version: 66.07
glider: 542
mission: 6
dive: 455
start: 3 1 113 15 29 43
data:
$ID,542
$MISSION,6
$DIVE,455
$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,-14818.224
$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,39
$R_STBD_OVSHOOT,35
$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
$GPS1,010313,151735,-4325.808,710.726,28,1.0,28,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-51.5
$GPS2,010313,152847,-4325.729,710.948,18,1.2,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.157,0.074
$KALMAN_X,-18655.6,270.9,-60.3,238754.9,-264.8
$KALMAN_Y,771082.4,3188.5,-104.2,-393557.3,-7028.4
$MHEAD_RNG_PITCHd_Wd,319.9,6599,-27.2,-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,21,begin dive
$GC,26,-0.78,-63.1,0.0,0.0,0,83,0.00,0.00,-54.83,0.000,2,0.000,0.000,54,2883,2990,0,0,0,0,0,0
$GC,90,-0.84,-118.6,3.1,-4.1,7,116,6.30,2.30,-8.95,0.000,4,0.241,0.054,1551,1452,3306,0,0,0,0,0,0
$GC,177,-0.84,-118.6,18.8,-19.3,19,186,0.00,2.28,0.00,0.000,6,0.000,0.051,1542,2846,3307,0,0,0,0,0,0
$GC,262,-0.84,-118.6,37.4,-21.2,32,271,0.00,1.67,0.00,0.000,4,0.000,0.055,1533,3898,3308,0,0,0,0,0,0
$GC,282,-0.84,-118.6,42.0,-22.1,34,291,0.00,1.62,0.00,0.000,6,0.000,0.031,1538,2828,3308,0,0,0,0,0,0
$GC,530,-0.84,-118.6,92.1,-19.1,75,536,0.00,2.08,0.00,0.000,4,0.000,0.037,1537,1484,3308,0,0,0,0,0,0
$GC,657,-0.84,-118.6,113.8,-16.1,87,661,0.00,2.17,0.00,0.000,6,0.000,0.051,1529,2862,3308,0,0,0,0,0,0
$GC,985,-0.84,-118.6,175.9,-18.6,108,989,0.00,1.62,0.00,0.000,4,0.000,0.056,1520,3914,3308,0,0,0,0,0,0
$GC,1032,-0.84,-118.6,185.8,-19.9,110,1041,0.08,1.60,0.00,0.000,6,0.184,0.030,1542,2850,3308,0,0,0,0,0,0
$GC,1361,-0.84,-118.6,241.4,-17.1,131,1364,0.00,1.67,0.00,0.000,4,0.000,0.057,1535,3901,3309,0,0,0,0,0,0
$GC,1380,-0.84,-118.6,246.1,-17.4,132,1384,0.00,1.58,0.00,0.000,6,0.000,0.031,1535,2856,3309,0,0,0,0,0,0
$GC,1705,-0.84,-118.6,303.6,-17.8,148,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2851,3309,0,0,0,0,0,0
$GC,2016,-0.84,-118.6,357.4,-17.6,163,2020,0.00,2.08,0.00,0.000,4,0.000,0.036,1535,1483,3309,0,0,0,0,0,0
$GC,2034,-0.84,-118.6,361.2,-17.4,163,2041,0.12,2.20,0.00,0.000,6,0.192,0.050,1554,2865,3310,0,0,0,0,0,0
$GC,2352,-0.84,-118.6,410.5,-15.8,178,2356,0.00,1.65,0.00,0.000,4,0.000,0.057,1547,3914,3310,0,0,0,0,0,0
$GC,2370,-0.84,-118.6,413.8,-16.3,178,2373,0.00,1.60,0.00,0.000,6,0.000,0.031,1551,2860,3310,0,0,0,0,0,0
$GC,2696,-0.84,-118.6,464.5,-15.4,189,2699,0.00,1.65,0.00,0.000,4,0.000,0.057,1544,3900,3310,0,0,0,0,0,0
$GC,2733,-0.84,-118.6,470.4,-16.3,190,2737,0.00,1.58,0.00,0.000,6,0.000,0.031,1544,2856,3310,0,0,0,0,0,0
$GC,3076,-0.84,-118.6,524.6,-15.7,201,3080,0.00,1.65,0.00,0.000,4,0.000,0.058,1536,3895,3310,0,0,0,0,0,0
$GC,3133,-0.84,-118.6,534.6,-16.9,202,3137,0.00,1.58,0.00,0.000,6,0.000,0.031,1536,2856,3310,0,0,0,0,0,0
$GC,3454,-0.84,-118.6,586.4,-16.1,213,3457,0.00,1.65,0.00,0.000,4,0.000,0.057,1528,3895,3310,0,0,0,0,0,0
$GC,3490,-0.84,-118.6,592.6,-17.1,214,3494,0.00,1.58,0.00,0.000,6,0.000,0.032,1528,2856,3310,0,0,0,0,0,0
$GC,3833,-0.84,-118.6,648.8,-16.3,225,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2851,3309,0,0,0,0,0,0
$GC,4142,-0.84,-118.6,698.0,-15.9,235,4145,0.00,1.67,0.00,0.000,4,0.000,0.059,1520,3894,3309,0,0,0,0,0,0
$GC,4170,-0.84,-118.6,703.5,-16.6,235,4178,0.10,1.58,0.00,0.000,6,0.184,0.033,1548,2855,3309,0,0,0,0,0,0
$GC,4486,-0.84,-118.6,749.3,-14.4,246,4489,0.00,1.67,0.00,0.000,4,0.000,0.060,1541,3895,3309,0,0,0,0,0,0
$GC,4566,-0.84,-118.6,761.9,-15.2,248,4569,0.00,1.58,0.00,0.000,6,0.000,0.033,1542,2865,3308,0,0,0,0,0,0
$GC,4897,-0.84,-118.6,810.9,-14.7,259,4901,0.00,1.65,0.00,0.000,4,0.000,0.060,1534,3897,3308,0,0,0,0,0,0
$GC,4934,-0.84,-118.6,816.5,-16.0,260,4937,0.00,1.58,0.00,0.000,6,0.000,0.033,1534,2863,3308,0,0,0,0,0,0
$GC,5277,-0.84,-118.6,868.4,-14.8,271,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2857,3307,0,0,0,0,0,0
$GC,5583,-0.84,-118.6,914.5,-15.0,281,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2858,3307,0,0,0,0,0,0
$GC,5889,-0.84,-118.6,959.3,-14.4,291,5893,0.00,1.70,0.00,0.000,4,0.000,0.061,1526,3894,3306,0,0,0,0,0,0
$GC,5919,-0.84,-118.6,964.1,-15.7,291,5926,0.08,1.58,0.00,0.000,6,0.177,0.033,1547,2864,3306,0,0,0,0,0,0
$STATE,6200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6200,begin apogee
$GC,6211,-0.18,0.0,1001.5,13.0,301,6330,0.77,0.00,116.00,1.274,6,0.179,0.000,1762,2672,2819,0,0,0,0,0,0
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6337,0.84,118.6,1005.2,0.0,305,6480,1.00,2.45,126.50,1.740,4,0.095,0.045,2104,1292,2339,0,0,0,0,1,0
$GC,6511,0.84,118.6,980.2,21.1,310,6516,0.00,2.45,0.00,0.000,6,0.000,0.053,2104,2666,2339,0,0,0,0,0,0
$GC,6839,0.84,118.6,904.7,23.3,321,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2666,2334,0,0,0,0,0,0
$GC,7146,0.84,118.6,834.7,23.2,331,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2666,2331,0,0,0,0,0,0
$GC,7451,0.84,118.6,764.8,22.7,341,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2665,2330,0,0,0,0,0,0
$GC,7758,0.84,118.6,696.9,22.1,351,7762,0.00,1.98,0.00,0.000,4,0.000,0.061,2104,3900,2329,0,0,0,0,0,0
$GC,7776,0.84,118.6,692.2,21.9,351,7780,0.00,1.92,0.00,0.000,6,0.000,0.041,2113,2684,2329,0,0,0,0,0,0
$GC,8103,0.84,118.6,622.1,21.4,362,8107,0.00,2.22,0.00,0.000,4,0.000,0.047,2124,1267,2327,0,0,0,0,0,0
$GC,8132,0.84,118.6,615.8,20.2,362,8139,0.00,2.28,0.00,0.000,6,0.000,0.053,2123,2675,2326,0,0,0,0,0,0
$GC,8448,0.84,118.6,548.1,22.0,373,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2674,2326,0,0,0,0,0,0
$GC,8754,0.84,118.6,482.1,21.1,383,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2675,2326,0,0,0,0,0,0
$GC,9060,0.84,118.6,416.4,21.6,393,9064,0.00,1.95,0.00,0.000,4,0.000,0.061,2123,3896,2326,0,0,0,0,0,0
$GC,9072,0.84,118.6,413.5,21.6,393,9076,0.00,1.90,0.00,0.000,6,0.000,0.040,2132,2668,2326,0,0,0,0,0,0
$GC,9407,0.84,118.6,342.5,21.3,408,9411,0.00,2.20,0.00,0.000,4,0.000,0.046,2142,1255,2325,0,0,0,0,0,0
$GC,9480,0.84,118.6,328.0,19.4,411,9484,0.15,2.30,0.00,0.000,6,0.237,0.052,2110,2675,2324,0,0,0,0,0,0
$GC,9812,0.84,118.6,262.3,19.7,427,9816,0.00,2.22,0.00,0.000,4,0.000,0.046,2119,1267,2324,0,0,0,0,0,0
$GC,9832,0.84,118.6,257.9,19.8,428,9836,0.00,2.28,0.00,0.000,6,0.000,0.052,2118,2672,2324,0,0,0,0,0,0
$GC,10159,0.84,118.6,193.7,19.5,448,10163,0.00,2.22,0.00,0.000,4,0.000,0.045,2127,1265,2324,0,0,0,0,0,0
$GC,10172,0.84,118.6,191.0,19.5,448,10181,0.00,2.30,0.00,0.000,6,0.000,0.050,2127,2673,2324,0,0,0,0,0,0
$GC,10496,0.84,118.6,128.4,20.4,469,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2673,2324,0,0,0,0,0,0
$GC,10823,0.84,118.6,67.2,17.0,509,10828,0.00,2.25,0.00,0.000,4,0.000,0.046,2137,1261,2324,0,0,0,0,0,0
$GC,10856,0.84,118.6,62.3,14.5,514,10864,0.15,2.28,0.00,0.000,6,0.230,0.050,2105,2675,2324,0,0,0,0,0,0
$STATE,11216,end climb,SURFACE_DEPTH_REACHED
$STATE,11216,begin surface coast
$FINISH,1.0,1.026189
$STATE,11235,end surface coast,CONTROL_FINISHED_OK
$STATE,11235,begin surface
$SM_CCo,11257,57.47,0.708,1,0,1881,230.09
$SM_GC,1.61,0.00,0.00,57.47,0.000,0.000,0.708,59,2883,1881,-5.54,0.65,230.09
$IRIDIUM_FIX,-4314.46,708.24,010313,101046
$TT8_MAMPS,0.026215
$HUMID,58.62
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.3,85.392
$10V_AH,9.9,46.102
$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,14.100,84.550,242.500,57.475,0.000,27.706,20.210,365.809,0.000,0.000,21.261,1451.127,7617.640,390.330,1926.413,592.502,33.358,1044.754,0.000,1458.125,0.000,1.011,0.000
$DEVICE_MAMPS,240.975,67.320,1739.610,708.390,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.093,1151.462,643.302,257.097,0.000,0.000,0.000,0.000,0.000,0.000
$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,43608,575
$CAP_FILE_SIZE,94547,0
$CFSIZE,259252224,200261632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010313,183926,-4324.726,710.664,15,0.8,15,-24.6