version: 66.07
glider: 542
mission: 9
dive: 333
start: 2 9 115 16 18 13
data:
$ID,542
$MISSION,9
$DIVE,333
$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,-22674.158
$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,33
$R_STBD_OVSHOOT,58
$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
$GPS1,090215,160735,-5659.569,-5.804,56,0.9,56,-20.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-70.2
$GPS2,090215,161717,-5659.396,-5.712,25,0.9,26,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.037,-0.161
$KALMAN_X,337954.7,-654.1,-223.8,-342919.3,3399.3
$KALMAN_Y,-132888.2,-171.0,-10.0,23383.7,774.0
$MHEAD_RNG_PITCHd_Wd,187.1,3908,-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,-41.78,0.000,2,0.000,0.000,44,2977,2445,0,0,0,0,0,0
$GC,62,-0.60,-143.7,3.5,-3.5,5,88,6.20,1.48,-13.65,0.000,4,0.220,0.072,1581,3879,2927,0,0,0,0,0,0
$GC,329,-0.60,-143.7,57.4,-19.9,48,338,0.00,1.52,0.00,0.000,6,0.000,0.031,1581,2899,2930,0,0,0,0,0,0
$GC,445,-0.60,-143.7,77.4,-17.2,67,452,0.00,2.10,0.00,0.000,4,0.000,0.037,1581,1524,2930,0,0,0,0,0,0
$GC,489,-0.60,-143.7,84.8,-15.8,74,496,0.00,2.22,0.00,0.000,6,0.000,0.051,1572,2906,2930,0,0,0,0,0,0
$GC,718,-0.60,-143.7,127.0,-20.3,102,719,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2906,2930,0,0,0,0,0,0
$GC,1035,-0.60,-143.7,187.1,-18.0,132,1039,0.00,1.60,0.00,0.000,4,0.000,0.058,1564,3890,2930,0,0,0,0,0,0
$GC,1074,-0.60,-143.7,193.9,-19.0,135,1078,0.08,1.48,0.00,0.000,6,0.177,0.031,1586,2925,2930,0,0,0,0,0,0
$GC,1403,-0.60,-143.7,250.7,-16.4,166,1407,0.00,1.62,0.00,0.000,4,0.000,0.057,1579,3892,2930,0,0,0,0,0,0
$GC,1454,-0.60,-143.7,259.8,-17.2,168,1457,0.00,1.48,0.00,0.000,6,0.000,0.031,1579,2917,2930,0,0,0,0,0,0
$GC,1780,-0.60,-143.7,316.2,-17.1,184,1784,0.00,1.65,0.00,0.000,4,0.000,0.057,1572,3917,2930,0,0,0,0,0,0
$GC,1814,-0.60,-143.7,322.5,-18.7,185,1818,0.00,1.50,0.00,0.000,6,0.000,0.031,1571,2930,2930,0,0,0,0,0,0
$GC,2138,-0.60,-143.7,380.6,-18.1,201,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2924,2930,0,0,0,0,0,0
$GC,2445,-0.60,-143.7,436.2,-17.9,216,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2924,2930,0,0,0,0,0,0
$GC,2754,-0.60,-143.7,490.7,-17.5,231,2758,0.00,1.62,0.00,0.000,4,0.000,0.059,1564,3893,2930,0,0,0,0,0,0
$GC,2800,-0.60,-143.7,499.2,-18.9,233,2804,0.00,1.45,0.00,0.000,6,0.000,0.031,1564,2938,2930,0,0,0,0,0,0
$GC,3133,-0.60,-143.7,557.8,-17.5,249,3135,0.12,0.00,0.00,0.000,6,0.205,0.000,1594,2931,2930,0,0,0,0,0,0
$GC,3443,-0.60,-143.7,602.8,-14.3,264,3447,0.00,1.60,0.00,0.000,4,0.000,0.058,1586,3892,2930,0,0,0,0,0,0
$GC,3481,-0.60,-143.7,609.0,-15.4,265,3489,0.00,1.45,0.00,0.000,6,0.000,0.030,1586,2926,2930,0,0,0,0,0,0
$GC,3797,-0.60,-143.7,654.4,-14.2,281,3801,0.00,1.62,0.00,0.000,4,0.000,0.058,1579,3897,2930,0,0,0,0,0,0
$GC,3836,-0.60,-143.7,660.6,-15.5,282,3843,0.00,1.45,0.00,0.000,6,0.000,0.031,1579,2933,2930,0,0,0,0,0,0
$GC,4152,-0.60,-143.7,708.0,-14.9,298,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2932,2930,0,0,0,0,0,0
$GC,4461,-0.60,-143.7,753.8,-14.7,313,4465,0.00,1.62,0.00,0.000,4,0.000,0.058,1572,3909,2930,0,0,0,0,0,0
$GC,4489,-0.60,-143.7,758.3,-16.0,314,4493,0.00,1.48,0.00,0.000,6,0.000,0.031,1572,2935,2930,0,0,0,0,0,0
$GC,4816,-0.60,-143.7,809.7,-15.7,330,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2927,2930,0,0,0,0,0,0
$GC,5125,-0.60,-143.7,857.3,-15.2,345,5129,0.00,1.62,0.00,0.000,4,0.000,0.057,1564,3900,2930,0,0,0,0,0,0
$GC,5194,-0.60,-143.7,868.6,-16.9,348,5198,0.00,1.48,0.00,0.000,6,0.000,0.031,1564,2928,2930,0,0,0,0,0,0
$GC,5526,-0.60,-143.7,922.4,-16.2,364,5528,0.12,0.00,0.00,0.000,6,0.202,0.000,1594,2921,2930,0,0,0,0,0,0
$GC,5836,-0.60,-143.7,965.4,-13.8,379,5840,0.00,1.62,0.00,0.000,4,0.000,0.058,1587,3893,2930,0,0,0,0,0,0
$GC,5886,-0.60,-143.7,972.9,-15.5,381,5890,0.00,1.45,0.00,0.000,6,0.000,0.031,1586,2934,2930,0,0,0,0,0,0
$STATE,6087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6087,begin apogee
$GC,6092,-0.13,0.0,1001.7,14.4,391,6234,0.55,0.00,138.30,1.774,6,0.171,0.000,1741,2703,2342,0,0,0,0,0,0
$STATE,6235,end apogee,CONTROL_FINISHED_OK
$STATE,6235,begin climb
$GC,6238,0.60,143.7,1007.4,0.0,398,6395,0.80,0.00,151.93,1.723,6,0.117,0.000,1972,2704,1756,0,0,0,0,0,0
$GC,6694,0.60,143.7,950.5,14.8,420,6698,0.00,2.03,0.00,0.000,4,0.000,0.054,1972,3891,1748,0,0,0,0,0,0
$GC,6717,0.60,143.7,946.9,15.6,421,6720,0.00,1.88,0.00,0.000,6,0.000,0.033,1981,2742,1746,0,0,0,0,0,0
$GC,7049,0.60,143.7,895.3,15.6,437,7053,0.00,1.90,0.00,0.000,4,0.000,0.054,1981,3894,1746,0,0,0,0,0,0
$GC,7076,0.60,143.7,890.5,17.2,438,7080,0.00,1.90,0.00,0.000,6,0.000,0.034,1990,2714,1744,0,0,0,0,0,0
$GC,7404,0.60,143.7,836.5,16.8,454,7408,0.00,1.95,0.00,0.000,4,0.000,0.054,1991,3896,1744,0,0,0,0,0,0
$GC,7453,0.60,143.7,826.9,19.7,456,7458,0.00,1.90,0.00,0.000,6,0.000,0.034,1999,2709,1743,0,0,0,0,0,0
$GC,7782,0.60,143.7,771.0,16.9,472,7785,0.00,1.95,0.00,0.000,4,0.000,0.054,2000,3896,1743,0,0,0,0,0,0
$GC,7836,0.60,143.7,760.3,18.7,474,7841,0.00,1.88,0.00,0.000,6,0.000,0.034,2008,2715,1743,0,0,0,0,0,0
$GC,8158,0.60,143.7,704.0,17.5,490,8162,0.00,1.95,0.00,0.000,4,0.000,0.053,2009,3889,1743,0,0,0,0,0,0
$GC,8214,0.60,143.7,692.9,20.2,492,8218,0.12,1.83,0.00,0.000,6,0.233,0.034,1991,2709,1743,0,0,0,0,0,0
$GC,8535,0.60,143.7,641.4,15.9,508,8539,0.00,1.95,0.00,0.000,4,0.000,0.054,1991,3899,1742,0,0,0,0,0,0
$GC,8580,0.60,143.7,633.5,18.0,510,8584,0.00,1.85,0.00,0.000,6,0.000,0.035,1999,2703,1742,0,0,0,0,0,0
$GC,8914,0.60,143.7,579.0,16.3,526,8918,0.00,1.95,0.00,0.000,4,0.000,0.053,1999,3893,1742,0,0,0,0,0,0
$GC,8969,0.60,143.7,568.3,18.2,528,8973,0.00,1.88,0.00,0.000,6,0.000,0.034,2008,2711,1742,0,0,0,0,0,0
$GC,9292,0.60,143.7,512.6,17.3,544,9295,0.00,1.95,0.00,0.000,4,0.000,0.053,2009,3900,1742,0,0,0,0,0,0
$GC,9341,0.60,143.7,502.6,19.2,546,9346,0.10,1.88,0.00,0.000,6,0.213,0.033,1991,2714,1742,0,0,0,0,0,0
$GC,9668,0.60,143.7,449.6,15.7,562,9672,0.00,1.95,0.00,0.000,4,0.000,0.054,1991,3888,1742,0,0,0,0,0,0
$GC,9719,0.60,143.7,440.7,18.0,564,9722,0.00,1.83,0.00,0.000,6,0.000,0.034,1999,2707,1742,0,0,0,0,0,0
$GC,10047,0.60,143.7,387.9,15.8,580,10051,0.00,1.92,0.00,0.000,4,0.000,0.053,1999,3896,1741,0,0,0,0,0,0
$GC,10085,0.60,143.7,380.5,18.9,581,10093,0.00,1.88,0.00,0.000,6,0.000,0.034,2008,2711,1741,0,0,0,0,0,0
$GC,10404,0.60,143.7,327.9,16.6,597,10408,0.00,1.95,0.00,0.000,4,0.000,0.054,2009,3903,1741,0,0,0,0,0,0
$GC,10473,0.60,143.7,314.6,19.5,600,10477,0.12,1.85,0.00,0.000,6,0.230,0.034,1991,2703,1741,0,0,0,0,0,0
$GC,10806,0.60,143.7,264.4,14.6,616,10809,0.00,1.95,0.00,0.000,4,0.000,0.054,1991,3895,1741,0,0,0,0,0,0
$GC,10876,0.60,143.7,253.2,16.4,619,10880,0.00,1.83,0.00,0.000,6,0.000,0.034,1999,2708,1741,0,0,0,0,0,0
$GC,11210,0.60,143.7,205.3,13.7,649,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2708,1741,0,0,0,0,0,0
$GC,11536,0.60,143.7,160.0,13.2,680,11540,0.00,1.98,0.00,0.000,4,0.000,0.054,1999,3894,1741,0,0,0,0,0,0
$GC,11560,0.60,143.7,156.4,14.2,682,11563,0.00,1.83,0.00,0.000,6,0.000,0.034,2008,2707,1741,0,0,0,0,0,0
$GC,11894,0.60,143.7,111.3,12.8,713,11897,0.00,1.95,0.00,0.000,4,0.000,0.054,2008,3893,1741,0,0,0,0,0,0
$GC,11929,0.60,143.7,105.6,15.0,716,11933,0.12,1.85,0.00,0.000,6,0.229,0.034,1990,2705,1741,0,0,0,0,0,0
$GC,12277,0.60,143.7,65.8,13.8,773,12284,0.00,2.17,0.00,0.000,4,0.000,0.041,2000,1294,1741,0,0,0,0,0,0
$GC,12410,0.60,143.7,49.6,12.1,795,12417,0.00,2.28,0.00,0.000,6,0.000,0.049,2000,2732,1740,0,0,0,0,0,0
$GC,12524,0.60,143.7,34.5,14.4,814,12533,0.00,1.90,0.00,0.000,4,0.000,0.059,2000,3889,1741,0,0,0,0,0,0
$GC,12590,0.60,143.7,25.2,13.9,824,12599,0.00,1.85,0.00,0.000,6,0.000,0.033,2009,2712,1741,0,0,0,0,0,0
$GC,12676,0.60,143.7,13.1,16.0,837,12685,0.00,2.22,0.00,0.000,4,0.000,0.041,2020,1292,1740,0,0,0,0,0,0
$GC,12694,0.60,143.7,10.1,16.8,839,12705,0.10,2.30,0.00,0.000,6,0.191,0.054,1992,2707,1740,0,0,0,0,0,0
$STATE,12742,end climb,SURFACE_DEPTH_REACHED
$STATE,12742,begin surface coast
$FINISH,1.2,1.005476
$STATE,12768,end surface coast,CONTROL_FINISHED_OK
$STATE,12769,begin surface
$SM_CCo,12783,25.60,0.169,0,0,1524,200.16
$SM_GC,2.62,0.00,0.00,25.60,0.000,0.000,0.169,56,2933,1524,-5.42,0.08,200.16
$IRIDIUM_FIX,-5636.99,0.00,090215,121249
$TT8_MAMPS,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.1,65.198
$10V_AH,9.8,45.452
$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,14.125,101.800,290.225,25.600,0.000,26.216,23.447,375.170,0.000,0.000,28.246,2148.530,7951.619,408.005,2630.538,252.560,33.362,1274.099,0.000,2044.297,0.000,0.539,0.000
$DEVICE_MAMPS,232.560,71.910,1774.035,169.065,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.817,1756.747,861.499,899.823,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353896
$DATA_FILE_SIZE,60377,850
$CAP_FILE_SIZE,120599,0
$CFSIZE,259252224,202838016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090215,195328,-5700.622,-5.056,69,0.8,69,-20.0