version: 66.07
glider: 542
mission: 9
dive: 134
start: 12 31 114 20 49 48
data:
$ID,542
$MISSION,9
$DIVE,134
$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,-22032.475
$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,26
$R_STBD_OVSHOOT,34
$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
$GPS1,311214,204028,-5554.743,-29.282,38,0.9,38,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-67.4
$GPS2,311214,204854,-5554.733,-29.286,15,1.5,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.009,0.231
$KALMAN_X,69668.9,551.8,-41.3,-100446.8,-237.5
$KALMAN_Y,13599.4,-191.8,563.9,-3916.9,-3815.7
$MHEAD_RNG_PITCHd_Wd,22.2,18041,-17.2,-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,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-34.10,0.000,2,0.000,0.000,45,2953,2261,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.0,-3.8,4,97,6.55,2.33,-24.38,0.000,4,0.249,0.054,1638,1510,2941,0,0,0,0,0,0
$GC,193,-0.44,-146.1,18.3,-13.9,24,202,0.00,2.35,0.00,0.000,6,0.000,0.057,1627,2920,2942,0,0,0,0,0,0
$GC,277,-0.44,-146.1,32.2,-17.2,37,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2921,2942,0,0,0,0,0,0
$GC,391,-0.44,-146.1,52.5,-17.5,56,400,0.00,1.60,0.00,0.000,4,0.000,0.063,1620,3894,2942,0,0,0,0,0,0
$GC,429,-0.44,-146.1,59.3,-18.3,62,438,0.00,1.55,0.00,0.000,6,0.000,0.033,1619,2892,2942,0,0,0,0,0,0
$GC,546,-0.44,-146.1,79.1,-16.3,81,552,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2892,2942,0,0,0,0,0,0
$GC,657,-0.44,-146.1,97.8,-16.6,100,663,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2892,2942,0,0,0,0,0,0
$GC,878,-0.44,-146.1,133.2,-16.2,122,881,0.00,1.67,0.00,0.000,4,0.000,0.063,1611,3908,2942,0,0,0,0,0,0
$GC,939,-0.44,-146.1,144.7,-17.0,127,948,0.12,1.52,0.00,0.000,6,0.197,0.034,1647,2923,2942,0,0,0,0,0,0
$GC,1265,-0.44,-146.1,190.6,-13.8,158,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2923,2942,0,0,0,0,0,0
$GC,1585,-0.44,-146.1,233.5,-12.7,188,1589,0.00,1.62,0.00,0.000,4,0.000,0.063,1639,3898,2942,0,0,0,0,0,0
$GC,1635,-0.44,-146.1,240.8,-13.7,192,1646,0.00,1.50,0.00,0.000,6,0.000,0.032,1640,2919,2942,0,0,0,0,0,0
$GC,1956,-0.44,-146.1,280.8,-12.2,211,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,2264,-0.44,-146.1,317.0,-11.4,226,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2918,2942,0,0,0,0,0,0
$GC,2576,-0.44,-146.1,352.8,-11.8,241,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,2882,-0.44,-146.1,389.6,-11.8,256,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2918,2942,0,0,0,0,0,0
$GC,3191,-0.44,-146.1,426.4,-12.0,271,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2918,2941,0,0,0,0,0,0
$GC,3500,-0.44,-146.1,462.4,-11.8,286,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,3810,-0.44,-146.1,498.5,-11.8,301,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,4119,-0.44,-146.1,533.8,-11.5,316,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2918,2942,0,0,0,0,0,0
$GC,4428,-0.44,-146.1,570.5,-12.0,331,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,4738,-0.44,-146.1,607.2,-12.0,346,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,5047,-0.44,-146.1,643.1,-11.5,361,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,5356,-0.44,-146.1,678.2,-11.3,376,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2918,2942,0,0,0,0,0,0
$GC,5666,-0.44,-146.1,712.4,-11.0,391,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2919,2942,0,0,0,0,0,0
$GC,5975,-0.44,-146.1,745.8,-10.6,406,5979,0.00,2.08,0.00,0.000,4,0.000,0.040,1640,1539,2942,0,0,0,0,0,0
$GC,6012,-0.44,-146.1,749.8,-10.0,407,6020,0.00,2.25,0.00,0.000,6,0.000,0.055,1630,2926,2943,0,0,0,0,0,0
$GC,6329,-0.44,-146.1,784.8,-11.4,423,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2942,0,0,0,0,0,0
$GC,6637,-0.44,-146.1,818.6,-10.9,438,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2943,0,0,0,0,0,0
$GC,6947,-0.44,-146.1,852.2,-10.7,453,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2943,0,0,0,0,0,0
$GC,7256,-0.44,-146.1,884.9,-10.2,468,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2943,0,0,0,0,0,0
$GC,7565,-0.44,-146.1,916.6,-10.2,483,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2943,0,0,0,0,0,0
$GC,7875,-0.44,-146.1,947.4,-9.9,498,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2926,2942,0,0,0,0,0,0
$GC,8184,-0.44,-146.1,978.5,-10.2,513,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2926,2942,0,0,0,0,0,0
$STATE,8410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8410,begin apogee
$GC,8414,-0.13,0.0,1001.7,10.2,524,8553,0.38,0.00,134.70,1.790,6,0.168,0.000,1740,2721,2341,0,0,0,0,0,0
$STATE,8554,end apogee,CONTROL_FINISHED_OK
$STATE,8554,begin climb
$GC,8556,0.44,146.1,1006.0,0.0,531,8706,0.65,0.00,146.80,1.739,6,0.127,0.000,1926,2721,1746,0,0,0,0,0,0
$GC,9001,0.44,146.1,954.6,13.1,553,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2721,1737,0,0,0,0,0,0
$GC,9311,0.44,146.1,915.1,12.9,568,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2721,1735,0,0,0,0,0,0
$GC,9620,0.44,146.1,876.2,12.5,583,9624,0.00,1.98,0.00,0.000,4,0.000,0.062,1925,3917,1733,0,0,0,0,0,0
$GC,9652,0.44,146.1,871.5,15.0,584,9657,0.00,1.90,0.00,0.000,6,0.000,0.035,1934,2747,1732,0,0,0,0,0,0
$GC,9974,0.44,146.1,829.2,13.0,600,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2746,1732,0,0,0,0,0,0
$GC,10283,0.44,146.1,789.0,12.8,615,10287,0.00,2.28,0.00,0.000,4,0.000,0.047,1945,1286,1732,0,0,0,0,0,0
$GC,10325,0.44,146.1,783.6,12.0,617,10330,0.00,2.35,0.00,0.000,6,0.000,0.054,1945,2731,1731,0,0,0,0,0,0
$GC,10654,0.44,146.1,736.9,14.6,633,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2731,1731,0,0,0,0,0,0
$GC,10962,0.44,146.1,691.1,14.5,648,10966,0.00,1.90,0.00,0.000,4,0.000,0.061,1945,3893,1731,0,0,0,0,0,0
$GC,11011,0.44,146.1,683.0,16.2,650,11016,0.00,1.90,0.00,0.000,6,0.000,0.036,1954,2701,1729,0,0,0,0,0,0
$GC,11339,0.44,146.1,631.5,15.6,666,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2701,1729,0,0,0,0,0,0
$GC,11648,0.44,146.1,584.6,15.0,681,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2701,1730,0,0,0,0,0,0
$GC,11958,0.44,146.1,537.9,14.9,696,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2700,1729,0,0,0,0,0,0
$GC,12267,0.44,146.1,492.5,14.6,711,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2701,1729,0,0,0,0,0,0
$GC,12576,0.44,146.1,445.9,15.2,726,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2700,1729,0,0,0,0,0,0
$GC,12886,0.44,146.1,399.4,15.3,741,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2700,1729,0,0,0,0,0,0
$GC,13195,0.44,146.1,351.9,15.5,756,13199,0.00,1.98,0.00,0.000,4,0.000,0.059,1954,3898,1729,0,0,0,0,0,0
$GC,13244,0.44,146.1,343.2,17.4,758,13249,0.10,1.90,0.00,0.000,6,0.202,0.036,1936,2698,1729,0,0,0,0,0,0
$GC,13573,0.44,146.1,299.0,13.1,774,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2697,1729,0,0,0,0,0,0
$GC,13883,0.44,146.1,261.3,11.9,789,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2697,1729,0,0,0,0,0,0
$GC,14198,0.44,146.1,224.0,12.5,814,14202,0.00,2.17,0.00,0.000,4,0.000,0.045,1945,1290,1729,0,0,0,0,0,0
$GC,14242,0.44,146.1,218.5,10.6,817,14250,0.00,2.28,0.00,0.000,6,0.000,0.052,1945,2719,1729,0,0,0,0,0,0
$GC,14567,0.44,146.1,178.2,11.9,848,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2719,1729,0,0,0,0,0,0
$GC,14889,0.44,146.1,140.7,11.0,878,14890,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2719,1729,0,0,0,0,0,0
$GC,15205,0.44,146.1,108.2,9.7,908,15206,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2719,1729,0,0,0,0,0,0
$GC,15545,0.48,193.4,77.5,7.5,959,15575,0.00,2.30,21.10,1.015,4,0.000,0.044,1956,1291,1550,0,0,0,0,0,0
$GC,15613,0.49,202.6,71.4,9.1,969,15622,0.00,2.28,3.72,0.751,6,0.000,0.054,1957,2707,1514,0,0,0,0,0,0
$GC,15725,0.49,202.6,59.0,11.2,988,15734,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2707,1512,0,0,0,0,0,0
$GC,15840,0.49,202.6,47.2,10.2,1007,15847,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2707,1510,0,0,0,0,0,0
$GC,15954,0.49,202.6,33.9,10.9,1026,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2707,1509,0,0,0,0,0,0
$GC,16073,0.49,202.6,20.5,11.3,1045,16081,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2707,1509,0,0,0,0,0,0
$GC,16157,0.49,202.6,10.6,11.7,1058,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2707,1508,0,0,0,0,0,0
$STATE,16228,end climb,SURFACE_DEPTH_REACHED
$STATE,16228,begin surface coast
$FINISH,1.1,1.027162
$STATE,16255,end surface coast,CONTROL_FINISHED_OK
$STATE,16255,begin surface
$SM_CCo,16327,0.00,0.000,0,0,1507,204.82
$SM_GC,2.40,5.05,0.00,0.00,0.051,0.000,0.000,59,2933,1507,-5.33,0.11,204.82
$IRIDIUM_FIX,-5531.31,-26.89,311214,151553
$TT8_MAMPS,0.026964
$HUMID,56.57
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.40
$XPDR_PINGS,1
$24V_AH,21.9,29.593
$10V_AH,10.0,19.408
$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,12.850,44.275,306.325,0.000,0.000,28.649,41.086,312.912,0.250,0.000,18.009,2576.229,10793.524,427.046,2842.362,188.260,33.362,1318.069,0.000,2286.855,0.000,0.540,0.000
$DEVICE_MAMPS,249.390,62.730,1790.100,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.552,2218.772,1069.436,1102.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,73764,1073
$CAP_FILE_SIZE,118438,0
$CFSIZE,259252224,217866240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010115,012304,-5552.678,-28.760,35,0.8,35,-19.9