version: 66.07
glider: 542
mission: 6
dive: 172
start: 1 4 113 5 33 22
data:
$ID,542
$MISSION,6
$DIVE,172
$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,353
$T_MISSION,368
$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,250
$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,-10995.952
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,37
$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
$GPS1,040113,052152,-4635.189,436.961,41,0.8,41,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-57.7
$GPS2,040113,053229,-4635.251,437.018,17,0.9,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.178
$KALMAN_X,-130473.6,685.9,284.9,154867.7,-7572.7
$KALMAN_Y,57892.6,-673.8,-68.4,-27460.1,-1352.4
$MHEAD_RNG_PITCHd_Wd,69.3,10442,-16.5,-9.443
$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,-0.61,-146.1,0.0,0.0,0,99,0.00,0.00,-71.07,0.000,2,0.000,0.000,58,2900,3128,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.2,-4.1,9,132,6.57,2.28,-8.18,0.000,4,0.249,0.050,1646,1480,3417,0,0,0,0,0,0
$GC,223,-0.61,-146.1,19.6,-11.0,26,232,0.00,2.28,0.00,0.000,6,0.000,0.051,1637,2872,3420,0,0,0,0,0,0
$GC,311,-0.61,-146.1,31.7,-16.3,39,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2872,3420,0,0,0,0,0,0
$GC,557,-0.61,-146.1,67.2,-13.7,80,563,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2872,3420,0,0,0,0,0,0
$GC,903,-0.61,-146.1,110.7,-11.5,129,907,0.00,2.15,0.00,0.000,4,0.000,0.037,1637,1473,3419,0,0,0,0,0,0
$GC,927,-0.61,-146.1,114.0,-12.3,130,931,0.00,2.25,0.00,0.000,6,0.000,0.051,1626,2881,3420,0,0,0,0,0,0
$GC,1250,-0.61,-146.1,151.5,-12.1,150,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2881,3420,0,0,0,0,0,0
$GC,1561,-0.61,-146.1,189.3,-12.5,170,1564,0.00,1.60,0.00,0.000,4,0.000,0.059,1619,3893,3421,0,0,0,0,0,0
$GC,1598,-0.61,-146.1,194.1,-13.3,172,1602,0.08,1.55,0.00,0.000,6,0.151,0.031,1659,2855,3422,0,0,0,0,0,0
$GC,1936,-0.61,-146.1,225.8,-9.5,193,1940,0.00,2.03,0.00,0.000,4,0.000,0.037,1659,1502,3422,0,0,0,0,0,0
$GC,1978,-0.61,-146.1,230.2,-8.5,195,1982,0.00,2.17,0.00,0.000,6,0.000,0.053,1650,2884,3421,0,0,0,0,0,0
$GC,2300,-0.61,-146.1,263.0,-10.4,213,2304,0.00,1.60,0.00,0.000,4,0.000,0.061,1642,3894,3422,0,0,0,0,0,0
$GC,2352,-0.61,-146.1,269.1,-11.0,215,2356,0.00,1.52,0.00,0.000,6,0.000,0.033,1642,2881,3422,0,0,0,0,0,0
$GC,2683,-0.61,-146.1,305.0,-11.0,231,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2877,3422,0,0,0,0,0,0
$GC,2991,-0.61,-146.1,338.8,-10.8,246,2994,0.00,2.08,0.00,0.000,4,0.000,0.037,1642,1493,3422,0,0,0,0,0,0
$GC,3014,-0.61,-146.1,341.7,-11.1,247,3018,0.00,2.20,0.00,0.000,6,0.000,0.053,1632,2884,3421,0,0,0,0,0,0
$GC,3345,-0.61,-146.1,378.3,-11.4,263,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2884,3422,0,0,0,0,0,0
$GC,3673,-0.61,-146.1,413.8,-10.7,277,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2884,3421,0,0,0,0,0,0
$GC,3978,-0.61,-146.1,444.7,-9.8,287,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2884,3421,0,0,0,0,0,0
$GC,4285,-0.61,-146.1,476.0,-10.2,297,4289,0.00,1.60,0.00,0.000,4,0.000,0.061,1624,3896,3421,0,0,0,0,0,0
$GC,4321,-0.61,-146.1,480.1,-11.5,298,4325,0.00,1.52,0.00,0.000,6,0.000,0.034,1624,2881,3421,0,0,0,0,0,0
$GC,4666,-0.61,-146.1,517.1,-10.8,309,4670,0.00,2.08,0.00,0.000,4,0.000,0.038,1624,1494,3421,0,0,0,0,0,0
$GC,4690,-0.61,-146.1,519.9,-10.3,309,4697,0.12,2.20,0.00,0.000,6,0.184,0.053,1646,2885,3421,0,0,0,0,0,0
$GC,5006,-0.61,-146.1,547.0,-8.4,320,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2885,3421,0,0,0,0,0,0
$GC,5311,-0.61,-146.1,572.0,-8.2,330,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2886,3421,0,0,0,0,0,0
$GC,5618,-0.61,-146.1,596.6,-8.0,340,5622,0.00,2.12,0.00,0.000,4,0.000,0.037,1645,1496,3421,0,0,0,0,0,0
$GC,5670,-0.61,-146.1,600.9,-7.5,341,5674,0.00,2.17,0.00,0.000,6,0.000,0.054,1636,2880,3421,0,0,0,0,0,0
$GC,5986,-0.61,-146.1,628.7,-9.3,351,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2880,3421,0,0,0,0,0,0
$GC,6293,-0.61,-146.1,655.7,-8.7,361,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2880,3420,0,0,0,0,0,0
$GC,6598,-0.61,-146.1,681.7,-8.4,371,6602,0.00,2.12,0.00,0.000,4,0.000,0.038,1636,1497,3420,0,0,0,0,0,0
$GC,6639,-0.61,-146.1,685.3,-8.0,372,6643,0.00,2.20,0.00,0.000,6,0.000,0.054,1626,2889,3420,0,0,0,0,0,0
$GC,6978,-0.61,-146.1,714.8,-8.9,383,6982,0.00,1.58,0.00,0.000,4,0.000,0.062,1619,3889,3420,0,0,0,0,0,0
$GC,7015,-0.61,-146.1,718.5,-9.4,384,7019,0.08,1.50,0.00,0.000,6,0.150,0.033,1644,2886,3420,0,0,0,0,0,0
$GC,7359,-0.61,-146.1,746.0,-8.2,395,7363,0.00,2.08,0.00,0.000,4,0.000,0.038,1644,1498,3420,0,0,0,0,0,0
$GC,7405,-0.61,-146.1,750.1,-8.2,396,7409,0.00,2.17,0.00,0.000,6,0.000,0.054,1636,2879,3420,0,0,0,0,0,0
$GC,7727,-0.61,-146.1,778.7,-9.3,407,7730,0.00,1.62,0.00,0.000,4,0.000,0.062,1628,3892,3420,0,0,0,0,0,0
$GC,7750,-0.61,-146.1,781.3,-10.1,407,7753,0.00,1.52,0.00,0.000,6,0.000,0.033,1628,2877,3419,0,0,0,0,0,0
$GC,8072,-0.61,-146.1,812.7,-9.9,418,8076,0.00,2.08,0.00,0.000,4,0.000,0.038,1628,1486,3420,0,0,0,0,0,0
$GC,8107,-0.61,-146.1,816.6,-9.3,419,8112,0.12,2.22,0.00,0.000,6,0.179,0.054,1650,2886,3420,0,0,0,0,0,0
$GC,8441,-0.61,-146.1,843.9,-8.1,430,8444,0.00,2.12,0.00,0.000,4,0.000,0.037,1651,1496,3420,0,0,0,0,0,0
$GC,8464,-0.61,-146.1,846.2,-8.7,430,8471,0.00,2.20,0.00,0.000,6,0.000,0.054,1642,2883,3419,0,0,0,0,0,0
$GC,8780,-0.61,-146.1,871.8,-8.1,441,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2884,3419,0,0,0,0,0,0
$GC,9086,-0.61,-146.1,895.7,-7.7,451,9090,0.00,2.10,0.00,0.000,4,0.000,0.037,1641,1496,3419,0,0,0,0,0,0
$GC,9138,-0.61,-146.1,899.7,-6.8,452,9142,0.00,2.20,0.00,0.000,6,0.000,0.055,1632,2890,3419,0,0,0,0,0,0
$GC,9454,-0.61,-146.1,923.8,-7.6,462,9457,0.00,1.58,0.00,0.000,4,0.000,0.062,1624,3887,3419,0,0,0,0,0,0
$GC,9506,-0.61,-146.1,928.1,-7.5,463,9509,0.00,1.52,0.00,0.000,6,0.000,0.034,1624,2873,3419,0,0,0,0,0,0
$GC,9832,-0.61,-146.1,952.3,-7.4,474,9836,0.00,2.08,0.00,0.000,4,0.000,0.038,1624,1497,3419,0,0,0,0,0,0
$GC,9867,-0.61,-146.1,955.1,-7.3,475,9872,0.12,2.20,0.00,0.000,6,0.181,0.054,1646,2880,3419,0,0,0,0,0,0
$GC,10200,-0.61,-146.1,975.2,-6.3,486,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2880,3419,0,0,0,0,0,0
$GC,10508,-0.61,-146.1,996.1,-6.9,496,10512,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1492,3419,0,0,0,0,0,0
$GC,10532,-0.61,-146.1,998.2,-8.0,496,10539,0.00,2.20,0.00,0.000,6,0.000,0.055,1638,2880,3419,0,0,0,0,0,0
$STATE,10567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10567,begin apogee
$GC,10578,-0.18,0.0,1001.0,7.5,498,10728,0.50,0.00,147.05,1.245,6,0.155,0.000,1788,2706,2819,0,0,0,0,0,0
$STATE,10730,end apogee,CONTROL_FINISHED_OK
$STATE,10730,begin climb
$GC,10735,0.61,146.1,1005.0,0.0,503,10894,0.73,0.00,150.55,1.803,6,0.061,0.000,2055,2706,2224,0,0,0,0,1,0
$GC,11195,0.61,146.1,911.7,23.4,518,11199,0.00,2.25,0.00,0.000,4,0.000,0.044,2065,1312,2220,0,0,0,0,0,0
$GC,11207,0.61,146.1,908.4,23.5,518,11212,0.00,2.30,0.00,0.000,6,0.000,0.049,2065,2697,2218,0,0,0,0,0,0
$GC,11534,0.61,146.1,831.0,23.9,529,11538,0.00,2.22,0.00,0.000,4,0.000,0.044,2076,1299,2217,0,0,0,0,0,0
$GC,11563,0.61,146.1,823.7,23.2,529,11570,0.00,2.30,0.00,0.000,6,0.000,0.051,2076,2706,2215,0,0,0,0,0,0
$GC,11878,0.61,146.1,747.5,24.4,540,11882,0.00,2.22,0.00,0.000,4,0.000,0.045,2086,1295,2215,0,0,0,0,0,0
$GC,11896,0.61,146.1,742.5,24.7,540,11901,0.15,2.28,0.00,0.000,6,0.228,0.050,2053,2703,2215,0,0,0,0,0,0
$GC,12218,0.61,146.1,670.7,22.3,551,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2703,2214,0,0,0,0,0,0
$GC,12524,0.61,146.1,603.7,21.4,561,12528,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1307,2213,0,0,0,0,0,0
$GC,12581,0.61,146.1,591.9,19.8,562,12588,0.00,2.22,0.00,0.000,6,0.000,0.050,2062,2699,2213,0,0,0,0,0,0
$GC,12897,0.61,146.1,525.0,21.1,573,12900,0.00,1.90,0.00,0.000,4,0.000,0.059,2063,3899,2212,0,0,0,0,0,0
$GC,12914,0.61,146.1,520.7,21.4,573,12919,0.00,1.88,0.00,0.000,6,0.000,0.040,2071,2703,2213,0,0,0,0,0,0
$GC,13241,0.61,146.1,446.7,23.2,584,13245,0.00,2.17,0.00,0.000,4,0.000,0.045,2082,1302,2212,0,0,0,0,0,0
$GC,13270,0.61,146.1,439.7,22.1,584,13278,0.12,2.22,0.00,0.000,6,0.223,0.051,2054,2700,2211,0,0,0,0,0,0
$GC,13589,0.61,146.1,373.4,20.8,597,13590,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2701,2212,0,0,0,0,0,0
$GC,13896,0.61,146.1,310.5,19.8,612,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2700,2211,0,0,0,0,0,0
$GC,14208,0.61,146.1,248.5,19.4,627,14212,0.00,2.17,0.00,0.000,4,0.000,0.044,2064,1297,2211,0,0,0,0,0,0
$GC,14249,0.61,146.1,239.6,20.7,629,14253,0.00,2.25,0.00,0.000,6,0.000,0.051,2064,2708,2210,0,0,0,0,0,0
$GC,14572,0.61,146.1,173.3,20.1,649,14576,0.00,1.90,0.00,0.000,4,0.000,0.060,2064,3897,2210,0,0,0,0,0,0
$GC,14596,0.61,146.1,167.2,22.0,650,14599,0.00,1.85,0.00,0.000,6,0.000,0.040,2073,2693,2211,0,0,0,0,0,0
$GC,14924,0.61,146.1,96.9,20.9,671,14929,0.00,2.15,0.00,0.000,4,0.000,0.045,2083,1297,2211,0,0,0,0,0,0
$GC,14944,0.61,146.1,92.3,20.6,674,14951,0.12,2.22,0.00,0.000,6,0.223,0.052,2056,2699,2210,0,0,0,0,0,0
$GC,15306,0.61,146.1,28.5,19.1,735,15314,0.00,2.20,0.00,0.000,4,0.000,0.044,2065,1300,2210,0,0,0,0,0,0
$GC,15352,0.61,146.1,20.7,16.1,741,15361,0.00,2.25,0.00,0.000,6,0.000,0.051,2065,2702,2210,0,0,0,0,0,0
$GC,15439,0.61,146.1,4.3,20.0,754,15448,0.00,2.22,0.00,0.000,4,0.000,0.046,2075,1301,2210,0,0,0,0,0,0
$STATE,15456,end climb,SURFACE_DEPTH_REACHED
$STATE,15456,begin surface coast
$FINISH,0.7,1.011585
$STATE,15476,end surface coast,CONTROL_FINISHED_OK
$STATE,15476,begin surface
$SM_CCo,15501,51.20,0.783,1,0,1794,250.20
$SM_GC,1.68,0.00,0.00,51.20,0.000,0.000,0.783,59,2896,1794,-5.60,0.45,250.20
$IRIDIUM_FIX,-4619.84,435.93,030113,202021
$TT8_MAMPS,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,33.897
$10V_AH,10.1,15.253
$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,14.225,123.025,297.600,51.200,0.000,26.144,42.526,316.774,0.000,0.000,20.421,1910.347,10764.755,501.088,2313.034,690.839,33.365,1310.608,0.000,1839.860,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,61.965,1803.105,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.459,1496.804,782.445,303.761,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,53703,759
$CAP_FILE_SIZE,124711,0
$CFSIZE,259252224,218624000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,040113,095406,-4634.062,437.314,39,0.8,39,-23.5