version: 66.07
glider: 542
mission: 6
dive: 239
start: 1 15 113 17 27 28
data:
$ID,542
$MISSION,6
$DIVE,239
$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,-11255.784
$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,33
$R_STBD_OVSHOOT,42
$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
$GPS1,150113,171305,-4644.101,400.471,40,0.8,40,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-50.6
$GPS2,150113,172636,-4644.135,400.454,19,0.8,19,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.133,0.218
$KALMAN_X,-160217.5,-99.0,-106.8,139504.7,-2321.2
$KALMAN_Y,85846.8,358.6,299.6,-73294.6,-3563.2
$MHEAD_RNG_PITCHd_Wd,54.6,28868,-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,-134.15,0.000,2,0.000,0.000,62,2914,3224,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.3,-2.9,17,189,6.82,2.25,-4.80,0.000,4,0.259,0.047,1646,1465,3415,0,0,0,0,0,0
$GC,268,-0.61,-146.1,21.1,-11.2,31,277,0.00,2.30,0.00,0.000,6,0.000,0.051,1637,2867,3418,0,0,0,0,0,0
$GC,354,-0.61,-146.1,32.2,-13.3,44,364,0.00,1.65,0.00,0.000,4,0.000,0.059,1629,3891,3418,0,0,0,0,0,0
$GC,396,-0.61,-146.1,37.9,-14.7,49,403,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2846,3417,0,0,0,0,0,0
$GC,640,-0.61,-146.1,74.8,-14.6,90,649,0.00,2.08,0.00,0.000,4,0.000,0.034,1629,1503,3418,0,0,0,0,0,0
$GC,665,-0.61,-146.1,77.9,-13.9,93,672,0.08,2.22,0.00,0.000,6,0.157,0.050,1643,2877,3418,0,0,0,0,0,0
$GC,1016,-0.61,-146.1,114.2,-10.5,137,1020,0.00,1.62,0.00,0.000,4,0.000,0.059,1637,3903,3418,0,0,0,0,0,0
$GC,1056,-0.61,-146.1,118.5,-11.2,139,1060,0.00,1.52,0.00,0.000,6,0.000,0.030,1637,2891,3418,0,0,0,0,0,0
$GC,1388,-0.61,-146.1,156.8,-11.2,160,1392,0.00,2.10,0.00,0.000,4,0.000,0.034,1636,1496,3418,0,0,0,0,0,0
$GC,1429,-0.61,-146.1,161.4,-10.6,162,1433,0.00,2.22,0.00,0.000,6,0.000,0.050,1626,2890,3418,0,0,0,0,0,0
$GC,1750,-0.61,-146.1,202.1,-12.3,182,1754,0.00,1.60,0.00,0.000,4,0.000,0.059,1618,3896,3418,0,0,0,0,0,0
$GC,1806,-0.61,-146.1,209.1,-13.3,185,1810,0.08,1.52,0.00,0.000,6,0.155,0.031,1642,2880,3418,0,0,0,0,0,0
$GC,2145,-0.61,-146.1,244.1,-10.4,206,2149,0.00,2.08,0.00,0.000,4,0.000,0.035,1642,1490,3418,0,0,0,0,0,0
$GC,2180,-0.61,-146.1,248.1,-9.4,208,2184,0.00,2.22,0.00,0.000,6,0.000,0.051,1634,2884,3418,0,0,0,0,0,0
$GC,2514,-0.61,-146.1,283.8,-10.7,224,2518,0.00,1.60,0.00,0.000,4,0.000,0.060,1625,3892,3418,0,0,0,0,0,0
$GC,2551,-0.61,-146.1,288.1,-11.8,225,2554,0.00,1.52,0.00,0.000,6,0.000,0.031,1625,2873,3418,0,0,0,0,0,0
$GC,2876,-0.61,-146.1,324.9,-11.4,241,2880,0.00,2.05,0.00,0.000,4,0.000,0.036,1625,1499,3418,0,0,0,0,0,0
$GC,2907,-0.61,-146.1,328.8,-11.6,242,2912,0.12,2.20,0.00,0.000,6,0.182,0.050,1647,2881,3418,0,0,0,0,0,0
$GC,3228,-0.61,-146.1,359.3,-9.3,257,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2882,3418,0,0,0,0,0,0
$GC,3535,-0.61,-146.1,387.0,-8.9,272,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2882,3418,0,0,0,0,0,0
$GC,3854,-0.61,-146.1,414.8,-8.8,285,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2882,3418,0,0,0,0,0,0
$GC,4160,-0.61,-146.1,442.1,-8.9,295,4163,0.00,2.10,0.00,0.000,4,0.000,0.035,1647,1495,3418,0,0,0,0,0,0
$GC,4178,-0.61,-146.1,443.9,-8.9,295,4182,0.00,2.22,0.00,0.000,6,0.000,0.052,1637,2889,3418,0,0,0,0,0,0
$GC,4495,-0.61,-146.1,472.8,-9.1,305,4499,0.00,1.60,0.00,0.000,4,0.000,0.061,1630,3893,3417,0,0,0,0,0,0
$GC,4518,-0.61,-146.1,475.4,-9.6,305,4522,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2876,3417,0,0,0,0,0,0
$GC,4839,-0.61,-146.1,506.4,-9.8,316,4843,0.00,2.08,0.00,0.000,4,0.000,0.036,1630,1493,3417,0,0,0,0,0,0
$GC,4857,-0.61,-146.1,508.5,-10.1,316,4862,0.12,2.22,0.00,0.000,6,0.181,0.052,1651,2886,3416,0,0,0,0,0,0
$GC,5179,-0.61,-146.1,535.9,-8.5,327,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2887,3416,0,0,0,0,0,0
$GC,5486,-0.61,-146.1,561.9,-8.5,337,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2887,3416,0,0,0,0,0,0
$GC,5791,-0.61,-146.1,588.5,-8.8,347,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2887,3415,0,0,0,0,0,0
$GC,6099,-0.61,-146.1,613.9,-8.3,357,6103,0.00,2.10,0.00,0.000,4,0.000,0.035,1651,1500,3415,0,0,0,0,0,0
$GC,6123,-0.61,-146.1,616.5,-9.0,357,6130,0.00,2.20,0.00,0.000,6,0.000,0.053,1643,2881,3415,0,0,0,0,0,0
$GC,6439,-0.61,-146.1,643.5,-8.7,368,6443,0.00,1.60,0.00,0.000,4,0.000,0.060,1635,3886,3414,0,0,0,0,0,0
$GC,6476,-0.61,-146.1,646.9,-8.8,369,6480,0.00,1.50,0.00,0.000,6,0.000,0.031,1634,2887,3414,0,0,0,0,0,0
$GC,6819,-0.61,-146.1,677.6,-8.9,380,6823,0.00,2.10,0.00,0.000,4,0.000,0.036,1634,1487,3414,0,0,0,0,0,0
$GC,6860,-0.61,-146.1,681.4,-8.6,381,6864,0.00,2.22,0.00,0.000,6,0.000,0.053,1625,2890,3413,0,0,0,0,0,0
$GC,7200,-0.61,-146.1,712.7,-9.4,392,7203,0.00,1.60,0.00,0.000,4,0.000,0.061,1617,3893,3413,0,0,0,0,0,0
$GC,7240,-0.61,-146.1,717.2,-10.5,393,7244,0.08,1.52,0.00,0.000,6,0.158,0.032,1641,2881,3413,0,0,0,0,0,0
$GC,7578,-0.61,-146.1,745.1,-8.3,404,7582,0.00,2.10,0.00,0.000,4,0.000,0.035,1640,1488,3412,0,0,0,0,0,0
$GC,7610,-0.61,-146.1,747.8,-8.7,405,7614,0.00,2.20,0.00,0.000,6,0.000,0.053,1632,2880,3412,0,0,0,0,0,0
$GC,7947,-0.61,-146.1,777.0,-8.7,416,7951,0.00,1.62,0.00,0.000,4,0.000,0.060,1624,3926,3412,0,0,0,0,0,0
$GC,7976,-0.61,-146.1,780.0,-9.6,416,7983,0.00,1.58,0.00,0.000,6,0.000,0.032,1624,2877,3412,0,0,0,0,0,0
$GC,8292,-0.61,-146.1,807.4,-8.7,427,8296,0.00,2.08,0.00,0.000,4,0.000,0.035,1624,1493,3412,0,0,0,0,0,0
$GC,8338,-0.61,-146.1,811.4,-8.7,428,8343,0.12,2.22,0.00,0.000,6,0.182,0.053,1645,2882,3412,0,0,0,0,0,0
$GC,8660,-0.61,-146.1,834.1,-7.3,439,8664,0.00,1.62,0.00,0.000,4,0.000,0.061,1638,3926,3412,0,0,0,0,0,0
$GC,8718,-0.61,-146.1,838.9,-8.0,440,8721,0.00,1.58,0.00,0.000,6,0.000,0.031,1638,2882,3412,0,0,0,0,0,0
$GC,9039,-0.61,-146.1,863.1,-7.7,451,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3412,0,0,0,0,0,0
$GC,9345,-0.61,-146.1,886.2,-7.4,461,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3411,0,0,0,0,0,0
$GC,9651,-0.61,-146.1,909.7,-7.7,471,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3411,0,0,0,0,0,0
$GC,9959,-0.61,-146.1,934.1,-8.0,481,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3412,0,0,0,0,0,0
$GC,10264,-0.61,-146.1,959.1,-8.3,491,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3412,0,0,0,0,0,0
$GC,10569,-0.61,-146.1,983.1,-7.7,501,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3411,0,0,0,0,0,0
$STATE,10809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10809,begin apogee
$GC,10820,-0.18,0.0,1001.2,7.3,509,10971,0.50,0.00,147.75,1.233,6,0.152,0.000,1787,2716,2819,0,0,0,0,0,0
$STATE,10973,end apogee,CONTROL_FINISHED_OK
$STATE,10973,begin climb
$GC,10978,0.61,146.1,1005.1,0.0,514,11141,0.77,2.20,149.50,1.792,4,0.063,0.059,2060,3886,2225,0,0,0,0,1,0
$GC,11178,0.61,146.1,970.8,26.9,520,11185,0.00,1.98,0.00,0.000,6,0.000,0.034,2069,2715,2225,0,0,0,0,0,0
$GC,11493,0.61,146.1,887.8,26.0,531,11497,0.00,2.28,0.00,0.000,4,0.000,0.043,2080,1281,2218,0,0,0,0,0,0
$GC,11517,0.61,146.1,881.3,25.5,531,11524,0.12,2.35,0.00,0.000,6,0.214,0.050,2054,2697,2217,0,0,0,0,0,0
$GC,11832,0.61,146.1,806.1,24.1,542,11836,0.00,1.95,0.00,0.000,4,0.000,0.059,2054,3889,2216,0,0,0,0,0,0
$GC,11855,0.61,146.1,799.8,24.4,542,11859,0.00,1.88,0.00,0.000,6,0.000,0.036,2062,2694,2216,0,0,0,0,0,0
$GC,12177,0.61,146.1,721.9,24.5,553,12181,0.00,2.17,0.00,0.000,4,0.000,0.042,2072,1292,2215,0,0,0,0,0,0
$GC,12235,0.61,146.1,707.8,21.0,554,12242,0.00,2.28,0.00,0.000,6,0.000,0.050,2073,2705,2214,0,0,0,0,0,0
$GC,12550,0.61,146.1,629.6,25.0,565,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2705,2214,0,0,0,0,0,0
$GC,12857,0.61,146.1,555.7,23.6,575,12861,0.00,2.20,0.00,0.000,4,0.000,0.041,2083,1293,2214,0,0,0,0,0,0
$GC,12890,0.61,146.1,548.4,24.3,576,12895,0.12,2.28,0.00,0.000,6,0.216,0.050,2055,2707,2212,0,0,0,0,0,0
$GC,13228,0.61,146.1,477.9,20.4,587,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2707,2212,0,0,0,0,0,0
$GC,13534,0.61,146.1,416.0,20.4,597,13538,0.00,2.20,0.00,0.000,4,0.000,0.041,2064,1292,2212,0,0,0,0,0,0
$GC,13553,0.61,146.1,412.2,20.4,597,13557,0.00,2.28,0.00,0.000,6,0.000,0.050,2065,2709,2212,0,0,0,0,0,0
$GC,13876,0.61,146.1,343.8,21.5,612,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2709,2212,0,0,0,0,0,0
$GC,14187,0.61,146.1,277.1,21.5,627,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2709,2212,0,0,0,0,0,0
$GC,14504,0.61,146.1,210.5,20.4,645,14508,0.00,2.22,0.00,0.000,4,0.000,0.042,2075,1287,2212,0,0,0,0,0,0
$GC,14533,0.61,146.1,203.6,19.9,646,14542,0.00,2.30,0.00,0.000,6,0.000,0.051,2075,2705,2211,0,0,0,0,0,0
$GC,14856,0.61,146.1,137.1,20.5,667,14860,0.00,2.20,0.00,0.000,4,0.000,0.044,2085,1291,2211,0,0,0,0,0,0
$GC,14875,0.61,146.1,132.5,20.9,668,14879,0.15,2.28,0.00,0.000,6,0.210,0.051,2051,2709,2210,0,0,0,0,0,0
$GC,15213,0.61,146.1,71.9,15.5,706,15220,0.00,2.20,0.00,0.000,4,0.000,0.042,2060,1293,2210,0,0,0,0,0,0
$GC,15254,0.61,146.1,65.2,15.5,712,15261,0.00,2.25,0.00,0.000,6,0.000,0.050,2060,2703,2210,0,0,0,0,0,0
$STATE,15598,end climb,SURFACE_DEPTH_REACHED
$STATE,15598,begin surface coast
$FINISH,0.8,1.002511
$STATE,15624,end surface coast,CONTROL_FINISHED_OK
$STATE,15624,begin surface
$SM_CCo,15646,185.50,0.780,1,0,478,573.99
$SM_GC,1.47,0.00,0.00,185.50,0.000,0.000,0.780,53,2897,478,-5.62,0.48,573.99
$IRIDIUM_FIX,-4626.10,402.00,150113,171750
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.0,45.706
$10V_AH,10.0,21.797
$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,14.425,115.900,297.250,185.500,0.000,60.961,103.970,333.458,0.000,0.000,21.393,1923.256,10917.597,627.532,2475.506,687.801,33.368,1488.127,0.000,1881.359,0.000,1.008,0.000
$DEVICE_MAMPS,259.335,65.025,1792.395,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.039,1525.767,808.871,311.304,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353848
$DATA_FILE_SIZE,57087,772
$CAP_FILE_SIZE,126567,0
$CFSIZE,259252224,214609920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,150113,215252,-4642.225,400.086,39,0.9,39,-23.3