version: 66.07
glider: 542
mission: 6
dive: 467
start: 3 3 113 14 29 40
data:
$ID,542
$MISSION,6
$DIVE,467
$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,-14869.051
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,030313,141828,-4329.634,706.935,37,0.8,37,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-65.9
$GPS2,030313,142841,-4329.601,707.069,17,0.8,18,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.158,-0.071
$KALMAN_X,1631.3,-111.4,-30.0,213937.8,4922.7
$KALMAN_Y,791309.2,-559.3,274.4,-417520.4,2215.2
$MHEAD_RNG_PITCHd_Wd,270.6,2824,-27.2,-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,22,begin dive
$GC,27,-0.78,-63.1,0.0,0.0,0,91,0.00,0.00,-58.47,0.000,6,0.000,0.000,50,2877,3078,0,0,0,0,0,0
$GC,98,-0.87,-136.6,3.3,-2.2,8,117,6.35,1.67,-7.78,0.000,4,0.243,0.071,1534,3900,3378,0,0,0,0,0,0
$GC,147,-0.87,-136.6,14.5,-21.8,14,157,0.00,1.62,0.00,0.000,6,0.000,0.028,1537,2833,3380,0,0,0,0,0,0
$GC,237,-0.87,-136.6,33.8,-21.9,27,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,2833,3380,0,0,0,0,0,0
$GC,479,-0.87,-136.6,88.3,-22.6,68,486,0.00,2.08,0.00,0.000,4,0.000,0.034,1537,1471,3381,0,0,0,0,0,0
$GC,516,-0.87,-136.6,95.3,-22.4,73,521,0.00,2.22,0.00,0.000,6,0.000,0.050,1528,2860,3381,0,0,0,0,0,0
$GC,850,-0.87,-136.6,163.7,-19.8,96,853,0.00,1.65,0.00,0.000,4,0.000,0.055,1520,3891,3382,0,0,0,0,0,0
$GC,948,-0.87,-136.6,184.9,-20.8,101,954,0.00,1.55,0.00,0.000,6,0.000,0.029,1520,2850,3382,0,0,0,0,0,0
$GC,1271,-0.87,-136.6,245.5,-18.9,122,1275,0.12,1.70,0.00,0.000,4,0.200,0.055,1542,3904,3383,0,0,0,0,0,0
$GC,1358,-0.87,-136.6,262.0,-17.8,126,1367,0.00,1.58,0.00,0.000,6,0.000,0.029,1547,2854,3384,0,0,0,0,0,0
$GC,1676,-0.87,-136.6,312.2,-16.1,142,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2854,3384,0,0,0,0,0,0
$GC,1988,-0.87,-136.6,360.1,-15.2,157,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2854,3384,0,0,0,0,0,0
$GC,2305,-0.87,-136.6,407.4,-14.8,172,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2854,3384,0,0,0,0,0,0
$GC,2611,-0.87,-136.6,451.8,-14.3,182,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2854,3384,0,0,0,0,0,0
$GC,2918,-0.87,-136.6,496.8,-14.6,192,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2854,3384,0,0,0,0,0,0
$GC,3224,-0.87,-136.6,544.1,-15.7,202,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2853,3384,0,0,0,0,0,0
$GC,3530,-0.87,-136.6,592.7,-15.8,212,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2854,3384,0,0,0,0,0,0
$GC,3838,-0.87,-136.6,641.4,-15.8,222,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2854,3383,0,0,0,0,0,0
$GC,4143,-0.87,-136.6,690.3,-15.9,232,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2854,3382,0,0,0,0,0,0
$GC,4448,-0.87,-136.6,738.8,-15.7,242,4452,0.00,2.10,0.00,0.000,4,0.000,0.037,1547,1491,3381,0,0,0,0,0,0
$GC,4483,-0.87,-136.6,744.4,-14.4,243,4487,0.00,2.22,0.00,0.000,6,0.000,0.054,1538,2865,3382,0,0,0,0,0,0
$GC,4816,-0.87,-136.6,797.7,-16.3,254,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2865,3381,0,0,0,0,0,0
$GC,5121,-0.87,-136.6,844.7,-14.9,264,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2865,3380,0,0,0,0,0,0
$GC,5428,-0.87,-136.6,890.3,-14.8,274,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2864,3380,0,0,0,0,0,0
$GC,5734,-0.87,-136.6,935.1,-14.4,284,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2865,3379,0,0,0,0,0,0
$GC,6040,-0.87,-136.6,979.0,-14.3,294,6044,0.00,2.12,0.00,0.000,4,0.000,0.038,1538,1493,3379,0,0,0,0,0,0
$GC,6086,-0.87,-136.6,985.5,-12.5,295,6090,0.00,2.22,0.00,0.000,6,0.000,0.055,1527,2860,3379,0,0,0,0,0,0
$STATE,6188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6188,begin apogee
$GC,6199,-0.18,0.0,1000.4,14.4,299,6341,0.88,0.00,133.38,1.258,6,0.181,0.000,1767,2692,2819,0,0,0,0,0,0
$STATE,6343,end apogee,CONTROL_FINISHED_OK
$STATE,6343,begin climb
$GC,6347,0.87,136.6,1004.8,0.0,304,6508,1.00,2.58,146.20,1.751,4,0.087,0.043,2111,1288,2266,0,0,0,0,1,0
$GC,6610,0.87,136.6,960.5,21.6,312,6614,0.00,2.40,0.00,0.000,6,0.000,0.055,2111,2670,2263,0,0,0,0,0,0
$GC,6953,0.87,136.6,878.1,24.4,323,6957,0.00,2.28,0.00,0.000,4,0.000,0.047,2122,1271,2260,0,0,0,0,0,0
$GC,6972,0.87,136.6,873.2,24.4,323,6976,0.00,2.30,0.00,0.000,6,0.000,0.054,2120,2679,2258,0,0,0,0,0,0
$GC,7292,0.87,136.6,795.0,24.4,334,7297,0.00,2.25,0.00,0.000,4,0.000,0.045,2129,1270,2258,0,0,0,0,0,0
$GC,7316,0.87,136.6,788.8,24.3,334,7320,0.00,2.30,0.00,0.000,6,0.000,0.055,2130,2676,2257,0,0,0,0,0,0
$GC,7632,0.87,136.6,711.5,24.5,344,7636,0.00,2.20,0.00,0.000,4,0.000,0.045,2140,1269,2257,0,0,0,0,0,0
$GC,7655,0.87,136.6,705.2,24.3,344,7663,0.12,2.28,0.00,0.000,6,0.238,0.054,2114,2672,2257,0,0,0,0,0,0
$GC,7971,0.87,136.6,632.6,23.3,355,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2672,2256,0,0,0,0,0,0
$GC,8277,0.87,136.6,560.6,23.5,365,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2672,2256,0,0,0,0,0,0
$GC,8583,0.87,136.6,489.4,23.5,375,8587,0.00,2.17,0.00,0.000,4,0.000,0.043,2124,1270,2255,0,0,0,0,0,0
$GC,8624,0.87,136.6,480.2,22.0,376,8628,0.00,2.28,0.00,0.000,6,0.000,0.054,2123,2677,2254,0,0,0,0,0,0
$GC,8963,0.87,136.6,401.5,23.8,387,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2677,2254,0,0,0,0,0,0
$GC,9281,0.87,136.6,325.5,23.7,402,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2677,2254,0,0,0,0,0,0
$GC,9592,0.87,136.6,251.1,24.4,417,9596,0.00,1.98,0.00,0.000,4,0.000,0.062,2123,3908,2254,0,0,0,0,0,0
$GC,9610,0.87,136.6,245.7,24.7,417,9616,0.00,1.92,0.00,0.000,6,0.000,0.037,2132,2668,2254,0,0,0,0,0,0
$GC,9932,0.87,136.6,170.3,21.1,438,9936,0.00,2.20,0.00,0.000,4,0.000,0.043,2142,1261,2253,0,0,0,0,0,0
$GC,9973,0.87,136.6,161.2,19.9,440,9982,0.10,2.33,0.00,0.000,6,0.216,0.053,2117,2674,2252,0,0,0,0,0,0
$GC,10302,0.87,136.6,95.3,19.2,463,10307,0.00,1.98,0.00,0.000,4,0.000,0.062,2116,3904,2252,0,0,0,0,0,0
$GC,10385,0.87,136.6,76.1,21.3,477,10392,0.00,1.95,0.00,0.000,6,0.000,0.036,2125,2659,2252,0,0,0,0,0,0
$GC,10757,0.87,136.6,6.0,21.2,538,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2653,2252,0,0,0,0,0,0
$STATE,10773,end climb,SURFACE_DEPTH_REACHED
$STATE,10773,begin surface coast
$FINISH,1.0,1.015521
$STATE,10787,end surface coast,CONTROL_FINISHED_OK
$STATE,10787,begin surface
$SM_CCo,10810,49.22,0.725,1,0,1880,230.09
$SM_GC,2.25,0.00,0.00,49.22,0.000,0.000,0.725,58,2885,1880,-5.54,0.71,230.09
$IRIDIUM_FIX,-4317.42,708.61,030313,101029
$TT8_MAMPS,0.025466
$HUMID,59.64
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,21.1,87.220
$10V_AH,9.9,47.211
$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,14.050,58.750,279.575,49.225,0.000,25.383,47.469,306.077,0.000,0.000,23.608,1341.604,7443.068,405.692,1739.675,543.740,33.371,997.056,0.000,1321.248,0.000,1.010,0.000
$DEVICE_MAMPS,243.270,71.145,1751.085,725.220,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.396,1080.031,580.611,226.588,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,40425,542
$CAP_FILE_SIZE,83071,0
$CFSIZE,259252224,199585792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030313,173149,-4329.165,705.995,15,0.9,16,-24.6