version: 66.07
glider: 542
mission: 9
dive: 52
start: 12 19 114 10 48 59
data:
$ID,542
$MISSION,9
$DIVE,52
$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,-21822.59
$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,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
$GPS1,191214,104034,-5603.529,-32.366,33,0.9,33,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.5
$GPS2,191214,104805,-5603.466,-32.325,18,0.9,18,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.108,0.124
$KALMAN_X,26921.0,210.0,-45.5,-60490.3,3307.0
$KALMAN_Y,48799.9,-804.4,-466.0,-53610.2,5352.5
$MHEAD_RNG_PITCHd_Wd,338.8,6857,-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,-42.53,0.000,2,0.000,0.000,58,2939,2456,0,0,0,0,0,0
$GC,62,-0.59,-134.2,3.3,-4.3,5,89,6.30,2.33,-14.15,0.000,4,0.255,0.057,1592,1508,2891,0,0,0,0,0,0
$GC,133,-0.59,-134.2,12.2,-15.5,15,142,0.00,2.38,0.00,0.000,6,0.000,0.059,1582,2930,2892,0,0,0,0,0,0
$GC,218,-0.59,-134.2,27.9,-20.2,28,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2929,2892,0,0,0,0,0,0
$GC,298,-0.59,-134.2,43.5,-19.3,41,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2930,2892,0,0,0,0,0,0
$GC,410,-0.59,-134.2,66.4,-19.8,60,419,0.00,1.60,0.00,0.000,4,0.000,0.065,1574,3900,2892,0,0,0,0,0,0
$GC,456,-0.59,-134.2,75.6,-21.0,67,463,0.00,1.58,0.00,0.000,6,0.000,0.037,1574,2905,2893,0,0,0,0,0,0
$GC,567,-0.59,-134.2,96.5,-17.7,86,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2902,2892,0,0,0,0,0,0
$GC,794,-0.59,-134.2,140.0,-19.6,109,795,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2902,2893,0,0,0,0,0,0
$GC,1113,-0.59,-134.2,198.4,-17.2,139,1117,0.00,1.62,0.00,0.000,4,0.000,0.064,1567,3904,2892,0,0,0,0,0,0
$GC,1256,-0.59,-134.2,224.5,-16.6,151,1265,0.12,1.55,0.00,0.000,6,0.211,0.037,1596,2922,2892,0,0,0,0,0,0
$GC,1582,-0.59,-134.2,272.7,-15.7,175,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2922,2892,0,0,0,0,0,0
$GC,1886,-0.59,-134.2,321.3,-15.4,190,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2922,2892,0,0,0,0,0,0
$GC,2198,-0.59,-134.2,366.2,-14.2,205,2201,0.00,1.62,0.00,0.000,4,0.000,0.064,1589,3927,2892,0,0,0,0,0,0
$GC,2281,-0.59,-134.2,379.7,-15.3,208,2291,0.00,1.55,0.00,0.000,6,0.000,0.036,1588,2928,2892,0,0,0,0,0,0
$GC,2598,-0.59,-134.2,424.7,-14.1,224,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2928,2892,0,0,0,0,0,0
$GC,2907,-0.59,-134.2,469.7,-14.9,239,2910,0.00,1.60,0.00,0.000,4,0.000,0.064,1581,3895,2893,0,0,0,0,0,0
$GC,3057,-0.59,-134.2,494.4,-16.3,245,3065,0.00,1.50,0.00,0.000,6,0.000,0.036,1582,2921,2892,0,0,0,0,0,0
$GC,3374,-0.59,-134.2,543.9,-16.0,261,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2921,2893,0,0,0,0,0,0
$GC,3683,-0.59,-134.2,592.0,-15.4,276,3686,0.00,1.62,0.00,0.000,4,0.000,0.064,1574,3934,2894,0,0,0,0,0,0
$GC,3750,-0.59,-134.2,603.4,-17.6,279,3754,0.00,1.52,0.00,0.000,6,0.000,0.036,1574,2945,2894,0,0,0,0,0,0
$GC,4083,-0.59,-134.2,654.0,-15.2,295,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2937,2893,0,0,0,0,0,0
$GC,4391,-0.59,-134.2,699.5,-14.6,310,4395,0.00,1.58,0.00,0.000,4,0.000,0.065,1566,3893,2893,0,0,0,0,0,0
$GC,4453,-0.59,-134.2,709.2,-16.2,312,4460,0.08,1.50,0.00,0.000,6,0.192,0.037,1589,2928,2894,0,0,0,0,0,0
$GC,4768,-0.59,-134.2,750.0,-12.6,328,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2928,2894,0,0,0,0,0,0
$GC,5077,-0.59,-134.2,789.6,-13.0,343,5081,0.00,1.60,0.00,0.000,4,0.000,0.064,1581,3898,2894,0,0,0,0,0,0
$GC,5126,-0.59,-134.2,796.6,-14.6,345,5131,0.00,1.52,0.00,0.000,6,0.000,0.035,1581,2920,2894,0,0,0,0,0,0
$GC,5454,-0.59,-134.2,840.9,-13.5,361,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2918,2894,0,0,0,0,0,0
$GC,5763,-0.59,-134.2,882.9,-13.5,376,5766,0.00,1.62,0.00,0.000,4,0.000,0.065,1574,3930,2894,0,0,0,0,0,0
$GC,5811,-0.59,-134.2,890.4,-15.3,378,5816,0.00,1.58,0.00,0.000,6,0.000,0.034,1579,2922,2894,0,0,0,0,0,0
$GC,6139,-0.59,-134.2,935.3,-13.6,394,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2917,2894,0,0,0,0,0,0
$GC,6448,-0.59,-134.2,976.6,-13.2,409,6452,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3903,2894,0,0,0,0,0,0
$GC,6553,-0.59,-134.2,991.7,-14.5,413,6561,0.00,1.50,0.00,0.000,6,0.000,0.035,1576,2928,2894,0,0,0,0,0,0
$STATE,6620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6620,begin apogee
$GC,6624,-0.13,0.0,1000.6,13.4,417,6751,0.57,0.00,123.65,1.817,6,0.181,0.000,1744,2706,2341,0,0,0,0,0,0
$STATE,6752,end apogee,CONTROL_FINISHED_OK
$STATE,6752,begin climb
$GC,6753,0.59,134.2,1004.3,0.0,423,6897,0.75,0.00,136.02,1.786,6,0.124,0.000,1970,2705,1794,0,0,0,0,0,0
$GC,7204,0.59,134.2,929.2,19.1,445,7208,0.00,2.10,0.00,0.000,4,0.000,0.061,1970,3918,1786,0,0,0,0,0,0
$GC,7258,0.59,134.2,917.3,21.5,447,7263,0.00,2.00,0.00,0.000,6,0.000,0.037,1979,2740,1783,0,0,0,0,0,0
$GC,7581,0.59,134.2,853.8,19.5,463,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2739,1782,0,0,0,0,0,0
$GC,7890,0.59,134.2,793.1,19.3,478,7893,0.00,1.95,0.00,0.000,4,0.000,0.061,1979,3898,1781,0,0,0,0,0,0
$GC,7934,0.59,134.2,783.7,21.6,480,7938,0.00,1.92,0.00,0.000,6,0.000,0.040,1988,2700,1781,0,0,0,0,0,0
$GC,8267,0.59,134.2,719.7,18.8,496,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2701,1781,0,0,0,0,0,0
$GC,8576,0.59,134.2,663.1,18.3,511,8579,0.00,2.00,0.00,0.000,4,0.000,0.061,1988,3904,1780,0,0,0,0,0,0
$GC,8635,0.59,134.2,650.5,21.2,513,8643,0.00,1.95,0.00,0.000,6,0.000,0.040,1998,2703,1780,0,0,0,0,0,0
$GC,8951,0.59,134.2,590.9,18.7,529,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2703,1780,0,0,0,0,0,0
$GC,9260,0.59,134.2,534.4,18.1,544,9264,0.00,1.98,0.00,0.000,4,0.000,0.061,1998,3903,1780,0,0,0,0,0,0
$GC,9350,0.59,134.2,516.0,20.6,548,9354,0.00,1.90,0.00,0.000,6,0.000,0.040,2007,2699,1779,0,0,0,0,0,0
$GC,9682,0.59,134.2,453.5,18.9,564,9686,0.00,2.00,0.00,0.000,4,0.000,0.060,2007,3898,1779,0,0,0,0,0,0
$GC,9736,0.59,134.2,441.9,22.0,566,9742,0.10,1.90,0.00,0.000,6,0.209,0.038,1989,2717,1778,0,0,0,0,0,0
$GC,10059,0.59,134.2,385.7,17.7,582,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2717,1779,0,0,0,0,0,0
$GC,10370,0.59,134.2,330.7,17.6,597,10373,0.00,1.95,0.00,0.000,4,0.000,0.060,1989,3907,1778,0,0,0,0,0,0
$GC,10453,0.59,134.2,313.8,20.4,600,10463,0.00,1.92,0.00,0.000,6,0.000,0.040,1998,2712,1778,0,0,0,0,0,0
$GC,10770,0.59,134.2,256.0,18.4,616,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2712,1778,0,0,0,0,0,0
$GC,11087,0.59,134.2,198.4,18.0,644,11090,0.00,1.95,0.00,0.000,4,0.000,0.061,1998,3904,1778,0,0,0,0,0,0
$GC,11170,0.59,134.2,180.7,23.2,651,11174,0.00,1.90,0.00,0.000,6,0.000,0.040,2006,2701,1778,0,0,0,0,0,0
$GC,11500,0.59,134.2,118.1,19.8,682,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2701,1778,0,0,0,0,0,0
$GC,11841,0.59,134.2,56.1,17.2,733,11848,0.00,1.98,0.00,0.000,4,0.000,0.062,2007,3921,1778,0,0,0,0,0,0
$GC,11926,0.59,134.2,40.4,18.6,747,11933,0.08,1.92,0.00,0.000,6,0.197,0.039,1984,2714,1778,0,0,0,0,0,0
$GC,12044,0.59,134.2,23.1,13.9,766,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2713,1778,0,0,0,0,0,0
$GC,12128,0.59,134.2,12.0,13.4,779,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2713,1777,0,0,0,0,0,0
$STATE,12198,end climb,SURFACE_DEPTH_REACHED
$STATE,12198,begin surface coast
$FINISH,1.2,1.027198
$STATE,12224,end surface coast,CONTROL_FINISHED_OK
$STATE,12224,begin surface
$SM_CCo,12236,24.80,0.193,0,0,1524,200.16
$SM_GC,2.19,0.00,0.00,24.80,0.000,0.000,0.193,60,2951,1524,-5.41,0.59,200.16
$IRIDIUM_FIX,-5538.94,-30.80,191214,070749
$TT8_MAMPS,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.7,16.858
$10V_AH,10.1,11.034
$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,13.225,65.000,259.675,24.800,0.000,29.132,40.982,270.278,0.000,0.000,20.250,1984.245,7793.524,407.993,2377.990,150.561,33.354,1194.736,0.000,1901.070,0.000,0.540,0.000
$DEVICE_MAMPS,254.745,65.025,1816.875,192.780,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.232,1655.442,798.813,818.213,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354036
$DATA_FILE_SIZE,53627,794
$CAP_FILE_SIZE,106052,0
$CFSIZE,259252224,223068160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191214,141434,-5601.908,-34.419,40,0.8,40,-19.8