version: 66.07
glider: 542
mission: 9
dive: 122
start: 12 29 114 23 43 41
data:
$ID,542
$MISSION,9
$DIVE,122
$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,-21998.82
$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,55
$R_STBD_OVSHOOT,21
$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
$GPS1,291214,233533,-5557.074,-34.229,39,1.2,43,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-70.4
$GPS2,291214,234247,-5557.114,-34.152,17,0.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.034,-0.161
$KALMAN_X,68394.2,-555.4,-453.6,-102672.5,3706.5
$KALMAN_Y,24344.2,324.9,149.6,-19175.8,-2617.5
$MHEAD_RNG_PITCHd_Wd,187.9,6859,-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,-42.55,0.000,2,0.000,0.000,45,2885,2455,0,0,0,0,0,0
$GC,62,-0.60,-146.1,3.0,-2.5,5,89,6.10,1.75,-15.45,0.000,4,0.236,0.083,1581,3900,2939,0,0,0,0,0,0
$GC,357,-0.60,-146.1,62.8,-20.4,53,364,0.00,1.52,0.00,0.000,6,0.000,0.034,1581,2924,2942,0,0,0,0,0,0
$GC,469,-0.60,-146.1,86.0,-17.9,72,478,0.00,1.62,0.00,0.000,4,0.000,0.059,1574,3897,2941,0,0,0,0,0,0
$GC,533,-0.60,-146.1,98.9,-21.1,82,540,0.00,1.50,0.00,0.000,6,0.000,0.034,1575,2933,2942,0,0,0,0,0,0
$GC,754,-0.60,-146.1,142.2,-20.6,103,758,0.00,1.62,0.00,0.000,4,0.000,0.060,1567,3906,2942,0,0,0,0,0,0
$GC,880,-0.60,-146.1,171.2,-22.3,114,883,0.00,1.52,0.00,0.000,6,0.000,0.035,1567,2930,2942,0,0,0,0,0,0
$GC,1212,-0.60,-146.1,239.0,-19.4,145,1216,0.00,1.62,0.00,0.000,4,0.000,0.061,1559,3905,2942,0,0,0,0,0,0
$GC,1330,-0.60,-146.1,264.6,-20.5,153,1336,0.10,1.55,0.00,0.000,6,0.188,0.034,1588,2915,2942,0,0,0,0,0,0
$GC,1660,-0.60,-146.1,319.0,-16.3,169,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2914,2942,0,0,0,0,0,0
$GC,1968,-0.60,-146.1,367.5,-15.1,184,1972,0.00,1.62,0.00,0.000,4,0.000,0.062,1581,3898,2942,0,0,0,0,0,0
$GC,2018,-0.60,-146.1,376.1,-16.2,186,2023,0.00,1.50,0.00,0.000,6,0.000,0.033,1581,2928,2942,0,0,0,0,0,0
$GC,2346,-0.60,-146.1,426.6,-15.6,202,2349,0.00,1.60,0.00,0.000,4,0.000,0.060,1574,3896,2942,0,0,0,0,0,0
$GC,2436,-0.60,-146.1,441.6,-16.5,206,2440,0.00,1.48,0.00,0.000,6,0.000,0.034,1574,2933,2942,0,0,0,0,0,0
$GC,2768,-0.60,-146.1,494.0,-15.6,222,2772,0.00,1.60,0.00,0.000,4,0.000,0.060,1566,3902,2942,0,0,0,0,0,0
$GC,2840,-0.60,-146.1,506.6,-16.4,225,2845,0.00,1.52,0.00,0.000,6,0.000,0.033,1566,2917,2943,0,0,0,0,0,0
$GC,3167,-0.60,-146.1,560.7,-16.6,241,3170,0.00,1.62,0.00,0.000,4,0.000,0.060,1559,3904,2943,0,0,0,0,0,0
$GC,3244,-0.60,-146.1,575.1,-18.5,244,3249,0.10,1.48,0.00,0.000,6,0.187,0.032,1588,2936,2943,0,0,0,0,0,0
$GC,3565,-0.60,-146.1,622.8,-14.5,260,3568,0.00,1.58,0.00,0.000,4,0.000,0.061,1581,3896,2943,0,0,0,0,0,0
$GC,3602,-0.60,-146.1,629.0,-16.1,261,3610,0.00,1.50,0.00,0.000,6,0.000,0.032,1581,2915,2943,0,0,0,0,0,0
$GC,3919,-0.60,-146.1,676.4,-14.7,277,3923,0.00,1.62,0.00,0.000,4,0.000,0.060,1573,3906,2943,0,0,0,0,0,0
$GC,3966,-0.60,-146.1,683.7,-16.8,279,3970,0.00,1.48,0.00,0.000,6,0.000,0.033,1573,2933,2943,0,0,0,0,0,0
$GC,4299,-0.60,-146.1,733.3,-14.8,295,4303,0.00,1.60,0.00,0.000,4,0.000,0.060,1565,3905,2943,0,0,0,0,0,0
$GC,4354,-0.60,-146.1,742.5,-15.9,297,4358,0.00,1.48,0.00,0.000,6,0.000,0.033,1565,2937,2943,0,0,0,0,0,0
$GC,4675,-0.60,-146.1,791.8,-15.1,313,4679,0.00,1.62,0.00,0.000,4,0.000,0.060,1558,3909,2943,0,0,0,0,0,0
$GC,4724,-0.60,-146.1,800.2,-16.7,315,4729,0.10,1.50,0.00,0.000,6,0.183,0.032,1587,2928,2943,0,0,0,0,0,0
$GC,5052,-0.60,-146.1,842.9,-12.7,331,5056,0.00,1.60,0.00,0.000,4,0.000,0.060,1581,3903,2943,0,0,0,0,0,0
$GC,5084,-0.60,-146.1,847.8,-13.8,332,5089,0.00,1.48,0.00,0.000,6,0.000,0.031,1580,2925,2943,0,0,0,0,0,0
$GC,5407,-0.60,-146.1,891.9,-13.7,348,5410,0.00,1.60,0.00,0.000,4,0.000,0.060,1573,3900,2943,0,0,0,0,0,0
$GC,5461,-0.60,-146.1,900.4,-14.6,350,5466,0.00,1.50,0.00,0.000,6,0.000,0.031,1573,2915,2943,0,0,0,0,0,0
$GC,5783,-0.60,-146.1,945.8,-13.9,366,5786,0.00,1.62,0.00,0.000,4,0.000,0.060,1565,3906,2943,0,0,0,0,0,0
$GC,5851,-0.60,-146.1,956.1,-16.4,369,5855,0.00,1.48,0.00,0.000,6,0.000,0.033,1565,2929,2943,0,0,0,0,0,0
$STATE,6161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6161,begin apogee
$GC,6165,-0.13,0.0,1002.6,14.6,384,6304,0.60,0.00,133.48,1.790,6,0.181,0.000,1738,2712,2342,0,0,0,0,0,0
$STATE,6305,end apogee,CONTROL_FINISHED_OK
$STATE,6305,begin climb
$GC,6307,0.60,146.1,1006.7,0.0,391,6463,0.80,2.53,147.00,1.728,4,0.125,0.044,1984,1346,1746,0,0,0,0,0,0
$GC,6479,0.60,146.1,984.7,16.3,399,6483,0.00,2.42,0.00,0.000,6,0.000,0.047,1984,2721,1743,0,0,0,0,0,0
$GC,6806,0.60,146.1,922.9,18.9,415,6810,0.00,2.00,0.00,0.000,4,0.000,0.057,1984,3893,1737,0,0,0,0,0,0
$GC,6828,0.60,146.1,918.5,20.1,416,6832,0.00,1.88,0.00,0.000,6,0.000,0.035,1993,2738,1735,0,0,0,0,0,0
$GC,7160,0.60,146.1,851.3,20.1,432,7164,0.00,1.92,0.00,0.000,4,0.000,0.056,1993,3900,1734,0,0,0,0,0,0
$GC,7184,0.60,146.1,846.2,22.4,433,7188,0.00,1.95,0.00,0.000,6,0.000,0.037,2002,2709,1733,0,0,0,0,0,0
$GC,7515,0.60,146.1,776.8,20.9,449,7519,0.00,1.95,0.00,0.000,4,0.000,0.056,2002,3890,1732,0,0,0,0,0,0
$GC,7538,0.60,146.1,771.8,21.9,450,7542,0.00,1.88,0.00,0.000,6,0.000,0.037,2011,2704,1732,0,0,0,0,0,0
$GC,7870,0.60,146.1,699.5,21.7,466,7874,0.00,1.98,0.00,0.000,4,0.000,0.056,2011,3889,1732,0,0,0,0,0,0
$GC,7915,0.60,146.1,688.9,24.1,468,7919,0.15,1.85,0.00,0.000,6,0.220,0.037,1986,2712,1732,0,0,0,0,0,0
$GC,8246,0.60,146.1,623.2,19.5,484,8250,0.00,1.95,0.00,0.000,4,0.000,0.057,1986,3902,1731,0,0,0,0,0,0
$GC,8278,0.60,146.1,615.9,23.3,485,8283,0.00,1.92,0.00,0.000,6,0.000,0.036,1995,2706,1731,0,0,0,0,0,0
$GC,8601,0.60,146.1,551.1,20.3,501,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2705,1731,0,0,0,0,0,0
$GC,8909,0.60,146.1,489.0,20.3,516,8913,0.00,1.95,0.00,0.000,4,0.000,0.057,1995,3886,1731,0,0,0,0,0,0
$GC,8935,0.60,146.1,483.0,21.1,517,8940,0.00,1.90,0.00,0.000,6,0.000,0.035,2004,2700,1731,0,0,0,0,0,0
$GC,9264,0.60,146.1,416.6,20.4,533,9267,0.00,1.95,0.00,0.000,4,0.000,0.057,2004,3897,1731,0,0,0,0,0,0
$GC,9312,0.60,146.1,405.4,22.8,535,9317,0.00,1.90,0.00,0.000,6,0.000,0.036,2013,2707,1730,0,0,0,0,0,0
$GC,9642,0.60,146.1,336.9,20.7,551,9645,0.00,1.92,0.00,0.000,4,0.000,0.057,2013,3890,1730,0,0,0,0,0,0
$GC,9689,0.60,146.1,326.5,22.3,553,9694,0.15,1.85,0.00,0.000,6,0.217,0.036,1987,2700,1730,0,0,0,0,0,0
$GC,10023,0.60,146.1,268.1,17.0,569,10027,0.00,1.92,0.00,0.000,4,0.000,0.057,1987,3899,1730,0,0,0,0,0,0
$GC,10046,0.60,146.1,263.7,17.5,570,10049,0.00,1.85,0.00,0.000,6,0.000,0.036,1995,2707,1730,0,0,0,0,0,0
$GC,10377,0.60,146.1,207.4,17.1,597,10378,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2707,1730,0,0,0,0,0,0
$GC,10696,0.60,146.1,154.4,15.9,627,10700,0.00,1.95,0.00,0.000,4,0.000,0.057,1995,3893,1730,0,0,0,0,0,0
$GC,10734,0.60,146.1,147.3,18.3,630,10744,0.00,1.88,0.00,0.000,6,0.000,0.035,2004,2711,1730,0,0,0,0,0,0
$GC,11061,0.60,146.1,96.5,15.7,663,11070,0.00,1.92,0.00,0.000,4,0.000,0.057,2004,3880,1730,0,0,0,0,0,0
$GC,11111,0.60,146.1,87.6,19.6,671,11118,0.00,1.85,0.00,0.000,6,0.000,0.034,2014,2696,1730,0,0,0,0,0,0
$GC,11352,0.60,146.1,51.9,16.1,712,11360,0.00,1.98,0.00,0.000,4,0.000,0.057,2014,3897,1730,0,0,0,0,0,0
$GC,11375,0.60,146.1,48.2,16.9,715,11383,0.08,1.88,0.00,0.000,6,0.207,0.037,1990,2717,1730,0,0,0,0,0,0
$GC,11488,0.60,146.1,32.3,13.0,734,11497,0.00,1.92,0.00,0.000,4,0.000,0.058,1991,3887,1730,0,0,0,0,0,0
$GC,11523,0.60,146.1,27.6,14.3,739,11532,0.00,1.88,0.00,0.000,6,0.000,0.037,1998,2713,1730,0,0,0,0,0,0
$GC,11609,0.60,146.1,15.4,15.1,752,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2712,1730,0,0,0,0,0,0
$STATE,11692,end climb,SURFACE_DEPTH_REACHED
$STATE,11692,begin surface coast
$FINISH,1.2,1.022089
$STATE,11712,end surface coast,CONTROL_FINISHED_OK
$STATE,11713,begin surface
$SM_CCo,11725,21.75,0.179,0,0,1523,200.16
$SM_GC,3.11,0.00,0.00,21.75,0.000,0.000,0.179,53,2939,1523,-5.42,0.25,200.16
$IRIDIUM_FIX,-5538.94,-30.80,291214,202000
$TT8_MAMPS,0.026964
$HUMID,56.26
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,21.9,27.616
$10V_AH,10.0,18.096
$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,13.425,102.150,280.475,21.750,0.000,24.726,18.407,274.708,0.000,0.000,19.861,1969.175,7264.645,395.905,2383.343,171.216,33.360,1239.452,0.000,1920.149,0.000,0.539,0.000
$DEVICE_MAMPS,236.385,82.620,1790.100,179.010,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.198,1600.276,772.587,805.778,0.000,0.000,0.000,0.000,0.000,0.000
$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,53632,768
$CAP_FILE_SIZE,115344,0
$CFSIZE,259252224,218681344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301214,030035,-5558.993,-33.675,32,1.1,32,-19.9