version: 66.07
glider: 542
mission: 9
dive: 115
start: 12 28 114 22 50 35
data:
$ID,542
$MISSION,9
$DIVE,115
$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,-21979.443
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,281214,224204,-5559.302,-30.518,36,0.8,36,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-57.0
$GPS2,281214,224941,-5559.354,-30.347,21,0.9,21,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.119,0.114
$KALMAN_X,63499.7,-554.7,-276.0,-94024.3,1928.7
$KALMAN_Y,28751.2,410.0,227.5,-27901.3,-2679.6
$MHEAD_RNG_PITCHd_Wd,333.5,1248,-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,-42.55,0.000,2,0.000,0.000,45,2948,2428,0,0,0,0,0,0
$GC,62,-0.59,-135.7,3.1,-4.2,5,88,6.30,0.00,-15.70,0.000,6,0.249,0.000,1591,2948,2897,0,0,0,0,0,0
$GC,163,-0.59,-135.7,18.6,-19.5,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2948,2899,0,0,0,0,0,0
$GC,245,-0.59,-135.7,35.8,-19.6,33,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2948,2900,0,0,0,0,0,0
$GC,358,-0.59,-135.7,59.5,-18.9,52,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2948,2900,0,0,0,0,0,0
$GC,473,-0.59,-135.7,80.7,-19.1,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2948,2900,0,0,0,0,0,0
$GC,707,-0.59,-135.7,124.7,-18.8,101,708,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2948,2900,0,0,0,0,0,0
$GC,1025,-0.59,-135.7,182.6,-18.1,131,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2948,2900,0,0,0,0,0,0
$GC,1344,-0.59,-135.7,235.7,-16.5,161,1348,0.00,1.55,0.00,0.000,4,0.000,0.065,1584,3886,2900,0,0,0,0,0,0
$GC,1401,-0.59,-135.7,246.4,-17.2,166,1405,0.00,1.52,0.00,0.000,6,0.000,0.034,1584,2903,2901,0,0,0,0,0,0
$GC,1725,-0.59,-135.7,298.0,-15.8,183,1728,0.00,1.65,0.00,0.000,4,0.000,0.062,1576,3910,2900,0,0,0,0,0,0
$GC,1774,-0.59,-135.7,307.2,-17.9,185,1779,0.00,1.52,0.00,0.000,6,0.000,0.033,1577,2919,2900,0,0,0,0,0,0
$GC,2103,-0.59,-135.7,360.7,-16.5,201,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2914,2900,0,0,0,0,0,0
$GC,2411,-0.59,-135.7,410.6,-15.8,216,2415,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3905,2900,0,0,0,0,0,0
$GC,2494,-0.59,-135.7,425.7,-17.5,219,2502,0.00,1.52,0.00,0.000,6,0.000,0.034,1569,2918,2900,0,0,0,0,0,0
$GC,2810,-0.59,-135.7,479.1,-17.0,235,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2918,2901,0,0,0,0,0,0
$GC,3120,-0.59,-135.7,531.3,-16.7,250,3124,0.00,1.60,0.00,0.000,4,0.000,0.062,1561,3889,2900,0,0,0,0,0,0
$GC,3209,-0.59,-135.7,547.6,-18.6,254,3214,0.08,1.45,0.00,0.000,6,0.187,0.034,1584,2942,2901,0,0,0,0,0,0
$GC,3541,-0.59,-135.7,599.9,-15.5,270,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2941,2900,0,0,0,0,0,0
$GC,3850,-0.59,-135.7,647.7,-15.1,285,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2941,2900,0,0,0,0,0,0
$GC,4159,-0.59,-135.7,693.8,-14.7,300,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2941,2901,0,0,0,0,0,0
$GC,4469,-0.59,-135.7,738.6,-14.3,315,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2940,2901,0,0,0,0,0,0
$GC,4778,-0.59,-135.7,783.3,-14.3,330,4782,0.00,1.58,0.00,0.000,4,0.000,0.063,1577,3897,2901,0,0,0,0,0,0
$GC,4839,-0.59,-135.7,793.0,-15.4,332,4846,0.00,1.48,0.00,0.000,6,0.000,0.033,1577,2922,2901,0,0,0,0,0,0
$GC,5155,-0.59,-135.7,840.0,-14.7,348,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2922,2901,0,0,0,0,0,0
$GC,5464,-0.59,-135.7,884.4,-14.3,363,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2922,2901,0,0,0,0,0,0
$GC,5773,-0.59,-135.7,929.0,-14.2,378,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2922,2901,0,0,0,0,0,0
$GC,6083,-0.59,-135.7,974.6,-14.5,393,6087,0.00,1.60,0.00,0.000,4,0.000,0.063,1569,3893,2901,0,0,0,0,0,0
$GC,6156,-0.59,-135.7,986.4,-17.0,396,6159,0.00,1.45,0.00,0.000,6,0.000,0.034,1570,2939,2901,0,0,0,0,0,0
$STATE,6254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6254,begin apogee
$GC,6258,-0.13,0.0,1001.8,15.4,401,6385,0.57,0.00,123.82,1.766,6,0.176,0.000,1738,2706,2342,0,0,0,0,0,0
$STATE,6386,end apogee,CONTROL_FINISHED_OK
$STATE,6386,begin climb
$GC,6388,0.59,135.7,1007.3,0.0,407,6531,0.77,0.00,137.00,1.717,6,0.128,0.000,1969,2706,1788,0,0,0,0,0,0
$GC,6838,0.59,135.7,940.9,16.7,429,6842,0.00,2.03,0.00,0.000,4,0.000,0.059,1967,3891,1779,0,0,0,0,0,0
$GC,6899,0.59,135.7,929.5,19.3,431,6907,0.00,1.92,0.00,0.000,6,0.000,0.035,1975,2738,1776,0,0,0,0,0,0
$GC,7214,0.59,135.7,875.7,17.0,447,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2738,1776,0,0,0,0,0,0
$GC,7525,0.59,135.7,823.6,16.4,462,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2738,1774,0,0,0,0,0,0
$GC,7833,0.59,135.7,771.5,17.0,477,7837,0.00,1.92,0.00,0.000,4,0.000,0.058,1975,3902,1774,0,0,0,0,0,0
$GC,7916,0.59,135.7,755.6,19.0,480,7924,0.00,1.92,0.00,0.000,6,0.000,0.036,1984,2711,1773,0,0,0,0,0,0
$GC,8233,0.59,135.7,700.7,17.2,496,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2711,1773,0,0,0,0,0,0
$GC,8541,0.59,135.7,646.7,17.7,511,8545,0.00,1.95,0.00,0.000,4,0.000,0.057,1984,3884,1773,0,0,0,0,0,0
$GC,8612,0.59,135.7,632.5,20.6,514,8617,0.00,1.90,0.00,0.000,6,0.000,0.036,1993,2704,1772,0,0,0,0,0,0
$GC,8941,0.59,135.7,572.0,18.5,530,8944,0.00,1.95,0.00,0.000,4,0.000,0.057,1993,3900,1772,0,0,0,0,0,0
$GC,9008,0.59,135.7,558.2,21.0,533,9012,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2697,1772,0,0,0,0,0,0
$GC,9341,0.59,135.7,496.1,18.8,549,9345,0.00,1.95,0.00,0.000,4,0.000,0.057,2003,3896,1772,0,0,0,0,0,0
$GC,9401,0.59,135.7,483.2,21.7,551,9409,0.00,1.88,0.00,0.000,6,0.000,0.036,2012,2717,1772,0,0,0,0,0,0
$GC,9717,0.59,135.7,421.9,19.6,567,9721,0.00,1.95,0.00,0.000,4,0.000,0.057,2011,3899,1772,0,0,0,0,0,0
$GC,9785,0.59,135.7,407.2,22.0,570,9790,0.15,1.85,0.00,0.000,6,0.218,0.036,1986,2705,1771,0,0,0,0,0,0
$GC,10117,0.59,135.7,350.1,16.5,586,10121,0.00,1.92,0.00,0.000,4,0.000,0.057,1986,3892,1771,0,0,0,0,0,0
$GC,10177,0.59,135.7,338.6,19.0,588,10188,0.00,1.88,0.00,0.000,6,0.000,0.035,1994,2710,1771,0,0,0,0,0,0
$GC,10496,0.59,135.7,284.2,17.2,604,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2710,1771,0,0,0,0,0,0
$GC,10808,0.59,135.7,230.7,16.7,624,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2710,1771,0,0,0,0,0,0
$GC,11126,0.59,135.7,177.3,17.0,654,11130,0.00,1.92,0.00,0.000,4,0.000,0.058,1994,3901,1771,0,0,0,0,0,0
$GC,11232,0.59,135.7,157.4,19.0,663,11236,0.00,1.85,0.00,0.000,6,0.000,0.037,2003,2707,1771,0,0,0,0,0,0
$GC,11562,0.59,135.7,102.8,16.0,694,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2707,1771,0,0,0,0,0,0
$GC,11908,0.59,135.7,50.9,15.8,752,11917,0.00,2.22,0.00,0.000,4,0.000,0.046,2014,1291,1771,0,0,0,0,0,0
$GC,12023,0.63,185.4,40.8,5.2,771,12052,0.00,2.25,21.42,0.900,6,0.000,0.054,2014,2720,1585,0,0,0,0,0,0
$GC,12164,0.63,185.4,22.4,12.1,793,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2720,1579,0,0,0,0,0,0
$GC,12248,0.63,185.4,9.1,16.9,806,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2719,1577,0,0,0,0,0,0
$STATE,12275,end climb,SURFACE_DEPTH_REACHED
$STATE,12275,begin surface coast
$FINISH,0.9,1.015250
$STATE,12289,end surface coast,CONTROL_FINISHED_OK
$STATE,12289,begin surface
$SM_CCo,12302,4.95,0.203,0,0,1523,200.16
$SM_GC,3.20,0.00,0.00,4.95,0.000,0.000,0.203,57,2923,1523,-5.42,-0.20,200.16
$IRIDIUM_FIX,-5538.94,-26.95,281214,191927
$TT8_MAMPS,0.026964
$HUMID,56.22
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.9,26.542
$10V_AH,10.0,17.394
$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,13.400,54.325,282.250,4.950,0.000,27.593,21.378,287.584,0.000,0.000,23.711,2010.977,7827.759,391.609,2384.918,150.731,33.360,1167.122,0.000,1896.647,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,70.380,1766.385,202.725,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.210,1685.812,818.663,853.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,57019,812
$CAP_FILE_SIZE,103435,0
$CFSIZE,259252224,219127808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291214,021704,-5559.011,-32.457,45,0.8,46,-19.9