version: 66.07
glider: 542
mission: 6
dive: 456
start: 3 1 113 18 50 34
data:
$ID,542
$MISSION,6
$DIVE,456
$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,-14825.552
$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,34
$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
$GPS1,010313,183926,-4324.726,710.664,15,0.8,15,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-56.2
$GPS2,010313,184934,-4324.714,710.764,28,1.0,29,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.177,-0.190
$KALMAN_X,-14075.5,-1269.5,45.6,235380.6,5928.5
$KALMAN_Y,776147.2,-1717.9,724.8,-392646.9,846.3
$MHEAD_RNG_PITCHd_Wd,247.6,8284,-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,21,begin dive
$GC,26,-0.63,-146.1,0.0,0.0,0,91,0.00,0.00,-62.67,0.000,2,0.000,0.000,58,2884,3163,0,0,0,0,0,0
$GC,98,-0.63,-146.1,3.2,-2.9,8,117,6.62,1.65,-6.35,0.000,4,0.243,0.070,1610,3894,3417,0,0,0,0,0,0
$GC,166,-0.63,-146.1,19.1,-19.7,17,174,0.00,1.60,0.00,0.000,6,0.000,0.031,1610,2846,3420,0,0,0,0,0,0
$GC,251,-0.63,-146.1,31.3,-12.8,30,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2845,3420,0,0,0,0,0,0
$GC,500,-0.63,-146.1,66.0,-13.5,71,505,0.00,2.10,0.00,0.000,4,0.000,0.037,1610,1471,3421,0,0,0,0,0,0
$GC,588,-0.63,-146.1,77.2,-11.3,86,595,0.00,2.22,0.00,0.000,6,0.000,0.052,1599,2863,3420,0,0,0,0,0,0
$GC,927,-0.63,-146.1,121.6,-13.4,127,931,0.00,1.65,0.00,0.000,4,0.000,0.057,1591,3900,3421,0,0,0,0,0,0
$GC,985,-0.63,-146.1,130.5,-14.5,130,989,0.08,1.58,0.00,0.000,6,0.158,0.031,1624,2854,3422,0,0,0,0,0,0
$GC,1318,-0.63,-146.1,166.7,-10.7,151,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2849,3422,0,0,0,0,0,0
$GC,1640,-0.63,-146.1,201.8,-10.7,172,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2848,3422,0,0,0,0,0,0
$GC,1953,-0.63,-146.1,235.6,-11.2,192,1957,0.00,1.70,0.00,0.000,4,0.000,0.059,1617,3894,3422,0,0,0,0,0,0
$GC,1982,-0.63,-146.1,239.4,-12.3,193,1989,0.00,1.55,0.00,0.000,6,0.000,0.031,1617,2858,3423,0,0,0,0,0,0
$GC,2314,-0.63,-146.1,276.5,-11.2,211,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2857,3423,0,0,0,0,0,0
$GC,2622,-0.63,-146.1,309.6,-10.4,226,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3423,0,0,0,0,0,0
$GC,2932,-0.63,-146.1,343.2,-11.1,241,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3424,0,0,0,0,0,0
$GC,3240,-0.63,-146.1,377.0,-10.8,256,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2858,3424,0,0,0,0,0,0
$GC,3559,-0.63,-146.1,409.7,-10.1,270,3563,0.00,2.10,0.00,0.000,4,0.000,0.037,1618,1487,3424,0,0,0,0,0,0
$GC,3588,-0.63,-146.1,412.8,-9.9,270,3595,0.00,2.20,0.00,0.000,6,0.000,0.050,1607,2863,3424,0,0,0,0,0,0
$GC,3904,-0.63,-146.1,445.6,-10.4,281,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2863,3424,0,0,0,0,0,0
$GC,4210,-0.63,-146.1,477.4,-10.3,291,4214,0.00,1.65,0.00,0.000,4,0.000,0.059,1599,3896,3425,0,0,0,0,0,0
$GC,4273,-0.63,-146.1,484.5,-10.9,292,4280,0.00,1.55,0.00,0.000,6,0.000,0.032,1599,2865,3424,0,0,0,0,0,0
$GC,4590,-0.63,-146.1,517.7,-10.7,303,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2865,3424,0,0,0,0,0,0
$GC,4895,-0.63,-146.1,551.4,-11.1,313,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2864,3424,0,0,0,0,0,0
$GC,5201,-0.63,-146.1,585.8,-11.1,323,5205,0.00,1.65,0.00,0.000,4,0.000,0.060,1592,3894,3424,0,0,0,0,0,0
$GC,5231,-0.63,-146.1,589.5,-11.6,323,5239,0.10,1.58,0.00,0.000,6,0.157,0.032,1623,2851,3424,0,0,0,0,0,0
$GC,5549,-0.63,-146.1,619.7,-9.6,334,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2850,3424,0,0,0,0,0,0
$GC,5853,-0.63,-146.1,649.2,-9.6,344,5857,0.00,2.12,0.00,0.000,4,0.000,0.039,1623,1476,3423,0,0,0,0,0,0
$GC,5885,-0.63,-146.1,652.3,-9.9,345,5889,0.00,2.25,0.00,0.000,6,0.000,0.053,1613,2867,3423,0,0,0,0,0,0
$GC,6223,-0.63,-146.1,685.9,-10.1,356,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3423,0,0,0,0,0,0
$GC,6529,-0.63,-146.1,716.9,-10.1,366,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3422,0,0,0,0,0,0
$GC,6835,-0.63,-146.1,746.7,-9.6,376,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3421,0,0,0,0,0,0
$GC,7141,-0.63,-146.1,776.7,-9.7,386,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3421,0,0,0,0,0,0
$GC,7448,-0.63,-146.1,805.2,-9.0,396,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3420,0,0,0,0,0,0
$GC,7754,-0.63,-146.1,832.0,-8.5,406,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3419,0,0,0,0,0,0
$GC,8060,-0.63,-146.1,858.0,-8.5,416,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3419,0,0,0,0,0,0
$GC,8367,-0.63,-146.1,883.3,-8.1,426,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3418,0,0,0,0,0,0
$GC,8672,-0.63,-146.1,907.2,-7.6,436,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2868,3418,0,0,0,0,0,0
$GC,8979,-0.63,-146.1,930.9,-7.7,446,8983,0.00,2.17,0.00,0.000,4,0.000,0.041,1613,1483,3418,0,0,0,0,0,0
$GC,9026,-0.63,-146.1,934.9,-8.0,447,9030,0.00,2.25,0.00,0.000,6,0.000,0.055,1603,2863,3417,0,0,0,0,0,0
$GC,9349,-0.63,-146.1,963.0,-9.2,458,9352,0.00,1.65,0.00,0.000,4,0.000,0.062,1595,3899,3417,0,0,0,0,0,0
$GC,9389,-0.63,-146.1,967.6,-10.6,459,9393,0.08,1.58,0.00,0.000,6,0.154,0.034,1627,2871,3417,0,0,0,0,0,0
$GC,9728,-0.63,-146.1,994.2,-7.7,470,9731,0.00,2.17,0.00,0.000,4,0.000,0.041,1627,1472,3416,0,0,0,0,0,0
$GC,9751,-0.63,-146.1,996.5,-8.6,470,9758,0.00,2.25,0.00,0.000,6,0.000,0.054,1618,2860,3416,0,0,0,0,0,0
$STATE,9817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9817,begin apogee
$GC,9828,-0.18,0.0,1002.1,8.2,473,9975,0.50,0.00,143.48,1.252,6,0.152,0.000,1766,2675,2820,0,0,0,0,0,0
$STATE,9976,end apogee,CONTROL_FINISHED_OK
$STATE,9977,begin climb
$GC,9982,0.63,146.1,1006.9,0.0,478,10158,0.80,2.55,158.35,1.723,4,0.095,0.048,2037,1278,2226,0,0,0,0,2,0
$GC,10252,0.63,146.1,972.8,14.9,486,10256,0.00,2.40,0.00,0.000,6,0.000,0.054,2037,2663,2223,0,0,0,0,0,0
$GC,10573,0.63,146.1,916.2,17.8,497,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2663,2220,0,0,0,0,0,0
$GC,10880,0.63,146.1,864.2,16.7,507,10883,0.00,1.98,0.00,0.000,4,0.000,0.062,2037,3900,2219,0,0,0,0,0,0
$GC,10925,0.63,146.1,855.3,19.7,508,10929,0.00,1.92,0.00,0.000,6,0.000,0.041,2046,2674,2218,0,0,0,0,0,0
$GC,11257,0.63,146.1,796.8,17.8,519,11261,0.00,2.22,0.00,0.000,4,0.000,0.048,2057,1259,2218,0,0,0,0,0,0
$GC,11281,0.63,146.1,792.3,18.0,519,11288,0.00,2.30,0.00,0.000,6,0.000,0.054,2057,2680,2217,0,0,0,0,0,0
$GC,11596,0.63,146.1,732.5,19.2,530,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2680,2217,0,0,0,0,0,0
$GC,11903,0.63,146.1,673.3,19.3,540,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2680,2216,0,0,0,0,0,0
$GC,12209,0.63,146.1,614.8,19.0,550,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2680,2216,0,0,0,0,0,0
$GC,12516,0.63,146.1,556.5,18.7,560,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2680,2215,0,0,0,0,0,0
$GC,12821,0.63,146.1,499.0,18.8,570,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2680,2215,0,0,0,0,0,0
$GC,13128,0.63,146.1,442.0,18.3,580,13132,0.00,2.25,0.00,0.000,4,0.000,0.047,2068,1261,2215,0,0,0,0,0,0
$GC,13152,0.63,146.1,437.5,17.2,580,13157,0.12,2.30,0.00,0.000,6,0.199,0.052,2039,2677,2214,0,0,0,0,0,0
$GC,13470,0.63,146.1,384.3,17.1,591,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2678,2214,0,0,0,0,0,0
$GC,13777,0.63,146.1,333.0,16.0,606,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2678,2214,0,0,0,0,0,0
$GC,14089,0.63,146.1,283.6,16.4,621,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2678,2214,0,0,0,0,0,0
$GC,14402,0.63,146.1,231.0,17.3,638,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2678,2214,0,0,0,0,0,0
$GC,14715,0.63,146.1,176.7,16.8,658,14719,0.00,2.25,0.00,0.000,4,0.000,0.044,2048,1262,2214,0,0,0,0,0,0
$GC,14747,0.63,146.1,171.3,16.2,660,14751,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2671,2213,0,0,0,0,0,0
$GC,15075,0.63,146.1,115.3,17.0,681,15079,0.00,1.95,0.00,0.000,4,0.000,0.059,2048,3896,2214,0,0,0,0,0,0
$GC,15115,0.63,146.1,108.0,19.2,683,15118,0.00,1.90,0.00,0.000,6,0.000,0.038,2057,2670,2213,0,0,0,0,0,0
$GC,15461,0.63,146.1,53.3,15.2,738,15470,0.00,2.22,0.00,0.000,4,0.000,0.044,2068,1268,2213,0,0,0,0,0,0
$GC,15493,0.63,146.1,48.4,16.1,742,15503,0.10,2.28,0.00,0.000,6,0.170,0.050,2038,2667,2214,0,0,0,0,0,0
$GC,15752,0.63,146.1,12.0,15.3,783,15760,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2667,2213,0,0,0,0,0,0
$STATE,15810,end climb,SURFACE_DEPTH_REACHED
$STATE,15810,begin surface coast
$FINISH,0.9,1.016709
$STATE,15830,end surface coast,CONTROL_FINISHED_OK
$STATE,15830,begin surface
$SM_CCo,15853,45.30,0.693,1,0,1880,230.09
$SM_GC,1.85,0.00,0.00,45.30,0.000,0.000,0.693,49,2871,1880,-5.57,0.31,230.09
$IRIDIUM_FIX,-4308.55,710.81,010313,151518
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.2,85.549
$10V_AH,9.9,46.207
$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,13.600,72.600,301.825,45.300,0.000,26.672,20.921,315.155,0.000,0.000,35.290,1934.534,11151.729,442.314,2310.010,668.263,33.376,1234.653,0.000,1857.094,0.000,1.011,0.000
$DEVICE_MAMPS,243.270,71.145,1722.780,693.090,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.598,1559.271,824.715,313.703,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,57152,795
$CAP_FILE_SIZE,113992,0
$CFSIZE,259252224,200175616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,010313,231704,-4325.408,709.606,38,1.0,38,-24.6