version: 66.07
glider: 542
mission: 9
dive: 126
start: 12 30 114 13 43 29
data:
$ID,542
$MISSION,9
$DIVE,126
$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,-22009.975
$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,30
$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
$GPS1,301214,133253,-5558.583,-32.637,37,0.8,37,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.8
$GPS2,301214,134235,-5558.592,-32.573,13,1.3,13,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.089,0.139
$KALMAN_X,69110.7,79.3,-371.7,-102475.9,2049.1
$KALMAN_Y,21790.8,189.1,327.2,-19396.9,-3537.4
$MHEAD_RNG_PITCHd_Wd,52.7,3728,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-73.9,0.0,0.0,0,52,0.00,0.00,-34.20,0.000,2,0.000,0.000,45,2946,2244,0,0,0,0,0,0
$GC,54,-0.60,-141.4,3.0,-3.7,4,97,6.12,2.30,-25.55,0.000,4,0.239,0.055,1592,1509,2920,0,0,0,0,0,0
$GC,262,-0.60,-141.4,32.6,-16.2,36,271,0.00,2.33,0.00,0.000,6,0.000,0.054,1581,2919,2921,0,0,0,0,0,0
$GC,379,-0.60,-141.4,55.0,-20.6,55,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2919,2921,0,0,0,0,0,0
$GC,491,-0.60,-141.4,77.4,-17.8,74,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2919,2921,0,0,0,0,0,0
$GC,603,-0.60,-141.4,98.4,-19.4,93,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2919,2921,0,0,0,0,0,0
$GC,832,-0.60,-141.4,140.1,-18.1,115,835,0.00,1.60,0.00,0.000,4,0.000,0.061,1574,3905,2921,0,0,0,0,0,0
$GC,951,-0.60,-141.4,165.1,-20.2,125,959,0.00,1.55,0.00,0.000,6,0.000,0.034,1574,2904,2922,0,0,0,0,0,0
$GC,1277,-0.60,-141.4,223.9,-17.7,156,1280,0.00,1.65,0.00,0.000,4,0.000,0.060,1566,3917,2922,0,0,0,0,0,0
$GC,1326,-0.60,-141.4,233.7,-19.2,160,1337,0.00,1.52,0.00,0.000,6,0.000,0.033,1566,2926,2922,0,0,0,0,0,0
$GC,1646,-0.60,-141.4,291.4,-17.6,180,1650,0.10,1.60,0.00,0.000,4,0.217,0.060,1582,3916,2922,0,0,0,0,0,0
$GC,1739,-0.60,-141.4,307.8,-17.0,184,1744,0.00,1.52,0.00,0.000,6,0.000,0.031,1581,2930,2922,0,0,0,0,0,0
$GC,2068,-0.60,-141.4,358.5,-15.4,200,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2925,2922,0,0,0,0,0,0
$GC,2377,-0.60,-141.4,405.6,-15.3,215,2380,0.00,1.62,0.00,0.000,4,0.000,0.060,1574,3939,2922,0,0,0,0,0,0
$GC,2431,-0.60,-141.4,414.8,-16.2,217,2436,0.00,1.58,0.00,0.000,6,0.000,0.031,1574,2926,2922,0,0,0,0,0,0
$GC,2754,-0.60,-141.4,464.8,-15.4,233,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2919,2922,0,0,0,0,0,0
$GC,3062,-0.60,-141.4,511.9,-15.4,248,3066,0.00,1.62,0.00,0.000,4,0.000,0.060,1565,3939,2922,0,0,0,0,0,0
$GC,3156,-0.60,-141.4,527.7,-16.6,252,3161,0.08,1.58,0.00,0.000,6,0.185,0.031,1588,2916,2922,0,0,0,0,0,0
$GC,3484,-0.60,-141.4,573.7,-14.0,268,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2915,2922,0,0,0,0,0,0
$GC,3792,-0.60,-141.4,617.0,-14.1,283,3796,0.00,1.62,0.00,0.000,4,0.000,0.061,1581,3905,2923,0,0,0,0,0,0
$GC,3860,-0.60,-141.4,627.5,-15.5,286,3864,0.00,1.48,0.00,0.000,6,0.000,0.033,1581,2933,2922,0,0,0,0,0,0
$GC,4192,-0.60,-141.4,676.5,-14.6,302,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2926,2923,0,0,0,0,0,0
$GC,4502,-0.60,-141.4,720.0,-14.0,317,4506,0.00,1.60,0.00,0.000,4,0.000,0.060,1573,3904,2922,0,0,0,0,0,0
$GC,4549,-0.60,-141.4,727.0,-15.9,319,4552,0.00,1.48,0.00,0.000,6,0.000,0.033,1574,2932,2922,0,0,0,0,0,0
$GC,4881,-0.60,-141.4,776.1,-14.5,335,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,2922,0,0,0,0,0,0
$GC,5190,-0.60,-141.4,821.1,-14.6,350,5194,0.00,1.60,0.00,0.000,4,0.000,0.060,1566,3903,2922,0,0,0,0,0,0
$GC,5240,-0.60,-141.4,829.1,-15.5,352,5244,0.00,1.48,0.00,0.000,6,0.000,0.033,1566,2929,2923,0,0,0,0,0,0
$GC,5567,-0.60,-141.4,880.0,-15.6,368,5568,0.10,0.00,0.00,0.000,6,0.213,0.000,1589,2923,2922,0,0,0,0,0,0
$GC,5877,-0.60,-141.4,922.9,-13.6,383,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2923,2922,0,0,0,0,0,0
$GC,6185,-0.60,-141.4,965.8,-13.8,398,6189,0.00,1.60,0.00,0.000,4,0.000,0.062,1582,3900,2922,0,0,0,0,0,0
$GC,6234,-0.60,-141.4,973.3,-15.2,400,6239,0.00,1.50,0.00,0.000,6,0.000,0.032,1582,2923,2922,0,0,0,0,0,0
$STATE,6437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6437,begin apogee
$GC,6441,-0.13,0.0,1002.8,14.5,410,6579,0.55,0.00,129.15,1.789,6,0.171,0.000,1745,2724,2342,0,0,0,0,0,0
$STATE,6580,end apogee,CONTROL_FINISHED_OK
$STATE,6580,begin climb
$GC,6581,0.60,141.4,1008.5,0.0,417,6729,0.77,0.00,142.05,1.735,6,0.119,0.000,1976,2724,1764,0,0,0,0,0,0
$GC,7037,0.60,141.4,939.5,17.5,439,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2724,1755,0,0,0,0,0,0
$GC,7346,0.60,141.4,885.0,17.6,454,7350,0.00,2.00,0.00,0.000,4,0.000,0.057,1976,3926,1754,0,0,0,0,0,0
$GC,7393,0.60,141.4,876.4,19.7,456,7396,0.00,1.95,0.00,0.000,6,0.000,0.036,1985,2725,1752,0,0,0,0,0,0
$GC,7725,0.60,141.4,815.7,17.7,472,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2724,1752,0,0,0,0,0,0
$GC,8034,0.60,141.4,760.3,17.8,487,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2724,1751,0,0,0,0,0,0
$GC,8344,0.60,141.4,703.7,18.4,502,8348,0.00,1.95,0.00,0.000,4,0.000,0.057,1986,3913,1750,0,0,0,0,0,0
$GC,8415,0.60,141.4,688.8,21.4,505,8420,0.00,1.92,0.00,0.000,6,0.000,0.036,1995,2717,1750,0,0,0,0,0,0
$GC,8743,0.60,141.4,625.8,19.6,521,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2717,1750,0,0,0,0,0,0
$GC,9052,0.60,141.4,566.3,18.9,536,9056,0.00,1.95,0.00,0.000,4,0.000,0.056,1995,3900,1749,0,0,0,0,0,0
$GC,9145,0.60,141.4,546.2,21.0,540,9150,0.00,1.92,0.00,0.000,6,0.000,0.036,2004,2702,1749,0,0,0,0,0,0
$GC,9473,0.60,141.4,480.6,20.2,556,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2702,1749,0,0,0,0,0,0
$GC,9782,0.60,141.4,419.6,19.7,571,9786,0.00,1.98,0.00,0.000,4,0.000,0.057,2004,3917,1749,0,0,0,0,0,0
$GC,9853,0.60,141.4,403.9,22.3,574,9859,0.08,1.95,0.00,0.000,6,0.206,0.036,1993,2701,1748,0,0,0,0,0,0
$GC,10182,0.60,141.4,345.3,17.3,590,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1992,2701,1748,0,0,0,0,0,0
$GC,10493,0.60,141.4,292.7,16.7,605,10496,0.00,1.95,0.00,0.000,4,0.000,0.056,1992,3906,1748,0,0,0,0,0,0
$GC,10549,0.60,141.4,281.6,19.8,607,10552,0.00,1.90,0.00,0.000,6,0.000,0.036,2001,2697,1748,0,0,0,0,0,0
$GC,10876,0.60,141.4,224.4,17.4,629,10880,0.00,1.98,0.00,0.000,4,0.000,0.057,2001,3901,1748,0,0,0,0,0,0
$GC,10932,0.60,141.4,213.0,21.0,634,10936,0.00,1.88,0.00,0.000,6,0.000,0.035,2010,2707,1748,0,0,0,0,0,0
$GC,11264,0.60,141.4,154.1,17.5,665,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2707,1748,0,0,0,0,0,0
$GC,11584,0.60,141.4,98.6,16.5,695,11591,0.00,1.92,0.00,0.000,4,0.000,0.056,2010,3914,1748,0,0,0,0,0,0
$GC,11719,0.60,141.4,73.3,18.3,718,11730,0.10,1.92,0.00,0.000,6,0.197,0.037,1991,2704,1748,0,0,0,0,0,0
$GC,11836,0.60,141.4,57.1,12.8,737,11844,0.00,2.17,0.00,0.000,4,0.000,0.043,2001,1285,1748,0,0,0,0,0,0
$GC,11877,0.60,141.4,52.2,12.1,743,11884,0.00,2.25,0.00,0.000,6,0.000,0.050,2000,2731,1747,0,0,0,0,0,0
$GC,11990,0.60,141.4,36.7,14.0,762,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2730,1748,0,0,0,0,0,0
$GC,12109,0.60,141.4,20.3,13.7,781,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2731,1747,0,0,0,0,0,0
$GC,12193,0.60,141.4,8.7,13.8,794,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2731,1748,0,0,0,0,0,0
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FINISH,1.1,1.013158
$STATE,12265,end surface coast,CONTROL_FINISHED_OK
$STATE,12265,begin surface
$SM_CCo,12278,23.38,0.182,0,0,1526,200.16
$SM_GC,3.40,0.00,0.00,23.38,0.000,0.000,0.182,58,2936,1526,-5.40,0.17,200.16
$IRIDIUM_FIX,-5531.31,-327.86,301214,131338
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.9,28.232
$10V_AH,10.0,18.499
$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,13.175,64.975,271.200,23.375,0.000,50.993,98.138,260.652,0.000,0.000,16.076,2006.007,7846.260,387.695,2482.166,164.650,33.360,1204.207,0.000,1933.305,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,66.555,1788.570,182.070,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.489,1690.051,828.696,858.154,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353800
$DATA_FILE_SIZE,53816,805
$CAP_FILE_SIZE,106888,0
$CFSIZE,259252224,218435584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301214,170934,-5557.668,-30.063,28,0.9,29,-19.9