version: 66.07
glider: 542
mission: 6
dive: 479
start: 3 5 113 10 34 54
data:
$ID,542
$MISSION,6
$DIVE,479
$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,-14920.498
$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,47
$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
$GPS1,050313,102351,-4331.109,703.662,34,1.9,34,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-62.5
$GPS2,050313,103354,-4331.093,703.759,19,1.1,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.043,0.168
$KALMAN_X,23759.9,-1010.1,-621.1,189128.7,6470.6
$KALMAN_Y,803895.9,478.0,-361.3,-433263.7,3331.6
$MHEAD_RNG_PITCHd_Wd,39.1,8039,-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,-47.00,0.000,2,0.000,0.000,46,2886,2794,0,0,0,0,0,0
$GC,82,-0.84,-118.5,3.0,-4.1,6,116,6.53,2.25,-18.20,0.000,4,0.250,0.044,1550,1457,3304,0,0,0,0,0,0
$GC,189,-0.84,-118.5,17.0,-17.4,21,198,0.00,2.28,0.00,0.000,6,0.000,0.050,1541,2855,3305,0,0,0,0,0,0
$GC,273,-0.84,-118.5,34.7,-21.7,34,282,0.00,1.65,0.00,0.000,4,0.000,0.054,1533,3897,3306,0,0,0,0,0,0
$GC,327,-0.84,-118.5,45.6,-23.4,41,333,0.00,1.60,0.00,0.000,6,0.000,0.028,1533,2843,3306,0,0,0,0,0,0
$GC,570,-0.84,-118.5,94.3,-17.3,82,576,0.00,1.70,0.00,0.000,4,0.000,0.054,1525,3896,3306,0,0,0,0,0,0
$GC,679,-0.84,-118.5,115.3,-18.6,92,683,0.08,1.58,0.00,0.000,6,0.175,0.028,1555,2848,3307,0,0,0,0,0,0
$GC,1017,-0.84,-118.5,167.8,-16.0,113,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2843,3306,0,0,0,0,0,0
$GC,1340,-0.84,-118.5,222.5,-16.5,134,1343,0.00,1.67,0.00,0.000,4,0.000,0.055,1548,3899,3308,0,0,0,0,0,0
$GC,1448,-0.84,-118.5,242.4,-18.0,140,1452,0.00,1.58,0.00,0.000,6,0.000,0.028,1548,2850,3308,0,0,0,0,0,0
$GC,1785,-0.84,-118.5,299.0,-16.8,157,1788,0.00,1.65,0.00,0.000,4,0.000,0.054,1541,3899,3308,0,0,0,0,0,0
$GC,1882,-0.84,-118.5,317.4,-18.3,161,1886,0.00,1.55,0.00,0.000,6,0.000,0.028,1540,2866,3309,0,0,0,0,0,0
$GC,2214,-0.84,-118.5,372.9,-16.3,177,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2860,3309,0,0,0,0,0,0
$GC,2522,-0.84,-118.5,421.9,-16.0,190,2525,0.00,1.70,0.00,0.000,4,0.000,0.056,1532,3916,3309,0,0,0,0,0,0
$GC,2567,-0.84,-118.5,430.2,-17.0,191,2570,0.00,1.60,0.00,0.000,6,0.000,0.029,1532,2856,3310,0,0,0,0,0,0
$GC,2898,-0.84,-118.5,482.9,-15.9,202,2902,0.00,1.67,0.00,0.000,4,0.000,0.056,1524,3903,3310,0,0,0,0,0,0
$GC,2944,-0.84,-118.5,491.0,-16.9,203,2949,0.08,1.58,0.00,0.000,6,0.171,0.029,1555,2855,3310,0,0,0,0,0,0
$GC,3277,-0.84,-118.5,537.3,-13.8,214,3280,0.00,1.67,0.00,0.000,4,0.000,0.057,1548,3897,3309,0,0,0,0,0,0
$GC,3300,-0.84,-118.5,541.1,-14.7,214,3303,0.00,1.58,0.00,0.000,6,0.000,0.030,1548,2852,3309,0,0,0,0,0,0
$GC,3621,-0.84,-118.5,588.5,-14.8,225,3625,0.00,1.70,0.00,0.000,4,0.000,0.057,1540,3909,3309,0,0,0,0,0,0
$GC,3725,-0.84,-118.5,605.3,-15.4,228,3728,0.00,1.58,0.00,0.000,6,0.000,0.029,1540,2863,3309,0,0,0,0,0,0
$GC,4068,-0.84,-118.5,657.6,-14.8,239,4072,0.00,2.10,0.00,0.000,4,0.000,0.031,1540,1467,3309,0,0,0,0,0,0
$GC,4142,-0.84,-118.5,666.0,-10.7,241,4147,0.00,2.25,0.00,0.000,6,0.000,0.053,1529,2864,3308,0,0,0,0,0,0
$GC,4469,-0.84,-118.5,712.8,-14.9,252,4473,0.00,2.15,0.00,0.000,4,0.000,0.034,1530,1474,3308,0,0,0,0,0,0
$GC,4582,-0.84,-118.5,729.0,-13.2,255,4587,0.15,2.22,0.00,0.000,6,0.192,0.050,1555,2860,3307,0,0,0,0,0,0
$GC,4905,-0.84,-118.5,771.4,-13.4,266,4909,0.00,2.15,0.00,0.000,4,0.000,0.035,1555,1483,3308,0,0,0,0,0,0
$GC,4985,-0.84,-118.5,782.2,-12.6,268,4989,0.00,2.22,0.00,0.000,6,0.000,0.051,1546,2863,3308,0,0,0,0,0,0
$GC,5306,-0.84,-118.5,827.5,-14.5,279,5310,0.00,2.12,0.00,0.000,4,0.000,0.034,1546,1483,3307,0,0,0,0,0,0
$GC,5397,-0.84,-118.5,840.0,-12.9,281,5404,0.00,2.20,0.00,0.000,6,0.000,0.050,1535,2860,3307,0,0,0,0,0,0
$GC,5714,-0.84,-118.5,885.2,-14.7,292,5718,0.00,2.15,0.00,0.000,4,0.000,0.035,1534,1482,3306,0,0,0,0,0,0
$GC,5779,-0.84,-118.5,894.7,-13.5,294,5784,0.12,2.22,0.00,0.000,6,0.194,0.050,1553,2867,3306,0,0,0,0,0,0
$GC,6118,-0.84,-118.5,939.0,-12.9,305,6122,0.00,2.12,0.00,0.000,4,0.000,0.036,1553,1481,3305,0,0,0,0,0,0
$GC,6164,-0.84,-118.5,945.2,-12.3,306,6168,0.00,2.22,0.00,0.000,6,0.000,0.050,1544,2863,3305,0,0,0,0,0,0
$GC,6485,-0.84,-118.5,987.9,-13.6,317,6489,0.00,2.12,0.00,0.000,4,0.000,0.035,1544,1480,3305,0,0,0,0,0,0
$GC,6516,-0.84,-118.5,992.0,-13.2,318,6520,0.00,2.22,0.00,0.000,6,0.000,0.050,1533,2866,3305,0,0,0,0,0,0
$STATE,6573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6573,begin apogee
$GC,6585,-0.18,0.0,1000.2,13.3,320,6705,0.85,0.00,116.72,1.258,6,0.185,0.000,1762,2672,2819,0,0,0,0,0,0
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6707,begin climb
$GC,6712,0.84,118.5,1004.2,0.0,324,6858,1.00,2.45,128.60,1.719,4,0.095,0.042,2105,1284,2340,0,0,0,0,2,0
$GC,6895,0.84,118.5,978.4,19.5,329,6902,0.00,2.42,0.00,0.000,6,0.000,0.050,2105,2662,2340,0,0,0,0,0,0
$GC,7211,0.84,118.5,908.9,22.6,340,7214,0.00,1.98,0.00,0.000,4,0.000,0.059,2105,3907,2335,0,0,0,0,0,0
$GC,7228,0.84,118.5,904.4,22.4,340,7232,0.00,1.98,0.00,0.000,6,0.000,0.038,2115,2679,2335,0,0,0,0,0,0
$GC,7555,0.84,118.5,829.8,23.2,351,7559,0.00,2.22,0.00,0.000,4,0.000,0.044,2126,1262,2333,0,0,0,0,0,0
$GC,7573,0.84,118.5,825.4,22.9,351,7577,0.00,2.30,0.00,0.000,6,0.000,0.050,2125,2681,2331,0,0,0,0,0,0
$GC,7894,0.84,118.5,751.8,23.2,362,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2681,2331,0,0,0,0,0,0
$GC,8203,0.84,118.5,681.2,22.8,372,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2682,2331,0,0,0,0,0,0
$GC,8507,0.84,118.5,611.6,22.3,382,8511,0.00,2.25,0.00,0.000,4,0.000,0.042,2136,1257,2330,0,0,0,0,0,0
$GC,8558,0.84,118.5,600.2,20.3,383,8563,0.15,2.28,0.00,0.000,6,0.239,0.050,2104,2674,2328,0,0,0,0,0,0
$GC,8874,0.84,118.5,535.1,21.1,393,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2674,2328,0,0,0,0,0,0
$GC,9181,0.84,118.5,471.6,20.6,403,9185,0.00,2.22,0.00,0.000,4,0.000,0.042,2113,1254,2328,0,0,0,0,0,0
$GC,9228,0.84,118.5,461.9,19.7,404,9232,0.00,2.30,0.00,0.000,6,0.000,0.050,2110,2680,2326,0,0,0,0,0,0
$GC,9549,0.84,118.5,396.1,20.6,415,9553,0.00,2.22,0.00,0.000,4,0.000,0.041,2119,1255,2326,0,0,0,0,0,0
$GC,9569,0.84,118.5,392.1,19.8,416,9573,0.00,2.28,0.00,0.000,6,0.000,0.049,2118,2671,2326,0,0,0,0,0,0
$GC,9904,0.84,118.5,325.1,20.1,432,9908,0.00,2.22,0.00,0.000,4,0.000,0.041,2128,1248,2326,0,0,0,0,0,0
$GC,9957,0.84,118.5,314.8,19.5,434,9961,0.00,2.28,0.00,0.000,6,0.000,0.049,2128,2670,2325,0,0,0,0,0,0
$GC,10281,0.84,118.5,246.9,21.7,450,10285,0.00,2.22,0.00,0.000,4,0.000,0.042,2138,1258,2325,0,0,0,0,0,0
$GC,10322,0.84,118.5,237.8,21.6,452,10331,0.10,2.30,0.00,0.000,6,0.224,0.049,2111,2672,2325,0,0,0,0,0,0
$GC,10649,0.84,118.5,174.2,19.6,473,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2672,2325,0,0,0,0,0,0
$GC,10971,0.84,118.5,110.0,19.7,494,10975,0.00,2.22,0.00,0.000,4,0.000,0.041,2121,1258,2325,0,0,0,0,0,0
$GC,11045,0.84,118.5,96.3,17.8,499,11050,0.00,2.28,0.00,0.000,6,0.000,0.049,2121,2674,2324,0,0,0,0,0,0
$GC,11402,0.84,118.5,27.3,18.7,560,11412,0.00,2.25,0.00,0.000,4,0.000,0.041,2132,1260,2324,0,0,0,0,0,0
$GC,11517,0.84,118.5,8.5,15.1,577,11527,0.08,2.28,0.00,0.000,6,0.216,0.049,2112,2665,2324,0,0,0,0,0,0
$STATE,11546,end climb,SURFACE_DEPTH_REACHED
$STATE,11546,begin surface coast
$FINISH,0.9,1.017617
$STATE,11566,end surface coast,CONTROL_FINISHED_OK
$STATE,11566,begin surface
$SM_CCo,11589,57.65,0.726,1,0,1880,230.09
$SM_GC,2.08,0.00,0.00,57.65,0.000,0.000,0.726,50,2877,1880,-5.56,0.48,230.09
$IRIDIUM_FIX,-4314.46,702.71,050313,070720
$TT8_MAMPS,0.026215
$HUMID,59.88
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.2,88.982
$10V_AH,9.8,48.285
$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,14.575,106.600,245.325,57.650,0.000,27.965,30.448,307.984,0.000,0.000,25.024,1511.914,7698.186,408.065,2034.888,596.362,33.365,1138.284,0.000,1607.869,0.000,1.012,0.000
$DEVICE_MAMPS,250.155,63.495,1718.955,725.985,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.788,1171.916,639.973,251.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,43721,584
$CAP_FILE_SIZE,103639,0
$CFSIZE,259252224,198889472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050313,135034,-4329.829,704.927,40,0.8,40,-24.6