version: 66.07
glider: 542
mission: 9
dive: 98
start: 12 26 114 8 21 36
data:
$ID,542
$MISSION,9
$DIVE,98
$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,-21934.084
$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,29
$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
$GPS1,261214,081307,-5559.630,-31.868,37,0.9,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.9
$GPS2,261214,082042,-5559.669,-31.888,17,1.4,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.112,0.121
$KALMAN_X,55414.0,-473.7,-350.3,-87537.3,1103.2
$KALMAN_Y,42417.5,132.5,34.3,-41666.5,-1518.5
$MHEAD_RNG_PITCHd_Wd,62.6,2049,-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,-34.42,0.000,2,0.000,0.000,56,2937,2263,0,0,0,0,0,0
$GC,54,-0.59,-125.4,3.3,-5.1,4,89,6.12,2.28,-20.95,0.000,4,0.242,0.052,1594,1503,2854,0,0,0,0,0,0
$GC,331,-0.59,-125.4,43.2,-16.4,48,339,0.00,2.35,0.00,0.000,6,0.000,0.056,1584,2925,2856,0,0,0,0,0,0
$GC,447,-0.59,-125.4,66.3,-21.0,67,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2856,0,0,0,0,0,0
$GC,557,-0.59,-125.4,89.5,-19.9,86,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2856,0,0,0,0,0,0
$GC,780,-0.59,-125.4,129.7,-18.2,112,781,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2925,2856,0,0,0,0,0,0
$GC,1099,-0.59,-125.4,183.3,-16.3,142,1102,0.00,1.58,0.00,0.000,4,0.000,0.063,1576,3897,2856,0,0,0,0,0,0
$GC,1149,-0.59,-125.4,192.7,-18.3,146,1159,0.00,1.55,0.00,0.000,6,0.000,0.032,1576,2888,2856,0,0,0,0,0,0
$GC,1478,-0.59,-125.4,248.2,-16.7,177,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2888,2856,0,0,0,0,0,0
$GC,1803,-0.59,-125.4,303.6,-16.4,194,1807,0.00,1.62,0.00,0.000,4,0.000,0.062,1569,3901,2856,0,0,0,0,0,0
$GC,1875,-0.59,-125.4,316.4,-17.2,197,1881,0.08,1.48,0.00,0.000,6,0.181,0.033,1591,2941,2857,0,0,0,0,0,0
$GC,2205,-0.59,-125.4,364.7,-14.9,213,2208,0.00,1.58,0.00,0.000,4,0.000,0.062,1584,3899,2857,0,0,0,0,0,0
$GC,2252,-0.59,-125.4,372.2,-16.1,215,2256,0.00,1.48,0.00,0.000,6,0.000,0.032,1585,2927,2857,0,0,0,0,0,0
$GC,2584,-0.59,-125.4,421.8,-14.6,231,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2922,2856,0,0,0,0,0,0
$GC,2894,-0.59,-125.4,467.5,-14.9,246,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2922,2856,0,0,0,0,0,0
$GC,3204,-0.59,-125.4,513.3,-14.7,261,3207,0.00,1.60,0.00,0.000,4,0.000,0.061,1577,3899,2857,0,0,0,0,0,0
$GC,3252,-0.59,-125.4,521.4,-16.5,263,3258,0.00,1.50,0.00,0.000,6,0.000,0.031,1577,2917,2857,0,0,0,0,0,0
$GC,3580,-0.59,-125.4,569.8,-14.7,279,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2915,2857,0,0,0,0,0,0
$GC,3890,-0.59,-125.4,615.0,-14.8,294,3893,0.00,1.62,0.00,0.000,4,0.000,0.062,1570,3933,2857,0,0,0,0,0,0
$GC,3944,-0.59,-125.4,624.2,-16.5,296,3950,0.12,1.55,0.00,0.000,6,0.199,0.032,1599,2918,2858,0,0,0,0,0,0
$GC,4267,-0.59,-125.4,666.5,-12.5,312,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2918,2857,0,0,0,0,0,0
$GC,4575,-0.59,-125.4,705.9,-12.6,327,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,4885,-0.59,-125.4,744.8,-12.4,342,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2858,0,0,0,0,0,0
$GC,5195,-0.59,-125.4,783.2,-12.5,357,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,5503,-0.59,-125.4,821.0,-12.0,372,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,5813,-0.59,-125.4,857.3,-11.6,387,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,6123,-0.59,-125.4,891.4,-10.8,402,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,6431,-0.59,-125.4,924.4,-10.7,417,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,6741,-0.59,-125.4,956.0,-10.1,432,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2857,0,0,0,0,0,0
$GC,7051,-0.59,-125.4,988.6,-10.6,447,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2918,2858,0,0,0,0,0,0
$STATE,7172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7173,begin apogee
$GC,7177,-0.13,0.0,1001.6,10.5,453,7296,0.47,0.00,113.90,1.786,6,0.168,0.000,1741,2725,2342,0,0,0,0,0,0
$STATE,7297,end apogee,CONTROL_FINISHED_OK
$STATE,7297,begin climb
$GC,7298,0.59,125.4,1003.9,0.0,459,7428,0.77,0.00,126.05,1.734,6,0.122,0.000,1971,2725,1830,0,0,0,0,0,0
$GC,7726,0.59,125.4,934.8,18.4,480,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2725,1820,0,0,0,0,0,0
$GC,8033,0.59,125.4,878.6,18.1,495,8036,0.00,2.00,0.00,0.000,4,0.000,0.060,1972,3906,1819,0,0,0,0,0,0
$GC,8082,0.59,125.4,868.2,20.7,497,8086,0.00,1.92,0.00,0.000,6,0.000,0.037,1980,2742,1818,0,0,0,0,0,0
$GC,8409,0.59,125.4,805.6,18.8,513,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2741,1817,0,0,0,0,0,0
$GC,8718,0.59,125.4,747.8,18.6,528,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2741,1816,0,0,0,0,0,0
$GC,9028,0.59,125.4,691.6,18.1,543,9032,0.00,1.92,0.00,0.000,4,0.000,0.058,1980,3896,1816,0,0,0,0,0,0
$GC,9082,0.59,125.4,680.6,20.1,545,9087,0.00,1.92,0.00,0.000,6,0.000,0.037,1989,2706,1814,0,0,0,0,0,0
$GC,9405,0.59,125.4,622.7,17.9,561,9408,0.00,1.95,0.00,0.000,4,0.000,0.057,1989,3900,1814,0,0,0,0,0,0
$GC,9442,0.59,125.4,614.9,20.3,562,9450,0.00,1.92,0.00,0.000,6,0.000,0.037,1998,2702,1813,0,0,0,0,0,0
$GC,9758,0.59,125.4,557.0,18.6,578,9762,0.00,1.98,0.00,0.000,4,0.000,0.058,1999,3897,1813,0,0,0,0,0,0
$GC,9824,0.59,125.4,543.4,21.5,581,9828,0.00,1.88,0.00,0.000,6,0.000,0.037,2008,2710,1814,0,0,0,0,0,0
$GC,10157,0.59,125.4,482.7,17.6,597,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2710,1814,0,0,0,0,0,0
$GC,10466,0.59,125.4,429.8,16.9,612,10469,0.00,1.92,0.00,0.000,4,0.000,0.057,2008,3901,1813,0,0,0,0,0,0
$GC,10582,0.59,125.4,407.4,18.8,617,10587,0.12,1.90,0.00,0.000,6,0.207,0.036,1983,2712,1812,0,0,0,0,0,0
$GC,10911,0.59,125.4,358.6,14.9,633,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2712,1813,0,0,0,0,0,0
$GC,11219,0.59,125.4,312.3,14.6,648,11222,0.00,1.92,0.00,0.000,4,0.000,0.057,1982,3900,1812,0,0,0,0,0,0
$GC,11313,0.59,125.4,295.1,18.5,652,11318,0.00,1.90,0.00,0.000,6,0.000,0.036,1991,2708,1812,0,0,0,0,0,0
$GC,11634,0.59,125.4,242.4,17.3,669,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2708,1812,0,0,0,0,0,0
$GC,11954,0.59,125.4,186.5,17.7,699,11957,0.00,1.92,0.00,0.000,4,0.000,0.057,1991,3901,1812,0,0,0,0,0,0
$GC,12015,0.59,125.4,173.1,20.7,704,12025,0.00,1.90,0.00,0.000,6,0.000,0.036,2000,2702,1812,0,0,0,0,0,0
$GC,12343,0.59,125.4,110.7,18.1,735,12346,0.00,1.92,0.00,0.000,4,0.000,0.057,2001,3905,1812,0,0,0,0,0,0
$GC,12473,0.59,125.4,84.4,17.3,753,12482,0.00,1.90,0.00,0.000,6,0.000,0.037,2010,2707,1812,0,0,0,0,0,0
$GC,12716,0.59,125.4,47.4,15.7,794,12725,0.12,0.00,0.00,0.000,6,0.233,0.000,1982,2707,1812,0,0,0,0,0,0
$GC,12831,0.59,125.4,32.6,12.6,813,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2707,1812,0,0,0,0,0,0
$GC,12950,0.59,125.4,17.7,11.8,832,12959,0.00,1.95,0.00,0.000,4,0.000,0.058,1982,3896,1812,0,0,0,0,0,0
$GC,13046,0.59,125.4,4.2,13.0,847,13055,0.00,1.88,0.00,0.000,6,0.000,0.035,1990,2710,1812,0,0,0,0,0,0
$STATE,13062,end climb,SURFACE_DEPTH_REACHED
$STATE,13062,begin surface coast
$FINISH,1.3,1.017494
$STATE,13088,end surface coast,CONTROL_FINISHED_OK
$STATE,13088,begin surface
$SM_CCo,13101,30.10,0.174,0,0,1524,200.16
$SM_GC,2.00,0.00,0.00,30.10,0.000,0.000,0.174,53,2948,1524,-5.42,0.51,200.16
$IRIDIUM_FIX,-5535.12,-34.61,261214,040457
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.9,23.957
$10V_AH,10.0,15.651
$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,13.050,55.425,239.950,30.100,0.000,26.904,45.764,268.818,0.000,0.000,19.346,2101.950,8527.958,383.611,2426.434,148.076,33.358,1156.006,0.000,1939.437,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,63.495,1785.510,174.420,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.038,1775.743,851.716,879.219,0.000,0.000,0.000,0.000,0.000,0.000
$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,57125,853
$CAP_FILE_SIZE,104055,0
$CFSIZE,259252224,220200960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261214,120134,-5558.624,-29.133,32,0.8,32,-19.9