version: 66.07
glider: 542
mission: 9
dive: 108
start: 12 27 114 21 33 47
data:
$ID,542
$MISSION,9
$DIVE,108
$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,-21958.807
$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,30
$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
$GPS1,271214,212253,-5558.492,-31.729,40,0.9,40,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-68.3
$GPS2,271214,213253,-5558.468,-31.656,16,1.7,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.102,0.130
$KALMAN_X,61905.6,-407.4,-73.9,-94136.1,2999.6
$KALMAN_Y,33025.5,432.7,237.7,-30561.2,-4471.5
$MHEAD_RNG_PITCHd_Wd,341.8,3315,-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,-73.9,0.0,0.0,0,50,0.00,0.00,-32.88,0.000,2,0.000,0.000,45,2942,2217,0,0,0,0,0,0
$GC,52,-0.60,-144.3,3.0,-3.5,4,94,6.22,0.00,-26.50,0.000,6,0.246,0.000,1587,2942,2932,0,0,0,0,0,0
$GC,169,-0.60,-144.3,20.1,-21.8,21,178,0.00,2.28,0.00,0.000,4,0.000,0.041,1587,1511,2933,0,0,0,0,0,0
$GC,217,-0.60,-144.3,29.6,-18.8,28,226,0.00,2.35,0.00,0.000,6,0.000,0.059,1576,2917,2933,0,0,0,0,0,0
$GC,299,-0.60,-144.3,46.6,-21.3,41,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2917,2934,0,0,0,0,0,0
$GC,411,-0.60,-144.3,70.8,-20.2,60,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2917,2934,0,0,0,0,0,0
$GC,525,-0.60,-144.3,93.9,-20.7,79,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2917,2934,0,0,0,0,0,0
$GC,747,-0.60,-144.3,137.4,-18.4,102,750,0.00,1.62,0.00,0.000,4,0.000,0.065,1569,3907,2934,0,0,0,0,0,0
$GC,819,-0.60,-144.3,152.9,-20.2,108,829,0.00,1.60,0.00,0.000,6,0.000,0.033,1569,2882,2935,0,0,0,0,0,0
$GC,1147,-0.60,-144.3,217.9,-20.5,139,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2881,2934,0,0,0,0,0,0
$GC,1468,-0.60,-144.3,282.6,-19.4,162,1472,0.00,1.70,0.00,0.000,4,0.000,0.066,1561,3901,2934,0,0,0,0,0,0
$GC,1586,-0.60,-144.3,307.2,-20.3,167,1591,0.08,1.50,0.00,0.000,6,0.184,0.034,1583,2935,2935,0,0,0,0,0,0
$GC,1915,-0.60,-144.3,363.8,-16.8,183,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2934,2934,0,0,0,0,0,0
$GC,2223,-0.60,-144.3,413.9,-15.7,198,2226,0.00,1.60,0.00,0.000,4,0.000,0.065,1577,3900,2934,0,0,0,0,0,0
$GC,2290,-0.60,-144.3,425.1,-17.0,201,2294,0.00,1.50,0.00,0.000,6,0.000,0.033,1576,2918,2935,0,0,0,0,0,0
$GC,2622,-0.60,-144.3,477.0,-15.4,217,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2913,2935,0,0,0,0,0,0
$GC,2932,-0.60,-144.3,524.5,-15.3,232,2935,0.00,1.62,0.00,0.000,4,0.000,0.064,1569,3896,2935,0,0,0,0,0,0
$GC,3009,-0.60,-144.3,537.4,-16.1,235,3013,0.00,1.48,0.00,0.000,6,0.000,0.033,1569,2923,2935,0,0,0,0,0,0
$GC,3330,-0.60,-144.3,587.2,-15.5,251,3334,0.00,1.62,0.00,0.000,4,0.000,0.063,1561,3933,2935,0,0,0,0,0,0
$GC,3385,-0.60,-144.3,596.7,-16.9,253,3390,0.08,1.52,0.00,0.000,6,0.184,0.032,1584,2938,2936,0,0,0,0,0,0
$GC,3706,-0.60,-144.3,643.9,-14.6,269,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2938,2936,0,0,0,0,0,0
$GC,4016,-0.60,-144.3,688.8,-14.4,284,4020,0.00,1.60,0.00,0.000,4,0.000,0.064,1577,3909,2936,0,0,0,0,0,0
$GC,4076,-0.60,-144.3,698.4,-15.5,286,4084,0.00,1.52,0.00,0.000,6,0.000,0.032,1577,2911,2936,0,0,0,0,0,0
$GC,4392,-0.60,-144.3,745.6,-15.5,302,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2910,2936,0,0,0,0,0,0
$GC,4702,-0.60,-144.3,793.2,-15.6,317,4706,0.00,1.62,0.00,0.000,4,0.000,0.064,1570,3897,2936,0,0,0,0,0,0
$GC,4779,-0.60,-144.3,806.4,-17.1,320,4784,0.00,1.48,0.00,0.000,6,0.000,0.032,1569,2933,2936,0,0,0,0,0,0
$GC,5101,-0.60,-144.3,856.0,-15.2,336,5105,0.00,1.60,0.00,0.000,4,0.000,0.063,1562,3901,2936,0,0,0,0,0,0
$GC,5156,-0.60,-144.3,865.2,-16.2,338,5161,0.08,1.48,0.00,0.000,6,0.184,0.032,1585,2935,2936,0,0,0,0,0,0
$GC,5477,-0.60,-144.3,909.9,-13.8,354,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2935,2936,0,0,0,0,0,0
$GC,5787,-0.60,-144.3,952.3,-13.8,369,5791,0.00,1.60,0.00,0.000,4,0.000,0.065,1578,3905,2936,0,0,0,0,0,0
$GC,5846,-0.60,-144.3,961.5,-15.0,371,5854,0.00,1.52,0.00,0.000,6,0.000,0.031,1578,2908,2936,0,0,0,0,0,0
$STATE,6141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6141,begin apogee
$GC,6145,-0.13,0.0,1002.5,13.9,386,6284,0.55,0.00,131.98,1.782,6,0.181,0.000,1738,2736,2342,0,0,0,0,0,0
$STATE,6284,end apogee,CONTROL_FINISHED_OK
$STATE,6285,begin climb
$GC,6287,0.60,144.3,1006.7,0.0,393,6436,0.80,0.00,144.82,1.733,6,0.123,0.000,1977,2736,1753,0,0,0,0,0,0
$GC,6743,0.60,144.3,929.8,19.6,415,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2736,1744,0,0,0,0,0,0
$GC,7052,0.60,144.3,869.6,19.7,430,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2736,1742,0,0,0,0,0,0
$GC,7361,0.60,144.3,809.3,19.2,445,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2736,1741,0,0,0,0,0,0
$GC,7671,0.60,144.3,750.0,18.9,460,7675,0.00,1.98,0.00,0.000,4,0.000,0.063,1977,3904,1740,0,0,0,0,0,0
$GC,7747,0.60,144.3,733.4,22.0,463,7752,0.00,1.90,0.00,0.000,6,0.000,0.037,1986,2726,1739,0,0,0,0,0,0
$GC,8070,0.60,144.3,671.7,19.0,479,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2725,1738,0,0,0,0,0,0
$GC,8378,0.60,144.3,614.3,18.4,494,8382,0.00,1.95,0.00,0.000,4,0.000,0.060,1986,3907,1738,0,0,0,0,0,0
$GC,8449,0.60,144.3,599.7,19.5,497,8454,0.00,1.92,0.00,0.000,6,0.000,0.036,1995,2705,1737,0,0,0,0,0,0
$GC,8778,0.60,144.3,538.3,19.0,513,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2705,1737,0,0,0,0,0,0
$GC,9086,0.60,144.3,479.0,18.9,528,9090,0.00,1.98,0.00,0.000,4,0.000,0.060,1996,3911,1737,0,0,0,0,0,0
$GC,9131,0.60,144.3,469.9,20.5,530,9135,0.00,1.88,0.00,0.000,6,0.000,0.037,2004,2709,1737,0,0,0,0,0,0
$GC,9464,0.60,144.3,404.4,19.4,546,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2709,1737,0,0,0,0,0,0
$GC,9775,0.60,144.3,342.8,19.9,561,9778,0.00,1.95,0.00,0.000,4,0.000,0.060,2005,3909,1737,0,0,0,0,0,0
$GC,9888,0.60,144.3,317.9,22.5,566,9892,0.00,1.88,0.00,0.000,6,0.000,0.037,2014,2701,1737,0,0,0,0,0,0
$GC,10220,0.60,144.3,251.2,19.9,582,10224,0.00,1.95,0.00,0.000,4,0.000,0.060,2014,3903,1737,0,0,0,0,0,0
$GC,10279,0.60,144.3,239.0,21.4,586,10283,0.15,1.88,0.00,0.000,6,0.223,0.036,1988,2702,1737,0,0,0,0,0,0
$GC,10611,0.60,144.3,182.8,16.3,617,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2702,1737,0,0,0,0,0,0
$GC,10931,0.60,144.3,131.0,16.1,647,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2702,1737,0,0,0,0,0,0
$GC,11265,0.60,144.3,82.0,14.3,689,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2702,1736,0,0,0,0,0,0
$GC,11504,0.60,144.3,48.8,14.3,730,11513,0.00,2.20,0.00,0.000,4,0.000,0.045,1998,1296,1736,0,0,0,0,0,0
$GC,11550,0.60,144.3,42.9,12.9,737,11557,0.00,2.25,0.00,0.000,6,0.000,0.055,1998,2726,1736,0,0,0,0,0,0
$GC,11667,0.60,144.3,26.7,13.7,756,11676,0.00,1.88,0.00,0.000,4,0.000,0.063,1998,3880,1736,0,0,0,0,0,0
$GC,11722,0.60,144.3,17.9,16.0,764,11731,0.00,1.85,0.00,0.000,6,0.000,0.037,2008,2712,1736,0,0,0,0,0,0
$GC,11807,0.60,144.3,4.7,15.5,777,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2712,1736,0,0,0,0,0,0
$STATE,11822,end climb,SURFACE_DEPTH_REACHED
$STATE,11822,begin surface coast
$FINISH,1.3,1.027140
$STATE,11842,end surface coast,CONTROL_FINISHED_OK
$STATE,11843,begin surface
$SM_CCo,11855,21.15,0.197,0,0,1523,200.16
$SM_GC,2.59,0.00,0.00,21.15,0.000,0.000,0.197,60,2927,1523,-5.40,-0.08,200.16
$IRIDIUM_FIX,-5535.12,-26.95,271214,212120
$TT8_MAMPS,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,21.8,25.497
$10V_AH,10.0,16.680
$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,13.200,60.825,276.800,21.150,0.000,53.518,121.837,252.574,0.000,0.000,18.796,1944.546,7553.815,393.029,2443.415,145.187,33.363,1187.835,0.000,1866.806,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,65.790,1782.450,196.605,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.673,1618.089,779.235,822.328,0.000,0.000,0.000,0.000,0.000,0.000
$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,53746,782
$CAP_FILE_SIZE,104331,0
$CFSIZE,259252224,219566080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281214,005258,-5557.773,-33.746,39,0.9,39,-19.9