version: 66.07
glider: 542
mission: 6
dive: 450
start: 2 28 113 18 37 55
data:
$ID,542
$MISSION,6
$DIVE,450
$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,-14794.345
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,280213,182534,-4328.611,709.820,40,0.8,40,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-64.3
$GPS2,280213,183659,-4328.669,710.074,17,0.9,18,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.017,0.240
$KALMAN_X,-26510.8,1761.2,-1417.3,245131.4,-766.3
$KALMAN_Y,769697.8,5480.0,-2955.5,-397499.2,-4902.5
$MHEAD_RNG_PITCHd_Wd,20.6,1568,-19.2,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-123.2,0.0,0.0,0,92,0.00,0.00,-62.90,0.000,2,0.000,0.000,55,2875,3197,0,0,0,0,0,0
$GC,99,-0.67,-146.1,3.3,-2.3,8,117,6.60,2.30,-5.47,0.000,4,0.243,0.053,1617,1449,3417,0,0,0,0,0,0
$GC,190,-0.67,-146.1,20.7,-12.1,21,199,0.00,2.30,0.00,0.000,6,0.000,0.050,1608,2855,3419,0,0,0,0,0,0
$GC,276,-0.67,-146.1,32.3,-14.8,34,285,0.00,1.67,0.00,0.000,4,0.000,0.057,1600,3901,3420,0,0,0,0,0,0
$GC,308,-0.67,-146.1,37.3,-15.0,38,317,0.00,1.62,0.00,0.000,6,0.000,0.033,1599,2835,3420,0,0,0,0,0,0
$GC,557,-0.67,-146.1,73.8,-12.6,79,562,0.00,2.10,0.00,0.000,4,0.000,0.039,1599,1474,3420,0,0,0,0,0,0
$GC,607,-0.67,-146.1,80.4,-12.6,87,614,0.00,2.25,0.00,0.000,6,0.000,0.051,1589,2860,3420,0,0,0,0,0,0
$GC,952,-0.67,-146.1,130.0,-14.5,124,956,0.00,1.67,0.00,0.000,4,0.000,0.058,1581,3895,3420,0,0,0,0,0,0
$GC,982,-0.67,-146.1,134.9,-15.5,125,989,0.08,1.58,0.00,0.000,6,0.158,0.032,1604,2852,3421,0,0,0,0,0,0
$GC,1309,-0.67,-146.1,175.8,-12.3,146,1313,0.00,2.10,0.00,0.000,4,0.000,0.039,1604,1484,3421,0,0,0,0,0,0
$GC,1367,-0.67,-146.1,183.6,-11.3,149,1374,0.00,2.20,0.00,0.000,6,0.000,0.051,1596,2863,3421,0,0,0,0,0,0
$GC,1691,-0.67,-146.1,225.0,-13.3,170,1694,0.00,1.62,0.00,0.000,4,0.000,0.057,1587,3914,3421,0,0,0,0,0,0
$GC,1712,-0.67,-146.1,227.9,-13.4,171,1716,0.00,1.60,0.00,0.000,6,0.000,0.031,1587,2859,3421,0,0,0,0,0,0
$GC,2040,-0.67,-146.1,273.1,-13.8,189,2044,0.00,2.10,0.00,0.000,4,0.000,0.038,1587,1483,3422,0,0,0,0,0,0
$GC,2058,-0.67,-146.1,276.1,-13.9,189,2065,0.12,2.20,0.00,0.000,6,0.181,0.050,1608,2866,3422,0,0,0,0,0,0
$GC,2378,-0.67,-146.1,312.2,-10.9,205,2382,0.00,1.65,0.00,0.000,4,0.000,0.059,1601,3914,3422,0,0,0,0,0,0
$GC,2413,-0.67,-146.1,316.7,-11.2,206,2417,0.00,1.60,0.00,0.000,6,0.000,0.032,1601,2856,3422,0,0,0,0,0,0
$GC,2737,-0.67,-146.1,354.6,-12.3,222,2741,0.00,2.10,0.00,0.000,4,0.000,0.038,1600,1486,3422,0,0,0,0,0,0
$GC,2783,-0.67,-146.1,360.4,-11.6,224,2787,0.00,2.20,0.00,0.000,6,0.000,0.051,1590,2865,3422,0,0,0,0,0,0
$GC,3113,-0.67,-146.1,402.0,-12.8,240,3117,0.00,2.15,0.00,0.000,4,0.000,0.038,1590,1486,3422,0,0,0,0,0,0
$GC,3149,-0.67,-146.1,406.7,-11.4,241,3153,0.12,2.20,0.00,0.000,6,0.176,0.050,1612,2859,3422,0,0,0,0,0,0
$GC,3481,-0.67,-146.1,444.1,-11.4,252,3485,0.00,2.15,0.00,0.000,4,0.000,0.038,1612,1478,3422,0,0,0,0,0,0
$GC,3505,-0.67,-146.1,447.1,-11.9,252,3512,0.00,2.22,0.00,0.000,6,0.000,0.051,1603,2868,3422,0,0,0,0,0,0
$GC,3821,-0.67,-146.1,484.7,-12.1,263,3824,0.00,1.65,0.00,0.000,4,0.000,0.060,1595,3898,3422,0,0,0,0,0,0
$GC,3838,-0.67,-146.1,487.3,-12.3,263,3842,0.00,1.58,0.00,0.000,6,0.000,0.033,1595,2857,3422,0,0,0,0,0,0
$GC,4165,-0.67,-146.1,527.2,-12.4,274,4169,0.00,2.12,0.00,0.000,4,0.000,0.039,1595,1477,3422,0,0,0,0,0,0
$GC,4188,-0.67,-146.1,530.4,-12.3,274,4195,0.00,2.22,0.00,0.000,6,0.000,0.051,1584,2867,3422,0,0,0,0,0,0
$GC,4505,-0.67,-146.1,571.5,-13.5,285,4509,0.00,2.12,0.00,0.000,4,0.000,0.038,1584,1486,3422,0,0,0,0,0,0
$GC,4523,-0.67,-146.1,574.5,-13.4,285,4528,0.15,2.22,0.00,0.000,6,0.174,0.052,1612,2867,3422,0,0,0,0,0,0
$GC,4839,-0.67,-146.1,609.5,-11.0,295,4843,0.00,2.15,0.00,0.000,4,0.000,0.039,1612,1485,3421,0,0,0,0,0,0
$GC,4862,-0.67,-146.1,612.4,-11.6,295,4869,0.00,2.22,0.00,0.000,6,0.000,0.053,1604,2871,3421,0,0,0,0,0,0
$GC,5178,-0.67,-146.1,648.4,-11.5,306,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2871,3421,0,0,0,0,0,0
$GC,5484,-0.67,-146.1,683.3,-11.2,316,5488,0.00,2.17,0.00,0.000,4,0.000,0.040,1603,1483,3421,0,0,0,0,0,0
$GC,5502,-0.67,-146.1,685.7,-11.5,316,5506,0.00,2.20,0.00,0.000,6,0.000,0.053,1593,2859,3421,0,0,0,0,0,0
$GC,5823,-0.67,-146.1,724.0,-11.9,327,5827,0.00,1.67,0.00,0.000,4,0.000,0.061,1585,3899,3420,0,0,0,0,0,0
$GC,5870,-0.67,-146.1,729.8,-12.0,328,5874,0.00,1.58,0.00,0.000,6,0.000,0.034,1585,2867,3420,0,0,0,0,0,0
$GC,6201,-0.67,-146.1,768.3,-11.6,339,6205,0.00,2.15,0.00,0.000,4,0.000,0.041,1585,1473,3419,0,0,0,0,0,0
$GC,6225,-0.67,-146.1,771.5,-12.2,339,6230,0.12,2.25,0.00,0.000,6,0.178,0.054,1606,2860,3419,0,0,0,0,0,0
$GC,6541,-0.67,-146.1,801.1,-9.4,349,6545,0.00,2.17,0.00,0.000,4,0.000,0.041,1606,1475,3418,0,0,0,0,0,0
$GC,6565,-0.67,-146.1,803.7,-9.8,349,6572,0.00,2.25,0.00,0.000,6,0.000,0.054,1597,2863,3418,0,0,0,0,0,0
$GC,6880,-0.67,-146.1,835.6,-10.2,360,6884,0.00,2.15,0.00,0.000,4,0.000,0.040,1596,1479,3418,0,0,0,0,0,0
$GC,6893,-0.67,-146.1,837.1,-10.4,360,6897,0.00,2.25,0.00,0.000,6,0.000,0.054,1586,2865,3417,0,0,0,0,0,0
$GC,7214,-0.67,-146.1,872.1,-11.2,371,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2865,3417,0,0,0,0,0,0
$GC,7520,-0.67,-146.1,906.5,-11.2,381,7524,0.00,2.17,0.00,0.000,4,0.000,0.041,1586,1479,3417,0,0,0,0,0,0
$GC,7572,-0.67,-146.1,912.5,-10.8,382,7577,0.12,2.25,0.00,0.000,6,0.181,0.055,1606,2859,3417,0,0,0,0,0,0
$GC,7888,-0.67,-146.1,942.2,-9.5,392,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2859,3417,0,0,0,0,0,0
$GC,8193,-0.67,-146.1,972.4,-9.8,402,8197,0.00,2.15,0.00,0.000,4,0.000,0.041,1607,1478,3416,0,0,0,0,0,0
$GC,8217,-0.67,-146.1,974.9,-10.0,402,8222,0.00,2.28,0.00,0.000,6,0.000,0.055,1599,2871,3416,0,0,0,0,0,0
$STATE,8467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8467,begin apogee
$GC,8478,-0.18,0.0,1001.1,10.4,410,8624,0.57,0.00,142.93,1.258,6,0.155,0.000,1768,2669,2820,0,0,0,0,0,0
$STATE,8626,end apogee,CONTROL_FINISHED_OK
$STATE,8626,begin climb
$GC,8630,0.67,146.1,1006.6,0.0,415,8807,0.85,2.53,157.95,1.721,4,0.094,0.049,2055,1284,2227,0,0,0,0,2,0
$GC,8864,0.67,146.1,977.3,17.8,422,8869,0.00,2.42,0.00,0.000,6,0.000,0.052,2055,2669,2224,0,0,0,0,0,0
$GC,9197,0.67,146.1,912.4,19.9,433,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2669,2220,0,0,0,0,0,0
$GC,9503,0.67,146.1,852.2,19.8,443,9507,0.00,2.25,0.00,0.000,4,0.000,0.050,2066,1274,2219,0,0,0,0,0,0
$GC,9520,0.67,146.1,848.2,20.5,443,9525,0.00,2.28,0.00,0.000,6,0.000,0.053,2066,2682,2217,0,0,0,0,0,0
$GC,9841,0.67,146.1,781.2,21.4,454,9845,0.00,2.22,0.00,0.000,4,0.000,0.049,2076,1274,2217,0,0,0,0,0,0
$GC,9859,0.67,146.1,777.0,21.0,454,9863,0.00,2.25,0.00,0.000,6,0.000,0.053,2076,2672,2215,0,0,0,0,0,0
$GC,10180,0.67,146.1,705.1,23.0,465,10183,0.00,1.95,0.00,0.000,4,0.000,0.063,2076,3900,2216,0,0,0,0,0,0
$GC,10203,0.67,146.1,699.0,23.9,465,10208,0.15,1.92,0.00,0.000,6,0.231,0.041,2052,2673,2216,0,0,0,0,0,0
$GC,10519,0.67,146.1,632.7,21.1,475,10523,0.00,2.20,0.00,0.000,4,0.000,0.049,2062,1270,2215,0,0,0,0,0,0
$GC,10537,0.67,146.1,628.4,20.6,475,10541,0.00,2.25,0.00,0.000,6,0.000,0.053,2062,2672,2215,0,0,0,0,0,0
$GC,10858,0.67,146.1,559.6,21.6,486,10861,0.00,1.95,0.00,0.000,4,0.000,0.063,2062,3900,2215,0,0,0,0,0,0
$GC,10877,0.67,146.1,555.4,21.6,486,10881,0.00,1.92,0.00,0.000,6,0.000,0.041,2072,2670,2215,0,0,0,0,0,0
$GC,11203,0.67,146.1,486.3,20.5,497,11207,0.00,2.22,0.00,0.000,4,0.000,0.048,2082,1263,2215,0,0,0,0,0,0
$GC,11232,0.67,146.1,480.0,20.0,497,11242,0.12,2.28,0.00,0.000,6,0.220,0.053,2054,2670,2214,0,0,0,0,0,0
$GC,11548,0.67,146.1,422.4,18.0,508,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2670,2214,0,0,0,0,0,0
$GC,11868,0.67,146.1,367.2,16.8,521,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2670,2214,0,0,0,0,0,0
$GC,12175,0.67,146.1,316.0,16.5,536,12179,0.00,2.22,0.00,0.000,4,0.000,0.047,2063,1271,2214,0,0,0,0,0,0
$GC,12198,0.67,146.1,312.8,16.3,537,12202,0.00,2.28,0.00,0.000,6,0.000,0.052,2063,2675,2213,0,0,0,0,0,0
$GC,12530,0.67,146.1,257.9,16.5,553,12534,0.00,1.95,0.00,0.000,4,0.000,0.060,2063,3904,2213,0,0,0,0,0,0
$GC,12542,0.67,146.1,255.3,16.2,553,12546,0.00,1.95,0.00,0.000,6,0.000,0.040,2072,2671,2213,0,0,0,0,0,0
$GC,12874,0.67,146.1,196.5,18.7,574,12878,0.00,2.00,0.00,0.000,4,0.000,0.062,2073,3906,2213,0,0,0,0,0,0
$GC,12896,0.67,146.1,192.5,18.7,575,12901,0.15,1.92,0.00,0.000,6,0.228,0.040,2048,2673,2213,0,0,0,0,0,0
$GC,13230,0.67,146.1,134.4,18.3,596,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2669,2213,0,0,0,0,0,0
$GC,13564,0.67,146.1,75.1,13.7,635,13569,0.00,2.20,0.00,0.000,4,0.000,0.045,2058,1261,2213,0,0,0,0,0,0
$GC,13602,0.67,146.1,70.0,13.4,641,13606,0.00,2.28,0.00,0.000,6,0.000,0.053,2058,2670,2213,0,0,0,0,0,0
$GC,13969,0.67,146.1,12.6,16.2,702,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2670,2213,0,0,0,0,0,0
$STATE,14027,end climb,SURFACE_DEPTH_REACHED
$STATE,14028,begin surface coast
$FINISH,1.0,1.026233
$STATE,14049,end surface coast,CONTROL_FINISHED_OK
$STATE,14049,begin surface
$SM_CCo,14071,45.22,0.704,1,0,1879,230.09
$SM_GC,1.96,0.00,0.00,45.22,0.000,0.000,0.704,51,2912,1879,-5.56,1.44,230.09
$IRIDIUM_FIX,-4314.46,659.77,280213,131323
$TT8_MAMPS,0.026215
$HUMID,57.52
$INTERNAL_PRESSURE,9.45316
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.2,84.616
$10V_AH,9.9,45.620
$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,14.550,137.650,300.875,45.225,0.000,27.027,21.016,376.880,0.000,0.000,20.476,1792.948,9553.884,463.473,2267.777,714.507,33.358,1276.725,0.000,1771.710,0.000,1.011,0.000
$DEVICE_MAMPS,243.270,62.730,1721.250,703.800,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.884,1413.079,772.002,298.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,53766,714
$CAP_FILE_SIZE,121775,0
$CFSIZE,259252224,200531968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,280213,223435,-4327.039,710.777,30,1.3,30,-24.6