version: 66.07
glider: 542
mission: 6
dive: 478
start: 3 5 113 7 9 35
data:
$ID,542
$MISSION,6
$DIVE,478
$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,-14913.745
$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,58
$R_STBD_OVSHOOT,42
$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
$GPS1,050313,065905,-4329.877,703.401,39,1.1,39,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-60.2
$GPS2,050313,070835,-4329.866,703.557,16,1.3,16,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.013,-0.173
$KALMAN_X,23307.2,-493.8,-458.6,188644.1,7033.4
$KALMAN_Y,803158.4,51.5,-92.4,-430105.6,3740.8
$MHEAD_RNG_PITCHd_Wd,209.1,7488,-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,-47.05,0.000,2,0.000,0.000,56,2890,2787,0,0,0,0,0,0
$GC,82,-0.85,-120.5,3.1,-3.9,6,116,6.32,1.62,-18.38,0.000,4,0.243,0.072,1542,3883,3312,0,0,0,0,0,0
$GC,254,-0.85,-120.5,33.3,-22.5,31,261,0.00,1.55,0.00,0.000,6,0.000,0.028,1542,2852,3314,0,0,0,0,0,0
$GC,494,-0.85,-120.5,85.0,-20.6,72,503,0.00,1.65,0.00,0.000,4,0.000,0.052,1534,3876,3314,0,0,0,0,0,0
$GC,526,-0.85,-120.5,90.7,-19.1,76,533,0.00,1.52,0.00,0.000,6,0.000,0.028,1534,2848,3315,0,0,0,0,0,0
$GC,859,-0.85,-120.5,152.9,-17.6,102,863,0.00,1.67,0.00,0.000,4,0.000,0.054,1526,3889,3315,0,0,0,0,0,0
$GC,1037,-0.85,-120.5,185.1,-17.4,112,1041,0.08,1.52,0.00,0.000,6,0.173,0.029,1548,2868,3316,0,0,0,0,0,0
$GC,1377,-0.85,-120.5,238.9,-15.6,133,1381,0.00,1.65,0.00,0.000,4,0.000,0.054,1541,3905,3316,0,0,0,0,0,0
$GC,1435,-0.85,-120.5,250.1,-17.0,136,1438,0.00,1.58,0.00,0.000,6,0.000,0.028,1541,2849,3317,0,0,0,0,0,0
$GC,1758,-0.85,-120.5,299.9,-15.2,152,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2844,3317,0,0,0,0,0,0
$GC,2070,-0.85,-120.5,346.7,-15.4,167,2074,0.00,1.67,0.00,0.000,4,0.000,0.054,1534,3884,3317,0,0,0,0,0,0
$GC,2173,-0.85,-120.5,364.5,-16.7,171,2177,0.00,1.52,0.00,0.000,6,0.000,0.028,1534,2866,3318,0,0,0,0,0,0
$GC,2506,-0.85,-120.5,418.6,-16.6,186,2510,0.00,1.67,0.00,0.000,4,0.000,0.055,1526,3883,3318,0,0,0,0,0,0
$GC,2577,-0.85,-120.5,431.1,-18.1,188,2581,0.08,1.52,0.00,0.000,6,0.170,0.028,1547,2866,3319,0,0,0,0,0,0
$GC,2920,-0.85,-120.5,485.6,-16.0,199,2924,0.00,1.67,0.00,0.000,4,0.000,0.057,1541,3879,3318,0,0,0,0,0,0
$GC,2967,-0.85,-120.5,493.7,-17.4,200,2971,0.00,1.55,0.00,0.000,6,0.000,0.029,1541,2852,3318,0,0,0,0,0,0
$GC,3299,-0.85,-120.5,548.7,-16.5,211,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2847,3318,0,0,0,0,0,0
$GC,3605,-0.85,-120.5,597.8,-16.0,221,3608,0.00,1.65,0.00,0.000,4,0.000,0.057,1533,3882,3318,0,0,0,0,0,0
$GC,3643,-0.85,-120.5,604.0,-17.4,222,3647,0.00,1.55,0.00,0.000,6,0.000,0.029,1533,2851,3317,0,0,0,0,0,0
$GC,3986,-0.85,-120.5,659.5,-15.7,233,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2846,3317,0,0,0,0,0,0
$GC,4294,-0.85,-120.5,706.7,-15.5,243,4297,0.00,1.67,0.00,0.000,4,0.000,0.056,1525,3893,3317,0,0,0,0,0,0
$GC,4356,-0.85,-120.5,717.5,-16.7,244,4364,0.08,1.58,0.00,0.000,6,0.169,0.030,1547,2849,3317,0,0,0,0,0,0
$GC,4672,-0.85,-120.5,761.5,-14.0,255,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2849,3317,0,0,0,0,0,0
$GC,4978,-0.85,-120.5,804.3,-13.9,265,4982,0.00,1.67,0.00,0.000,4,0.000,0.058,1541,3876,3316,0,0,0,0,0,0
$GC,5041,-0.85,-120.5,814.1,-15.2,266,5047,0.00,1.52,0.00,0.000,6,0.000,0.031,1540,2862,3316,0,0,0,0,0,0
$GC,5357,-0.85,-120.5,858.7,-14.0,277,5360,0.00,1.65,0.00,0.000,4,0.000,0.057,1532,3889,3315,0,0,0,0,0,0
$GC,5397,-0.85,-120.5,865.2,-15.2,278,5400,0.00,1.55,0.00,0.000,6,0.000,0.031,1532,2864,3315,0,0,0,0,0,0
$GC,5734,-0.85,-120.5,915.6,-14.9,289,5738,0.00,1.65,0.00,0.000,4,0.000,0.057,1524,3886,3315,0,0,0,0,0,0
$GC,5780,-0.85,-120.5,923.2,-16.1,290,5785,0.08,1.55,0.00,0.000,6,0.168,0.031,1547,2865,3314,0,0,0,0,0,0
$GC,6112,-0.85,-120.5,968.5,-13.3,301,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2860,3314,0,0,0,0,0,0
$STATE,6353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6353,begin apogee
$GC,6364,-0.18,0.0,1001.2,13.6,309,6486,0.77,0.00,118.60,1.271,6,0.173,0.000,1766,2665,2819,0,0,0,0,0,0
$STATE,6488,end apogee,CONTROL_FINISHED_OK
$STATE,6488,begin climb
$GC,6493,0.85,120.5,1005.3,0.0,313,6644,1.00,2.45,131.10,1.728,4,0.089,0.041,2109,1295,2331,0,0,0,0,2,0
$GC,6735,0.85,120.5,969.9,19.6,320,6739,0.00,2.33,0.00,0.000,6,0.000,0.050,2109,2649,2328,0,0,0,0,0,0
$GC,7067,0.85,120.5,896.7,21.9,331,7071,0.00,2.12,0.00,0.000,4,0.000,0.043,2119,1292,2325,0,0,0,0,0,0
$GC,7125,0.85,120.5,884.3,20.5,332,7129,0.00,2.22,0.00,0.000,6,0.000,0.051,2120,2676,2322,0,0,0,0,0,0
$GC,7442,0.85,120.5,814.2,22.3,342,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2677,2322,0,0,0,0,0,0
$GC,7747,0.85,120.5,744.5,23.0,352,7751,0.00,2.17,0.00,0.000,4,0.000,0.042,2130,1293,2321,0,0,0,0,0,0
$GC,7788,0.85,120.5,735.6,20.8,353,7792,0.00,2.22,0.00,0.000,6,0.000,0.050,2130,2673,2320,0,0,0,0,0,0
$GC,8114,0.85,120.5,664.2,21.6,364,8118,0.00,2.20,0.00,0.000,4,0.000,0.043,2140,1289,2320,0,0,0,0,0,0
$GC,8166,0.85,120.5,653.2,19.6,365,8170,0.15,2.22,0.00,0.000,6,0.238,0.050,2109,2679,2319,0,0,0,0,0,0
$GC,8487,0.85,120.5,588.1,20.6,376,8491,0.00,2.20,0.00,0.000,4,0.000,0.042,2118,1287,2319,0,0,0,0,0,0
$GC,8534,0.85,120.5,578.5,20.1,377,8538,0.00,2.22,0.00,0.000,6,0.000,0.050,2117,2673,2318,0,0,0,0,0,0
$GC,8866,0.85,120.5,510.1,20.5,388,8870,0.00,2.20,0.00,0.000,4,0.000,0.042,2127,1279,2318,0,0,0,0,0,0
$GC,8924,0.85,120.5,498.3,19.6,389,8928,0.00,2.25,0.00,0.000,6,0.000,0.050,2124,2673,2317,0,0,0,0,0,0
$GC,9239,0.85,120.5,433.6,20.5,399,9243,0.00,2.17,0.00,0.000,4,0.000,0.042,2133,1285,2317,0,0,0,0,0,0
$GC,9279,0.85,120.5,425.0,20.3,400,9283,0.00,2.22,0.00,0.000,6,0.000,0.049,2131,2674,2317,0,0,0,0,0,0
$GC,9609,0.85,120.5,357.3,20.5,414,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2674,2317,0,0,0,0,0,0
$GC,9920,0.85,120.5,295.7,20.4,429,9924,0.00,2.20,0.00,0.000,4,0.000,0.042,2141,1280,2317,0,0,0,0,0,0
$GC,9965,0.85,120.5,287.1,18.6,431,9969,0.15,2.22,0.00,0.000,6,0.232,0.050,2109,2673,2316,0,0,0,0,0,0
$GC,10288,0.85,120.5,224.8,19.4,448,10292,0.00,2.20,0.00,0.000,4,0.000,0.041,2118,1276,2316,0,0,0,0,0,0
$GC,10358,0.85,120.5,211.6,17.7,452,10362,0.00,2.25,0.00,0.000,6,0.000,0.050,2117,2673,2316,0,0,0,0,0,0
$GC,10682,0.85,120.5,146.5,20.7,472,10685,0.00,2.17,0.00,0.000,4,0.000,0.041,2127,1280,2315,0,0,0,0,0,0
$GC,10723,0.85,120.5,137.7,19.4,474,10732,0.00,2.25,0.00,0.000,6,0.000,0.050,2127,2663,2315,0,0,0,0,0,0
$GC,11063,0.85,120.5,71.7,17.7,511,11067,0.00,1.95,0.00,0.000,4,0.000,0.056,2127,3896,2315,0,0,0,0,0,0
$GC,11093,0.85,120.5,64.9,20.0,516,11103,0.10,1.90,0.00,0.000,6,0.239,0.036,2112,2677,2315,0,0,0,0,0,0
$STATE,11469,end climb,SURFACE_DEPTH_REACHED
$STATE,11470,begin surface coast
$FINISH,0.9,1.016339
$STATE,11489,end surface coast,CONTROL_FINISHED_OK
$STATE,11489,begin surface
$SM_CCo,11512,57.25,0.721,1,0,1880,230.09
$SM_GC,2.03,0.00,0.00,57.25,0.000,0.000,0.721,47,2885,1880,-5.57,0.71,230.09
$IRIDIUM_FIX,-4314.46,705.29,050313,030321
$TT8_MAMPS,0.026215
$HUMID,60.15
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.2,88.845
$10V_AH,9.8,48.198
$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,14.475,87.400,249.700,57.250,0.000,28.610,24.809,298.579,0.000,0.000,18.309,1499.139,7673.311,387.243,2004.062,575.886,33.392,1096.600,0.000,1596.539,0.000,1.010,0.000
$DEVICE_MAMPS,242.505,71.910,1728.135,720.630,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.389,1171.198,656.404,255.107,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,43747,580
$CAP_FILE_SIZE,98271,0
$CFSIZE,259252224,198955008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050313,102351,-4331.109,703.662,34,1.9,34,-24.6