version: 66.07
glider: 542
mission: 9
dive: 54
start: 12 19 114 17 53 6
data:
$ID,542
$MISSION,9
$DIVE,54
$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,-21827.264
$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,29
$R_STBD_OVSHOOT,28
$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
$GPS1,191214,174505,-5602.976,-32.703,24,0.8,24,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.1
$GPS2,191214,175212,-5602.951,-32.669,21,0.9,21,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.037,0.161
$KALMAN_X,27117.2,-968.1,-414.2,-59483.4,3264.7
$KALMAN_Y,48132.8,-584.6,-242.5,-52442.1,3168.2
$MHEAD_RNG_PITCHd_Wd,7.0,6124,-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,-73.9,0.0,0.0,0,58,0.00,0.00,-41.88,0.000,2,0.000,0.000,61,2934,2444,0,0,0,0,0,0
$GC,61,-0.59,-134.5,3.0,-4.3,5,96,6.40,2.33,-15.68,0.000,4,0.262,0.058,1600,1510,2893,0,0,0,0,0,0
$GC,152,-0.59,-134.5,14.6,-15.7,18,161,0.00,2.35,0.00,0.000,6,0.000,0.060,1590,2919,2894,0,0,0,0,0,0
$GC,236,-0.59,-134.5,29.7,-19.2,31,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2919,2894,0,0,0,0,0,0
$GC,317,-0.59,-134.5,45.2,-19.4,44,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2919,2894,0,0,0,0,0,0
$GC,432,-0.59,-134.5,66.4,-18.2,63,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2920,2894,0,0,0,0,0,0
$GC,546,-0.59,-134.5,86.2,-16.1,82,553,0.00,1.62,0.00,0.000,4,0.000,0.067,1582,3907,2894,0,0,0,0,0,0
$GC,611,-0.59,-134.5,98.8,-19.6,93,620,0.00,1.58,0.00,0.000,6,0.000,0.037,1582,2907,2895,0,0,0,0,0,0
$GC,841,-0.59,-134.5,140.3,-18.8,115,842,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2907,2895,0,0,0,0,0,0
$GC,1160,-0.59,-134.5,193.4,-14.9,145,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2907,2894,0,0,0,0,0,0
$GC,1486,-0.59,-134.5,244.2,-15.4,176,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2907,2895,0,0,0,0,0,0
$GC,1798,-0.59,-134.5,292.4,-15.6,193,1802,0.00,1.65,0.00,0.000,4,0.000,0.065,1575,3914,2895,0,0,0,0,0,0
$GC,1936,-0.59,-134.5,316.3,-17.2,199,1939,0.00,1.55,0.00,0.000,6,0.000,0.036,1579,2922,2895,0,0,0,0,0,0
$GC,2270,-0.59,-134.5,370.2,-15.8,215,2274,0.00,1.62,0.00,0.000,4,0.000,0.064,1571,3927,2895,0,0,0,0,0,0
$GC,2317,-0.59,-134.5,378.1,-17.4,217,2321,0.00,1.55,0.00,0.000,6,0.000,0.037,1578,2929,2895,0,0,0,0,0,0
$GC,2649,-0.59,-134.5,429.4,-15.0,233,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,2895,0,0,0,0,0,0
$GC,2959,-0.59,-134.5,473.7,-14.1,248,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,2895,0,0,0,0,0,0
$GC,3267,-0.59,-134.5,515.9,-13.1,263,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,2896,0,0,0,0,0,0
$GC,3577,-0.59,-134.5,557.4,-13.3,278,3580,0.00,1.62,0.00,0.000,4,0.000,0.065,1572,3906,2896,0,0,0,0,0,0
$GC,3660,-0.59,-134.5,569.7,-15.1,281,3667,0.00,1.52,0.00,0.000,6,0.000,0.037,1577,2915,2896,0,0,0,0,0,0
$GC,3976,-0.59,-134.5,610.4,-12.9,297,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2914,2896,0,0,0,0,0,0
$GC,4285,-0.59,-134.5,650.7,-13.1,312,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2913,2896,0,0,0,0,0,0
$GC,4595,-0.59,-134.5,691.8,-13.6,327,4599,0.00,1.62,0.00,0.000,4,0.000,0.065,1570,3897,2896,0,0,0,0,0,0
$GC,4660,-0.59,-134.5,701.7,-15.4,330,4664,0.00,1.48,0.00,0.000,6,0.000,0.037,1577,2942,2896,0,0,0,0,0,0
$GC,4993,-0.59,-134.5,750.0,-14.9,346,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2939,2896,0,0,0,0,0,0
$GC,5301,-0.59,-134.5,798.0,-15.5,361,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2939,2896,0,0,0,0,0,0
$GC,5611,-0.59,-134.5,846.9,-15.9,376,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2939,2897,0,0,0,0,0,0
$GC,5921,-0.59,-134.5,894.7,-15.3,391,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2939,2896,0,0,0,0,0,0
$GC,6230,-0.59,-134.5,939.4,-13.8,406,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2939,2896,0,0,0,0,0,0
$GC,6539,-0.59,-134.5,980.5,-13.0,421,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2939,2896,0,0,0,0,0,0
$STATE,6703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6703,begin apogee
$GC,6707,-0.13,0.0,1001.0,12.6,429,6835,0.57,0.00,124.15,1.823,6,0.187,0.000,1742,2703,2342,0,0,0,0,0,0
$STATE,6836,end apogee,CONTROL_FINISHED_OK
$STATE,6836,begin climb
$GC,6837,0.59,134.5,1004.1,0.0,435,6977,0.80,0.00,136.77,1.782,6,0.121,0.000,1979,2703,1792,0,0,0,0,0,0
$GC,7273,0.59,134.5,928.4,19.2,457,7278,0.00,2.10,0.00,0.000,4,0.000,0.061,1979,3911,1783,0,0,0,0,0,0
$GC,7328,0.59,134.5,916.4,22.3,459,7333,0.00,2.00,0.00,0.000,6,0.000,0.038,1988,2731,1782,0,0,0,0,0,0
$GC,7650,0.59,134.5,851.9,19.7,475,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2731,1781,0,0,0,0,0,0
$GC,7960,0.59,134.5,789.5,19.7,490,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2731,1781,0,0,0,0,0,0
$GC,8268,0.59,134.5,729.4,19.2,505,8272,0.00,1.92,0.00,0.000,4,0.000,0.060,1988,3903,1780,0,0,0,0,0,0
$GC,8336,0.59,134.5,714.8,23.1,508,8339,0.00,1.92,0.00,0.000,6,0.000,0.040,1997,2710,1778,0,0,0,0,0,0
$GC,8668,0.59,134.5,650.0,19.0,524,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2709,1778,0,0,0,0,0,0
$GC,8977,0.59,134.5,589.4,20.0,539,8980,0.00,1.98,0.00,0.000,4,0.000,0.060,1997,3904,1777,0,0,0,0,0,0
$GC,9070,0.59,134.5,568.2,21.8,543,9075,0.00,1.92,0.00,0.000,6,0.000,0.039,2007,2713,1777,0,0,0,0,0,0
$GC,9399,0.59,134.5,500.7,20.9,559,9402,0.00,1.92,0.00,0.000,4,0.000,0.060,2007,3903,1777,0,0,0,0,0,0
$GC,9447,0.59,134.5,488.8,24.6,561,9452,0.10,1.92,0.00,0.000,6,0.213,0.039,1989,2710,1776,0,0,0,0,0,0
$GC,9775,0.59,134.5,423.5,20.2,577,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2709,1776,0,0,0,0,0,0
$GC,10084,0.59,134.5,362.9,19.2,592,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2709,1776,0,0,0,0,0,0
$GC,10395,0.59,134.5,305.3,18.0,607,10399,0.00,1.95,0.00,0.000,4,0.000,0.061,1989,3912,1776,0,0,0,0,0,0
$GC,10467,0.59,134.5,290.5,20.1,610,10472,0.00,1.92,0.00,0.000,6,0.000,0.039,1997,2712,1776,0,0,0,0,0,0
$GC,10789,0.59,134.5,235.7,17.5,629,10790,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2712,1776,0,0,0,0,0,0
$GC,11108,0.59,134.5,178.3,17.9,659,11112,0.00,1.92,0.00,0.000,4,0.000,0.060,1997,3905,1776,0,0,0,0,0,0
$GC,11203,0.59,134.5,159.1,19.2,667,11207,0.00,1.88,0.00,0.000,6,0.000,0.039,2006,2699,1776,0,0,0,0,0,0
$GC,11533,0.59,134.5,103.9,14.9,698,11537,0.00,2.20,0.00,0.000,4,0.000,0.047,2017,1289,1776,0,0,0,0,0,0
$GC,11580,0.59,134.5,97.5,14.1,703,11587,0.12,2.28,0.00,0.000,6,0.214,0.056,1988,2734,1776,0,0,0,0,0,0
$GC,11821,0.59,134.5,64.4,13.8,744,11830,0.00,1.88,0.00,0.000,4,0.000,0.063,1988,3883,1776,0,0,0,0,0,0
$GC,11902,0.59,134.5,51.5,16.9,757,11909,0.00,1.88,0.00,0.000,6,0.000,0.040,1996,2708,1775,0,0,0,0,0,0
$GC,12016,0.59,134.5,34.1,14.8,776,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2709,1776,0,0,0,0,0,0
$GC,12134,0.59,134.5,17.0,13.9,795,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2709,1775,0,0,0,0,0,0
$GC,12218,0.59,134.5,4.6,14.1,808,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2709,1775,0,0,0,0,0,0
$STATE,12235,end climb,SURFACE_DEPTH_REACHED
$STATE,12235,begin surface coast
$FINISH,1.1,1.025057
$STATE,12261,end surface coast,CONTROL_FINISHED_OK
$STATE,12261,begin surface
$SM_CCo,12273,24.62,0.197,0,0,1524,200.16
$SM_GC,2.52,0.00,0.00,24.62,0.000,0.000,0.197,59,2942,1524,-5.41,0.34,200.16
$IRIDIUM_FIX,-5538.94,0.00,191214,141404
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.7,17.163
$10V_AH,10.1,11.236
$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,13.275,52.800,260.925,24.625,0.000,24.999,22.491,265.291,0.000,0.000,23.400,2000.008,7856.921,399.743,2320.550,149.733,33.352,1155.665,0.000,1873.228,0.000,0.539,0.000
$DEVICE_MAMPS,262.395,66.555,1822.995,196.605,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.730,1698.512,831.934,871.755,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354028
$DATA_FILE_SIZE,57084,814
$CAP_FILE_SIZE,100538,0
$CFSIZE,259252224,222945280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191214,211905,-5600.766,-32.938,26,0.9,26,-19.9