version: 66.07
glider: 542
mission: 6
dive: 480
start: 3 5 113 14 8 19
data:
$ID,542
$MISSION,6
$DIVE,480
$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,-14923.401
$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,35
$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
$GPS1,050313,135034,-4329.829,704.927,40,0.8,40,-24.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-60.8
$GPS2,050313,140723,-4329.823,705.180,19,1.0,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.173,-0.003
$KALMAN_X,24173.3,-1333.9,-448.8,190663.0,6038.3
$KALMAN_Y,802974.4,-63.1,-414.5,-429387.7,1521.5
$MHEAD_RNG_PITCHd_Wd,293.8,5354,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.78,-63.1,0.0,0.0,0,88,0.00,0.00,-54.90,0.000,2,0.000,0.000,50,2878,3001,0,0,0,0,0,0
$GC,94,-0.86,-134.2,3.1,-2.4,7,120,6.32,2.25,-10.23,0.000,4,0.241,0.047,1551,1452,3369,0,0,0,0,0,0
$GC,206,-0.86,-134.2,24.8,-19.2,23,215,0.00,2.25,0.00,0.000,6,0.000,0.047,1542,2846,3369,0,0,0,0,0,0
$GC,290,-0.86,-134.2,43.4,-22.7,36,299,0.00,1.65,0.00,0.000,4,0.000,0.053,1534,3894,3370,0,0,0,0,0,0
$GC,343,-0.86,-134.2,54.8,-24.0,43,351,0.00,1.60,0.00,0.000,6,0.000,0.028,1533,2837,3370,0,0,0,0,0,0
$GC,588,-0.86,-134.2,111.2,-22.2,79,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2836,3370,0,0,0,0,0,0
$GC,900,-0.86,-134.2,175.4,-19.9,99,904,0.00,2.08,0.00,0.000,4,0.000,0.034,1533,1470,3370,0,0,0,0,0,0
$GC,921,-0.86,-134.2,179.7,-20.1,100,925,0.00,2.20,0.00,0.000,6,0.000,0.047,1523,2862,3370,0,0,0,0,0,0
$GC,1250,-0.86,-134.2,242.0,-19.1,121,1253,0.00,1.62,0.00,0.000,4,0.000,0.052,1515,3894,3371,0,0,0,0,0,0
$GC,1417,-0.86,-134.2,274.1,-19.7,129,1422,0.10,1.55,0.00,0.000,6,0.176,0.028,1544,2855,3372,0,0,0,0,0,0
$GC,1755,-0.86,-134.2,331.7,-16.6,145,1759,0.00,1.65,0.00,0.000,4,0.000,0.054,1537,3905,3373,0,0,0,0,0,0
$GC,1815,-0.86,-134.2,342.4,-17.7,147,1818,0.00,1.58,0.00,0.000,6,0.000,0.028,1537,2864,3373,0,0,0,0,0,0
$GC,2140,-0.86,-134.2,397.8,-16.8,163,2144,0.00,1.65,0.00,0.000,4,0.000,0.054,1529,3900,3373,0,0,0,0,0,0
$GC,2171,-0.86,-134.2,403.8,-18.4,164,2178,0.00,1.58,0.00,0.000,6,0.000,0.028,1529,2850,3373,0,0,0,0,0,0
$GC,2486,-0.86,-134.2,460.4,-18.2,175,2490,0.00,1.67,0.00,0.000,4,0.000,0.054,1521,3892,3373,0,0,0,0,0,0
$GC,2557,-0.86,-134.2,474.2,-19.2,177,2561,0.08,1.55,0.00,0.000,6,0.170,0.028,1557,2855,3373,0,0,0,0,0,0
$GC,2900,-0.86,-134.2,529.1,-15.7,188,2904,0.00,1.67,0.00,0.000,4,0.000,0.055,1551,3887,3373,0,0,0,0,0,0
$GC,2937,-0.86,-134.2,535.1,-16.2,189,2941,0.00,1.55,0.00,0.000,6,0.000,0.029,1551,2859,3373,0,0,0,0,0,0
$GC,3282,-0.86,-134.2,588.7,-15.6,200,3286,0.00,1.65,0.00,0.000,4,0.000,0.056,1543,3903,3373,0,0,0,0,0,0
$GC,3356,-0.86,-134.2,601.6,-16.0,202,3360,0.00,1.58,0.00,0.000,6,0.000,0.029,1543,2865,3373,0,0,0,0,0,0
$GC,3696,-0.86,-134.2,655.4,-15.8,213,3699,0.00,1.65,0.00,0.000,4,0.000,0.056,1535,3894,3372,0,0,0,0,0,0
$GC,3733,-0.86,-134.2,661.7,-16.7,214,3736,0.00,1.58,0.00,0.000,6,0.000,0.029,1535,2854,3372,0,0,0,0,0,0
$GC,4075,-0.86,-134.2,717.9,-16.4,225,4079,0.00,1.67,0.00,0.000,4,0.000,0.055,1527,3900,3372,0,0,0,0,0,0
$GC,4100,-0.86,-134.2,722.2,-17.0,225,4103,0.00,1.58,0.00,0.000,6,0.000,0.030,1527,2860,3372,0,0,0,0,0,0
$GC,4421,-0.86,-134.2,775.9,-17.1,236,4425,0.00,1.65,0.00,0.000,4,0.000,0.056,1519,3893,3371,0,0,0,0,0,0
$GC,4478,-0.86,-134.2,786.4,-17.8,237,4482,0.08,1.55,0.00,0.000,6,0.171,0.030,1555,2859,3370,0,0,0,0,0,0
$GC,4799,-0.86,-134.2,832.0,-14.4,248,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2853,3370,0,0,0,0,0,0
$GC,5105,-0.86,-134.2,874.3,-13.8,258,5109,0.00,1.70,0.00,0.000,4,0.000,0.058,1549,3893,3369,0,0,0,0,0,0
$GC,5134,-0.86,-134.2,879.0,-15.5,258,5141,0.00,1.58,0.00,0.000,6,0.000,0.031,1549,2848,3369,0,0,0,0,0,0
$GC,5451,-0.86,-134.2,923.5,-14.1,269,5455,0.00,1.67,0.00,0.000,4,0.000,0.057,1541,3893,3368,0,0,0,0,0,0
$GC,5503,-0.86,-134.2,932.1,-16.2,270,5506,0.00,1.55,0.00,0.000,6,0.000,0.030,1541,2866,3368,0,0,0,0,0,0
$GC,5829,-0.86,-134.2,979.6,-14.6,281,5832,0.00,1.70,0.00,0.000,4,0.000,0.057,1532,3903,3367,0,0,0,0,0,0
$GC,5865,-0.86,-134.2,985.3,-15.7,282,5869,0.00,1.58,0.00,0.000,6,0.000,0.030,1533,2864,3367,0,0,0,0,0,0
$STATE,5990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,6002,-0.18,0.0,1004.7,15.2,286,6141,0.82,0.00,130.80,1.268,6,0.176,0.000,1762,2664,2816,0,0,0,0,0,0
$STATE,6143,end apogee,CONTROL_FINISHED_OK
$STATE,6143,begin climb
$GC,6148,0.86,134.2,1010.1,0.0,291,6307,1.02,2.47,143.35,1.747,4,0.090,0.042,2112,1285,2276,0,0,0,0,1,0
$GC,6388,0.86,134.2,969.9,22.4,298,6393,0.00,2.40,0.00,0.000,6,0.000,0.050,2112,2669,2273,0,0,0,0,0,0
$GC,6715,0.86,134.2,889.9,24.5,309,6719,0.00,2.20,0.00,0.000,4,0.000,0.044,2122,1289,2270,0,0,0,0,0,0
$GC,6780,0.86,134.2,875.2,23.2,311,6784,0.00,2.25,0.00,0.000,6,0.000,0.051,2122,2680,2268,0,0,0,0,0,0
$GC,7124,0.86,134.2,794.0,23.5,322,7128,0.00,2.20,0.00,0.000,4,0.000,0.044,2132,1287,2267,0,0,0,0,0,0
$GC,7238,0.86,134.2,769.0,21.0,325,7242,0.00,2.22,0.00,0.000,6,0.000,0.050,2132,2670,2266,0,0,0,0,0,0
$GC,7559,0.86,134.2,690.5,25.0,336,7563,0.00,2.17,0.00,0.000,4,0.000,0.042,2142,1272,2265,0,0,0,0,0,0
$GC,7628,0.86,134.2,674.6,21.8,338,7633,0.15,2.25,0.00,0.000,6,0.243,0.051,2111,2669,2264,0,0,0,0,0,0
$GC,7961,0.86,134.2,596.6,23.4,349,7965,0.00,2.17,0.00,0.000,4,0.000,0.041,2120,1274,2264,0,0,0,0,0,0
$GC,8019,0.86,134.2,583.6,21.8,350,8025,0.00,2.25,0.00,0.000,6,0.000,0.050,2118,2675,2264,0,0,0,0,0,0
$GC,8334,0.86,134.2,508.2,24.2,361,8338,0.00,2.20,0.00,0.000,4,0.000,0.042,2127,1276,2263,0,0,0,0,0,0
$GC,8386,0.86,134.2,496.0,21.4,362,8390,0.00,2.25,0.00,0.000,6,0.000,0.050,2127,2670,2263,0,0,0,0,0,0
$GC,8701,0.86,134.2,420.8,23.6,372,8705,0.00,2.15,0.00,0.000,4,0.000,0.043,2137,1280,2263,0,0,0,0,0,0
$GC,8754,0.86,134.2,409.0,21.2,373,8758,0.00,2.25,0.00,0.000,6,0.000,0.050,2137,2674,2262,0,0,0,0,0,0
$GC,9073,0.86,134.2,335.0,22.8,387,9077,0.00,2.20,0.00,0.000,4,0.000,0.043,2148,1281,2262,0,0,0,0,0,0
$GC,9148,0.86,134.2,317.9,20.1,390,9153,0.15,2.25,0.00,0.000,6,0.237,0.050,2112,2677,2262,0,0,0,0,0,0
$GC,9469,0.86,134.2,249.0,21.8,405,9473,0.00,2.15,0.00,0.000,4,0.000,0.041,2121,1288,2261,0,0,0,0,0,0
$GC,9585,0.86,134.2,224.9,19.3,412,9589,0.00,2.22,0.00,0.000,6,0.000,0.050,2117,2671,2261,0,0,0,0,0,0
$GC,9915,0.86,134.2,152.1,22.5,433,9919,0.00,2.15,0.00,0.000,4,0.000,0.039,2127,1277,2261,0,0,0,0,0,0
$GC,10023,0.86,134.2,129.1,19.6,439,10030,0.00,2.22,0.00,0.000,6,0.000,0.048,2123,2672,2260,0,0,0,0,0,0
$GC,10363,0.86,134.2,54.2,20.1,484,10372,0.00,2.17,0.00,0.000,4,0.000,0.038,2133,1283,2260,0,0,0,0,0,0
$GC,10404,0.86,134.2,46.9,18.9,489,10411,0.00,2.22,0.00,0.000,6,0.000,0.048,2131,2674,2261,0,0,0,0,0,0
$STATE,10620,end climb,SURFACE_DEPTH_REACHED
$STATE,10620,begin surface coast
$FINISH,0.8,1.026213
$STATE,10634,end surface coast,CONTROL_FINISHED_OK
$STATE,10634,begin surface
$SM_CCo,10657,51.78,0.718,1,0,1879,230.09
$SM_GC,1.83,0.00,0.00,51.78,0.000,0.000,0.718,58,2889,1879,-5.54,0.82,230.09
$IRIDIUM_FIX,-4314.46,705.66,050313,131359
$TT8_MAMPS,0.026215
$HUMID,59.76
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.2,89.150
$10V_AH,9.8,48.370
$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,14.150,100.350,274.150,51.775,0.000,59.436,64.821,564.090,0.000,0.000,21.717,1392.553,7038.759,416.844,2243.681,621.559,33.370,1123.342,0.000,1519.514,0.000,1.010,0.000
$DEVICE_MAMPS,242.505,58.140,1747.260,718.335,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.076,1049.632,567.426,220.300,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,37101,526
$CAP_FILE_SIZE,102294,0
$CFSIZE,259252224,198840320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,050313,170804,-4328.974,704.926,23,0.8,23,-24.6