version: 66.07
glider: 542
mission: 6
dive: 235
start: 1 14 113 23 0 1
data:
$ID,542
$MISSION,6
$DIVE,235
$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,-11238.884
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,140113,224904,-4652.202,405.157,30,0.9,30,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-39.0
$GPS2,140113,225905,-4652.221,405.191,16,1.3,16,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.036,0.253
$KALMAN_X,-153667.0,-260.0,-81.8,139092.9,934.9
$KALMAN_Y,91482.2,515.1,221.8,-93982.3,-4219.0
$MHEAD_RNG_PITCHd_Wd,15.2,41607,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,163,0.00,0.00,-134.10,0.000,2,0.000,0.000,51,2906,3144,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.2,-2.3,17,189,6.70,2.30,-7.20,0.000,4,0.252,0.050,1646,1476,3418,0,0,0,0,0,0
$GC,256,-0.61,-146.1,16.2,-9.5,29,265,0.00,2.28,0.00,0.000,6,0.000,0.050,1637,2863,3419,0,0,0,0,0,0
$GC,344,-0.61,-146.1,26.6,-14.1,42,353,0.00,1.67,0.00,0.000,4,0.000,0.059,1629,3900,3419,0,0,0,0,0,0
$GC,410,-0.61,-146.1,37.3,-16.0,51,417,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2856,3419,0,0,0,0,0,0
$GC,656,-0.61,-146.1,72.8,-13.4,92,663,0.00,2.05,0.00,0.000,4,0.000,0.034,1629,1507,3419,0,0,0,0,0,0
$GC,713,-0.61,-146.1,79.3,-10.0,101,718,0.12,2.20,0.00,0.000,6,0.177,0.050,1650,2887,3419,0,0,0,0,0,0
$GC,1061,-0.61,-146.1,114.7,-10.2,145,1064,0.00,1.60,0.00,0.000,4,0.000,0.059,1644,3893,3420,0,0,0,0,0,0
$GC,1107,-0.61,-146.1,120.2,-11.1,147,1114,0.00,1.52,0.00,0.000,6,0.000,0.031,1644,2873,3421,0,0,0,0,0,0
$GC,1430,-0.61,-146.1,154.8,-10.4,168,1434,0.00,2.08,0.00,0.000,4,0.000,0.034,1644,1503,3421,0,0,0,0,0,0
$GC,1471,-0.61,-146.1,159.4,-10.1,170,1480,0.00,2.22,0.00,0.000,6,0.000,0.050,1634,2883,3421,0,0,0,0,0,0
$GC,1794,-0.61,-146.1,196.0,-11.6,191,1798,0.00,1.60,0.00,0.000,4,0.000,0.058,1625,3893,3421,0,0,0,0,0,0
$GC,1840,-0.61,-146.1,202.1,-12.2,193,1847,0.00,1.50,0.00,0.000,6,0.000,0.031,1626,2883,3422,0,0,0,0,0,0
$GC,2162,-0.61,-146.1,240.0,-11.7,214,2166,0.00,2.08,0.00,0.000,4,0.000,0.035,1625,1502,3421,0,0,0,0,0,0
$GC,2191,-0.61,-146.1,243.7,-11.3,215,2199,0.12,2.20,0.00,0.000,6,0.183,0.050,1646,2890,3422,0,0,0,0,0,0
$GC,2510,-0.61,-146.1,273.8,-9.4,232,2514,0.00,1.60,0.00,0.000,4,0.000,0.060,1641,3897,3422,0,0,0,0,0,0
$GC,2539,-0.61,-146.1,277.0,-10.4,233,2543,0.00,1.52,0.00,0.000,6,0.000,0.031,1640,2880,3422,0,0,0,0,0,0
$GC,2870,-0.61,-146.1,309.5,-9.6,249,2874,0.00,2.08,0.00,0.000,4,0.000,0.035,1640,1497,3422,0,0,0,0,0,0
$GC,2921,-0.61,-146.1,314.1,-8.4,251,2925,0.00,2.20,0.00,0.000,6,0.000,0.050,1630,2880,3422,0,0,0,0,0,0
$GC,3253,-0.61,-146.1,348.0,-10.5,267,3256,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3891,3421,0,0,0,0,0,0
$GC,3332,-0.61,-146.1,357.4,-10.7,270,3336,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2884,3422,0,0,0,0,0,0
$GC,3657,-0.61,-146.1,393.7,-11.2,286,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2878,3421,0,0,0,0,0,0
$GC,3963,-0.61,-146.1,426.8,-10.5,297,3967,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3896,3421,0,0,0,0,0,0
$GC,4000,-0.61,-146.1,430.8,-10.6,298,4004,0.10,1.52,0.00,0.000,6,0.164,0.031,1645,2883,3420,0,0,0,0,0,0
$GC,4345,-0.61,-146.1,461.0,-8.9,309,4348,0.00,2.10,0.00,0.000,4,0.000,0.036,1646,1489,3421,0,0,0,0,0,0
$GC,4397,-0.61,-146.1,465.7,-8.7,310,4401,0.00,2.20,0.00,0.000,6,0.000,0.052,1636,2881,3421,0,0,0,0,0,0
$GC,4712,-0.61,-146.1,495.7,-9.6,320,4716,0.00,1.60,0.00,0.000,4,0.000,0.060,1628,3890,3421,0,0,0,0,0,0
$GC,4752,-0.61,-146.1,499.9,-9.8,321,4756,0.00,1.52,0.00,0.000,6,0.000,0.031,1628,2872,3421,0,0,0,0,0,0
$GC,5089,-0.61,-146.1,534.1,-10.4,332,5093,0.00,2.05,0.00,0.000,4,0.000,0.036,1628,1501,3420,0,0,0,0,0,0
$GC,5119,-0.61,-146.1,537.2,-10.0,332,5126,0.12,2.20,0.00,0.000,6,0.184,0.051,1649,2885,3420,0,0,0,0,0,0
$GC,5436,-0.61,-146.1,563.3,-8.3,343,5440,0.00,2.12,0.00,0.000,4,0.000,0.035,1649,1496,3420,0,0,0,0,0,0
$GC,5482,-0.61,-146.1,567.6,-8.2,344,5487,0.00,2.20,0.00,0.000,6,0.000,0.051,1640,2888,3420,0,0,0,0,0,0
$GC,5805,-0.61,-146.1,595.4,-8.9,355,5809,0.00,1.60,0.00,0.000,4,0.000,0.060,1632,3894,3420,0,0,0,0,0,0
$GC,5823,-0.61,-146.1,597.3,-9.2,355,5827,0.00,1.52,0.00,0.000,6,0.000,0.032,1632,2877,3419,0,0,0,0,0,0
$GC,6150,-0.61,-146.1,628.4,-9.7,366,6153,0.00,2.08,0.00,0.000,4,0.000,0.036,1632,1501,3419,0,0,0,0,0,0
$GC,6196,-0.61,-146.1,633.0,-9.3,367,6200,0.00,2.20,0.00,0.000,6,0.000,0.051,1622,2887,3419,0,0,0,0,0,0
$GC,6528,-0.61,-146.1,667.5,-10.7,378,6532,0.00,2.10,0.00,0.000,4,0.000,0.035,1622,1500,3419,0,0,0,0,0,0
$GC,6546,-0.61,-146.1,669.7,-11.0,378,6551,0.15,2.17,0.00,0.000,6,0.180,0.050,1650,2882,3419,0,0,0,0,0,0
$GC,6868,-0.61,-146.1,696.8,-8.5,389,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2882,3419,0,0,0,0,0,0
$GC,7175,-0.61,-146.1,722.1,-8.3,399,7179,0.00,2.10,0.00,0.000,4,0.000,0.035,1651,1500,3418,0,0,0,0,0,0
$GC,7215,-0.61,-146.1,725.8,-8.4,400,7219,0.00,2.20,0.00,0.000,6,0.000,0.053,1642,2883,3418,0,0,0,0,0,0
$GC,7554,-0.61,-146.1,754.6,-8.5,411,7557,0.00,2.10,0.00,0.000,4,0.000,0.035,1642,1495,3419,0,0,0,0,0,0
$GC,7578,-0.61,-146.1,756.9,-8.6,411,7585,0.00,2.20,0.00,0.000,6,0.000,0.052,1632,2879,3418,0,0,0,0,0,0
$GC,7893,-0.61,-146.1,784.6,-8.9,422,7897,0.00,1.62,0.00,0.000,4,0.000,0.060,1624,3899,3418,0,0,0,0,0,0
$GC,7934,-0.61,-146.1,788.5,-9.6,423,7938,0.00,1.52,0.00,0.000,6,0.000,0.031,1624,2881,3418,0,0,0,0,0,0
$GC,8272,-0.61,-146.1,819.1,-9.0,434,8276,0.00,2.08,0.00,0.000,4,0.000,0.035,1624,1497,3418,0,0,0,0,0,0
$GC,8313,-0.61,-146.1,823.0,-8.4,435,8317,0.12,2.20,0.00,0.000,6,0.182,0.052,1646,2880,3418,0,0,0,0,0,0
$GC,8653,-0.61,-146.1,847.4,-7.3,446,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2880,3418,0,0,0,0,0,0
$GC,8957,-0.61,-146.1,868.7,-6.9,456,8961,0.00,2.12,0.00,0.000,4,0.000,0.035,1646,1493,3418,0,0,0,0,0,0
$GC,8989,-0.61,-146.1,870.9,-6.9,457,8993,0.00,2.20,0.00,0.000,6,0.000,0.053,1637,2881,3418,0,0,0,0,0,0
$GC,9327,-0.61,-146.1,896.4,-7.6,468,9331,0.00,1.62,0.00,0.000,4,0.000,0.061,1629,3900,3418,0,0,0,0,0,0
$GC,9356,-0.61,-146.1,899.0,-8.5,468,9363,0.00,1.52,0.00,0.000,6,0.000,0.031,1629,2881,3418,0,0,0,0,0,0
$GC,9672,-0.61,-146.1,924.8,-8.3,479,9676,0.00,2.12,0.00,0.000,4,0.000,0.036,1629,1495,3418,0,0,0,0,0,0
$GC,9718,-0.61,-146.1,928.8,-8.4,480,9723,0.12,2.22,0.00,0.000,6,0.178,0.053,1650,2882,3418,0,0,0,0,0,0
$GC,10040,-0.61,-146.1,951.6,-7.1,491,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2883,3418,0,0,0,0,0,0
$GC,10346,-0.61,-146.1,973.6,-7.2,501,10350,0.00,2.10,0.00,0.000,4,0.000,0.035,1651,1499,3418,0,0,0,0,0,0
$GC,10370,-0.61,-146.1,975.7,-8.3,501,10374,0.00,2.20,0.00,0.000,6,0.000,0.054,1642,2885,3418,0,0,0,0,0,0
$GC,10686,-0.61,-146.1,999.3,-7.5,511,10689,0.00,1.60,0.00,0.000,4,0.000,0.062,1635,3889,3418,0,0,0,0,0,0
$STATE,10693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10693,begin apogee
$GC,10706,-0.18,0.0,1000.4,7.4,511,10858,0.47,0.00,149.10,1.215,6,0.155,0.000,1781,2687,2819,0,0,0,0,0,0
$STATE,10860,end apogee,CONTROL_FINISHED_OK
$STATE,10860,begin climb
$GC,10865,0.61,146.1,1004.3,0.0,516,11027,0.75,2.40,149.07,1.776,4,0.066,0.041,2062,1332,2224,0,0,0,0,1,0
$GC,11085,0.61,146.1,967.6,23.2,522,11092,0.00,2.40,0.00,0.000,6,0.000,0.050,2062,2705,2220,0,0,0,0,0,0
$GC,11400,0.61,146.1,888.1,25.6,533,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2705,2216,0,0,0,0,0,0
$GC,11706,0.61,146.1,809.9,25.3,543,11710,0.00,1.92,0.00,0.000,4,0.000,0.059,2063,3906,2215,0,0,0,0,0,0
$GC,11724,0.61,146.1,804.5,25.9,543,11728,0.00,1.88,0.00,0.000,6,0.000,0.037,2072,2728,2215,0,0,0,0,0,0
$GC,12050,0.61,146.1,720.4,25.3,554,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2721,2215,0,0,0,0,0,0
$GC,12356,0.61,146.1,644.0,24.7,564,12360,0.00,2.20,0.00,0.000,4,0.000,0.043,2082,1294,2214,0,0,0,0,0,0
$GC,12391,0.61,146.1,635.2,22.9,565,12396,0.12,2.28,0.00,0.000,6,0.221,0.050,2056,2704,2212,0,0,0,0,0,0
$GC,12724,0.61,146.1,560.7,22.8,576,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2704,2212,0,0,0,0,0,0
$GC,13031,0.61,146.1,493.4,22.0,586,13035,0.00,2.20,0.00,0.000,4,0.000,0.042,2065,1293,2212,0,0,0,0,0,0
$GC,13049,0.61,146.1,489.1,22.0,586,13053,0.00,2.25,0.00,0.000,6,0.000,0.050,2065,2709,2211,0,0,0,0,0,0
$GC,13369,0.61,146.1,418.5,22.2,597,13373,0.00,1.88,0.00,0.000,4,0.000,0.058,2065,3903,2211,0,0,0,0,0,0
$GC,13387,0.61,146.1,414.3,21.4,597,13391,0.00,1.88,0.00,0.000,6,0.000,0.037,2074,2690,2211,0,0,0,0,0,0
$GC,13716,0.61,146.1,342.4,21.5,612,13717,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2689,2211,0,0,0,0,0,0
$GC,14027,0.61,146.1,275.0,20.9,627,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2689,2211,0,0,0,0,0,0
$GC,14339,0.61,146.1,208.1,21.5,645,14340,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2689,2211,0,0,0,0,0,0
$GC,14651,0.61,146.1,141.1,20.5,665,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2689,2211,0,0,0,0,0,0
$GC,14975,0.61,146.1,80.2,19.2,697,14979,0.00,2.17,0.00,0.000,4,0.000,0.043,2084,1288,2210,0,0,0,0,0,0
$GC,15083,0.61,146.1,61.1,17.4,715,15088,0.15,2.25,0.00,0.000,6,0.215,0.050,2050,2708,2208,0,0,0,0,0,0
$STATE,15411,end climb,SURFACE_DEPTH_REACHED
$STATE,15411,begin surface coast
$FINISH,0.7,1.013857
$STATE,15435,end surface coast,CONTROL_FINISHED_OK
$STATE,15435,begin surface
$SM_CCo,15457,184.38,0.781,1,0,476,573.99
$SM_GC,1.05,0.00,0.00,184.38,0.000,0.000,0.781,62,2904,476,-5.59,0.68,573.99
$IRIDIUM_FIX,-4629.23,608.27,140113,181849
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.0,44.913
$10V_AH,10.1,21.359
$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,14.300,129.800,298.175,184.375,0.000,24.687,19.584,312.463,0.000,0.000,22.038,1930.188,10564.130,625.968,2413.698,701.501,33.366,1525.922,0.000,1963.974,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,66.555,1775.565,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.921,1533.753,832.017,325.675,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,57058,772
$CAP_FILE_SIZE,130300,0
$CFSIZE,259252224,214884352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,150113,032204,-4650.254,403.995,27,0.9,27,-23.3