version: 66.07
glider: 542
mission: 9
dive: 99
start: 12 26 114 12 10 5
data:
$ID,542
$MISSION,9
$DIVE,99
$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,-21936.631
$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,27
$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
$GPS1,261214,120134,-5558.624,-29.133,32,0.8,32,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-69.8
$GPS2,261214,120911,-5558.600,-29.073,19,0.8,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.149,-0.070
$KALMAN_X,55151.1,-181.8,116.0,-85126.4,333.8
$KALMAN_Y,41936.8,-110.7,302.3,-39229.2,-1981.3
$MHEAD_RNG_PITCHd_Wd,264.8,2765,-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,-34.33,0.000,2,0.000,0.000,49,2948,2261,0,0,0,0,0,0
$GC,54,-0.59,-132.2,3.2,-4.5,4,89,6.22,1.62,-22.58,0.000,4,0.246,0.080,1583,3903,2882,0,0,0,0,0,0
$GC,207,-0.59,-132.2,28.1,-21.6,27,216,0.00,1.58,0.00,0.000,6,0.000,0.034,1583,2902,2884,0,0,0,0,0,0
$GC,288,-0.59,-132.2,45.2,-20.4,40,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2902,2884,0,0,0,0,0,0
$GC,403,-0.59,-132.2,68.9,-20.8,59,410,0.00,1.65,0.00,0.000,4,0.000,0.060,1577,3890,2885,0,0,0,0,0,0
$GC,442,-0.59,-132.2,77.4,-22.5,65,449,0.00,1.50,0.00,0.000,6,0.000,0.033,1576,2923,2885,0,0,0,0,0,0
$GC,552,-0.59,-132.2,100.4,-19.2,84,556,0.00,1.62,0.00,0.000,4,0.000,0.061,1568,3896,2884,0,0,0,0,0,0
$GC,690,-0.59,-132.2,130.8,-21.9,96,695,0.08,1.50,0.00,0.000,6,0.189,0.034,1590,2939,2885,0,0,0,0,0,0
$GC,1023,-0.59,-132.2,188.2,-17.0,127,1027,0.00,2.17,0.00,0.000,4,0.000,0.041,1590,1524,2885,0,0,0,0,0,0
$GC,1052,-0.59,-132.2,193.1,-15.8,129,1057,0.00,2.28,0.00,0.000,6,0.000,0.055,1580,2931,2885,0,0,0,0,0,0
$GC,1379,-0.59,-132.2,246.4,-15.5,159,1383,0.00,1.58,0.00,0.000,4,0.000,0.062,1573,3893,2885,0,0,0,0,0,0
$GC,1502,-0.59,-132.2,268.4,-17.8,165,1507,0.00,1.50,0.00,0.000,6,0.000,0.032,1572,2912,2885,0,0,0,0,0,0
$GC,1827,-0.59,-132.2,320.5,-16.3,181,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2907,2885,0,0,0,0,0,0
$GC,2133,-0.59,-132.2,369.6,-15.9,196,2137,0.00,1.62,0.00,0.000,4,0.000,0.061,1565,3895,2885,0,0,0,0,0,0
$GC,2171,-0.59,-132.2,376.6,-18.0,197,2180,0.12,1.48,0.00,0.000,6,0.206,0.031,1594,2938,2885,0,0,0,0,0,0
$GC,2488,-0.59,-132.2,422.6,-14.7,213,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2937,2885,0,0,0,0,0,0
$GC,2797,-0.59,-132.2,468.0,-14.7,228,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2937,2885,0,0,0,0,0,0
$GC,3106,-0.59,-132.2,512.8,-14.6,243,3110,0.00,1.58,0.00,0.000,4,0.000,0.061,1587,3900,2885,0,0,0,0,0,0
$GC,3167,-0.59,-132.2,522.5,-15.7,245,3174,0.00,1.48,0.00,0.000,6,0.000,0.032,1587,2919,2886,0,0,0,0,0,0
$GC,3482,-0.59,-132.2,569.8,-15.0,261,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2918,2885,0,0,0,0,0,0
$GC,3792,-0.59,-132.2,615.1,-14.2,276,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2919,2886,0,0,0,0,0,0
$GC,4102,-0.59,-132.2,658.5,-14.1,291,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2919,2886,0,0,0,0,0,0
$GC,4410,-0.59,-132.2,701.1,-13.8,306,4414,0.00,1.60,0.00,0.000,4,0.000,0.061,1579,3893,2886,0,0,0,0,0,0
$GC,4459,-0.59,-132.2,708.8,-15.2,308,4464,0.00,1.45,0.00,0.000,6,0.000,0.032,1580,2937,2886,0,0,0,0,0,0
$GC,4787,-0.59,-132.2,753.7,-13.6,324,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2932,2886,0,0,0,0,0,0
$GC,5096,-0.59,-132.2,794.3,-13.0,339,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2932,2886,0,0,0,0,0,0
$GC,5405,-0.59,-132.2,834.9,-13.2,354,5409,0.00,1.58,0.00,0.000,4,0.000,0.061,1573,3893,2885,0,0,0,0,0,0
$GC,5451,-0.59,-132.2,841.3,-15.0,356,5454,0.00,1.45,0.00,0.000,6,0.000,0.032,1573,2930,2886,0,0,0,0,0,0
$GC,5783,-0.59,-132.2,886.4,-13.3,372,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,2885,0,0,0,0,0,0
$GC,6093,-0.59,-132.2,927.8,-13.3,387,6096,0.00,1.60,0.00,0.000,4,0.000,0.061,1565,3900,2886,0,0,0,0,0,0
$GC,6138,-0.59,-132.2,934.4,-15.0,389,6142,0.08,1.48,0.00,0.000,6,0.184,0.033,1588,2935,2886,0,0,0,0,0,0
$GC,6469,-0.59,-132.2,974.6,-12.0,405,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2933,2886,0,0,0,0,0,0
$STATE,6694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6694,begin apogee
$GC,6699,-0.13,0.0,1002.1,12.2,416,6823,0.52,0.00,120.62,1.789,6,0.172,0.000,1744,2707,2342,0,0,0,0,0,0
$STATE,6824,end apogee,CONTROL_FINISHED_OK
$STATE,6824,begin climb
$GC,6825,0.59,132.2,1005.4,0.0,422,6962,0.77,0.00,132.85,1.727,6,0.120,0.000,1973,2707,1803,0,0,0,0,0,0
$GC,7283,0.59,132.2,931.7,18.1,445,7287,0.00,2.05,0.00,0.000,4,0.000,0.057,1974,3897,1793,0,0,0,0,0,0
$GC,7331,0.59,132.2,921.8,20.5,447,7337,0.00,1.95,0.00,0.000,6,0.000,0.035,1982,2736,1792,0,0,0,0,0,0
$GC,7660,0.59,132.2,860.2,19.2,463,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2736,1791,0,0,0,0,0,0
$GC,7968,0.59,132.2,802.5,18.8,478,7972,0.00,1.95,0.00,0.000,4,0.000,0.057,1982,3898,1791,0,0,0,0,0,0
$GC,8017,0.59,132.2,792.3,20.0,480,8022,0.00,1.92,0.00,0.000,6,0.000,0.036,1992,2714,1789,0,0,0,0,0,0
$GC,8345,0.59,132.2,730.6,18.5,496,8349,0.00,1.95,0.00,0.000,4,0.000,0.057,1992,3901,1789,0,0,0,0,0,0
$GC,8377,0.59,132.2,723.5,21.1,497,8382,0.00,1.92,0.00,0.000,6,0.000,0.035,2001,2710,1788,0,0,0,0,0,0
$GC,8699,0.59,132.2,660.1,19.9,513,8703,0.00,1.95,0.00,0.000,4,0.000,0.057,2001,3892,1788,0,0,0,0,0,0
$GC,8744,0.59,132.2,650.4,22.7,515,8748,0.00,1.88,0.00,0.000,6,0.000,0.036,2010,2707,1787,0,0,0,0,0,0
$GC,9076,0.59,132.2,581.6,20.1,531,9080,0.00,1.95,0.00,0.000,4,0.000,0.057,2010,3901,1787,0,0,0,0,0,0
$GC,9114,0.59,132.2,572.9,23.2,532,9122,0.10,1.90,0.00,0.000,6,0.206,0.036,1991,2714,1787,0,0,0,0,0,0
$GC,9431,0.59,132.2,514.3,18.4,548,9435,0.00,1.95,0.00,0.000,4,0.000,0.057,1991,3894,1787,0,0,0,0,0,0
$GC,9485,0.59,132.2,502.8,20.5,550,9490,0.00,1.90,0.00,0.000,6,0.000,0.036,1999,2706,1787,0,0,0,0,0,0
$GC,9807,0.59,132.2,443.6,18.4,566,9811,0.00,1.95,0.00,0.000,4,0.000,0.057,2000,3908,1787,0,0,0,0,0,0
$GC,9839,0.59,132.2,436.8,20.5,567,9844,0.00,1.92,0.00,0.000,6,0.000,0.036,2009,2703,1786,0,0,0,0,0,0
$GC,10163,0.59,132.2,376.4,19.0,583,10166,0.00,1.95,0.00,0.000,4,0.000,0.057,2009,3907,1786,0,0,0,0,0,0
$GC,10231,0.59,132.2,361.6,22.3,586,10235,0.15,1.90,0.00,0.000,6,0.222,0.036,1984,2698,1786,0,0,0,0,0,0
$GC,10563,0.59,132.2,305.8,15.9,602,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2697,1786,0,0,0,0,0,0
$GC,10874,0.59,132.2,256.9,15.9,617,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2697,1786,0,0,0,0,0,0
$GC,11189,0.59,132.2,204.9,16.5,644,11193,0.00,1.95,0.00,0.000,4,0.000,0.057,1984,3906,1786,0,0,0,0,0,0
$GC,11274,0.59,132.2,188.3,19.8,651,11282,0.00,1.90,0.00,0.000,6,0.000,0.034,1992,2712,1786,0,0,0,0,0,0
$GC,11600,0.59,132.2,134.9,15.7,682,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2712,1786,0,0,0,0,0,0
$GC,11930,0.59,132.2,83.3,14.7,721,11937,0.00,1.92,0.00,0.000,4,0.000,0.057,1992,3903,1786,0,0,0,0,0,0
$GC,12050,0.59,132.2,62.6,15.9,741,12057,0.00,1.90,0.00,0.000,6,0.000,0.035,2002,2702,1786,0,0,0,0,0,0
$GC,12163,0.59,132.2,45.7,14.6,760,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2702,1786,0,0,0,0,0,0
$GC,12280,0.59,132.2,29.5,13.9,779,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2702,1786,0,0,0,0,0,0
$GC,12364,0.59,132.2,17.5,14.9,792,12373,0.00,1.98,0.00,0.000,4,0.000,0.058,2002,3903,1786,0,0,0,0,0,0
$GC,12412,0.59,132.2,9.6,17.5,799,12422,0.10,1.90,0.00,0.000,6,0.213,0.035,1983,2707,1786,0,0,0,0,0,0
$STATE,12453,end climb,SURFACE_DEPTH_REACHED
$STATE,12453,begin surface coast
$FINISH,1.1,1.017229
$STATE,12474,end surface coast,CONTROL_FINISHED_OK
$STATE,12474,begin surface
$SM_CCo,12486,27.48,0.174,0,0,1524,200.16
$SM_GC,2.10,0.00,0.00,27.48,0.000,0.000,0.174,66,2949,1524,-5.39,0.54,200.16
$IRIDIUM_FIX,-5535.12,-30.76,261214,080838
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.9,24.102
$10V_AH,10.0,15.751
$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,13.350,75.550,253.475,27.475,0.000,26.917,41.596,271.342,0.000,0.000,21.363,2023.317,8022.474,400.384,2370.969,155.464,33.359,1184.052,0.000,1885.982,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,80.325,1788.570,173.655,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.392,1670.308,795.453,812.950,0.000,0.000,0.000,0.000,0.000,0.000
$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,57036,808
$CAP_FILE_SIZE,109617,0
$CFSIZE,259252224,220135424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261214,153952,-5559.752,-30.304,38,1.3,38,-19.9