version: 66.07
glider: 542
mission: 6
dive: 476
start: 3 5 113 0 24 17
data:
$ID,542
$MISSION,6
$DIVE,476
$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,-14906.778
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,050313,001335,-4329.845,704.697,29,1.3,29,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-60.5
$GPS2,050313,002317,-4329.799,704.843,17,1.0,18,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.173,-0.070
$KALMAN_X,20527.5,-674.2,-608.2,193377.8,8702.9
$KALMAN_Y,800845.8,-901.1,-287.8,-426515.1,2876.7
$MHEAD_RNG_PITCHd_Wd,272.5,5779,-25.3,-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,-0.74,-73.0,0.0,0.0,0,75,0.00,0.00,-47.00,0.000,2,0.000,0.000,45,2870,2797,0,0,0,0,0,0
$GC,82,-0.81,-134.4,3.1,-4.4,6,116,6.57,2.20,-19.40,0.000,4,0.251,0.047,1562,1455,3369,0,0,0,0,0,0
$GC,147,-0.81,-134.4,10.1,-15.7,14,156,0.00,2.28,0.00,0.000,6,0.000,0.048,1553,2859,3370,0,0,0,0,0,0
$GC,234,-0.81,-134.4,28.3,-21.9,27,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2859,3370,0,0,0,0,0,0
$GC,319,-0.81,-134.4,45.8,-20.6,40,328,0.00,2.17,0.00,0.000,4,0.000,0.034,1553,1470,3370,0,0,0,0,0,0
$GC,369,-0.81,-134.4,55.5,-18.7,47,376,0.00,2.22,0.00,0.000,6,0.000,0.049,1544,2865,3370,0,0,0,0,0,0
$GC,616,-0.81,-134.4,104.1,-19.3,87,620,0.00,2.15,0.00,0.000,4,0.000,0.034,1544,1460,3371,0,0,0,0,0,0
$GC,697,-0.81,-134.4,119.8,-17.2,91,704,0.12,2.22,0.00,0.000,6,0.195,0.048,1562,2859,3371,0,0,0,0,0,0
$GC,1020,-0.81,-134.4,172.1,-16.2,112,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2858,3372,0,0,0,0,0,0
$GC,1330,-0.81,-134.4,222.2,-16.3,132,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2859,3373,0,0,0,0,0,0
$GC,1642,-0.81,-134.4,271.5,-15.6,150,1646,0.00,1.62,0.00,0.000,4,0.000,0.054,1556,3890,3374,0,0,0,0,0,0
$GC,1671,-0.81,-134.4,276.9,-17.8,151,1675,0.00,1.58,0.00,0.000,6,0.000,0.029,1556,2841,3374,0,0,0,0,0,0
$GC,2003,-0.81,-134.4,330.7,-16.5,167,2007,0.00,2.08,0.00,0.000,4,0.000,0.034,1556,1470,3374,0,0,0,0,0,0
$GC,2038,-0.81,-134.4,337.1,-15.7,168,2047,0.00,2.25,0.00,0.000,6,0.000,0.049,1545,2862,3374,0,0,0,0,0,0
$GC,2357,-0.81,-134.4,391.6,-17.5,184,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2861,3375,0,0,0,0,0,0
$GC,2663,-0.81,-134.4,443.7,-16.8,195,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2862,3375,0,0,0,0,0,0
$GC,2969,-0.81,-134.4,494.2,-16.1,205,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2862,3375,0,0,0,0,0,0
$GC,3275,-0.81,-134.4,543.0,-15.9,215,3279,0.00,2.12,0.00,0.000,4,0.000,0.034,1545,1479,3375,0,0,0,0,0,0
$GC,3313,-0.81,-134.4,548.8,-15.2,216,3317,0.12,2.20,0.00,0.000,6,0.189,0.050,1564,2868,3375,0,0,0,0,0,0
$GC,3657,-0.81,-134.4,596.9,-14.1,227,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2868,3375,0,0,0,0,0,0
$GC,3963,-0.81,-134.4,638.8,-13.5,237,3967,0.00,2.12,0.00,0.000,4,0.000,0.034,1564,1479,3375,0,0,0,0,0,0
$GC,3998,-0.81,-134.4,643.7,-12.6,238,4002,0.00,2.22,0.00,0.000,6,0.000,0.050,1555,2864,3375,0,0,0,0,0,0
$GC,4330,-0.81,-134.4,690.7,-14.3,249,4334,0.00,2.12,0.00,0.000,4,0.000,0.034,1555,1477,3374,0,0,0,0,0,0
$GC,4382,-0.81,-134.4,698.0,-13.6,250,4386,0.00,2.22,0.00,0.000,6,0.000,0.050,1544,2865,3373,0,0,0,0,0,0
$GC,4703,-0.81,-134.4,744.7,-14.9,261,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2865,3373,0,0,0,0,0,0
$GC,5009,-0.81,-134.4,789.1,-14.2,271,5013,0.00,2.15,0.00,0.000,4,0.000,0.034,1544,1474,3373,0,0,0,0,0,0
$GC,5055,-0.81,-134.4,795.7,-12.8,272,5060,0.12,2.22,0.00,0.000,6,0.195,0.050,1562,2859,3372,0,0,0,0,0,0
$GC,5377,-0.81,-134.4,836.9,-12.7,283,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2859,3372,0,0,0,0,0,0
$GC,5684,-0.81,-134.4,876.2,-12.8,293,5688,0.00,2.15,0.00,0.000,4,0.000,0.036,1562,1469,3372,0,0,0,0,0,0
$GC,5730,-0.81,-134.4,882.2,-11.2,294,5734,0.00,2.25,0.00,0.000,6,0.000,0.051,1553,2860,3371,0,0,0,0,0,0
$GC,6051,-0.81,-134.4,923.6,-13.1,305,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2860,3371,0,0,0,0,0,0
$GC,6359,-0.81,-134.4,963.0,-12.9,315,6363,0.00,2.17,0.00,0.000,4,0.000,0.036,1553,1472,3371,0,0,0,0,0,0
$GC,6382,-0.81,-134.4,966.6,-13.2,315,6387,0.00,2.25,0.00,0.000,6,0.000,0.051,1543,2863,3371,0,0,0,0,0,0
$STATE,6664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6664,begin apogee
$GC,6675,-0.18,0.0,1004.1,13.3,324,6815,0.80,0.00,131.85,1.262,6,0.179,0.000,1762,2667,2817,0,0,0,0,0,0
$STATE,6817,end apogee,CONTROL_FINISHED_OK
$STATE,6817,begin climb
$GC,6822,0.81,134.4,1008.0,0.0,329,6968,0.98,2.42,138.23,1.214,4,0.088,0.044,2099,1288,2269,0,0,0,0,0,0
$GC,7046,0.81,134.4,972.0,21.7,336,7051,0.00,2.38,0.00,0.000,6,0.000,0.049,2098,2667,2262,0,0,0,0,0,0
$GC,7384,0.81,134.4,889.7,25.2,347,7388,0.00,1.98,0.00,0.000,4,0.000,0.057,2099,3899,2258,0,0,0,0,0,0
$GC,7408,0.81,134.4,883.0,26.5,347,7412,0.00,1.90,0.00,0.000,6,0.000,0.038,2108,2690,2258,0,0,0,0,0,0
$GC,7728,0.81,134.4,802.5,24.7,358,7732,0.00,2.22,0.00,0.000,4,0.000,0.044,2119,1262,2256,0,0,0,0,0,0
$GC,7746,0.81,134.4,797.5,24.5,358,7750,0.00,2.28,0.00,0.000,6,0.000,0.050,2119,2677,2255,0,0,0,0,0,0
$GC,8067,0.81,134.4,717.8,24.9,369,8071,0.00,2.25,0.00,0.000,4,0.000,0.044,2130,1266,2255,0,0,0,0,0,0
$GC,8085,0.81,134.4,712.7,24.8,369,8090,0.15,2.28,0.00,0.000,6,0.235,0.049,2097,2676,2254,0,0,0,0,0,0
$GC,8407,0.81,134.4,639.4,22.8,380,8411,0.00,2.25,0.00,0.000,4,0.000,0.043,2107,1261,2254,0,0,0,0,0,0
$GC,8454,0.81,134.4,628.8,20.8,381,8458,0.00,2.28,0.00,0.000,6,0.000,0.049,2104,2672,2252,0,0,0,0,0,0
$GC,8775,0.81,134.4,555.1,23.3,392,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2672,2252,0,0,0,0,0,0
$GC,9083,0.81,134.4,486.5,22.2,402,9087,0.00,2.22,0.00,0.000,4,0.000,0.043,2114,1265,2253,0,0,0,0,0,0
$GC,9095,0.81,134.4,483.2,22.0,402,9099,0.00,2.25,0.00,0.000,6,0.000,0.047,2114,2670,2252,0,0,0,0,0,0
$GC,9416,0.81,134.4,412.1,22.6,413,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2670,2251,0,0,0,0,0,0
$GC,9727,0.81,134.4,343.9,22.1,427,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2670,2251,0,0,0,0,0,0
$GC,10034,0.81,134.4,276.8,21.6,442,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2670,2251,0,0,0,0,0,0
$GC,10350,0.81,134.4,208.0,22.5,460,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2670,2251,0,0,0,0,0,0
$GC,10662,0.81,134.4,138.8,21.7,480,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2670,2251,0,0,0,0,0,0
$GC,10986,0.81,134.4,70.3,22.3,516,10995,0.00,1.95,0.00,0.000,4,0.000,0.055,2114,3894,2251,0,0,0,0,0,0
$GC,11037,0.81,134.4,60.3,21.0,523,11042,0.12,1.90,0.00,0.000,6,0.245,0.035,2098,2656,2251,0,0,0,0,0,0
$STATE,11352,end climb,SURFACE_DEPTH_REACHED
$STATE,11352,begin surface coast
$FINISH,0.9,1.025902
$STATE,11368,end surface coast,CONTROL_FINISHED_OK
$STATE,11372,begin surface
$SM_CCo,11394,50.55,0.697,1,0,1880,230.09
$SM_GC,2.32,0.00,0.00,50.55,0.000,0.000,0.697,64,2876,1880,-5.52,0.45,230.09
$IRIDIUM_FIX,-4314.46,705.29,040313,212159
$TT8_MAMPS,0.026215
$HUMID,60.51
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.0,88.547
$10V_AH,9.8,48.028
$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,14.475,78.175,270.075,50.550,0.000,26.077,22.341,299.679,0.000,0.000,24.052,1443.980,7802.143,396.103,1821.814,564.361,33.371,1028.654,0.000,1420.966,0.000,1.010,0.000
$DEVICE_MAMPS,250.920,61.200,1262.250,696.915,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.092,1154.832,630.144,250.216,0.000,0.000,0.000,0.000,0.000,0.000
$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,43716,577
$CAP_FILE_SIZE,90963,0
$CFSIZE,259252224,199057408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050313,033613,-4329.772,703.902,18,1.0,18,-24.6