version: 66.07
glider: 542
mission: 9
dive: 105
start: 12 27 114 11 5 17
data:
$ID,542
$MISSION,9
$DIVE,105
$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,-21951.477
$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,25
$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
$GPS1,271214,105559,-5558.832,-30.407,38,0.9,38,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-66.1
$GPS2,271214,110423,-5558.825,-30.355,18,1.0,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.154,0.058
$KALMAN_X,58868.0,107.3,-98.5,-90243.4,1968.0
$KALMAN_Y,36678.5,185.3,125.8,-34509.5,-2774.7
$MHEAD_RNG_PITCHd_Wd,310.5,2208,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.54,-73.9,0.0,0.0,0,69,0.00,0.00,-50.03,0.000,2,0.000,0.000,61,2939,2611,0,0,0,0,0,0
$GC,71,-0.60,-146.1,3.1,-2.7,6,98,6.07,1.62,-9.85,0.000,4,0.241,0.083,1579,3898,2939,0,0,0,0,0,0
$GC,131,-0.60,-146.1,14.6,-21.0,14,140,0.00,1.60,0.00,0.000,6,0.000,0.034,1579,2884,2940,0,0,0,0,0,0
$GC,215,-0.60,-146.1,32.7,-21.9,27,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2883,2940,0,0,0,0,0,0
$GC,328,-0.60,-146.1,57.4,-20.7,46,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2883,2940,0,0,0,0,0,0
$GC,444,-0.60,-146.1,79.9,-19.6,65,451,0.00,1.70,0.00,0.000,4,0.000,0.060,1571,3897,2940,0,0,0,0,0,0
$GC,529,-0.60,-146.1,97.8,-22.2,79,535,0.00,1.52,0.00,0.000,6,0.000,0.034,1571,2921,2941,0,0,0,0,0,0
$GC,756,-0.60,-146.1,141.2,-18.2,101,760,0.00,1.62,0.00,0.000,4,0.000,0.062,1564,3893,2941,0,0,0,0,0,0
$GC,806,-0.60,-146.1,151.6,-20.1,105,814,0.08,1.50,0.00,0.000,6,0.183,0.034,1586,2925,2941,0,0,0,0,0,0
$GC,1131,-0.60,-146.1,212.4,-19.3,136,1135,0.00,2.15,0.00,0.000,4,0.000,0.042,1586,1525,2940,0,0,0,0,0,0
$GC,1163,-0.60,-146.1,218.7,-18.0,138,1174,0.00,2.30,0.00,0.000,6,0.000,0.057,1576,2926,2941,0,0,0,0,0,0
$GC,1495,-0.60,-146.1,281.8,-18.8,162,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2927,2941,0,0,0,0,0,0
$GC,1806,-0.60,-146.1,337.3,-17.2,177,1809,0.00,1.58,0.00,0.000,4,0.000,0.064,1569,3900,2941,0,0,0,0,0,0
$GC,1920,-0.60,-146.1,358.4,-17.6,182,1923,0.00,1.50,0.00,0.000,6,0.000,0.034,1569,2922,2941,0,0,0,0,0,0
$GC,2252,-0.60,-146.1,415.8,-17.1,198,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2916,2941,0,0,0,0,0,0
$GC,2561,-0.60,-146.1,466.1,-16.2,213,2565,0.00,1.62,0.00,0.000,4,0.000,0.063,1561,3900,2941,0,0,0,0,0,0
$GC,2616,-0.60,-146.1,476.1,-18.3,215,2621,0.08,1.50,0.00,0.000,6,0.181,0.034,1585,2922,2941,0,0,0,0,0,0
$GC,2937,-0.60,-146.1,524.9,-15.4,231,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2921,2941,0,0,0,0,0,0
$GC,3247,-0.60,-146.1,571.0,-14.6,246,3250,0.00,1.62,0.00,0.000,4,0.000,0.062,1578,3908,2941,0,0,0,0,0,0
$GC,3307,-0.60,-146.1,581.1,-16.7,248,3315,0.00,1.52,0.00,0.000,6,0.000,0.032,1577,2910,2942,0,0,0,0,0,0
$GC,3623,-0.60,-146.1,628.8,-15.2,264,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2910,2942,0,0,0,0,0,0
$GC,3933,-0.60,-146.1,677.5,-15.8,279,3937,0.00,1.62,0.00,0.000,4,0.000,0.062,1570,3899,2942,0,0,0,0,0,0
$GC,3987,-0.60,-146.1,686.7,-16.3,281,3992,0.00,1.48,0.00,0.000,6,0.000,0.032,1570,2936,2942,0,0,0,0,0,0
$GC,4309,-0.60,-146.1,736.6,-15.4,297,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2929,2942,0,0,0,0,0,0
$GC,4619,-0.60,-146.1,783.2,-14.7,312,4622,0.00,1.60,0.00,0.000,4,0.000,0.062,1562,3904,2942,0,0,0,0,0,0
$GC,4686,-0.60,-146.1,794.4,-16.7,315,4690,0.08,1.48,0.00,0.000,6,0.181,0.034,1585,2940,2942,0,0,0,0,0,0
$GC,5019,-0.60,-146.1,841.9,-14.2,331,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2939,2942,0,0,0,0,0,0
$GC,5327,-0.60,-146.1,884.8,-13.5,346,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2939,2942,0,0,0,0,0,0
$GC,5637,-0.60,-146.1,927.4,-13.8,361,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2939,2942,0,0,0,0,0,0
$GC,5947,-0.60,-146.1,968.8,-13.3,376,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2938,2942,0,0,0,0,0,0
$STATE,6192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6192,begin apogee
$GC,6196,-0.13,0.0,1001.6,13.2,388,6335,0.52,0.00,133.57,1.782,6,0.166,0.000,1744,2713,2341,0,0,0,0,0,0
$STATE,6336,end apogee,CONTROL_FINISHED_OK
$STATE,6336,begin climb
$GC,6338,0.60,146.1,1006.4,0.0,395,6489,0.77,0.00,146.57,1.730,6,0.120,0.000,1976,2713,1746,0,0,0,0,0,0
$GC,6793,0.60,146.1,934.5,18.1,417,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2712,1737,0,0,0,0,0,0
$GC,7103,0.60,146.1,878.4,18.1,432,7107,0.00,2.00,0.00,0.000,4,0.000,0.060,1976,3908,1736,0,0,0,0,0,0
$GC,7157,0.60,146.1,867.2,20.3,434,7162,0.00,1.92,0.00,0.000,6,0.000,0.036,1985,2737,1734,0,0,0,0,0,0
$GC,7479,0.60,146.1,807.4,18.9,450,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2737,1733,0,0,0,0,0,0
$GC,7789,0.60,146.1,753.7,17.5,465,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2736,1732,0,0,0,0,0,0
$GC,8098,0.60,146.1,697.9,18.4,480,8101,0.00,1.92,0.00,0.000,4,0.000,0.059,1985,3903,1732,0,0,0,0,0,0
$GC,8152,0.60,146.1,686.4,20.7,482,8157,0.00,1.92,0.00,0.000,6,0.000,0.037,1994,2709,1731,0,0,0,0,0,0
$GC,8475,0.60,146.1,622.1,20.4,498,8478,0.00,1.98,0.00,0.000,4,0.000,0.058,1995,3913,1731,0,0,0,0,0,0
$GC,8512,0.60,146.1,613.3,22.4,499,8520,0.00,1.92,0.00,0.000,6,0.000,0.037,2004,2714,1731,0,0,0,0,0,0
$GC,8829,0.60,146.1,547.1,21.2,515,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2715,1731,0,0,0,0,0,0
$GC,9138,0.60,146.1,483.6,20.5,530,9141,0.00,1.95,0.00,0.000,4,0.000,0.058,2004,3909,1731,0,0,0,0,0,0
$GC,9209,0.60,146.1,466.8,23.5,533,9214,0.00,1.92,0.00,0.000,6,0.000,0.037,2013,2705,1730,0,0,0,0,0,0
$GC,9537,0.60,146.1,399.7,20.3,549,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2704,1730,0,0,0,0,0,0
$GC,9846,0.60,146.1,337.1,20.2,564,9849,0.00,1.95,0.00,0.000,4,0.000,0.057,2013,3906,1730,0,0,0,0,0,0
$GC,9937,0.60,146.1,316.5,23.3,568,9941,0.15,1.88,0.00,0.000,6,0.220,0.037,1987,2707,1730,0,0,0,0,0,0
$GC,10269,0.60,146.1,255.6,18.3,584,10272,0.00,1.95,0.00,0.000,4,0.000,0.057,1987,3909,1730,0,0,0,0,0,0
$GC,10336,0.60,146.1,241.4,21.3,588,10340,0.00,1.88,0.00,0.000,6,0.000,0.037,1996,2713,1730,0,0,0,0,0,0
$GC,10669,0.60,146.1,178.9,18.4,619,10673,0.00,2.20,0.00,0.000,4,0.000,0.045,2007,1288,1730,0,0,0,0,0,0
$GC,10701,0.60,146.1,172.7,17.1,621,10709,0.00,2.30,0.00,0.000,6,0.000,0.052,2007,2730,1730,0,0,0,0,0,0
$GC,11027,0.60,146.1,112.2,18.8,652,11031,0.00,2.25,0.00,0.000,4,0.000,0.044,2017,1283,1730,0,0,0,0,0,0
$GC,11072,0.60,146.1,104.1,17.5,656,11077,0.12,2.28,0.00,0.000,6,0.213,0.054,1989,2718,1729,0,0,0,0,0,0
$GC,11424,0.60,146.1,49.1,14.1,714,11433,0.00,1.90,0.00,0.000,4,0.000,0.062,1989,3890,1730,0,0,0,0,0,0
$GC,11494,0.60,146.1,38.2,16.6,725,11501,0.00,1.88,0.00,0.000,6,0.000,0.036,1996,2703,1730,0,0,0,0,0,0
$GC,11611,0.60,146.1,20.8,14.5,744,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2703,1730,0,0,0,0,0,0
$GC,11696,0.60,146.1,9.0,12.7,757,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2703,1730,0,0,0,0,0,0
$STATE,11736,end climb,SURFACE_DEPTH_REACHED
$STATE,11736,begin surface coast
$FINISH,1.2,1.027169
$STATE,11762,end surface coast,CONTROL_FINISHED_OK
$STATE,11762,begin surface
$SM_CCo,11775,20.38,0.185,0,0,1523,200.16
$SM_GC,2.88,0.00,0.00,20.38,0.000,0.000,0.185,54,2929,1523,-5.43,-0.03,200.16
$IRIDIUM_FIX,-5535.12,-30.76,271214,020232
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.8,25.023
$10V_AH,10.0,16.381
$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,13.125,66.225,280.150,20.375,0.000,33.373,44.832,299.711,0.000,0.000,20.464,1904.397,7517.518,393.174,2312.899,166.723,33.356,1162.904,0.000,1801.366,0.000,0.540,0.000
$DEVICE_MAMPS,240.975,83.385,1782.450,185.130,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.899,1588.065,749.427,790.274,0.000,0.000,0.000,0.000,0.000,0.000
$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,53683,767
$CAP_FILE_SIZE,104153,0
$CFSIZE,259252224,219750400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271214,142303,-5559.062,-32.828,27,1.8,36,-19.9