version: 66.07
glider: 542
mission: 6
dive: 445
start: 2 27 113 21 10 58
data:
$ID,542
$MISSION,6
$DIVE,445
$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,-14773.146
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,270213,210405,-4328.808,710.155,14,1.1,15,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.7
$GPS2,270213,211002,-4328.878,710.193,17,0.8,19,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.125,-0.228
$KALMAN_X,19364.7,-14538.8,-35427.0,250301.8,135121.3
$KALMAN_Y,864022.5,-26119.5,-66232.4,-396183.2,249333.1
$MHEAD_RNG_PITCHd_Wd,233.3,1619,-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,27,-0.63,-146.1,0.0,0.0,0,92,0.00,0.00,-62.97,0.000,2,0.000,0.000,62,2880,3210,0,0,0,0,0,0
$GC,99,-0.63,-146.1,3.2,-3.3,8,117,6.38,1.60,-5.05,0.000,4,0.231,0.069,1610,3909,3417,0,0,0,0,0,0
$GC,392,-0.63,-146.1,53.2,-12.4,55,399,0.00,1.62,0.00,0.000,6,0.000,0.033,1610,2841,3417,0,0,0,0,0,0
$GC,632,-0.63,-146.1,83.3,-11.2,96,641,0.00,2.12,0.00,0.000,4,0.000,0.041,1610,1474,3417,0,0,0,0,0,0
$GC,897,-0.63,-146.1,111.9,-11.0,129,901,0.00,2.22,0.00,0.000,6,0.000,0.055,1600,2860,3418,0,0,0,0,0,0
$GC,1226,-0.63,-146.1,154.2,-13.2,150,1230,0.00,1.67,0.00,0.000,4,0.000,0.061,1592,3894,3417,0,0,0,0,0,0
$GC,1255,-0.63,-146.1,158.9,-14.2,151,1263,0.08,1.58,0.00,0.000,6,0.158,0.033,1617,2848,3418,0,0,0,0,0,0
$GC,1583,-0.63,-146.1,197.4,-12.0,172,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2847,3418,0,0,0,0,0,0
$GC,1907,-0.63,-146.1,234.7,-11.0,193,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2847,3418,0,0,0,0,0,0
$GC,2232,-0.63,-146.1,271.6,-11.4,211,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2847,3418,0,0,0,0,0,0
$GC,2541,-0.63,-146.1,305.0,-10.8,226,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2847,3418,0,0,0,0,0,0
$GC,2851,-0.63,-146.1,338.4,-10.8,241,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2847,3418,0,0,0,0,0,0
$GC,3159,-0.63,-146.1,375.0,-12.4,256,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2847,3418,0,0,0,0,0,0
$GC,3488,-0.63,-146.1,414.8,-11.9,270,3492,0.00,2.10,0.00,0.000,4,0.000,0.041,1617,1485,3418,0,0,0,0,0,0
$GC,3511,-0.63,-146.1,417.8,-11.8,270,3518,0.00,2.22,0.00,0.000,6,0.000,0.055,1608,2869,3418,0,0,0,0,0,0
$GC,3828,-0.63,-146.1,454.8,-11.7,281,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2869,3418,0,0,0,0,0,0
$GC,4133,-0.63,-146.1,490.5,-11.7,291,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2870,3418,0,0,0,0,0,0
$GC,4439,-0.63,-146.1,526.1,-11.5,301,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2870,3418,0,0,0,0,0,0
$GC,4745,-0.63,-146.1,561.5,-11.7,311,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2870,3418,0,0,0,0,0,0
$GC,5051,-0.63,-146.1,595.8,-11.1,321,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2870,3417,0,0,0,0,0,0
$GC,5358,-0.63,-146.1,629.2,-10.8,331,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2870,3417,0,0,0,0,0,0
$GC,5664,-0.63,-146.1,661.4,-10.5,341,5668,0.00,2.17,0.00,0.000,4,0.000,0.044,1607,1487,3416,0,0,0,0,0,0
$GC,5701,-0.63,-146.1,665.0,-9.8,342,5705,0.00,2.22,0.00,0.000,6,0.000,0.057,1597,2865,3416,0,0,0,0,0,0
$GC,6046,-0.63,-146.1,700.8,-10.3,353,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2865,3416,0,0,0,0,0,0
$GC,6350,-0.63,-146.1,731.6,-10.0,363,6354,0.00,2.17,0.00,0.000,4,0.000,0.044,1597,1486,3415,0,0,0,0,0,0
$GC,6382,-0.63,-146.1,734.7,-10.8,364,6386,0.15,2.25,0.00,0.000,6,0.170,0.058,1627,2868,3415,0,0,0,0,0,0
$GC,6721,-0.63,-146.1,760.3,-7.5,375,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2867,3414,0,0,0,0,0,0
$GC,7027,-0.63,-146.1,785.9,-8.7,385,7031,0.00,2.17,0.00,0.000,4,0.000,0.045,1627,1489,3413,0,0,0,0,0,0
$GC,7058,-0.63,-146.1,788.8,-8.6,386,7063,0.00,2.25,0.00,0.000,6,0.000,0.059,1618,2867,3414,0,0,0,0,0,0
$GC,7397,-0.63,-146.1,821.8,-9.8,397,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2867,3413,0,0,0,0,0,0
$GC,7704,-0.63,-146.1,851.7,-9.7,407,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2867,3413,0,0,0,0,0,0
$GC,8009,-0.63,-146.1,882.0,-10.0,417,8013,0.00,2.17,0.00,0.000,4,0.000,0.044,1618,1489,3412,0,0,0,0,0,0
$GC,8044,-0.63,-146.1,885.7,-10.1,418,8048,0.00,2.25,0.00,0.000,6,0.000,0.060,1608,2862,3411,0,0,0,0,0,0
$GC,8376,-0.63,-146.1,919.3,-10.1,429,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2862,3411,0,0,0,0,0,0
$GC,8684,-0.63,-146.1,948.0,-9.3,439,8688,0.00,2.17,0.00,0.000,4,0.000,0.044,1608,1489,3411,0,0,0,0,0,0
$GC,8720,-0.63,-146.1,951.8,-9.6,440,8724,0.00,2.25,0.00,0.000,6,0.000,0.059,1598,2862,3410,0,0,0,0,0,0
$GC,9053,-0.63,-146.1,984.6,-10.0,451,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2862,3410,0,0,0,0,0,0
$STATE,9233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9233,begin apogee
$GC,9244,-0.18,0.0,1002.2,9.4,457,9399,0.57,0.00,146.73,1.790,6,0.151,0.000,1769,2684,2820,0,0,0,0,1,0
$STATE,9401,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9406,0.63,146.1,1006.8,0.0,462,9581,0.85,2.62,159.73,1.768,4,0.092,0.054,2045,1268,2227,0,0,0,0,1,0
$GC,9635,0.63,146.1,977.2,17.5,469,9642,0.00,2.47,0.00,0.000,6,0.000,0.057,2045,2667,2224,0,0,0,0,0,0
$GC,9950,0.63,146.1,916.8,19.4,480,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2667,2220,0,0,0,0,0,0
$GC,10256,0.63,146.1,859.3,18.9,490,10260,0.00,2.25,0.00,0.000,4,0.000,0.053,2055,1268,2220,0,0,0,0,0,0
$GC,10292,0.63,146.1,852.2,18.7,491,10296,0.00,2.33,0.00,0.000,6,0.000,0.057,2056,2685,2218,0,0,0,0,0,0
$GC,10624,0.63,146.1,787.3,19.7,502,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2686,2218,0,0,0,0,0,0
$GC,10932,0.63,146.1,726.1,20.2,512,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2686,2217,0,0,0,0,0,0
$GC,11237,0.63,146.1,663.9,20.1,522,11241,0.00,2.28,0.00,0.000,4,0.000,0.052,2066,1268,2217,0,0,0,0,0,0
$GC,11272,0.63,146.1,656.9,18.6,523,11277,0.12,2.30,0.00,0.000,6,0.203,0.057,2037,2679,2214,0,0,0,0,0,0
$GC,11605,0.63,146.1,597.5,17.9,534,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2679,2214,0,0,0,0,0,0
$GC,11913,0.63,146.1,544.3,17.3,544,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2679,2214,0,0,0,0,0,0
$GC,12217,0.63,146.1,492.7,16.5,554,12218,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2679,2214,0,0,0,0,0,0
$GC,12523,0.63,146.1,441.5,16.8,564,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2214,0,0,0,0,0,0
$GC,12833,0.63,146.1,388.8,17.0,575,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2679,2213,0,0,0,0,0,0
$GC,13140,0.63,146.1,335.1,17.2,590,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2679,2213,0,0,0,0,0,0
$GC,13451,0.63,146.1,283.8,16.1,605,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2213,0,0,0,0,0,0
$GC,13770,0.63,146.1,232.9,15.7,622,13774,0.00,2.00,0.00,0.000,4,0.000,0.065,2037,3900,2213,0,0,0,0,0,0
$GC,13826,0.63,146.1,223.5,18.0,625,13830,0.00,1.92,0.00,0.000,6,0.000,0.041,2045,2667,2213,0,0,0,0,0,0
$GC,14158,0.63,146.1,166.7,17.4,646,14162,0.00,2.20,0.00,0.000,4,0.000,0.050,2055,1269,2213,0,0,0,0,0,0
$GC,14188,0.63,146.1,161.5,16.7,647,14195,0.00,2.28,0.00,0.000,6,0.000,0.055,2056,2669,2212,0,0,0,0,0,0
$GC,14510,0.63,146.1,101.7,19.4,668,14514,0.00,1.98,0.00,0.000,4,0.000,0.064,2055,3903,2212,0,0,0,0,0,0
$GC,14536,0.63,146.1,96.7,19.5,670,14543,0.12,1.92,0.00,0.000,6,0.220,0.041,2037,2664,2213,0,0,0,0,0,0
$GC,14901,0.63,146.1,42.0,15.1,731,14908,0.00,2.03,0.00,0.000,4,0.000,0.063,2038,3907,2212,0,0,0,0,0,0
$GC,15079,0.63,146.1,13.0,17.4,759,15088,0.00,1.95,0.00,0.000,6,0.000,0.039,2046,2665,2213,0,0,0,0,0,0
$STATE,15139,end climb,SURFACE_DEPTH_REACHED
$STATE,15139,begin surface coast
$FINISH,0.9,1.026246
$STATE,15159,end surface coast,CONTROL_FINISHED_OK
$STATE,15159,begin surface
$SM_CCo,15183,42.67,0.723,1,0,1880,230.09
$SM_GC,2.19,0.00,0.00,42.67,0.000,0.000,0.723,53,2877,1880,-5.55,0.48,230.09
$IRIDIUM_FIX,-4311.50,708.24,270213,202015
$TT8_MAMPS,0.026215
$HUMID,59.72
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,21.4,83.788
$10V_AH,10.0,45.123
$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,14.450,68.400,306.450,42.675,0.000,0.000,0.000,0.000,0.000,0.000,20.873,1866.281,10650.064,442.752,1890.621,464.862,33.371,1186.614,0.000,1794.820,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,71.145,1790.100,722.925,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.189,1503.587,804.919,307.706,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354340
$DATA_FILE_SIZE,56933,771
$CAP_FILE_SIZE,116385,0
$CFSIZE,259252224,200851456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,280213,012607,-4329.872,709.797,30,0.9,31,-24.6