version: 66.07
glider: 542
mission: 6
dive: 472
start: 3 4 113 9 48 55
data:
$ID,542
$MISSION,6
$DIVE,472
$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,-14885.854
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,040313,093704,-4329.389,705.723,37,0.8,37,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-64.7
$GPS2,040313,094759,-4329.326,705.825,15,1.2,16,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.137,-0.221
$KALMAN_X,12823.1,-369.6,-399.8,201813.9,6816.8
$KALMAN_Y,799532.3,-901.3,-60.6,-424555.2,5016.2
$MHEAD_RNG_PITCHd_Wd,236.5,4310,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-62.80,0.000,2,0.000,0.000,38,2880,3197,0,0,0,0,0,0
$GC,98,-0.63,-146.1,3.3,-2.6,8,117,6.68,1.65,-5.47,0.000,4,0.239,0.070,1610,3892,3416,0,0,0,0,0,0
$GC,196,-0.63,-146.1,23.1,-14.5,22,205,0.00,1.60,0.00,0.000,6,0.000,0.030,1611,2838,3419,0,0,0,0,0,0
$GC,283,-0.63,-146.1,35.7,-14.8,35,290,0.00,2.08,0.00,0.000,4,0.000,0.034,1610,1483,3420,0,0,0,0,0,0
$GC,330,-0.63,-146.1,42.8,-13.5,42,339,0.00,2.22,0.00,0.000,6,0.000,0.048,1600,2853,3420,0,0,0,0,0,0
$GC,577,-0.63,-146.1,79.4,-13.8,83,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2854,3420,0,0,0,0,0,0
$GC,922,-0.63,-146.1,126.4,-13.8,122,926,0.00,2.12,0.00,0.000,4,0.000,0.034,1600,1472,3421,0,0,0,0,0,0
$GC,973,-0.63,-146.1,132.4,-11.9,125,978,0.12,2.22,0.00,0.000,6,0.179,0.048,1620,2867,3421,0,0,0,0,0,0
$GC,1307,-0.63,-146.1,169.2,-10.8,146,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3421,0,0,0,0,0,0
$GC,1630,-0.63,-146.1,204.4,-10.8,167,1634,0.00,2.12,0.00,0.000,4,0.000,0.034,1621,1477,3422,0,0,0,0,0,0
$GC,1672,-0.63,-146.1,209.2,-9.5,169,1676,0.00,2.22,0.00,0.000,6,0.000,0.049,1611,2870,3422,0,0,0,0,0,0
$GC,1995,-0.63,-146.1,246.9,-12.0,189,1999,0.00,2.12,0.00,0.000,4,0.000,0.034,1611,1479,3422,0,0,0,0,0,0
$GC,2025,-0.63,-146.1,250.9,-12.1,190,2034,0.00,2.22,0.00,0.000,6,0.000,0.048,1600,2859,3423,0,0,0,0,0,0
$GC,2344,-0.63,-146.1,289.3,-11.8,206,2348,0.00,2.12,0.00,0.000,4,0.000,0.033,1600,1474,3423,0,0,0,0,0,0
$GC,2373,-0.63,-146.1,293.1,-12.1,207,2378,0.12,2.22,0.00,0.000,6,0.172,0.049,1622,2868,3423,0,0,0,0,0,0
$GC,2702,-0.63,-146.1,325.6,-10.0,223,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2868,3423,0,0,0,0,0,0
$GC,3007,-0.63,-146.1,356.0,-9.8,238,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2868,3424,0,0,0,0,0,0
$GC,3318,-0.63,-146.1,387.4,-10.5,253,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2868,3424,0,0,0,0,0,0
$GC,3626,-0.63,-146.1,419.3,-10.3,265,3630,0.00,2.15,0.00,0.000,4,0.000,0.034,1622,1475,3423,0,0,0,0,0,0
$GC,3666,-0.63,-146.1,423.7,-9.6,266,3670,0.00,2.22,0.00,0.000,6,0.000,0.050,1613,2863,3424,0,0,0,0,0,0
$GC,3992,-0.63,-146.1,457.9,-10.7,277,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2863,3423,0,0,0,0,0,0
$GC,4299,-0.63,-146.1,492.0,-11.3,287,4303,0.00,2.12,0.00,0.000,4,0.000,0.034,1612,1475,3423,0,0,0,0,0,0
$GC,4336,-0.63,-146.1,496.3,-10.7,288,4340,0.00,2.20,0.00,0.000,6,0.000,0.050,1603,2860,3423,0,0,0,0,0,0
$GC,4681,-0.63,-146.1,539.0,-12.7,299,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2860,3423,0,0,0,0,0,0
$GC,4985,-0.63,-146.1,576.3,-11.9,309,4989,0.00,1.67,0.00,0.000,4,0.000,0.059,1595,3892,3422,0,0,0,0,0,0
$GC,5032,-0.63,-146.1,582.2,-12.5,310,5036,0.08,1.58,0.00,0.000,6,0.152,0.031,1628,2846,3422,0,0,0,0,0,0
$GC,5364,-0.63,-146.1,613.7,-9.3,321,5368,0.00,2.08,0.00,0.000,4,0.000,0.035,1628,1488,3422,0,0,0,0,0,0
$GC,5401,-0.63,-146.1,617.2,-9.7,322,5405,0.00,2.22,0.00,0.000,6,0.000,0.051,1619,2866,3422,0,0,0,0,0,0
$GC,5739,-0.63,-146.1,650.0,-9.8,333,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3422,0,0,0,0,0,0
$GC,6045,-0.63,-146.1,679.7,-9.8,343,6049,0.00,2.15,0.00,0.000,4,0.000,0.034,1619,1483,3422,0,0,0,0,0,0
$GC,6086,-0.63,-146.1,683.8,-9.2,344,6090,0.00,2.22,0.00,0.000,6,0.000,0.051,1609,2860,3422,0,0,0,0,0,0
$GC,6413,-0.63,-146.1,715.0,-9.4,355,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2860,3421,0,0,0,0,0,0
$GC,6719,-0.63,-146.1,743.1,-9.0,365,6723,0.00,2.12,0.00,0.000,4,0.000,0.035,1608,1485,3420,0,0,0,0,0,0
$GC,6761,-0.63,-146.1,747.0,-8.4,366,6765,0.00,2.22,0.00,0.000,6,0.000,0.052,1598,2863,3420,0,0,0,0,0,0
$GC,7100,-0.63,-146.1,780.8,-10.4,377,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2863,3420,0,0,0,0,0,0
$GC,7405,-0.63,-146.1,814.2,-11.1,387,7409,0.00,2.15,0.00,0.000,4,0.000,0.035,1598,1480,3419,0,0,0,0,0,0
$GC,7446,-0.63,-146.1,818.9,-10.1,388,7450,0.12,2.25,0.00,0.000,6,0.182,0.052,1620,2870,3419,0,0,0,0,0,0
$GC,7773,-0.63,-146.1,847.9,-8.6,399,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2870,3419,0,0,0,0,0,0
$GC,8081,-0.63,-146.1,872.8,-8.1,409,8085,0.00,2.15,0.00,0.000,4,0.000,0.036,1620,1485,3418,0,0,0,0,0,0
$GC,8133,-0.63,-146.1,877.1,-7.2,410,8138,0.00,2.25,0.00,0.000,6,0.000,0.053,1610,2871,3418,0,0,0,0,0,0
$GC,8449,-0.63,-146.1,903.0,-8.3,420,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2872,3418,0,0,0,0,0,0
$GC,8755,-0.63,-146.1,926.9,-7.8,430,8759,0.00,2.12,0.00,0.000,4,0.000,0.036,1611,1485,3418,0,0,0,0,0,0
$GC,8830,-0.63,-146.1,932.8,-7.4,432,8835,0.00,2.25,0.00,0.000,6,0.000,0.053,1600,2871,3417,0,0,0,0,0,0
$GC,9163,-0.63,-146.1,961.1,-8.6,443,9167,0.00,2.15,0.00,0.000,4,0.000,0.035,1600,1485,3417,0,0,0,0,0,0
$GC,9204,-0.63,-146.1,964.8,-8.4,444,9209,0.12,2.22,0.00,0.000,6,0.178,0.052,1621,2859,3417,0,0,0,0,0,0
$GC,9532,-0.63,-146.1,989.3,-7.8,455,9536,0.00,2.15,0.00,0.000,4,0.000,0.037,1621,1480,3417,0,0,0,0,0,0
$GC,9584,-0.63,-146.1,993.7,-7.7,456,9588,0.00,2.22,0.00,0.000,6,0.000,0.053,1612,2860,3417,0,0,0,0,0,0
$STATE,9686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9686,begin apogee
$GC,9697,-0.18,0.0,1002.5,8.6,460,9845,0.52,0.00,144.20,1.261,6,0.153,0.000,1767,2682,2820,0,0,0,0,0,0
$STATE,9846,end apogee,CONTROL_FINISHED_OK
$STATE,9847,begin climb
$GC,9851,0.63,146.1,1006.5,0.0,465,10019,0.80,0.00,158.07,1.747,6,0.092,0.000,2027,2682,2224,0,0,0,0,1,0
$GC,10317,0.63,146.1,935.4,17.6,480,10321,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1288,2221,0,0,0,0,0,0
$GC,10382,0.63,146.1,924.6,16.1,482,10386,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2676,2218,0,0,0,0,0,0
$GC,10728,0.63,146.1,862.0,18.6,493,10731,0.00,1.95,0.00,0.000,4,0.000,0.059,2037,3904,2217,0,0,0,0,0,0
$GC,10768,0.63,146.1,853.3,22.1,494,10772,0.00,1.90,0.00,0.000,6,0.000,0.037,2046,2685,2217,0,0,0,0,0,0
$GC,11107,0.63,146.1,788.5,19.0,505,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2679,2217,0,0,0,0,0,0
$GC,11412,0.63,146.1,731.6,18.7,515,11416,0.00,2.22,0.00,0.000,4,0.000,0.043,2057,1265,2216,0,0,0,0,0,0
$GC,11452,0.63,146.1,724.1,17.2,516,11456,0.00,2.25,0.00,0.000,6,0.000,0.050,2057,2670,2215,0,0,0,0,0,0
$GC,11791,0.63,146.1,661.0,18.9,527,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2670,2214,0,0,0,0,0,0
$GC,12097,0.63,146.1,602.9,18.9,537,12098,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2671,2215,0,0,0,0,0,0
$GC,12403,0.63,146.1,544.9,19.1,547,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2670,2215,0,0,0,0,0,0
$GC,12708,0.63,146.1,486.5,19.2,557,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2671,2215,0,0,0,0,0,0
$GC,13015,0.63,146.1,425.6,20.2,567,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2671,2214,0,0,0,0,0,0
$GC,13334,0.63,146.1,362.0,20.3,580,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2671,2214,0,0,0,0,0,0
$GC,13646,0.63,146.1,303.7,18.2,595,13650,0.00,1.98,0.00,0.000,4,0.000,0.057,2057,3898,2214,0,0,0,0,0,0
$GC,13671,0.63,146.1,298.1,19.8,596,13676,0.12,1.90,0.00,0.000,6,0.230,0.036,2039,2672,2214,0,0,0,0,0,0
$GC,13997,0.63,146.1,243.3,16.7,612,14001,0.00,2.17,0.00,0.000,4,0.000,0.041,2049,1264,2214,0,0,0,0,0,0
$GC,14019,0.63,146.1,239.7,17.0,613,14023,0.00,2.25,0.00,0.000,6,0.000,0.049,2049,2671,2213,0,0,0,0,0,0
$GC,14352,0.63,146.1,180.8,17.9,634,14356,0.00,1.95,0.00,0.000,4,0.000,0.057,2049,3907,2213,0,0,0,0,0,0
$GC,14451,0.63,146.1,160.3,21.3,639,14457,0.00,1.92,0.00,0.000,6,0.000,0.035,2058,2662,2213,0,0,0,0,0,0
$GC,14773,0.63,146.1,100.1,18.1,660,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2656,2213,0,0,0,0,0,0
$GC,15112,0.63,146.1,45.0,14.7,718,15121,0.00,2.20,0.00,0.000,4,0.000,0.040,2069,1267,2213,0,0,0,0,0,0
$GC,15144,0.63,146.1,40.6,14.3,722,15155,0.10,2.28,0.00,0.000,6,0.168,0.048,2039,2670,2213,0,0,0,0,0,0
$STATE,15400,end climb,SURFACE_DEPTH_REACHED
$STATE,15400,begin surface coast
$FINISH,1.1,1.014819
$STATE,15427,end surface coast,CONTROL_FINISHED_OK
$STATE,15427,begin surface
$SM_CCo,15450,45.38,0.704,1,0,1880,230.09
$SM_GC,2.40,0.00,0.00,45.38,0.000,0.000,0.704,50,2877,1880,-5.57,0.48,230.09
$IRIDIUM_FIX,-4314.46,705.29,040313,050533
$TT8_MAMPS,0.025466
$HUMID,58.89
$INTERNAL_PRESSURE,9.45316
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.1,87.997
$10V_AH,9.9,47.701
$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,13.950,101.850,302.275,45.375,0.000,26.512,27.316,343.559,0.000,0.000,17.850,1930.512,10698.233,434.283,2377.030,699.718,33.377,1269.601,0.000,1906.293,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,70.380,1747.260,703.800,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.922,1511.086,801.480,302.029,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,57195,767
$CAP_FILE_SIZE,120909,0
$CFSIZE,259252224,199241728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,040313,140834,-4330.752,704.956,31,0.8,31,-24.6