version: 66.07
glider: 542
mission: 9
dive: 93
start: 12 25 114 14 24 12
data:
$ID,542
$MISSION,9
$DIVE,93
$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,-21921.848
$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,28
$R_STBD_OVSHOOT,32
$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
$GPS1,251214,141627,-5558.449,-32.358,26,1.0,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.1
$GPS2,251214,142318,-5558.399,-32.315,19,1.0,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.161,-0.038
$KALMAN_X,55919.9,-470.9,-429.2,-88406.8,4298.1
$KALMAN_Y,43755.4,216.1,216.8,-40921.4,-2509.3
$MHEAD_RNG_PITCHd_Wd,276.8,3812,-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,-73.9,0.0,0.0,0,51,0.00,0.00,-34.60,0.000,2,0.000,0.000,49,2954,2266,0,0,0,0,0,0
$GC,54,-0.60,-137.0,3.1,-4.1,4,88,6.35,0.00,-23.85,0.000,6,0.256,0.000,1589,2954,2902,0,0,0,0,0,0
$GC,163,-0.60,-137.0,17.3,-19.3,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2954,2903,0,0,0,0,0,0
$GC,247,-0.60,-137.0,33.9,-20.2,33,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2954,2904,0,0,0,0,0,0
$GC,359,-0.60,-137.0,57.2,-20.7,52,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2954,2904,0,0,0,0,0,0
$GC,474,-0.60,-137.0,80.2,-19.2,71,480,0.00,2.28,0.00,0.000,4,0.000,0.040,1591,1502,2904,0,0,0,0,0,0
$GC,509,-0.60,-137.0,86.7,-17.1,77,516,0.00,2.30,0.00,0.000,6,0.000,0.054,1581,2921,2904,0,0,0,0,0,0
$GC,740,-0.60,-137.0,131.5,-18.9,104,743,0.00,1.58,0.00,0.000,4,0.000,0.061,1574,3893,2904,0,0,0,0,0,0
$GC,802,-0.60,-137.0,144.5,-19.5,109,810,0.00,1.55,0.00,0.000,6,0.000,0.032,1573,2888,2905,0,0,0,0,0,0
$GC,1127,-0.60,-137.0,204.9,-17.6,140,1131,0.00,1.65,0.00,0.000,4,0.000,0.060,1566,3899,2904,0,0,0,0,0,0
$GC,1189,-0.60,-137.0,216.9,-18.4,145,1198,0.12,1.50,0.00,0.000,6,0.207,0.033,1595,2926,2905,0,0,0,0,0,0
$GC,1524,-0.60,-137.0,265.4,-14.2,172,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2926,2904,0,0,0,0,0,0
$GC,1836,-0.60,-137.0,310.7,-15.0,187,1839,0.00,1.60,0.00,0.000,4,0.000,0.063,1587,3895,2904,0,0,0,0,0,0
$GC,1903,-0.60,-137.0,322.3,-17.0,190,1907,0.00,1.48,0.00,0.000,6,0.000,0.033,1587,2931,2905,0,0,0,0,0,0
$GC,2236,-0.60,-137.0,373.8,-15.1,206,2239,0.00,1.60,0.00,0.000,4,0.000,0.061,1580,3897,2904,0,0,0,0,0,0
$GC,2296,-0.60,-137.0,383.9,-16.1,208,2306,0.00,1.50,0.00,0.000,6,0.000,0.032,1581,2919,2905,0,0,0,0,0,0
$GC,2612,-0.60,-137.0,431.4,-14.8,224,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2919,2905,0,0,0,0,0,0
$GC,2922,-0.60,-137.0,476.3,-15.0,239,2926,0.00,1.60,0.00,0.000,4,0.000,0.061,1573,3893,2905,0,0,0,0,0,0
$GC,2976,-0.60,-137.0,485.5,-16.6,241,2981,0.00,1.48,0.00,0.000,6,0.000,0.033,1573,2934,2905,0,0,0,0,0,0
$GC,3299,-0.60,-137.0,535.1,-15.4,257,3303,0.00,1.58,0.00,0.000,4,0.000,0.060,1565,3890,2905,0,0,0,0,0,0
$GC,3352,-0.60,-137.0,544.4,-16.5,259,3358,0.12,1.48,0.00,0.000,6,0.203,0.031,1595,2925,2905,0,0,0,0,0,0
$GC,3674,-0.60,-137.0,588.7,-13.5,275,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2925,2905,0,0,0,0,0,0
$GC,3984,-0.60,-137.0,630.0,-13.6,290,3988,0.00,1.60,0.00,0.000,4,0.000,0.062,1588,3900,2906,0,0,0,0,0,0
$GC,4033,-0.60,-137.0,637.4,-14.5,292,4038,0.00,1.50,0.00,0.000,6,0.000,0.031,1588,2921,2906,0,0,0,0,0,0
$GC,4360,-0.60,-137.0,683.6,-13.9,308,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2918,2906,0,0,0,0,0,0
$GC,4670,-0.60,-137.0,726.8,-13.9,323,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2918,2906,0,0,0,0,0,0
$GC,4979,-0.60,-137.0,770.0,-14.0,338,4983,0.00,1.60,0.00,0.000,4,0.000,0.061,1581,3896,2906,0,0,0,0,0,0
$GC,5012,-0.60,-137.0,775.1,-15.6,339,5016,0.00,1.48,0.00,0.000,6,0.000,0.032,1581,2922,2906,0,0,0,0,0,0
$GC,5334,-0.60,-137.0,822.6,-14.7,355,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2916,2906,0,0,0,0,0,0
$GC,5642,-0.60,-137.0,867.0,-14.2,370,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2916,2906,0,0,0,0,0,0
$GC,5952,-0.60,-137.0,908.8,-13.4,385,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2916,2906,0,0,0,0,0,0
$GC,6262,-0.60,-137.0,949.4,-13.0,400,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2916,2906,0,0,0,0,0,0
$GC,6570,-0.60,-137.0,989.5,-13.2,415,6574,0.00,1.62,0.00,0.000,4,0.000,0.063,1573,3903,2906,0,0,0,0,0,0
$GC,6615,-0.60,-137.0,996.1,-15.8,417,6619,0.00,1.48,0.00,0.000,6,0.000,0.033,1573,2928,2906,0,0,0,0,0,0
$STATE,6657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6657,begin apogee
$GC,6662,-0.13,0.0,1001.8,13.8,419,6791,0.57,0.00,125.28,1.803,6,0.174,0.000,1743,2710,2343,0,0,0,0,0,0
$STATE,6791,end apogee,CONTROL_FINISHED_OK
$STATE,6792,begin climb
$GC,6793,0.60,137.0,1005.5,0.0,425,6938,0.77,0.00,138.12,1.749,6,0.121,0.000,1977,2710,1783,0,0,0,0,0,0
$GC,7244,0.60,137.0,929.0,19.3,447,7248,0.00,2.03,0.00,0.000,4,0.000,0.057,1977,3897,1774,0,0,0,0,0,0
$GC,7320,0.60,137.0,912.3,22.3,450,7325,0.00,1.92,0.00,0.000,6,0.000,0.034,1986,2746,1772,0,0,0,0,0,0
$GC,7643,0.60,137.0,849.2,19.1,466,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2744,1771,0,0,0,0,0,0
$GC,7951,0.60,137.0,789.5,19.5,481,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2744,1770,0,0,0,0,0,0
$GC,8261,0.60,137.0,729.9,19.0,496,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2745,1769,0,0,0,0,0,0
$GC,8571,0.60,137.0,670.6,19.2,511,8574,0.00,1.90,0.00,0.000,4,0.000,0.057,1986,3903,1769,0,0,0,0,0,0
$GC,8619,0.60,137.0,660.2,21.1,513,8624,0.00,1.92,0.00,0.000,6,0.000,0.036,1995,2712,1768,0,0,0,0,0,0
$GC,8946,0.60,137.0,598.0,18.8,529,8950,0.00,1.95,0.00,0.000,4,0.000,0.057,1995,3903,1768,0,0,0,0,0,0
$GC,8980,0.60,137.0,591.1,21.3,530,8984,0.00,1.90,0.00,0.000,6,0.000,0.037,2004,2705,1768,0,0,0,0,0,0
$GC,9301,0.60,137.0,528.0,19.8,546,9304,0.00,1.95,0.00,0.000,4,0.000,0.057,2004,3903,1767,0,0,0,0,0,0
$GC,9349,0.60,137.0,517.0,23.9,548,9355,0.08,1.92,0.00,0.000,6,0.210,0.036,1993,2708,1767,0,0,0,0,0,0
$GC,9677,0.60,137.0,456.0,18.8,564,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2708,1767,0,0,0,0,0,0
$GC,9986,0.60,137.0,397.3,19.0,579,9989,0.00,1.92,0.00,0.000,4,0.000,0.057,1993,3898,1767,0,0,0,0,0,0
$GC,10058,0.60,137.0,382.0,21.2,582,10062,0.00,1.90,0.00,0.000,6,0.000,0.036,2001,2707,1767,0,0,0,0,0,0
$GC,10385,0.60,137.0,317.8,20.0,598,10388,0.00,1.95,0.00,0.000,4,0.000,0.056,2001,3910,1767,0,0,0,0,0,0
$GC,10455,0.60,137.0,303.1,21.4,601,10458,0.00,1.90,0.00,0.000,6,0.000,0.037,2010,2703,1766,0,0,0,0,0,0
$GC,10781,0.60,137.0,238.5,19.7,619,10785,0.00,1.92,0.00,0.000,4,0.000,0.056,2011,3897,1766,0,0,0,0,0,0
$GC,10852,0.60,137.0,223.0,22.6,625,10857,0.15,1.88,0.00,0.000,6,0.224,0.036,1985,2700,1766,0,0,0,0,0,0
$GC,11182,0.60,137.0,166.2,16.3,656,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2700,1766,0,0,0,0,0,0
$GC,11503,0.60,137.0,116.6,14.8,686,11507,0.00,1.95,0.00,0.000,4,0.000,0.057,1985,3905,1766,0,0,0,0,0,0
$GC,11541,0.60,137.0,110.6,16.8,689,11545,0.00,1.88,0.00,0.000,6,0.000,0.037,1993,2710,1766,0,0,0,0,0,0
$GC,11890,0.60,137.0,58.7,14.6,744,11899,0.00,1.95,0.00,0.000,4,0.000,0.059,1993,3903,1766,0,0,0,0,0,0
$GC,11935,0.60,137.0,52.1,16.2,751,11942,0.00,1.90,0.00,0.000,6,0.000,0.037,2003,2706,1766,0,0,0,0,0,0
$GC,12049,0.60,137.0,35.0,14.7,770,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2706,1766,0,0,0,0,0,0
$GC,12167,0.60,137.0,18.3,14.7,789,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2706,1766,0,0,0,0,0,0
$GC,12251,0.60,137.0,6.1,14.2,802,12259,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2705,1766,0,0,0,0,0,0
$STATE,12272,end climb,SURFACE_DEPTH_REACHED
$STATE,12273,begin surface coast
$FINISH,1.2,1.027174
$STATE,12293,end surface coast,CONTROL_FINISHED_OK
$STATE,12293,begin surface
$SM_CCo,12305,23.92,0.190,0,0,1523,200.16
$SM_GC,2.56,0.00,0.00,23.92,0.000,0.000,0.190,61,2942,1523,-5.40,0.34,200.16
$IRIDIUM_FIX,-5538.94,-30.80,251214,101034
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.8,23.221
$10V_AH,10.0,15.148
$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,13.375,67.725,263.400,23.925,0.000,29.367,19.545,250.550,0.000,0.000,22.241,2025.238,7825.150,401.965,2334.011,158.458,33.359,1186.694,0.000,1892.412,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,62.730,1803.105,189.720,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.622,1680.299,811.989,851.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,57003,808
$CAP_FILE_SIZE,107636,0
$CFSIZE,259252224,220508160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251214,175058,-5559.422,-34.172,41,0.9,41,-19.8