version: 66.07
glider: 542
mission: 6
dive: 453
start: 3 1 113 6 38 25
data:
$ID,542
$MISSION,6
$DIVE,453
$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,-14811.294
$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,60
$R_STBD_OVSHOOT,22
$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
$GPS1,010313,062629,-4326.735,709.775,41,0.9,41,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-61.2
$GPS2,010313,063729,-4326.795,709.953,17,1.0,18,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.127,-0.227
$KALMAN_X,-18142.6,-23.7,-2137.1,239435.8,11488.2
$KALMAN_Y,777551.2,-1223.5,-3363.4,-394183.4,18664.8
$MHEAD_RNG_PITCHd_Wd,233.8,4279,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.63,-146.1,0.0,0.0,0,84,0.00,0.00,-54.95,0.000,2,0.000,0.000,43,2821,2988,0,0,0,0,0,0
$GC,91,-0.63,-146.1,3.0,-3.2,7,117,6.50,1.77,-12.30,0.000,4,0.232,0.075,1612,3910,3417,0,0,0,0,0,0
$GC,183,-0.63,-146.1,15.6,-15.9,20,192,0.00,1.62,0.00,0.000,6,0.000,0.032,1612,2838,3418,0,0,0,0,0,0
$GC,272,-0.63,-146.1,29.3,-14.1,33,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2839,3418,0,0,0,0,0,0
$GC,357,-0.63,-146.1,41.5,-14.7,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2838,3419,0,0,0,0,0,0
$GC,603,-0.63,-146.1,77.9,-14.0,87,609,0.00,1.73,0.00,0.000,4,0.000,0.058,1604,3899,3419,0,0,0,0,0,0
$GC,723,-0.63,-146.1,94.4,-13.2,107,728,0.00,1.55,0.00,0.000,6,0.000,0.032,1604,2870,3420,0,0,0,0,0,0
$GC,1048,-0.63,-146.1,139.4,-13.5,132,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2865,3419,0,0,0,0,0,0
$GC,1361,-0.63,-146.1,182.2,-13.3,152,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2866,3420,0,0,0,0,0,0
$GC,1673,-0.63,-146.1,222.3,-12.8,172,1677,0.00,2.12,0.00,0.000,4,0.000,0.037,1604,1482,3421,0,0,0,0,0,0
$GC,1704,-0.63,-146.1,226.2,-12.8,174,1709,0.12,2.22,0.00,0.000,6,0.174,0.052,1626,2870,3421,0,0,0,0,0,0
$GC,2046,-0.63,-146.1,262.1,-10.4,194,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2870,3421,0,0,0,0,0,0
$GC,2353,-0.63,-146.1,293.3,-9.8,209,2357,0.00,2.15,0.00,0.000,4,0.000,0.037,1626,1479,3421,0,0,0,0,0,0
$GC,2389,-0.63,-146.1,297.3,-9.9,210,2393,0.00,2.22,0.00,0.000,6,0.000,0.052,1616,2863,3421,0,0,0,0,0,0
$GC,2712,-0.63,-146.1,330.9,-10.6,226,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2863,3421,0,0,0,0,0,0
$GC,3024,-0.63,-146.1,364.1,-10.8,241,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2863,3422,0,0,0,0,0,0
$GC,3332,-0.63,-146.1,398.0,-11.1,256,3335,0.00,2.15,0.00,0.000,4,0.000,0.037,1616,1481,3422,0,0,0,0,0,0
$GC,3363,-0.63,-146.1,401.6,-11.2,258,3367,0.00,2.20,0.00,0.000,6,0.000,0.051,1606,2860,3421,0,0,0,0,0,0
$GC,3706,-0.63,-146.1,441.8,-11.9,269,3710,0.00,1.65,0.00,0.000,4,0.000,0.059,1598,3907,3421,0,0,0,0,0,0
$GC,3743,-0.63,-146.1,446.3,-12.4,270,3747,0.00,1.58,0.00,0.000,6,0.000,0.032,1598,2862,3421,0,0,0,0,0,0
$GC,4086,-0.63,-146.1,490.3,-12.9,281,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3421,0,0,0,0,0,0
$GC,4392,-0.63,-146.1,530.0,-13.1,291,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3421,0,0,0,0,0,0
$GC,4699,-0.63,-146.1,568.9,-12.6,301,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3421,0,0,0,0,0,0
$GC,5005,-0.63,-146.1,606.0,-12.1,311,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3421,0,0,0,0,0,0
$GC,5311,-0.63,-146.1,643.2,-12.1,321,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3421,0,0,0,0,0,0
$GC,5617,-0.63,-146.1,680.0,-11.9,331,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3420,0,0,0,0,0,0
$GC,5924,-0.63,-146.1,715.7,-11.3,341,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2856,3418,0,0,0,0,0,0
$GC,6230,-0.63,-146.1,748.6,-10.4,351,6234,0.00,2.12,0.00,0.000,4,0.000,0.041,1598,1484,3418,0,0,0,0,0,0
$GC,6259,-0.63,-146.1,751.7,-9.8,351,6267,0.15,2.22,0.00,0.000,6,0.177,0.054,1627,2863,3417,0,0,0,0,0,0
$GC,6577,-0.63,-146.1,776.0,-7.7,362,6581,0.00,2.15,0.00,0.000,4,0.000,0.040,1627,1481,3417,0,0,0,0,0,0
$GC,6618,-0.63,-146.1,779.4,-7.4,363,6622,0.00,2.25,0.00,0.000,6,0.000,0.054,1618,2869,3417,0,0,0,0,0,0
$GC,6944,-0.63,-146.1,805.8,-8.4,374,6948,0.00,1.65,0.00,0.000,4,0.000,0.062,1610,3904,3417,0,0,0,0,0,0
$GC,6985,-0.63,-146.1,809.7,-9.6,375,6989,0.00,1.60,0.00,0.000,6,0.000,0.034,1610,2860,3417,0,0,0,0,0,0
$GC,7323,-0.63,-146.1,840.5,-9.2,386,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3416,0,0,0,0,0,0
$GC,7629,-0.63,-146.1,869.1,-9.7,396,7633,0.00,2.15,0.00,0.000,4,0.000,0.040,1610,1474,3415,0,0,0,0,0,0
$GC,7665,-0.63,-146.1,873.0,-10.1,397,7669,0.00,2.25,0.00,0.000,6,0.000,0.054,1600,2859,3415,0,0,0,0,0,0
$GC,7996,-0.63,-146.1,907.2,-10.6,408,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2859,3414,0,0,0,0,0,0
$GC,8303,-0.63,-146.1,938.6,-10.0,418,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2859,3414,0,0,0,0,0,0
$GC,8610,-0.63,-146.1,967.6,-9.5,428,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2859,3414,0,0,0,0,0,0
$GC,8915,-0.63,-146.1,996.4,-9.4,438,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2860,3413,0,0,0,0,0,0
$STATE,8972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8972,begin apogee
$GC,8983,-0.18,0.0,1002.4,9.6,440,9129,0.57,0.00,142.85,1.262,6,0.158,0.000,1767,2677,2820,0,0,0,0,0,0
$STATE,9130,end apogee,CONTROL_FINISHED_OK
$STATE,9131,begin climb
$GC,9136,0.63,146.1,1006.7,0.0,445,9307,0.80,2.58,156.32,1.746,4,0.096,0.048,2036,1284,2227,0,0,0,0,1,0
$GC,9350,0.63,146.1,980.5,16.7,451,9354,0.00,2.45,0.00,0.000,6,0.000,0.053,2036,2663,2226,0,0,0,0,0,0
$GC,9665,0.63,146.1,923.3,18.4,461,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2663,2221,0,0,0,0,0,0
$GC,9971,0.63,146.1,867.4,18.8,471,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2663,2220,0,0,0,0,0,0
$GC,10278,0.63,146.1,812.5,17.9,481,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2663,2219,0,0,0,0,0,0
$GC,10584,0.63,146.1,759.2,17.2,491,10588,0.00,2.20,0.00,0.000,4,0.000,0.047,2046,1273,2218,0,0,0,0,0,0
$GC,10621,0.63,146.1,752.6,17.2,492,10625,0.00,2.25,0.00,0.000,6,0.000,0.054,2046,2673,2216,0,0,0,0,0,0
$GC,10967,0.63,146.1,690.7,18.3,503,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2673,2216,0,0,0,0,0,0
$GC,11270,0.63,146.1,634.1,18.5,513,11274,0.00,2.22,0.00,0.000,4,0.000,0.047,2057,1271,2216,0,0,0,0,0,0
$GC,11300,0.63,146.1,628.4,19.0,513,11307,0.00,2.28,0.00,0.000,6,0.000,0.054,2057,2677,2215,0,0,0,0,0,0
$GC,11615,0.63,146.1,568.0,19.2,524,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2677,2215,0,0,0,0,0,0
$GC,11921,0.63,146.1,509.3,19.2,534,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2677,2216,0,0,0,0,0,0
$GC,12227,0.63,146.1,451.0,18.9,544,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2677,2215,0,0,0,0,0,0
$GC,12547,0.63,146.1,391.3,18.5,555,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2677,2215,0,0,0,0,0,0
$GC,12854,0.63,146.1,336.2,18.0,570,12858,0.00,2.25,0.00,0.000,4,0.000,0.046,2067,1268,2215,0,0,0,0,0,0
$GC,12884,0.63,146.1,330.3,17.5,571,12888,0.12,2.28,0.00,0.000,6,0.195,0.052,2038,2679,2214,0,0,0,0,0,0
$GC,13211,0.63,146.1,276.0,16.7,587,13215,0.00,1.98,0.00,0.000,4,0.000,0.062,2038,3891,2214,0,0,0,0,0,0
$GC,13274,0.63,146.1,263.5,18.8,589,13281,0.00,1.90,0.00,0.000,6,0.000,0.039,2046,2667,2214,0,0,0,0,0,0
$GC,13602,0.63,146.1,206.7,16.7,609,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2664,2214,0,0,0,0,0,0
$GC,13915,0.63,146.1,154.7,16.2,629,13919,0.00,2.20,0.00,0.000,4,0.000,0.045,2056,1261,2214,0,0,0,0,0,0
$GC,13969,0.63,146.1,146.1,14.7,632,13973,0.00,2.28,0.00,0.000,6,0.000,0.052,2056,2671,2213,0,0,0,0,0,0
$GC,14300,0.63,146.1,91.3,15.4,658,14307,0.00,1.98,0.00,0.000,4,0.000,0.061,2056,3892,2214,0,0,0,0,0,0
$GC,14418,0.63,146.1,67.4,19.9,678,14430,0.12,1.92,0.00,0.000,6,0.197,0.038,2031,2668,2214,0,0,0,0,0,0
$GC,14796,0.63,146.1,16.1,11.8,739,14805,0.00,2.22,0.00,0.000,4,0.000,0.044,2041,1270,2214,0,0,0,0,0,0
$STATE,14903,end climb,SURFACE_DEPTH_REACHED
$STATE,14903,begin surface coast
$FINISH,0.9,1.022108
$STATE,14939,end surface coast,CONTROL_FINISHED_OK
$STATE,14940,begin surface
$SM_CCo,14964,44.90,0.708,1,0,1880,230.09
$SM_GC,1.94,0.00,0.00,44.90,0.000,0.000,0.708,49,2872,1880,-5.56,0.34,230.09
$IRIDIUM_FIX,-4308.55,710.81,010313,020235
$TT8_MAMPS,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.45316
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.2,85.091
$10V_AH,9.9,45.910
$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,13.800,75.225,299.175,44.900,0.000,25.188,22.544,356.135,0.000,0.000,19.914,1858.496,10427.068,425.026,2286.962,663.154,33.376,1192.053,0.000,1818.294,0.000,1.012,0.000
$DEVICE_MAMPS,231.795,74.970,1745.730,707.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.969,1534.398,841.261,331.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,53760,761
$CAP_FILE_SIZE,108818,0
$CFSIZE,259252224,200368128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010313,105007,-4328.029,709.194,41,1.1,41,-24.6