version: 66.07
glider: 542
mission: 9
dive: 116
start: 12 29 114 2 25 19
data:
$ID,542
$MISSION,9
$DIVE,116
$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,-21982.209
$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,23
$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
$GPS1,291214,021704,-5559.011,-32.457,45,0.8,46,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-55.1
$GPS2,291214,022425,-5558.999,-32.319,30,1.2,30,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.075,0.147
$KALMAN_X,63280.1,-138.4,-171.1,-96369.4,1523.4
$KALMAN_Y,27229.3,549.8,0.8,-25619.6,-3556.3
$MHEAD_RNG_PITCHd_Wd,47.0,3034,-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,-73.9,0.0,0.0,0,67,0.00,0.00,-50.60,0.000,2,0.000,0.000,45,2932,2632,0,0,0,0,0,0
$GC,70,-0.60,-146.1,3.0,-1.8,6,97,6.22,2.25,-8.40,0.000,4,0.246,0.054,1588,1512,2941,0,0,0,0,0,0
$GC,306,-0.60,-146.1,47.8,-19.7,44,315,0.00,2.35,0.00,0.000,6,0.000,0.060,1578,2919,2942,0,0,0,0,0,0
$GC,423,-0.60,-146.1,72.4,-23.3,63,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2919,2942,0,0,0,0,0,0
$GC,536,-0.60,-146.1,97.0,-20.0,82,543,0.00,1.62,0.00,0.000,4,0.000,0.063,1570,3914,2941,0,0,0,0,0,0
$GC,607,-0.60,-146.1,112.2,-20.8,90,611,0.00,1.58,0.00,0.000,6,0.000,0.034,1570,2905,2942,0,0,0,0,0,0
$GC,940,-0.60,-146.1,176.1,-19.8,121,943,0.00,1.67,0.00,0.000,4,0.000,0.064,1562,3919,2942,0,0,0,0,0,0
$GC,989,-0.60,-146.1,187.1,-20.7,125,998,0.12,1.55,0.00,0.000,6,0.207,0.033,1591,2920,2942,0,0,0,0,0,0
$GC,1315,-0.60,-146.1,242.3,-16.6,156,1319,0.00,1.65,0.00,0.000,4,0.000,0.065,1584,3926,2942,0,0,0,0,0,0
$GC,1370,-0.60,-146.1,252.3,-17.9,160,1375,0.00,1.55,0.00,0.000,6,0.000,0.032,1584,2926,2942,0,0,0,0,0,0
$GC,1693,-0.60,-146.1,307.3,-17.0,176,1696,0.00,1.65,0.00,0.000,4,0.000,0.064,1577,3930,2942,0,0,0,0,0,0
$GC,1764,-0.60,-146.1,319.9,-18.2,179,1767,0.00,1.52,0.00,0.000,6,0.000,0.033,1576,2939,2942,0,0,0,0,0,0
$GC,2098,-0.60,-146.1,375.7,-16.2,195,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2933,2942,0,0,0,0,0,0
$GC,2405,-0.60,-146.1,424.3,-15.6,210,2409,0.00,1.62,0.00,0.000,4,0.000,0.064,1569,3913,2942,0,0,0,0,0,0
$GC,2460,-0.60,-146.1,433.8,-16.1,212,2465,0.00,1.52,0.00,0.000,6,0.000,0.033,1569,2928,2942,0,0,0,0,0,0
$GC,2782,-0.60,-146.1,484.8,-16.0,228,2785,0.00,1.62,0.00,0.000,4,0.000,0.064,1561,3933,2942,0,0,0,0,0,0
$GC,2865,-0.60,-146.1,499.6,-17.8,231,2873,0.08,1.55,0.00,0.000,6,0.184,0.033,1584,2932,2942,0,0,0,0,0,0
$GC,3180,-0.60,-146.1,546.1,-14.6,247,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2932,2942,0,0,0,0,0,0
$GC,3490,-0.60,-146.1,591.7,-14.6,262,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2932,2942,0,0,0,0,0,0
$GC,3799,-0.60,-146.1,636.2,-14.1,277,3803,0.00,1.62,0.00,0.000,4,0.000,0.064,1577,3916,2942,0,0,0,0,0,0
$GC,3847,-0.60,-146.1,643.8,-15.5,279,3852,0.00,1.52,0.00,0.000,6,0.000,0.032,1576,2914,2942,0,0,0,0,0,0
$GC,4175,-0.60,-146.1,692.3,-15.0,295,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2909,2942,0,0,0,0,0,0
$GC,4484,-0.60,-146.1,739.3,-15.2,310,4488,0.00,1.65,0.00,0.000,4,0.000,0.065,1569,3920,2942,0,0,0,0,0,0
$GC,4551,-0.60,-146.1,750.2,-15.9,313,4555,0.00,1.50,0.00,0.000,6,0.000,0.034,1569,2936,2942,0,0,0,0,0,0
$GC,4884,-0.60,-146.1,803.3,-16.2,329,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2929,2942,0,0,0,0,0,0
$GC,5193,-0.60,-146.1,852.8,-15.8,344,5196,0.00,1.62,0.00,0.000,4,0.000,0.064,1561,3914,2942,0,0,0,0,0,0
$GC,5241,-0.60,-146.1,861.6,-17.1,346,5247,0.08,1.52,0.00,0.000,6,0.182,0.032,1585,2920,2942,0,0,0,0,0,0
$GC,5569,-0.60,-146.1,910.6,-15.0,362,5573,0.00,1.62,0.00,0.000,4,0.000,0.064,1577,3907,2942,0,0,0,0,0,0
$GC,5618,-0.60,-146.1,918.8,-16.2,364,5623,0.00,1.50,0.00,0.000,6,0.000,0.031,1577,2927,2942,0,0,0,0,0,0
$GC,5946,-0.60,-146.1,969.5,-15.7,380,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2922,2942,0,0,0,0,0,0
$STATE,6150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6150,begin apogee
$GC,6154,-0.13,0.0,1001.3,15.6,390,6293,0.55,0.00,133.32,1.763,6,0.171,0.000,1740,2721,2342,0,0,0,0,0,0
$STATE,6294,end apogee,CONTROL_FINISHED_OK
$STATE,6294,begin climb
$GC,6296,0.60,146.1,1007.1,0.0,397,6452,0.80,2.58,146.65,1.714,4,0.125,0.044,1987,1328,1745,0,0,0,0,0,0
$GC,6490,0.60,146.1,983.5,15.5,406,6495,0.00,2.53,0.00,0.000,6,0.000,0.053,1987,2731,1742,0,0,0,0,0,0
$GC,6818,0.60,146.1,924.4,18.3,422,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2731,1737,0,0,0,0,0,0
$GC,7127,0.60,146.1,867.3,18.3,437,7130,0.00,1.95,0.00,0.000,4,0.000,0.060,1987,3906,1735,0,0,0,0,0,0
$GC,7175,0.60,146.1,856.9,21.3,439,7180,0.00,1.92,0.00,0.000,6,0.000,0.036,1996,2729,1733,0,0,0,0,0,0
$GC,7504,0.60,146.1,795.6,18.8,455,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2730,1733,0,0,0,0,0,0
$GC,7812,0.60,146.1,736.7,19.0,470,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2730,1732,0,0,0,0,0,0
$GC,8122,0.60,146.1,676.5,19.2,485,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2730,1732,0,0,0,0,0,0
$GC,8431,0.60,146.1,617.0,19.3,500,8435,0.00,1.95,0.00,0.000,4,0.000,0.060,1996,3897,1732,0,0,0,0,0,0
$GC,8498,0.60,146.1,602.7,21.7,503,8501,0.00,1.85,0.00,0.000,6,0.000,0.037,2005,2711,1730,0,0,0,0,0,0
$GC,8831,0.60,146.1,537.5,19.4,519,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2711,1731,0,0,0,0,0,0
$GC,9139,0.60,146.1,476.9,19.6,534,9143,0.00,1.95,0.00,0.000,4,0.000,0.060,2005,3901,1731,0,0,0,0,0,0
$GC,9193,0.60,146.1,464.9,21.8,536,9198,0.00,1.90,0.00,0.000,6,0.000,0.036,2014,2709,1731,0,0,0,0,0,0
$GC,9515,0.60,146.1,400.6,19.7,552,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2708,1730,0,0,0,0,0,0
$GC,9826,0.60,146.1,340.0,19.6,567,9830,0.12,1.95,0.00,0.000,4,0.239,0.059,1987,3908,1731,0,0,0,0,0,0
$GC,9875,0.60,146.1,329.7,19.2,569,9879,0.00,1.92,0.00,0.000,6,0.000,0.036,1995,2702,1730,0,0,0,0,0,0
$GC,10205,0.60,146.1,271.9,18.3,585,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2701,1730,0,0,0,0,0,0
$GC,10520,0.60,146.1,214.8,18.4,609,10523,0.00,1.95,0.00,0.000,4,0.000,0.060,1995,3896,1730,0,0,0,0,0,0
$GC,10578,0.60,146.1,202.9,20.5,614,10582,0.00,1.88,0.00,0.000,6,0.000,0.037,2004,2702,1730,0,0,0,0,0,0
$GC,10911,0.60,146.1,143.5,17.5,645,10912,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2702,1730,0,0,0,0,0,0
$GC,11229,0.60,146.1,95.5,12.5,678,11238,0.00,1.98,0.00,0.000,4,0.000,0.060,2004,3896,1730,0,0,0,0,0,0
$GC,11346,0.60,146.1,77.1,16.6,698,11356,0.08,1.88,0.00,0.000,6,0.202,0.034,1992,2706,1730,0,0,0,0,0,0
$GC,11463,0.60,146.1,62.9,12.5,717,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2705,1730,0,0,0,0,0,0
$GC,11574,0.60,146.1,48.6,12.3,736,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2706,1730,0,0,0,0,0,0
$GC,11690,0.60,146.1,34.1,11.1,755,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2705,1730,0,0,0,0,0,0
$GC,11809,0.60,146.1,16.8,16.8,774,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2705,1730,0,0,0,0,0,0
$GC,11893,0.60,146.1,6.4,10.3,787,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2706,1730,0,0,0,0,0,0
$STATE,11920,end climb,SURFACE_DEPTH_REACHED
$STATE,11920,begin surface coast
$FINISH,1.0,1.019738
$STATE,11946,end surface coast,CONTROL_FINISHED_OK
$STATE,11947,begin surface
$SM_CCo,11959,20.58,0.191,0,0,1522,200.16
$SM_GC,3.56,0.00,0.00,20.58,0.000,0.000,0.191,53,2950,1522,-5.43,0.57,200.16
$IRIDIUM_FIX,-5538.94,-30.80,281214,222236
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.9,26.698
$10V_AH,10.0,17.494
$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,13.175,65.125,279.975,20.575,0.000,24.658,20.715,268.098,0.000,0.000,33.302,1972.874,7542.066,389.264,2362.689,156.438,33.356,1184.918,0.000,1892.978,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,65.025,1762.560,191.250,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.485,1664.326,815.410,858.208,0.000,0.000,0.000,0.000,0.000,0.000
$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,53693,795
$CAP_FILE_SIZE,104108,0
$CFSIZE,259252224,219070464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291214,054631,-5557.795,-29.782,57,1.0,58,-19.9