version: 66.07
glider: 542
mission: 9
dive: 331
start: 2 9 115 8 30 59
data:
$ID,542
$MISSION,9
$DIVE,331
$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,-22667.223
$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,28
$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
$GPS1,090215,081557,-5702.438,-3.036,53,3.9,72,-20.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-61.4
$GPS2,090215,083004,-5702.615,-2.915,82,0.9,82,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.096,0.134
$KALMAN_X,336085.4,90.0,-155.1,-338975.0,2744.3
$KALMAN_Y,-132140.6,-695.6,-451.9,17661.1,2321.1
$MHEAD_RNG_PITCHd_Wd,344.2,4930,-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,-73.9,0.0,0.0,0,43,0.00,0.00,-25.77,0.000,2,0.000,0.000,44,2949,2065,0,0,0,0,0,0
$GC,46,-0.58,-121.5,3.2,-5.4,3,88,6.43,0.00,-30.23,0.000,6,0.230,0.000,1592,2949,2839,0,0,0,0,0,0
$GC,164,-0.58,-121.5,19.0,-21.4,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2949,2840,0,0,0,0,0,0
$GC,247,-0.58,-121.5,34.6,-17.1,33,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2949,2841,0,0,0,0,0,0
$GC,361,-0.58,-121.5,56.9,-18.0,52,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2949,2841,0,0,0,0,0,0
$GC,476,-0.58,-121.5,77.6,-17.0,71,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2949,2841,0,0,0,0,0,0
$GC,585,-0.58,-121.5,94.2,-15.3,90,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2949,2841,0,0,0,0,0,0
$GC,810,-0.58,-121.5,128.9,-17.0,114,814,0.00,1.58,0.00,0.000,4,0.000,0.061,1585,3889,2841,0,0,0,0,0,0
$GC,871,-0.58,-121.5,138.7,-17.7,119,874,0.00,1.52,0.00,0.000,6,0.000,0.031,1585,2890,2842,0,0,0,0,0,0
$GC,1201,-0.58,-121.5,198.1,-18.0,150,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2886,2842,0,0,0,0,0,0
$GC,1522,-0.58,-121.5,250.1,-16.0,180,1526,0.00,1.65,0.00,0.000,4,0.000,0.058,1578,3898,2842,0,0,0,0,0,0
$GC,1583,-0.58,-121.5,261.2,-17.0,182,1593,0.00,1.48,0.00,0.000,6,0.000,0.031,1577,2926,2842,0,0,0,0,0,0
$GC,1901,-0.58,-121.5,312.6,-16.2,198,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2925,2841,0,0,0,0,0,0
$GC,2211,-0.58,-121.5,361.3,-15.4,213,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2925,2842,0,0,0,0,0,0
$GC,2519,-0.58,-121.5,407.4,-14.7,228,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2924,2842,0,0,0,0,0,0
$GC,2828,-0.58,-121.5,454.0,-15.1,243,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2924,2841,0,0,0,0,0,0
$GC,3137,-0.58,-121.5,499.6,-14.6,258,3141,0.00,1.62,0.00,0.000,4,0.000,0.059,1570,3895,2841,0,0,0,0,0,0
$GC,3206,-0.58,-121.5,510.4,-15.8,261,3210,0.08,1.48,0.00,0.000,6,0.175,0.032,1592,2933,2841,0,0,0,0,0,0
$GC,3538,-0.58,-121.5,556.7,-13.9,277,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2930,2841,0,0,0,0,0,0
$GC,3847,-0.58,-121.5,599.7,-13.7,292,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2930,2841,0,0,0,0,0,0
$GC,4157,-0.58,-121.5,642.1,-13.5,307,4161,0.00,1.62,0.00,0.000,4,0.000,0.059,1585,3896,2841,0,0,0,0,0,0
$GC,4204,-0.58,-121.5,648.9,-15.5,309,4208,0.00,1.48,0.00,0.000,6,0.000,0.031,1585,2925,2841,0,0,0,0,0,0
$GC,4537,-0.58,-121.5,695.3,-13.7,325,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2919,2841,0,0,0,0,0,0
$GC,4847,-0.58,-121.5,738.0,-13.6,340,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2920,2841,0,0,0,0,0,0
$GC,5155,-0.58,-121.5,780.7,-13.8,355,5159,0.00,1.62,0.00,0.000,4,0.000,0.058,1578,3890,2841,0,0,0,0,0,0
$GC,5215,-0.58,-121.5,790.0,-14.8,357,5223,0.00,1.48,0.00,0.000,6,0.000,0.031,1578,2919,2841,0,0,0,0,0,0
$GC,5533,-0.58,-121.5,834.2,-14.1,373,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2919,2841,0,0,0,0,0,0
$GC,5841,-0.58,-121.5,876.8,-13.9,388,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2919,2841,0,0,0,0,0,0
$GC,6152,-0.58,-121.5,919.0,-13.5,403,6155,0.00,1.62,0.00,0.000,4,0.000,0.058,1571,3917,2841,0,0,0,0,0,0
$GC,6201,-0.58,-121.5,926.5,-14.4,405,6206,0.08,1.50,0.00,0.000,6,0.176,0.031,1593,2937,2841,0,0,0,0,0,0
$GC,6528,-0.58,-121.5,966.3,-12.1,421,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2937,2841,0,0,0,0,0,0
$STATE,6815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6815,begin apogee
$GC,6821,-0.13,0.0,1000.9,11.8,435,6941,0.52,0.00,116.80,1.790,6,0.165,0.000,1743,2714,2342,0,0,0,0,0,0
$STATE,6941,end apogee,CONTROL_FINISHED_OK
$STATE,6942,begin climb
$GC,6943,0.58,121.5,1004.5,0.0,441,7081,0.75,2.53,127.88,1.737,4,0.114,0.041,1976,1325,1846,0,0,0,0,0,0
$GC,7125,0.58,121.5,986.6,13.2,449,7130,0.00,2.47,0.00,0.000,6,0.000,0.049,1976,2710,1842,0,0,0,0,0,0
$GC,7447,0.58,121.5,938.6,14.9,465,7451,0.00,1.98,0.00,0.000,4,0.000,0.055,1976,3894,1836,0,0,0,0,0,0
$GC,7531,0.58,121.5,923.9,18.3,468,7538,0.00,1.85,0.00,0.000,6,0.000,0.033,1985,2729,1834,0,0,0,0,0,0
$GC,7847,0.58,121.5,874.8,15.4,484,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2729,1833,0,0,0,0,0,0
$GC,8156,0.58,121.5,827.9,15.2,499,8160,0.00,1.95,0.00,0.000,4,0.000,0.055,1985,3901,1833,0,0,0,0,0,0
$GC,8247,0.58,121.5,812.2,17.8,503,8250,0.00,1.88,0.00,0.000,6,0.000,0.034,1994,2706,1832,0,0,0,0,0,0
$GC,8579,0.58,121.5,760.1,15.7,519,8583,0.00,1.95,0.00,0.000,4,0.000,0.054,1994,3892,1832,0,0,0,0,0,0
$GC,8640,0.58,121.5,749.1,18.0,521,8647,0.00,1.85,0.00,0.000,6,0.000,0.033,2003,2703,1831,0,0,0,0,0,0
$GC,8956,0.58,121.5,699.0,15.9,537,8960,0.00,1.98,0.00,0.000,4,0.000,0.054,2004,3889,1831,0,0,0,0,0,0
$GC,9023,0.58,121.5,687.1,18.3,540,9027,0.12,1.83,0.00,0.000,6,0.239,0.034,1986,2705,1830,0,0,0,0,0,0
$GC,9356,0.58,121.5,638.7,14.2,556,9360,0.00,1.95,0.00,0.000,4,0.000,0.054,1985,3893,1831,0,0,0,0,0,0
$GC,9411,0.58,121.5,629.6,16.8,558,9416,0.00,1.88,0.00,0.000,6,0.000,0.033,1994,2708,1830,0,0,0,0,0,0
$GC,9734,0.58,121.5,582.2,14.7,574,9738,0.00,1.98,0.00,0.000,4,0.000,0.054,1994,3894,1830,0,0,0,0,0,0
$GC,9788,0.58,121.5,572.7,17.4,576,9793,0.00,1.88,0.00,0.000,6,0.000,0.033,2003,2711,1830,0,0,0,0,0,0
$GC,10110,0.58,121.5,523.5,15.3,592,10114,0.00,1.95,0.00,0.000,4,0.000,0.054,2003,3896,1830,0,0,0,0,0,0
$GC,10183,0.58,121.5,511.0,18.0,595,10187,0.12,1.83,0.00,0.000,6,0.239,0.034,1985,2708,1830,0,0,0,0,0,0
$GC,10509,0.58,121.5,465.4,13.9,611,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2708,1830,0,0,0,0,0,0
$GC,10819,0.58,121.5,423.4,13.5,626,10823,0.00,1.98,0.00,0.000,4,0.000,0.055,1985,3892,1830,0,0,0,0,0,0
$GC,10924,0.58,121.5,406.8,15.7,630,10931,0.00,1.85,0.00,0.000,6,0.000,0.033,1994,2717,1830,0,0,0,0,0,0
$GC,11240,0.58,121.5,362.7,13.8,646,11244,0.00,1.95,0.00,0.000,4,0.000,0.054,1994,3902,1830,0,0,0,0,0,0
$GC,11302,0.58,121.5,352.8,17.0,648,11311,0.00,1.88,0.00,0.000,6,0.000,0.033,2002,2712,1830,0,0,0,0,0,0
$GC,11619,0.58,121.5,308.1,14.1,664,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2712,1830,0,0,0,0,0,0
$GC,11931,0.58,121.5,265.3,13.9,679,11935,0.00,1.95,0.00,0.000,4,0.000,0.054,2003,3896,1829,0,0,0,0,0,0
$GC,12003,0.58,121.5,253.1,16.6,682,12008,0.10,1.88,0.00,0.000,6,0.219,0.033,1986,2711,1829,0,0,0,0,0,0
$GC,12331,0.58,121.5,209.5,12.9,711,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2709,1830,0,0,0,0,0,0
$GC,12659,0.58,121.5,166.5,12.5,742,12663,0.00,1.95,0.00,0.000,4,0.000,0.054,1986,3893,1829,0,0,0,0,0,0
$GC,12880,0.58,121.5,133.9,14.4,761,12883,0.00,1.85,0.00,0.000,6,0.000,0.032,1994,2697,1829,0,0,0,0,0,0
$GC,13211,0.58,121.5,90.4,11.6,798,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2697,1829,0,0,0,0,0,0
$GC,13453,0.60,140.2,66.3,7.9,839,13469,0.00,2.22,11.18,0.938,4,0.000,0.040,2004,1297,1769,0,0,0,0,0,0
$GC,13584,0.61,159.6,57.2,7.9,860,13607,0.00,2.30,14.45,0.906,6,0.000,0.049,2004,2723,1691,0,0,0,0,0,0
$GC,13715,0.61,159.6,41.9,14.2,881,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2724,1687,0,0,0,0,0,0
$GC,13831,0.61,159.6,27.2,13.1,900,13840,0.00,2.22,0.00,0.000,4,0.000,0.037,2015,1305,1687,0,0,0,0,0,0
$GC,13875,0.61,159.6,21.1,13.9,906,13884,0.00,2.28,0.00,0.000,6,0.000,0.050,2015,2705,1686,0,0,0,0,0,0
$GC,13959,0.61,159.6,8.4,15.0,919,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2705,1685,0,0,0,0,0,0
$STATE,13998,end climb,SURFACE_DEPTH_REACHED
$STATE,13999,begin surface coast
$FINISH,1.2,1.001554
$STATE,14025,end surface coast,CONTROL_FINISHED_OK
$STATE,14025,begin surface
$SM_CCo,14040,22.55,0.151,0,0,1525,200.16
$SM_GC,2.53,0.00,0.00,22.55,0.000,0.000,0.151,56,2951,1525,-5.42,0.59,200.16
$IRIDIUM_FIX,-5640.91,-3.96,090215,080850
$TT8_MAMPS,0.026215
$HUMID,57.87
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.00
$XPDR_PINGS,1
$24V_AH,21.1,64.861
$10V_AH,9.7,45.235
$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,13.675,75.300,270.300,22.550,0.000,51.078,63.304,449.964,0.250,0.000,83.966,2314.780,8915.642,391.671,3021.515,264.021,33.368,1327.527,0.000,2222.396,0.000,0.540,0.000
$DEVICE_MAMPS,239.445,61.200,1790.100,150.705,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.564,1919.621,930.721,975.807,0.000,0.000,0.000,0.000,0.000,0.000
$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,63798,929
$CAP_FILE_SIZE,125049,0
$CFSIZE,259252224,202964992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090215,122640,-5701.135,-4.440,42,1.0,42,-20.0