version: 66.07
glider: 542
mission: 9
dive: 119
start: 12 29 114 13 7 47
data:
$ID,542
$MISSION,9
$DIVE,119
$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,-21990.514
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,291214,125929,-5557.403,-31.988,66,0.8,67,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-63.2
$GPS2,291214,130653,-5557.398,-31.814,15,1.0,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.050,-0.157
$KALMAN_X,66404.0,-0.2,-218.9,-99061.4,2526.8
$KALMAN_Y,25514.0,231.3,61.2,-20692.2,-2753.9
$MHEAD_RNG_PITCHd_Wd,217.6,5171,-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,-73.9,0.0,0.0,0,51,0.00,0.00,-34.53,0.000,2,0.000,0.000,44,2946,2283,0,0,0,0,0,0
$GC,54,-0.60,-139.2,3.4,-3.9,4,89,6.15,1.60,-18.27,0.000,4,0.240,0.086,1580,3882,2908,0,0,0,0,0,0
$GC,232,-0.60,-139.2,46.6,-27.1,32,242,0.00,1.55,0.00,0.000,6,0.000,0.033,1580,2889,2911,0,0,0,0,0,0
$GC,348,-0.60,-139.2,68.4,-19.3,51,355,0.00,1.67,0.00,0.000,4,0.000,0.059,1573,3890,2911,0,0,0,0,0,0
$GC,399,-0.60,-139.2,78.2,-19.8,59,406,0.00,1.50,0.00,0.000,6,0.000,0.034,1573,2925,2910,0,0,0,0,0,0
$GC,514,-0.60,-139.2,102.9,-19.9,78,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2924,2911,0,0,0,0,0,0
$GC,834,-0.60,-139.2,166.7,-19.3,108,837,0.00,1.60,0.00,0.000,4,0.000,0.061,1565,3886,2911,0,0,0,0,0,0
$GC,1057,-0.60,-139.2,211.8,-19.3,127,1060,0.00,1.48,0.00,0.000,6,0.000,0.034,1566,2932,2911,0,0,0,0,0,0
$GC,1384,-0.60,-139.2,273.2,-18.1,152,1388,0.12,1.60,0.00,0.000,4,0.211,0.061,1588,3897,2911,0,0,0,0,0,0
$GC,1438,-0.60,-139.2,283.2,-16.8,154,1443,0.00,1.52,0.00,0.000,6,0.000,0.033,1588,2919,2912,0,0,0,0,0,0
$GC,1760,-0.60,-139.2,333.2,-15.4,170,1763,0.00,1.62,0.00,0.000,4,0.000,0.062,1581,3896,2911,0,0,0,0,0,0
$GC,1851,-0.60,-139.2,348.4,-17.7,174,1854,0.00,1.48,0.00,0.000,6,0.000,0.034,1580,2931,2911,0,0,0,0,0,0
$GC,2183,-0.60,-139.2,399.1,-15.1,190,2187,0.00,1.60,0.00,0.000,4,0.000,0.061,1573,3896,2911,0,0,0,0,0,0
$GC,2260,-0.60,-139.2,412.2,-16.6,193,2266,0.00,1.50,0.00,0.000,6,0.000,0.033,1574,2925,2911,0,0,0,0,0,0
$GC,2582,-0.60,-139.2,462.9,-15.8,209,2586,0.00,1.60,0.00,0.000,4,0.000,0.060,1566,3893,2912,0,0,0,0,0,0
$GC,2656,-0.60,-139.2,475.2,-17.2,212,2660,0.08,1.48,0.00,0.000,6,0.187,0.033,1587,2934,2912,0,0,0,0,0,0
$GC,2981,-0.60,-139.2,523.5,-14.5,228,2985,0.00,1.58,0.00,0.000,4,0.000,0.060,1580,3892,2911,0,0,0,0,0,0
$GC,3036,-0.60,-139.2,532.3,-16.0,230,3041,0.00,1.48,0.00,0.000,6,0.000,0.032,1581,2923,2912,0,0,0,0,0,0
$GC,3357,-0.60,-139.2,579.7,-14.8,246,3361,0.00,1.60,0.00,0.000,4,0.000,0.060,1573,3892,2912,0,0,0,0,0,0
$GC,3411,-0.60,-139.2,588.8,-16.4,248,3416,0.00,1.48,0.00,0.000,6,0.000,0.031,1574,2928,2912,0,0,0,0,0,0
$GC,3734,-0.60,-139.2,638.6,-15.7,264,3738,0.00,1.60,0.00,0.000,4,0.000,0.060,1566,3896,2912,0,0,0,0,0,0
$GC,3789,-0.60,-139.2,648.3,-16.7,266,3794,0.10,1.50,0.00,0.000,6,0.208,0.032,1588,2916,2912,0,0,0,0,0,0
$GC,4110,-0.60,-139.2,695.5,-14.9,282,4114,0.00,1.60,0.00,0.000,4,0.000,0.060,1582,3890,2912,0,0,0,0,0,0
$GC,4157,-0.60,-139.2,702.5,-15.6,284,4161,0.00,1.45,0.00,0.000,6,0.000,0.033,1582,2932,2912,0,0,0,0,0,0
$GC,4489,-0.60,-139.2,752.5,-14.7,300,4493,0.00,1.58,0.00,0.000,4,0.000,0.060,1574,3889,2912,0,0,0,0,0,0
$GC,4546,-0.60,-139.2,761.7,-16.1,302,4550,0.00,1.45,0.00,0.000,6,0.000,0.032,1574,2928,2912,0,0,0,0,0,0
$GC,4867,-0.60,-139.2,811.5,-15.5,318,4870,0.00,1.60,0.00,0.000,4,0.000,0.060,1567,3896,2912,0,0,0,0,0,0
$GC,4921,-0.60,-139.2,820.9,-16.2,320,4926,0.00,1.48,0.00,0.000,6,0.000,0.031,1567,2926,2912,0,0,0,0,0,0
$GC,5244,-0.60,-139.2,872.3,-15.8,336,5247,0.00,1.58,0.00,0.000,4,0.000,0.062,1560,3885,2913,0,0,0,0,0,0
$GC,5316,-0.60,-139.2,885.0,-16.9,339,5321,0.10,1.45,0.00,0.000,6,0.184,0.032,1588,2939,2913,0,0,0,0,0,0
$GC,5644,-0.60,-139.2,931.0,-13.7,355,5647,0.00,1.58,0.00,0.000,4,0.000,0.061,1582,3897,2913,0,0,0,0,0,0
$GC,5688,-0.60,-139.2,937.9,-15.2,357,5692,0.00,1.48,0.00,0.000,6,0.000,0.031,1582,2922,2912,0,0,0,0,0,0
$GC,6020,-0.60,-139.2,985.0,-13.9,373,6024,0.00,1.60,0.00,0.000,4,0.000,0.060,1575,3891,2913,0,0,0,0,0,0
$GC,6081,-0.60,-139.2,994.6,-15.7,375,6088,0.00,1.45,0.00,0.000,6,0.000,0.032,1574,2925,2912,0,0,0,0,0,0
$STATE,6127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6127,begin apogee
$GC,6132,-0.13,0.0,1001.5,15.1,378,6261,0.57,0.00,126.30,1.781,6,0.182,0.000,1741,2725,2342,0,0,0,0,0,0
$STATE,6262,end apogee,CONTROL_FINISHED_OK
$STATE,6262,begin climb
$GC,6264,0.60,139.2,1006.7,0.0,384,6410,0.80,0.00,140.18,1.727,6,0.129,0.000,1976,2725,1773,0,0,0,0,0,0
$GC,6716,0.60,139.2,937.3,17.5,406,6720,0.00,2.03,0.00,0.000,4,0.000,0.059,1976,3885,1764,0,0,0,0,0,0
$GC,6743,0.60,139.2,931.9,19.2,407,6748,0.00,1.90,0.00,0.000,6,0.000,0.034,1985,2749,1763,0,0,0,0,0,0
$GC,7071,0.60,139.2,871.1,18.9,423,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2748,1763,0,0,0,0,0,0
$GC,7380,0.60,139.2,812.7,18.9,438,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2748,1761,0,0,0,0,0,0
$GC,7690,0.60,139.2,755.3,18.5,453,7693,0.00,1.88,0.00,0.000,4,0.000,0.058,1985,3897,1761,0,0,0,0,0,0
$GC,7716,0.60,139.2,749.5,20.4,454,7721,0.00,1.92,0.00,0.000,6,0.000,0.035,1994,2710,1760,0,0,0,0,0,0
$GC,8043,0.60,139.2,687.7,18.6,470,8046,0.00,1.95,0.00,0.000,4,0.000,0.058,1994,3899,1759,0,0,0,0,0,0
$GC,8069,0.60,139.2,682.0,20.6,471,8074,0.00,1.92,0.00,0.000,6,0.000,0.036,2003,2703,1759,0,0,0,0,0,0
$GC,8397,0.60,139.2,619.1,19.2,487,8401,0.00,1.95,0.00,0.000,4,0.000,0.057,2003,3893,1759,0,0,0,0,0,0
$GC,8412,0.60,139.2,615.7,19.3,487,8420,0.00,1.90,0.00,0.000,6,0.000,0.034,2012,2707,1758,0,0,0,0,0,0
$GC,8729,0.60,139.2,553.6,19.8,503,8733,0.00,1.92,0.00,0.000,4,0.000,0.057,2012,3897,1758,0,0,0,0,0,0
$GC,8777,0.60,139.2,542.6,22.8,505,8783,0.12,1.90,0.00,0.000,6,0.205,0.036,1987,2713,1758,0,0,0,0,0,0
$GC,9104,0.60,139.2,485.3,17.5,521,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2713,1758,0,0,0,0,0,0
$GC,9414,0.60,139.2,431.5,17.4,536,9418,0.00,1.92,0.00,0.000,4,0.000,0.057,1987,3896,1758,0,0,0,0,0,0
$GC,9446,0.60,139.2,425.0,20.1,537,9451,0.00,1.90,0.00,0.000,6,0.000,0.035,1995,2706,1757,0,0,0,0,0,0
$GC,9772,0.60,139.2,367.4,18.0,553,9775,0.00,1.92,0.00,0.000,4,0.000,0.057,1995,3900,1757,0,0,0,0,0,0
$GC,9821,0.60,139.2,356.6,21.1,555,9825,0.00,1.90,0.00,0.000,6,0.000,0.035,2004,2708,1758,0,0,0,0,0,0
$GC,10150,0.60,139.2,294.6,19.3,571,10154,0.00,1.90,0.00,0.000,4,0.000,0.057,2004,3890,1757,0,0,0,0,0,0
$GC,10206,0.60,139.2,282.3,21.7,573,10211,0.12,1.88,0.00,0.000,6,0.226,0.036,1986,2697,1757,0,0,0,0,0,0
$GC,10536,0.60,139.2,227.0,15.9,595,10539,0.00,1.95,0.00,0.000,4,0.000,0.057,1986,3898,1757,0,0,0,0,0,0
$GC,10547,0.60,139.2,224.3,15.6,596,10551,0.00,1.88,0.00,0.000,6,0.000,0.034,1994,2695,1757,0,0,0,0,0,0
$GC,10879,0.60,139.2,170.5,16.4,627,10883,0.00,1.95,0.00,0.000,4,0.000,0.057,1994,3896,1757,0,0,0,0,0,0
$GC,10936,0.60,139.2,159.5,19.4,632,10940,0.00,1.85,0.00,0.000,6,0.000,0.037,2003,2716,1757,0,0,0,0,0,0
$GC,11268,0.60,139.2,101.9,17.4,663,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2715,1757,0,0,0,0,0,0
$GC,11617,0.60,139.2,44.9,16.4,721,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2716,1757,0,0,0,0,0,0
$GC,11731,0.60,139.2,26.3,15.7,740,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2715,1757,0,0,0,0,0,0
$GC,11817,0.62,165.7,17.8,7.3,753,11835,0.00,1.95,9.95,0.811,4,0.000,0.061,2003,3882,1663,0,0,0,0,0,0
$GC,11887,0.62,165.7,9.7,16.5,763,11896,0.00,1.88,0.00,0.000,6,0.000,0.037,2013,2711,1660,0,0,0,0,0,0
$STATE,11921,end climb,SURFACE_DEPTH_REACHED
$STATE,11921,begin surface coast
$FINISH,1.3,1.024735
$STATE,11941,end surface coast,CONTROL_FINISHED_OK
$STATE,11941,begin surface
$SM_CCo,11953,13.55,0.187,0,0,1525,200.16
$SM_GC,3.03,0.00,0.00,13.55,0.000,0.000,0.187,49,2931,1525,-5.44,0.03,200.16
$IRIDIUM_FIX,-5535.12,-26.92,291214,090905
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.9,27.146
$10V_AH,10.0,17.798
$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,13.575,92.050,276.425,13.550,0.000,33.708,20.389,271.991,0.000,0.000,17.575,1991.469,7496.758,381.917,2381.115,162.133,33.364,1209.544,0.000,1914.907,0.000,0.539,0.000
$DEVICE_MAMPS,240.210,86.445,1780.920,187.425,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.622,1599.348,762.683,781.589,0.000,0.000,0.000,0.000,0.000,0.000
$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,53778,771
$CAP_FILE_SIZE,114617,0
$CFSIZE,259252224,218873856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291214,162828,-5559.152,-31.832,40,0.8,40,-19.9