version: 66.07
glider: 542
mission: 6
dive: 458
start: 3 2 113 3 57 49
data:
$ID,542
$MISSION,6
$DIVE,458
$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,-14831.902
$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,53
$R_STBD_OVSHOOT,38
$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
$GPS1,020313,034552,-4324.574,708.908,40,0.8,41,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-61.9
$GPS2,020313,035653,-4324.582,709.061,20,0.9,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.095,-0.242
$KALMAN_X,-8923.8,57.1,-559.9,227377.7,6970.4
$KALMAN_Y,782512.8,-449.4,-1222.9,-398026.8,9768.3
$MHEAD_RNG_PITCHd_Wd,226.0,8184,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-46.95,0.000,2,0.000,0.000,48,2889,2803,0,0,0,0,0,0
$GC,82,-0.63,-146.1,3.1,-4.4,6,116,6.68,0.00,-22.17,0.000,6,0.244,0.000,1617,2889,3417,0,0,0,0,0,0
$GC,195,-0.63,-146.1,15.6,-16.9,22,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2889,3419,0,0,0,0,0,0
$GC,281,-0.63,-146.1,28.0,-13.2,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2889,3419,0,0,0,0,0,0
$GC,365,-0.63,-146.1,39.3,-13.3,48,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2889,3419,0,0,0,0,0,0
$GC,611,-0.63,-146.1,68.0,-9.6,89,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2889,3418,0,0,0,0,0,0
$GC,958,-0.63,-146.1,107.0,-11.0,142,959,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2889,3419,0,0,0,0,0,0
$GC,1273,-0.63,-146.1,141.5,-10.8,162,1277,0.00,2.20,0.00,0.000,4,0.000,0.037,1616,1462,3420,0,0,0,0,0,0
$GC,1332,-0.63,-146.1,147.8,-9.2,165,1339,0.00,2.22,0.00,0.000,6,0.000,0.049,1607,2859,3420,0,0,0,0,0,0
$GC,1655,-0.63,-146.1,184.3,-11.9,186,1658,0.00,1.65,0.00,0.000,4,0.000,0.057,1599,3913,3420,0,0,0,0,0,0
$GC,1692,-0.63,-146.1,189.0,-12.8,188,1696,0.00,1.60,0.00,0.000,6,0.000,0.031,1599,2853,3420,0,0,0,0,0,0
$GC,2026,-0.63,-146.1,230.7,-13.0,209,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2848,3421,0,0,0,0,0,0
$GC,2348,-0.63,-146.1,272.1,-13.2,227,2352,0.00,2.10,0.00,0.000,4,0.000,0.037,1599,1475,3421,0,0,0,0,0,0
$GC,2383,-0.63,-146.1,277.4,-13.1,228,2393,0.08,2.25,0.00,0.000,6,0.157,0.052,1612,2862,3421,0,0,0,0,0,0
$GC,2701,-0.63,-146.1,318.3,-13.4,244,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2861,3421,0,0,0,0,0,0
$GC,3013,-0.63,-146.1,358.4,-12.4,259,3017,0.00,1.65,0.00,0.000,4,0.000,0.058,1606,3912,3422,0,0,0,0,0,0
$GC,3043,-0.63,-146.1,362.6,-12.5,260,3046,0.00,1.60,0.00,0.000,6,0.000,0.031,1605,2850,3422,0,0,0,0,0,0
$GC,3372,-0.63,-146.1,401.2,-11.5,276,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3422,0,0,0,0,0,0
$GC,3678,-0.63,-146.1,435.5,-11.0,286,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3422,0,0,0,0,0,0
$GC,3984,-0.63,-146.1,469.6,-11.1,296,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3422,0,0,0,0,0,0
$GC,4290,-0.63,-146.1,503.8,-11.3,306,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3422,0,0,0,0,0,0
$GC,4597,-0.63,-146.1,537.6,-11.0,316,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3422,0,0,0,0,0,0
$GC,4903,-0.63,-146.1,570.8,-11.0,326,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3422,0,0,0,0,0,0
$GC,5209,-0.63,-146.1,603.8,-10.6,336,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2844,3421,0,0,0,0,0,0
$GC,5515,-0.63,-146.1,636.3,-10.6,346,5519,0.00,2.08,0.00,0.000,4,0.000,0.039,1605,1486,3421,0,0,0,0,0,0
$GC,5562,-0.63,-146.1,641.4,-10.4,347,5567,0.12,2.22,0.00,0.000,6,0.179,0.052,1626,2867,3421,0,0,0,0,0,0
$GC,5897,-0.63,-146.1,670.9,-9.0,358,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2867,3420,0,0,0,0,0,0
$GC,6201,-0.63,-146.1,698.3,-8.8,368,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2867,3420,0,0,0,0,0,0
$GC,6508,-0.63,-146.1,724.3,-8.4,378,6512,0.00,2.17,0.00,0.000,4,0.000,0.039,1626,1479,3419,0,0,0,0,0,0
$GC,6540,-0.63,-146.1,727.1,-8.7,379,6544,0.00,2.25,0.00,0.000,6,0.000,0.053,1617,2871,3419,0,0,0,0,0,0
$GC,6878,-0.63,-146.1,757.5,-9.2,390,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2871,3418,0,0,0,0,0,0
$GC,7185,-0.63,-146.1,785.7,-9.3,400,7189,0.00,2.15,0.00,0.000,4,0.000,0.039,1617,1485,3417,0,0,0,0,0,0
$GC,7222,-0.63,-146.1,789.4,-9.4,401,7226,0.00,2.22,0.00,0.000,6,0.000,0.054,1606,2866,3417,0,0,0,0,0,0
$GC,7565,-0.63,-146.1,824.2,-10.2,412,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2866,3417,0,0,0,0,0,0
$GC,7872,-0.63,-146.1,855.0,-9.8,422,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2866,3417,0,0,0,0,0,0
$GC,8178,-0.63,-146.1,885.0,-9.7,432,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2866,3416,0,0,0,0,0,0
$GC,8484,-0.63,-146.1,914.9,-9.8,442,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2866,3416,0,0,0,0,0,0
$GC,8792,-0.63,-146.1,943.5,-9.1,452,8796,0.00,2.15,0.00,0.000,4,0.000,0.041,1606,1484,3416,0,0,0,0,0,0
$GC,8839,-0.63,-146.1,948.1,-9.1,453,8844,0.12,2.25,0.00,0.000,6,0.179,0.055,1627,2865,3415,0,0,0,0,0,0
$GC,9161,-0.63,-146.1,971.0,-7.1,464,9165,0.00,2.15,0.00,0.000,4,0.000,0.039,1627,1487,3415,0,0,0,0,0,0
$GC,9193,-0.63,-146.1,973.0,-6.9,465,9197,0.00,2.25,0.00,0.000,6,0.000,0.055,1618,2870,3415,0,0,0,0,0,0
$GC,9531,-0.63,-146.1,998.2,-7.4,476,9535,0.00,2.17,0.00,0.000,4,0.000,0.041,1618,1488,3414,0,0,0,0,0,0
$STATE,9550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9550,begin apogee
$GC,9563,-0.18,0.0,1000.1,7.4,476,9709,0.52,0.00,143.00,1.263,6,0.163,0.000,1764,2667,2819,0,0,0,0,0,0
$STATE,9711,end apogee,CONTROL_FINISHED_OK
$STATE,9712,begin climb
$GC,9716,0.63,146.1,1003.2,0.0,481,9880,0.80,2.50,151.23,1.210,4,0.096,0.047,2036,1301,2218,0,0,0,0,0,0
$GC,9912,0.63,146.1,978.1,18.6,487,9919,0.00,2.40,0.00,0.000,6,0.000,0.051,2036,2666,2215,0,0,0,0,0,0
$GC,10227,0.63,146.1,919.2,18.5,498,10231,0.00,2.22,0.00,0.000,4,0.000,0.047,2045,1289,2210,0,0,0,0,0,0
$GC,10259,0.63,146.1,913.6,17.7,499,10263,0.00,2.28,0.00,0.000,6,0.000,0.054,2046,2677,2208,0,0,0,0,0,0
$GC,10597,0.63,146.1,851.1,18.6,510,10601,0.00,1.98,0.00,0.000,4,0.000,0.063,2045,3906,2207,0,0,0,0,0,0
$GC,10648,0.63,146.1,840.0,20.3,511,10652,0.00,1.90,0.00,0.000,6,0.000,0.041,2055,2698,2207,0,0,0,0,0,0
$GC,10975,0.63,146.1,777.5,19.1,522,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2692,2207,0,0,0,0,0,0
$GC,11281,0.63,146.1,719.2,19.3,532,11285,0.00,2.28,0.00,0.000,4,0.000,0.047,2066,1258,2206,0,0,0,0,0,0
$GC,11316,0.63,146.1,712.2,18.5,533,11321,0.12,2.30,0.00,0.000,6,0.202,0.053,2037,2676,2205,0,0,0,0,0,0
$GC,11650,0.63,146.1,654.4,17.2,544,11654,0.00,1.95,0.00,0.000,4,0.000,0.061,2037,3897,2205,0,0,0,0,0,0
$GC,11696,0.63,146.1,645.3,19.8,545,11699,0.00,1.92,0.00,0.000,6,0.000,0.041,2045,2666,2205,0,0,0,0,0,0
$GC,12027,0.63,146.1,585.7,17.8,556,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2660,2205,0,0,0,0,0,0
$GC,12334,0.63,146.1,532.4,17.4,566,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2660,2204,0,0,0,0,0,0
$GC,12640,0.63,146.1,480.2,17.1,576,12644,0.00,2.05,0.00,0.000,4,0.000,0.061,2045,3900,2204,0,0,0,0,0,0
$GC,12692,0.63,146.1,469.9,19.9,577,12696,0.00,1.92,0.00,0.000,6,0.000,0.040,2055,2670,2204,0,0,0,0,0,0
$GC,13020,0.63,146.1,411.5,17.7,588,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2665,2203,0,0,0,0,0,0
$GC,13337,0.63,146.1,354.2,18.2,602,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2665,2203,0,0,0,0,0,0
$GC,13648,0.63,146.1,296.1,19.2,617,13652,0.00,2.03,0.00,0.000,4,0.000,0.060,2055,3894,2203,0,0,0,0,0,0
$GC,13683,0.63,146.1,288.1,21.7,618,13687,0.08,1.92,0.00,0.000,6,0.211,0.038,2044,2676,2203,0,0,0,0,0,0
$GC,14014,0.63,146.1,227.1,18.5,636,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2670,2203,0,0,0,0,0,0
$GC,14326,0.63,146.1,170.7,17.7,656,14330,0.00,2.00,0.00,0.000,4,0.000,0.058,2043,3896,2203,0,0,0,0,0,0
$GC,14390,0.63,146.1,158.1,20.0,659,14397,0.00,1.90,0.00,0.000,6,0.000,0.037,2052,2666,2203,0,0,0,0,0,0
$GC,14712,0.63,146.1,103.5,17.3,680,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2660,2203,0,0,0,0,0,0
$GC,15054,0.63,146.1,48.0,14.7,736,15063,0.00,2.20,0.00,0.000,4,0.000,0.043,2062,1272,2203,0,0,0,0,0,0
$GC,15140,0.63,146.1,36.1,13.7,749,15147,0.00,2.25,0.00,0.000,6,0.000,0.050,2062,2670,2203,0,0,0,0,0,0
$STATE,15346,end climb,SURFACE_DEPTH_REACHED
$STATE,15346,begin surface coast
$FINISH,1.0,1.004086
$STATE,15366,end surface coast,CONTROL_FINISHED_OK
$STATE,15366,begin surface
$SM_CCo,15389,44.05,0.687,1,0,1880,230.09
$SM_GC,2.36,0.00,0.00,44.05,0.000,0.000,0.687,57,2874,1880,-5.54,0.40,230.09
$IRIDIUM_FIX,-4311.50,710.81,010313,181848
$TT8_MAMPS,0.026215
$HUMID,57.87
$INTERNAL_PRESSURE,9.45316
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.9,85.872
$10V_AH,9.9,46.419
$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,14.075,79.600,294.225,44.050,0.000,29.840,23.241,350.329,0.000,0.000,21.833,1925.606,10692.995,423.831,2360.129,684.316,33.379,1226.670,0.000,1882.142,0.000,1.011,0.000
$DEVICE_MAMPS,244.035,69.615,1263.015,686.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.730,1536.547,821.376,333.887,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,57193,785
$CAP_FILE_SIZE,115097,0
$CFSIZE,259252224,200040448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020313,081634,-4326.077,708.234,38,0.8,38,-24.6