version: 66.07
glider: 542
mission: 9
dive: 103
start: 12 27 114 2 36 29
data:
$ID,542
$MISSION,9
$DIVE,103
$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,-21946.447
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,271214,022804,-5558.540,-30.986,34,0.8,34,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-65.6
$GPS2,271214,023535,-5558.541,-30.913,20,0.9,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.154,0.059
$KALMAN_X,57414.1,-682.8,191.1,-88869.4,856.0
$KALMAN_Y,38948.0,252.3,114.4,-36311.7,-2725.9
$MHEAD_RNG_PITCHd_Wd,89.1,2862,-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,-34.28,0.000,2,0.000,0.000,47,2931,2249,0,0,0,0,0,0
$GC,54,-0.59,-124.5,3.1,-5.2,4,89,6.15,2.22,-21.77,0.000,4,0.242,0.049,1591,1494,2849,0,0,0,0,0,0
$GC,231,-0.59,-124.5,27.7,-16.5,31,240,0.00,2.38,0.00,0.000,6,0.000,0.054,1581,2930,2850,0,0,0,0,0,0
$GC,310,-0.59,-124.5,44.2,-22.2,44,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2930,2849,0,0,0,0,0,0
$GC,426,-0.59,-124.5,68.4,-20.5,63,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2930,2850,0,0,0,0,0,0
$GC,539,-0.59,-124.5,91.4,-19.3,82,545,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2930,2850,0,0,0,0,0,0
$GC,768,-0.59,-124.5,131.0,-17.4,107,772,0.00,1.60,0.00,0.000,4,0.000,0.061,1573,3903,2850,0,0,0,0,0,0
$GC,922,-0.59,-124.5,160.0,-18.2,120,933,0.00,1.58,0.00,0.000,6,0.000,0.032,1573,2885,2850,0,0,0,0,0,0
$GC,1250,-0.59,-124.5,214.8,-16.3,151,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2885,2850,0,0,0,0,0,0
$GC,1563,-0.59,-124.5,267.0,-16.5,176,1567,0.00,1.67,0.00,0.000,4,0.000,0.060,1565,3917,2850,0,0,0,0,0,0
$GC,1641,-0.59,-124.5,281.6,-18.8,179,1647,0.10,1.52,0.00,0.000,6,0.182,0.032,1595,2922,2851,0,0,0,0,0,0
$GC,1966,-0.59,-124.5,331.0,-15.1,195,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2922,2850,0,0,0,0,0,0
$GC,2273,-0.59,-124.5,376.6,-14.3,210,2276,0.00,1.60,0.00,0.000,4,0.000,0.060,1588,3896,2851,0,0,0,0,0,0
$GC,2363,-0.59,-124.5,390.4,-15.1,214,2367,0.00,1.48,0.00,0.000,6,0.000,0.033,1588,2933,2851,0,0,0,0,0,0
$GC,2695,-0.59,-124.5,438.2,-13.7,230,2699,0.00,1.60,0.00,0.000,4,0.000,0.060,1580,3903,2851,0,0,0,0,0,0
$GC,2756,-0.59,-124.5,447.7,-15.5,232,2763,0.00,1.48,0.00,0.000,6,0.000,0.032,1580,2923,2851,0,0,0,0,0,0
$GC,3071,-0.59,-124.5,494.4,-15.1,248,3075,0.00,1.60,0.00,0.000,4,0.000,0.060,1573,3898,2851,0,0,0,0,0,0
$GC,3142,-0.59,-124.5,506.0,-16.5,251,3148,0.00,1.50,0.00,0.000,6,0.000,0.032,1573,2921,2851,0,0,0,0,0,0
$GC,3471,-0.59,-124.5,555.7,-15.5,267,3474,0.00,1.62,0.00,0.000,4,0.000,0.060,1565,3910,2851,0,0,0,0,0,0
$GC,3527,-0.59,-124.5,565.0,-16.5,269,3531,0.08,1.48,0.00,0.000,6,0.180,0.033,1589,2943,2851,0,0,0,0,0,0
$GC,3847,-0.59,-124.5,610.8,-14.1,285,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2939,2851,0,0,0,0,0,0
$GC,4156,-0.59,-124.5,655.3,-14.4,300,4160,0.00,1.58,0.00,0.000,4,0.000,0.060,1582,3900,2851,0,0,0,0,0,0
$GC,4201,-0.59,-124.5,662.2,-15.3,302,4205,0.00,1.48,0.00,0.000,6,0.000,0.032,1582,2926,2852,0,0,0,0,0,0
$GC,4534,-0.59,-124.5,711.0,-14.3,318,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2920,2852,0,0,0,0,0,0
$GC,4842,-0.59,-124.5,755.0,-14.3,333,4846,0.00,1.60,0.00,0.000,4,0.000,0.060,1574,3900,2852,0,0,0,0,0,0
$GC,4890,-0.59,-124.5,762.5,-15.4,335,4895,0.00,1.50,0.00,0.000,6,0.000,0.031,1574,2917,2852,0,0,0,0,0,0
$GC,5219,-0.59,-124.5,808.2,-13.5,351,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2914,2852,0,0,0,0,0,0
$GC,5527,-0.59,-124.5,850.9,-13.6,366,5531,0.00,1.62,0.00,0.000,4,0.000,0.062,1567,3907,2852,0,0,0,0,0,0
$GC,5611,-0.59,-124.5,863.5,-14.9,369,5619,0.08,1.48,0.00,0.000,6,0.180,0.033,1589,2939,2852,0,0,0,0,0,0
$GC,5927,-0.59,-124.5,903.1,-12.2,385,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2938,2852,0,0,0,0,0,0
$GC,6236,-0.59,-124.5,941.0,-12.3,400,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2938,2852,0,0,0,0,0,0
$GC,6546,-0.59,-124.5,977.1,-11.4,415,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2938,2852,0,0,0,0,0,0
$STATE,6750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6750,begin apogee
$GC,6754,-0.13,0.0,1000.1,11.2,425,6873,0.50,0.00,112.40,1.792,6,0.166,0.000,1740,2718,2344,0,0,0,0,0,0
$STATE,6874,end apogee,CONTROL_FINISHED_OK
$STATE,6874,begin climb
$GC,6875,0.59,124.5,1003.1,0.0,431,7011,0.75,2.50,124.75,1.734,4,0.124,0.044,1978,1328,1833,0,0,0,0,0,0
$GC,7027,0.59,124.5,984.5,16.3,438,7032,0.00,2.53,0.00,0.000,6,0.000,0.049,1978,2724,1831,0,0,0,0,0,0
$GC,7355,0.59,124.5,925.6,17.6,454,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2724,1823,0,0,0,0,0,0
$GC,7664,0.59,124.5,871.2,17.6,469,7668,0.00,1.95,0.00,0.000,4,0.000,0.059,1978,3889,1821,0,0,0,0,0,0
$GC,7713,0.59,124.5,861.3,20.5,471,7717,0.00,1.90,0.00,0.000,6,0.000,0.036,1986,2731,1821,0,0,0,0,0,0
$GC,8041,0.59,124.5,800.2,18.5,487,8044,0.00,1.90,0.00,0.000,4,0.000,0.057,1987,3892,1821,0,0,0,0,0,0
$GC,8072,0.59,124.5,793.2,21.3,488,8077,0.00,1.92,0.00,0.000,6,0.000,0.036,1996,2709,1820,0,0,0,0,0,0
$GC,8394,0.59,124.5,731.6,19.0,504,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2708,1819,0,0,0,0,0,0
$GC,8704,0.59,124.5,673.3,18.6,519,8708,0.00,1.98,0.00,0.000,4,0.000,0.058,1996,3893,1819,0,0,0,0,0,0
$GC,8774,0.59,124.5,658.4,20.5,522,8779,0.00,1.90,0.00,0.000,6,0.000,0.035,2004,2707,1818,0,0,0,0,0,0
$GC,9102,0.59,124.5,594.5,19.9,538,9106,0.00,1.95,0.00,0.000,4,0.000,0.057,2005,3900,1818,0,0,0,0,0,0
$GC,9139,0.59,124.5,586.1,22.4,539,9148,0.10,1.90,0.00,0.000,6,0.213,0.036,1987,2715,1818,0,0,0,0,0,0
$GC,9455,0.59,124.5,528.8,18.2,555,9459,0.00,1.92,0.00,0.000,4,0.000,0.057,1987,3896,1818,0,0,0,0,0,0
$GC,9517,0.59,124.5,516.1,21.3,557,9524,0.00,1.88,0.00,0.000,6,0.000,0.036,1995,2701,1817,0,0,0,0,0,0
$GC,9832,0.59,124.5,457.9,18.4,573,9836,0.00,1.95,0.00,0.000,4,0.000,0.057,1995,3897,1817,0,0,0,0,0,0
$GC,9886,0.59,124.5,446.2,21.8,575,9891,0.00,1.90,0.00,0.000,6,0.000,0.036,2004,2708,1817,0,0,0,0,0,0
$GC,10213,0.59,124.5,383.0,19.7,591,10216,0.00,1.92,0.00,0.000,4,0.000,0.056,2004,3894,1817,0,0,0,0,0,0
$GC,10307,0.59,124.5,361.0,22.1,595,10312,0.10,1.90,0.00,0.000,6,0.210,0.035,1986,2702,1817,0,0,0,0,0,0
$GC,10636,0.59,124.5,303.2,17.1,611,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2702,1817,0,0,0,0,0,0
$GC,10943,0.59,124.5,250.0,17.1,626,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2702,1817,0,0,0,0,0,0
$GC,11264,0.59,124.5,198.4,15.7,655,11267,0.00,1.95,0.00,0.000,4,0.000,0.057,1986,3900,1817,0,0,0,0,0,0
$GC,11372,0.59,124.5,178.6,17.5,664,11382,0.00,1.88,0.00,0.000,6,0.000,0.034,1994,2714,1816,0,0,0,0,0,0
$GC,11699,0.59,124.5,130.2,14.3,695,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2714,1817,0,0,0,0,0,0
$GC,12024,0.59,124.5,81.3,14.3,735,12032,0.00,1.92,0.00,0.000,4,0.000,0.057,1994,3886,1816,0,0,0,0,0,0
$GC,12091,0.59,124.5,70.6,15.3,746,12100,0.00,1.88,0.00,0.000,6,0.000,0.036,2004,2700,1816,0,0,0,0,0,0
$GC,12208,0.59,124.5,54.7,14.0,765,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2699,1816,0,0,0,0,0,0
$GC,12321,0.59,124.5,38.7,13.3,784,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2699,1817,0,0,0,0,0,0
$GC,12440,0.59,124.5,23.8,12.0,803,12448,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2699,1817,0,0,0,0,0,0
$GC,12524,0.59,124.5,13.4,12.6,816,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2698,1817,0,0,0,0,0,0
$STATE,12600,end climb,SURFACE_DEPTH_REACHED
$STATE,12600,begin surface coast
$FINISH,1.2,1.026774
$STATE,12627,end surface coast,CONTROL_FINISHED_OK
$STATE,12627,begin surface
$SM_CCo,12639,30.90,0.175,0,0,1523,200.16
$SM_GC,2.05,0.00,0.00,30.90,0.000,0.000,0.175,52,2942,1523,-5.42,0.34,200.16
$IRIDIUM_FIX,-5535.12,-26.92,261214,222213
$TT8_MAMPS,0.025466
$HUMID,56.14
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.90
$XPDR_PINGS,1
$24V_AH,21.9,24.697
$10V_AH,10.0,16.158
$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,13.175,72.800,237.150,30.900,0.000,25.890,41.715,265.804,0.250,0.000,22.992,2085.329,7989.639,378.329,2509.270,160.984,33.358,1227.632,0.000,2023.293,0.000,0.540,0.000
$DEVICE_MAMPS,241.740,62.730,1791.630,175.185,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.466,1744.272,855.052,889.105,0.000,0.000,0.000,0.000,0.000,0.000
$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,57136,832
$CAP_FILE_SIZE,111967,0
$CFSIZE,259252224,219885568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271214,060852,-5558.488,-27.269,37,1.0,37,-19.9