version: 66.07
glider: 542
mission: 9
dive: 101
start: 12 26 114 19 17 59
data:
$ID,542
$MISSION,9
$DIVE,101
$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,-21941.473
$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,23
$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
$GPS1,261214,191005,-5558.802,-32.229,29,0.9,29,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-66.0
$GPS2,261214,191705,-5558.788,-32.191,19,0.9,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.162,-0.029
$KALMAN_X,57222.8,502.1,-351.9,-90643.4,1516.8
$KALMAN_Y,40510.2,207.0,64.4,-38226.5,-2110.8
$MHEAD_RNG_PITCHd_Wd,120.0,3192,-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,-73.9,0.0,0.0,0,50,0.00,0.00,-33.72,0.000,2,0.000,0.000,55,2949,2239,0,0,0,0,0,0
$GC,53,-0.59,-132.9,3.1,-4.5,4,88,6.25,2.35,-23.27,0.000,4,0.249,0.054,1594,1498,2884,0,0,0,0,0,0
$GC,318,-0.59,-132.9,41.7,-16.0,46,326,0.00,2.35,0.00,0.000,6,0.000,0.057,1583,2922,2887,0,0,0,0,0,0
$GC,434,-0.59,-132.9,63.6,-20.0,65,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2922,2887,0,0,0,0,0,0
$GC,546,-0.59,-132.9,86.0,-18.9,84,554,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2922,2887,0,0,0,0,0,0
$GC,774,-0.59,-132.9,125.8,-16.5,111,775,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2922,2887,0,0,0,0,0,0
$GC,1092,-0.59,-132.9,181.1,-17.5,141,1096,0.00,1.58,0.00,0.000,4,0.000,0.062,1576,3896,2887,0,0,0,0,0,0
$GC,1259,-0.59,-132.9,212.6,-18.9,155,1266,0.00,1.55,0.00,0.000,6,0.000,0.033,1576,2884,2888,0,0,0,0,0,0
$GC,1583,-0.59,-132.9,267.7,-16.9,181,1586,0.00,1.65,0.00,0.000,4,0.000,0.060,1568,3899,2887,0,0,0,0,0,0
$GC,1633,-0.59,-132.9,277.3,-18.0,183,1637,0.00,1.48,0.00,0.000,6,0.000,0.033,1568,2931,2887,0,0,0,0,0,0
$GC,1961,-0.59,-132.9,331.4,-16.2,199,1966,0.10,1.60,0.00,0.000,4,0.215,0.061,1584,3902,2888,0,0,0,0,0,0
$GC,2016,-0.59,-132.9,341.3,-16.5,201,2021,0.00,1.50,0.00,0.000,6,0.000,0.031,1585,2929,2888,0,0,0,0,0,0
$GC,2340,-0.59,-132.9,391.7,-15.8,217,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,2647,-0.59,-132.9,439.1,-15.4,232,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,2956,-0.59,-132.9,486.6,-15.2,247,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2924,2888,0,0,0,0,0,0
$GC,3266,-0.59,-132.9,534.1,-15.3,262,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,3575,-0.59,-132.9,579.9,-14.7,277,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,3884,-0.59,-132.9,624.9,-14.4,292,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,4194,-0.59,-132.9,668.7,-14.1,307,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,4503,-0.59,-132.9,712.2,-14.1,322,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2923,2888,0,0,0,0,0,0
$GC,4812,-0.59,-132.9,755.4,-13.9,337,4816,0.00,2.08,0.00,0.000,4,0.000,0.041,1584,1539,2888,0,0,0,0,0,0
$GC,4846,-0.59,-132.9,759.9,-13.7,338,4853,0.00,2.22,0.00,0.000,6,0.000,0.056,1574,2936,2888,0,0,0,0,0,0
$GC,5161,-0.59,-132.9,805.7,-14.7,354,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2936,2888,0,0,0,0,0,0
$GC,5471,-0.59,-132.9,850.1,-14.1,369,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2936,2888,0,0,0,0,0,0
$GC,5780,-0.59,-132.9,893.5,-13.9,384,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2936,2888,0,0,0,0,0,0
$GC,6089,-0.59,-132.9,935.2,-13.1,399,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2936,2888,0,0,0,0,0,0
$GC,6399,-0.59,-132.9,976.5,-13.2,414,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2937,2888,0,0,0,0,0,0
$STATE,6583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6583,begin apogee
$GC,6587,-0.13,0.0,1001.5,13.7,423,6711,0.57,0.00,121.00,1.784,6,0.178,0.000,1742,2720,2342,0,0,0,0,0,0
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6714,0.59,132.9,1005.5,0.0,429,6851,0.80,0.00,133.88,1.737,6,0.124,0.000,1977,2719,1800,0,0,0,0,0,0
$GC,7154,0.59,132.9,935.0,18.3,451,7158,0.00,2.05,0.00,0.000,4,0.000,0.058,1977,3913,1791,0,0,0,0,0,0
$GC,7236,0.59,132.9,917.8,21.0,454,7244,0.00,1.95,0.00,0.000,6,0.000,0.034,1986,2743,1789,0,0,0,0,0,0
$GC,7553,0.59,132.9,856.8,19.7,470,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2742,1788,0,0,0,0,0,0
$GC,7861,0.59,132.9,797.5,19.2,485,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2742,1786,0,0,0,0,0,0
$GC,8171,0.59,132.9,736.5,20.0,500,8175,0.00,1.92,0.00,0.000,4,0.000,0.057,1986,3893,1786,0,0,0,0,0,0
$GC,8203,0.59,132.9,729.2,22.4,501,8207,0.00,1.92,0.00,0.000,6,0.000,0.036,1996,2703,1785,0,0,0,0,0,0
$GC,8524,0.59,132.9,663.8,20.2,517,8528,0.00,1.98,0.00,0.000,4,0.000,0.057,1995,3903,1785,0,0,0,0,0,0
$GC,8550,0.59,132.9,657.5,22.6,518,8556,0.00,1.92,0.00,0.000,6,0.000,0.035,2004,2702,1785,0,0,0,0,0,0
$GC,8879,0.59,132.9,586.6,22.2,534,8882,0.00,1.98,0.00,0.000,4,0.000,0.057,2004,3909,1785,0,0,0,0,0,0
$GC,8955,0.59,132.9,567.8,23.5,537,8961,0.10,1.92,0.00,0.000,6,0.208,0.036,1986,2713,1784,0,0,0,0,0,0
$GC,9278,0.59,132.9,505.6,19.2,553,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2712,1784,0,0,0,0,0,0
$GC,9586,0.59,132.9,446.9,19.2,568,9590,0.00,1.90,0.00,0.000,4,0.000,0.056,1986,3898,1785,0,0,0,0,0,0
$GC,9654,0.59,132.9,432.4,21.9,571,9657,0.00,1.88,0.00,0.000,6,0.000,0.036,1994,2705,1783,0,0,0,0,0,0
$GC,9988,0.59,132.9,366.8,19.6,587,9992,0.00,1.95,0.00,0.000,4,0.000,0.057,1994,3907,1784,0,0,0,0,0,0
$GC,10015,0.59,132.9,360.3,20.8,588,10019,0.00,1.90,0.00,0.000,6,0.000,0.036,2004,2711,1784,0,0,0,0,0,0
$GC,10342,0.59,132.9,295.0,20.2,604,10346,0.00,1.92,0.00,0.000,4,0.000,0.057,2004,3898,1784,0,0,0,0,0,0
$GC,10420,0.59,132.9,277.1,22.4,607,10425,0.10,1.88,0.00,0.000,6,0.207,0.037,1985,2717,1783,0,0,0,0,0,0
$GC,10746,0.59,132.9,222.6,16.3,630,10749,0.00,1.92,0.00,0.000,4,0.000,0.057,1985,3903,1783,0,0,0,0,0,0
$GC,10769,0.59,132.9,218.5,18.1,632,10773,0.00,1.90,0.00,0.000,6,0.000,0.036,1994,2708,1783,0,0,0,0,0,0
$GC,11101,0.59,132.9,162.8,16.5,663,11105,0.00,1.95,0.00,0.000,4,0.000,0.058,1994,3897,1783,0,0,0,0,0,0
$GC,11197,0.59,132.9,145.2,18.6,671,11201,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2697,1783,0,0,0,0,0,0
$GC,11528,0.59,132.9,90.1,15.8,706,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2697,1783,0,0,0,0,0,0
$GC,11771,0.59,132.9,52.7,14.4,747,11778,0.00,1.98,0.00,0.000,4,0.000,0.057,2003,3926,1783,0,0,0,0,0,0
$GC,11798,0.59,132.9,48.6,14.8,751,11806,0.05,1.92,0.00,0.000,6,0.199,0.036,1988,2712,1783,0,0,0,0,0,0
$GC,11914,0.59,132.9,32.6,13.6,770,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2712,1783,0,0,0,0,0,0
$GC,12034,0.59,132.9,16.9,12.6,789,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2712,1783,0,0,0,0,0,0
$GC,12118,0.59,132.9,7.3,11.4,802,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2711,1783,0,0,0,0,0,0
$STATE,12152,end climb,SURFACE_DEPTH_REACHED
$STATE,12152,begin surface coast
$FINISH,1.2,1.026552
$STATE,12178,end surface coast,CONTROL_FINISHED_OK
$STATE,12178,begin surface
$SM_CCo,12191,25.48,0.188,0,0,1523,200.16
$SM_GC,2.42,0.00,0.00,25.48,0.000,0.000,0.188,61,2946,1523,-5.40,0.45,200.16
$IRIDIUM_FIX,-5538.94,-30.80,261214,151521
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.9,24.405
$10V_AH,10.0,15.949
$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,13.225,57.650,254.875,25.475,0.000,27.226,22.254,253.469,0.000,0.000,22.211,2000.087,7785.697,387.757,2303.357,163.164,33.360,1126.986,0.000,1863.022,0.000,0.539,0.000
$DEVICE_MAMPS,249.390,65.790,1783.980,188.190,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.828,1705.759,841.905,886.998,0.000,0.000,0.000,0.000,0.000,0.000
$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,57084,811
$CAP_FILE_SIZE,100861,0
$CFSIZE,259252224,220016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,261214,224252,-5559.533,-29.403,41,0.9,41,-19.9