version: 66.07
glider: 542
mission: 6
dive: 230
start: 1 13 113 23 54 44
data:
$ID,542
$MISSION,6
$DIVE,230
$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,573.99261
$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,-11212.095
$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,53
$R_STBD_OVSHOOT,40
$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
$GPS1,130113,234453,-4700.533,409.786,37,1.1,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-24.4
$GPS2,130113,235348,-4700.514,409.863,17,1.2,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.059,0.250
$KALMAN_X,-156695.8,146.3,100.0,147439.7,1246.9
$KALMAN_Y,101638.8,-197.3,201.0,-118748.6,-2763.6
$MHEAD_RNG_PITCHd_Wd,10.2,56511,-16.4,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,156,0.00,0.00,-126.05,0.000,2,0.000,0.000,55,2903,2963,0,0,0,0,0,0
$GC,162,-0.61,-146.1,3.4,-4.7,16,189,6.70,2.20,-12.38,0.000,4,0.252,0.047,1653,1490,3415,0,0,0,0,0,0
$GC,249,-0.61,-146.1,17.9,-13.9,28,258,0.00,2.25,0.00,0.000,6,0.000,0.054,1644,2859,3415,0,0,0,0,0,0
$GC,337,-0.61,-146.1,28.4,-11.5,41,346,0.00,1.67,0.00,0.000,4,0.000,0.058,1636,3899,3415,0,0,0,0,0,0
$GC,359,-0.61,-146.1,30.9,-11.2,43,365,0.00,1.58,0.00,0.000,6,0.000,0.031,1636,2859,3416,0,0,0,0,0,0
$GC,605,-0.61,-146.1,63.5,-16.5,84,613,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2859,3416,0,0,0,0,0,0
$GC,958,-0.61,-146.1,109.5,-11.3,135,961,0.00,2.05,0.00,0.000,4,0.000,0.034,1636,1501,3416,0,0,0,0,0,0
$GC,1004,-0.61,-146.1,115.1,-10.1,137,1011,0.00,2.20,0.00,0.000,6,0.000,0.051,1625,2883,3417,0,0,0,0,0,0
$GC,1327,-0.61,-146.1,153.6,-12.5,158,1331,0.00,1.60,0.00,0.000,4,0.000,0.059,1618,3891,3417,0,0,0,0,0,0
$GC,1364,-0.61,-146.1,158.7,-13.7,160,1368,0.08,1.52,0.00,0.000,6,0.167,0.031,1640,2877,3417,0,0,0,0,0,0
$GC,1703,-0.61,-146.1,194.5,-10.8,181,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2872,3417,0,0,0,0,0,0
$GC,2024,-0.61,-146.1,231.0,-11.1,202,2028,0.00,2.05,0.00,0.000,4,0.000,0.035,1641,1501,3417,0,0,0,0,0,0
$GC,2048,-0.61,-146.1,233.9,-11.4,203,2052,0.00,2.20,0.00,0.000,6,0.000,0.051,1631,2880,3417,0,0,0,0,0,0
$GC,2386,-0.61,-146.1,270.8,-10.9,221,2389,0.00,1.60,0.00,0.000,4,0.000,0.059,1623,3892,3417,0,0,0,0,0,0
$GC,2411,-0.61,-146.1,273.8,-11.1,222,2415,0.00,1.52,0.00,0.000,6,0.000,0.031,1623,2870,3418,0,0,0,0,0,0
$GC,2746,-0.61,-146.1,312.8,-11.8,238,2749,0.00,2.05,0.00,0.000,4,0.000,0.035,1623,1498,3418,0,0,0,0,0,0
$GC,2774,-0.61,-146.1,315.7,-11.8,239,2778,0.15,2.20,0.00,0.000,6,0.179,0.051,1652,2880,3418,0,0,0,0,0,0
$GC,3106,-0.61,-146.1,345.8,-8.8,255,3110,0.00,1.62,0.00,0.000,4,0.000,0.060,1646,3891,3418,0,0,0,0,0,0
$GC,3124,-0.61,-146.1,347.8,-8.8,255,3131,0.00,1.50,0.00,0.000,6,0.000,0.031,1646,2882,3418,0,0,0,0,0,0
$GC,3445,-0.61,-146.1,377.8,-9.3,271,3449,0.00,2.10,0.00,0.000,4,0.000,0.036,1645,1495,3418,0,0,0,0,0,0
$GC,3480,-0.61,-146.1,381.7,-9.6,272,3489,0.00,2.22,0.00,0.000,6,0.000,0.052,1635,2877,3417,0,0,0,0,0,0
$GC,3798,-0.61,-146.1,414.1,-10.3,286,3801,0.00,1.62,0.00,0.000,4,0.000,0.060,1627,3900,3417,0,0,0,0,0,0
$GC,3810,-0.61,-146.1,415.6,-10.5,286,3814,0.00,1.52,0.00,0.000,6,0.000,0.032,1627,2885,3417,0,0,0,0,0,0
$GC,4142,-0.61,-146.1,450.5,-10.5,297,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2883,3417,0,0,0,0,0,0
$GC,4449,-0.61,-146.1,481.1,-9.8,307,4453,0.00,2.08,0.00,0.000,4,0.000,0.036,1628,1498,3417,0,0,0,0,0,0
$GC,4481,-0.61,-146.1,484.2,-9.8,308,4486,0.12,2.20,0.00,0.000,6,0.184,0.052,1649,2882,3417,0,0,0,0,0,0
$GC,4820,-0.61,-146.1,509.9,-7.5,319,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2883,3417,0,0,0,0,0,0
$GC,5128,-0.61,-146.1,532.4,-7.5,329,5131,0.00,2.10,0.00,0.000,4,0.000,0.035,1648,1494,3416,0,0,0,0,0,0
$GC,5152,-0.61,-146.1,534.6,-8.3,329,5159,0.00,2.20,0.00,0.000,6,0.000,0.053,1639,2881,3416,0,0,0,0,0,0
$GC,5467,-0.61,-146.1,561.3,-8.7,340,5471,0.00,1.60,0.00,0.000,4,0.000,0.060,1631,3890,3416,0,0,0,0,0,0
$GC,5496,-0.61,-146.1,564.3,-9.4,340,5503,0.00,1.50,0.00,0.000,6,0.000,0.032,1632,2884,3416,0,0,0,0,0,0
$GC,5812,-0.61,-146.1,595.7,-10.2,351,5816,0.00,2.08,0.00,0.000,4,0.000,0.036,1631,1498,3416,0,0,0,0,0,0
$GC,5835,-0.61,-146.1,598.5,-11.0,351,5843,0.12,2.20,0.00,0.000,6,0.180,0.052,1653,2882,3416,0,0,0,0,0,0
$GC,6151,-0.61,-146.1,626.0,-8.8,362,6155,0.00,2.10,0.00,0.000,4,0.000,0.034,1653,1497,3416,0,0,0,0,0,0
$GC,6180,-0.61,-146.1,629.0,-9.8,362,6187,0.00,2.20,0.00,0.000,6,0.000,0.053,1644,2881,3416,0,0,0,0,0,0
$GC,6496,-0.61,-146.1,658.7,-9.4,373,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2881,3416,0,0,0,0,0,0
$GC,6802,-0.61,-146.1,687.4,-9.2,383,6806,0.00,2.10,0.00,0.000,4,0.000,0.035,1644,1493,3416,0,0,0,0,0,0
$GC,6839,-0.61,-146.1,690.7,-8.8,384,6843,0.00,2.20,0.00,0.000,6,0.000,0.054,1635,2881,3416,0,0,0,0,0,0
$GC,7184,-0.61,-146.1,723.4,-9.7,395,7188,0.00,1.60,0.00,0.000,4,0.000,0.061,1627,3890,3416,0,0,0,0,0,0
$GC,7213,-0.61,-146.1,726.6,-10.1,395,7220,0.00,1.50,0.00,0.000,6,0.000,0.031,1627,2881,3416,0,0,0,0,0,0
$GC,7528,-0.61,-146.1,755.7,-9.0,406,7532,0.00,2.08,0.00,0.000,4,0.000,0.036,1627,1497,3415,0,0,0,0,0,0
$GC,7560,-0.61,-146.1,758.6,-9.0,407,7565,0.12,2.22,0.00,0.000,6,0.183,0.053,1648,2890,3415,0,0,0,0,0,0
$GC,7899,-0.61,-146.1,783.7,-7.4,418,7903,0.00,1.60,0.00,0.000,4,0.000,0.062,1641,3895,3415,0,0,0,0,0,0
$GC,7923,-0.61,-146.1,785.8,-8.2,418,7927,0.00,1.52,0.00,0.000,6,0.000,0.032,1641,2878,3415,0,0,0,0,0,0
$GC,8244,-0.61,-146.1,810.8,-7.9,429,8248,0.00,2.05,0.00,0.000,4,0.000,0.036,1641,1505,3415,0,0,0,0,0,0
$GC,8281,-0.61,-146.1,813.9,-8.2,430,8285,0.00,2.20,0.00,0.000,6,0.000,0.054,1632,2881,3415,0,0,0,0,0,0
$GC,8619,-0.61,-146.1,843.4,-8.7,441,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2882,3415,0,0,0,0,0,0
$GC,8928,-0.61,-146.1,869.5,-8.4,451,8932,0.00,2.10,0.00,0.000,4,0.000,0.035,1632,1496,3415,0,0,0,0,0,0
$GC,8960,-0.61,-146.1,872.3,-8.1,452,8964,0.10,2.20,0.00,0.000,6,0.187,0.054,1646,2883,3415,0,0,0,0,0,0
$GC,9306,-0.61,-146.1,896.6,-6.9,463,9310,0.00,2.10,0.00,0.000,4,0.000,0.035,1646,1494,3415,0,0,0,0,0,0
$GC,9324,-0.61,-146.1,898.3,-7.2,463,9328,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2883,3415,0,0,0,0,0,0
$GC,9640,-0.61,-146.1,921.6,-7.4,473,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3415,0,0,0,0,0,0
$GC,9946,-0.61,-146.1,945.1,-7.8,483,9950,0.00,2.10,0.00,0.000,4,0.000,0.035,1637,1495,3415,0,0,0,0,0,0
$GC,9964,-0.61,-146.1,946.7,-8.1,483,9968,0.00,2.22,0.00,0.000,6,0.000,0.053,1628,2885,3415,0,0,0,0,0,0
$GC,10285,-0.61,-146.1,973.6,-8.7,494,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2885,3414,0,0,0,0,0,0
$GC,10592,-0.61,-146.1,999.8,-8.5,504,10596,0.00,2.10,0.00,0.000,4,0.000,0.036,1627,1497,3414,0,0,0,0,0,0
$STATE,10600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10600,begin apogee
$GC,10612,-0.18,0.0,1001.1,8.7,504,10763,0.55,0.00,141.98,1.812,6,0.167,0.000,1783,2713,2820,0,0,0,0,1,0
$STATE,10764,end apogee,CONTROL_FINISHED_OK
$STATE,10765,begin climb
$GC,10769,0.61,146.1,1005.7,0.0,509,10933,0.75,0.00,154.10,1.785,6,0.060,0.000,2047,2713,2223,0,0,0,0,1,0
$GC,11235,0.61,146.1,915.9,22.8,524,11239,0.00,2.28,0.00,0.000,4,0.000,0.043,2057,1321,2218,0,0,0,0,0,0
$GC,11254,0.61,146.1,911.2,23.1,524,11258,0.00,2.30,0.00,0.000,6,0.000,0.050,2057,2708,2217,0,0,0,0,0,0
$GC,11574,0.61,146.1,835.8,23.4,535,11578,0.00,2.17,0.00,0.000,4,0.000,0.041,2068,1321,2216,0,0,0,0,0,0
$GC,11604,0.61,146.1,828.6,22.1,535,11610,0.00,2.25,0.00,0.000,6,0.000,0.051,2067,2700,2215,0,0,0,0,0,0
$GC,11919,0.61,146.1,751.7,25.0,546,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2701,2214,0,0,0,0,0,0
$GC,12225,0.61,146.1,677.9,23.9,556,12229,0.00,2.15,0.00,0.000,4,0.000,0.041,2077,1321,2213,0,0,0,0,0,0
$GC,12243,0.61,146.1,673.0,24.2,556,12248,0.12,2.20,0.00,0.000,6,0.229,0.050,2051,2701,2212,0,0,0,0,0,0
$GC,12565,0.61,146.1,601.6,22.1,567,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2702,2212,0,0,0,0,0,0
$GC,12871,0.61,146.1,534.3,21.7,577,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2702,2212,0,0,0,0,0,0
$GC,13177,0.61,146.1,470.8,20.2,587,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2702,2211,0,0,0,0,0,0
$GC,13483,0.61,146.1,410.7,19.4,597,13487,0.00,2.15,0.00,0.000,4,0.000,0.041,2060,1319,2211,0,0,0,0,0,0
$GC,13496,0.61,146.1,407.9,19.3,597,13500,0.00,2.20,0.00,0.000,6,0.000,0.049,2061,2713,2211,0,0,0,0,0,0
$GC,13815,0.61,146.1,344.1,20.6,612,13816,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2713,2211,0,0,0,0,0,0
$GC,14126,0.61,146.1,281.9,19.8,627,14130,0.00,2.17,0.00,0.000,4,0.000,0.042,2071,1318,2210,0,0,0,0,0,0
$GC,14158,0.61,146.1,275.5,19.1,628,14162,0.00,2.17,0.00,0.000,6,0.000,0.050,2071,2698,2210,0,0,0,0,0,0
$GC,14479,0.61,146.1,208.6,21.2,646,14483,0.00,2.15,0.00,0.000,4,0.000,0.042,2081,1323,2210,0,0,0,0,0,0
$GC,14503,0.61,146.1,202.7,20.1,647,14511,0.12,2.20,0.00,0.000,6,0.222,0.051,2054,2706,2209,0,0,0,0,0,0
$GC,14825,0.61,146.1,138.1,19.5,668,14826,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2706,2209,0,0,0,0,0,0
$GC,15148,0.61,146.1,78.3,16.5,702,15157,0.00,1.90,0.00,0.000,4,0.000,0.059,2054,3893,2209,0,0,0,0,0,0
$GC,15213,0.61,146.1,66.9,17.2,712,15220,0.00,1.77,0.00,0.000,6,0.000,0.036,2061,2718,2209,0,0,0,0,0,0
$STATE,15567,end climb,SURFACE_DEPTH_REACHED
$STATE,15567,begin surface coast
$FINISH,0.6,1.005796
$STATE,15592,end surface coast,CONTROL_FINISHED_OK
$STATE,15592,begin surface
$SM_CCo,15614,183.05,0.786,1,0,477,573.99
$SM_GC,1.21,0.00,0.00,183.05,0.000,0.000,0.786,47,2903,477,-5.64,0.65,573.99
$IRIDIUM_FIX,-4644.93,415.93,130113,202057
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.1,43.936
$10V_AH,10.0,20.810
$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,14.325,123.975,296.075,183.050,0.000,26.135,23.625,259.727,0.000,0.000,19.403,1915.644,10801.018,640.223,2301.196,671.926,33.366,1509.332,0.000,1887.582,0.000,1.009,0.000
$DEVICE_MAMPS,252.450,65.025,1812.285,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.316,1537.976,828.729,324.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,57099,774
$CAP_FILE_SIZE,126502,0
$CFSIZE,259252224,215232512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,140113,041935,-4658.970,409.171,40,0.8,40,-23.3