version: 66.07
glider: 542
mission: 6
dive: 459
start: 3 2 113 8 28 25
data:
$ID,542
$MISSION,6
$DIVE,459
$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,-14834.795
$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,41
$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
$GPS1,020313,081634,-4326.077,708.234,38,0.8,38,-24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-68.9
$GPS2,020313,082729,-4326.062,708.371,20,0.9,20,-24.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,MOORING
$TGT_LATLONG,-4329.000,709.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,-0.122,-0.229
$KALMAN_X,-8635.8,131.0,-220.8,225828.6,2980.3
$KALMAN_Y,780872.7,1605.9,27.3,-402408.2,702.3
$MHEAD_RNG_PITCHd_Wd,232.7,5506,-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,-145.9,0.0,0.0,0,91,0.00,0.00,-62.78,0.000,2,0.000,0.000,57,2875,3188,0,0,0,0,0,0
$GC,98,-0.63,-146.1,3.2,-1.5,8,117,6.70,1.67,-5.85,0.000,4,0.245,0.071,1610,3897,3417,0,0,0,0,0,0
$GC,208,-0.63,-146.1,24.2,-14.5,24,217,0.00,1.60,0.00,0.000,6,0.000,0.031,1610,2842,3420,0,0,0,0,0,0
$GC,296,-0.63,-146.1,37.3,-14.8,37,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2841,3420,0,0,0,0,0,0
$GC,542,-0.63,-146.1,73.8,-12.2,78,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2842,3420,0,0,0,0,0,0
$GC,895,-0.63,-146.1,118.2,-13.3,123,899,0.00,2.08,0.00,0.000,4,0.000,0.037,1610,1475,3421,0,0,0,0,0,0
$GC,924,-0.63,-146.1,122.5,-13.3,124,934,0.00,2.22,0.00,0.000,6,0.000,0.051,1600,2845,3421,0,0,0,0,0,0
$GC,1248,-0.63,-146.1,166.2,-13.8,145,1252,0.00,1.67,0.00,0.000,4,0.000,0.057,1592,3896,3421,0,0,0,0,0,0
$GC,1289,-0.63,-146.1,172.5,-13.9,147,1294,0.08,1.55,0.00,0.000,6,0.155,0.031,1615,2863,3421,0,0,0,0,0,0
$GC,1622,-0.63,-146.1,211.8,-12.2,168,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2857,3422,0,0,0,0,0,0
$GC,1951,-0.63,-146.1,253.3,-12.6,189,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2858,3422,0,0,0,0,0,0
$GC,2258,-0.63,-146.1,291.0,-11.7,204,2262,0.00,1.67,0.00,0.000,4,0.000,0.058,1609,3903,3422,0,0,0,0,0,0
$GC,2306,-0.63,-146.1,296.9,-11.7,206,2310,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2853,3423,0,0,0,0,0,0
$GC,2643,-0.63,-146.1,335.8,-11.4,222,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3423,0,0,0,0,0,0
$GC,2953,-0.63,-146.1,369.0,-10.5,237,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3423,0,0,0,0,0,0
$GC,3260,-0.63,-146.1,400.3,-10.1,252,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3423,0,0,0,0,0,0
$GC,3568,-0.63,-146.1,432.0,-10.6,262,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3423,0,0,0,0,0,0
$GC,3872,-0.63,-146.1,464.9,-10.8,272,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3424,0,0,0,0,0,0
$GC,4178,-0.63,-146.1,498.1,-11.0,282,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3424,0,0,0,0,0,0
$GC,4485,-0.63,-146.1,532.1,-11.0,292,4489,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3889,3423,0,0,0,0,0,0
$GC,4526,-0.63,-146.1,536.9,-11.7,293,4530,0.00,1.55,0.00,0.000,6,0.000,0.033,1601,2867,3423,0,0,0,0,0,0
$GC,4865,-0.63,-146.1,574.1,-10.9,304,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2861,3422,0,0,0,0,0,0
$GC,5170,-0.63,-146.1,608.0,-11.3,314,5174,0.00,1.67,0.00,0.000,4,0.000,0.060,1593,3899,3422,0,0,0,0,0,0
$GC,5216,-0.63,-146.1,613.6,-11.7,315,5221,0.08,1.58,0.00,0.000,6,0.153,0.033,1617,2867,3422,0,0,0,0,0,0
$GC,5548,-0.63,-146.1,647.2,-10.5,326,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3421,0,0,0,0,0,0
$GC,5855,-0.63,-146.1,680.1,-10.8,336,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2861,3421,0,0,0,0,0,0
$GC,6161,-0.63,-146.1,713.7,-11.1,346,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3420,0,0,0,0,0,0
$GC,6467,-0.63,-146.1,747.3,-11.0,356,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3420,0,0,0,0,0,0
$GC,6773,-0.63,-146.1,779.6,-10.1,366,6777,0.00,1.70,0.00,0.000,4,0.000,0.062,1610,3892,3419,0,0,0,0,0,0
$GC,6811,-0.63,-146.1,783.4,-9.8,367,6815,0.00,1.58,0.00,0.000,6,0.000,0.034,1610,2860,3419,0,0,0,0,0,0
$GC,7156,-0.63,-146.1,816.4,-9.5,378,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3418,0,0,0,0,0,0
$GC,7461,-0.63,-146.1,845.5,-9.6,388,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3418,0,0,0,0,0,0
$GC,7769,-0.63,-146.1,873.9,-9.3,398,7773,0.00,2.15,0.00,0.000,4,0.000,0.040,1610,1473,3417,0,0,0,0,0,0
$GC,7802,-0.63,-146.1,877.1,-9.4,399,7806,0.00,2.25,0.00,0.000,6,0.000,0.054,1600,2860,3417,0,0,0,0,0,0
$GC,8141,-0.63,-146.1,911.0,-9.9,410,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2860,3417,0,0,0,0,0,0
$GC,8446,-0.63,-146.1,942.6,-10.3,420,8450,0.00,1.70,0.00,0.000,4,0.000,0.063,1592,3895,3416,0,0,0,0,0,0
$GC,8483,-0.63,-146.1,946.6,-11.1,421,8488,0.10,1.58,0.00,0.000,6,0.153,0.034,1623,2864,3415,0,0,0,0,0,0
$GC,8829,-0.63,-146.1,975.7,-8.4,432,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3415,0,0,0,0,0,0
$STATE,9128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9129,begin apogee
$GC,9139,-0.18,0.0,1001.8,8.6,442,9286,0.47,0.00,143.77,1.250,6,0.151,0.000,1765,2673,2820,0,0,0,0,0,0
$STATE,9288,end apogee,CONTROL_FINISHED_OK
$STATE,9288,begin climb
$GC,9293,0.63,146.1,1006.5,0.0,447,9468,0.82,0.00,157.25,1.751,6,0.092,0.000,2031,2673,2227,0,0,0,0,1,0
$GC,9772,0.63,146.1,934.1,17.5,463,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2223,0,0,0,0,0,0
$GC,10078,0.63,146.1,880.8,17.1,473,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2221,0,0,0,0,0,0
$GC,10385,0.63,146.1,828.4,17.1,483,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2220,0,0,0,0,0,0
$GC,10691,0.63,146.1,774.4,17.9,493,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2219,0,0,0,0,0,0
$GC,10997,0.63,146.1,718.3,18.2,503,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2219,0,0,0,0,0,0
$GC,11304,0.63,146.1,661.7,18.4,513,11307,0.00,1.98,0.00,0.000,4,0.000,0.061,2031,3900,2219,0,0,0,0,0,0
$GC,11344,0.63,146.1,653.2,20.2,514,11348,0.00,1.92,0.00,0.000,6,0.000,0.038,2040,2684,2219,0,0,0,0,0,0
$GC,11681,0.63,146.1,590.2,18.4,525,11685,0.00,2.00,0.00,0.000,4,0.000,0.062,2040,3918,2218,0,0,0,0,0,0
$GC,11711,0.63,146.1,584.0,20.0,525,11718,0.00,1.95,0.00,0.000,6,0.000,0.040,2050,2671,2218,0,0,0,0,0,0
$GC,12026,0.63,146.1,523.4,19.3,536,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2666,2217,0,0,0,0,0,0
$GC,12332,0.63,146.1,466.2,18.4,546,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2666,2217,0,0,0,0,0,0
$GC,12638,0.63,146.1,410.7,18.1,556,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2666,2217,0,0,0,0,0,0
$GC,12947,0.63,146.1,355.0,18.0,570,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2666,2217,0,0,0,0,0,0
$GC,13259,0.63,146.1,298.4,18.0,585,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2666,2217,0,0,0,0,0,0
$GC,13574,0.63,146.1,238.2,19.0,601,13577,0.00,2.00,0.00,0.000,4,0.000,0.060,2050,3893,2216,0,0,0,0,0,0
$GC,13649,0.63,146.1,221.7,22.2,605,13652,0.00,1.92,0.00,0.000,6,0.000,0.037,2059,2658,2216,0,0,0,0,0,0
$GC,13975,0.63,146.1,158.9,19.3,626,13976,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2652,2216,0,0,0,0,0,0
$GC,14290,0.63,146.1,104.3,17.6,646,14293,0.00,2.00,0.00,0.000,4,0.000,0.058,2059,3894,2216,0,0,0,0,0,0
$GC,14335,0.63,146.1,95.6,19.6,649,14340,0.15,1.90,0.00,0.000,6,0.216,0.037,2035,2669,2216,0,0,0,0,0,0
$GC,14691,0.63,146.1,45.7,13.3,710,14700,0.00,2.20,0.00,0.000,4,0.000,0.043,2044,1271,2216,0,0,0,0,0,0
$GC,14782,0.63,146.1,34.3,12.5,724,14791,0.00,2.28,0.00,0.000,6,0.000,0.052,2044,2664,2215,0,0,0,0,0,0
$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.9,1.025839
$STATE,15020,end surface coast,CONTROL_FINISHED_OK
$STATE,15020,begin surface
$SM_CCo,15042,46.33,0.707,1,0,1879,230.09
$SM_GC,2.25,0.00,0.00,46.33,0.000,0.000,0.707,57,2884,1879,-5.54,0.68,230.09
$IRIDIUM_FIX,-4311.50,710.81,020313,030335
$TT8_MAMPS,0.026215
$HUMID,58.62
$INTERNAL_PRESSURE,9.44339
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,21.1,86.032
$10V_AH,9.9,46.521
$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,13.725,52.225,301.025,46.325,0.000,26.903,18.289,351.247,0.000,0.000,22.269,1848.132,10580.025,437.088,2231.090,639.845,33.370,1166.708,0.000,1764.876,0.000,1.010,0.000
$DEVICE_MAMPS,244.800,71.145,1751.085,706.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.173,1494.756,801.594,320.217,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,53817,762
$CAP_FILE_SIZE,102990,0
$CFSIZE,259252224,199991296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020313,124128,-4327.435,707.593,41,0.9,41,-24.6