version: 66.07
glider: 542
mission: 9
dive: 113
start: 12 28 114 15 34 23
data:
$ID,542
$MISSION,9
$DIVE,113
$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,-21973.08
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,281214,152604,-5558.985,-31.354,38,1.3,38,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.0
$GPS2,281214,153329,-5558.933,-31.286,16,1.0,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.033,0.162
$KALMAN_X,63222.1,-152.9,-285.9,-95103.8,1708.0
$KALMAN_Y,29214.9,275.7,195.2,-27409.6,-3884.7
$MHEAD_RNG_PITCHd_Wd,8.4,2383,-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,-73.9,0.0,0.0,0,59,0.00,0.00,-42.50,0.000,2,0.000,0.000,45,2902,2431,0,0,0,0,0,0
$GC,62,-0.59,-124.4,3.4,-5.2,5,88,6.57,0.00,-13.00,0.000,6,0.265,0.000,1594,2902,2847,0,0,0,0,0,0
$GC,163,-0.59,-124.4,19.5,-17.5,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2902,2848,0,0,0,0,0,0
$GC,245,-0.59,-124.4,35.3,-18.2,33,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2902,2848,0,0,0,0,0,0
$GC,358,-0.59,-124.4,58.0,-20.7,52,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2902,2848,0,0,0,0,0,0
$GC,470,-0.59,-124.4,80.1,-20.0,71,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2902,2848,0,0,0,0,0,0
$GC,700,-0.59,-124.4,121.9,-18.1,101,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2901,2848,0,0,0,0,0,0
$GC,1020,-0.59,-124.4,174.7,-15.6,131,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2902,2848,0,0,0,0,0,0
$GC,1346,-0.59,-124.4,224.2,-13.7,162,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2902,2849,0,0,0,0,0,0
$GC,1661,-0.59,-124.4,269.7,-14.8,186,1665,0.00,1.65,0.00,0.000,4,0.000,0.064,1586,3910,2848,0,0,0,0,0,0
$GC,1731,-0.59,-124.4,280.5,-15.4,189,1735,0.00,1.52,0.00,0.000,6,0.000,0.034,1586,2922,2849,0,0,0,0,0,0
$GC,2066,-0.59,-124.4,331.4,-15.4,205,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2916,2848,0,0,0,0,0,0
$GC,2372,-0.59,-124.4,380.7,-16.0,220,2376,0.00,1.62,0.00,0.000,4,0.000,0.064,1579,3896,2848,0,0,0,0,0,0
$GC,2421,-0.59,-124.4,389.6,-17.8,222,2427,0.00,1.50,0.00,0.000,6,0.000,0.033,1578,2928,2849,0,0,0,0,0,0
$GC,2750,-0.59,-124.4,444.5,-17.0,238,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2922,2849,0,0,0,0,0,0
$GC,3058,-0.59,-124.4,495.5,-16.6,253,3062,0.00,1.60,0.00,0.000,4,0.000,0.063,1571,3889,2849,0,0,0,0,0,0
$GC,3136,-0.59,-124.4,509.8,-18.8,256,3140,0.00,1.48,0.00,0.000,6,0.000,0.034,1571,2926,2849,0,0,0,0,0,0
$GC,3457,-0.59,-124.4,563.1,-16.4,272,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2920,2849,0,0,0,0,0,0
$GC,3766,-0.59,-124.4,613.0,-16.3,287,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2920,2850,0,0,0,0,0,0
$GC,4076,-0.59,-124.4,662.2,-15.4,302,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2920,2850,0,0,0,0,0,0
$GC,4385,-0.59,-124.4,709.0,-15.2,317,4389,0.00,1.60,0.00,0.000,4,0.000,0.063,1564,3889,2850,0,0,0,0,0,0
$GC,4453,-0.59,-124.4,720.1,-16.3,320,4457,0.10,1.48,0.00,0.000,6,0.190,0.034,1593,2934,2850,0,0,0,0,0,0
$GC,4785,-0.59,-124.4,764.8,-13.2,336,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2932,2850,0,0,0,0,0,0
$GC,5093,-0.59,-124.4,804.4,-12.6,351,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2933,2850,0,0,0,0,0,0
$GC,5403,-0.59,-124.4,843.5,-12.7,366,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2933,2850,0,0,0,0,0,0
$GC,5712,-0.59,-124.4,882.7,-12.4,381,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2933,2850,0,0,0,0,0,0
$GC,6021,-0.59,-124.4,920.7,-12.1,396,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2933,2850,0,0,0,0,0,0
$GC,6331,-0.59,-124.4,957.8,-11.7,411,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2933,2850,0,0,0,0,0,0
$GC,6640,-0.59,-124.4,994.6,-11.8,426,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2933,2850,0,0,0,0,0,0
$STATE,6700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6700,begin apogee
$GC,6705,-0.13,0.0,1001.8,11.7,429,6823,0.50,0.00,111.97,1.773,6,0.173,0.000,1741,2710,2345,0,0,0,0,0,0
$STATE,6824,end apogee,CONTROL_FINISHED_OK
$STATE,6824,begin climb
$GC,6826,0.59,124.4,1005.2,0.0,435,6956,0.77,0.00,125.97,1.717,6,0.122,0.000,1971,2710,1834,0,0,0,0,0,0
$GC,7251,0.59,124.4,940.5,17.1,456,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,2710,1825,0,0,0,0,0,0
$GC,7560,0.59,124.4,887.9,16.7,471,7564,0.00,2.00,0.00,0.000,4,0.000,0.062,1971,3900,1823,0,0,0,0,0,0
$GC,7628,0.59,124.4,875.3,19.3,474,7631,0.00,1.88,0.00,0.000,6,0.000,0.037,1980,2733,1820,0,0,0,0,0,0
$GC,7959,0.59,124.4,817.9,17.1,490,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2733,1821,0,0,0,0,0,0
$GC,8269,0.59,124.4,764.7,17.3,505,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2733,1820,0,0,0,0,0,0
$GC,8578,0.59,124.4,712.7,16.6,520,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2733,1819,0,0,0,0,0,0
$GC,8888,0.59,124.4,662.2,16.1,535,8892,0.00,1.90,0.00,0.000,4,0.000,0.062,1980,3890,1819,0,0,0,0,0,0
$GC,8967,0.59,124.4,647.8,17.6,538,8971,0.00,1.88,0.00,0.000,6,0.000,0.037,1989,2711,1819,0,0,0,0,0,0
$GC,9288,0.59,124.4,594.5,16.3,554,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2711,1819,0,0,0,0,0,0
$GC,9597,0.59,124.4,544.6,16.2,569,9601,0.00,1.92,0.00,0.000,4,0.000,0.061,1989,3896,1819,0,0,0,0,0,0
$GC,9659,0.59,124.4,533.3,18.8,571,9666,0.00,1.88,0.00,0.000,6,0.000,0.036,1998,2702,1818,0,0,0,0,0,0
$GC,9974,0.59,124.4,478.3,17.6,587,9978,0.00,1.92,0.00,0.000,4,0.000,0.060,1998,3892,1818,0,0,0,0,0,0
$GC,10036,0.59,124.4,466.3,19.6,589,10042,0.00,1.85,0.00,0.000,6,0.000,0.036,2008,2710,1818,0,0,0,0,0,0
$GC,10351,0.59,124.4,407.3,18.9,605,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2710,1818,0,0,0,0,0,0
$GC,10660,0.59,124.4,347.4,19.2,620,10664,0.00,1.92,0.00,0.000,4,0.000,0.060,2008,3897,1818,0,0,0,0,0,0
$GC,10732,0.59,124.4,331.5,22.2,623,10737,0.10,1.90,0.00,0.000,6,0.204,0.036,1988,2701,1817,0,0,0,0,0,0
$GC,11061,0.59,124.4,276.1,16.2,639,11065,0.00,1.92,0.00,0.000,4,0.000,0.059,1988,3898,1817,0,0,0,0,0,0
$GC,11128,0.59,124.4,263.5,18.4,642,11132,0.00,1.85,0.00,0.000,6,0.000,0.037,1997,2704,1817,0,0,0,0,0,0
$GC,11459,0.59,124.4,209.8,16.1,669,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2703,1817,0,0,0,0,0,0
$GC,11778,0.59,124.4,159.2,15.0,699,11782,0.00,1.95,0.00,0.000,4,0.000,0.059,1997,3888,1817,0,0,0,0,0,0
$GC,11884,0.59,124.4,138.9,17.1,708,11894,0.00,1.88,0.00,0.000,6,0.000,0.034,2006,2700,1817,0,0,0,0,0,0
$GC,12220,0.59,124.4,88.0,16.6,745,12226,0.00,1.92,0.00,0.000,4,0.000,0.060,2006,3896,1817,0,0,0,0,0,0
$GC,12343,0.59,124.4,66.7,15.8,766,12353,0.10,1.88,0.00,0.000,6,0.210,0.036,1987,2711,1817,0,0,0,0,0,0
$GC,12460,0.59,124.4,52.2,11.1,785,12467,0.00,1.95,0.00,0.000,4,0.000,0.060,1987,3893,1817,0,0,0,0,0,0
$GC,12533,0.59,124.4,42.9,13.3,797,12539,0.00,1.88,0.00,0.000,6,0.000,0.036,1995,2710,1817,0,0,0,0,0,0
$GC,12648,0.59,124.4,29.0,11.3,816,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2709,1817,0,0,0,0,0,0
$GC,12733,0.59,124.4,17.9,13.4,829,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2709,1817,0,0,0,0,0,0
$GC,12817,0.59,124.4,6.8,11.3,842,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2709,1817,0,0,0,0,0,0
$STATE,12850,end climb,SURFACE_DEPTH_REACHED
$STATE,12850,begin surface coast
$FINISH,1.2,1.007882
$STATE,12877,end surface coast,CONTROL_FINISHED_OK
$STATE,12877,begin surface
$SM_CCo,12889,31.02,0.177,0,0,1525,200.16
$SM_GC,1.62,0.00,0.00,31.02,0.000,0.000,0.177,61,2941,1525,-5.40,0.31,200.16
$IRIDIUM_FIX,-5535.12,-34.61,281214,111125
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,22.0,26.237
$10V_AH,10.0,17.190
$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,13.225,47.375,237.950,31.025,0.000,28.437,20.205,278.897,0.000,0.000,19.270,2094.262,8314.542,386.208,2414.323,158.274,33.356,1156.851,0.000,1938.557,0.000,0.540,0.000
$DEVICE_MAMPS,264.690,64.260,1773.270,176.715,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.498,1776.639,861.626,901.530,0.000,0.000,0.000,0.000,0.000,0.000
$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,60333,851
$CAP_FILE_SIZE,103173,0
$CFSIZE,259252224,219246592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281214,191059,-5557.556,-31.528,40,0.9,40,-19.9