version: 66.07
glider: 542
mission: 9
dive: 330
start: 2 9 115 4 39 41
data:
$ID,542
$MISSION,9
$DIVE,330
$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,-22663.873
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,090215,042734,-5701.837,-0.837,82,0.8,82,-20.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-64.0
$GPS2,090215,043847,-5701.788,-0.856,18,0.8,19,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.163,-0.022
$KALMAN_X,334442.3,192.5,91.7,-335559.3,1522.4
$KALMAN_Y,-131037.5,-495.6,-330.3,17759.7,3662.2
$MHEAD_RNG_PITCHd_Wd,282.2,3507,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-73.9,0.0,0.0,0,53,0.00,0.00,-33.35,0.000,2,0.000,0.000,54,2899,2231,0,0,0,0,0,0
$GC,55,-0.60,-146.1,3.1,-2.8,4,91,6.35,1.73,-23.65,0.000,4,0.236,0.078,1582,3892,2940,0,0,0,0,0,0
$GC,178,-0.60,-146.1,23.7,-22.1,22,187,0.00,1.50,0.00,0.000,6,0.000,0.030,1581,2917,2942,0,0,0,0,0,0
$GC,262,-0.60,-146.1,41.7,-22.9,35,269,0.00,2.12,0.00,0.000,4,0.000,0.038,1582,1532,2942,0,0,0,0,0,0
$GC,294,-0.60,-146.1,48.9,-20.7,40,303,0.00,2.28,0.00,0.000,6,0.000,0.052,1571,2916,2942,0,0,0,0,0,0
$GC,411,-0.60,-146.1,73.4,-21.0,59,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2916,2942,0,0,0,0,0,0
$GC,522,-0.60,-146.1,98.0,-23.2,78,531,0.00,2.15,0.00,0.000,4,0.000,0.039,1572,1545,2942,0,0,0,0,0,0
$GC,598,-0.60,-146.1,110.9,-16.9,85,603,0.12,2.28,0.00,0.000,6,0.190,0.054,1591,2940,2942,0,0,0,0,0,0
$GC,925,-0.60,-146.1,164.7,-15.7,115,929,0.00,1.58,0.00,0.000,4,0.000,0.059,1584,3902,2943,0,0,0,0,0,0
$GC,986,-0.60,-146.1,175.6,-17.0,120,996,0.00,1.48,0.00,0.000,6,0.000,0.030,1584,2919,2943,0,0,0,0,0,0
$GC,1315,-0.60,-146.1,230.0,-16.7,151,1318,0.00,1.65,0.00,0.000,4,0.000,0.058,1577,3919,2943,0,0,0,0,0,0
$GC,1353,-0.60,-146.1,237.6,-17.9,154,1364,0.00,1.50,0.00,0.000,6,0.000,0.031,1577,2928,2943,0,0,0,0,0,0
$GC,1682,-0.60,-146.1,291.9,-16.6,174,1686,0.00,1.62,0.00,0.000,4,0.000,0.058,1569,3899,2943,0,0,0,0,0,0
$GC,1730,-0.60,-146.1,300.2,-18.4,176,1734,0.00,1.48,0.00,0.000,6,0.000,0.031,1569,2934,2943,0,0,0,0,0,0
$GC,2062,-0.60,-146.1,358.1,-17.6,192,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2927,2943,0,0,0,0,0,0
$GC,2372,-0.60,-146.1,411.4,-17.6,207,2375,0.00,1.62,0.00,0.000,4,0.000,0.059,1562,3897,2943,0,0,0,0,0,0
$GC,2410,-0.60,-146.1,418.8,-19.2,208,2418,0.08,1.48,0.00,0.000,6,0.174,0.032,1585,2932,2943,0,0,0,0,0,0
$GC,2729,-0.60,-146.1,469.2,-15.8,224,2733,0.00,1.62,0.00,0.000,4,0.000,0.060,1578,3902,2943,0,0,0,0,0,0
$GC,2767,-0.60,-146.1,476.2,-16.7,225,2775,0.00,1.50,0.00,0.000,6,0.000,0.029,1578,2913,2943,0,0,0,0,0,0
$GC,3084,-0.60,-146.1,527.3,-16.1,241,3088,0.00,1.65,0.00,0.000,4,0.000,0.059,1571,3913,2943,0,0,0,0,0,0
$GC,3116,-0.60,-146.1,533.2,-17.6,242,3121,0.00,1.50,0.00,0.000,6,0.000,0.030,1571,2929,2943,0,0,0,0,0,0
$GC,3439,-0.60,-146.1,585.9,-16.3,258,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2922,2943,0,0,0,0,0,0
$GC,3748,-0.60,-146.1,637.0,-16.6,273,3752,0.00,1.62,0.00,0.000,4,0.000,0.059,1562,3893,2943,0,0,0,0,0,0
$GC,3808,-0.60,-146.1,647.9,-16.9,275,3817,0.08,1.45,0.00,0.000,6,0.174,0.031,1586,2937,2943,0,0,0,0,0,0
$GC,4125,-0.60,-146.1,696.3,-15.1,291,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2937,2943,0,0,0,0,0,0
$GC,4434,-0.60,-146.1,742.8,-14.8,306,4438,0.00,1.60,0.00,0.000,4,0.000,0.059,1580,3895,2943,0,0,0,0,0,0
$GC,4494,-0.60,-146.1,752.6,-16.2,308,4501,0.00,1.45,0.00,0.000,6,0.000,0.031,1579,2930,2943,0,0,0,0,0,0
$GC,4811,-0.60,-146.1,801.7,-15.5,324,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2929,2943,0,0,0,0,0,0
$GC,5119,-0.60,-146.1,849.1,-15.2,339,5123,0.00,1.62,0.00,0.000,4,0.000,0.059,1572,3899,2943,0,0,0,0,0,0
$GC,5176,-0.60,-146.1,858.4,-15.7,341,5179,0.00,1.48,0.00,0.000,6,0.000,0.031,1572,2929,2942,0,0,0,0,0,0
$GC,5498,-0.60,-146.1,908.8,-15.7,357,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2922,2942,0,0,0,0,0,0
$GC,5806,-0.60,-146.1,958.4,-16.0,372,5810,0.00,1.65,0.00,0.000,4,0.000,0.059,1564,3922,2942,0,0,0,0,0,0
$GC,5875,-0.60,-146.1,969.8,-17.3,375,5879,0.08,1.50,0.00,0.000,6,0.174,0.031,1586,2940,2942,0,0,0,0,0,0
$STATE,6081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6081,begin apogee
$GC,6087,-0.13,0.0,1001.1,14.6,385,6231,0.55,0.00,141.07,1.758,6,0.167,0.000,1744,2711,2342,0,0,0,0,0,0
$STATE,6232,end apogee,CONTROL_FINISHED_OK
$STATE,6232,begin climb
$GC,6234,0.60,146.1,1007.9,0.0,392,6395,0.80,2.55,153.55,1.708,4,0.112,0.042,1989,1301,1746,0,0,0,0,0,0
$GC,6424,0.60,146.1,990.7,14.2,401,6429,0.00,2.53,0.00,0.000,6,0.000,0.048,1989,2719,1743,0,0,0,0,0,0
$GC,6751,0.60,146.1,938.4,16.4,417,6755,0.00,1.98,0.00,0.000,4,0.000,0.056,1989,3899,1737,0,0,0,0,0,0
$GC,6830,0.60,146.1,923.6,19.7,420,6834,0.00,1.88,0.00,0.000,6,0.000,0.034,1998,2731,1735,0,0,0,0,0,0
$GC,7152,0.60,146.1,868.7,17.1,436,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2731,1735,0,0,0,0,0,0
$GC,7460,0.60,146.1,817.0,16.8,451,7464,0.00,1.92,0.00,0.000,4,0.000,0.054,1998,3896,1734,0,0,0,0,0,0
$GC,7538,0.60,146.1,802.3,19.0,454,7542,0.00,1.88,0.00,0.000,6,0.000,0.034,2007,2716,1732,0,0,0,0,0,0
$GC,7860,0.60,146.1,747.4,17.2,470,7864,0.00,1.95,0.00,0.000,4,0.000,0.054,2007,3887,1732,0,0,0,0,0,0
$GC,7909,0.60,146.1,737.7,19.4,472,7914,0.10,1.88,0.00,0.000,6,0.223,0.034,1990,2711,1732,0,0,0,0,0,0
$GC,8238,0.60,146.1,686.5,15.1,488,8241,0.00,1.95,0.00,0.000,4,0.000,0.054,1990,3903,1732,0,0,0,0,0,0
$GC,8276,0.60,146.1,679.6,18.3,489,8283,0.00,1.90,0.00,0.000,6,0.000,0.034,1998,2704,1732,0,0,0,0,0,0
$GC,8592,0.60,146.1,629.2,15.8,505,8596,0.00,1.98,0.00,0.000,4,0.000,0.054,1999,3892,1732,0,0,0,0,0,0
$GC,8642,0.60,146.1,620.4,18.8,507,8645,0.00,1.85,0.00,0.000,6,0.000,0.034,2008,2712,1731,0,0,0,0,0,0
$GC,8968,0.60,146.1,565.9,16.6,523,8972,0.00,1.95,0.00,0.000,4,0.000,0.054,2008,3896,1731,0,0,0,0,0,0
$GC,9017,0.60,146.1,556.4,19.7,525,9022,0.10,1.88,0.00,0.000,6,0.218,0.034,1991,2711,1731,0,0,0,0,0,0
$GC,9346,0.60,146.1,506.3,15.3,541,9349,0.00,1.92,0.00,0.000,4,0.000,0.054,1990,3892,1731,0,0,0,0,0,0
$GC,9378,0.60,146.1,500.5,17.4,542,9382,0.00,1.88,0.00,0.000,6,0.000,0.034,1999,2709,1731,0,0,0,0,0,0
$GC,9700,0.60,146.1,448.9,16.3,558,9704,0.00,1.95,0.00,0.000,4,0.000,0.054,1999,3896,1731,0,0,0,0,0,0
$GC,9733,0.60,146.1,442.8,18.9,559,9737,0.00,1.85,0.00,0.000,6,0.000,0.034,2008,2709,1731,0,0,0,0,0,0
$GC,10056,0.60,146.1,386.9,17.3,575,10060,0.00,1.95,0.00,0.000,4,0.000,0.054,2008,3895,1731,0,0,0,0,0,0
$GC,10104,0.60,146.1,377.8,20.0,577,10108,0.12,1.85,0.00,0.000,6,0.235,0.034,1991,2708,1731,0,0,0,0,0,0
$GC,10438,0.60,146.1,324.9,15.6,593,10442,0.00,1.95,0.00,0.000,4,0.000,0.054,1991,3894,1730,0,0,0,0,0,0
$GC,10499,0.60,146.1,313.7,17.4,595,10507,0.00,1.88,0.00,0.000,6,0.000,0.034,1999,2708,1731,0,0,0,0,0,0
$GC,10818,0.60,146.1,265.0,15.4,611,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2708,1731,0,0,0,0,0,0
$GC,11131,0.60,146.1,219.4,13.5,636,11135,0.00,1.95,0.00,0.000,4,0.000,0.054,1999,3893,1731,0,0,0,0,0,0
$GC,11168,0.60,146.1,213.9,16.0,639,11172,0.00,1.85,0.00,0.000,6,0.000,0.034,2008,2702,1731,0,0,0,0,0,0
$GC,11498,0.60,146.1,166.0,14.4,670,11502,0.00,1.95,0.00,0.000,4,0.000,0.055,2008,3892,1731,0,0,0,0,0,0
$GC,11581,0.60,146.1,153.0,17.3,677,11586,0.12,1.85,0.00,0.000,6,0.230,0.034,1991,2699,1731,0,0,0,0,0,0
$GC,11912,0.60,146.1,109.8,12.7,708,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2698,1731,0,0,0,0,0,0
$GC,12251,0.60,146.1,71.1,11.6,760,12260,0.00,2.00,0.00,0.000,4,0.000,0.056,1991,3897,1731,0,0,0,0,0,0
$GC,12356,0.60,146.1,57.3,13.4,777,12363,0.00,1.88,0.00,0.000,6,0.000,0.034,1999,2708,1730,0,0,0,0,0,0
$GC,12470,0.60,146.1,43.0,11.9,796,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2708,1731,0,0,0,0,0,0
$GC,12586,0.61,151.5,30.8,9.1,815,12593,0.00,1.95,0.00,0.000,4,0.000,0.055,1999,3899,1731,0,0,0,0,0,0
$GC,12656,0.61,151.5,21.6,14.2,826,12665,0.00,1.88,0.00,0.000,6,0.000,0.034,2008,2716,1730,0,0,0,0,0,0
$GC,12742,0.61,151.5,9.5,14.1,839,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2715,1731,0,0,0,0,0,0
$STATE,12793,end climb,SURFACE_DEPTH_REACHED
$STATE,12793,begin surface coast
$FINISH,1.2,1.019154
$STATE,12827,end surface coast,CONTROL_FINISHED_OK
$STATE,12827,begin surface
$SM_CCo,12841,24.17,0.171,0,0,1524,200.16
$SM_GC,3.14,0.00,0.00,24.17,0.000,0.000,0.171,57,2947,1524,-5.41,0.48,200.16
$IRIDIUM_FIX,-5633.07,59.20,090215,040433
$TT8_MAMPS,0.026215
$HUMID,57.79
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.1,64.700
$10V_AH,9.7,45.114
$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,13.900,102.350,294.625,24.175,0.000,52.115,135.525,281.976,0.000,0.000,21.255,2154.001,8011.577,426.794,2698.637,244.930,33.373,1320.600,0.000,2073.745,0.000,0.539,0.000
$DEVICE_MAMPS,236.385,78.030,1757.970,170.595,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.580,1779.792,874.826,918.091,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,60550,852
$CAP_FILE_SIZE,123283,0
$CFSIZE,259252224,203034624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090215,081557,-5702.438,-3.036,53,3.9,72,-20.0