version: 66.07
glider: 542
mission: 6
dive: 483
start: 3 6 113 1 16 43
data:
$ID,542
$MISSION,6
$DIVE,483
$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,-14937.652
$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,57
$R_STBD_OVSHOOT,31
$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
$GPS1,060313,005323,-4330.722,704.957,65,1.2,65,-24.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-53.4
$GPS2,060313,011547,-4330.320,705.265,19,1.7,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.003,-0.175
$KALMAN_X,28373.2,101.8,-682.2,185366.9,4647.3
$KALMAN_Y,809738.4,-126.7,-584.7,-436847.2,5934.7
$MHEAD_RNG_PITCHd_Wd,203.6,5583,-27.0,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-0.77,-64.4,0.0,0.0,0,96,0.00,0.00,-60.08,0.000,6,0.000,0.000,48,2881,3083,0,0,0,0,0,0
$GC,103,-0.87,-146.1,3.0,-1.5,8,129,6.68,1.65,-9.23,0.000,4,0.259,0.076,1533,3892,3418,0,0,0,0,0,0
$GC,165,-0.87,-146.1,17.2,-28.4,16,174,0.00,1.58,0.00,0.000,6,0.000,0.031,1533,2853,3418,0,0,0,0,0,0
$GC,253,-0.87,-146.1,36.5,-20.7,29,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,2852,3418,0,0,0,0,0,0
$GC,498,-0.87,-146.1,86.3,-18.3,70,505,0.00,2.10,0.00,0.000,4,0.000,0.034,1533,1471,3419,0,0,0,0,0,0
$GC,533,-0.87,-146.1,93.0,-19.5,75,540,0.00,2.22,0.00,0.000,6,0.000,0.048,1523,2856,3419,0,0,0,0,0,0
$GC,872,-0.87,-146.1,164.5,-22.6,100,876,0.00,1.65,0.00,0.000,4,0.000,0.052,1515,3918,3420,0,0,0,0,0,0
$GC,981,-0.87,-146.1,191.5,-24.0,106,985,0.08,1.60,0.00,0.000,6,0.178,0.028,1544,2855,3420,0,0,0,0,0,0
$GC,1320,-0.87,-146.1,254.3,-17.3,127,1324,0.00,1.67,0.00,0.000,4,0.000,0.054,1538,3893,3420,0,0,0,0,0,0
$GC,1408,-0.87,-146.1,271.8,-17.8,130,1416,0.00,1.55,0.00,0.000,6,0.000,0.028,1538,2860,3421,0,0,0,0,0,0
$GC,1727,-0.87,-146.1,327.4,-17.5,146,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,2859,3421,0,0,0,0,0,0
$GC,2037,-0.87,-146.1,383.0,-17.9,161,2041,0.00,1.67,0.00,0.000,4,0.000,0.054,1530,3900,3422,0,0,0,0,0,0
$GC,2072,-0.87,-146.1,390.1,-18.4,162,2076,0.00,1.58,0.00,0.000,6,0.000,0.029,1530,2860,3421,0,0,0,0,0,0
$GC,2403,-0.87,-146.1,450.5,-18.1,174,2407,0.00,1.65,0.00,0.000,4,0.000,0.054,1522,3895,3421,0,0,0,0,0,0
$GC,2449,-0.87,-146.1,460.0,-19.9,175,2453,0.00,1.58,0.00,0.000,6,0.000,0.029,1522,2860,3421,0,0,0,0,0,0
$GC,2780,-0.87,-146.1,522.8,-18.9,186,2784,0.00,1.65,0.00,0.000,4,0.000,0.056,1514,3893,3421,0,0,0,0,0,0
$GC,2838,-0.87,-146.1,534.8,-21.0,187,2843,0.10,1.58,0.00,0.000,6,0.173,0.030,1543,2852,3421,0,0,0,0,0,0
$GC,3159,-0.87,-146.1,588.2,-16.1,198,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,2847,3421,0,0,0,0,0,0
$GC,3465,-0.87,-146.1,638.7,-16.8,208,3469,0.00,1.67,0.00,0.000,4,0.000,0.057,1537,3893,3421,0,0,0,0,0,0
$GC,3506,-0.87,-146.1,646.4,-18.9,209,3510,0.00,1.58,0.00,0.000,6,0.000,0.030,1537,2860,3421,0,0,0,0,0,0
$GC,3845,-0.87,-146.1,705.5,-17.3,220,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,2855,3421,0,0,0,0,0,0
$GC,4151,-0.87,-146.1,757.4,-16.9,230,4155,0.00,1.67,0.00,0.000,4,0.000,0.057,1529,3900,3420,0,0,0,0,0,0
$GC,4197,-0.87,-146.1,766.0,-17.1,231,4201,0.00,1.60,0.00,0.000,6,0.000,0.031,1529,2854,3419,0,0,0,0,0,0
$GC,4529,-0.87,-146.1,820.9,-16.3,242,4533,0.00,1.67,0.00,0.000,4,0.000,0.057,1521,3896,3419,0,0,0,0,0,0
$GC,4565,-0.87,-146.1,827.0,-17.5,243,4569,0.00,1.58,0.00,0.000,6,0.000,0.031,1521,2862,3419,0,0,0,0,0,0
$GC,4909,-0.87,-146.1,883.5,-16.3,254,4912,0.00,1.67,0.00,0.000,4,0.000,0.057,1513,3902,3418,0,0,0,0,0,0
$GC,4954,-0.87,-146.1,891.8,-17.6,255,4959,0.08,1.60,0.00,0.000,6,0.178,0.031,1542,2852,3418,0,0,0,0,0,0
$GC,5287,-0.87,-146.1,940.1,-14.5,266,5290,0.00,1.67,0.00,0.000,4,0.000,0.058,1536,3893,3417,0,0,0,0,0,0
$GC,5333,-0.87,-146.1,947.4,-15.7,267,5337,0.00,1.58,0.00,0.000,6,0.000,0.031,1536,2862,3417,0,0,0,0,0,0
$GC,5664,-0.87,-146.1,995.6,-14.5,278,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,2856,3417,0,0,0,0,0,0
$STATE,5690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5690,begin apogee
$GC,5701,-0.18,0.0,1000.3,14.7,279,5847,0.82,0.00,142.38,1.259,6,0.173,0.000,1767,2660,2819,0,0,0,0,0,0
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5854,0.87,146.1,1005.0,0.0,284,6025,1.02,2.50,156.25,1.739,4,0.090,0.044,2114,1304,2225,0,0,0,0,1,0
$GC,6149,0.87,146.1,950.7,23.2,293,6153,0.00,2.33,0.00,0.000,6,0.000,0.053,2114,2661,2221,0,0,0,0,0,0
$GC,6487,0.87,146.1,859.3,27.6,304,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2661,2219,0,0,0,0,0,0
$GC,6794,0.87,146.1,777.5,26.6,314,6798,0.00,2.15,0.00,0.000,4,0.000,0.043,2124,1291,2217,0,0,0,0,0,0
$GC,6840,0.87,146.1,765.6,23.8,315,6844,0.00,2.22,0.00,0.000,6,0.000,0.053,2124,2677,2216,0,0,0,0,0,0
$GC,7161,0.87,146.1,683.0,25.9,326,7165,0.00,2.20,0.00,0.000,4,0.000,0.042,2135,1284,2216,0,0,0,0,0,0
$GC,7193,0.87,146.1,675.2,25.1,327,7197,0.00,2.22,0.00,0.000,6,0.000,0.051,2135,2679,2215,0,0,0,0,0,0
$GC,7530,0.87,146.1,588.7,25.5,338,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2680,2215,0,0,0,0,0,0
$GC,7836,0.87,146.1,511.7,25.2,348,7840,0.00,2.17,0.00,0.000,4,0.000,0.041,2145,1282,2215,0,0,0,0,0,0
$GC,7900,0.87,146.1,496.7,22.0,349,7907,0.15,2.25,0.00,0.000,6,0.239,0.052,2113,2680,2213,0,0,0,0,0,0
$GC,8215,0.87,146.1,424.3,22.6,360,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2680,2213,0,0,0,0,0,0
$GC,8525,0.87,146.1,355.4,21.9,373,8529,0.00,2.17,0.00,0.000,4,0.000,0.040,2122,1291,2213,0,0,0,0,0,0
$GC,8570,0.87,146.1,345.9,19.8,375,8574,0.00,2.22,0.00,0.000,6,0.000,0.050,2117,2672,2213,0,0,0,0,0,0
$GC,8902,0.87,146.1,271.4,22.1,391,8906,0.00,2.17,0.00,0.000,4,0.000,0.040,2127,1283,2213,0,0,0,0,0,0
$GC,8933,0.87,146.1,264.3,20.7,392,8937,0.00,2.22,0.00,0.000,6,0.000,0.050,2123,2679,2212,0,0,0,0,0,0
$GC,9257,0.87,146.1,190.6,23.4,411,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2680,2212,0,0,0,0,0,0
$GC,9568,0.87,146.1,118.5,22.0,431,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2680,2212,0,0,0,0,0,0
$GC,9905,0.87,146.1,47.4,19.6,481,9912,0.00,2.17,0.00,0.000,4,0.000,0.038,2133,1274,2212,0,0,0,0,0,0
$STATE,10109,end climb,SURFACE_DEPTH_REACHED
$STATE,10109,begin surface coast
$FINISH,0.9,1.026268
$STATE,10128,end surface coast,CONTROL_FINISHED_OK
$STATE,10128,begin surface
$SM_CCo,10154,45.30,0.705,1,0,1879,230.09
$SM_GC,2.21,0.00,0.00,45.30,0.000,0.000,0.705,55,2864,1879,-5.55,0.11,230.09
$IRIDIUM_FIX,-4314.46,656.46,060313,010128
$TT8_MAMPS,0.026215
$HUMID,60.78
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.1,89.668
$10V_AH,9.8,48.646
$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,14.600,71.950,298.625,45.300,0.000,87.176,109.151,720.141,0.000,0.000,22.701,1311.934,6865.657,410.304,2311.105,635.660,33.375,1039.204,0.000,1373.112,0.000,1.012,0.000
$DEVICE_MAMPS,259.335,75.735,1738.845,705.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.777,1023.680,557.638,227.064,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354348
$DATA_FILE_SIZE,37001,517
$CAP_FILE_SIZE,92427,0
$CFSIZE,259252224,198668288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060313,040812,-4331.538,705.520,37,1.2,37,-24.6