version: 66.07
glider: 542
mission: 9
dive: 128
start: 12 30 114 20 41 29
data:
$ID,542
$MISSION,9
$DIVE,128
$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,-22015.51
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,301214,203257,-5558.941,-31.180,26,1.7,33,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-72.0
$GPS2,301214,204035,-5558.966,-31.183,39,0.9,39,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.119,0.114
$KALMAN_X,71300.9,-420.6,197.1,-103303.9,2787.4
$KALMAN_Y,20471.5,376.4,297.8,-18932.0,-3395.8
$MHEAD_RNG_PITCHd_Wd,333.5,2272,-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,-34.42,0.000,2,0.000,0.000,45,2939,2245,0,0,0,0,0,0
$GC,54,-0.60,-137.1,3.1,-4.1,4,89,6.25,2.33,-23.77,0.000,4,0.245,0.052,1593,1498,2902,0,0,0,0,0,0
$GC,134,-0.60,-137.1,11.9,-16.6,15,143,0.00,2.38,0.00,0.000,6,0.000,0.056,1582,2928,2904,0,0,0,0,0,0
$GC,219,-0.60,-137.1,28.9,-21.5,28,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2928,2904,0,0,0,0,0,0
$GC,301,-0.60,-137.1,46.3,-21.3,41,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2928,2904,0,0,0,0,0,0
$GC,412,-0.60,-137.1,70.0,-19.5,60,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2928,2904,0,0,0,0,0,0
$GC,528,-0.60,-137.1,92.5,-19.9,79,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2927,2904,0,0,0,0,0,0
$GC,752,-0.60,-137.1,135.7,-19.0,103,756,0.00,1.58,0.00,0.000,4,0.000,0.063,1574,3895,2904,0,0,0,0,0,0
$GC,823,-0.60,-137.1,150.3,-19.7,109,827,0.00,1.55,0.00,0.000,6,0.000,0.033,1574,2892,2905,0,0,0,0,0,0
$GC,1153,-0.60,-137.1,211.1,-17.9,140,1157,0.00,1.65,0.00,0.000,4,0.000,0.062,1566,3910,2905,0,0,0,0,0,0
$GC,1281,-0.60,-137.1,234.9,-18.8,151,1285,0.00,1.50,0.00,0.000,6,0.000,0.034,1567,2935,2905,0,0,0,0,0,0
$GC,1617,-0.60,-137.1,295.3,-17.9,171,1621,0.12,1.60,0.00,0.000,4,0.210,0.062,1589,3913,2905,0,0,0,0,0,0
$GC,1665,-0.60,-137.1,304.5,-16.9,173,1670,0.00,1.52,0.00,0.000,6,0.000,0.031,1589,2927,2905,0,0,0,0,0,0
$GC,1996,-0.60,-137.1,354.0,-14.8,189,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2922,2905,0,0,0,0,0,0
$GC,2302,-0.60,-137.1,399.3,-14.4,204,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2922,2905,0,0,0,0,0,0
$GC,2612,-0.60,-137.1,443.8,-14.3,219,2615,0.00,1.62,0.00,0.000,4,0.000,0.062,1582,3934,2905,0,0,0,0,0,0
$GC,2668,-0.60,-137.1,452.8,-16.2,221,2672,0.00,1.55,0.00,0.000,6,0.000,0.033,1581,2928,2905,0,0,0,0,0,0
$GC,2989,-0.60,-137.1,501.6,-15.0,237,2992,0.00,1.62,0.00,0.000,4,0.000,0.061,1573,3936,2905,0,0,0,0,0,0
$GC,3034,-0.60,-137.1,508.8,-16.5,239,3037,0.00,1.55,0.00,0.000,6,0.000,0.032,1573,2926,2906,0,0,0,0,0,0
$GC,3367,-0.60,-137.1,560.6,-15.4,255,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2920,2905,0,0,0,0,0,0
$GC,3675,-0.60,-137.1,609.6,-16.1,270,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2920,2906,0,0,0,0,0,0
$GC,3985,-0.60,-137.1,659.5,-16.2,285,3988,0.00,1.62,0.00,0.000,4,0.000,0.062,1566,3906,2906,0,0,0,0,0,0
$GC,4045,-0.60,-137.1,670.6,-18.7,287,4053,0.08,1.50,0.00,0.000,6,0.185,0.033,1587,2930,2906,0,0,0,0,0,0
$GC,4361,-0.60,-137.1,719.6,-15.1,303,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2930,2906,0,0,0,0,0,0
$GC,4670,-0.60,-137.1,765.2,-14.8,318,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2930,2905,0,0,0,0,0,0
$GC,4980,-0.60,-137.1,809.2,-14.4,333,4984,0.00,1.62,0.00,0.000,4,0.000,0.064,1580,3902,2906,0,0,0,0,0,0
$GC,5039,-0.60,-137.1,818.7,-15.5,335,5048,0.00,1.50,0.00,0.000,6,0.000,0.031,1580,2915,2906,0,0,0,0,0,0
$GC,5357,-0.60,-137.1,864.3,-14.3,351,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2915,2906,0,0,0,0,0,0
$GC,5665,-0.60,-137.1,908.1,-14.1,366,5669,0.00,1.62,0.00,0.000,4,0.000,0.063,1573,3932,2906,0,0,0,0,0,0
$GC,5725,-0.60,-137.1,917.7,-15.9,368,5733,0.00,1.50,0.00,0.000,6,0.000,0.032,1573,2938,2906,0,0,0,0,0,0
$GC,6042,-0.60,-137.1,963.7,-14.4,384,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2937,2905,0,0,0,0,0,0
$STATE,6309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6309,begin apogee
$GC,6313,-0.13,0.0,1001.3,13.9,397,6442,0.57,0.00,125.40,1.799,6,0.182,0.000,1738,2713,2342,0,0,0,0,0,0
$STATE,6442,end apogee,CONTROL_FINISHED_OK
$STATE,6442,begin climb
$GC,6444,0.60,137.1,1005.0,0.0,403,6591,0.80,0.00,137.52,1.733,6,0.126,0.000,1974,2712,1782,0,0,0,0,0,0
$GC,6899,0.60,137.1,931.2,17.8,425,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2712,1773,0,0,0,0,0,0
$GC,7209,0.60,137.1,875.7,17.9,440,7213,0.00,2.03,0.00,0.000,4,0.000,0.060,1974,3917,1772,0,0,0,0,0,0
$GC,7258,0.60,137.1,865.5,20.6,442,7262,0.00,1.92,0.00,0.000,6,0.000,0.035,1983,2744,1770,0,0,0,0,0,0
$GC,7585,0.60,137.1,804.5,18.5,458,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2744,1770,0,0,0,0,0,0
$GC,7895,0.60,137.1,746.7,18.6,473,7898,0.00,1.92,0.00,0.000,4,0.000,0.058,1984,3905,1769,0,0,0,0,0,0
$GC,7962,0.60,137.1,732.9,20.0,476,7966,0.00,1.90,0.00,0.000,6,0.000,0.036,1993,2699,1768,0,0,0,0,0,0
$GC,8295,0.60,137.1,669.9,18.6,492,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2699,1768,0,0,0,0,0,0
$GC,8603,0.60,137.1,611.5,19.3,507,8607,0.00,1.98,0.00,0.000,4,0.000,0.058,1993,3904,1767,0,0,0,0,0,0
$GC,8693,0.60,137.1,592.4,21.7,511,8697,0.00,1.90,0.00,0.000,6,0.000,0.036,2002,2708,1767,0,0,0,0,0,0
$GC,9026,0.60,137.1,525.1,20.2,527,9030,0.00,1.98,0.00,0.000,4,0.000,0.058,2002,3914,1767,0,0,0,0,0,0
$GC,9074,0.60,137.1,513.8,22.7,529,9080,0.08,1.92,0.00,0.000,6,0.204,0.036,1990,2713,1766,0,0,0,0,0,0
$GC,9402,0.60,137.1,452.6,18.2,545,9406,0.00,1.95,0.00,0.000,4,0.000,0.058,1990,3909,1766,0,0,0,0,0,0
$GC,9469,0.60,137.1,438.8,20.2,548,9473,0.00,1.88,0.00,0.000,6,0.000,0.037,1998,2707,1766,0,0,0,0,0,0
$GC,9801,0.60,137.1,376.9,18.8,564,9805,0.00,1.95,0.00,0.000,4,0.000,0.058,1999,3901,1766,0,0,0,0,0,0
$GC,9857,0.60,137.1,365.3,21.2,566,9862,0.00,1.90,0.00,0.000,6,0.000,0.037,2008,2715,1766,0,0,0,0,0,0
$GC,10178,0.60,137.1,304.9,18.8,582,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2715,1766,0,0,0,0,0,0
$GC,10490,0.60,137.1,247.1,18.7,597,10494,0.00,1.95,0.00,0.000,4,0.000,0.058,2008,3913,1766,0,0,0,0,0,0
$GC,10575,0.60,137.1,229.4,20.6,604,10586,0.10,1.92,0.00,0.000,6,0.197,0.036,1989,2701,1766,0,0,0,0,0,0
$GC,10902,0.60,137.1,175.7,16.7,635,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2701,1766,0,0,0,0,0,0
$GC,11222,0.60,137.1,126.1,15.2,665,11226,0.00,1.98,0.00,0.000,4,0.000,0.058,1989,3900,1766,0,0,0,0,0,0
$GC,11296,0.60,137.1,112.6,18.1,671,11304,0.00,1.88,0.00,0.000,6,0.000,0.035,1997,2716,1765,0,0,0,0,0,0
$GC,11643,0.60,137.1,62.1,13.3,725,11650,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2716,1766,0,0,0,0,0,0
$GC,11757,0.60,137.1,46.7,13.5,744,11765,0.00,1.95,0.00,0.000,4,0.000,0.059,1997,3896,1766,0,0,0,0,0,0
$GC,11814,0.60,137.1,38.2,15.2,753,11822,0.00,1.88,0.00,0.000,6,0.000,0.035,2006,2711,1765,0,0,0,0,0,0
$GC,11932,0.60,137.1,22.0,12.4,772,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2711,1765,0,0,0,0,0,0
$GC,12017,0.60,137.1,10.8,13.0,785,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2711,1765,0,0,0,0,0,0
$STATE,12068,end climb,SURFACE_DEPTH_REACHED
$STATE,12069,begin surface coast
$FINISH,1.1,1.007610
$STATE,12089,end surface coast,CONTROL_FINISHED_OK
$STATE,12089,begin surface
$SM_CCo,12101,25.60,0.179,0,0,1524,200.16
$SM_GC,2.22,0.00,0.00,25.60,0.000,0.000,0.179,54,2945,1524,-5.42,0.42,200.16
$IRIDIUM_FIX,-5535.12,-30.76,301214,171711
$TT8_MAMPS,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.9,28.540
$10V_AH,10.0,18.696
$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,13.225,65.275,262.925,25.600,0.000,28.790,22.618,263.856,0.000,0.000,41.461,1984.728,7664.583,382.392,2386.881,168.861,33.362,1184.415,0.000,1908.270,0.000,0.539,0.000
$DEVICE_MAMPS,244.800,64.260,1798.515,179.010,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.100,1661.181,812.118,843.847,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353836
$DATA_FILE_SIZE,53748,796
$CAP_FILE_SIZE,106582,0
$CFSIZE,259252224,218304512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311214,000434,-5558.295,-33.501,22,1.2,23,-19.9