version: 66.07
glider: 542
mission: 6
dive: 461
start: 3 2 113 16 14 23
data:
$ID,542
$MISSION,6
$DIVE,461
$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,-14841.724
$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,57
$R_STBD_OVSHOOT,23
$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
$GPS1,020313,160358,-4328.114,706.962,39,0.9,39,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-61.1
$GPS2,020313,161323,-4328.152,707.107,18,0.9,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.102,-0.239
$KALMAN_X,-4617.2,-1241.3,-153.8,221494.6,5509.7
$KALMAN_Y,787777.8,-1084.3,-139.3,-410379.6,5793.3
$MHEAD_RNG_PITCHd_Wd,227.6,2990,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-54.80,0.000,2,0.000,0.000,51,2835,2995,0,0,0,0,0,0
$GC,90,-0.63,-146.1,3.5,-5.2,7,116,6.57,1.75,-10.90,0.000,4,0.239,0.073,1611,3890,3417,0,0,0,0,0,0
$GC,189,-0.63,-146.1,21.4,-16.6,21,198,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2852,3417,0,0,0,0,0,0
$GC,273,-0.63,-146.1,34.4,-14.6,34,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2851,3417,0,0,0,0,0,0
$GC,523,-0.63,-146.1,75.8,-15.7,75,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2851,3418,0,0,0,0,0,0
$GC,861,-0.63,-146.1,119.4,-12.1,116,865,0.00,1.70,0.00,0.000,4,0.000,0.057,1603,3900,3419,0,0,0,0,0,0
$GC,898,-0.63,-146.1,124.3,-13.6,118,902,0.00,1.58,0.00,0.000,6,0.000,0.031,1603,2851,3419,0,0,0,0,0,0
$GC,1233,-0.63,-146.1,167.8,-12.5,139,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2845,3419,0,0,0,0,0,0
$GC,1545,-0.63,-146.1,207.5,-12.6,159,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2846,3419,0,0,0,0,0,0
$GC,1859,-0.63,-146.1,245.9,-12.1,179,1862,0.00,1.70,0.00,0.000,4,0.000,0.058,1595,3909,3420,0,0,0,0,0,0
$GC,1889,-0.63,-146.1,250.1,-12.1,180,1899,0.08,1.58,0.00,0.000,6,0.152,0.031,1618,2863,3421,0,0,0,0,0,0
$GC,2209,-0.63,-146.1,282.5,-10.0,196,2213,0.00,2.10,0.00,0.000,4,0.000,0.037,1618,1489,3421,0,0,0,0,0,0
$GC,2244,-0.63,-146.1,286.3,-9.6,197,2251,0.00,2.20,0.00,0.000,6,0.000,0.050,1609,2869,3421,0,0,0,0,0,0
$GC,2566,-0.63,-146.1,321.3,-11.4,213,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2870,3421,0,0,0,0,0,0
$GC,2872,-0.63,-146.1,356.1,-11.1,228,2876,0.00,1.62,0.00,0.000,4,0.000,0.059,1601,3890,3422,0,0,0,0,0,0
$GC,2902,-0.63,-146.1,359.9,-12.1,229,2905,0.00,1.55,0.00,0.000,6,0.000,0.031,1601,2861,3422,0,0,0,0,0,0
$GC,3234,-0.63,-146.1,398.3,-11.9,245,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2855,3422,0,0,0,0,0,0
$GC,3558,-0.63,-146.1,437.3,-11.8,256,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2855,3422,0,0,0,0,0,0
$GC,3864,-0.63,-146.1,473.3,-11.6,266,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2855,3422,0,0,0,0,0,0
$GC,4170,-0.63,-146.1,508.2,-11.3,276,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2855,3422,0,0,0,0,0,0
$GC,4477,-0.63,-146.1,542.6,-11.2,286,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2855,3422,0,0,0,0,0,0
$GC,4783,-0.63,-146.1,576.3,-10.9,296,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2854,3421,0,0,0,0,0,0
$GC,5089,-0.63,-146.1,609.8,-11.0,306,5093,0.00,2.12,0.00,0.000,4,0.000,0.039,1601,1484,3421,0,0,0,0,0,0
$GC,5121,-0.63,-146.1,613.3,-11.2,307,5126,0.12,2.22,0.00,0.000,6,0.175,0.052,1622,2866,3421,0,0,0,0,0,0
$GC,5460,-0.63,-146.1,645.2,-9.3,318,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2866,3421,0,0,0,0,0,0
$GC,5767,-0.63,-146.1,672.6,-8.7,328,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2866,3420,0,0,0,0,0,0
$GC,6073,-0.63,-146.1,699.3,-8.8,338,6077,0.00,2.17,0.00,0.000,4,0.000,0.040,1623,1478,3419,0,0,0,0,0,0
$GC,6108,-0.63,-146.1,702.8,-9.2,339,6112,0.00,2.25,0.00,0.000,6,0.000,0.054,1613,2867,3418,0,0,0,0,0,0
$GC,6440,-0.63,-146.1,735.0,-10.0,350,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2867,3418,0,0,0,0,0,0
$GC,6748,-0.63,-146.1,766.1,-10.2,360,6752,0.00,2.15,0.00,0.000,4,0.000,0.038,1613,1485,3418,0,0,0,0,0,0
$GC,6783,-0.63,-146.1,769.3,-10.5,361,6787,0.00,2.22,0.00,0.000,6,0.000,0.054,1602,2860,3417,0,0,0,0,0,0
$GC,7120,-0.63,-146.1,805.1,-10.7,372,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2860,3417,0,0,0,0,0,0
$GC,7427,-0.63,-146.1,839.1,-11.2,382,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2860,3417,0,0,0,0,0,0
$GC,7733,-0.63,-146.1,874.4,-11.6,392,7737,0.00,2.17,0.00,0.000,4,0.000,0.039,1603,1485,3416,0,0,0,0,0,0
$GC,7778,-0.63,-146.1,879.8,-11.3,393,7783,0.12,2.22,0.00,0.000,6,0.177,0.054,1624,2858,3416,0,0,0,0,0,0
$GC,8101,-0.63,-146.1,910.7,-9.5,404,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2858,3416,0,0,0,0,0,0
$GC,8408,-0.63,-146.1,938.6,-8.9,414,8412,0.00,2.12,0.00,0.000,4,0.000,0.038,1624,1484,3415,0,0,0,0,0,0
$GC,8466,-0.63,-146.1,943.7,-7.4,415,8473,0.00,2.25,0.00,0.000,6,0.000,0.055,1614,2871,3414,0,0,0,0,0,0
$GC,8782,-0.63,-146.1,970.5,-8.4,426,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2871,3414,0,0,0,0,0,0
$GC,9088,-0.63,-146.1,995.3,-8.0,436,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2871,3414,0,0,0,0,0,0
$STATE,9144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9144,begin apogee
$GC,9155,-0.18,0.0,1000.1,7.9,438,9301,0.52,0.00,143.15,1.270,6,0.152,0.000,1770,2686,2820,0,0,0,0,0,0
$STATE,9303,end apogee,CONTROL_FINISHED_OK
$STATE,9303,begin climb
$GC,9308,0.63,146.1,1003.3,0.0,443,9483,0.80,0.00,160.43,1.740,6,0.090,0.000,2028,2686,2223,0,0,0,0,2,0
$GC,9787,0.63,146.1,925.9,18.8,459,9790,0.00,2.00,0.00,0.000,4,0.000,0.061,2027,3897,2221,0,0,0,0,0,0
$GC,9824,0.63,146.1,918.5,21.3,460,9827,0.00,1.95,0.00,0.000,6,0.000,0.039,2037,2673,2221,0,0,0,0,0,0
$GC,10166,0.63,146.1,850.7,19.8,471,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2667,2219,0,0,0,0,0,0
$GC,10474,0.63,146.1,792.0,19.5,481,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2667,2218,0,0,0,0,0,0
$GC,10779,0.63,146.1,737.1,18.0,491,10783,0.00,2.00,0.00,0.000,4,0.000,0.061,2037,3902,2218,0,0,0,0,0,0
$GC,10831,0.63,146.1,726.7,20.0,492,10835,0.00,1.95,0.00,0.000,6,0.000,0.040,2047,2674,2218,0,0,0,0,0,0
$GC,11157,0.63,146.1,665.7,18.8,503,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2668,2217,0,0,0,0,0,0
$GC,11464,0.63,146.1,608.9,18.5,513,11467,0.00,2.00,0.00,0.000,4,0.000,0.062,2047,3901,2217,0,0,0,0,0,0
$GC,11509,0.63,146.1,599.3,20.4,514,11513,0.00,1.92,0.00,0.000,6,0.000,0.039,2056,2668,2217,0,0,0,0,0,0
$GC,11841,0.63,146.1,537.9,18.3,525,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2663,2216,0,0,0,0,0,0
$GC,12149,0.63,146.1,483.2,17.6,535,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2663,2216,0,0,0,0,0,0
$GC,12453,0.63,146.1,428.7,18.2,545,12457,0.00,2.03,0.00,0.000,4,0.000,0.062,2056,3902,2216,0,0,0,0,0,0
$GC,12524,0.63,146.1,414.3,20.6,547,12528,0.12,1.92,0.00,0.000,6,0.221,0.039,2039,2669,2216,0,0,0,0,0,0
$GC,12851,0.63,146.1,356.7,17.5,561,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2663,2215,0,0,0,0,0,0
$GC,13159,0.63,146.1,303.8,16.9,576,13162,0.00,2.00,0.00,0.000,4,0.000,0.060,2038,3894,2215,0,0,0,0,0,0
$GC,13207,0.63,146.1,295.0,19.4,578,13211,0.00,1.92,0.00,0.000,6,0.000,0.038,2047,2659,2215,0,0,0,0,0,0
$GC,13527,0.63,146.1,240.7,16.9,594,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2653,2215,0,0,0,0,0,0
$GC,13841,0.63,146.1,187.3,16.5,614,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2653,2215,0,0,0,0,0,0
$GC,14152,0.63,146.1,135.4,17.7,634,14155,0.00,2.00,0.00,0.000,4,0.000,0.060,2047,3897,2215,0,0,0,0,0,0
$GC,14215,0.63,146.1,123.0,19.7,637,14222,0.00,1.90,0.00,0.000,6,0.000,0.037,2056,2670,2215,0,0,0,0,0,0
$GC,14557,0.63,146.1,64.5,14.0,682,14564,0.00,2.00,0.00,0.000,4,0.000,0.059,2057,3904,2215,0,0,0,0,0,0
$GC,14606,0.63,146.1,56.4,17.8,689,14613,0.12,1.92,0.00,0.000,6,0.213,0.037,2038,2657,2215,0,0,0,0,0,0
$GC,14862,0.63,146.1,21.7,14.1,730,14871,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2656,2215,0,0,0,0,0,0
$GC,14949,0.63,146.1,9.3,13.8,743,14958,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2656,2215,0,0,0,0,0,0
$STATE,14990,end climb,SURFACE_DEPTH_REACHED
$STATE,14990,begin surface coast
$FINISH,0.9,1.015639
$STATE,15010,end surface coast,CONTROL_FINISHED_OK
$STATE,15010,begin surface
$SM_CCo,15032,46.00,0.718,1,0,1881,230.09
$SM_GC,2.33,0.00,0.00,46.00,0.000,0.000,0.718,49,2876,1881,-5.57,0.45,230.09
$IRIDIUM_FIX,-4311.50,704.93,020313,121204
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.1,86.350
$10V_AH,9.9,46.704
$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,13.725,67.425,303.575,46.000,0.000,24.602,20.926,297.503,0.000,0.000,20.786,1855.929,10506.036,462.032,2190.856,630.114,33.401,1203.575,0.000,1777.248,0.000,1.011,0.000
$DEVICE_MAMPS,238.680,73.440,1740.375,717.570,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.448,1486.175,791.735,303.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,53814,752
$CAP_FILE_SIZE,108032,0
$CFSIZE,259252224,199876608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020313,202704,-4329.586,706.359,30,0.9,30,-24.6