version: 66.07
glider: 542
mission: 9
dive: 102
start: 12 26 114 22 54 47
data:
$ID,542
$MISSION,9
$DIVE,102
$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,-21943.934
$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,28
$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
$GPS1,261214,224252,-5559.533,-29.403,41,0.9,41,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-63.0
$GPS2,261214,225353,-5559.572,-29.304,18,0.8,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.091,0.138
$KALMAN_X,56934.1,-39.2,-156.3,-87012.8,715.5
$KALMAN_Y,39567.8,295.7,214.3,-38980.2,-2974.1
$MHEAD_RNG_PITCHd_Wd,346.4,1072,-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,-34.17,0.000,2,0.000,0.000,59,2946,2246,0,0,0,0,0,0
$GC,53,-0.59,-133.6,3.1,-4.4,4,87,6.15,0.00,-22.77,0.000,6,0.243,0.000,1592,2946,2889,0,0,0,0,0,0
$GC,163,-0.59,-133.6,18.6,-20.7,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2946,2891,0,0,0,0,0,0
$GC,246,-0.59,-133.6,35.6,-20.6,33,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2946,2891,0,0,0,0,0,0
$GC,358,-0.59,-133.6,58.5,-20.0,52,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2946,2891,0,0,0,0,0,0
$GC,473,-0.59,-133.6,79.8,-18.0,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2946,2891,0,0,0,0,0,0
$GC,583,-0.59,-133.6,99.7,-15.4,90,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2946,2891,0,0,0,0,0,0
$GC,803,-0.59,-133.6,136.3,-16.5,111,807,0.00,1.58,0.00,0.000,4,0.000,0.063,1585,3897,2890,0,0,0,0,0,0
$GC,864,-0.59,-133.6,147.8,-18.3,116,874,0.00,1.55,0.00,0.000,6,0.000,0.032,1585,2899,2891,0,0,0,0,0,0
$GC,1191,-0.59,-133.6,202.5,-16.4,147,1195,0.00,1.65,0.00,0.000,4,0.000,0.060,1578,3894,2891,0,0,0,0,0,0
$GC,1252,-0.59,-133.6,213.8,-18.2,152,1262,0.00,1.48,0.00,0.000,6,0.000,0.033,1578,2930,2891,0,0,0,0,0,0
$GC,1575,-0.59,-133.6,269.0,-16.8,178,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2930,2891,0,0,0,0,0,0
$GC,1885,-0.59,-133.6,321.2,-17.1,193,1889,0.00,1.62,0.00,0.000,4,0.000,0.062,1570,3899,2891,0,0,0,0,0,0
$GC,1946,-0.59,-133.6,332.9,-18.5,195,1954,0.00,1.50,0.00,0.000,6,0.000,0.033,1570,2922,2891,0,0,0,0,0,0
$GC,2264,-0.59,-133.6,388.2,-17.6,211,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2922,2891,0,0,0,0,0,0
$GC,2572,-0.59,-133.6,443.9,-18.3,226,2576,0.00,1.60,0.00,0.000,4,0.000,0.060,1563,3895,2890,0,0,0,0,0,0
$GC,2650,-0.59,-133.6,459.2,-19.7,229,2655,0.10,1.48,0.00,0.000,6,0.181,0.034,1592,2938,2890,0,0,0,0,0,0
$GC,2971,-0.59,-133.6,509.3,-15.0,245,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2936,2891,0,0,0,0,0,0
$GC,3281,-0.59,-133.6,553.2,-13.4,260,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2936,2891,0,0,0,0,0,0
$GC,3590,-0.59,-133.6,592.3,-12.1,275,3593,0.00,1.58,0.00,0.000,4,0.000,0.061,1585,3895,2891,0,0,0,0,0,0
$GC,3660,-0.59,-133.6,601.9,-13.8,278,3665,0.00,1.50,0.00,0.000,6,0.000,0.032,1585,2920,2891,0,0,0,0,0,0
$GC,3988,-0.59,-133.6,644.1,-12.7,294,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2916,2891,0,0,0,0,0,0
$GC,4297,-0.59,-133.6,682.9,-12.5,309,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2916,2891,0,0,0,0,0,0
$GC,4607,-0.59,-133.6,721.7,-12.8,324,4611,0.00,1.60,0.00,0.000,4,0.000,0.061,1578,3890,2891,0,0,0,0,0,0
$GC,4675,-0.59,-133.6,731.4,-14.2,327,4678,0.00,1.45,0.00,0.000,6,0.000,0.033,1578,2932,2891,0,0,0,0,0,0
$GC,5007,-0.59,-133.6,777.2,-13.8,343,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2925,2891,0,0,0,0,0,0
$GC,5317,-0.59,-133.6,820.3,-14.2,358,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2925,2891,0,0,0,0,0,0
$GC,5625,-0.59,-133.6,863.4,-13.8,373,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2925,2891,0,0,0,0,0,0
$GC,5935,-0.59,-133.6,905.1,-13.3,388,5938,0.00,1.60,0.00,0.000,4,0.000,0.061,1571,3901,2891,0,0,0,0,0,0
$GC,6006,-0.59,-133.6,915.7,-14.7,391,6010,0.00,1.48,0.00,0.000,6,0.000,0.033,1571,2930,2892,0,0,0,0,0,0
$GC,6333,-0.59,-133.6,960.8,-13.9,407,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2925,2891,0,0,0,0,0,0
$STATE,6641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6642,begin apogee
$GC,6646,-0.13,0.0,1002.9,13.7,422,6772,0.57,0.00,122.00,1.795,6,0.174,0.000,1740,2709,2342,0,0,0,0,0,0
$STATE,6772,end apogee,CONTROL_FINISHED_OK
$STATE,6773,begin climb
$GC,6774,0.59,133.6,1007.2,0.0,428,6913,0.77,0.00,134.45,1.740,6,0.125,0.000,1973,2709,1796,0,0,0,0,0,0
$GC,7209,0.59,133.6,940.7,16.9,449,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2709,1788,0,0,0,0,0,0
$GC,7517,0.59,133.6,888.4,16.9,464,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2709,1786,0,0,0,0,0,0
$GC,7827,0.59,133.6,836.8,16.3,479,7831,0.00,2.00,0.00,0.000,4,0.000,0.058,1973,3892,1785,0,0,0,0,0,0
$GC,7909,0.59,133.6,821.5,19.1,482,7917,0.00,1.88,0.00,0.000,6,0.000,0.035,1981,2737,1783,0,0,0,0,0,0
$GC,8225,0.59,133.6,768.5,16.5,498,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2737,1783,0,0,0,0,0,0
$GC,8535,0.59,133.6,717.5,16.7,513,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2737,1782,0,0,0,0,0,0
$GC,8844,0.59,133.6,667.2,16.3,528,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2737,1782,0,0,0,0,0,0
$GC,9153,0.59,133.6,615.2,16.6,543,9157,0.00,1.92,0.00,0.000,4,0.000,0.057,1982,3898,1781,0,0,0,0,0,0
$GC,9220,0.59,133.6,602.6,19.3,546,9224,0.00,1.88,0.00,0.000,6,0.000,0.036,1990,2698,1781,0,0,0,0,0,0
$GC,9552,0.59,133.6,544.4,17.6,562,9556,0.00,1.95,0.00,0.000,4,0.000,0.057,1991,3896,1781,0,0,0,0,0,0
$GC,9601,0.59,133.6,534.4,20.2,564,9606,0.00,1.90,0.00,0.000,6,0.000,0.035,2000,2707,1781,0,0,0,0,0,0
$GC,9929,0.59,133.6,473.0,19.1,580,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2707,1781,0,0,0,0,0,0
$GC,10238,0.59,133.6,414.8,18.8,595,10242,0.00,1.95,0.00,0.000,4,0.000,0.057,2000,3892,1781,0,0,0,0,0,0
$GC,10314,0.59,133.6,398.2,22.3,598,10319,0.00,1.90,0.00,0.000,6,0.000,0.036,2009,2701,1781,0,0,0,0,0,0
$GC,10637,0.59,133.6,335.3,19.7,614,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2702,1780,0,0,0,0,0,0
$GC,10947,0.59,133.6,275.7,19.4,629,10951,0.00,1.95,0.00,0.000,4,0.000,0.057,2009,3903,1780,0,0,0,0,0,0
$GC,11020,0.59,133.6,259.9,20.7,632,11025,0.10,1.90,0.00,0.000,6,0.200,0.037,1990,2714,1780,0,0,0,0,0,0
$GC,11346,0.59,133.6,205.6,16.5,660,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2714,1780,0,0,0,0,0,0
$GC,11664,0.59,133.6,154.5,16.4,690,11668,0.00,1.92,0.00,0.000,4,0.000,0.057,1990,3905,1780,0,0,0,0,0,0
$GC,11771,0.59,133.6,134.6,18.8,699,11775,0.00,1.88,0.00,0.000,6,0.000,0.037,1998,2705,1780,0,0,0,0,0,0
$GC,12106,0.59,133.6,80.7,14.5,740,12113,0.00,2.20,0.00,0.000,4,0.000,0.044,2009,1284,1780,0,0,0,0,0,0
$GC,12197,0.59,133.6,68.4,14.0,755,12205,0.00,2.25,0.00,0.000,6,0.000,0.053,2009,2722,1780,0,0,0,0,0,0
$GC,12311,0.59,133.6,52.0,14.1,774,12320,0.00,1.88,0.00,0.000,4,0.000,0.060,2008,3882,1780,0,0,0,0,0,0
$GC,12396,0.59,133.6,37.7,16.7,788,12406,0.10,1.85,0.00,0.000,6,0.207,0.037,1989,2715,1779,0,0,0,0,0,0
$GC,12516,0.59,133.6,21.5,12.2,807,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2714,1780,0,0,0,0,0,0
$GC,12600,0.59,133.6,10.9,11.9,820,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2714,1780,0,0,0,0,0,0
$STATE,12664,end climb,SURFACE_DEPTH_REACHED
$STATE,12664,begin surface coast
$FINISH,1.2,1.027173
$STATE,12690,end surface coast,CONTROL_FINISHED_OK
$STATE,12690,begin surface
$SM_CCo,12703,25.27,0.203,0,0,1524,200.16
$SM_GC,2.33,0.00,0.00,25.27,0.000,0.000,0.203,55,2923,1524,-5.42,-0.20,200.16
$IRIDIUM_FIX,-5535.12,-23.07,261214,222216
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.9,24.559
$10V_AH,10.0,16.053
$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,12.900,53.475,256.450,25.275,0.000,54.126,68.846,343.803,0.000,0.000,20.311,2063.086,8217.445,383.236,2561.031,168.096,33.354,1180.657,0.000,1936.555,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,63.495,1794.690,203.490,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.014,1734.926,828.667,878.564,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,57082,834
$CAP_FILE_SIZE,107558,0
$CFSIZE,259252224,219951104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271214,022804,-5558.540,-30.986,34,0.8,34,-19.9