version: 66.07
glider: 542
mission: 9
dive: 51
start: 12 19 114 7 7 35
data:
$ID,542
$MISSION,9
$DIVE,51
$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,-21820.264
$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
$GPS1,191214,065928,-5603.756,-30.907,46,0.8,46,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-68.6
$GPS2,191214,070641,-5603.687,-30.871,17,0.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.164,-0.015
$KALMAN_X,25421.4,69.9,-169.0,-57226.5,3543.2
$KALMAN_Y,48994.7,-909.6,-545.7,-54027.7,7042.4
$MHEAD_RNG_PITCHd_Wd,284.6,6888,-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,14,-0.54,-73.9,0.0,0.0,0,59,0.00,0.00,-42.67,0.000,2,0.000,0.000,52,2946,2451,0,0,0,0,0,0
$GC,62,-0.59,-132.5,3.2,-4.5,5,87,6.25,0.00,-14.27,0.000,6,0.251,0.000,1589,2946,2884,0,0,0,0,0,0
$GC,162,-0.59,-132.5,18.6,-18.4,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2946,2886,0,0,0,0,0,0
$GC,245,-0.59,-132.5,34.2,-18.7,33,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2946,2886,0,0,0,0,0,0
$GC,359,-0.59,-132.5,56.2,-19.5,52,367,0.00,1.60,0.00,0.000,4,0.000,0.065,1582,3901,2886,0,0,0,0,0,0
$GC,416,-0.59,-132.5,67.1,-19.8,61,423,0.00,1.58,0.00,0.000,6,0.000,0.037,1582,2910,2885,0,0,0,0,0,0
$GC,528,-0.59,-132.5,88.5,-18.3,80,534,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2909,2886,0,0,0,0,0,0
$GC,759,-0.59,-132.5,129.4,-17.7,107,763,0.00,1.65,0.00,0.000,4,0.000,0.064,1574,3908,2886,0,0,0,0,0,0
$GC,794,-0.59,-132.5,136.0,-18.1,110,797,0.00,1.55,0.00,0.000,6,0.000,0.037,1579,2928,2886,0,0,0,0,0,0
$GC,1126,-0.59,-132.5,189.6,-15.6,141,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2922,2886,0,0,0,0,0,0
$GC,1444,-0.59,-132.5,241.8,-17.3,171,1448,0.00,1.62,0.00,0.000,4,0.000,0.065,1571,3895,2886,0,0,0,0,0,0
$GC,1514,-0.59,-132.5,255.0,-17.9,176,1518,0.00,1.52,0.00,0.000,6,0.000,0.037,1578,2921,2886,0,0,0,0,0,0
$GC,1846,-0.59,-132.5,310.4,-15.8,192,1849,0.00,1.62,0.00,0.000,4,0.000,0.065,1571,3893,2886,0,0,0,0,0,0
$GC,1936,-0.59,-132.5,325.4,-17.6,196,1940,0.00,1.50,0.00,0.000,6,0.000,0.037,1577,2928,2886,0,0,0,0,0,0
$GC,2269,-0.59,-132.5,375.2,-14.7,212,2272,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3903,2886,0,0,0,0,0,0
$GC,2314,-0.59,-132.5,382.4,-16.4,214,2317,0.00,1.52,0.00,0.000,6,0.000,0.037,1577,2925,2886,0,0,0,0,0,0
$GC,2646,-0.59,-132.5,433.0,-15.5,230,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2886,0,0,0,0,0,0
$GC,2955,-0.59,-132.5,479.2,-14.8,245,2959,0.00,1.60,0.00,0.000,4,0.000,0.064,1570,3887,2886,0,0,0,0,0,0
$GC,3031,-0.59,-132.5,491.8,-16.1,248,3036,0.00,1.50,0.00,0.000,6,0.000,0.034,1576,2922,2886,0,0,0,0,0,0
$GC,3354,-0.59,-132.5,538.2,-14.4,264,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2919,2886,0,0,0,0,0,0
$GC,3663,-0.59,-132.5,582.2,-14.0,279,3666,0.00,1.62,0.00,0.000,4,0.000,0.063,1569,3903,2886,0,0,0,0,0,0
$GC,3711,-0.59,-132.5,590.0,-16.0,281,3716,0.00,1.52,0.00,0.000,6,0.000,0.035,1575,2925,2886,0,0,0,0,0,0
$GC,4039,-0.59,-132.5,635.8,-14.0,297,4043,0.00,1.60,0.00,0.000,4,0.000,0.063,1568,3894,2886,0,0,0,0,0,0
$GC,4094,-0.59,-132.5,644.3,-15.1,299,4099,0.00,1.50,0.00,0.000,6,0.000,0.035,1569,2927,2886,0,0,0,0,0,0
$GC,4416,-0.59,-132.5,689.9,-13.9,315,4420,0.10,1.60,0.00,0.000,4,0.219,0.064,1584,3897,2886,0,0,0,0,0,0
$GC,4483,-0.59,-132.5,699.4,-13.9,318,4486,0.00,1.48,0.00,0.000,6,0.000,0.034,1590,2940,2887,0,0,0,0,0,0
$GC,4815,-0.59,-132.5,740.4,-12.2,334,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2937,2886,0,0,0,0,0,0
$GC,5124,-0.59,-132.5,777.8,-11.9,349,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2937,2886,0,0,0,0,0,0
$GC,5433,-0.59,-132.5,814.7,-11.9,364,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2937,2886,0,0,0,0,0,0
$GC,5743,-0.59,-132.5,850.8,-11.5,379,5746,0.00,1.58,0.00,0.000,4,0.000,0.065,1583,3892,2886,0,0,0,0,0,0
$GC,5787,-0.59,-132.5,856.3,-12.6,381,5791,0.00,1.48,0.00,0.000,6,0.000,0.036,1587,2932,2886,0,0,0,0,0,0
$GC,6119,-0.59,-132.5,895.6,-11.6,397,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2926,2886,0,0,0,0,0,0
$GC,6429,-0.59,-132.5,932.0,-11.6,412,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2926,2886,0,0,0,0,0,0
$GC,6737,-0.59,-132.5,967.1,-11.0,427,6741,0.00,1.60,0.00,0.000,4,0.000,0.066,1580,3895,2886,0,0,0,0,0,0
$GC,6782,-0.59,-132.5,972.8,-13.2,429,6786,0.00,1.48,0.00,0.000,6,0.000,0.037,1581,2936,2886,0,0,0,0,0,0
$STATE,7030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7030,begin apogee
$GC,7035,-0.13,0.0,1001.3,11.3,441,7160,0.55,0.00,122.00,1.802,6,0.176,0.000,1745,2709,2341,0,0,0,0,0,0
$STATE,7161,end apogee,CONTROL_FINISHED_OK
$STATE,7161,begin climb
$GC,7162,0.59,132.5,1003.1,0.0,447,7305,0.75,0.00,134.48,1.792,6,0.124,0.000,1970,2709,1800,0,0,0,0,0,0
$GC,7613,0.59,132.5,925.2,19.0,469,7617,0.00,2.08,0.00,0.000,4,0.000,0.062,1970,3899,1791,0,0,0,0,0,0
$GC,7659,0.59,132.5,916.2,21.9,471,7663,0.00,1.95,0.00,0.000,6,0.000,0.038,1978,2737,1789,0,0,0,0,0,0
$GC,7991,0.59,132.5,850.9,19.6,487,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2737,1788,0,0,0,0,0,0
$GC,8300,0.59,132.5,792.2,18.8,502,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2737,1787,0,0,0,0,0,0
$GC,8609,0.59,132.5,735.7,18.0,517,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2737,1786,0,0,0,0,0,0
$GC,8919,0.59,132.5,680.1,18.0,532,8923,0.00,1.92,0.00,0.000,4,0.000,0.062,1979,3896,1785,0,0,0,0,0,0
$GC,8968,0.59,132.5,670.0,21.0,534,8973,0.00,1.92,0.00,0.000,6,0.000,0.039,1988,2715,1785,0,0,0,0,0,0
$GC,9295,0.59,132.5,609.2,18.3,550,9299,0.00,1.95,0.00,0.000,4,0.000,0.061,1988,3896,1784,0,0,0,0,0,0
$GC,9341,0.59,132.5,599.9,21.2,552,9345,0.00,1.90,0.00,0.000,6,0.000,0.040,1998,2708,1784,0,0,0,0,0,0
$GC,9673,0.59,132.5,537.0,18.8,568,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2708,1784,0,0,0,0,0,0
$GC,9982,0.59,132.5,479.0,18.8,583,9986,0.00,1.98,0.00,0.000,4,0.000,0.061,1998,3906,1784,0,0,0,0,0,0
$GC,10031,0.59,132.5,468.5,21.7,585,10036,0.00,1.92,0.00,0.000,6,0.000,0.040,2007,2713,1784,0,0,0,0,0,0
$GC,10358,0.59,132.5,404.3,19.6,601,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2713,1783,0,0,0,0,0,0
$GC,10667,0.59,132.5,343.6,19.3,616,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2713,1784,0,0,0,0,0,0
$GC,10980,0.59,132.5,284.9,18.9,631,10983,0.00,1.95,0.00,0.000,4,0.000,0.061,2007,3903,1784,0,0,0,0,0,0
$GC,11085,0.59,132.5,262.0,21.1,635,11094,0.10,1.92,0.00,0.000,6,0.211,0.039,1989,2705,1783,0,0,0,0,0,0
$GC,11411,0.59,132.5,207.9,16.2,663,11414,0.00,1.95,0.00,0.000,4,0.000,0.060,1989,3898,1783,0,0,0,0,0,0
$GC,11471,0.59,132.5,196.1,19.1,668,11482,0.00,1.90,0.00,0.000,6,0.000,0.039,1997,2710,1783,0,0,0,0,0,0
$GC,11799,0.59,132.5,144.5,15.2,699,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2710,1783,0,0,0,0,0,0
$GC,12121,0.59,132.5,91.1,16.6,733,12128,0.00,1.92,0.00,0.000,4,0.000,0.062,1997,3896,1783,0,0,0,0,0,0
$GC,12185,0.59,132.5,78.1,20.2,744,12194,0.00,1.90,0.00,0.000,6,0.000,0.039,2006,2707,1783,0,0,0,0,0,0
$GC,12301,0.59,132.5,59.3,16.3,763,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1783,0,0,0,0,0,0
$GC,12414,0.59,132.5,40.8,16.6,782,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1783,0,0,0,0,0,0
$GC,12530,0.59,132.5,22.1,15.6,801,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1783,0,0,0,0,0,0
$GC,12614,0.59,132.5,9.2,15.3,814,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2707,1783,0,0,0,0,0,0
$STATE,12653,end climb,SURFACE_DEPTH_REACHED
$STATE,12654,begin surface coast
$FINISH,1.1,1.016110
$STATE,12674,end surface coast,CONTROL_FINISHED_OK
$STATE,12674,begin surface
$SM_CCo,12686,25.90,0.190,0,0,1524,200.16
$SM_GC,2.03,0.00,0.00,25.90,0.000,0.000,0.190,62,2937,1524,-5.40,0.20,200.16
$IRIDIUM_FIX,-5538.94,-26.98,191214,030318
$TT8_MAMPS,0.026215
$HUMID,55.67
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.7,16.706
$10V_AH,10.1,10.934
$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,12.875,62.200,256.475,25.900,0.000,25.207,39.818,256.933,0.000,0.000,20.097,2053.035,8172.811,390.571,2398.783,132.311,33.355,1193.259,0.000,1924.459,0.000,0.540,0.000
$DEVICE_MAMPS,250.920,65.790,1802.340,189.720,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.475,1700.581,805.416,836.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,57135,823
$CAP_FILE_SIZE,108695,0
$CFSIZE,259252224,223125504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191214,104034,-5603.529,-32.366,33,0.9,33,-19.9