00,1.88,0.00,0.000,6,0.000,0.038,2007,2701,1729,0,0,0,0,0,0
$GC,10765,0.60,146.1,163.3,17.3,639,10769,0.00,1.95,0.00,0.000,4,0.000,0.060,2006,3895,1729,0,0,0,0,0,0
$GC,10825,0.60,146.1,150.8,20.1,644,10837,0.10,1.90,0.00,0.000,6,0.208,0.038,1988,2711,1729,0,0,0,0,0,0
$GC,11153,0.60,146.1,99.8,16.5,675,11162,0.00,2.25,0.00,0.000,4,0.000,0.049,1998,1287,1729,0,0,0,0,0,0
$GC,11183,0.60,146.1,95.4,16.3,679,11190,0.00,2.25,0.00,0.000,6,0.000,0.054,1997,2720,1729,0,0,0,0,0,0
$GC,11422,0.60,146.1,55.8,16.2,720,11431,0.00,1.90,0.00,0.000,4,0.000,0.063,1998,3884,1729,0,0,0,0,0,0
$GC,11449,0.60,146.1,51.0,17.8,724,11458,0.00,1.88,0.00,0.000,6,0.000,0.039,2007,2711,1729,0,0,0,0,0,0
$GC,11565,0.60,146.1,31.7,16.8,743,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2711,1729,0,0,0,0,0,0
$GC,11684,0.60,146.1,12.4,15.6,762,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2711,1729,0,0,0,0,0,0
$STATE,11742,end climb,SURFACE_DEPTH_REACHED
$STATE,11742,begin surface coast
$FINISH,1.2,1.026656
$STATE,11762,end surface coast,CONTROL_FINISHED_OK
$STATE,11762,begin surface
$SM_CCo,11774,20.23,0.190,0,0,1525,200.16
$SM_GC,3.15,0.00,0.00,20.23,0.000,0.000,0.190,61,2926,1525,-5.40,-0.11,200.16
$IRIDIUM_FIX,-5538.94,-30.83,191214,212127
$TT8_MAMPS,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.6,17.472
$10V_AH,10.1,11.435
$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,13.575,90.400,282.500,20.225,0.000,28.212,41.417,267.881,0.000,0.000,41.483,1938.924,7399.142,419.273,2366.489,143.794,33.357,1228.806,0.000,1864.808,0.000,0.539,0.000
$DEVICE_MAMPS,259.335,84.915,1806.930,190.485,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.440,1614.521,789.006,808.665,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354028
$DATA_FILE_SIZE,53621,774
$CAP_FILE_SIZE,110985,0
$CFSIZE,259252224,222810112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201214,042504,-5602.528,-31.505,33,1.1,33,-19.9