version: 66.07
glider: 542
mission: 6
dive: 460
start: 3 2 113 12 53 7
data:
$ID,542
$MISSION,6
$DIVE,460
$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,-14838.27
$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,41
$R_STBD_OVSHOOT,31
$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
$GPS1,020313,124128,-4327.435,707.593,41,0.9,41,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-60.9
$GPS2,020313,125211,-4327.479,707.666,15,0.8,16,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.108,-0.160
$KALMAN_X,-6384.5,-658.1,-257.8,223485.0,3839.8
$KALMAN_Y,783680.2,583.8,224.9,-407066.5,393.1
$MHEAD_RNG_PITCHd_Wd,238.6,3339,-24.4,-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,-0.72,-78.0,0.0,0.0,0,75,0.00,0.00,-47.03,0.000,2,0.000,0.000,56,2887,2806,0,0,0,0,0,0
$GC,82,-0.81,-146.1,3.1,-4.1,6,117,6.38,1.62,-21.08,0.000,4,0.242,0.074,1557,3897,3416,0,0,0,0,0,0
$GC,165,-0.81,-146.1,13.9,-19.3,17,174,0.00,1.62,0.00,0.000,6,0.000,0.031,1562,2833,3418,0,0,0,0,0,0
$GC,251,-0.81,-146.1,32.4,-20.7,30,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2831,3418,0,0,0,0,0,0
$GC,497,-0.81,-146.1,84.3,-21.5,71,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2832,3418,0,0,0,0,0,0
$GC,836,-0.81,-146.1,139.7,-15.1,102,839,0.00,1.70,0.00,0.000,4,0.000,0.057,1556,3896,3418,0,0,0,0,0,0
$GC,891,-0.81,-146.1,148.5,-16.2,105,895,0.00,1.58,0.00,0.000,6,0.000,0.031,1556,2855,3419,0,0,0,0,0,0
$GC,1224,-0.81,-146.1,202.6,-16.4,126,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2849,3419,0,0,0,0,0,0
$GC,1543,-0.81,-146.1,255.1,-16.6,146,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2849,3420,0,0,0,0,0,0
$GC,1852,-0.81,-146.1,307.2,-16.5,161,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2850,3420,0,0,0,0,0,0
$GC,2162,-0.81,-146.1,357.9,-16.0,176,2166,0.00,1.67,0.00,0.000,4,0.000,0.057,1548,3900,3420,0,0,0,0,0,0
$GC,2235,-0.81,-146.1,370.4,-16.9,179,2239,0.00,1.58,0.00,0.000,6,0.000,0.031,1547,2858,3420,0,0,0,0,0,0
$GC,2581,-0.81,-146.1,428.4,-16.7,193,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2852,3420,0,0,0,0,0,0
$GC,2886,-0.81,-146.1,477.7,-15.9,203,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2852,3421,0,0,0,0,0,0
$GC,3193,-0.81,-146.1,524.9,-15.2,213,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2852,3420,0,0,0,0,0,0
$GC,3498,-0.81,-146.1,571.9,-15.4,223,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2852,3420,0,0,0,0,0,0
$GC,3804,-0.81,-146.1,617.5,-14.7,233,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2852,3420,0,0,0,0,0,0
$GC,4111,-0.81,-146.1,661.9,-14.6,243,4115,0.00,1.70,0.00,0.000,4,0.000,0.059,1540,3893,3420,0,0,0,0,0,0
$GC,4148,-0.81,-146.1,667.6,-15.4,244,4152,0.00,1.58,0.00,0.000,6,0.000,0.033,1540,2859,3420,0,0,0,0,0,0
$GC,4491,-0.81,-146.1,720.7,-15.4,255,4493,0.12,0.00,0.00,0.000,6,0.194,0.000,1570,2854,3419,0,0,0,0,0,0
$GC,4798,-0.81,-146.1,761.8,-13.1,265,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2853,3418,0,0,0,0,0,0
$GC,5103,-0.81,-146.1,801.8,-13.2,275,5107,0.00,1.70,0.00,0.000,4,0.000,0.060,1562,3890,3418,0,0,0,0,0,0
$GC,5144,-0.81,-146.1,807.6,-14.2,276,5148,0.00,1.58,0.00,0.000,6,0.000,0.034,1563,2856,3417,0,0,0,0,0,0
$GC,5483,-0.81,-146.1,853.5,-13.8,287,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2851,3417,0,0,0,0,0,0
$GC,5788,-0.81,-146.1,896.3,-14.0,297,5791,0.00,1.67,0.00,0.000,4,0.000,0.059,1556,3892,3416,0,0,0,0,0,0
$GC,5824,-0.81,-146.1,901.5,-14.6,298,5828,0.00,1.58,0.00,0.000,6,0.000,0.032,1556,2854,3416,0,0,0,0,0,0
$GC,6167,-0.81,-146.1,950.6,-14.3,309,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2848,3416,0,0,0,0,0,0
$GC,6473,-0.81,-146.1,992.7,-13.7,319,6477,0.00,1.70,0.00,0.000,4,0.000,0.060,1548,3902,3415,0,0,0,0,0,0
$STATE,6520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6520,begin apogee
$GC,6532,-0.18,0.0,1000.5,14.6,320,6678,0.75,0.00,141.75,1.265,6,0.172,0.000,1762,2668,2820,0,0,0,0,0,0
$STATE,6679,end apogee,CONTROL_FINISHED_OK
$STATE,6680,begin climb
$GC,6685,0.81,146.1,1006.2,0.0,325,6856,0.98,2.53,156.88,1.748,4,0.090,0.045,2093,1290,2226,0,0,0,0,1,0
$GC,6949,0.81,146.1,964.5,20.3,333,6953,0.00,2.38,0.00,0.000,6,0.000,0.051,2093,2662,2222,0,0,0,0,0,0
$GC,7288,0.81,146.1,888.8,23.2,344,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2663,2219,0,0,0,0,0,0
$GC,7593,0.81,146.1,818.0,23.5,354,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2663,2218,0,0,0,0,0,0
$GC,7903,0.81,146.1,744.7,23.9,364,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2663,2218,0,0,0,0,0,0
$GC,8205,0.81,146.1,672.4,23.5,374,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2663,2217,0,0,0,0,0,0
$GC,8513,0.81,146.1,601.0,23.1,384,8517,0.00,1.98,0.00,0.000,4,0.000,0.060,2094,3901,2216,0,0,0,0,0,0
$GC,8565,0.81,146.1,587.2,26.5,385,8569,0.00,1.92,0.00,0.000,6,0.000,0.039,2103,2672,2216,0,0,0,0,0,0
$GC,8891,0.81,146.1,510.5,23.4,396,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2666,2216,0,0,0,0,0,0
$GC,9197,0.81,146.1,439.2,22.9,406,9201,0.00,2.00,0.00,0.000,4,0.000,0.061,2103,3903,2215,0,0,0,0,0,0
$GC,9238,0.81,146.1,429.0,25.1,407,9242,0.00,1.95,0.00,0.000,6,0.000,0.039,2112,2674,2215,0,0,0,0,0,0
$GC,9557,0.81,146.1,356.6,22.3,420,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2669,2215,0,0,0,0,0,0
$GC,9868,0.81,146.1,287.4,22.5,435,9872,0.00,2.00,0.00,0.000,4,0.000,0.060,2112,3904,2215,0,0,0,0,0,0
$GC,9933,0.81,146.1,271.3,25.5,437,9940,0.12,1.92,0.00,0.000,6,0.251,0.039,2097,2666,2214,0,0,0,0,0,0
$GC,10269,0.81,146.1,202.2,20.5,457,10273,0.00,2.20,0.00,0.000,4,0.000,0.045,2106,1269,2214,0,0,0,0,0,0
$GC,10310,0.81,146.1,192.7,18.9,459,10315,0.00,2.28,0.00,0.000,6,0.000,0.051,2105,2675,2212,0,0,0,0,0,0
$GC,10634,0.81,146.1,126.1,20.6,479,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2675,2212,0,0,0,0,0,0
$GC,10968,0.81,146.1,60.5,17.1,523,10973,0.00,1.95,0.00,0.000,4,0.000,0.058,2104,3903,2212,0,0,0,0,0,0
$GC,11001,0.81,146.1,53.9,18.9,528,11010,0.00,1.95,0.00,0.000,6,0.000,0.038,2113,2661,2212,0,0,0,0,0,0
$GC,11257,0.81,146.1,5.9,22.6,569,11266,0.00,2.03,0.00,0.000,4,0.000,0.060,2113,3892,2212,0,0,0,0,0,0
$STATE,11274,end climb,SURFACE_DEPTH_REACHED
$STATE,11274,begin surface coast
$FINISH,1.0,1.026179
$STATE,11288,end surface coast,CONTROL_FINISHED_OK
$STATE,11288,begin surface
$SM_CCo,11312,47.00,0.724,1,0,1880,230.09
$SM_GC,2.14,0.00,0.00,47.00,0.000,0.000,0.724,51,2835,1880,-5.56,-0.71,230.09
$IRIDIUM_FIX,-4308.55,707.87,020313,080815
$TT8_MAMPS,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.42386
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,21.2,86.191
$10V_AH,9.9,46.603
$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,13.900,51.900,298.625,47.000,0.000,25.061,21.014,343.263,0.000,0.000,17.898,1421.483,7756.836,397.307,1865.340,555.329,33.365,1022.379,0.000,1422.879,0.000,1.010,0.000
$DEVICE_MAMPS,250.920,74.205,1748.025,724.455,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.848,1141.061,623.426,245.409,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354348
$DATA_FILE_SIZE,40605,573
$CAP_FILE_SIZE,85505,0
$CFSIZE,259252224,199966720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020313,160358,-4328.114,706.962,39,0.9,39,-24.6