version: 66.07
glider: 542
mission: 9
dive: 118
start: 12 29 114 9 36 17
data:
$ID,542
$MISSION,9
$DIVE,118
$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,-21987.684
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,291214,092733,-5558.723,-31.510,37,1.7,41,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-58.6
$GPS2,291214,093523,-5558.729,-31.436,18,1.9,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.044,0.159
$KALMAN_X,65477.9,340.8,-16.3,-98298.4,1912.7
$KALMAN_Y,25828.7,167.2,349.9,-23694.9,-3871.2
$MHEAD_RNG_PITCHd_Wd,4.5,2784,-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,-42.22,0.000,2,0.000,0.000,47,2923,2399,0,0,0,0,0,0
$GC,62,-0.60,-142.6,3.0,-3.6,5,97,6.28,1.65,-17.40,0.000,4,0.249,0.083,1581,3903,2926,0,0,0,0,0,0
$GC,233,-0.60,-142.6,34.1,-22.1,31,240,0.00,1.58,0.00,0.000,6,0.000,0.033,1581,2894,2928,0,0,0,0,0,0
$GC,347,-0.60,-142.6,59.9,-22.3,50,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2891,2928,0,0,0,0,0,0
$GC,461,-0.60,-142.6,83.6,-20.2,69,470,0.00,1.67,0.00,0.000,4,0.000,0.060,1573,3894,2928,0,0,0,0,0,0
$GC,523,-0.60,-142.6,96.7,-22.3,79,530,0.00,1.50,0.00,0.000,6,0.000,0.034,1573,2932,2928,0,0,0,0,0,0
$GC,746,-0.60,-142.6,141.1,-20.1,101,750,0.00,1.62,0.00,0.000,4,0.000,0.060,1566,3903,2928,0,0,0,0,0,0
$GC,803,-0.60,-142.6,153.7,-21.5,106,807,0.00,1.50,0.00,0.000,6,0.000,0.034,1566,2939,2928,0,0,0,0,0,0
$GC,1135,-0.60,-142.6,218.9,-19.2,137,1137,0.10,0.00,0.00,0.000,6,0.218,0.000,1588,2931,2928,0,0,0,0,0,0
$GC,1450,-0.60,-142.6,271.7,-16.4,161,1453,0.00,1.60,0.00,0.000,4,0.000,0.062,1581,3900,2928,0,0,0,0,0,0
$GC,1550,-0.60,-142.6,289.5,-17.2,165,1554,0.00,1.50,0.00,0.000,6,0.000,0.033,1581,2922,2928,0,0,0,0,0,0
$GC,1875,-0.60,-142.6,342.2,-16.1,181,1878,0.00,1.62,0.00,0.000,4,0.000,0.061,1574,3902,2928,0,0,0,0,0,0
$GC,1952,-0.60,-142.6,356.8,-17.7,184,1957,0.00,1.52,0.00,0.000,6,0.000,0.032,1574,2920,2928,0,0,0,0,0,0
$GC,2274,-0.60,-142.6,410.4,-16.6,200,2278,0.00,1.62,0.00,0.000,4,0.000,0.061,1567,3902,2928,0,0,0,0,0,0
$GC,2364,-0.60,-142.6,426.5,-18.3,204,2368,0.00,1.50,0.00,0.000,6,0.000,0.034,1567,2924,2928,0,0,0,0,0,0
$GC,2697,-0.60,-142.6,482.5,-16.7,220,2701,0.10,1.62,0.00,0.000,4,0.216,0.061,1581,3897,2928,0,0,0,0,0,0
$GC,2796,-0.60,-142.6,499.1,-16.3,224,2801,0.00,1.48,0.00,0.000,6,0.000,0.033,1582,2929,2928,0,0,0,0,0,0
$GC,3118,-0.60,-142.6,548.7,-15.2,240,3121,0.00,1.60,0.00,0.000,4,0.000,0.061,1574,3898,2928,0,0,0,0,0,0
$GC,3173,-0.60,-142.6,557.9,-16.7,242,3177,0.00,1.48,0.00,0.000,6,0.000,0.033,1574,2930,2928,0,0,0,0,0,0
$GC,3494,-0.60,-142.6,607.0,-15.4,258,3497,0.00,1.60,0.00,0.000,4,0.000,0.061,1567,3898,2928,0,0,0,0,0,0
$GC,3554,-0.60,-142.6,617.4,-16.6,260,3562,0.00,1.50,0.00,0.000,6,0.000,0.032,1567,2919,2928,0,0,0,0,0,0
$GC,3871,-0.60,-142.6,667.1,-15.6,276,3875,0.00,1.62,0.00,0.000,4,0.000,0.060,1559,3910,2928,0,0,0,0,0,0
$GC,3938,-0.60,-142.6,678.6,-18.1,279,3942,0.10,1.48,0.00,0.000,6,0.183,0.033,1589,2942,2928,0,0,0,0,0,0
$GC,4270,-0.60,-142.6,725.2,-13.8,295,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2940,2929,0,0,0,0,0,0
$GC,4578,-0.60,-142.6,768.6,-14.2,310,4582,0.00,1.58,0.00,0.000,4,0.000,0.061,1581,3899,2929,0,0,0,0,0,0
$GC,4662,-0.60,-142.6,781.8,-15.3,313,4669,0.00,1.48,0.00,0.000,6,0.000,0.032,1582,2922,2929,0,0,0,0,0,0
$GC,4978,-0.60,-142.6,828.3,-14.7,329,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2922,2929,0,0,0,0,0,0
$GC,5287,-0.60,-142.6,872.6,-14.2,344,5290,0.00,1.60,0.00,0.000,4,0.000,0.061,1574,3897,2928,0,0,0,0,0,0
$GC,5370,-0.60,-142.6,885.6,-15.8,347,5377,0.00,1.45,0.00,0.000,6,0.000,0.032,1575,2929,2929,0,0,0,0,0,0
$GC,5686,-0.60,-142.6,932.5,-14.7,363,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2929,2929,0,0,0,0,0,0
$GC,5995,-0.60,-142.6,977.5,-14.6,378,5998,0.00,1.60,0.00,0.000,4,0.000,0.062,1567,3903,2929,0,0,0,0,0,0
$GC,6044,-0.60,-142.6,985.3,-15.8,380,6049,0.00,1.48,0.00,0.000,6,0.000,0.032,1567,2929,2929,0,0,0,0,0,0
$STATE,6142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6143,begin apogee
$GC,6147,-0.13,0.0,1000.2,15.0,385,6285,0.60,0.00,130.30,1.770,6,0.181,0.000,1740,2714,2342,0,0,0,0,0,0
$STATE,6286,end apogee,CONTROL_FINISHED_OK
$STATE,6286,begin climb
$GC,6288,0.60,142.6,1005.0,0.0,392,6439,0.77,2.50,142.88,1.715,4,0.125,0.044,1981,1328,1759,0,0,0,0,0,0
$GC,6471,0.60,142.6,982.1,15.8,400,6479,0.00,2.50,0.00,0.000,6,0.000,0.050,1981,2723,1756,0,0,0,0,0,0
$GC,6788,0.60,142.6,923.7,19.0,416,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2724,1751,0,0,0,0,0,0
$GC,7097,0.60,142.6,866.5,18.6,431,7101,0.00,1.95,0.00,0.000,4,0.000,0.059,1981,3891,1748,0,0,0,0,0,0
$GC,7173,0.60,142.6,850.5,20.9,434,7178,0.00,1.88,0.00,0.000,6,0.000,0.035,1990,2739,1746,0,0,0,0,0,0
$GC,7496,0.60,142.6,790.1,19.0,450,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2738,1746,0,0,0,0,0,0
$GC,7805,0.60,142.6,730.8,19.1,465,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2738,1746,0,0,0,0,0,0
$GC,8114,0.60,142.6,672.6,18.8,480,8118,0.00,1.88,0.00,0.000,4,0.000,0.058,1990,3892,1745,0,0,0,0,0,0
$GC,8163,0.60,142.6,662.0,22.1,482,8167,0.00,1.90,0.00,0.000,6,0.000,0.035,2000,2706,1745,0,0,0,0,0,0
$GC,8490,0.60,142.6,596.6,20.2,498,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2706,1745,0,0,0,0,0,0
$GC,8800,0.60,142.6,534.0,20.0,513,8804,0.00,1.95,0.00,0.000,4,0.000,0.057,1999,3889,1745,0,0,0,0,0,0
$GC,8854,0.60,142.6,521.4,22.9,515,8859,0.00,1.88,0.00,0.000,6,0.000,0.035,2008,2713,1744,0,0,0,0,0,0
$GC,9176,0.60,142.6,456.2,20.1,531,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2713,1744,0,0,0,0,0,0
$GC,9486,0.60,142.6,395.2,19.3,546,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2713,1744,0,0,0,0,0,0
$GC,9797,0.60,142.6,336.7,18.6,561,9800,0.00,1.92,0.00,0.000,4,0.000,0.057,2008,3894,1744,0,0,0,0,0,0
$GC,9879,0.60,142.6,319.0,20.7,564,9890,0.12,1.88,0.00,0.000,6,0.205,0.035,1982,2715,1744,0,0,0,0,0,0
$GC,10198,0.60,142.6,267.6,16.0,580,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2715,1744,0,0,0,0,0,0
$GC,10511,0.60,142.6,217.3,15.5,604,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2715,1744,0,0,0,0,0,0
$GC,10831,0.60,142.6,168.5,15.4,634,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2715,1744,0,0,0,0,0,0
$GC,11150,0.60,142.6,124.3,12.4,664,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2715,1744,0,0,0,0,0,0
$GC,11476,0.60,142.6,79.8,14.0,706,11486,0.00,2.22,0.00,0.000,4,0.000,0.045,1993,1293,1744,0,0,0,0,0,0
$GC,11546,0.60,142.6,71.4,10.9,717,11553,0.00,2.28,0.00,0.000,6,0.000,0.053,1993,2717,1744,0,0,0,0,0,0
$GC,11660,0.60,142.6,57.2,12.7,736,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2718,1744,0,0,0,0,0,0
$GC,11775,0.60,142.6,42.7,16.1,755,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2717,1744,0,0,0,0,0,0
$GC,11892,0.60,142.6,25.4,12.8,774,11901,0.00,2.20,0.00,0.000,4,0.000,0.038,2003,1295,1744,0,0,0,0,0,0
$GC,11977,0.60,142.6,12.8,13.7,787,11986,0.00,2.28,0.00,0.000,6,0.000,0.054,2003,2717,1743,0,0,0,0,0,0
$STATE,12035,end climb,SURFACE_DEPTH_REACHED
$STATE,12035,begin surface coast
$FINISH,1.0,1.027045
$STATE,12056,end surface coast,CONTROL_FINISHED_OK
$STATE,12056,begin surface
$SM_CCo,12068,22.75,0.180,0,0,1525,200.16
$SM_GC,2.70,0.00,0.00,22.75,0.000,0.000,0.180,58,2945,1525,-5.41,0.42,200.16
$IRIDIUM_FIX,-5535.12,-26.89,291214,050559
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,21.9,26.993
$10V_AH,10.0,17.699
$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,13.325,70.250,273.175,22.750,0.000,28.467,18.604,304.716,0.000,0.000,21.066,1994.911,7570.282,394.859,2446.857,155.629,33.361,1215.975,0.000,1942.485,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,83.385,1770.210,179.775,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.976,1670.671,822.089,855.774,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,53802,799
$CAP_FILE_SIZE,107278,0
$CFSIZE,259252224,218939392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291214,125929,-5557.403,-31.988,66,0.8,67,-19.9