version: 66.07
glider: 542
mission: 6
dive: 446
start: 2 28 113 1 38 30
data:
$ID,542
$MISSION,6
$DIVE,446
$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,-14776.663
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,280213,012607,-4329.872,709.797,30,0.9,31,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-53.5
$GPS2,280213,013734,-4329.896,710.084,34,1.2,35,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.154,0.112
$KALMAN_X,-14346.3,-28802.2,13725.1,248976.7,1398.0
$KALMAN_Y,799504.6,-53097.1,25698.0,-398567.6,-1166.1
$MHEAD_RNG_PITCHd_Wd,330.6,2209,-24.7,-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,22,begin dive
$GC,27,-0.73,-76.1,0.0,0.0,0,91,0.00,0.00,-60.62,0.000,6,0.000,0.000,53,2879,3132,0,0,0,0,0,0
$GC,98,-0.81,-141.0,3.3,-4.3,8,117,6.22,2.30,-6.85,0.000,4,0.234,0.052,1573,1453,3396,0,0,0,0,0,0
$GC,214,-0.81,-141.0,28.6,-19.4,25,222,0.00,2.30,0.00,0.000,6,0.000,0.054,1564,2854,3398,0,0,0,0,0,0
$GC,298,-0.81,-141.0,43.1,-18.0,38,306,0.00,2.22,0.00,0.000,4,0.000,0.041,1563,1458,3398,0,0,0,0,0,0
$GC,325,-0.81,-141.0,47.9,-18.5,41,332,0.00,2.28,0.00,0.000,6,0.000,0.053,1553,2865,3398,0,0,0,0,0,0
$GC,568,-0.81,-141.0,88.4,-16.6,82,575,0.00,2.20,0.00,0.000,4,0.000,0.041,1553,1458,3399,0,0,0,0,0,0
$GC,602,-0.81,-141.0,94.3,-16.4,87,609,0.00,2.28,0.00,0.000,6,0.000,0.054,1542,2853,3399,0,0,0,0,0,0
$GC,941,-0.81,-141.0,154.2,-17.8,112,944,0.00,1.62,0.00,0.000,4,0.000,0.059,1535,3902,3400,0,0,0,0,0,0
$GC,978,-0.81,-141.0,161.4,-18.8,114,983,0.08,1.60,0.00,0.000,6,0.171,0.033,1565,2847,3400,0,0,0,0,0,0
$GC,1317,-0.81,-141.0,214.1,-15.2,135,1321,0.00,2.10,0.00,0.000,4,0.000,0.041,1565,1475,3400,0,0,0,0,0,0
$GC,1340,-0.81,-141.0,218.9,-15.5,136,1344,0.00,2.22,0.00,0.000,6,0.000,0.054,1556,2870,3400,0,0,0,0,0,0
$GC,1679,-0.81,-141.0,271.2,-15.6,155,1683,0.00,1.65,0.00,0.000,4,0.000,0.060,1548,3901,3400,0,0,0,0,0,0
$GC,1719,-0.81,-141.0,278.7,-16.9,156,1728,0.00,1.58,0.00,0.000,6,0.000,0.033,1548,2854,3400,0,0,0,0,0,0
$GC,2041,-0.81,-141.0,329.9,-16.8,172,2045,0.00,2.10,0.00,0.000,4,0.000,0.040,1548,1488,3401,0,0,0,0,0,0
$GC,2122,-0.81,-141.0,343.3,-15.0,175,2129,0.12,2.20,0.00,0.000,6,0.183,0.054,1567,2862,3400,0,0,0,0,0,0
$GC,2442,-0.81,-141.0,391.3,-15.4,191,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2862,3401,0,0,0,0,0,0
$GC,2748,-0.81,-141.0,437.2,-14.8,202,2752,0.00,1.67,0.00,0.000,4,0.000,0.062,1561,3902,3401,0,0,0,0,0,0
$GC,2760,-0.81,-141.0,439.4,-14.6,202,2764,0.00,1.58,0.00,0.000,6,0.000,0.034,1561,2867,3401,0,0,0,0,0,0
$GC,3091,-0.81,-141.0,487.6,-14.5,213,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2862,3401,0,0,0,0,0,0
$GC,3398,-0.81,-141.0,532.1,-14.6,223,3402,0.00,2.15,0.00,0.000,4,0.000,0.042,1561,1480,3401,0,0,0,0,0,0
$GC,3445,-0.81,-141.0,539.1,-13.2,224,3449,0.00,2.22,0.00,0.000,6,0.000,0.055,1551,2870,3401,0,0,0,0,0,0
$GC,3765,-0.81,-141.0,587.4,-15.3,235,3769,0.00,1.65,0.00,0.000,4,0.000,0.063,1542,3907,3401,0,0,0,0,0,0
$GC,3777,-0.81,-141.0,589.7,-15.3,235,3781,0.00,1.60,0.00,0.000,6,0.000,0.034,1543,2859,3401,0,0,0,0,0,0
$GC,4109,-0.81,-141.0,642.2,-15.9,246,4113,0.00,2.15,0.00,0.000,4,0.000,0.043,1542,1475,3400,0,0,0,0,0,0
$GC,4122,-0.81,-141.0,644.7,-15.9,246,4127,0.12,2.22,0.00,0.000,6,0.191,0.054,1562,2863,3400,0,0,0,0,0,0
$GC,4445,-0.81,-141.0,690.7,-14.5,257,4449,0.00,1.65,0.00,0.000,4,0.000,0.063,1556,3896,3399,0,0,0,0,0,0
$GC,4475,-0.81,-141.0,695.6,-15.8,257,4481,0.00,1.60,0.00,0.000,6,0.000,0.035,1556,2850,3399,0,0,0,0,0,0
$GC,4790,-0.81,-141.0,741.6,-14.6,268,4794,0.00,2.15,0.00,0.000,4,0.000,0.044,1556,1476,3398,0,0,0,0,0,0
$GC,4802,-0.81,-141.0,743.8,-14.5,268,4806,0.00,2.25,0.00,0.000,6,0.000,0.054,1545,2862,3398,0,0,0,0,0,0
$GC,5125,-0.81,-141.0,791.2,-14.9,279,5129,0.00,1.65,0.00,0.000,4,0.000,0.063,1537,3896,3397,0,0,0,0,0,0
$GC,5137,-0.81,-141.0,793.7,-15.1,279,5141,0.08,1.58,0.00,0.000,6,0.171,0.035,1567,2870,3397,0,0,0,0,0,0
$GC,5469,-0.81,-141.0,836.6,-13.0,290,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2866,3397,0,0,0,0,0,0
$GC,5777,-0.81,-141.0,874.8,-12.4,300,5781,0.00,2.17,0.00,0.000,4,0.000,0.044,1567,1478,3396,0,0,0,0,0,0
$GC,5830,-0.81,-141.0,881.7,-11.5,301,5834,0.00,2.25,0.00,0.000,6,0.000,0.057,1558,2865,3396,0,0,0,0,0,0
$GC,6145,-0.81,-141.0,923.0,-13.3,311,6149,0.00,1.65,0.00,0.000,4,0.000,0.064,1550,3897,3396,0,0,0,0,0,0
$GC,6191,-0.81,-141.0,929.8,-14.3,312,6195,0.00,1.60,0.00,0.000,6,0.000,0.035,1551,2857,3396,0,0,0,0,0,0
$GC,6523,-0.81,-141.0,975.0,-13.9,323,6527,0.00,2.15,0.00,0.000,4,0.000,0.044,1550,1480,3395,0,0,0,0,0,0
$GC,6541,-0.81,-141.0,977.9,-14.1,323,6545,0.00,2.22,0.00,0.000,6,0.000,0.057,1540,2860,3395,0,0,0,0,0,0
$STATE,6698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6698,begin apogee
$GC,6709,-0.18,0.0,1000.7,14.4,328,6852,0.80,0.00,137.45,1.271,6,0.167,0.000,1767,2678,2817,0,0,0,0,0,0
$STATE,6854,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6859,0.81,141.0,1005.0,0.0,333,7024,0.95,2.60,150.23,1.751,4,0.091,0.052,2092,1282,2246,0,0,0,0,1,0
$GC,7094,0.81,141.0,967.8,20.7,340,7098,0.00,2.45,0.00,0.000,6,0.000,0.057,2092,2670,2244,0,0,0,0,0,0
$GC,7426,0.81,141.0,889.3,23.5,351,7430,0.00,2.03,0.00,0.000,4,0.000,0.065,2092,3904,2240,0,0,0,0,0,0
$GC,7444,0.81,141.0,884.4,24.0,351,7448,0.00,1.95,0.00,0.000,6,0.000,0.044,2101,2671,2240,0,0,0,0,0,0
$GC,7771,0.81,141.0,807.3,23.5,362,7775,0.00,2.22,0.00,0.000,4,0.000,0.054,2112,1261,2239,0,0,0,0,0,0
$GC,7789,0.81,141.0,802.5,23.1,362,7793,0.00,2.33,0.00,0.000,6,0.000,0.056,2112,2683,2237,0,0,0,0,0,0
$GC,8110,0.81,141.0,728.6,23.5,373,8114,0.00,2.30,0.00,0.000,4,0.000,0.055,2123,1267,2237,0,0,0,0,0,0
$GC,8174,0.81,141.0,714.1,21.7,374,8181,0.12,2.28,0.00,0.000,6,0.233,0.055,2096,2668,2235,0,0,0,0,0,0
$GC,8489,0.81,141.0,642.9,23.1,385,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2668,2235,0,0,0,0,0,0
$GC,8795,0.81,141.0,573.3,22.6,395,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2668,2235,0,0,0,0,0,0
$GC,9102,0.81,141.0,505.4,21.8,405,9106,0.00,2.25,0.00,0.000,4,0.000,0.051,2106,1259,2234,0,0,0,0,0,0
$GC,9120,0.81,141.0,501.0,21.9,405,9124,0.00,2.30,0.00,0.000,6,0.000,0.055,2104,2671,2233,0,0,0,0,0,0
$GC,9440,0.81,141.0,430.1,21.9,416,9444,0.00,2.25,0.00,0.000,4,0.000,0.051,2114,1264,2233,0,0,0,0,0,0
$GC,9459,0.81,141.0,425.9,21.6,416,9463,0.00,2.30,0.00,0.000,6,0.000,0.054,2114,2677,2233,0,0,0,0,0,0
$GC,9781,0.81,141.0,356.3,21.5,430,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2677,2232,0,0,0,0,0,0
$GC,10093,0.81,141.0,289.9,21.8,445,10097,0.00,2.28,0.00,0.000,4,0.000,0.050,2124,1264,2232,0,0,0,0,0,0
$GC,10153,0.81,141.0,276.9,19.7,447,10160,0.12,2.28,0.00,0.000,6,0.227,0.054,2097,2669,2232,0,0,0,0,0,0
$GC,10473,0.81,141.0,211.4,20.2,466,10477,0.00,2.22,0.00,0.000,4,0.000,0.050,2106,1265,2232,0,0,0,0,0,0
$GC,10490,0.81,141.0,208.4,20.7,467,10494,0.00,2.28,0.00,0.000,6,0.000,0.053,2104,2670,2231,0,0,0,0,0,0
$GC,10819,0.81,141.0,138.9,21.7,488,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2670,2232,0,0,0,0,0,0
$GC,11143,0.81,141.0,69.9,21.5,524,11150,0.00,2.22,0.00,0.000,4,0.000,0.049,2114,1263,2232,0,0,0,0,0,0
$GC,11312,0.81,141.0,40.8,18.2,551,11319,0.00,2.30,0.00,0.000,6,0.000,0.054,2114,2679,2231,0,0,0,0,0,0
$STATE,11505,end climb,SURFACE_DEPTH_REACHED
$STATE,11505,begin surface coast
$FINISH,0.8,1.026270
$STATE,11525,end surface coast,CONTROL_FINISHED_OK
$STATE,11525,begin surface
$SM_CCo,11548,47.22,0.715,1,0,1881,230.09
$SM_GC,1.86,0.00,0.00,47.22,0.000,0.000,0.715,49,2883,1881,-5.57,0.65,230.09
$IRIDIUM_FIX,-4314.46,708.24,270213,212150
$TT8_MAMPS,0.026215
$HUMID,59.72
$INTERNAL_PRESSURE,9.43363
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.3,83.945
$10V_AH,9.9,45.208
$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,14.300,108.225,287.675,47.225,0.000,28.181,25.401,356.461,0.000,0.000,37.682,1481.995,7775.872,430.348,1958.958,627.571,33.365,1108.822,0.000,1475.763,0.000,1.010,0.000
$DEVICE_MAMPS,234.090,69.615,1751.085,714.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.642,1161.239,633.403,249.887,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,43747,585
$CAP_FILE_SIZE,100904,0
$CFSIZE,259252224,200814592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,280213,045304,-4328.521,709.859,26,1.0,26,-24.6