version: 66.07
glider: 542
mission: 6
dive: 482
start: 3 5 113 20 34 36
data:
$ID,542
$MISSION,6
$DIVE,482
$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,-14934.207
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,050313,202228,-4329.196,704.564,45,0.9,45,-24.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-48.4
$GPS2,050313,203336,-4329.083,704.921,19,1.1,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.057,-0.253
$KALMAN_X,27620.8,-154.5,-597.3,185854.2,7191.3
$KALMAN_Y,807263.4,-826.5,99.3,-432076.0,5241.0
$MHEAD_RNG_PITCHd_Wd,217.4,5483,-17.5,-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,-0.63,-146.1,0.0,0.0,0,83,0.00,0.00,-54.92,0.000,2,0.000,0.000,45,2890,2934,0,0,0,0,0,0
$GC,90,-0.63,-146.1,3.1,-5.3,7,124,6.65,2.25,-18.20,0.000,4,0.241,0.048,1617,1474,3414,0,0,0,0,0,0
$GC,192,-0.63,-146.1,6.5,-7.1,21,201,0.00,2.22,0.00,0.000,6,0.000,0.050,1607,2848,3416,0,0,0,0,0,0
$GC,279,-0.63,-146.1,14.7,-12.4,34,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2848,3416,0,0,0,0,0,0
$GC,369,-0.63,-146.1,30.2,-17.0,47,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2848,3416,0,0,0,0,0,0
$GC,619,-0.63,-146.1,62.4,-16.8,88,625,0.00,1.65,0.00,0.000,4,0.000,0.054,1599,3893,3416,0,0,0,0,0,0
$GC,669,-0.63,-146.1,71.3,-16.7,96,678,0.00,1.58,0.00,0.000,6,0.000,0.030,1599,2832,3418,0,0,0,0,0,0
$GC,1012,-0.63,-146.1,119.1,-12.1,139,1015,0.00,1.70,0.00,0.000,4,0.000,0.054,1591,3903,3417,0,0,0,0,0,0
$GC,1138,-0.63,-146.1,136.3,-13.7,146,1142,0.10,1.55,0.00,0.000,6,0.149,0.028,1632,2859,3417,0,0,0,0,0,0
$GC,1471,-0.63,-146.1,171.4,-10.6,167,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2852,3418,0,0,0,0,0,0
$GC,1793,-0.63,-146.1,204.3,-10.0,188,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2852,3419,0,0,0,0,0,0
$GC,2105,-0.63,-146.1,232.0,-8.4,208,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2852,3418,0,0,0,0,0,0
$GC,2429,-0.63,-146.1,260.9,-9.9,227,2433,0.00,2.08,0.00,0.000,4,0.000,0.034,1632,1479,3419,0,0,0,0,0,0
$GC,2458,-0.63,-146.1,264.4,-10.6,228,2463,0.00,2.22,0.00,0.000,6,0.000,0.049,1623,2873,3419,0,0,0,0,0,0
$GC,2782,-0.63,-146.1,302.2,-12.1,244,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3419,0,0,0,0,0,0
$GC,3094,-0.63,-146.1,335.9,-10.5,259,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3419,0,0,0,0,0,0
$GC,3401,-0.63,-146.1,367.7,-10.4,274,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3419,0,0,0,0,0,0
$GC,3712,-0.63,-146.1,401.3,-11.2,289,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2873,3419,0,0,0,0,0,0
$GC,4017,-0.63,-146.1,434.5,-10.8,299,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3419,0,0,0,0,0,0
$GC,4323,-0.63,-146.1,466.9,-10.3,309,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3419,0,0,0,0,0,0
$GC,4629,-0.63,-146.1,497.8,-10.1,319,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3419,0,0,0,0,0,0
$GC,4935,-0.63,-146.1,529.7,-10.6,329,4939,0.00,2.12,0.00,0.000,4,0.000,0.036,1623,1488,3419,0,0,0,0,0,0
$GC,4965,-0.63,-146.1,533.0,-11.2,329,4972,0.00,2.20,0.00,0.000,6,0.000,0.050,1613,2863,3419,0,0,0,0,0,0
$GC,5280,-0.63,-146.1,568.2,-11.0,340,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2863,3419,0,0,0,0,0,0
$GC,5586,-0.63,-146.1,601.2,-10.8,350,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2863,3418,0,0,0,0,0,0
$GC,5894,-0.63,-146.1,632.9,-10.4,360,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2863,3418,0,0,0,0,0,0
$GC,6199,-0.63,-146.1,663.7,-9.9,370,6203,0.00,2.12,0.00,0.000,4,0.000,0.036,1612,1486,3417,0,0,0,0,0,0
$GC,6236,-0.63,-146.1,667.4,-9.6,371,6240,0.00,2.20,0.00,0.000,6,0.000,0.050,1602,2870,3417,0,0,0,0,0,0
$GC,6581,-0.63,-146.1,704.7,-10.9,382,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2870,3417,0,0,0,0,0,0
$GC,6886,-0.63,-146.1,738.0,-10.9,392,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2870,3415,0,0,0,0,0,0
$GC,7194,-0.63,-146.1,769.6,-10.1,402,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2870,3415,0,0,0,0,0,0
$GC,7498,-0.63,-146.1,799.8,-10.0,412,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2870,3415,0,0,0,0,0,0
$GC,7805,-0.63,-146.1,832.1,-10.9,422,7809,0.00,2.15,0.00,0.000,4,0.000,0.037,1602,1485,3415,0,0,0,0,0,0
$GC,7839,-0.63,-146.1,836.2,-11.3,423,7844,0.12,2.22,0.00,0.000,6,0.177,0.051,1624,2864,3415,0,0,0,0,0,0
$GC,8173,-0.63,-146.1,866.8,-9.2,434,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2864,3415,0,0,0,0,0,0
$GC,8480,-0.63,-146.1,894.2,-8.8,444,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2864,3414,0,0,0,0,0,0
$GC,8785,-0.63,-146.1,920.1,-8.4,454,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2864,3414,0,0,0,0,0,0
$GC,9091,-0.63,-146.1,945.7,-8.2,464,9095,0.00,2.15,0.00,0.000,4,0.000,0.037,1624,1484,3414,0,0,0,0,0,0
$GC,9125,-0.63,-146.1,948.4,-9.0,465,9129,0.00,2.22,0.00,0.000,6,0.000,0.051,1615,2862,3413,0,0,0,0,0,0
$GC,9463,-0.63,-146.1,977.7,-8.6,476,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2862,3413,0,0,0,0,0,0
$STATE,9733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9733,begin apogee
$GC,9745,-0.18,0.0,1002.0,8.8,485,9891,0.52,0.00,143.25,1.265,6,0.153,0.000,1770,2685,2819,0,0,0,0,0,0
$STATE,9893,end apogee,CONTROL_FINISHED_OK
$STATE,9893,begin climb
$GC,9898,0.63,146.1,1005.9,0.0,490,10073,0.82,2.55,157.68,1.752,4,0.091,0.041,2046,1289,2226,0,0,0,0,1,0
$GC,10122,0.63,146.1,976.4,17.4,497,10126,0.00,2.40,0.00,0.000,6,0.000,0.050,2046,2662,2224,0,0,0,0,0,0
$GC,10454,0.63,146.1,907.2,20.6,508,10458,0.00,2.20,0.00,0.000,4,0.000,0.043,2056,1284,2219,0,0,0,0,0,0
$GC,10495,0.63,146.1,899.2,18.5,509,10499,0.00,2.25,0.00,0.000,6,0.000,0.051,2056,2676,2217,0,0,0,0,0,0
$GC,10834,0.63,146.1,831.2,19.9,520,10838,0.00,2.20,0.00,0.000,4,0.000,0.042,2066,1282,2217,0,0,0,0,0,0
$GC,10869,0.63,146.1,823.9,18.3,521,10874,0.12,2.25,0.00,0.000,6,0.207,0.052,2038,2671,2216,0,0,0,0,0,0
$GC,11203,0.63,146.1,765.4,17.7,532,11207,0.00,2.17,0.00,0.000,4,0.000,0.041,2048,1278,2216,0,0,0,0,0,0
$GC,11249,0.63,146.1,757.6,15.4,533,11253,0.00,2.25,0.00,0.000,6,0.000,0.051,2048,2670,2215,0,0,0,0,0,0
$GC,11570,0.63,146.1,699.3,18.6,544,11574,0.00,2.17,0.00,0.000,4,0.000,0.041,2058,1275,2214,0,0,0,0,0,0
$GC,11611,0.63,146.1,691.8,17.3,545,11615,0.00,2.25,0.00,0.000,6,0.000,0.050,2058,2670,2214,0,0,0,0,0,0
$GC,11937,0.63,146.1,626.8,20.4,556,11941,0.00,2.17,0.00,0.000,4,0.000,0.043,2068,1271,2214,0,0,0,0,0,0
$GC,11983,0.63,146.1,617.4,18.5,557,11988,0.12,2.28,0.00,0.000,6,0.210,0.052,2040,2676,2213,0,0,0,0,0,0
$GC,12305,0.63,146.1,557.0,18.7,568,12309,0.00,2.17,0.00,0.000,4,0.000,0.040,2049,1284,2213,0,0,0,0,0,0
$GC,12362,0.63,146.1,546.7,17.0,569,12369,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2671,2212,0,0,0,0,0,0
$GC,12678,0.63,146.1,485.3,19.9,580,12682,0.00,2.15,0.00,0.000,4,0.000,0.039,2059,1280,2212,0,0,0,0,0,0
$GC,12715,0.63,146.1,478.1,19.8,581,12719,0.00,2.25,0.00,0.000,6,0.000,0.050,2059,2678,2212,0,0,0,0,0,0
$GC,13060,0.63,146.1,405.7,21.4,592,13064,0.00,2.20,0.00,0.000,4,0.000,0.041,2070,1278,2212,0,0,0,0,0,0
$GC,13118,0.63,146.1,393.9,19.2,594,13129,0.10,2.28,0.00,0.000,6,0.187,0.051,2041,2669,2212,0,0,0,0,0,0
$GC,13436,0.63,146.1,334.6,18.4,610,13437,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2669,2212,0,0,0,0,0,0
$GC,13748,0.63,146.1,277.4,18.7,625,13752,0.00,2.17,0.00,0.000,4,0.000,0.041,2051,1275,2212,0,0,0,0,0,0
$GC,13839,0.63,146.1,262.4,15.9,629,13844,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2687,2211,0,0,0,0,0,0
$GC,14177,0.63,146.1,199.2,19.1,649,14181,0.00,2.17,0.00,0.000,4,0.000,0.039,2061,1282,2211,0,0,0,0,0,0
$GC,14232,0.63,146.1,187.9,18.0,652,14236,0.00,2.22,0.00,0.000,6,0.000,0.050,2061,2667,2211,0,0,0,0,0,0
$GC,14565,0.63,146.1,124.4,19.1,673,14569,0.00,2.15,0.00,0.000,4,0.000,0.040,2071,1286,2211,0,0,0,0,0,0
$GC,14604,0.63,146.1,117.1,16.3,675,14609,0.15,2.22,0.00,0.000,6,0.200,0.050,2036,2672,2211,0,0,0,0,0,0
$GC,14946,0.63,146.1,59.7,13.2,723,14953,0.00,2.17,0.00,0.000,4,0.000,0.039,2045,1272,2211,0,0,0,0,0,0
$GC,15040,0.63,146.1,45.7,13.8,738,15049,0.00,2.28,0.00,0.000,6,0.000,0.048,2045,2674,2211,0,0,0,0,0,0
$GC,15299,0.63,146.1,3.1,21.2,779,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2675,2212,0,0,0,0,0,0
$STATE,15315,end climb,SURFACE_DEPTH_REACHED
$STATE,15315,begin surface coast
$FINISH,0.9,1.003521
$STATE,15341,end surface coast,CONTROL_FINISHED_OK
$STATE,15341,begin surface
$SM_CCo,15364,45.33,0.708,1,0,1880,230.09
$SM_GC,1.74,0.00,0.00,45.33,0.000,0.000,0.708,52,2879,1880,-5.56,0.54,230.09
$IRIDIUM_FIX,-4311.50,705.29,050313,171717
$TT8_MAMPS,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.1,89.480
$10V_AH,9.8,48.563
$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,13.875,91.300,300.925,45.325,0.000,27.209,22.698,374.451,0.000,0.000,25.816,1942.187,10560.474,451.456,2448.041,674.918,33.374,1277.786,0.000,1938.568,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,68.850,1751.850,707.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.952,1581.637,867.911,341.239,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,57115,785
$CAP_FILE_SIZE,117122,0
$CFSIZE,259252224,198688768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060313,005323,-4330.722,704.957,65,1.2,65,-24.6