version: 66.07
glider: 542
mission: 6
dive: 452
start: 3 1 113 2 12 11
data:
$ID,542
$MISSION,6
$DIVE,452
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$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,333
$T_MISSION,348
$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,52816
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$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,-14807.833
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2860
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-48.034508
$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,1050
$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
$DEVICE3,115
$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
$GPS1,010313,020104,-4325.549,710.781,35,0.9,35,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-60.1
$GPS2,010313,021112,-4325.532,710.863,15,1.0,15,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.136,-0.221
$KALMAN_X,-16625.8,-3928.6,-555.0,241321.0,12370.1
$KALMAN_Y,781940.2,-8741.8,-1238.1,-390961.3,17473.9
$MHEAD_RNG_PITCHd_Wd,236.3,6893,-17.5,-10.010
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.63,-146.1,0.0,0.0,0,92,0.00,0.00,-62.83,0.000,2,0.000,0.000,51,2885,3161,0,0,0,0,0,0
$GC,99,-0.63,-146.1,3.1,-2.7,8,117,6.72,1.67,-6.62,0.000,4,0.247,0.080,1612,3886,3417,0,0,0,0,0,0
$GC,221,-0.63,-146.1,27.4,-19.1,26,230,0.00,1.60,0.00,0.000,6,0.000,0.032,1612,2833,3420,0,0,0,0,0,0
$GC,307,-0.63,-146.1,40.8,-14.1,39,314,0.00,1.70,0.00,0.000,4,0.000,0.057,1604,3894,3420,0,0,0,0,0,0
$GC,339,-0.63,-146.1,45.5,-14.6,43,347,0.00,1.58,0.00,0.000,6,0.000,0.031,1604,2854,3420,0,0,0,0,0,0
$GC,579,-0.63,-146.1,81.0,-13.3,84,588,0.00,2.12,0.00,0.000,4,0.000,0.037,1604,1486,3421,0,0,0,0,0,0
$GC,674,-0.63,-146.1,92.1,-11.0,99,681,0.08,2.20,0.00,0.000,6,0.158,0.050,1617,2844,3421,0,0,0,0,0,0
$GC,1010,-0.63,-146.1,132.5,-12.2,127,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2844,3421,0,0,0,0,0,0
$GC,1323,-0.63,-146.1,170.5,-11.9,147,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2844,3422,0,0,0,0,0,0
$GC,1635,-0.63,-146.1,207.8,-12.3,167,1639,0.00,1.67,0.00,0.000,4,0.000,0.057,1610,3897,3422,0,0,0,0,0,0
$GC,1681,-0.63,-146.1,214.1,-11.9,169,1688,0.00,1.55,0.00,0.000,6,0.000,0.031,1610,2859,3422,0,0,0,0,0,0
$GC,2010,-0.63,-146.1,253.4,-12.0,190,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2859,3423,0,0,0,0,0,0
$GC,2319,-0.63,-146.1,291.0,-12.0,205,2323,0.00,2.10,0.00,0.000,4,0.000,0.038,1611,1484,3423,0,0,0,0,0,0
$GC,2354,-0.63,-146.1,295.6,-11.5,206,2358,0.00,2.22,0.00,0.000,6,0.000,0.051,1600,2874,3424,0,0,0,0,0,0
$GC,2678,-0.63,-146.1,336.4,-12.9,222,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3423,0,0,0,0,0,0
$GC,2989,-0.63,-146.1,375.1,-12.1,237,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3424,0,0,0,0,0,0
$GC,3317,-0.63,-146.1,415.4,-12.2,251,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3424,0,0,0,0,0,0
$GC,3622,-0.63,-146.1,452.0,-12.0,261,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3424,0,0,0,0,0,0
$GC,3929,-0.63,-146.1,488.5,-11.8,271,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3423,0,0,0,0,0,0
$GC,4235,-0.63,-146.1,523.7,-11.5,281,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3424,0,0,0,0,0,0
$GC,4542,-0.63,-146.1,557.8,-11.2,291,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3423,0,0,0,0,0,0
$GC,4847,-0.63,-146.1,592.0,-11.1,301,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3423,0,0,0,0,0,0
$GC,5153,-0.63,-146.1,625.2,-10.9,311,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3423,0,0,0,0,0,0
$GC,5460,-0.63,-146.1,658.7,-11.0,321,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2874,3422,0,0,0,0,0,0
$GC,5766,-0.63,-146.1,691.8,-10.7,331,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2874,3422,0,0,0,0,0,0
$GC,6072,-0.63,-146.1,723.7,-10.4,341,6076,0.00,2.17,0.00,0.000,4,0.000,0.041,1600,1485,3422,0,0,0,0,0,0
$GC,6113,-0.63,-146.1,728.0,-10.2,342,6117,0.12,2.22,0.00,0.000,6,0.177,0.053,1621,2860,3421,0,0,0,0,0,0
$GC,6441,-0.63,-146.1,755.2,-8.4,353,6444,0.00,1.70,0.00,0.000,4,0.000,0.062,1614,3913,3420,0,0,0,0,0,0
$GC,6470,-0.63,-146.1,757.9,-9.3,353,6477,0.00,1.60,0.00,0.000,6,0.000,0.034,1614,2864,3419,0,0,0,0,0,0
$GC,6786,-0.63,-146.1,785.3,-8.6,364,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2864,3419,0,0,0,0,0,0
$GC,7092,-0.63,-146.1,811.2,-8.3,374,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2864,3419,0,0,0,0,0,0
$GC,7398,-0.63,-146.1,837.8,-8.7,384,7402,0.00,2.15,0.00,0.000,4,0.000,0.041,1614,1480,3418,0,0,0,0,0,0
$GC,7439,-0.63,-146.1,841.6,-9.1,385,7443,0.00,2.25,0.00,0.000,6,0.000,0.054,1604,2867,3418,0,0,0,0,0,0
$GC,7765,-0.63,-146.1,873.5,-10.1,396,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2867,3418,0,0,0,0,0,0
$GC,8071,-0.63,-146.1,904.5,-10.0,406,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2867,3417,0,0,0,0,0,0
$GC,8378,-0.63,-146.1,933.5,-9.4,416,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2867,3416,0,0,0,0,0,0
$GC,8684,-0.63,-146.1,962.4,-9.6,426,8688,0.00,1.67,0.00,0.000,4,0.000,0.063,1596,3899,3416,0,0,0,0,0,0
$GC,8713,-0.63,-146.1,965.6,-10.6,426,8720,0.00,1.60,0.00,0.000,6,0.000,0.034,1596,2855,3416,0,0,0,0,0,0
$GC,9028,-0.63,-146.1,998.4,-10.5,437,9030,0.10,0.00,0.00,0.000,6,0.189,0.000,1620,2854,3416,0,0,0,0,0,0
$STATE,9054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9054,begin apogee
$GC,9066,-0.18,0.0,1001.4,10.3,438,9212,0.47,0.00,143.50,1.251,6,0.148,0.000,1764,2669,2820,0,0,0,0,0,0
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9219,0.63,146.1,1006.2,0.0,443,9389,0.80,2.50,155.38,1.732,4,0.099,0.047,2034,1286,2228,0,0,0,0,1,0
$GC,9453,0.63,146.1,979.1,15.0,450,9457,0.00,2.42,0.00,0.000,6,0.000,0.054,2034,2663,2225,0,0,0,0,0,0
$GC,9786,0.63,146.1,920.8,17.3,461,9789,0.00,2.00,0.00,0.000,4,0.000,0.063,2035,3900,2221,0,0,0,0,0,0
$GC,9837,0.63,146.1,910.5,20.0,462,9841,0.00,1.95,0.00,0.000,6,0.000,0.041,2043,2684,2221,0,0,0,0,0,0
$GC,10163,0.63,146.1,849.6,18.9,473,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2678,2220,0,0,0,0,0,0
$GC,10470,0.63,146.1,792.0,19.0,483,10474,0.00,2.22,0.00,0.000,4,0.000,0.049,2054,1270,2219,0,0,0,0,0,0
$GC,10501,0.63,146.1,786.1,17.9,484,10506,0.00,2.28,0.00,0.000,6,0.000,0.053,2054,2673,2218,0,0,0,0,0,0
$GC,10839,0.63,146.1,719.5,19.7,495,10843,0.00,1.98,0.00,0.000,4,0.000,0.063,2054,3908,2218,0,0,0,0,0,0
$GC,10902,0.63,146.1,705.0,23.6,496,10910,0.12,1.95,0.00,0.000,6,0.230,0.041,2037,2658,2218,0,0,0,0,0,0
$GC,11217,0.63,146.1,646.1,18.2,507,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2655,2218,0,0,0,0,0,0
$GC,11524,0.63,146.1,590.0,18.2,517,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2655,2217,0,0,0,0,0,0
$GC,11830,0.63,146.1,535.7,17.6,527,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2655,2216,0,0,0,0,0,0
$GC,12136,0.63,146.1,481.8,17.2,537,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2655,2216,0,0,0,0,0,0
$GC,12442,0.63,146.1,431.6,16.0,547,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2655,2216,0,0,0,0,0,0
$GC,12762,0.63,146.1,382.6,15.3,559,12766,0.00,2.03,0.00,0.000,4,0.000,0.061,2037,3900,2216,0,0,0,0,0,0
$GC,12813,0.63,146.1,374.0,17.8,561,12816,0.00,1.92,0.00,0.000,6,0.000,0.040,2045,2670,2216,0,0,0,0,0,0
$GC,13149,0.63,146.1,321.1,15.5,577,13153,0.00,2.22,0.00,0.000,4,0.000,0.047,2056,1259,2216,0,0,0,0,0,0
$GC,13194,0.63,146.1,314.3,15.4,579,13198,0.00,2.30,0.00,0.000,6,0.000,0.053,2056,2675,2214,0,0,0,0,0,0
$GC,13526,0.63,146.1,258.4,16.9,595,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2675,2214,0,0,0,0,0,0
$GC,13837,0.63,146.1,204.6,17.0,614,13841,0.00,2.25,0.00,0.000,4,0.000,0.046,2066,1268,2214,0,0,0,0,0,0
$GC,13888,0.63,146.1,196.0,16.2,617,13893,0.12,2.28,0.00,0.000,6,0.191,0.053,2036,2670,2214,0,0,0,0,0,0
$GC,14221,0.63,146.1,143.1,15.5,638,14225,0.00,1.98,0.00,0.000,4,0.000,0.060,2037,3906,2214,0,0,0,0,0,0
$GC,14262,0.63,146.1,134.8,19.9,640,14266,0.00,1.92,0.00,0.000,6,0.000,0.038,2044,2670,2214,0,0,0,0,0,0
$GC,14593,0.63,146.1,79.8,16.7,674,14600,0.00,2.20,0.00,0.000,4,0.000,0.045,2055,1264,2214,0,0,0,0,0,0
$GC,14620,0.63,146.1,75.5,16.2,678,14629,0.00,2.30,0.00,0.000,6,0.000,0.051,2055,2671,2214,0,0,0,0,0,0
$GC,14991,0.63,146.1,17.8,14.7,739,15000,0.00,2.00,0.00,0.000,4,0.000,0.060,2055,3900,2214,0,0,0,0,0,0
$STATE,15074,end climb,SURFACE_DEPTH_REACHED
$STATE,15074,begin surface coast
$FINISH,0.9,1.026191
$STATE,15094,end surface coast,CONTROL_FINISHED_OK
$STATE,15094,begin surface
$SM_CCo,15118,46.55,0.702,1,0,1880,230.09
$SM_GC,2.01,0.00,0.00,46.55,0.000,0.000,0.702,43,2822,1880,-5.59,-1.07,230.09
$IRIDIUM_FIX,-4311.50,711.18,280213,222259
$TT8_MAMPS,0.026215
$HUMID,58.50
$INTERNAL_PRESSURE,9.45316
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.2,84.931
$10V_AH,9.9,45.806
$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,13.950,76.400,298.875,46.550,0.000,35.832,20.365,318.148,0.000,0.000,20.886,1842.772,10629.164,431.949,2220.448,647.485,33.369,1194.578,0.000,1775.813,0.000,1.010,0.000
$DEVICE_MAMPS,247.095,79.560,1731.960,701.505,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.479,1482.403,785.070,291.720,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,53709,755
$CAP_FILE_SIZE,109458,0
$CFSIZE,259252224,200429568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010313,062629,-4326.735,709.775,41,0.9,41,-24.6