version: 66.07
glider: 542
mission: 6
dive: 481
start: 3 5 113 17 25 37
data:
$ID,542
$MISSION,6
$DIVE,481
$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,-14926.879
$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,62
$R_STBD_OVSHOOT,47
$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
$GPS1,050313,170804,-4328.974,704.926,23,0.8,23,-24.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-48.8
$GPS2,050313,172441,-4329.069,705.214,18,1.3,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.112,-0.132
$KALMAN_X,26450.7,-874.8,5.0,187501.2,6862.8
$KALMAN_Y,804537.5,-854.1,228.1,-429426.6,2588.0
$MHEAD_RNG_PITCHd_Wd,244.8,5090,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.78,-63.1,0.0,0.0,0,95,0.00,0.00,-61.08,0.000,6,0.000,0.000,57,2890,3079,0,0,0,0,0,0
$GC,101,-0.86,-134.7,2.9,-2.4,8,127,6.38,1.62,-9.23,0.000,4,0.246,0.074,1536,3882,3372,0,0,0,0,0,0
$GC,259,-0.86,-134.7,32.1,-18.8,31,265,0.00,1.55,0.00,0.000,6,0.000,0.029,1537,2864,3373,0,0,0,0,0,0
$GC,502,-0.86,-134.7,82.5,-20.4,72,511,0.00,1.62,0.00,0.000,4,0.000,0.053,1529,3873,3373,0,0,0,0,0,0
$GC,639,-0.86,-134.7,111.8,-20.9,89,646,0.00,1.52,0.00,0.000,6,0.000,0.028,1529,2856,3373,0,0,0,0,0,0
$GC,962,-0.86,-134.7,175.3,-19.9,110,966,0.00,1.65,0.00,0.000,4,0.000,0.053,1521,3901,3374,0,0,0,0,0,0
$GC,992,-0.86,-134.7,182.0,-20.1,111,999,0.08,1.58,0.00,0.000,6,0.177,0.028,1542,2847,3374,0,0,0,0,0,0
$GC,1319,-0.86,-134.7,239.8,-17.5,132,1322,0.00,1.65,0.00,0.000,4,0.000,0.053,1536,3892,3374,0,0,0,0,0,0
$GC,1394,-0.86,-134.7,254.6,-17.1,136,1398,0.00,1.55,0.00,0.000,6,0.000,0.028,1536,2862,3375,0,0,0,0,0,0
$GC,1723,-0.86,-134.7,309.9,-16.8,152,1727,0.00,1.62,0.00,0.000,4,0.000,0.053,1528,3872,3375,0,0,0,0,0,0
$GC,1803,-0.86,-134.7,325.1,-18.5,155,1807,0.00,1.52,0.00,0.000,6,0.000,0.028,1528,2856,3375,0,0,0,0,0,0
$GC,2130,-0.86,-134.7,384.9,-18.6,171,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,2851,3375,0,0,0,0,0,0
$GC,2454,-0.86,-134.7,445.9,-18.5,183,2458,0.00,1.65,0.00,0.000,4,0.000,0.054,1521,3877,3375,0,0,0,0,0,0
$GC,2540,-0.86,-134.7,462.9,-20.0,185,2544,0.00,1.55,0.00,0.000,6,0.000,0.029,1521,2852,3375,0,0,0,0,0,0
$GC,2866,-0.86,-134.7,522.6,-17.8,196,2870,0.12,1.67,0.00,0.000,4,0.205,0.054,1542,3888,3376,0,0,0,0,0,0
$GC,2918,-0.86,-134.7,531.7,-15.8,197,2922,0.00,1.55,0.00,0.000,6,0.000,0.029,1542,2862,3375,0,0,0,0,0,0
$GC,3245,-0.86,-134.7,581.0,-15.0,208,3249,0.00,1.65,0.00,0.000,4,0.000,0.056,1534,3876,3375,0,0,0,0,0,0
$GC,3316,-0.86,-134.7,592.3,-15.5,210,3319,0.00,1.55,0.00,0.000,6,0.000,0.030,1535,2853,3375,0,0,0,0,0,0
$GC,3658,-0.86,-134.7,645.1,-15.4,221,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,2848,3374,0,0,0,0,0,0
$GC,3965,-0.86,-134.7,692.8,-15.9,231,3969,0.00,1.65,0.00,0.000,4,0.000,0.056,1527,3880,3374,0,0,0,0,0,0
$GC,3996,-0.86,-134.7,698.3,-17.4,231,4002,0.00,1.55,0.00,0.000,6,0.000,0.030,1527,2856,3373,0,0,0,0,0,0
$GC,4311,-0.86,-134.7,749.9,-16.5,242,4315,0.00,1.65,0.00,0.000,4,0.000,0.056,1519,3876,3374,0,0,0,0,0,0
$GC,4351,-0.86,-134.7,757.3,-17.8,243,4356,0.08,1.55,0.00,0.000,6,0.177,0.030,1541,2853,3374,0,0,0,0,0,0
$GC,4691,-0.86,-134.7,812.1,-16.3,254,4695,0.00,1.65,0.00,0.000,4,0.000,0.057,1534,3879,3373,0,0,0,0,0,0
$GC,4743,-0.86,-134.7,821.8,-17.7,255,4746,0.00,1.55,0.00,0.000,6,0.000,0.030,1534,2861,3373,0,0,0,0,0,0
$GC,5070,-0.86,-134.7,877.7,-17.5,266,5074,0.00,1.65,0.00,0.000,4,0.000,0.057,1527,3885,3372,0,0,0,0,0,0
$GC,5116,-0.86,-134.7,886.9,-18.6,267,5120,0.00,1.58,0.00,0.000,6,0.000,0.031,1527,2855,3372,0,0,0,0,0,0
$GC,5448,-0.86,-134.7,947.0,-18.1,278,5451,0.00,1.65,0.00,0.000,4,0.000,0.057,1519,3879,3371,0,0,0,0,0,0
$GC,5477,-0.86,-134.7,952.8,-19.4,278,5484,0.08,1.55,0.00,0.000,6,0.177,0.030,1541,2852,3371,0,0,0,0,0,0
$STATE,5788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5788,begin apogee
$GC,5799,-0.18,0.0,1004.7,16.4,289,5934,0.80,0.00,131.60,1.272,6,0.177,0.000,1764,2669,2819,0,0,0,0,0,0
$STATE,5936,end apogee,CONTROL_FINISHED_OK
$STATE,5936,begin climb
$GC,5940,0.86,134.7,1011.5,0.0,293,6106,1.02,2.53,145.57,1.740,4,0.093,0.043,2112,1301,2272,0,0,0,0,2,0
$GC,6278,0.86,134.7,957.3,20.0,303,6283,0.00,2.28,0.00,0.000,6,0.000,0.051,2112,2655,2268,0,0,0,0,0,0
$GC,6605,0.86,134.7,880.4,24.0,314,6609,0.00,2.15,0.00,0.000,4,0.000,0.041,2122,1286,2265,0,0,0,0,0,0
$GC,6640,0.86,134.7,871.8,22.7,315,6644,0.00,2.25,0.00,0.000,6,0.000,0.050,2122,2676,2264,0,0,0,0,0,0
$GC,6972,0.86,134.7,790.5,24.7,326,6976,0.00,2.17,0.00,0.000,4,0.000,0.043,2132,1298,2263,0,0,0,0,0,0
$GC,7024,0.86,134.7,777.8,22.4,327,7028,0.00,2.22,0.00,0.000,6,0.000,0.050,2132,2680,2262,0,0,0,0,0,0
$GC,7339,0.86,134.7,698.7,25.1,337,7343,0.00,2.20,0.00,0.000,4,0.000,0.041,2143,1294,2262,0,0,0,0,0,0
$GC,7375,0.86,134.7,690.0,23.3,338,7379,0.15,2.22,0.00,0.000,6,0.243,0.050,2111,2677,2261,0,0,0,0,0,0
$GC,7707,0.86,134.7,613.4,22.9,349,7711,0.00,2.17,0.00,0.000,4,0.000,0.041,2121,1281,2260,0,0,0,0,0,0
$GC,7782,0.86,134.7,597.2,20.7,351,7786,0.00,2.25,0.00,0.000,6,0.000,0.050,2117,2679,2260,0,0,0,0,0,0
$GC,8109,0.86,134.7,519.0,24.6,362,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2678,2260,0,0,0,0,0,0
$GC,8414,0.86,134.7,445.4,23.9,372,8418,0.00,2.17,0.00,0.000,4,0.000,0.041,2127,1286,2259,0,0,0,0,0,0
$GC,8461,0.86,134.7,434.3,21.8,373,8465,0.00,2.22,0.00,0.000,6,0.000,0.050,2124,2669,2258,0,0,0,0,0,0
$GC,8785,0.86,134.7,360.3,22.7,386,8789,0.00,2.17,0.00,0.000,4,0.000,0.042,2133,1288,2258,0,0,0,0,0,0
$GC,8814,0.86,134.7,353.3,21.5,387,8818,0.00,2.22,0.00,0.000,6,0.000,0.049,2131,2674,2258,0,0,0,0,0,0
$GC,9133,0.86,134.7,281.0,22.8,402,9137,0.00,2.15,0.00,0.000,4,0.000,0.041,2140,1294,2258,0,0,0,0,0,0
$GC,9155,0.86,134.7,276.4,22.9,403,9160,0.12,2.22,0.00,0.000,6,0.238,0.049,2115,2680,2258,0,0,0,0,0,0
$GC,9486,0.86,134.7,204.8,21.7,422,9490,0.00,2.17,0.00,0.000,4,0.000,0.041,2124,1290,2258,0,0,0,0,0,0
$GC,9587,0.86,134.7,184.2,18.8,428,9591,0.00,2.22,0.00,0.000,6,0.000,0.049,2120,2676,2257,0,0,0,0,0,0
$GC,9915,0.86,134.7,114.6,21.1,449,9919,0.00,2.15,0.00,0.000,4,0.000,0.038,2129,1287,2257,0,0,0,0,0,0
$GC,9951,0.86,134.7,107.0,19.5,451,9955,0.00,2.20,0.00,0.000,6,0.000,0.049,2129,2670,2257,0,0,0,0,0,0
$GC,10308,0.86,134.7,29.7,25.1,507,10317,0.00,1.95,0.00,0.000,4,0.000,0.055,2129,3894,2257,0,0,0,0,0,0
$GC,10384,0.86,134.7,13.4,26.2,518,10393,0.00,1.85,0.00,0.000,6,0.000,0.034,2138,2691,2257,0,0,0,0,0,0
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,0.9,1.026247
$STATE,10439,end surface coast,CONTROL_FINISHED_OK
$STATE,10439,begin surface
$SM_CCo,10462,50.33,0.726,1,0,1879,230.09
$SM_GC,1.89,0.00,0.00,50.33,0.000,0.000,0.726,45,2889,1879,-5.58,0.79,230.09
$IRIDIUM_FIX,-4311.50,705.29,050313,171728
$TT8_MAMPS,0.026215
$HUMID,60.39
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,21.2,89.318
$10V_AH,9.8,48.453
$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,15.225,90.250,277.175,50.325,0.000,54.009,49.678,572.478,0.000,0.000,21.745,1367.695,6929.770,414.613,2190.056,604.445,33.369,1095.531,0.000,1479.747,0.000,1.010,0.000
$DEVICE_MAMPS,245.565,74.205,1740.375,725.985,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.713,1055.380,584.067,231.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,36999,526
$CAP_FILE_SIZE,98446,0
$CFSIZE,259252224,198782976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050313,202228,-4329.196,704.564,45,0.9,45,-24.6