version: 66.07
glider: 542
mission: 9
dive: 111
start: 12 28 114 8 20 23
data:
$ID,542
$MISSION,9
$DIVE,111
$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,-21966.973
$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,21
$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
$GPS1,281214,080904,-5558.125,-32.284,44,1.0,44,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-60.2
$GPS2,281214,081929,-5558.224,-32.135,20,1.0,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.137,0.092
$KALMAN_X,63258.8,-177.7,34.6,-96324.6,2784.5
$KALMAN_Y,31314.7,528.4,370.2,-28634.3,-3660.1
$MHEAD_RNG_PITCHd_Wd,323.9,3964,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-73.9,0.0,0.0,0,60,0.00,0.00,-42.62,0.000,2,0.000,0.000,45,2929,2442,0,0,0,0,0,0
$GC,62,-0.60,-140.8,3.2,-3.8,5,89,6.45,1.67,-15.00,0.000,4,0.257,0.087,1584,3900,2917,0,0,0,0,0,0
$GC,230,-0.60,-140.8,37.1,-21.5,31,237,0.00,1.58,0.00,0.000,6,0.000,0.033,1584,2896,2918,0,0,0,0,0,0
$GC,343,-0.60,-140.8,60.1,-20.6,50,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2895,2918,0,0,0,0,0,0
$GC,458,-0.60,-140.8,83.2,-20.2,69,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2895,2918,0,0,0,0,0,0
$GC,686,-0.60,-140.8,129.0,-20.0,97,690,0.00,1.65,0.00,0.000,4,0.000,0.064,1576,3906,2919,0,0,0,0,0,0
$GC,811,-0.60,-140.8,156.8,-21.4,108,815,0.00,1.52,0.00,0.000,6,0.000,0.034,1576,2927,2919,0,0,0,0,0,0
$GC,1144,-0.60,-140.8,221.1,-18.6,139,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2922,2919,0,0,0,0,0,0
$GC,1467,-0.60,-140.8,278.8,-17.1,162,1470,0.00,1.62,0.00,0.000,4,0.000,0.063,1569,3903,2919,0,0,0,0,0,0
$GC,1558,-0.60,-140.8,295.3,-17.4,166,1562,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2929,2919,0,0,0,0,0,0
$GC,1890,-0.60,-140.8,353.4,-17.3,182,1894,0.00,1.62,0.00,0.000,4,0.000,0.065,1561,3901,2918,0,0,0,0,0,0
$GC,1960,-0.60,-140.8,366.1,-18.7,185,1964,0.10,1.50,0.00,0.000,6,0.187,0.034,1590,2933,2919,0,0,0,0,0,0
$GC,2292,-0.60,-140.8,416.7,-14.7,201,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2934,2919,0,0,0,0,0,0
$GC,2601,-0.60,-140.8,461.6,-14.5,216,2604,0.00,1.60,0.00,0.000,4,0.000,0.065,1582,3897,2920,0,0,0,0,0,0
$GC,2638,-0.60,-140.8,467.7,-15.5,217,2646,0.00,1.50,0.00,0.000,6,0.000,0.032,1583,2913,2919,0,0,0,0,0,0
$GC,2955,-0.60,-140.8,513.1,-14.2,233,2959,0.00,1.62,0.00,0.000,4,0.000,0.066,1575,3923,2919,0,0,0,0,0,0
$GC,3000,-0.60,-140.8,520.1,-15.3,235,3004,0.00,1.52,0.00,0.000,6,0.000,0.033,1575,2929,2920,0,0,0,0,0,0
$GC,3333,-0.60,-140.8,569.0,-14.9,251,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2922,2920,0,0,0,0,0,0
$GC,3641,-0.60,-140.8,616.5,-15.5,266,3645,0.00,1.62,0.00,0.000,4,0.000,0.065,1568,3901,2920,0,0,0,0,0,0
$GC,3712,-0.60,-140.8,628.5,-16.1,269,3718,0.00,1.50,0.00,0.000,6,0.000,0.033,1568,2922,2920,0,0,0,0,0,0
$GC,4041,-0.60,-140.8,679.6,-15.8,285,4044,0.00,1.62,0.00,0.000,4,0.000,0.065,1560,3930,2920,0,0,0,0,0,0
$GC,4089,-0.60,-140.8,688.5,-17.3,287,4095,0.10,1.55,0.00,0.000,6,0.183,0.032,1589,2926,2920,0,0,0,0,0,0
$GC,4416,-0.60,-140.8,734.0,-13.6,303,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2926,2920,0,0,0,0,0,0
$GC,4726,-0.60,-140.8,775.5,-13.3,318,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2926,2920,0,0,0,0,0,0
$GC,5035,-0.60,-140.8,816.4,-13.1,333,5039,0.00,1.60,0.00,0.000,4,0.000,0.066,1582,3894,2920,0,0,0,0,0,0
$GC,5094,-0.60,-140.8,825.1,-14.6,335,5103,0.00,1.50,0.00,0.000,6,0.000,0.032,1582,2912,2921,0,0,0,0,0,0
$GC,5411,-0.60,-140.8,868.2,-13.4,351,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2912,2921,0,0,0,0,0,0
$GC,5720,-0.60,-140.8,908.9,-13.1,366,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2912,2920,0,0,0,0,0,0
$GC,6030,-0.60,-140.8,950.0,-13.6,381,6033,0.00,1.62,0.00,0.000,4,0.000,0.067,1575,3923,2921,0,0,0,0,0,0
$GC,6101,-0.60,-140.8,960.9,-15.4,384,6106,0.00,1.52,0.00,0.000,6,0.000,0.032,1574,2936,2921,0,0,0,0,0,0
$STATE,6386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6386,begin apogee
$GC,6390,-0.13,0.0,1001.2,14.1,398,6522,0.57,0.00,128.60,1.775,6,0.179,0.000,1742,2710,2342,0,0,0,0,0,0
$STATE,6523,end apogee,CONTROL_FINISHED_OK
$STATE,6523,begin climb
$GC,6525,0.60,140.8,1005.2,0.0,404,6671,0.77,0.00,141.85,1.718,6,0.122,0.000,1974,2710,1768,0,0,0,0,0,0
$GC,6977,0.60,140.8,931.9,18.3,426,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,1973,2710,1760,0,0,0,0,0,0
$GC,7286,0.60,140.8,875.6,18.1,441,7290,0.00,2.03,0.00,0.000,4,0.000,0.064,1974,3913,1757,0,0,0,0,0,0
$GC,7354,0.60,140.8,862.1,19.8,444,7357,0.00,1.90,0.00,0.000,6,0.000,0.036,1983,2738,1756,0,0,0,0,0,0
$GC,7687,0.60,140.8,799.5,18.7,460,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2738,1755,0,0,0,0,0,0
$GC,7995,0.60,140.8,742.5,18.4,475,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2738,1754,0,0,0,0,0,0
$GC,8304,0.60,140.8,686.4,18.1,490,8308,0.00,1.92,0.00,0.000,4,0.000,0.062,1983,3900,1754,0,0,0,0,0,0
$GC,8359,0.60,140.8,675.2,20.5,492,8363,0.00,1.92,0.00,0.000,6,0.000,0.036,1992,2707,1754,0,0,0,0,0,0
$GC,8680,0.60,140.8,615.5,18.6,508,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2707,1754,0,0,0,0,0,0
$GC,8990,0.60,140.8,556.7,18.8,523,8994,0.00,2.00,0.00,0.000,4,0.000,0.062,1992,3901,1754,0,0,0,0,0,0
$GC,9067,0.60,140.8,540.3,22.0,526,9071,0.00,1.90,0.00,0.000,6,0.000,0.037,2002,2708,1753,0,0,0,0,0,0
$GC,9388,0.60,140.8,476.4,20.1,542,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2708,1753,0,0,0,0,0,0
$GC,9698,0.60,140.8,415.6,19.7,557,9702,0.00,1.95,0.00,0.000,4,0.000,0.061,2002,3899,1753,0,0,0,0,0,0
$GC,9747,0.60,140.8,404.5,22.4,559,9751,0.00,1.90,0.00,0.000,6,0.000,0.036,2011,2705,1753,0,0,0,0,0,0
$GC,10076,0.60,140.8,340.5,19.4,575,10080,0.00,1.95,0.00,0.000,4,0.000,0.060,2011,3900,1753,0,0,0,0,0,0
$GC,10160,0.60,140.8,321.8,22.2,578,10170,0.10,1.90,0.00,0.000,6,0.205,0.035,1992,2700,1753,0,0,0,0,0,0
$GC,10476,0.60,140.8,267.1,17.2,594,10479,0.00,1.95,0.00,0.000,4,0.000,0.060,1992,3900,1753,0,0,0,0,0,0
$GC,10530,0.60,140.8,256.5,19.2,596,10536,0.00,1.88,0.00,0.000,6,0.000,0.034,2001,2716,1752,0,0,0,0,0,0
$GC,10865,0.60,140.8,200.1,16.9,625,10869,0.00,1.92,0.00,0.000,4,0.000,0.060,2000,3900,1752,0,0,0,0,0,0
$GC,10923,0.60,140.8,188.8,18.7,630,10927,0.00,1.88,0.00,0.000,6,0.000,0.036,2010,2697,1752,0,0,0,0,0,0
$GC,11255,0.60,140.8,132.2,17.0,661,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2697,1752,0,0,0,0,0,0
$GC,11581,0.60,140.8,79.3,13.4,703,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2697,1752,0,0,0,0,0,0
$GC,11695,0.60,140.8,63.1,14.6,722,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2697,1752,0,0,0,0,0,0
$GC,11810,0.60,140.8,46.5,14.4,741,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2697,1752,0,0,0,0,0,0
$GC,11925,0.60,140.8,29.6,14.5,760,11934,0.00,2.20,0.00,0.000,4,0.000,0.044,2020,1292,1752,0,0,0,0,0,0
$GC,11985,0.60,140.8,21.1,14.2,769,11995,0.10,2.30,0.00,0.000,6,0.194,0.055,1991,2726,1752,0,0,0,0,0,0
$GC,12071,0.60,140.8,7.8,14.4,782,12080,0.00,1.88,0.00,0.000,4,0.000,0.063,1987,3880,1752,0,0,0,0,0,0
$STATE,12099,end climb,SURFACE_DEPTH_REACHED
$STATE,12099,begin surface coast
$FINISH,2.0,1.027120
$STATE,12107,end surface coast,CONTROL_FINISHED_OK
$STATE,12107,begin surface
$SM_CCo,12120,22.75,0.199,0,0,1525,200.16
$SM_GC,2.61,0.00,0.00,22.75,0.000,0.000,0.199,56,2908,1525,-5.42,-0.62,200.16
$IRIDIUM_FIX,-5535.12,-30.76,281214,080833
$TT8_MAMPS,0.027713
$HUMID,55.90
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,21.9,25.945
$10V_AH,10.0,16.981
$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,13.325,66.675,270.450,22.750,0.000,54.521,121.542,270.601,0.000,0.000,22.326,1973.274,7796.067,393.895,2445.656,160.629,33.358,1173.817,0.000,1858.430,0.000,0.539,0.000
$DEVICE_MAMPS,257.040,87.210,1774.800,198.900,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.838,1613.557,759.249,789.663,0.000,0.000,0.000,0.000,0.000,0.000
$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,53686,787
$CAP_FILE_SIZE,105999,0
$CFSIZE,259252224,219377664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281214,114357,-5558.097,-34.588,28,1.4,37,-19.8