version: 66.07
glider: 542
mission: 6
dive: 231
start: 1 14 113 4 35 21
data:
$ID,542
$MISSION,6
$DIVE,231
$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,-11214.414
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,140113,041935,-4658.970,409.171,40,0.8,40,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-39.4
$GPS2,140113,043429,-4658.939,409.104,15,1.3,15,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.077,0.244
$KALMAN_X,-155917.9,-141.1,-229.8,146320.6,1682.9
$KALMAN_Y,99205.1,212.5,-123.9,-113490.0,-2915.5
$MHEAD_RNG_PITCHd_Wd,5.7,53608,-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,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,155,0.00,0.00,-126.05,0.000,2,0.000,0.000,45,2903,2976,0,0,0,0,0,0
$GC,162,-0.61,-146.1,3.0,-3.1,16,188,6.82,2.20,-12.55,0.000,4,0.257,0.049,1642,1485,3416,0,0,0,0,0,0
$GC,255,-0.61,-146.1,16.1,-12.5,29,264,0.00,2.25,0.00,0.000,6,0.000,0.053,1633,2855,3417,0,0,0,0,0,0
$GC,343,-0.61,-146.1,29.3,-13.8,42,352,0.00,1.67,0.00,0.000,4,0.000,0.057,1625,3897,3417,0,0,0,0,0,0
$GC,371,-0.61,-146.1,33.0,-13.5,45,378,0.00,1.58,0.00,0.000,6,0.000,0.031,1625,2860,3417,0,0,0,0,0,0
$GC,617,-0.61,-146.1,69.7,-13.3,86,623,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2859,3417,0,0,0,0,0,0
$GC,972,-0.61,-146.1,114.0,-12.1,135,975,0.00,1.67,0.00,0.000,4,0.000,0.059,1617,3906,3417,0,0,0,0,0,0
$GC,1140,-0.61,-146.1,134.5,-12.3,144,1149,0.08,1.55,0.00,0.000,6,0.171,0.031,1640,2877,3418,0,0,0,0,0,0
$GC,1464,-0.61,-146.1,169.3,-12.2,165,1468,0.00,1.65,0.00,0.000,4,0.000,0.059,1633,3896,3418,0,0,0,0,0,0
$GC,1527,-0.61,-146.1,177.1,-10.9,168,1536,0.00,1.52,0.00,0.000,6,0.000,0.031,1634,2876,3419,0,0,0,0,0,0
$GC,1851,-0.61,-146.1,213.7,-11.4,189,1855,0.00,1.65,0.00,0.000,4,0.000,0.059,1625,3897,3418,0,0,0,0,0,0
$GC,1863,-0.61,-146.1,215.6,-11.5,189,1870,0.00,1.52,0.00,0.000,6,0.000,0.031,1626,2878,3419,0,0,0,0,0,0
$GC,2189,-0.61,-146.1,252.9,-11.2,210,2193,0.00,2.08,0.00,0.000,4,0.000,0.035,1625,1498,3418,0,0,0,0,0,0
$GC,2224,-0.61,-146.1,257.0,-10.6,211,2229,0.12,2.20,0.00,0.000,6,0.186,0.051,1647,2884,3419,0,0,0,0,0,0
$GC,2543,-0.61,-146.1,286.4,-9.1,226,2547,0.00,2.10,0.00,0.000,4,0.000,0.034,1647,1505,3418,0,0,0,0,0,0
$GC,2566,-0.61,-146.1,288.4,-9.2,227,2570,0.00,2.17,0.00,0.000,6,0.000,0.050,1638,2881,3419,0,0,0,0,0,0
$GC,2897,-0.61,-146.1,321.3,-10.1,243,2901,0.00,1.60,0.00,0.000,4,0.000,0.060,1630,3892,3419,0,0,0,0,0,0
$GC,2909,-0.61,-146.1,323.0,-10.3,243,2913,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2889,3418,0,0,0,0,0,0
$GC,3235,-0.61,-146.1,357.3,-10.7,259,3239,0.00,2.08,0.00,0.000,4,0.000,0.036,1630,1501,3418,0,0,0,0,0,0
$GC,3255,-0.61,-146.1,359.6,-10.3,260,3260,0.12,2.17,0.00,0.000,6,0.181,0.050,1651,2884,3418,0,0,0,0,0,0
$GC,3591,-0.61,-146.1,388.7,-8.4,276,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2885,3419,0,0,0,0,0,0
$GC,3921,-0.61,-146.1,416.2,-8.5,289,3925,0.00,2.10,0.00,0.000,4,0.000,0.035,1651,1498,3419,0,0,0,0,0,0
$GC,3953,-0.61,-146.1,419.0,-8.6,290,3956,0.00,2.17,0.00,0.000,6,0.000,0.052,1642,2881,3419,0,0,0,0,0,0
$GC,4297,-0.61,-146.1,449.8,-9.1,301,4301,0.00,1.60,0.00,0.000,4,0.000,0.060,1634,3891,3418,0,0,0,0,0,0
$GC,4334,-0.61,-146.1,453.3,-9.6,302,4338,0.00,1.52,0.00,0.000,6,0.000,0.031,1634,2873,3418,0,0,0,0,0,0
$GC,4678,-0.61,-146.1,486.5,-9.9,313,4681,0.00,2.08,0.00,0.000,4,0.000,0.036,1634,1502,3418,0,0,0,0,0,0
$GC,4715,-0.61,-146.1,490.2,-9.0,314,4719,0.00,2.20,0.00,0.000,6,0.000,0.052,1624,2883,3417,0,0,0,0,0,0
$GC,5052,-0.61,-146.1,526.3,-11.1,325,5056,0.00,1.60,0.00,0.000,4,0.000,0.060,1616,3892,3417,0,0,0,0,0,0
$GC,5098,-0.61,-146.1,531.8,-11.7,326,5102,0.08,1.52,0.00,0.000,6,0.165,0.031,1640,2877,3417,0,0,0,0,0,0
$GC,5430,-0.61,-146.1,563.3,-9.5,337,5434,0.00,2.10,0.00,0.000,4,0.000,0.037,1640,1489,3417,0,0,0,0,0,0
$GC,5471,-0.61,-146.1,567.3,-8.8,338,5475,0.00,2.22,0.00,0.000,6,0.000,0.053,1632,2882,3417,0,0,0,0,0,0
$GC,5798,-0.61,-146.1,600.2,-10.0,349,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2883,3416,0,0,0,0,0,0
$GC,6104,-0.61,-146.1,629.6,-9.3,359,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2882,3416,0,0,0,0,0,0
$GC,6410,-0.61,-146.1,657.0,-8.8,369,6414,0.00,1.60,0.00,0.000,4,0.000,0.061,1624,3888,3416,0,0,0,0,0,0
$GC,6451,-0.61,-146.1,661.1,-9.4,370,6454,0.00,1.52,0.00,0.000,6,0.000,0.033,1624,2877,3416,0,0,0,0,0,0
$GC,6788,-0.61,-146.1,692.7,-9.6,381,6791,0.00,2.08,0.00,0.000,4,0.000,0.037,1624,1502,3416,0,0,0,0,0,0
$GC,6840,-0.61,-146.1,697.6,-8.9,382,6844,0.12,2.20,0.00,0.000,6,0.189,0.053,1644,2882,3415,0,0,0,0,0,0
$GC,7167,-0.61,-146.1,723.3,-7.8,393,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2882,3415,0,0,0,0,0,0
$GC,7473,-0.61,-146.1,747.3,-7.8,403,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2882,3415,0,0,0,0,0,0
$GC,7779,-0.61,-146.1,770.8,-7.6,413,7783,0.00,2.10,0.00,0.000,4,0.000,0.036,1645,1496,3415,0,0,0,0,0,0
$GC,7820,-0.61,-146.1,774.2,-7.6,414,7824,0.00,2.20,0.00,0.000,6,0.000,0.054,1636,2885,3414,0,0,0,0,0,0
$GC,8160,-0.61,-146.1,801.9,-8.3,425,8163,0.00,1.60,0.00,0.000,4,0.000,0.061,1628,3891,3414,0,0,0,0,0,0
$GC,8197,-0.61,-146.1,805.2,-8.4,426,8201,0.00,1.52,0.00,0.000,6,0.000,0.032,1628,2876,3414,0,0,0,0,0,0
$GC,8540,-0.61,-146.1,835.6,-8.9,437,8544,0.00,2.08,0.00,0.000,4,0.000,0.037,1628,1499,3414,0,0,0,0,0,0
$GC,8575,-0.61,-146.1,839.0,-8.6,438,8580,0.12,2.20,0.00,0.000,6,0.184,0.053,1649,2881,3414,0,0,0,0,0,0
$GC,8909,-0.61,-146.1,863.9,-7.6,449,8913,0.00,2.12,0.00,0.000,4,0.000,0.035,1649,1493,3414,0,0,0,0,0,0
$GC,8927,-0.61,-146.1,865.7,-7.8,449,8931,0.00,2.22,0.00,0.000,6,0.000,0.053,1641,2884,3413,0,0,0,0,0,0
$GC,9243,-0.61,-146.1,890.8,-7.9,459,9246,0.00,1.60,0.00,0.000,4,0.000,0.061,1633,3890,3413,0,0,0,0,0,0
$GC,9267,-0.61,-146.1,893.0,-8.3,459,9271,0.00,1.52,0.00,0.000,6,0.000,0.033,1633,2875,3413,0,0,0,0,0,0
$GC,9587,-0.61,-146.1,918.2,-7.8,470,9591,0.00,2.08,0.00,0.000,4,0.000,0.036,1633,1499,3414,0,0,0,0,0,0
$GC,9639,-0.61,-146.1,922.5,-8.0,471,9643,0.00,2.22,0.00,0.000,6,0.000,0.054,1624,2891,3413,0,0,0,0,0,0
$GC,9961,-0.61,-146.1,948.9,-8.3,482,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2891,3413,0,0,0,0,0,0
$GC,10267,-0.61,-146.1,974.7,-8.5,492,10271,0.00,2.12,0.00,0.000,4,0.000,0.036,1623,1491,3413,0,0,0,0,0,0
$GC,10290,-0.61,-146.1,977.0,-8.6,492,10298,0.12,2.22,0.00,0.000,6,0.187,0.054,1645,2888,3413,0,0,0,0,0,0
$GC,10606,-0.61,-146.1,998.4,-6.9,503,10610,0.00,1.60,0.00,0.000,4,0.000,0.062,1638,3893,3413,0,0,0,0,0,0
$STATE,10625,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10625,begin apogee
$GC,10638,-0.18,0.0,1000.3,7.4,503,10789,0.47,0.00,148.23,1.230,6,0.156,0.000,1784,2697,2820,0,0,0,0,0,0
$STATE,10791,end apogee,CONTROL_FINISHED_OK
$STATE,10791,begin climb
$GC,10796,0.61,146.1,1004.4,0.0,508,10958,0.75,2.42,148.85,1.795,4,0.065,0.041,2063,1321,2225,0,0,0,0,1,0
$GC,10972,0.61,146.1,979.2,21.7,513,10976,0.00,2.45,0.00,0.000,6,0.000,0.050,2064,2700,2226,0,0,0,0,0,0
$GC,11289,0.61,146.1,901.9,24.7,523,11293,0.00,2.28,0.00,0.000,4,0.000,0.043,2074,1309,2219,0,0,0,0,0,0
$GC,11307,0.61,146.1,896.6,24.4,523,11311,0.00,2.33,0.00,0.000,6,0.000,0.051,2074,2702,2218,0,0,0,0,0,0
$GC,11622,0.61,146.1,817.2,25.0,533,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2702,2217,0,0,0,0,0,0
$GC,11929,0.61,146.1,740.8,24.7,543,11933,0.00,2.17,0.00,0.000,4,0.000,0.041,2084,1316,2216,0,0,0,0,0,0
$GC,11947,0.61,146.1,735.9,24.2,543,11951,0.15,2.22,0.00,0.000,6,0.233,0.050,2052,2702,2215,0,0,0,0,0,0
$GC,12263,0.61,146.1,665.2,22.3,553,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2702,2215,0,0,0,0,0,0
$GC,12568,0.61,146.1,595.9,22.5,563,12572,0.00,1.88,0.00,0.000,4,0.000,0.060,2053,3895,2214,0,0,0,0,0,0
$GC,12592,0.61,146.1,589.8,23.3,563,12595,0.00,1.80,0.00,0.000,6,0.000,0.038,2060,2717,2214,0,0,0,0,0,0
$GC,12912,0.61,146.1,516.3,22.9,574,12916,0.00,2.20,0.00,0.000,4,0.000,0.042,2071,1291,2214,0,0,0,0,0,0
$GC,12948,0.61,146.1,508.1,22.8,575,12952,0.00,2.25,0.00,0.000,6,0.000,0.050,2071,2707,2213,0,0,0,0,0,0
$GC,13280,0.61,146.1,432.7,23.3,586,13284,0.00,2.20,0.00,0.000,4,0.000,0.043,2081,1293,2212,0,0,0,0,0,0
$GC,13292,0.61,146.1,429.5,23.4,586,13297,0.12,2.25,0.00,0.000,6,0.231,0.050,2054,2699,2212,0,0,0,0,0,0
$GC,13626,0.61,146.1,360.7,20.3,600,13627,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2700,2213,0,0,0,0,0,0
$GC,13937,0.61,146.1,295.7,21.2,615,13941,0.00,2.17,0.00,0.000,4,0.000,0.043,2064,1293,2212,0,0,0,0,0,0
$GC,13957,0.61,146.1,291.0,20.9,616,13961,0.00,2.25,0.00,0.000,6,0.000,0.051,2064,2707,2211,0,0,0,0,0,0
$GC,14279,0.61,146.1,223.6,20.8,633,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2707,2212,0,0,0,0,0,0
$GC,14592,0.61,146.1,158.5,21.6,653,14596,0.00,2.20,0.00,0.000,4,0.000,0.042,2074,1291,2212,0,0,0,0,0,0
$GC,14631,0.61,146.1,150.9,18.5,655,14635,0.00,2.25,0.00,0.000,6,0.000,0.051,2074,2699,2211,0,0,0,0,0,0
$GC,14960,0.61,146.1,83.6,20.8,683,14965,0.00,2.20,0.00,0.000,4,0.000,0.044,2084,1291,2211,0,0,0,0,0,0
$GC,15031,0.61,146.1,69.5,19.1,695,15037,0.15,2.28,0.00,0.000,6,0.222,0.052,2050,2709,2210,0,0,0,0,0,0
$GC,15401,0.61,146.1,3.7,17.2,756,15410,0.00,2.25,0.00,0.000,4,0.000,0.047,2059,1292,2210,0,0,0,0,0,0
$STATE,15418,end climb,SURFACE_DEPTH_REACHED
$STATE,15418,begin surface coast
$FINISH,0.8,1.014790
$STATE,15444,end surface coast,CONTROL_FINISHED_OK
$STATE,15444,begin surface
$SM_CCo,15469,186.00,0.786,1,0,477,573.99
$SM_GC,1.18,0.00,0.00,186.00,0.000,0.000,0.786,58,2893,477,-5.60,0.37,573.99
$IRIDIUM_FIX,-4644.93,406.49,140113,040411
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.0,44.135
$10V_AH,10.0,20.921
$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,14.825,135.550,297.075,186.000,0.000,55.033,98.552,406.658,0.000,0.000,17.850,1927.350,10661.361,625.567,2631.282,692.086,33.370,1523.845,0.000,1946.443,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,61.965,1794.690,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.374,1523.360,822.088,316.729,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,53942,762
$CAP_FILE_SIZE,134168,0
$CFSIZE,259252224,215158784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,140113,085734,-4657.363,408.547,24,1.4,24,-23.3