version: 66.07
glider: 542
mission: 9
dive: 328
start: 2 8 115 21 3 13
data:
$ID,542
$MISSION,9
$DIVE,328
$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,-22657.051
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,080215,205305,-5659.955,0.407,27,0.9,28,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-63.5
$GPS2,080215,210217,-5659.944,0.609,18,1.1,19,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.081,-0.143
$KALMAN_X,331321.1,315.6,132.8,-331092.3,-1084.0
$KALMAN_Y,-133319.2,-151.0,-83.1,22848.1,2717.1
$MHEAD_RNG_PITCHd_Wd,229.6,2634,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.54,-73.9,0.0,0.0,0,52,0.00,0.00,-33.25,0.000,2,0.000,0.000,45,2929,2223,0,0,0,0,0,0
$GC,54,-0.60,-142.5,3.1,-3.6,4,97,6.40,1.65,-26.17,0.000,4,0.238,0.077,1580,3891,2924,0,0,0,0,0,0
$GC,366,-0.60,-142.5,59.6,-20.0,54,376,0.00,1.55,0.00,0.000,6,0.000,0.031,1581,2885,2925,0,0,0,0,0,0
$GC,484,-0.60,-142.5,81.9,-19.2,73,490,0.00,1.70,0.00,0.000,4,0.000,0.057,1574,3907,2925,0,0,0,0,0,0
$GC,544,-0.60,-142.5,94.9,-20.8,83,551,0.00,1.50,0.00,0.000,6,0.000,0.032,1578,2933,2925,0,0,0,0,0,0
$GC,773,-0.60,-142.5,140.1,-20.2,106,777,0.00,2.12,0.00,0.000,4,0.000,0.037,1579,1534,2925,0,0,0,0,0,0
$GC,806,-0.60,-142.5,147.2,-18.3,108,817,0.00,2.28,0.00,0.000,6,0.000,0.051,1569,2929,2926,0,0,0,0,0,0
$GC,1134,-0.60,-142.5,211.8,-19.9,139,1138,0.00,1.58,0.00,0.000,4,0.000,0.057,1561,3898,2926,0,0,0,0,0,0
$GC,1184,-0.60,-142.5,222.9,-20.1,143,1192,0.08,1.48,0.00,0.000,6,0.177,0.031,1584,2929,2926,0,0,0,0,0,0
$GC,1519,-0.60,-142.5,279.5,-17.2,167,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2929,2925,0,0,0,0,0,0
$GC,1825,-0.60,-142.5,331.6,-16.4,182,1828,0.00,1.62,0.00,0.000,4,0.000,0.060,1576,3898,2925,0,0,0,0,0,0
$GC,1859,-0.60,-142.5,337.6,-17.8,183,1862,0.00,1.48,0.00,0.000,6,0.000,0.031,1576,2924,2926,0,0,0,0,0,0
$GC,2183,-0.60,-142.5,393.7,-17.7,199,2186,0.00,1.62,0.00,0.000,4,0.000,0.057,1569,3895,2925,0,0,0,0,0,0
$GC,2209,-0.60,-142.5,399.3,-18.6,200,2214,0.00,1.48,0.00,0.000,6,0.000,0.031,1569,2921,2925,0,0,0,0,0,0
$GC,2537,-0.60,-142.5,457.2,-17.4,216,2540,0.00,1.65,0.00,0.000,4,0.000,0.059,1561,3919,2925,0,0,0,0,0,0
$GC,2583,-0.60,-142.5,465.7,-19.6,218,2587,0.08,1.50,0.00,0.000,6,0.177,0.031,1584,2937,2925,0,0,0,0,0,0
$GC,2916,-0.60,-142.5,520.1,-16.0,234,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2935,2926,0,0,0,0,0,0
$GC,3226,-0.60,-142.5,569.3,-15.9,249,3230,0.00,1.60,0.00,0.000,4,0.000,0.058,1577,3894,2925,0,0,0,0,0,0
$GC,3272,-0.60,-142.5,577.0,-16.2,251,3276,0.00,1.48,0.00,0.000,6,0.000,0.031,1577,2923,2925,0,0,0,0,0,0
$GC,3605,-0.60,-142.5,630.7,-16.1,267,3608,0.00,1.65,0.00,0.000,4,0.000,0.058,1569,3919,2926,0,0,0,0,0,0
$GC,3643,-0.60,-142.5,637.5,-17.3,268,3650,0.00,1.50,0.00,0.000,6,0.000,0.031,1570,2924,2925,0,0,0,0,0,0
$GC,3959,-0.60,-142.5,689.5,-16.1,284,3963,0.00,1.62,0.00,0.000,4,0.000,0.058,1562,3898,2925,0,0,0,0,0,0
$GC,3996,-0.60,-142.5,696.2,-16.7,285,4005,0.08,1.45,0.00,0.000,6,0.177,0.031,1585,2937,2925,0,0,0,0,0,0
$GC,4314,-0.60,-142.5,741.9,-14.1,301,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2937,2925,0,0,0,0,0,0
$GC,4622,-0.60,-142.5,785.6,-14.1,316,4626,0.00,1.62,0.00,0.000,4,0.000,0.058,1578,3906,2925,0,0,0,0,0,0
$GC,4677,-0.60,-142.5,794.2,-14.9,318,4682,0.00,1.48,0.00,0.000,6,0.000,0.031,1578,2934,2925,0,0,0,0,0,0
$GC,4999,-0.60,-142.5,840.7,-14.6,334,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2928,2925,0,0,0,0,0,0
$GC,5308,-0.60,-142.5,884.9,-14.1,349,5311,0.00,1.62,0.00,0.000,4,0.000,0.057,1571,3898,2925,0,0,0,0,0,0
$GC,5368,-0.60,-142.5,894.3,-15.6,351,5376,0.00,1.48,0.00,0.000,6,0.000,0.031,1571,2918,2925,0,0,0,0,0,0
$GC,5685,-0.60,-142.5,941.0,-15.1,367,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2917,2925,0,0,0,0,0,0
$GC,5994,-0.60,-142.5,986.1,-14.4,382,5997,0.00,1.65,0.00,0.000,4,0.000,0.057,1563,3913,2925,0,0,0,0,0,0
$GC,6048,-0.60,-142.5,994.8,-16.1,384,6053,0.08,1.50,0.00,0.000,6,0.176,0.030,1586,2933,2925,0,0,0,0,0,0
$STATE,6099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6100,begin apogee
$GC,6106,-0.13,0.0,1001.8,13.8,387,6246,0.55,0.00,137.02,1.778,6,0.171,0.000,1742,2699,2342,0,0,0,0,0,0
$STATE,6247,end apogee,CONTROL_FINISHED_OK
$STATE,6247,begin climb
$GC,6249,0.60,142.5,1006.2,0.0,394,6403,0.80,0.00,149.98,1.724,6,0.116,0.000,1975,2699,1761,0,0,0,0,0,0
$GC,6701,0.60,142.5,943.9,16.0,416,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2699,1753,0,0,0,0,0,0
$GC,7010,0.60,142.5,895.5,15.6,431,7014,0.00,2.00,0.00,0.000,4,0.000,0.056,1975,3897,1751,0,0,0,0,0,0
$GC,7057,0.60,142.5,887.7,18.3,433,7061,0.00,1.85,0.00,0.000,6,0.000,0.034,1984,2729,1749,0,0,0,0,0,0
$GC,7390,0.60,142.5,833.0,16.1,449,7393,0.00,1.95,0.00,0.000,4,0.000,0.055,1985,3903,1749,0,0,0,0,0,0
$GC,7413,0.60,142.5,829.1,17.3,450,7416,0.00,1.88,0.00,0.000,6,0.000,0.034,1994,2708,1748,0,0,0,0,0,0
$GC,7746,0.60,142.5,773.3,16.9,466,7750,0.00,2.00,0.00,0.000,4,0.000,0.057,1994,3923,1748,0,0,0,0,0,0
$GC,7784,0.60,142.5,765.8,18.9,467,7791,0.00,1.92,0.00,0.000,6,0.000,0.034,2003,2713,1747,0,0,0,0,0,0
$GC,8101,0.60,142.5,710.5,17.4,483,8104,0.00,1.98,0.00,0.000,4,0.000,0.055,2003,3907,1747,0,0,0,0,0,0
$GC,8138,0.60,142.5,702.8,19.7,484,8146,0.00,1.90,0.00,0.000,6,0.000,0.034,2013,2712,1747,0,0,0,0,0,0
$GC,8454,0.60,142.5,646.6,17.5,500,8458,0.00,1.98,0.00,0.000,4,0.000,0.054,2013,3920,1747,0,0,0,0,0,0
$GC,8501,0.60,142.5,637.8,20.1,502,8506,0.15,1.90,0.00,0.000,6,0.230,0.034,1989,2706,1746,0,0,0,0,0,0
$GC,8834,0.60,142.5,585.3,15.5,518,8838,0.00,1.98,0.00,0.000,4,0.000,0.054,1988,3906,1746,0,0,0,0,0,0
$GC,8879,0.60,142.5,577.0,18.5,520,8883,0.00,1.88,0.00,0.000,6,0.000,0.034,1997,2704,1746,0,0,0,0,0,0
$GC,9213,0.60,142.5,523.8,15.8,536,9216,0.00,1.98,0.00,0.000,4,0.000,0.054,1997,3906,1746,0,0,0,0,0,0
$GC,9258,0.60,142.5,515.7,19.3,538,9261,0.00,1.88,0.00,0.000,6,0.000,0.034,2006,2702,1746,0,0,0,0,0,0
$GC,9590,0.60,142.5,460.8,16.2,554,9594,0.00,1.95,0.00,0.000,4,0.000,0.054,2006,3899,1746,0,0,0,0,0,0
$GC,9662,0.60,142.5,447.7,18.7,557,9667,0.10,1.88,0.00,0.000,6,0.216,0.034,1989,2713,1746,0,0,0,0,0,0
$GC,9989,0.60,142.5,400.2,14.2,573,9992,0.00,1.92,0.00,0.000,4,0.000,0.054,1989,3899,1746,0,0,0,0,0,0
$GC,10022,0.60,142.5,394.8,16.6,574,10025,0.00,1.85,0.00,0.000,6,0.000,0.034,1998,2706,1746,0,0,0,0,0,0
$GC,10343,0.60,142.5,345.8,15.5,590,10346,0.00,1.98,0.00,0.000,4,0.000,0.054,1997,3906,1746,0,0,0,0,0,0
$GC,10381,0.60,142.5,338.8,17.9,591,10389,0.00,1.88,0.00,0.000,6,0.000,0.034,2007,2718,1745,0,0,0,0,0,0
$GC,10700,0.60,142.5,287.1,16.5,607,10704,0.00,1.92,0.00,0.000,4,0.000,0.054,2007,3900,1746,0,0,0,0,0,0
$GC,10748,0.60,142.5,278.4,18.9,609,10753,0.12,1.85,0.00,0.000,6,0.236,0.034,1989,2708,1745,0,0,0,0,0,0
$GC,11077,0.60,142.5,229.5,14.1,631,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2708,1745,0,0,0,0,0,0
$GC,11403,0.60,142.5,183.4,14.0,662,11407,0.00,1.98,0.00,0.000,4,0.000,0.054,1989,3903,1746,0,0,0,0,0,0
$GC,11450,0.60,142.5,175.9,16.0,666,11453,0.00,1.88,0.00,0.000,6,0.000,0.034,1998,2699,1745,0,0,0,0,0,0
$GC,11782,0.60,142.5,129.6,14.4,697,11786,0.00,1.95,0.00,0.000,4,0.000,0.054,1998,3897,1746,0,0,0,0,0,0
$GC,11840,0.60,142.5,120.7,15.4,702,11843,0.00,1.85,0.00,0.000,6,0.000,0.033,2007,2708,1745,0,0,0,0,0,0
$GC,12184,0.60,142.5,73.9,13.9,749,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2708,1745,0,0,0,0,0,0
$GC,12297,0.60,142.5,58.7,12.3,768,12306,0.00,2.22,0.00,0.000,4,0.000,0.042,2018,1295,1745,0,0,0,0,0,0
$GC,12402,0.60,142.5,47.4,9.6,785,12410,0.08,2.30,0.00,0.000,6,0.184,0.050,1986,2726,1745,0,0,0,0,0,0
$GC,12517,0.60,142.5,34.9,10.4,804,12525,0.00,1.90,0.00,0.000,4,0.000,0.057,1987,3877,1745,0,0,0,0,0,0
$GC,12612,0.60,142.5,23.3,12.5,819,12622,0.00,1.83,0.00,0.000,6,0.000,0.035,1994,2722,1745,0,0,0,0,0,0
$GC,12697,0.60,142.5,14.0,9.6,832,12706,0.00,1.95,0.00,0.000,4,0.000,0.055,1994,3887,1745,0,0,0,0,0,0
$GC,12733,0.60,142.5,10.0,11.3,837,12742,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2708,1745,0,0,0,0,0,0
$STATE,12792,end climb,SURFACE_DEPTH_REACHED
$STATE,12792,begin surface coast
$FINISH,1.2,1.026517
$STATE,12819,end surface coast,CONTROL_FINISHED_OK
$STATE,12819,begin surface
$SM_CCo,12833,25.73,0.168,0,0,1525,200.16
$SM_GC,2.54,0.00,0.00,25.73,0.000,0.000,0.168,59,2924,1525,-5.40,-0.17,200.16
$IRIDIUM_FIX,-5633.07,0.00,080215,151559
$TT8_MAMPS,0.026215
$HUMID,57.75
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,21.1,64.366
$10V_AH,9.7,44.892
$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,13.950,104.500,287.000,25.725,0.000,25.201,24.735,349.332,0.000,0.000,21.229,2146.198,7975.315,444.603,2581.346,256.649,33.373,1309.736,0.000,2037.945,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,77.265,1777.860,167.535,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.049,1785.113,878.103,925.368,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,57151,850
$CAP_FILE_SIZE,122123,0
$CFSIZE,259252224,203177984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090215,003834,-5701.015,0.097,25,1.2,25,-20.0