version: 66.07
glider: 542
mission: 6
dive: 278
start: 1 22 113 23 13 46
data:
$ID,542
$MISSION,6
$DIVE,278
$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,230
$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,-11370.177
$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,1830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2860
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,27
$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
$GPS1,220113,230158,-4700.919,436.877,40,0.9,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-58.2
$GPS2,220113,231254,-4700.995,436.914,16,1.0,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.156,-0.202
$KALMAN_X,-225749.0,477.0,232.5,250277.4,-3054.1
$KALMAN_Y,136673.4,-130.4,-253.8,-154278.0,4628.9
$MHEAD_RNG_PITCHd_Wd,241.1,34045,-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,-0.60,-146.1,0.0,0.0,0,92,0.00,0.00,-63.03,0.000,2,0.000,0.000,58,2878,3076,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.2,-3.2,8,125,6.62,1.67,-9.48,0.000,4,0.247,0.076,1623,3893,3418,0,0,0,0,0,0
$GC,255,-0.60,-146.1,29.8,-13.6,31,264,0.00,1.62,0.00,0.000,6,0.000,0.032,1623,2828,3420,0,0,0,0,0,0
$GC,339,-0.60,-146.1,41.3,-12.1,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2828,3420,0,0,0,0,0,0
$GC,587,-0.60,-146.1,74.3,-13.9,85,592,0.00,1.73,0.00,0.000,4,0.000,0.059,1614,3895,3421,0,0,0,0,0,0
$GC,710,-0.60,-146.1,91.1,-13.2,106,716,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2854,3421,0,0,0,0,0,0
$GC,1057,-0.60,-146.1,135.2,-12.9,135,1060,0.00,1.67,0.00,0.000,4,0.000,0.059,1606,3896,3422,0,0,0,0,0,0
$GC,1103,-0.60,-146.1,142.7,-14.5,137,1110,0.08,1.58,0.00,0.000,6,0.161,0.031,1629,2853,3423,0,0,0,0,0,0
$GC,1424,-0.60,-146.1,178.4,-10.8,158,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3423,0,0,0,0,0,0
$GC,1737,-0.60,-146.1,214.1,-11.8,178,1740,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3896,3423,0,0,0,0,0,0
$GC,1774,-0.60,-146.1,218.4,-12.0,180,1778,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2871,3423,0,0,0,0,0,0
$GC,2106,-0.60,-146.1,257.8,-11.7,200,2110,0.00,2.12,0.00,0.000,4,0.000,0.037,1622,1480,3423,0,0,0,0,0,0
$GC,2129,-0.60,-146.1,260.9,-11.8,201,2133,0.00,2.22,0.00,0.000,6,0.000,0.051,1612,2865,3423,0,0,0,0,0,0
$GC,2455,-0.60,-146.1,299.4,-11.7,217,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2865,3423,0,0,0,0,0,0
$GC,2762,-0.60,-146.1,333.4,-10.7,232,2766,0.00,1.65,0.00,0.000,4,0.000,0.060,1604,3910,3422,0,0,0,0,0,0
$GC,2811,-0.60,-146.1,339.1,-12.0,234,2815,0.05,1.60,0.00,0.000,6,0.168,0.032,1628,2851,3423,0,0,0,0,0,0
$GC,3150,-0.60,-146.1,370.5,-9.0,250,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2847,3423,0,0,0,0,0,0
$GC,3458,-0.60,-146.1,398.9,-9.1,265,3462,0.00,1.70,0.00,0.000,4,0.000,0.061,1621,3901,3423,0,0,0,0,0,0
$GC,3555,-0.60,-146.1,409.1,-9.9,268,3561,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2860,3423,0,0,0,0,0,0
$GC,3870,-0.60,-146.1,440.9,-10.2,279,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2860,3423,0,0,0,0,0,0
$GC,4176,-0.60,-146.1,473.2,-10.5,289,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2860,3423,0,0,0,0,0,0
$GC,4483,-0.60,-146.1,502.4,-9.3,299,4487,0.00,1.70,0.00,0.000,4,0.000,0.062,1613,3898,3422,0,0,0,0,0,0
$GC,4540,-0.60,-146.1,508.3,-10.2,300,4544,0.00,1.58,0.00,0.000,6,0.000,0.033,1613,2864,3423,0,0,0,0,0,0
$GC,4860,-0.60,-146.1,539.8,-9.8,311,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3422,0,0,0,0,0,0
$GC,5167,-0.60,-146.1,569.2,-9.5,321,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3422,0,0,0,0,0,0
$GC,5473,-0.60,-146.1,599.2,-10.1,331,5476,0.00,1.67,0.00,0.000,4,0.000,0.061,1605,3894,3422,0,0,0,0,0,0
$GC,5543,-0.60,-146.1,606.9,-10.8,333,5547,0.00,1.58,0.00,0.000,6,0.000,0.034,1605,2857,3422,0,0,0,0,0,0
$GC,5886,-0.60,-146.1,643.2,-10.8,344,5888,0.10,0.00,0.00,0.000,6,0.202,0.000,1628,2851,3422,0,0,0,0,0,0
$GC,6194,-0.60,-146.1,670.8,-8.9,354,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2851,3422,0,0,0,0,0,0
$GC,6498,-0.60,-146.1,697.4,-8.8,364,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2851,3421,0,0,0,0,0,0
$GC,6807,-0.60,-146.1,721.8,-7.8,374,6810,0.00,1.70,0.00,0.000,4,0.000,0.062,1621,3900,3420,0,0,0,0,0,0
$GC,6846,-0.60,-146.1,725.5,-8.7,375,6850,0.00,1.58,0.00,0.000,6,0.000,0.034,1621,2872,3421,0,0,0,0,0,0
$GC,7184,-0.60,-146.1,753.0,-8.3,386,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3420,0,0,0,0,0,0
$GC,7492,-0.60,-146.1,776.5,-7.7,396,7496,0.00,2.15,0.00,0.000,4,0.000,0.038,1621,1472,3420,0,0,0,0,0,0
$GC,7528,-0.60,-146.1,779.6,-7.7,397,7532,0.00,2.25,0.00,0.000,6,0.000,0.054,1610,2862,3420,0,0,0,0,0,0
$GC,7860,-0.60,-146.1,809.3,-9.3,408,7863,0.00,1.65,0.00,0.000,4,0.000,0.061,1602,3903,3420,0,0,0,0,0,0
$GC,7897,-0.60,-146.1,812.9,-9.9,409,7901,0.08,1.60,0.00,0.000,6,0.163,0.033,1635,2851,3419,0,0,0,0,0,0
$GC,8240,-0.60,-146.1,837.4,-6.9,420,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2847,3419,0,0,0,0,0,0
$GC,8548,-0.60,-146.1,858.2,-6.7,430,8552,0.00,2.12,0.00,0.000,4,0.000,0.038,1635,1471,3419,0,0,0,0,0,0
$GC,8584,-0.60,-146.1,860.9,-7.0,431,8588,0.00,2.25,0.00,0.000,6,0.000,0.054,1626,2859,3419,0,0,0,0,0,0
$GC,8916,-0.60,-146.1,885.9,-7.8,442,8920,0.00,1.65,0.00,0.000,4,0.000,0.061,1618,3897,3419,0,0,0,0,0,0
$GC,8962,-0.60,-146.1,890.1,-9.8,443,8966,0.00,1.58,0.00,0.000,6,0.000,0.033,1618,2863,3419,0,0,0,0,0,0
$GC,9294,-0.60,-146.1,918.1,-8.2,454,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3419,0,0,0,0,0,0
$GC,9600,-0.60,-146.1,944.7,-9.1,464,9604,0.00,2.12,0.00,0.000,4,0.000,0.038,1618,1479,3419,0,0,0,0,0,0
$GC,9633,-0.60,-146.1,947.6,-8.9,465,9638,0.00,2.25,0.00,0.000,6,0.000,0.054,1608,2870,3419,0,0,0,0,0,0
$GC,9971,-0.60,-146.1,980.6,-9.8,476,9975,0.00,1.65,0.00,0.000,4,0.000,0.062,1600,3907,3419,0,0,0,0,0,0
$GC,10017,-0.60,-146.1,985.8,-11.3,477,10021,0.08,1.60,0.00,0.000,6,0.166,0.033,1632,2856,3418,0,0,0,0,0,0
$STATE,10191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10191,begin apogee
$GC,10202,-0.18,0.0,1000.4,8.0,483,10352,0.45,0.00,145.93,1.239,6,0.153,0.000,1766,2674,2819,0,0,0,0,0,0
$STATE,10353,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10358,0.60,146.1,1004.5,0.0,488,10525,0.77,2.53,153.02,1.793,4,0.096,0.044,2030,1290,2225,0,0,0,0,1,0
$GC,10594,0.60,146.1,972.0,16.8,495,10598,0.00,2.42,0.00,0.000,6,0.000,0.051,2030,2664,2221,0,0,0,0,0,0
$GC,10926,0.60,146.1,902.2,21.3,506,10930,0.00,2.25,0.00,0.000,4,0.000,0.044,2040,1287,2217,0,0,0,0,0,0
$GC,10950,0.60,146.1,896.9,19.5,506,10957,0.00,2.30,0.00,0.000,6,0.000,0.050,2040,2676,2216,0,0,0,0,0,0
$GC,11266,0.60,146.1,829.5,21.4,517,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2676,2216,0,0,0,0,0,0
$GC,11572,0.60,146.1,763.4,21.6,527,11576,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1286,2214,0,0,0,0,0,0
$GC,11612,0.60,146.1,754.4,20.6,528,11616,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2670,2213,0,0,0,0,0,0
$GC,11939,0.60,146.1,681.4,22.3,539,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2671,2214,0,0,0,0,0,0
$GC,12246,0.60,146.1,616.4,20.4,549,12250,0.00,2.17,0.00,0.000,4,0.000,0.043,2060,1284,2213,0,0,0,0,0,0
$GC,12270,0.60,146.1,610.8,20.4,549,12278,0.15,2.22,0.00,0.000,6,0.213,0.050,2026,2670,2212,0,0,0,0,0,0
$GC,12586,0.60,146.1,553.1,18.2,560,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2213,0,0,0,0,0,0
$GC,12892,0.60,146.1,499.1,17.2,570,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2212,0,0,0,0,0,0
$GC,13198,0.60,146.1,446.2,17.7,580,13202,0.00,2.17,0.00,0.000,4,0.000,0.044,2035,1278,2212,0,0,0,0,0,0
$GC,13244,0.60,146.1,437.8,15.1,581,13248,0.00,2.25,0.00,0.000,6,0.000,0.051,2036,2670,2211,0,0,0,0,0,0
$GC,13578,0.60,146.1,377.0,18.6,594,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2670,2211,0,0,0,0,0,0
$GC,13889,0.60,146.1,320.0,18.8,609,13893,0.00,2.17,0.00,0.000,4,0.000,0.044,2045,1284,2211,0,0,0,0,0,0
$GC,13947,0.60,146.1,309.3,15.8,611,13951,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2679,2210,0,0,0,0,0,0
$GC,14266,0.60,146.1,248.3,19.0,626,14270,0.00,2.22,0.00,0.000,4,0.000,0.045,2056,1277,2210,0,0,0,0,0,0
$GC,14298,0.60,146.1,242.3,17.9,628,14302,0.12,2.25,0.00,0.000,6,0.210,0.050,2028,2673,2210,0,0,0,0,0,0
$GC,14631,0.60,146.1,183.2,18.7,649,14635,0.00,2.17,0.00,0.000,4,0.000,0.043,2037,1286,2210,0,0,0,0,0,0
$GC,14695,0.60,146.1,170.6,16.6,652,14704,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2666,2210,0,0,0,0,0,0
$GC,15018,0.60,146.1,110.1,18.6,673,15019,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2666,2209,0,0,0,0,0,0
$GC,15357,0.60,146.1,53.1,15.5,725,15364,0.00,1.98,0.00,0.000,4,0.000,0.058,2038,3907,2209,0,0,0,0,0,0
$GC,15428,0.60,146.1,40.3,17.8,736,15437,0.00,1.90,0.00,0.000,6,0.000,0.037,2047,2693,2210,0,0,0,0,0,0
$STATE,15647,end climb,SURFACE_DEPTH_REACHED
$STATE,15647,begin surface coast
$FINISH,0.7,1.023124
$STATE,15668,end surface coast,CONTROL_FINISHED_OK
$STATE,15668,begin surface
$SM_CCo,15691,42.53,0.754,1,0,1877,230.09
$SM_GC,1.57,0.00,0.00,42.53,0.000,0.000,0.754,49,2889,1877,-5.57,0.82,230.09
$IRIDIUM_FIX,-4641.78,441.10,220113,181805
$TT8_MAMPS,0.026215
$HUMID,58.54
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,52.322
$10V_AH,10.0,25.814
$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,13.975,97.175,298.950,42.525,0.000,27.976,42.769,336.172,0.000,0.000,19.190,1939.052,10903.889,438.005,2407.306,691.190,33.375,1279.327,0.000,1924.415,0.000,1.009,0.000
$DEVICE_MAMPS,247.095,75.735,1793.160,753.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.862,1520.098,802.025,300.462,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,57167,774
$CAP_FILE_SIZE,122646,0
$CFSIZE,259252224,212197376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,230113,033734,-4701.904,434.097,41,1.0,41,-23.5