version: 66.07
glider: 542
mission: 6
dive: 470
start: 3 4 113 1 34 52
data:
$ID,542
$MISSION,6
$DIVE,470
$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,-14878.908
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,040313,012359,-4331.584,706.537,36,0.9,36,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-61.4
$GPS2,040313,013352,-4331.590,706.713,22,0.8,23,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.152,0.083
$KALMAN_X,7066.9,-1078.7,-185.9,209182.1,5867.7
$KALMAN_Y,795771.4,-185.3,-148.9,-425604.2,3163.1
$MHEAD_RNG_PITCHd_Wd,323.0,5696,-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,21,begin dive
$GC,26,-0.78,-63.1,0.0,0.0,0,75,0.00,0.00,-47.08,0.000,2,0.000,0.000,48,2883,2800,0,0,0,0,0,0
$GC,82,-0.84,-113.9,3.2,-4.6,6,116,6.40,2.25,-17.33,0.000,4,0.244,0.051,1561,1468,3287,0,0,0,0,0,0
$GC,159,-0.84,-113.9,12.0,-16.9,16,169,0.00,2.25,0.00,0.000,6,0.000,0.050,1552,2853,3288,0,0,0,0,0,0
$GC,247,-0.84,-113.9,28.7,-20.5,29,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2854,3288,0,0,0,0,0,0
$GC,331,-0.84,-113.9,46.1,-19.2,42,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2854,3289,0,0,0,0,0,0
$GC,573,-0.84,-113.9,93.1,-16.7,83,578,0.00,2.15,0.00,0.000,4,0.000,0.034,1552,1453,3289,0,0,0,0,0,0
$GC,595,-0.84,-113.9,96.6,-16.3,86,603,0.00,2.25,0.00,0.000,6,0.000,0.049,1541,2864,3289,0,0,0,0,0,0
$GC,934,-0.84,-113.9,156.1,-17.4,109,938,0.00,1.62,0.00,0.000,4,0.000,0.056,1533,3891,3290,0,0,0,0,0,0
$GC,963,-0.84,-113.9,162.1,-18.2,110,972,0.00,1.58,0.00,0.000,6,0.000,0.030,1533,2836,3290,0,0,0,0,0,0
$GC,1288,-0.84,-113.9,219.7,-18.1,131,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2836,3291,0,0,0,0,0,0
$GC,1602,-0.84,-113.9,276.6,-18.0,149,1606,0.00,1.70,0.00,0.000,4,0.000,0.057,1525,3888,3291,0,0,0,0,0,0
$GC,1620,-0.84,-113.9,280.6,-17.8,149,1628,0.08,1.52,0.00,0.000,6,0.174,0.029,1547,2865,3291,0,0,0,0,0,0
$GC,1941,-0.84,-113.9,333.4,-17.1,165,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2865,3292,0,0,0,0,0,0
$GC,2248,-0.84,-113.9,384.0,-15.9,180,2252,0.00,2.10,0.00,0.000,4,0.000,0.035,1547,1482,3292,0,0,0,0,0,0
$GC,2283,-0.84,-113.9,389.8,-15.2,181,2287,0.00,2.22,0.00,0.000,6,0.000,0.050,1538,2870,3292,0,0,0,0,0,0
$GC,2599,-0.84,-113.9,441.4,-16.6,192,2603,0.00,2.15,0.00,0.000,4,0.000,0.035,1538,1482,3293,0,0,0,0,0,0
$GC,2617,-0.84,-113.9,444.8,-16.7,192,2622,0.12,2.20,0.00,0.000,6,0.193,0.050,1556,2859,3292,0,0,0,0,0,0
$GC,2938,-0.84,-113.9,490.4,-14.2,203,2942,0.00,1.65,0.00,0.000,4,0.000,0.058,1550,3892,3292,0,0,0,0,0,0
$GC,2962,-0.84,-113.9,494.4,-15.3,203,2966,0.00,1.55,0.00,0.000,6,0.000,0.030,1551,2860,3292,0,0,0,0,0,0
$GC,3283,-0.84,-113.9,540.6,-14.4,214,3287,0.00,2.08,0.00,0.000,4,0.000,0.036,1550,1484,3292,0,0,0,0,0,0
$GC,3314,-0.84,-113.9,544.9,-13.7,215,3318,0.00,2.20,0.00,0.000,6,0.000,0.051,1541,2868,3292,0,0,0,0,0,0
$GC,3652,-0.84,-113.9,593.5,-14.4,226,3656,0.00,1.62,0.00,0.000,4,0.000,0.058,1534,3888,3292,0,0,0,0,0,0
$GC,3670,-0.84,-113.9,596.7,-14.9,226,3673,0.00,1.55,0.00,0.000,6,0.000,0.031,1533,2856,3291,0,0,0,0,0,0
$GC,3996,-0.84,-113.9,646.2,-15.5,237,4000,0.00,2.08,0.00,0.000,4,0.000,0.036,1533,1485,3291,0,0,0,0,0,0
$GC,4027,-0.84,-113.9,651.2,-15.3,238,4032,0.12,2.22,0.00,0.000,6,0.192,0.053,1552,2868,3291,0,0,0,0,0,0
$GC,4372,-0.84,-113.9,700.4,-14.4,249,4376,0.00,2.15,0.00,0.000,4,0.000,0.036,1552,1485,3291,0,0,0,0,0,0
$GC,4390,-0.84,-113.9,703.6,-14.6,249,4394,0.00,2.22,0.00,0.000,6,0.000,0.053,1543,2860,3291,0,0,0,0,0,0
$GC,4705,-0.84,-113.9,752.2,-15.6,259,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,2860,3290,0,0,0,0,0,0
$GC,5011,-0.84,-113.9,800.4,-15.9,269,5015,0.00,2.15,0.00,0.000,4,0.000,0.037,1543,1488,3289,0,0,0,0,0,0
$GC,5052,-0.84,-113.9,807.3,-15.6,270,5056,0.00,2.20,0.00,0.000,6,0.000,0.053,1532,2859,3290,0,0,0,0,0,0
$GC,5391,-0.84,-113.9,861.6,-16.1,281,5394,0.00,1.65,0.00,0.000,4,0.000,0.059,1524,3903,3289,0,0,0,0,0,0
$GC,5432,-0.84,-113.9,869.2,-17.4,282,5436,0.08,1.58,0.00,0.000,6,0.176,0.031,1554,2862,3289,0,0,0,0,0,0
$GC,5769,-0.84,-113.9,918.6,-14.4,293,5773,0.00,2.12,0.00,0.000,4,0.000,0.037,1555,1475,3289,0,0,0,0,0,0
$GC,5821,-0.84,-113.9,926.0,-13.8,294,5825,0.00,2.25,0.00,0.000,6,0.000,0.054,1545,2860,3289,0,0,0,0,0,0
$GC,6137,-0.84,-113.9,969.6,-13.7,304,6141,0.00,2.17,0.00,0.000,4,0.000,0.037,1545,1479,3289,0,0,0,0,0,0
$GC,6188,-0.84,-113.9,976.9,-13.1,305,6192,0.00,2.25,0.00,0.000,6,0.000,0.053,1534,2869,3288,0,0,0,0,0,0
$STATE,6376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6377,begin apogee
$GC,6388,-0.18,0.0,1002.7,13.7,311,6504,0.85,0.00,112.43,1.273,6,0.185,0.000,1764,2676,2819,0,0,0,0,0,0
$STATE,6506,end apogee,CONTROL_FINISHED_OK
$STATE,6506,begin climb
$GC,6510,0.84,113.9,1006.2,0.0,315,6642,0.98,0.00,123.07,1.746,6,0.090,0.000,2093,2676,2355,0,0,0,0,1,0
$GC,6945,0.84,113.9,926.1,21.3,329,6949,0.00,2.22,0.00,0.000,4,0.000,0.044,2103,1277,2352,0,0,0,0,0,0
$GC,6980,0.84,113.9,917.7,19.9,330,6985,0.00,2.30,0.00,0.000,6,0.000,0.053,2103,2672,2350,0,0,0,0,0,0
$GC,7312,0.84,113.9,845.7,21.8,341,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2672,2350,0,0,0,0,0,0
$GC,7620,0.84,113.9,781.3,20.9,351,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2672,2349,0,0,0,0,0,0
$GC,7925,0.84,113.9,716.3,21.0,361,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2672,2348,0,0,0,0,0,0
$GC,8231,0.84,113.9,651.9,21.0,371,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2672,2347,0,0,0,0,0,0
$GC,8537,0.84,113.9,589.8,19.9,381,8541,0.00,2.20,0.00,0.000,4,0.000,0.043,2114,1285,2346,0,0,0,0,0,0
$GC,8549,0.84,113.9,587.0,19.7,381,8554,0.00,2.25,0.00,0.000,6,0.000,0.050,2113,2680,2346,0,0,0,0,0,0
$GC,8876,0.84,113.9,521.2,20.0,392,8880,0.00,1.95,0.00,0.000,4,0.000,0.060,2113,3903,2345,0,0,0,0,0,0
$GC,8888,0.84,113.9,518.2,20.1,392,8892,0.00,1.92,0.00,0.000,6,0.000,0.038,2122,2680,2345,0,0,0,0,0,0
$GC,9220,0.84,113.9,449.6,20.6,403,9224,0.00,2.00,0.00,0.000,4,0.000,0.059,2120,3893,2345,0,0,0,0,0,0
$GC,9250,0.84,113.9,442.6,23.7,403,9257,0.00,1.90,0.00,0.000,6,0.000,0.037,2128,2670,2345,0,0,0,0,0,0
$GC,9576,0.84,113.9,373.7,21.1,416,9580,0.00,2.17,0.00,0.000,4,0.000,0.044,2139,1269,2345,0,0,0,0,0,0
$GC,9599,0.84,113.9,369.5,21.1,417,9603,0.15,2.28,0.00,0.000,6,0.234,0.050,2107,2677,2343,0,0,0,0,0,0
$GC,9931,0.84,113.9,306.6,18.5,433,9935,0.00,1.92,0.00,0.000,4,0.000,0.058,2105,3903,2343,0,0,0,0,0,0
$GC,9943,0.84,113.9,303.6,18.2,433,9947,0.00,1.90,0.00,0.000,6,0.000,0.038,2113,2666,2343,0,0,0,0,0,0
$GC,10264,0.84,113.9,243.2,19.2,449,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2664,2343,0,0,0,0,0,0
$GC,10577,0.84,113.9,182.3,20.2,469,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2664,2344,0,0,0,0,0,0
$GC,10889,0.84,113.9,118.4,21.6,489,10893,0.00,2.17,0.00,0.000,4,0.000,0.042,2124,1265,2343,0,0,0,0,0,0
$GC,10924,0.84,113.9,111.2,20.8,491,10928,0.00,2.28,0.00,0.000,6,0.000,0.049,2123,2676,2341,0,0,0,0,0,0
$GC,11274,0.84,113.9,43.7,17.9,545,11281,0.00,2.20,0.00,0.000,4,0.000,0.041,2133,1267,2342,0,0,0,0,0,0
$GC,11317,0.84,113.9,36.4,16.7,551,11325,0.12,2.25,0.00,0.000,6,0.228,0.048,2104,2670,2342,0,0,0,0,0,0
$STATE,11506,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FINISH,1.0,1.026199
$STATE,11526,end surface coast,CONTROL_FINISHED_OK
$STATE,11526,begin surface
$SM_CCo,11549,59.85,0.734,1,0,1880,230.09
$SM_GC,2.18,0.00,0.00,59.85,0.000,0.000,0.734,52,2875,1880,-5.56,0.42,230.09
$IRIDIUM_FIX,-4311.50,711.18,030313,212137
$TT8_MAMPS,0.026215
$HUMID,59.60
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.2,87.651
$10V_AH,9.9,47.482
$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,14.350,94.200,235.500,59.850,0.000,27.631,49.813,291.905,0.000,0.000,25.498,1476.957,7874.741,414.957,1861.718,575.384,33.365,1044.847,0.000,1432.811,0.000,1.011,0.000
$DEVICE_MAMPS,244.035,68.850,1746.495,734.400,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.355,1170.715,647.000,256.253,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,43756,584
$CAP_FILE_SIZE,96057,0
$CFSIZE,259252224,199405568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,040313,044952,-4330.368,706.651,38,0.8,38,-24.6