version: 66.07
glider: 542
mission: 9
dive: 100
start: 12 26 114 15 48 23
data:
$ID,542
$MISSION,9
$DIVE,100
$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,-21939.021
$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,22
$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
$GPS1,261214,153952,-5559.752,-30.304,38,1.3,38,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-64.8
$GPS2,261214,154729,-5559.755,-30.219,17,0.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.107,0.125
$KALMAN_X,56541.4,365.7,294.0,-88439.6,672.0
$KALMAN_Y,41707.0,-0.3,-106.6,-40842.9,-957.4
$MHEAD_RNG_PITCHd_Wd,339.3,507,-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,-34.47,0.000,2,0.000,0.000,61,2949,2259,0,0,0,0,0,0
$GC,54,-0.59,-132.7,3.2,-4.5,4,89,6.12,2.28,-22.27,0.000,4,0.244,0.051,1589,1496,2884,0,0,0,0,0,0
$GC,104,-0.60,-146.1,6.8,-7.5,10,113,0.00,2.38,-1.35,0.000,6,0.000,0.054,1580,2929,2938,0,0,0,0,0,0
$GC,189,-0.60,-146.1,23.5,-22.0,23,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2930,2939,0,0,0,0,0,0
$GC,269,-0.60,-146.1,41.1,-22.1,36,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2930,2939,0,0,0,0,0,0
$GC,385,-0.60,-146.1,65.4,-21.2,55,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2930,2939,0,0,0,0,0,0
$GC,496,-0.60,-146.1,87.8,-20.7,74,503,0.00,1.58,0.00,0.000,4,0.000,0.061,1572,3902,2939,0,0,0,0,0,0
$GC,549,-0.60,-146.1,98.7,-19.0,83,556,0.00,1.55,0.00,0.000,6,0.000,0.033,1572,2897,2940,0,0,0,0,0,0
$GC,777,-0.60,-146.1,141.3,-19.1,105,781,0.00,1.67,0.00,0.000,4,0.000,0.060,1564,3909,2940,0,0,0,0,0,0
$GC,872,-0.60,-146.1,160.4,-20.8,113,877,0.08,1.50,0.00,0.000,6,0.187,0.034,1586,2940,2941,0,0,0,0,0,0
$GC,1202,-0.60,-146.1,220.5,-17.1,144,1206,0.00,1.60,0.00,0.000,4,0.000,0.062,1579,3905,2941,0,0,0,0,0,0
$GC,1249,-0.60,-146.1,229.4,-18.3,148,1253,0.00,1.52,0.00,0.000,6,0.000,0.034,1578,2920,2941,0,0,0,0,0,0
$GC,1575,-0.60,-146.1,286.1,-17.3,169,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2915,2940,0,0,0,0,0,0
$GC,1883,-0.60,-146.1,336.9,-15.4,184,1887,0.00,1.62,0.00,0.000,4,0.000,0.062,1571,3930,2940,0,0,0,0,0,0
$GC,2001,-0.60,-146.1,356.9,-16.6,189,2005,0.00,1.55,0.00,0.000,6,0.000,0.033,1571,2925,2940,0,0,0,0,0,0
$GC,2330,-0.60,-146.1,406.6,-14.8,205,2333,0.00,1.60,0.00,0.000,4,0.000,0.060,1564,3896,2940,0,0,0,0,0,0
$GC,2379,-0.60,-146.1,414.9,-16.3,207,2384,0.08,1.48,0.00,0.000,6,0.184,0.033,1587,2937,2940,0,0,0,0,0,0
$GC,2706,-0.60,-146.1,458.3,-13.1,223,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2937,2940,0,0,0,0,0,0
$GC,3015,-0.60,-146.1,499.9,-13.4,238,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2937,2941,0,0,0,0,0,0
$GC,3325,-0.60,-146.1,543.0,-14.2,253,3329,0.00,1.58,0.00,0.000,4,0.000,0.061,1579,3897,2941,0,0,0,0,0,0
$GC,3379,-0.60,-146.1,551.9,-16.0,255,3384,0.00,1.50,0.00,0.000,6,0.000,0.032,1579,2918,2941,0,0,0,0,0,0
$GC,3701,-0.60,-146.1,600.1,-14.9,271,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2914,2941,0,0,0,0,0,0
$GC,4011,-0.60,-146.1,645.6,-14.7,286,4014,0.00,1.62,0.00,0.000,4,0.000,0.061,1572,3905,2941,0,0,0,0,0,0
$GC,4072,-0.60,-146.1,655.8,-16.2,288,4079,0.00,1.48,0.00,0.000,6,0.000,0.033,1572,2927,2941,0,0,0,0,0,0
$GC,4388,-0.60,-146.1,704.3,-15.4,304,4391,0.00,1.60,0.00,0.000,4,0.000,0.060,1564,3906,2941,0,0,0,0,0,0
$GC,4442,-0.60,-146.1,713.6,-16.9,306,4448,0.10,1.50,0.00,0.000,6,0.207,0.031,1588,2925,2941,0,0,0,0,0,0
$GC,4764,-0.60,-146.1,757.6,-13.9,322,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2925,2941,0,0,0,0,0,0
$GC,5074,-0.60,-146.1,800.6,-13.8,337,5077,0.00,1.60,0.00,0.000,4,0.000,0.061,1580,3903,2941,0,0,0,0,0,0
$GC,5122,-0.60,-146.1,808.3,-15.1,339,5127,0.00,1.50,0.00,0.000,6,0.000,0.031,1581,2923,2941,0,0,0,0,0,0
$GC,5450,-0.60,-146.1,855.2,-14.1,355,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2920,2941,0,0,0,0,0,0
$GC,5760,-0.60,-146.1,899.2,-14.2,370,5764,0.00,1.60,0.00,0.000,4,0.000,0.060,1573,3899,2941,0,0,0,0,0,0
$GC,5806,-0.60,-146.1,906.1,-16.0,372,5809,0.00,1.48,0.00,0.000,6,0.000,0.032,1573,2925,2941,0,0,0,0,0,0
$GC,6138,-0.60,-146.1,954.4,-14.2,388,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2919,2940,0,0,0,0,0,0
$GC,6448,-0.60,-146.1,998.4,-13.9,403,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2919,2940,0,0,0,0,0,0
$STATE,6468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6468,begin apogee
$GC,6472,-0.13,0.0,1001.2,13.8,404,6610,0.57,0.00,132.77,1.782,6,0.178,0.000,1741,2720,2342,0,0,0,0,0,0
$STATE,6611,end apogee,CONTROL_FINISHED_OK
$STATE,6611,begin climb
$GC,6612,0.60,146.1,1005.5,0.0,411,6764,0.77,0.00,146.62,1.727,6,0.123,0.000,1974,2720,1745,0,0,0,0,0,0
$GC,7066,0.60,146.1,932.4,18.0,433,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2720,1737,0,0,0,0,0,0
$GC,7376,0.60,146.1,875.2,18.7,448,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2720,1735,0,0,0,0,0,0
$GC,7684,0.60,146.1,818.1,18.4,463,7688,0.00,1.98,0.00,0.000,4,0.000,0.058,1973,3896,1735,0,0,0,0,0,0
$GC,7731,0.60,146.1,809.2,20.3,465,7735,0.00,1.85,0.00,0.000,6,0.000,0.037,1982,2731,1732,0,0,0,0,0,0
$GC,8064,0.60,146.1,746.4,18.3,481,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2730,1732,0,0,0,0,0,0
$GC,8372,0.60,146.1,687.7,19.0,496,8376,0.00,1.92,0.00,0.000,4,0.000,0.057,1982,3906,1732,0,0,0,0,0,0
$GC,8417,0.60,146.1,678.3,21.6,498,8421,0.00,1.90,0.00,0.000,6,0.000,0.037,1992,2710,1731,0,0,0,0,0,0
$GC,8750,0.60,146.1,613.5,19.4,514,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2710,1731,0,0,0,0,0,0
$GC,9058,0.60,146.1,551.8,20.3,529,9062,0.00,1.95,0.00,0.000,4,0.000,0.057,1992,3909,1731,0,0,0,0,0,0
$GC,9103,0.60,146.1,541.8,22.4,531,9107,0.00,1.90,0.00,0.000,6,0.000,0.037,2001,2708,1730,0,0,0,0,0,0
$GC,9436,0.60,146.1,471.2,21.1,547,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2708,1730,0,0,0,0,0,0
$GC,9744,0.60,146.1,406.3,21.2,562,9748,0.00,1.95,0.00,0.000,4,0.000,0.057,2001,3906,1730,0,0,0,0,0,0
$GC,9822,0.60,146.1,388.0,23.3,565,9826,0.00,1.92,0.00,0.000,6,0.000,0.037,2010,2704,1730,0,0,0,0,0,0
$GC,10146,0.60,146.1,321.3,20.0,581,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2704,1730,0,0,0,0,0,0
$GC,10455,0.60,146.1,258.7,20.3,596,10458,0.00,1.95,0.00,0.000,4,0.000,0.057,2011,3906,1730,0,0,0,0,0,0
$GC,10563,0.60,146.1,234.5,22.3,603,10571,0.10,1.90,0.00,0.000,6,0.201,0.036,1992,2710,1730,0,0,0,0,0,0
$GC,10888,0.60,146.1,175.4,18.1,634,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2709,1730,0,0,0,0,0,0
$GC,11209,0.60,146.1,119.8,17.1,664,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2710,1730,0,0,0,0,0,0
$GC,11541,0.60,146.1,67.9,15.6,712,11550,0.00,1.95,0.00,0.000,4,0.000,0.058,1992,3904,1730,0,0,0,0,0,0
$GC,11598,0.60,146.1,59.0,16.3,721,11605,0.00,1.90,0.00,0.000,6,0.000,0.036,2000,2704,1730,0,0,0,0,0,0
$GC,11713,0.60,146.1,41.9,14.2,740,11721,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2704,1730,0,0,0,0,0,0
$GC,11831,0.60,146.1,24.7,15.5,759,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2704,1730,0,0,0,0,0,0
$GC,11914,0.60,146.1,11.9,15.1,772,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2704,1730,0,0,0,0,0,0
$STATE,11978,end climb,SURFACE_DEPTH_REACHED
$STATE,11978,begin surface coast
$FINISH,1.3,1.027186
$STATE,12005,end surface coast,CONTROL_FINISHED_OK
$STATE,12005,begin surface
$SM_CCo,12017,20.38,0.185,0,0,1525,200.16
$SM_GC,3.35,0.00,0.00,20.38,0.000,0.000,0.185,57,2946,1525,-5.42,0.45,200.16
$IRIDIUM_FIX,-5535.12,-30.76,261214,121203
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.8,24.260
$10V_AH,10.0,15.848
$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,13.075,59.500,279.400,20.375,0.000,27.559,39.554,274.502,0.000,0.000,20.126,1967.806,7665.523,389.593,2315.459,158.964,33.363,1161.193,0.000,1838.068,0.000,0.539,0.000
$DEVICE_MAMPS,244.035,63.495,1781.685,185.130,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.619,1629.046,775.752,816.764,0.000,0.000,0.000,0.000,0.000,0.000
$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,53690,786
$CAP_FILE_SIZE,104624,0
$CFSIZE,259252224,220073984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261214,191005,-5558.802,-32.229,29,0.9,29,-19.9