version: 66.07
glider: 542
mission: 9
dive: 107
start: 12 27 114 18 2 53
data:
$ID,542
$MISSION,9
$DIVE,107
$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,-21956.352
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,271214,175428,-5558.256,-29.338,39,0.9,39,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-63.2
$GPS2,271214,180159,-5558.217,-29.256,20,1.0,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.159,0.045
$KALMAN_X,60740.6,45.5,-64.6,-90955.6,2290.9
$KALMAN_Y,34138.4,324.3,336.8,-31200.8,-4147.4
$MHEAD_RNG_PITCHd_Wd,305.6,3390,-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,-34.33,0.000,2,0.000,0.000,45,2943,2259,0,0,0,0,0,0
$GC,54,-0.60,-145.6,3.0,-3.4,4,97,6.25,1.60,-25.17,0.000,4,0.249,0.086,1579,3890,2938,0,0,0,0,0,0
$GC,166,-0.60,-145.6,20.3,-22.2,20,175,0.00,1.58,0.00,0.000,6,0.000,0.035,1579,2893,2940,0,0,0,0,0,0
$GC,249,-0.60,-145.6,39.2,-23.2,33,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2892,2939,0,0,0,0,0,0
$GC,362,-0.60,-145.6,65.6,-23.3,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2893,2939,0,0,0,0,0,0
$GC,475,-0.60,-145.6,89.8,-20.7,71,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2892,2939,0,0,0,0,0,0
$GC,698,-0.60,-145.6,135.9,-19.4,96,700,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2892,2939,0,0,0,0,0,0
$GC,1018,-0.60,-145.6,193.3,-17.4,126,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2892,2939,0,0,0,0,0,0
$GC,1336,-0.60,-145.6,246.7,-16.8,156,1340,0.00,1.62,0.00,0.000,4,0.000,0.065,1571,3897,2940,0,0,0,0,0,0
$GC,1482,-0.60,-145.6,274.4,-19.0,163,1487,0.00,1.52,0.00,0.000,6,0.000,0.034,1572,2920,2940,0,0,0,0,0,0
$GC,1806,-0.60,-145.6,332.3,-18.3,179,1809,0.00,1.62,0.00,0.000,4,0.000,0.064,1564,3892,2940,0,0,0,0,0,0
$GC,1853,-0.60,-145.6,341.3,-18.8,181,1857,0.08,1.48,0.00,0.000,6,0.190,0.034,1586,2936,2941,0,0,0,0,0,0
$GC,2186,-0.60,-145.6,396.0,-16.2,197,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2936,2940,0,0,0,0,0,0
$GC,2494,-0.60,-145.6,444.2,-15.4,212,2498,0.00,1.58,0.00,0.000,4,0.000,0.064,1579,3890,2941,0,0,0,0,0,0
$GC,2571,-0.60,-145.6,457.5,-17.8,215,2576,0.00,1.50,0.00,0.000,6,0.000,0.032,1579,2912,2941,0,0,0,0,0,0
$GC,2894,-0.60,-145.6,509.0,-15.8,231,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2908,2941,0,0,0,0,0,0
$GC,3202,-0.60,-145.6,556.0,-15.0,246,3206,0.00,1.62,0.00,0.000,4,0.000,0.064,1572,3893,2941,0,0,0,0,0,0
$GC,3279,-0.60,-145.6,569.1,-17.5,249,3284,0.00,1.48,0.00,0.000,6,0.000,0.032,1572,2930,2942,0,0,0,0,0,0
$GC,3602,-0.60,-145.6,618.6,-15.5,265,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2923,2942,0,0,0,0,0,0
$GC,3910,-0.60,-145.6,664.9,-15.2,280,3914,0.00,1.60,0.00,0.000,4,0.000,0.063,1565,3895,2941,0,0,0,0,0,0
$GC,3978,-0.60,-145.6,676.0,-15.7,283,3982,0.00,1.48,0.00,0.000,6,0.000,0.034,1564,2929,2942,0,0,0,0,0,0
$GC,4310,-0.60,-145.6,728.7,-16.1,299,4312,0.12,0.00,0.00,0.000,6,0.211,0.000,1594,2922,2941,0,0,0,0,0,0
$GC,4619,-0.60,-145.6,773.2,-14.2,314,4623,0.00,1.60,0.00,0.000,4,0.000,0.063,1587,3893,2941,0,0,0,0,0,0
$GC,4668,-0.60,-145.6,781.0,-15.1,316,4673,0.00,1.50,0.00,0.000,6,0.000,0.032,1587,2914,2941,0,0,0,0,0,0
$GC,4997,-0.60,-145.6,828.2,-14.2,332,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2910,2941,0,0,0,0,0,0
$GC,5305,-0.60,-145.6,871.5,-13.8,347,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2909,2941,0,0,0,0,0,0
$GC,5615,-0.60,-145.6,911.7,-12.8,362,5618,0.00,1.62,0.00,0.000,4,0.000,0.063,1579,3897,2941,0,0,0,0,0,0
$GC,5663,-0.60,-145.6,918.8,-14.5,364,5668,0.00,1.48,0.00,0.000,6,0.000,0.032,1580,2930,2941,0,0,0,0,0,0
$GC,5992,-0.60,-145.6,961.3,-12.9,380,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2925,2941,0,0,0,0,0,0
$STATE,6299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6299,begin apogee
$GC,6304,-0.13,0.0,1001.0,13.0,395,6442,0.55,0.00,132.88,1.782,6,0.182,0.000,1738,2716,2342,0,0,0,0,0,0
$STATE,6443,end apogee,CONTROL_FINISHED_OK
$STATE,6443,begin climb
$GC,6445,0.60,145.6,1004.0,0.0,402,6600,0.80,2.42,146.18,1.729,4,0.126,0.043,1984,1334,1748,0,0,0,0,0,0
$GC,6634,0.60,145.6,977.2,18.7,411,6639,0.00,2.45,0.00,0.000,6,0.000,0.051,1984,2714,1744,0,0,0,0,0,0
$GC,6961,0.60,145.6,911.4,20.5,427,6965,0.00,1.98,0.00,0.000,4,0.000,0.059,1984,3889,1738,0,0,0,0,0,0
$GC,6998,0.60,145.6,902.4,22.8,428,7007,0.00,1.92,0.00,0.000,6,0.000,0.035,1992,2734,1737,0,0,0,0,0,0
$GC,7315,0.60,145.6,835.9,21.1,444,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2734,1736,0,0,0,0,0,0
$GC,7625,0.60,145.6,772.4,20.5,459,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2734,1735,0,0,0,0,0,0
$GC,7934,0.60,145.6,710.2,20.0,474,7937,0.00,1.92,0.00,0.000,4,0.000,0.060,1993,3896,1734,0,0,0,0,0,0
$GC,7982,0.60,145.6,699.2,22.5,476,7987,0.00,1.90,0.00,0.000,6,0.000,0.037,2002,2716,1733,0,0,0,0,0,0
$GC,8310,0.60,145.6,633.5,20.1,492,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2716,1733,0,0,0,0,0,0
$GC,8619,0.60,145.6,570.1,20.3,507,8623,0.00,1.95,0.00,0.000,4,0.000,0.060,2002,3902,1733,0,0,0,0,0,0
$GC,8679,0.60,145.6,556.4,22.0,509,8688,0.08,1.90,0.00,0.000,6,0.211,0.035,1991,2715,1733,0,0,0,0,0,0
$GC,8996,0.60,145.6,497.8,18.2,525,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2715,1733,0,0,0,0,0,0
$GC,9305,0.60,145.6,441.9,17.8,540,9309,0.00,1.95,0.00,0.000,4,0.000,0.058,1991,3893,1733,0,0,0,0,0,0
$GC,9387,0.60,145.6,424.8,20.7,543,9395,0.00,1.90,0.00,0.000,6,0.000,0.035,1999,2703,1732,0,0,0,0,0,0
$GC,9706,0.60,145.6,366.5,18.3,559,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2702,1732,0,0,0,0,0,0
$GC,10013,0.60,145.6,308.7,18.9,574,10016,0.00,1.95,0.00,0.000,4,0.000,0.059,2000,3900,1732,0,0,0,0,0,0
$GC,10058,0.60,145.6,299.3,21.4,576,10062,0.00,1.88,0.00,0.000,6,0.000,0.037,2008,2703,1732,0,0,0,0,0,0
$GC,10385,0.60,145.6,233.7,21.3,595,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2702,1732,0,0,0,0,0,0
$GC,10705,0.60,145.6,169.1,19.3,625,10709,0.00,1.95,0.00,0.000,4,0.000,0.059,2009,3902,1732,0,0,0,0,0,0
$GC,10860,0.60,145.6,136.4,19.5,638,10871,0.12,1.90,0.00,0.000,6,0.203,0.036,1983,2703,1732,0,0,0,0,0,0
$GC,11191,0.60,145.6,90.6,14.0,674,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2703,1732,0,0,0,0,0,0
$GC,11433,0.60,145.6,58.3,13.0,715,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2703,1732,0,0,0,0,0,0
$GC,11544,0.60,145.6,44.0,12.6,734,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2703,1732,0,0,0,0,0,0
$GC,11660,0.60,145.6,29.1,12.4,753,11669,0.00,2.20,0.00,0.000,4,0.000,0.044,1993,1298,1732,0,0,0,0,0,0
$GC,11716,0.60,145.6,22.5,11.7,761,11725,0.00,2.28,0.00,0.000,6,0.000,0.054,1993,2721,1732,0,0,0,0,0,0
$GC,11801,0.60,145.6,11.7,12.7,774,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2721,1732,0,0,0,0,0,0
$STATE,11865,end climb,SURFACE_DEPTH_REACHED
$STATE,11865,begin surface coast
$FINISH,1.1,1.027104
$STATE,11891,end surface coast,CONTROL_FINISHED_OK
$STATE,11891,begin surface
$SM_CCo,11903,20.60,0.197,0,0,1523,200.16
$SM_GC,2.57,0.00,0.00,20.60,0.000,0.000,0.197,63,2940,1523,-5.40,0.28,200.16
$IRIDIUM_FIX,-5535.12,-30.76,271214,141433
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.9,25.337
$10V_AH,10.0,16.581
$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,13.175,57.925,279.050,20.600,0.000,26.405,40.903,264.653,0.000,0.000,22.845,1956.967,7514.169,397.220,2359.559,150.337,33.354,1184.076,0.000,1879.303,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,85.680,1782.450,196.605,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.028,1647.828,795.760,847.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,53712,788
$CAP_FILE_SIZE,103254,0
$CFSIZE,259252224,219623424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,271214,212253,-5558.492,-31.729,40,0.9,40,-19.9