version: 66.07
glider: 542
mission: 6
dive: 468
start: 3 3 113 17 42 12
data:
$ID,542
$MISSION,6
$DIVE,468
$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,-14872.536
$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,32
$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
$GPS1,030313,173149,-4329.165,705.995,15,0.9,16,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.6
$GPS2,030313,174112,-4329.226,706.051,20,0.9,21,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.163,-0.192
$KALMAN_X,3798.0,-56.8,-680.1,211083.2,6976.1
$KALMAN_Y,793410.6,-154.0,-144.4,-418917.6,4263.9
$MHEAD_RNG_PITCHd_Wd,244.8,3985,-18.2,-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,21,begin dive
$GC,26,-0.63,-136.7,0.0,0.0,0,75,0.00,0.00,-47.03,0.000,2,0.000,0.000,57,2887,2807,0,0,0,0,0,0
$GC,82,-0.65,-146.1,3.2,-4.1,6,116,6.68,1.70,-21.45,0.000,4,0.247,0.080,1605,3900,3418,0,0,0,0,0,0
$GC,183,-0.65,-146.1,14.2,-16.2,20,193,0.00,1.62,0.00,0.000,6,0.000,0.031,1605,2835,3418,0,0,0,0,0,0
$GC,271,-0.65,-146.1,27.1,-15.2,33,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2834,3419,0,0,0,0,0,0
$GC,356,-0.65,-146.1,40.6,-15.1,46,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2835,3419,0,0,0,0,0,0
$GC,601,-0.65,-146.1,80.6,-16.4,87,607,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2834,3419,0,0,0,0,0,0
$GC,939,-0.65,-146.1,127.7,-13.2,122,943,0.00,1.70,0.00,0.000,4,0.000,0.062,1597,3891,3420,0,0,0,0,0,0
$GC,997,-0.65,-146.1,136.7,-13.9,125,1001,0.00,1.55,0.00,0.000,6,0.000,0.031,1598,2858,3420,0,0,0,0,0,0
$GC,1326,-0.65,-146.1,179.2,-12.9,146,1329,0.00,1.67,0.00,0.000,4,0.000,0.062,1590,3891,3420,0,0,0,0,0,0
$GC,1366,-0.65,-146.1,185.5,-14.2,148,1371,0.08,1.55,0.00,0.000,6,0.157,0.031,1613,2862,3421,0,0,0,0,0,0
$GC,1699,-0.65,-146.1,223.6,-11.9,169,1703,0.00,2.10,0.00,0.000,4,0.000,0.036,1613,1481,3421,0,0,0,0,0,0
$GC,1746,-0.65,-146.1,229.9,-10.8,171,1753,0.00,2.22,0.00,0.000,6,0.000,0.054,1604,2868,3421,0,0,0,0,0,0
$GC,2077,-0.65,-146.1,269.9,-11.9,190,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2867,3422,0,0,0,0,0,0
$GC,2388,-0.65,-146.1,305.0,-11.0,205,2392,0.00,1.65,0.00,0.000,4,0.000,0.061,1596,3896,3422,0,0,0,0,0,0
$GC,2423,-0.65,-146.1,309.5,-11.7,206,2428,0.00,1.55,0.00,0.000,6,0.000,0.031,1596,2858,3423,0,0,0,0,0,0
$GC,2747,-0.65,-146.1,345.7,-11.3,222,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2852,3423,0,0,0,0,0,0
$GC,3059,-0.65,-146.1,380.5,-11.0,237,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2852,3424,0,0,0,0,0,0
$GC,3367,-0.65,-146.1,416.1,-11.9,250,3370,0.00,2.08,0.00,0.000,4,0.000,0.037,1596,1496,3424,0,0,0,0,0,0
$GC,3396,-0.65,-146.1,420.0,-11.5,250,3403,0.12,2.20,0.00,0.000,6,0.176,0.055,1618,2857,3423,0,0,0,0,0,0
$GC,3711,-0.65,-146.1,451.5,-10.1,261,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3424,0,0,0,0,0,0
$GC,4018,-0.65,-146.1,482.3,-10.0,271,4022,0.00,2.12,0.00,0.000,4,0.000,0.037,1618,1486,3423,0,0,0,0,0,0
$GC,4050,-0.65,-146.1,485.3,-9.9,272,4054,0.00,2.22,0.00,0.000,6,0.000,0.054,1608,2862,3423,0,0,0,0,0,0
$GC,4387,-0.65,-146.1,521.7,-11.0,283,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2862,3423,0,0,0,0,0,0
$GC,4696,-0.65,-146.1,555.0,-10.8,293,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2862,3422,0,0,0,0,0,0
$GC,5000,-0.65,-146.1,588.3,-11.0,303,5004,0.00,2.12,0.00,0.000,4,0.000,0.037,1608,1493,3422,0,0,0,0,0,0
$GC,5040,-0.65,-146.1,593.0,-10.6,304,5044,0.00,2.22,0.00,0.000,6,0.000,0.055,1598,2863,3422,0,0,0,0,0,0
$GC,5368,-0.65,-146.1,630.4,-11.7,315,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2864,3422,0,0,0,0,0,0
$GC,5673,-0.65,-146.1,665.1,-11.0,325,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2864,3421,0,0,0,0,0,0
$GC,5979,-0.65,-146.1,698.8,-10.9,335,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2864,3421,0,0,0,0,0,0
$GC,6285,-0.65,-146.1,732.0,-10.7,345,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2864,3420,0,0,0,0,0,0
$GC,6592,-0.65,-146.1,764.7,-10.8,355,6596,0.00,2.12,0.00,0.000,4,0.000,0.038,1598,1486,3419,0,0,0,0,0,0
$GC,6638,-0.65,-146.1,769.7,-9.1,356,6643,0.12,2.25,0.00,0.000,6,0.179,0.057,1619,2865,3419,0,0,0,0,0,0
$GC,6972,-0.65,-146.1,797.4,-8.4,367,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2864,3419,0,0,0,0,0,0
$GC,7278,-0.65,-146.1,823.1,-8.5,377,7282,0.00,2.15,0.00,0.000,4,0.000,0.037,1620,1485,3418,0,0,0,0,0,0
$GC,7318,-0.65,-146.1,826.9,-8.2,378,7322,0.00,2.25,0.00,0.000,6,0.000,0.057,1610,2861,3418,0,0,0,0,0,0
$GC,7646,-0.65,-146.1,856.3,-9.4,389,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2862,3417,0,0,0,0,0,0
$GC,7952,-0.65,-146.1,885.4,-9.5,399,7956,0.00,2.12,0.00,0.000,4,0.000,0.037,1610,1495,3417,0,0,0,0,0,0
$GC,7992,-0.65,-146.1,889.6,-9.4,400,7996,0.00,2.22,0.00,0.000,6,0.000,0.056,1600,2860,3417,0,0,0,0,0,0
$GC,8319,-0.65,-146.1,923.4,-10.4,411,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2860,3417,0,0,0,0,0,0
$GC,8625,-0.65,-146.1,955.1,-10.2,421,8629,0.00,2.10,0.00,0.000,4,0.000,0.037,1600,1494,3416,0,0,0,0,0,0
$GC,8654,-0.65,-146.1,958.3,-10.2,421,8662,0.12,2.22,0.00,0.000,6,0.177,0.056,1621,2862,3416,0,0,0,0,0,0
$GC,8970,-0.65,-146.1,984.7,-8.3,432,8974,0.00,2.12,0.00,0.000,4,0.000,0.037,1621,1493,3415,0,0,0,0,0,0
$GC,9002,-0.65,-146.1,987.5,-8.1,433,9006,0.00,2.22,0.00,0.000,6,0.000,0.056,1612,2860,3415,0,0,0,0,0,0
$STATE,9152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9152,begin apogee
$GC,9163,-0.18,0.0,1000.9,8.7,438,9310,0.52,0.00,143.88,1.268,6,0.153,0.000,1767,2691,2820,0,0,0,0,0,0
$STATE,9312,end apogee,CONTROL_FINISHED_OK
$STATE,9312,begin climb
$GC,9317,0.65,146.1,1005.5,0.0,443,9491,0.85,2.30,157.23,1.760,4,0.090,0.063,2041,3893,2226,0,0,0,0,1,0
$GC,9714,0.65,146.1,948.5,20.0,455,9718,0.00,1.95,0.00,0.000,6,0.000,0.037,2050,2679,2225,0,0,0,0,0,0
$GC,10040,0.65,146.1,889.2,18.3,466,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2672,2221,0,0,0,0,0,0
$GC,10347,0.65,146.1,833.3,18.3,476,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2672,2219,0,0,0,0,0,0
$GC,10653,0.65,146.1,775.6,18.9,486,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2672,2219,0,0,0,0,0,0
$GC,10959,0.65,146.1,716.2,19.6,496,10963,0.00,1.98,0.00,0.000,4,0.000,0.063,2050,3896,2218,0,0,0,0,0,0
$GC,11011,0.65,146.1,704.6,22.8,497,11015,0.00,1.92,0.00,0.000,6,0.000,0.037,2060,2658,2217,0,0,0,0,0,0
$GC,11338,0.65,146.1,636.9,20.7,508,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2652,2217,0,0,0,0,0,0
$GC,11644,0.65,146.1,574.6,20.2,518,11647,0.00,2.03,0.00,0.000,4,0.000,0.063,2060,3896,2217,0,0,0,0,0,0
$GC,11680,0.65,146.1,566.9,21.5,519,11685,0.12,1.90,0.00,0.000,6,0.226,0.037,2042,2673,2217,0,0,0,0,0,0
$GC,12024,0.65,146.1,505.6,17.3,530,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2667,2216,0,0,0,0,0,0
$GC,12330,0.65,146.1,453.5,16.7,540,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2666,2216,0,0,0,0,0,0
$GC,12636,0.65,146.1,402.2,16.7,550,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2666,2216,0,0,0,0,0,0
$GC,12958,0.65,146.1,348.7,16.7,565,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2667,2216,0,0,0,0,0,0
$GC,13265,0.65,146.1,295.4,16.8,580,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2667,2216,0,0,0,0,0,0
$GC,13580,0.65,146.1,241.6,17.2,596,13584,0.00,2.20,0.00,0.000,4,0.000,0.044,2052,1270,2216,0,0,0,0,0,0
$GC,13599,0.65,146.1,238.1,16.2,597,13603,0.00,2.28,0.00,0.000,6,0.000,0.051,2052,2673,2214,0,0,0,0,0,0
$GC,13922,0.65,146.1,184.0,16.1,617,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2214,0,0,0,0,0,0
$GC,14239,0.65,146.1,130.8,17.1,637,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2214,0,0,0,0,0,0
$GC,14572,0.65,146.1,76.0,15.7,674,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2214,0,0,0,0,0,0
$GC,14939,0.65,146.1,20.4,14.8,735,14948,0.00,1.98,0.00,0.000,4,0.000,0.059,2052,3897,2214,0,0,0,0,0,0
$GC,14997,0.65,146.1,10.9,17.4,743,15007,0.00,1.92,0.00,0.000,6,0.000,0.036,2061,2662,2214,0,0,0,0,0,0
$STATE,15038,end climb,SURFACE_DEPTH_REACHED
$STATE,15038,begin surface coast
$FINISH,1.0,1.012934
$STATE,15058,end surface coast,CONTROL_FINISHED_OK
$STATE,15058,begin surface
$SM_CCo,15081,45.72,0.705,1,0,1878,230.09
$SM_GC,2.20,0.00,0.00,45.72,0.000,0.000,0.705,56,2879,1878,-5.55,0.54,230.09
$IRIDIUM_FIX,-4314.46,705.29,030313,141448
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.1,87.378
$10V_AH,9.9,47.313
$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,14.175,73.150,301.100,45.725,0.000,27.663,25.257,289.298,0.000,0.000,22.896,1856.452,10516.079,435.994,2243.445,640.596,33.365,1220.007,0.000,1824.711,0.000,1.010,0.000
$DEVICE_MAMPS,247.095,79.560,1760.265,705.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.204,1490.192,791.880,302.747,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,53733,752
$CAP_FILE_SIZE,110273,0
$CFSIZE,259252224,199495680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030313,215551,-4330.137,704.935,25,0.9,40,-24.6