version: 66.07
glider: 542
mission: 9
dive: 106
start: 12 27 114 14 31 12
data:
$ID,542
$MISSION,9
$DIVE,106
$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,-21953.854
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,271214,142303,-5559.062,-32.828,27,1.8,36,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-66.5
$GPS2,271214,143018,-5559.035,-32.739,17,1.5,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.115,0.118
$KALMAN_X,59193.6,378.3,-35.2,-93370.6,1079.5
$KALMAN_Y,35225.7,181.7,83.3,-33399.8,-3566.2
$MHEAD_RNG_PITCHd_Wd,64.3,3352,-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,12,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,-33.88,0.000,2,0.000,0.000,48,2932,2242,0,0,0,0,0,0
$GC,53,-0.60,-144.3,3.0,-3.5,4,96,6.20,2.28,-25.90,0.000,4,0.246,0.054,1591,1504,2932,0,0,0,0,0,0
$GC,279,-0.60,-144.3,36.1,-17.4,39,286,0.00,2.33,0.00,0.000,6,0.000,0.057,1581,2928,2934,0,0,0,0,0,0
$GC,393,-0.60,-144.3,58.8,-20.6,58,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2928,2934,0,0,0,0,0,0
$GC,507,-0.60,-144.3,82.7,-19.1,77,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2929,2934,0,0,0,0,0,0
$GC,739,-0.60,-144.3,125.7,-17.9,106,743,0.00,1.58,0.00,0.000,4,0.000,0.063,1573,3896,2934,0,0,0,0,0,0
$GC,835,-0.60,-144.3,144.9,-19.0,114,846,0.00,1.58,0.00,0.000,6,0.000,0.033,1573,2882,2935,0,0,0,0,0,0
$GC,1163,-0.60,-144.3,202.3,-16.7,145,1167,0.00,1.67,0.00,0.000,4,0.000,0.062,1566,3905,2934,0,0,0,0,0,0
$GC,1269,-0.60,-144.3,222.9,-18.4,154,1280,0.00,1.52,0.00,0.000,6,0.000,0.034,1565,2922,2935,0,0,0,0,0,0
$GC,1592,-0.60,-144.3,281.6,-17.9,177,1596,0.10,1.62,0.00,0.000,4,0.217,0.062,1580,3910,2935,0,0,0,0,0,0
$GC,1664,-0.60,-144.3,295.1,-18.2,180,1668,0.00,1.50,0.00,0.000,6,0.000,0.033,1581,2937,2935,0,0,0,0,0,0
$GC,1992,-0.60,-144.3,349.8,-16.7,196,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2930,2935,0,0,0,0,0,0
$GC,2304,-0.60,-144.3,400.5,-16.2,211,2308,0.00,1.62,0.00,0.000,4,0.000,0.062,1573,3903,2934,0,0,0,0,0,0
$GC,2359,-0.60,-144.3,410.9,-17.2,213,2363,0.00,1.52,0.00,0.000,6,0.000,0.032,1573,2920,2935,0,0,0,0,0,0
$GC,2681,-0.60,-144.3,463.0,-16.0,229,2685,0.00,1.62,0.00,0.000,4,0.000,0.062,1565,3902,2935,0,0,0,0,0,0
$GC,2752,-0.60,-144.3,475.8,-17.9,232,2757,0.00,1.50,0.00,0.000,6,0.000,0.034,1566,2923,2935,0,0,0,0,0,0
$GC,3080,-0.60,-144.3,528.9,-16.4,248,3083,0.00,1.62,0.00,0.000,4,0.000,0.061,1558,3907,2935,0,0,0,0,0,0
$GC,3139,-0.60,-144.3,539.8,-17.8,250,3148,0.10,1.52,0.00,0.000,6,0.204,0.033,1587,2917,2936,0,0,0,0,0,0
$GC,3457,-0.60,-144.3,586.9,-14.7,266,3460,0.00,1.62,0.00,0.000,4,0.000,0.063,1579,3905,2935,0,0,0,0,0,0
$GC,3503,-0.60,-144.3,594.0,-15.8,268,3507,0.00,1.48,0.00,0.000,6,0.000,0.034,1580,2931,2936,0,0,0,0,0,0
$GC,3836,-0.60,-144.3,644.7,-15.1,284,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2925,2935,0,0,0,0,0,0
$GC,4144,-0.60,-144.3,692.0,-15.3,299,4148,0.00,1.60,0.00,0.000,4,0.000,0.062,1572,3900,2935,0,0,0,0,0,0
$GC,4215,-0.60,-144.3,703.8,-15.7,302,4220,0.00,1.50,0.00,0.000,6,0.000,0.032,1572,2922,2935,0,0,0,0,0,0
$GC,4544,-0.60,-144.3,753.2,-14.6,318,4548,0.00,1.62,0.00,0.000,4,0.000,0.061,1564,3907,2935,0,0,0,0,0,0
$GC,4590,-0.60,-144.3,760.4,-16.7,320,4594,0.08,1.48,0.00,0.000,6,0.183,0.034,1586,2940,2935,0,0,0,0,0,0
$GC,4922,-0.60,-144.3,805.2,-13.2,336,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2938,2935,0,0,0,0,0,0
$GC,5232,-0.60,-144.3,845.5,-12.9,351,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2938,2935,0,0,0,0,0,0
$GC,5541,-0.60,-144.3,885.5,-12.9,366,5544,0.00,1.58,0.00,0.000,4,0.000,0.062,1580,3900,2935,0,0,0,0,0,0
$GC,5601,-0.60,-144.3,894.1,-13.9,368,5609,0.00,1.48,0.00,0.000,6,0.000,0.032,1580,2918,2935,0,0,0,0,0,0
$GC,5918,-0.60,-144.3,936.4,-13.4,384,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2918,2935,0,0,0,0,0,0
$GC,6226,-0.60,-144.3,978.5,-13.3,399,6230,0.00,1.62,0.00,0.000,4,0.000,0.061,1572,3909,2935,0,0,0,0,0,0
$GC,6304,-0.60,-144.3,989.8,-14.7,402,6308,0.00,1.48,0.00,0.000,6,0.000,0.031,1572,2930,2936,0,0,0,0,0,0
$STATE,6397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6397,begin apogee
$GC,6401,-0.13,0.0,1002.5,13.7,407,6540,0.57,0.00,131.85,1.785,6,0.176,0.000,1740,2708,2342,0,0,0,0,0,0
$STATE,6541,end apogee,CONTROL_FINISHED_OK
$STATE,6541,begin climb
$GC,6542,0.60,144.3,1005.9,0.0,414,6693,0.82,0.00,145.00,1.737,6,0.122,0.000,1981,2708,1753,0,0,0,0,0,0
$GC,6993,0.60,144.3,926.4,19.8,436,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2708,1744,0,0,0,0,0,0
$GC,7303,0.60,144.3,864.2,20.0,451,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2708,1742,0,0,0,0,0,0
$GC,7612,0.60,144.3,802.9,20.0,466,7616,0.00,2.00,0.00,0.000,4,0.000,0.060,1981,3897,1741,0,0,0,0,0,0
$GC,7679,0.60,144.3,788.2,22.6,469,7683,0.00,1.85,0.00,0.000,6,0.000,0.037,1990,2739,1740,0,0,0,0,0,0
$GC,8012,0.60,144.3,719.7,20.4,485,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2739,1739,0,0,0,0,0,0
$GC,8320,0.60,144.3,659.6,19.2,500,8324,0.00,1.90,0.00,0.000,4,0.000,0.057,1990,3906,1739,0,0,0,0,0,0
$GC,8374,0.60,144.3,648.0,20.9,502,8379,0.00,1.92,0.00,0.000,6,0.000,0.036,2000,2714,1738,0,0,0,0,0,0
$GC,8697,0.60,144.3,585.6,19.0,518,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2713,1738,0,0,0,0,0,0
$GC,9006,0.60,144.3,527.1,18.9,533,9010,0.00,1.95,0.00,0.000,4,0.000,0.057,2000,3896,1738,0,0,0,0,0,0
$GC,9076,0.60,144.3,512.2,20.0,536,9081,0.00,1.90,0.00,0.000,6,0.000,0.036,2009,2708,1737,0,0,0,0,0,0
$GC,9404,0.60,144.3,449.7,18.7,552,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2708,1737,0,0,0,0,0,0
$GC,9715,0.60,144.3,390.5,19.2,567,9719,0.00,1.95,0.00,0.000,4,0.000,0.057,2009,3906,1737,0,0,0,0,0,0
$GC,9821,0.60,144.3,367.2,21.1,571,9829,0.12,1.92,0.00,0.000,6,0.198,0.037,1983,2703,1737,0,0,0,0,0,0
$GC,10139,0.60,144.3,312.8,17.4,587,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2703,1737,0,0,0,0,0,0
$GC,10446,0.60,144.3,258.7,17.9,602,10450,0.00,1.95,0.00,0.000,4,0.000,0.057,1983,3901,1737,0,0,0,0,0,0
$GC,10493,0.60,144.3,249.9,19.2,604,10496,0.00,1.85,0.00,0.000,6,0.000,0.037,1992,2707,1737,0,0,0,0,0,0
$GC,10825,0.60,144.3,192.6,16.3,635,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2708,1737,0,0,0,0,0,0
$GC,11144,0.60,144.3,140.9,16.0,665,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2707,1737,0,0,0,0,0,0
$GC,11474,0.60,144.3,91.2,13.8,701,11480,0.00,1.95,0.00,0.000,4,0.000,0.058,1992,3912,1737,0,0,0,0,0,0
$GC,11551,0.60,144.3,78.7,17.7,714,11560,0.00,1.90,0.00,0.000,6,0.000,0.037,2001,2715,1736,0,0,0,0,0,0
$GC,11667,0.60,144.3,61.3,15.3,733,11674,0.00,2.20,0.00,0.000,4,0.000,0.045,2012,1283,1737,0,0,0,0,0,0
$GC,11699,0.60,144.3,56.7,14.0,738,11708,0.00,2.30,0.00,0.000,6,0.000,0.054,2012,2724,1737,0,0,0,0,0,0
$GC,11815,0.60,144.3,40.5,13.3,757,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2724,1737,0,0,0,0,0,0
$GC,11932,0.60,144.3,23.3,14.4,776,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2724,1737,0,0,0,0,0,0
$GC,12017,0.60,144.3,10.5,15.1,789,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2724,1737,0,0,0,0,0,0
$STATE,12068,end climb,SURFACE_DEPTH_REACHED
$STATE,12068,begin surface coast
$FINISH,1.4,1.027160
$STATE,12089,end surface coast,CONTROL_FINISHED_OK
$STATE,12089,begin surface
$SM_CCo,12101,20.90,0.203,0,0,1523,200.16
$SM_GC,3.26,0.00,0.00,20.90,0.000,0.000,0.203,59,2941,1523,-5.40,0.31,200.16
$IRIDIUM_FIX,-5535.12,-30.76,271214,101047
$TT8_MAMPS,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.8,25.179
$10V_AH,10.0,16.482
$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,13.150,67.100,276.850,20.900,0.000,27.143,20.181,272.130,0.000,0.000,19.821,1990.693,7611.338,406.106,2405.096,146.458,33.355,1220.226,0.000,1930.001,0.000,0.540,0.000
$DEVICE_MAMPS,245.565,69.615,1784.745,202.725,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.354,1673.540,818.712,858.147,0.000,0.000,0.000,0.000,0.000,0.000
$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,53572,800
$CAP_FILE_SIZE,106338,0
$CFSIZE,259252224,219688960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271214,175428,-5558.256,-29.338,39,0.9,39,-19.9