version: 66.07
glider: 542
mission: 6
dive: 462
start: 3 2 113 20 38 43
data:
$ID,542
$MISSION,6
$DIVE,462
$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,-14845.182
$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,48
$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
$GPS1,020313,202704,-4329.586,706.359,30,0.9,30,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-65.4
$GPS2,020313,203747,-4329.562,706.532,18,1.0,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.011,-0.260
$KALMAN_X,-3633.2,-811.7,-598.2,219806.3,5350.9
$KALMAN_Y,790303.1,-1432.2,-416.9,-414862.9,6871.8
$MHEAD_RNG_PITCHd_Wd,207.1,3476,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-46.97,0.000,2,0.000,0.000,49,2876,2799,0,0,0,0,0,0
$GC,82,-0.63,-146.1,3.2,-4.2,6,116,6.60,1.70,-21.35,0.000,4,0.239,0.078,1610,3892,3417,0,0,0,0,0,0
$GC,259,-0.63,-146.1,26.6,-15.8,32,268,0.00,1.60,0.00,0.000,6,0.000,0.032,1610,2842,3418,0,0,0,0,0,0
$GC,347,-0.63,-146.1,39.7,-15.8,45,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2841,3418,0,0,0,0,0,0
$GC,590,-0.63,-146.1,74.2,-14.4,86,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2841,3418,0,0,0,0,0,0
$GC,930,-0.63,-146.1,117.3,-11.3,129,934,0.00,1.70,0.00,0.000,4,0.000,0.057,1602,3890,3419,0,0,0,0,0,0
$GC,988,-0.63,-146.1,124.9,-12.6,132,992,0.00,1.55,0.00,0.000,6,0.000,0.031,1602,2852,3420,0,0,0,0,0,0
$GC,1317,-0.63,-146.1,165.2,-12.4,153,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2846,3420,0,0,0,0,0,0
$GC,1629,-0.63,-146.1,203.9,-12.1,173,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2847,3420,0,0,0,0,0,0
$GC,1942,-0.63,-146.1,243.2,-13.0,193,1946,0.00,1.70,0.00,0.000,4,0.000,0.058,1594,3894,3421,0,0,0,0,0,0
$GC,1981,-0.63,-146.1,248.4,-13.5,195,1985,0.08,1.55,0.00,0.000,6,0.153,0.031,1633,2862,3422,0,0,0,0,0,0
$GC,2313,-0.63,-146.1,284.6,-10.9,211,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2856,3422,0,0,0,0,0,0
$GC,2621,-0.63,-146.1,315.9,-9.6,226,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2856,3422,0,0,0,0,0,0
$GC,2932,-0.63,-146.1,343.5,-9.1,241,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2856,3422,0,0,0,0,0,0
$GC,3239,-0.63,-146.1,371.1,-9.0,256,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2856,3422,0,0,0,0,0,0
$GC,3551,-0.63,-146.1,399.3,-9.2,271,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2856,3422,0,0,0,0,0,0
$GC,3875,-0.63,-146.1,429.3,-9.0,282,3879,0.00,2.10,0.00,0.000,4,0.000,0.037,1634,1479,3422,0,0,0,0,0,0
$GC,3910,-0.63,-146.1,432.7,-8.2,283,3915,0.00,2.22,0.00,0.000,6,0.000,0.052,1625,2862,3422,0,0,0,0,0,0
$GC,4243,-0.63,-146.1,464.0,-9.5,294,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3422,0,0,0,0,0,0
$GC,4549,-0.63,-146.1,491.6,-8.9,304,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3422,0,0,0,0,0,0
$GC,4855,-0.63,-146.1,519.6,-9.3,314,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3422,0,0,0,0,0,0
$GC,5163,-0.63,-146.1,550.1,-10.3,324,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2862,3421,0,0,0,0,0,0
$GC,5467,-0.63,-146.1,583.5,-11.1,334,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3421,0,0,0,0,0,0
$GC,5775,-0.63,-146.1,617.1,-10.8,344,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2862,3420,0,0,0,0,0,0
$GC,6081,-0.63,-146.1,648.6,-10.0,354,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3420,0,0,0,0,0,0
$GC,6386,-0.63,-146.1,677.7,-9.2,364,6390,0.00,2.12,0.00,0.000,4,0.000,0.039,1625,1486,3419,0,0,0,0,0,0
$GC,6422,-0.63,-146.1,681.1,-9.2,365,6426,0.00,2.22,0.00,0.000,6,0.000,0.054,1614,2861,3419,0,0,0,0,0,0
$GC,6754,-0.63,-146.1,712.4,-9.3,376,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3418,0,0,0,0,0,0
$GC,7060,-0.63,-146.1,741.0,-9.3,386,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3418,0,0,0,0,0,0
$GC,7366,-0.63,-146.1,767.8,-8.7,396,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3417,0,0,0,0,0,0
$GC,7673,-0.63,-146.1,794.9,-8.9,406,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3417,0,0,0,0,0,0
$GC,7979,-0.63,-146.1,822.7,-9.0,416,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3417,0,0,0,0,0,0
$GC,8285,-0.63,-146.1,849.8,-8.7,426,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3416,0,0,0,0,0,0
$GC,8591,-0.63,-146.1,875.6,-8.2,436,8595,0.00,2.15,0.00,0.000,4,0.000,0.040,1614,1485,3416,0,0,0,0,0,0
$GC,8627,-0.63,-146.1,878.7,-7.5,437,8631,0.00,2.25,0.00,0.000,6,0.000,0.054,1605,2868,3416,0,0,0,0,0,0
$GC,8959,-0.63,-146.1,906.5,-8.4,448,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2869,3415,0,0,0,0,0,0
$GC,9266,-0.63,-146.1,931.6,-8.2,458,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2869,3415,0,0,0,0,0,0
$GC,9572,-0.63,-146.1,955.9,-7.8,468,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2868,3415,0,0,0,0,0,0
$GC,9878,-0.63,-146.1,981.0,-8.4,478,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2868,3414,0,0,0,0,0,0
$STATE,10087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10087,begin apogee
$GC,10098,-0.18,0.0,1000.5,9.2,485,10245,0.55,0.00,143.68,1.268,6,0.155,0.000,1766,2684,2820,0,0,0,0,0,0
$STATE,10247,end apogee,CONTROL_FINISHED_OK
$STATE,10247,begin climb
$GC,10252,0.63,146.1,1005.2,0.0,490,10423,0.82,0.00,159.18,1.762,6,0.092,0.000,2031,2684,2224,0,0,0,0,1,0
$GC,10731,0.63,146.1,934.2,17.2,506,10735,0.00,2.28,0.00,0.000,4,0.000,0.047,2041,1275,2220,0,0,0,0,0,0
$GC,10772,0.63,146.1,927.1,16.0,507,10776,0.00,2.30,0.00,0.000,6,0.000,0.053,2041,2670,2218,0,0,0,0,0,0
$GC,11098,0.63,146.1,870.2,17.6,518,11102,0.00,1.98,0.00,0.000,4,0.000,0.062,2041,3906,2217,0,0,0,0,0,0
$GC,11144,0.63,146.1,860.9,20.1,519,11148,0.00,1.92,0.00,0.000,6,0.000,0.041,2051,2678,2217,0,0,0,0,0,0
$GC,11476,0.63,146.1,798.1,19.0,530,11480,0.00,2.22,0.00,0.000,4,0.000,0.047,2061,1265,2216,0,0,0,0,0,0
$GC,11507,0.63,146.1,792.2,19.0,531,11512,0.00,2.28,0.00,0.000,6,0.000,0.053,2061,2672,2215,0,0,0,0,0,0
$GC,11846,0.63,146.1,726.3,19.6,542,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2673,2215,0,0,0,0,0,0
$GC,12153,0.63,146.1,666.0,19.7,552,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2673,2214,0,0,0,0,0,0
$GC,12457,0.63,146.1,606.3,19.4,562,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2673,2214,0,0,0,0,0,0
$GC,12764,0.63,146.1,547.2,19.5,572,12768,0.00,2.25,0.00,0.000,4,0.000,0.046,2072,1259,2215,0,0,0,0,0,0
$GC,12804,0.63,146.1,539.3,17.9,573,12809,0.15,2.28,0.00,0.000,6,0.196,0.053,2035,2676,2213,0,0,0,0,0,0
$GC,13131,0.63,146.1,483.3,17.1,584,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2676,2213,0,0,0,0,0,0
$GC,13440,0.63,146.1,431.4,17.0,594,13443,0.00,1.98,0.00,0.000,4,0.000,0.062,2035,3907,2213,0,0,0,0,0,0
$GC,13480,0.63,146.1,423.2,19.2,595,13484,0.00,1.95,0.00,0.000,6,0.000,0.039,2044,2658,2213,0,0,0,0,0,0
$GC,13798,0.63,146.1,369.3,16.8,608,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2651,2213,0,0,0,0,0,0
$GC,14110,0.63,146.1,316.6,16.9,623,14114,0.00,2.05,0.00,0.000,4,0.000,0.061,2044,3890,2212,0,0,0,0,0,0
$GC,14161,0.63,146.1,307.2,19.1,625,14164,0.00,1.92,0.00,0.000,6,0.000,0.039,2053,2656,2213,0,0,0,0,0,0
$GC,14497,0.63,146.1,247.6,17.0,641,14498,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2650,2212,0,0,0,0,0,0
$GC,14810,0.63,146.1,195.2,16.5,661,14811,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2650,2213,0,0,0,0,0,0
$GC,15122,0.63,146.1,140.2,18.4,681,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2649,2213,0,0,0,0,0,0
$GC,15446,0.63,146.1,83.2,15.5,713,15450,0.00,2.17,0.00,0.000,4,0.000,0.044,2063,1268,2213,0,0,0,0,0,0
$GC,15497,0.63,146.1,75.4,14.5,721,15502,0.12,2.28,0.00,0.000,6,0.187,0.051,2034,2672,2211,0,0,0,0,0,0
$GC,15861,0.63,146.1,24.4,13.5,782,15870,0.00,2.00,0.00,0.000,4,0.000,0.060,2033,3902,2211,0,0,0,0,0,0
$GC,15907,0.63,146.1,17.9,14.6,788,15916,0.00,1.92,0.00,0.000,6,0.000,0.036,2042,2666,2211,0,0,0,0,0,0
$GC,15995,0.63,146.1,5.4,15.6,801,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2666,2211,0,0,0,0,0,0
$STATE,16011,end climb,SURFACE_DEPTH_REACHED
$STATE,16011,begin surface coast
$FINISH,1.1,1.017124
$STATE,16037,end surface coast,CONTROL_FINISHED_OK
$STATE,16037,begin surface
$SM_CCo,16059,45.35,0.706,1,0,1879,230.09
$SM_GC,2.33,0.00,0.00,45.35,0.000,0.000,0.706,56,2887,1879,-5.55,0.76,230.09
$IRIDIUM_FIX,-4314.46,708.24,020313,161602
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.1,86.512
$10V_AH,9.9,46.811
$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,13.700,57.275,302.850,45.350,0.000,25.720,22.338,338.309,0.000,0.000,21.537,1960.478,11370.059,445.613,2299.177,666.052,33.379,1189.165,0.000,1841.647,0.000,1.011,0.000
$DEVICE_MAMPS,238.680,78.030,1761.795,706.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.150,1586.724,844.670,325.859,0.000,0.000,0.000,0.000,0.000,0.000
$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,57227,807
$CAP_FILE_SIZE,110312,0
$CFSIZE,259252224,199815168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030313,010835,-4331.638,707.024,34,1.2,34,-24.6