version: 66.07
glider: 542
mission: 9
dive: 123
start: 12 30 114 3 8 41
data:
$ID,542
$MISSION,9
$DIVE,123
$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,-22001.631
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,301214,030035,-5558.993,-33.675,32,1.1,32,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-64.4
$GPS2,301214,030747,-5559.031,-33.578,18,1.2,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.147,0.074
$KALMAN_X,67393.3,-369.8,-199.6,-101515.9,1819.6
$KALMAN_Y,24360.1,144.2,434.3,-22844.4,-2727.8
$MHEAD_RNG_PITCHd_Wd,83.1,4118,-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,-42.62,0.000,2,0.000,0.000,44,2941,2450,0,0,0,0,0,0
$GC,62,-0.59,-130.8,3.4,-4.6,5,89,6.25,2.28,-12.65,0.000,4,0.246,0.051,1593,1498,2876,0,0,0,0,0,0
$GC,347,-0.59,-130.8,51.6,-16.2,51,354,0.00,2.30,0.00,0.000,6,0.000,0.054,1582,2922,2878,0,0,0,0,0,0
$GC,460,-0.59,-130.8,74.3,-20.8,70,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2922,2878,0,0,0,0,0,0
$GC,573,-0.59,-130.8,97.8,-20.8,89,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2922,2878,0,0,0,0,0,0
$GC,800,-0.59,-130.8,139.8,-17.2,111,804,0.00,1.58,0.00,0.000,4,0.000,0.060,1574,3897,2878,0,0,0,0,0,0
$GC,850,-0.59,-130.8,148.3,-18.1,115,853,0.00,1.55,0.00,0.000,6,0.000,0.032,1574,2886,2879,0,0,0,0,0,0
$GC,1180,-0.59,-130.8,204.9,-17.4,146,1184,0.00,1.65,0.00,0.000,4,0.000,0.060,1567,3910,2879,0,0,0,0,0,0
$GC,1240,-0.59,-130.8,215.5,-19.5,151,1245,0.08,1.50,0.00,0.000,6,0.184,0.034,1589,2940,2879,0,0,0,0,0,0
$GC,1569,-0.59,-130.8,267.7,-15.8,177,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2939,2880,0,0,0,0,0,0
$GC,1877,-0.59,-130.8,315.8,-15.4,192,1881,0.00,1.58,0.00,0.000,4,0.000,0.061,1582,3895,2879,0,0,0,0,0,0
$GC,1915,-0.59,-130.8,322.5,-16.6,193,1923,0.00,1.50,0.00,0.000,6,0.000,0.031,1582,2913,2879,0,0,0,0,0,0
$GC,2233,-0.59,-130.8,372.5,-15.7,209,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2913,2879,0,0,0,0,0,0
$GC,2541,-0.59,-130.8,421.4,-15.7,224,2545,0.00,1.62,0.00,0.000,4,0.000,0.061,1575,3897,2879,0,0,0,0,0,0
$GC,2590,-0.59,-130.8,430.2,-17.1,226,2595,0.00,1.48,0.00,0.000,6,0.000,0.031,1575,2933,2879,0,0,0,0,0,0
$GC,2918,-0.59,-130.8,483.6,-16.5,242,2922,0.00,1.60,0.00,0.000,4,0.000,0.060,1568,3901,2879,0,0,0,0,0,0
$GC,2956,-0.59,-130.8,490.9,-18.3,243,2965,0.12,1.50,0.00,0.000,6,0.200,0.031,1597,2922,2879,0,0,0,0,0,0
$GC,3272,-0.59,-130.8,538.6,-15.1,259,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2922,2880,0,0,0,0,0,0
$GC,3582,-0.59,-130.8,584.7,-14.7,274,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2922,2880,0,0,0,0,0,0
$GC,3891,-0.59,-130.8,629.4,-14.1,289,3895,0.00,1.60,0.00,0.000,4,0.000,0.061,1590,3896,2880,0,0,0,0,0,0
$GC,3962,-0.59,-130.8,640.9,-15.8,292,3967,0.00,1.48,0.00,0.000,6,0.000,0.031,1590,2929,2880,0,0,0,0,0,0
$GC,4291,-0.59,-130.8,689.6,-14.8,308,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2925,2880,0,0,0,0,0,0
$GC,4599,-0.59,-130.8,735.9,-15.0,323,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2925,2880,0,0,0,0,0,0
$GC,4908,-0.59,-130.8,779.4,-13.7,338,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2925,2880,0,0,0,0,0,0
$GC,5219,-0.59,-130.8,820.1,-13.1,353,5222,0.00,1.60,0.00,0.000,4,0.000,0.061,1583,3897,2880,0,0,0,0,0,0
$GC,5290,-0.59,-130.8,830.8,-15.2,356,5295,0.00,1.48,0.00,0.000,6,0.000,0.031,1583,2926,2880,0,0,0,0,0,0
$GC,5617,-0.59,-130.8,875.8,-13.8,372,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2922,2879,0,0,0,0,0,0
$GC,5927,-0.59,-130.8,919.0,-14.0,387,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2922,2880,0,0,0,0,0,0
$GC,6236,-0.59,-130.8,961.1,-13.5,402,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2922,2880,0,0,0,0,0,0
$STATE,6544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6544,begin apogee
$GC,6549,-0.13,0.0,1002.4,13.4,417,6672,0.55,0.00,119.28,1.791,6,0.177,0.000,1744,2726,2342,0,0,0,0,0,0
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
$GC,6674,0.59,130.8,1006.4,0.0,423,6810,0.80,0.00,131.93,1.736,6,0.124,0.000,1977,2726,1808,0,0,0,0,0,0
$GC,7115,0.59,130.8,937.0,17.7,445,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2726,1799,0,0,0,0,0,0
$GC,7424,0.59,130.8,881.3,18.3,460,7428,0.00,2.00,0.00,0.000,4,0.000,0.058,1977,3923,1797,0,0,0,0,0,0
$GC,7473,0.59,130.8,871.1,20.3,462,7478,0.00,1.95,0.00,0.000,6,0.000,0.036,1986,2741,1796,0,0,0,0,0,0
$GC,7801,0.59,130.8,809.4,19.0,478,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2741,1796,0,0,0,0,0,0
$GC,8110,0.59,130.8,751.6,18.6,493,8114,0.00,1.92,0.00,0.000,4,0.000,0.057,1986,3904,1795,0,0,0,0,0,0
$GC,8177,0.59,130.8,737.5,21.8,496,8181,0.00,1.90,0.00,0.000,6,0.000,0.036,1996,2699,1793,0,0,0,0,0,0
$GC,8510,0.59,130.8,673.3,19.2,512,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2698,1794,0,0,0,0,0,0
$GC,8819,0.59,130.8,614.3,19.1,527,8822,0.00,1.98,0.00,0.000,4,0.000,0.057,1996,3905,1793,0,0,0,0,0,0
$GC,8909,0.59,130.8,595.0,21.9,531,8912,0.00,1.90,0.00,0.000,6,0.000,0.036,2005,2703,1793,0,0,0,0,0,0
$GC,9241,0.59,130.8,530.4,19.4,547,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2702,1793,0,0,0,0,0,0
$GC,9550,0.59,130.8,472.7,18.6,562,9554,0.00,1.95,0.00,0.000,4,0.000,0.057,2005,3897,1793,0,0,0,0,0,0
$GC,9627,0.59,130.8,456.6,21.4,565,9632,0.12,1.88,0.00,0.000,6,0.223,0.036,1987,2695,1793,0,0,0,0,0,0
$GC,9948,0.59,130.8,403.8,16.1,581,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,1987,2694,1792,0,0,0,0,0,0
$GC,10258,0.59,130.8,354.0,16.3,596,10261,0.00,1.95,0.00,0.000,4,0.000,0.057,1987,3897,1792,0,0,0,0,0,0
$GC,10349,0.59,130.8,337.2,18.2,600,10353,0.00,1.88,0.00,0.000,6,0.000,0.035,1994,2699,1792,0,0,0,0,0,0
$GC,10682,0.59,130.8,281.1,16.8,616,10686,0.00,1.95,0.00,0.000,4,0.000,0.057,1995,3900,1792,0,0,0,0,0,0
$GC,10729,0.59,130.8,272.3,19.7,618,10732,0.00,1.88,0.00,0.000,6,0.000,0.036,2005,2705,1792,0,0,0,0,0,0
$GC,11056,0.59,130.8,215.4,17.5,642,11060,0.00,1.92,0.00,0.000,4,0.000,0.057,2004,3898,1792,0,0,0,0,0,0
$GC,11093,0.59,130.8,208.8,19.4,645,11097,0.12,1.85,0.00,0.000,6,0.223,0.035,1986,2701,1792,0,0,0,0,0,0
$GC,11422,0.59,130.8,155.6,15.3,676,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2701,1792,0,0,0,0,0,0
$GC,11744,0.59,130.8,107.9,14.4,706,11747,0.00,1.95,0.00,0.000,4,0.000,0.057,1985,3909,1792,0,0,0,0,0,0
$GC,11782,0.59,130.8,100.9,16.0,709,11790,0.00,1.90,0.00,0.000,6,0.000,0.036,1994,2717,1792,0,0,0,0,0,0
$GC,12143,0.59,130.8,50.5,13.3,769,12150,0.00,1.95,0.00,0.000,4,0.000,0.057,1994,3904,1792,0,0,0,0,0,0
$GC,12204,0.59,130.8,40.8,15.8,779,12211,0.00,1.90,0.00,0.000,6,0.000,0.034,2003,2700,1792,0,0,0,0,0,0
$GC,12321,0.59,130.8,23.9,14.3,798,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2700,1792,0,0,0,0,0,0
$GC,12405,0.59,130.8,12.5,13.1,811,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2700,1792,0,0,0,0,0,0
$STATE,12469,end climb,SURFACE_DEPTH_REACHED
$STATE,12469,begin surface coast
$FINISH,1.1,1.014646
$STATE,12495,end surface coast,CONTROL_FINISHED_OK
$STATE,12495,begin surface
$SM_CCo,12508,27.75,0.184,0,0,1524,200.16
$SM_GC,1.96,0.00,0.00,27.75,0.000,0.000,0.184,51,2952,1524,-5.43,0.62,200.16
$IRIDIUM_FIX,-5535.12,-30.73,291214,232300
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.9,27.760
$10V_AH,10.0,18.199
$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,13.225,61.525,251.200,27.750,0.000,28.213,23.704,262.457,0.000,0.000,20.457,2050.090,8000.992,382.657,2369.759,166.777,33.360,1140.444,0.000,1915.372,0.000,0.539,0.000
$DEVICE_MAMPS,245.565,62.730,1790.865,184.365,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.444,1727.323,845.247,875.509,0.000,0.000,0.000,0.000,0.000,0.000
$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,56981,825
$CAP_FILE_SIZE,103216,0
$CFSIZE,259252224,218628096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301214,063833,-5558.882,-29.884,20,1.4,22,-19.9