version: 66.07
glider: 542
mission: 9
dive: 97
start: 12 26 114 4 45 35
data:
$ID,542
$MISSION,9
$DIVE,97
$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,-21931.514
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,261214,043728,-5558.177,-33.603,37,0.8,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.5
$GPS2,261214,044441,-5558.162,-33.591,19,0.9,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.129,-0.103
$KALMAN_X,56460.3,-503.4,-119.1,-90546.0,1712.1
$KALMAN_Y,42723.4,404.6,-60.8,-39358.1,-1796.6
$MHEAD_RNG_PITCHd_Wd,148.7,5042,-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,-34.53,0.000,2,0.000,0.000,47,2964,2270,0,0,0,0,0,0
$GC,54,-0.60,-137.5,3.2,-4.1,4,89,6.18,1.58,-22.40,0.000,4,0.244,0.083,1583,3886,2905,0,0,0,0,0,0
$GC,270,-0.60,-137.5,44.0,-21.9,38,279,0.00,1.55,0.00,0.000,6,0.000,0.033,1583,2894,2906,0,0,0,0,0,0
$GC,387,-0.60,-137.5,67.9,-20.5,57,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2893,2906,0,0,0,0,0,0
$GC,500,-0.60,-137.5,89.4,-18.2,76,506,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2893,2906,0,0,0,0,0,0
$GC,729,-0.60,-137.5,131.6,-18.0,102,730,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2893,2906,0,0,0,0,0,0
$GC,1047,-0.60,-137.5,188.0,-17.8,132,1051,0.00,1.62,0.00,0.000,4,0.000,0.062,1576,3900,2906,0,0,0,0,0,0
$GC,1167,-0.60,-137.5,211.8,-18.8,142,1177,0.00,1.50,0.00,0.000,6,0.000,0.034,1576,2923,2907,0,0,0,0,0,0
$GC,1489,-0.60,-137.5,268.6,-17.5,168,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2921,2906,0,0,0,0,0,0
$GC,1800,-0.60,-137.5,319.3,-15.9,183,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2922,2906,0,0,0,0,0,0
$GC,2109,-0.60,-137.5,367.3,-15.3,198,2113,0.00,1.58,0.00,0.000,4,0.000,0.061,1568,3879,2906,0,0,0,0,0,0
$GC,2215,-0.60,-137.5,385.9,-16.9,202,2225,0.00,1.48,0.00,0.000,6,0.000,0.032,1568,2917,2906,0,0,0,0,0,0
$GC,2532,-0.60,-137.5,436.3,-16.2,218,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2916,2906,0,0,0,0,0,0
$GC,2841,-0.60,-137.5,485.4,-15.5,233,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2917,2907,0,0,0,0,0,0
$GC,3150,-0.60,-137.5,532.1,-14.9,248,3153,0.00,1.60,0.00,0.000,4,0.000,0.061,1561,3890,2907,0,0,0,0,0,0
$GC,3255,-0.60,-137.5,549.6,-16.3,252,3263,0.10,1.45,0.00,0.000,6,0.183,0.032,1590,2940,2907,0,0,0,0,0,0
$GC,3571,-0.60,-137.5,591.6,-13.1,268,3575,0.00,1.55,0.00,0.000,4,0.000,0.061,1583,3886,2907,0,0,0,0,0,0
$GC,3608,-0.60,-137.5,596.9,-14.0,269,3616,0.00,1.48,0.00,0.000,6,0.000,0.031,1583,2916,2907,0,0,0,0,0,0
$GC,3925,-0.60,-137.5,640.0,-13.6,285,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2915,2907,0,0,0,0,0,0
$GC,4234,-0.60,-137.5,681.9,-13.4,300,4237,0.00,1.60,0.00,0.000,4,0.000,0.061,1576,3890,2907,0,0,0,0,0,0
$GC,4271,-0.60,-137.5,687.6,-14.4,301,4279,0.00,1.45,0.00,0.000,6,0.000,0.031,1576,2924,2908,0,0,0,0,0,0
$GC,4588,-0.60,-137.5,731.3,-13.7,317,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,2908,0,0,0,0,0,0
$GC,4897,-0.60,-137.5,775.6,-14.7,332,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,2908,0,0,0,0,0,0
$GC,5207,-0.60,-137.5,820.7,-14.6,347,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,2908,0,0,0,0,0,0
$GC,5515,-0.60,-137.5,865.4,-14.6,362,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,2908,0,0,0,0,0,0
$GC,5825,-0.60,-137.5,910.4,-14.3,377,5828,0.00,1.58,0.00,0.000,4,0.000,0.062,1568,3885,2907,0,0,0,0,0,0
$GC,5852,-0.60,-137.5,914.5,-14.9,378,5856,0.00,1.42,0.00,0.000,6,0.000,0.032,1569,2939,2908,0,0,0,0,0,0
$GC,6178,-0.60,-137.5,960.1,-13.8,394,6182,0.00,1.55,0.00,0.000,4,0.000,0.062,1561,3880,2908,0,0,0,0,0,0
$GC,6210,-0.60,-137.5,965.0,-15.6,395,6216,0.12,1.45,0.00,0.000,6,0.202,0.032,1591,2933,2908,0,0,0,0,0,0
$STATE,6510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6510,begin apogee
$GC,6515,-0.13,0.0,1002.1,12.1,410,6643,0.50,0.00,125.43,1.789,6,0.169,0.000,1740,2711,2342,0,0,0,0,0,0
$STATE,6644,end apogee,CONTROL_FINISHED_OK
$STATE,6644,begin climb
$GC,6645,0.60,137.5,1005.4,0.0,416,6794,0.77,0.00,137.75,1.740,6,0.122,0.000,1974,2711,1782,0,0,0,0,0,0
$GC,7100,0.60,137.5,930.2,18.6,438,7104,0.00,2.05,0.00,0.000,4,0.000,0.057,1974,3904,1773,0,0,0,0,0,0
$GC,7131,0.60,137.5,923.3,21.8,439,7136,0.00,1.95,0.00,0.000,6,0.000,0.034,1982,2744,1772,0,0,0,0,0,0
$GC,7454,0.60,137.5,861.4,19.9,455,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2743,1771,0,0,0,0,0,0
$GC,7763,0.60,137.5,802.6,18.7,470,7766,0.00,1.90,0.00,0.000,4,0.000,0.057,1983,3889,1770,0,0,0,0,0,0
$GC,7789,0.60,137.5,797.0,19.9,471,7794,0.00,1.92,0.00,0.000,6,0.000,0.035,1992,2705,1769,0,0,0,0,0,0
$GC,8116,0.60,137.5,734.3,18.9,487,8120,0.00,1.95,0.00,0.000,4,0.000,0.056,1992,3892,1768,0,0,0,0,0,0
$GC,8140,0.60,137.5,729.7,20.2,488,8144,0.00,1.90,0.00,0.000,6,0.000,0.037,2001,2700,1768,0,0,0,0,0,0
$GC,8472,0.60,137.5,664.7,19.1,504,8476,0.00,1.95,0.00,0.000,4,0.000,0.056,2001,3892,1768,0,0,0,0,0,0
$GC,8498,0.60,137.5,659.0,20.2,505,8503,0.00,1.90,0.00,0.000,6,0.000,0.036,2010,2714,1767,0,0,0,0,0,0
$GC,8825,0.60,137.5,594.8,19.6,521,8829,0.00,1.92,0.00,0.000,4,0.000,0.057,2010,3877,1767,0,0,0,0,0,0
$GC,8885,0.60,137.5,581.4,22.6,523,8894,0.10,1.88,0.00,0.000,6,0.204,0.037,1992,2714,1766,0,0,0,0,0,0
$GC,9202,0.60,137.5,524.7,17.3,539,9206,0.00,1.90,0.00,0.000,4,0.000,0.056,1992,3883,1766,0,0,0,0,0,0
$GC,9217,0.60,137.5,521.4,18.5,539,9225,0.00,1.88,0.00,0.000,6,0.000,0.034,2000,2713,1766,0,0,0,0,0,0
$GC,9534,0.60,137.5,462.1,18.8,555,9538,0.00,1.90,0.00,0.000,4,0.000,0.056,1999,3883,1766,0,0,0,0,0,0
$GC,9582,0.60,137.5,451.7,21.4,557,9587,0.00,1.88,0.00,0.000,6,0.000,0.036,2007,2713,1766,0,0,0,0,0,0
$GC,9912,0.60,137.5,388.6,19.1,573,9915,0.00,1.90,0.00,0.000,4,0.000,0.055,2008,3884,1766,0,0,0,0,0,0
$GC,9944,0.60,137.5,381.2,21.4,574,9949,0.10,1.88,0.00,0.000,6,0.208,0.036,1989,2713,1765,0,0,0,0,0,0
$GC,10265,0.60,137.5,328.2,15.7,590,10269,0.00,1.90,0.00,0.000,4,0.000,0.057,1989,3888,1765,0,0,0,0,0,0
$GC,10335,0.60,137.5,315.9,18.8,593,10338,0.00,1.88,0.00,0.000,6,0.000,0.037,1997,2697,1765,0,0,0,0,0,0
$GC,10669,0.60,137.5,260.5,16.3,609,10673,0.00,1.92,0.00,0.000,4,0.000,0.057,1998,3889,1765,0,0,0,0,0,0
$GC,10701,0.60,137.5,254.1,18.5,610,10706,0.00,1.88,0.00,0.000,6,0.000,0.035,2006,2710,1765,0,0,0,0,0,0
$GC,11032,0.60,137.5,198.9,17.2,640,11035,0.00,1.90,0.00,0.000,4,0.000,0.056,2007,3894,1765,0,0,0,0,0,0
$GC,11068,0.60,137.5,192.4,19.2,643,11073,0.12,1.88,0.00,0.000,6,0.226,0.037,1988,2699,1765,0,0,0,0,0,0
$GC,11399,0.60,137.5,138.6,15.9,674,11403,0.00,1.92,0.00,0.000,4,0.000,0.057,1988,3890,1765,0,0,0,0,0,0
$GC,11448,0.60,137.5,129.9,17.8,678,11459,0.00,1.88,0.00,0.000,6,0.000,0.034,1996,2708,1765,0,0,0,0,0,0
$GC,11783,0.60,137.5,81.3,12.7,720,11791,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2708,1765,0,0,0,0,0,0
$GC,12026,0.60,137.5,47.0,14.7,761,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2708,1765,0,0,0,0,0,0
$GC,12138,0.60,137.5,30.3,16.0,780,12147,0.00,1.92,0.00,0.000,4,0.000,0.059,1996,3880,1765,0,0,0,0,0,0
$GC,12167,0.60,137.5,25.6,16.9,784,12176,0.00,1.85,0.00,0.000,6,0.000,0.036,2005,2717,1765,0,0,0,0,0,0
$GC,12252,0.60,137.5,12.2,15.9,797,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2717,1765,0,0,0,0,0,0
$STATE,12316,end climb,SURFACE_DEPTH_REACHED
$STATE,12316,begin surface coast
$FINISH,1.3,1.013364
$STATE,12342,end surface coast,CONTROL_FINISHED_OK
$STATE,12343,begin surface
$SM_CCo,12355,25.12,0.182,0,0,1524,200.16
$SM_GC,2.58,0.00,0.00,25.12,0.000,0.000,0.182,61,2935,1524,-5.40,0.14,200.16
$IRIDIUM_FIX,-5535.12,-30.76,261214,010155
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.8,23.817
$10V_AH,10.0,15.547
$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,13.250,74.625,263.175,25.125,0.000,28.328,39.529,249.403,0.000,0.000,21.924,2022.238,7869.377,402.402,2371.783,150.897,33.356,1211.371,0.000,1907.875,0.000,0.540,0.000
$DEVICE_MAMPS,244.035,82.620,1788.570,182.070,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.273,1683.497,811.980,842.731,0.000,0.000,0.000,0.000,0.000,0.000
$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,56981,811
$CAP_FILE_SIZE,109297,0
$CFSIZE,259252224,220262400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261214,081307,-5559.630,-31.868,37,0.9,37,-19.9