version: 66.07
glider: 542
mission: 6
dive: 477
start: 3 5 113 3 46 35
data:
$ID,542
$MISSION,6
$DIVE,477
$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,-14910.253
$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,42
$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
$GPS1,050313,033613,-4329.772,703.902,18,1.0,18,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-57.9
$GPS2,050313,034535,-4329.796,704.031,19,0.9,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.125,-0.120
$KALMAN_X,21956.5,-355.4,-528.2,190527.5,7781.7
$KALMAN_Y,801558.2,-684.0,49.1,-427777.8,2921.0
$MHEAD_RNG_PITCHd_Wd,250.8,6837,-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,-63.1,0.0,0.0,0,83,0.00,0.00,-54.80,0.000,2,0.000,0.000,63,2877,2962,0,0,0,0,0,0
$GC,90,-0.85,-122.2,3.1,-3.7,7,116,6.47,2.25,-10.70,0.000,4,0.251,0.044,1551,1449,3320,0,0,0,0,0,0
$GC,201,-0.85,-122.2,21.6,-17.6,23,210,0.00,2.28,0.00,0.000,6,0.000,0.048,1541,2853,3321,0,0,0,0,0,0
$GC,285,-0.85,-122.2,39.9,-23.5,36,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2854,3321,0,0,0,0,0,0
$GC,531,-0.85,-122.2,89.2,-19.4,77,536,0.00,1.65,0.00,0.000,4,0.000,0.054,1533,3895,3322,0,0,0,0,0,0
$GC,593,-0.85,-122.2,100.8,-18.8,87,596,0.00,1.58,0.00,0.000,6,0.000,0.028,1533,2841,3321,0,0,0,0,0,0
$GC,920,-0.85,-122.2,158.8,-17.6,108,924,0.00,1.70,0.00,0.000,4,0.000,0.054,1526,3894,3322,0,0,0,0,0,0
$GC,1017,-0.85,-122.2,177.7,-18.7,113,1025,0.08,1.55,0.00,0.000,6,0.174,0.028,1547,2849,3323,0,0,0,0,0,0
$GC,1345,-0.85,-122.2,230.5,-16.8,134,1348,0.00,1.67,0.00,0.000,4,0.000,0.054,1540,3904,3324,0,0,0,0,0,0
$GC,1401,-0.85,-122.2,240.9,-17.0,137,1405,0.00,1.55,0.00,0.000,6,0.000,0.028,1540,2867,3324,0,0,0,0,0,0
$GC,1722,-0.85,-122.2,295.4,-16.6,153,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2861,3324,0,0,0,0,0,0
$GC,2030,-0.85,-122.2,344.2,-15.7,168,2033,0.00,1.65,0.00,0.000,4,0.000,0.054,1532,3903,3325,0,0,0,0,0,0
$GC,2066,-0.85,-122.2,350.2,-16.9,169,2069,0.00,1.58,0.00,0.000,6,0.000,0.028,1532,2852,3326,0,0,0,0,0,0
$GC,2392,-0.85,-122.2,400.3,-15.4,185,2395,0.00,1.67,0.00,0.000,4,0.000,0.054,1524,3901,3326,0,0,0,0,0,0
$GC,2432,-0.85,-122.2,407.6,-16.1,186,2437,0.08,1.55,0.00,0.000,6,0.171,0.029,1547,2867,3326,0,0,0,0,0,0
$GC,2770,-0.85,-122.2,455.7,-14.4,197,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2861,3326,0,0,0,0,0,0
$GC,3076,-0.85,-122.2,500.8,-14.8,207,3080,0.00,1.67,0.00,0.000,4,0.000,0.057,1540,3894,3326,0,0,0,0,0,0
$GC,3123,-0.85,-122.2,508.5,-16.6,208,3127,0.00,1.55,0.00,0.000,6,0.000,0.029,1540,2865,3325,0,0,0,0,0,0
$GC,3457,-0.85,-122.2,559.9,-15.6,219,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3325,0,0,0,0,0,0
$GC,3761,-0.85,-122.2,609.5,-16.4,229,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3325,0,0,0,0,0,0
$GC,4068,-0.85,-122.2,659.4,-16.7,239,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2859,3325,0,0,0,0,0,0
$GC,4373,-0.85,-122.2,711.1,-16.7,249,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3324,0,0,0,0,0,0
$GC,4680,-0.85,-122.2,760.5,-16.2,259,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3324,0,0,0,0,0,0
$GC,4986,-0.85,-122.2,809.3,-15.6,269,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3323,0,0,0,0,0,0
$GC,5293,-0.85,-122.2,858.4,-16.0,279,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,2859,3322,0,0,0,0,0,0
$GC,5598,-0.85,-122.2,906.1,-15.4,289,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3321,0,0,0,0,0,0
$GC,5905,-0.85,-122.2,951.0,-14.6,299,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3321,0,0,0,0,0,0
$GC,6211,-0.85,-122.2,995.0,-14.3,309,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,2859,3320,0,0,0,0,0,0
$STATE,6267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6267,begin apogee
$GC,6278,-0.18,0.0,1003.9,14.3,311,6410,0.82,0.00,122.70,1.779,6,0.178,0.000,1768,2667,2821,0,0,0,0,1,0
$STATE,6411,end apogee,CONTROL_FINISHED_OK
$STATE,6411,begin climb
$GC,6416,0.85,122.2,1008.5,0.0,315,6575,1.02,2.47,138.48,1.723,4,0.086,0.042,2111,1288,2323,0,0,0,0,2,0
$GC,6672,0.85,122.2,971.1,19.7,322,6676,0.00,2.38,0.00,0.000,6,0.000,0.050,2111,2674,2320,0,0,0,0,0,0
$GC,6993,0.85,122.2,897.7,23.4,333,6997,0.00,2.22,0.00,0.000,4,0.000,0.044,2121,1281,2317,0,0,0,0,0,0
$GC,7067,0.85,122.2,881.4,20.6,335,7071,0.00,2.28,0.00,0.000,6,0.000,0.050,2121,2682,2315,0,0,0,0,0,0
$GC,7399,0.85,122.2,804.1,23.9,346,7403,0.00,2.20,0.00,0.000,4,0.000,0.044,2132,1274,2315,0,0,0,0,0,0
$GC,7467,0.85,122.2,789.7,21.9,348,7471,0.00,2.25,0.00,0.000,6,0.000,0.050,2132,2669,2312,0,0,0,0,0,0
$GC,7804,0.85,122.2,708.9,24.4,359,7808,0.00,2.20,0.00,0.000,4,0.000,0.044,2142,1275,2312,0,0,0,0,0,0
$GC,7879,0.85,122.2,691.5,21.9,361,7883,0.15,2.22,0.00,0.000,6,0.240,0.050,2111,2670,2311,0,0,0,0,0,0
$GC,8213,0.85,122.2,620.2,21.4,372,8217,0.00,2.20,0.00,0.000,4,0.000,0.043,2120,1282,2311,0,0,0,0,0,0
$GC,8270,0.85,122.2,608.5,20.0,373,8277,0.00,2.22,0.00,0.000,6,0.000,0.050,2118,2672,2310,0,0,0,0,0,0
$GC,8586,0.85,122.2,544.5,20.4,384,8590,0.00,2.20,0.00,0.000,4,0.000,0.044,2127,1284,2310,0,0,0,0,0,0
$GC,8610,0.85,122.2,539.3,19.8,384,8616,0.00,2.22,0.00,0.000,6,0.000,0.049,2125,2673,2309,0,0,0,0,0,0
$GC,8925,0.85,122.2,476.5,20.0,395,8929,0.00,2.20,0.00,0.000,4,0.000,0.044,2135,1282,2309,0,0,0,0,0,0
$GC,8983,0.85,122.2,465.4,18.3,396,8991,0.12,2.22,0.00,0.000,6,0.234,0.048,2109,2673,2309,0,0,0,0,0,0
$GC,9298,0.85,122.2,405.3,19.7,407,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2673,2309,0,0,0,0,0,0
$GC,9618,0.85,122.2,343.6,19.6,422,9622,0.00,2.20,0.00,0.000,4,0.000,0.043,2118,1281,2309,0,0,0,0,0,0
$GC,9661,0.85,122.2,335.5,18.1,424,9665,0.00,2.22,0.00,0.000,6,0.000,0.048,2117,2669,2308,0,0,0,0,0,0
$GC,9991,0.85,122.2,269.7,20.4,440,9995,0.00,2.17,0.00,0.000,4,0.000,0.042,2127,1275,2308,0,0,0,0,0,0
$GC,10043,0.85,122.2,259.2,19.0,442,10047,0.00,2.25,0.00,0.000,6,0.000,0.048,2124,2676,2307,0,0,0,0,0,0
$GC,10366,0.85,122.2,191.3,21.6,462,10370,0.00,2.20,0.00,0.000,4,0.000,0.042,2132,1284,2308,0,0,0,0,0,0
$GC,10500,0.85,122.2,163.6,19.4,470,10505,0.12,2.22,0.00,0.000,6,0.230,0.048,2107,2671,2307,0,0,0,0,0,0
$GC,10836,0.85,122.2,98.2,20.0,491,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2672,2308,0,0,0,0,0,0
$GC,11192,0.85,122.2,30.9,17.7,552,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2672,2307,0,0,0,0,0,0
$STATE,11355,end climb,SURFACE_DEPTH_REACHED
$STATE,11355,begin surface coast
$FINISH,1.3,1.026217
$STATE,11378,end surface coast,CONTROL_FINISHED_OK
$STATE,11378,begin surface
$SM_CCo,11401,56.75,0.721,1,0,1880,230.09
$SM_GC,2.03,0.00,0.00,56.75,0.000,0.000,0.721,57,2890,1880,-5.54,0.82,230.09
$IRIDIUM_FIX,-4317.42,705.66,050313,000057
$TT8_MAMPS,0.026215
$HUMID,59.45
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.1,88.707
$10V_AH,9.8,48.112
$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,14.375,69.225,261.175,56.750,0.000,25.217,25.430,291.224,0.000,0.000,21.884,1464.610,7700.589,399.980,1909.124,548.655,33.393,1060.987,0.000,1508.168,0.000,1.010,0.000
$DEVICE_MAMPS,250.920,58.140,1778.625,721.395,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.254,1168.875,646.618,254.942,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354336
$DATA_FILE_SIZE,43662,581
$CAP_FILE_SIZE,91249,0
$CFSIZE,259252224,199008256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,050313,065905,-4329.877,703.401,39,1.1,39,-24.6