version: 66.07
glider: 542
mission: 6
dive: 280
start: 1 23 113 8 23 27
data:
$ID,542
$MISSION,6
$DIVE,280
$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,-11374.896
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,230113,081134,-4702.549,431.379,25,0.9,25,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.5
$GPS2,230113,082235,-4702.448,431.567,19,0.9,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.255,-0.016
$KALMAN_X,-224909.3,120.9,165.8,243090.6,-686.6
$KALMAN_Y,142601.4,-621.9,-262.6,-162401.6,6234.3
$MHEAD_RNG_PITCHd_Wd,289.7,27616,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-70.88,0.000,2,0.000,0.000,50,2871,3253,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.4,-2.6,9,125,6.65,2.22,-3.95,0.000,4,0.246,0.049,1634,1444,3416,0,0,0,0,0,0
$GC,168,-0.60,-146.1,18.2,-16.2,17,177,0.00,2.35,0.00,0.000,6,0.000,0.055,1624,2858,3418,0,0,0,0,0,0
$GC,255,-0.60,-146.1,30.1,-13.7,30,264,0.00,2.22,0.00,0.000,4,0.000,0.036,1625,1453,3419,0,0,0,0,0,0
$GC,282,-0.60,-146.1,33.9,-13.8,33,289,0.00,2.33,0.00,0.000,6,0.000,0.053,1614,2878,3419,0,0,0,0,0,0
$GC,528,-0.60,-146.1,73.0,-15.9,74,535,0.00,2.22,0.00,0.000,4,0.000,0.037,1613,1449,3419,0,0,0,0,0,0
$GC,546,-0.60,-146.1,75.5,-15.7,76,554,0.12,2.30,0.00,0.000,6,0.178,0.053,1634,2870,3419,0,0,0,0,0,0
$GC,889,-0.60,-146.1,115.6,-10.8,119,893,0.00,2.20,0.00,0.000,4,0.000,0.036,1634,1453,3420,0,0,0,0,0,0
$GC,956,-0.60,-146.1,122.3,-9.8,123,960,0.00,2.28,0.00,0.000,6,0.000,0.054,1625,2859,3420,0,0,0,0,0,0
$GC,1283,-0.60,-146.1,157.6,-10.6,144,1287,0.00,1.70,0.00,0.000,4,0.000,0.062,1617,3898,3421,0,0,0,0,0,0
$GC,1354,-0.60,-146.1,165.9,-11.3,148,1358,0.00,1.60,0.00,0.000,6,0.000,0.033,1617,2843,3421,0,0,0,0,0,0
$GC,1688,-0.60,-146.1,206.4,-12.4,169,1692,0.00,1.73,0.00,0.000,4,0.000,0.063,1609,3903,3421,0,0,0,0,0,0
$GC,1751,-0.60,-146.1,215.1,-12.7,172,1762,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2859,3421,0,0,0,0,0,0
$GC,2085,-0.60,-146.1,256.9,-12.6,193,2088,0.00,1.67,0.00,0.000,4,0.000,0.063,1600,3893,3422,0,0,0,0,0,0
$GC,2110,-0.60,-146.1,260.5,-13.2,194,2114,0.00,1.55,0.00,0.000,6,0.000,0.032,1601,2870,3422,0,0,0,0,0,0
$GC,2445,-0.60,-146.1,305.2,-13.3,210,2449,0.12,1.70,0.00,0.000,4,0.191,0.063,1624,3903,3422,0,0,0,0,0,0
$GC,2497,-0.60,-146.1,311.7,-10.9,212,2501,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2866,3422,0,0,0,0,0,0
$GC,2827,-0.60,-146.1,346.2,-10.1,228,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3422,0,0,0,0,0,0
$GC,3139,-0.60,-146.1,378.9,-10.5,243,3142,0.00,1.65,0.00,0.000,4,0.000,0.063,1616,3893,3422,0,0,0,0,0,0
$GC,3209,-0.60,-146.1,387.3,-11.9,246,3213,0.00,1.58,0.00,0.000,6,0.000,0.033,1617,2851,3422,0,0,0,0,0,0
$GC,3552,-0.60,-146.1,426.8,-11.5,259,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2846,3422,0,0,0,0,0,0
$GC,3858,-0.60,-146.1,461.6,-11.2,269,3862,0.00,1.70,0.00,0.000,4,0.000,0.063,1608,3894,3422,0,0,0,0,0,0
$GC,3904,-0.60,-146.1,467.3,-11.4,270,3908,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2858,3421,0,0,0,0,0,0
$GC,4236,-0.60,-146.1,503.8,-10.9,281,4239,0.00,1.70,0.00,0.000,4,0.000,0.063,1600,3900,3421,0,0,0,0,0,0
$GC,4276,-0.60,-146.1,508.6,-11.6,282,4280,0.08,1.58,0.00,0.000,6,0.164,0.033,1631,2868,3421,0,0,0,0,0,0
$GC,4614,-0.60,-146.1,538.2,-8.6,293,4618,0.00,2.12,0.00,0.000,4,0.000,0.038,1631,1476,3421,0,0,0,0,0,0
$GC,4644,-0.60,-146.1,541.0,-8.9,293,4651,0.00,2.25,0.00,0.000,6,0.000,0.056,1623,2870,3421,0,0,0,0,0,0
$GC,4959,-0.60,-146.1,570.2,-9.8,304,4963,0.00,1.65,0.00,0.000,4,0.000,0.063,1614,3904,3421,0,0,0,0,0,0
$GC,5045,-0.60,-146.1,579.6,-10.6,306,5048,0.00,1.60,0.00,0.000,6,0.000,0.033,1614,2852,3420,0,0,0,0,0,0
$GC,5371,-0.60,-146.1,613.1,-10.3,317,5374,0.00,1.70,0.00,0.000,4,0.000,0.063,1606,3894,3420,0,0,0,0,0,0
$GC,5417,-0.60,-146.1,618.7,-11.8,318,5421,0.08,1.58,0.00,0.000,6,0.162,0.034,1638,2861,3419,0,0,0,0,0,0
$GC,5749,-0.60,-146.1,647.6,-8.5,329,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2857,3419,0,0,0,0,0,0
$GC,6056,-0.60,-146.1,673.6,-8.6,339,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2857,3419,0,0,0,0,0,0
$GC,6362,-0.60,-146.1,699.4,-8.2,349,6366,0.00,1.70,0.00,0.000,4,0.000,0.065,1631,3900,3418,0,0,0,0,0,0
$GC,6392,-0.60,-146.1,702.1,-9.1,349,6398,0.00,1.58,0.00,0.000,6,0.000,0.034,1631,2863,3418,0,0,0,0,0,0
$GC,6707,-0.60,-146.1,729.9,-8.8,360,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3418,0,0,0,0,0,0
$GC,7014,-0.60,-146.1,756.3,-8.7,370,7017,0.00,1.67,0.00,0.000,4,0.000,0.064,1623,3893,3418,0,0,0,0,0,0
$GC,7051,-0.60,-146.1,759.7,-9.4,371,7054,0.00,1.58,0.00,0.000,6,0.000,0.034,1623,2856,3418,0,0,0,0,0,0
$GC,7394,-0.60,-146.1,790.8,-9.2,382,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2852,3418,0,0,0,0,0,0
$GC,7701,-0.60,-146.1,820.2,-9.6,392,7705,0.00,1.70,0.00,0.000,4,0.000,0.065,1615,3895,3418,0,0,0,0,0,0
$GC,7730,-0.60,-146.1,823.6,-10.6,392,7737,0.00,1.58,0.00,0.000,6,0.000,0.034,1615,2860,3417,0,0,0,0,0,0
$GC,8045,-0.60,-146.1,855.7,-10.1,403,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2860,3417,0,0,0,0,0,0
$GC,8352,-0.60,-146.1,886.1,-9.7,413,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2860,3417,0,0,0,0,0,0
$GC,8658,-0.60,-146.1,915.3,-9.5,423,8662,0.00,2.15,0.00,0.000,4,0.000,0.038,1615,1481,3417,0,0,0,0,0,0
$GC,8689,-0.60,-146.1,918.4,-10.4,424,8694,0.10,2.25,0.00,0.000,6,0.190,0.057,1628,2865,3417,0,0,0,0,0,0
$GC,9028,-0.60,-146.1,947.2,-8.5,435,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2865,3417,0,0,0,0,0,0
$GC,9334,-0.60,-146.1,972.6,-8.2,445,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2865,3416,0,0,0,0,0,0
$GC,9640,-0.60,-146.1,996.9,-7.7,455,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2865,3416,0,0,0,0,0,0
$STATE,9698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9698,begin apogee
$GC,9709,-0.18,0.0,1001.4,7.6,457,9862,0.47,0.00,144.55,1.841,6,0.155,0.000,1770,2683,2820,0,0,0,0,1,0
$STATE,9864,end apogee,CONTROL_FINISHED_OK
$STATE,9864,begin climb
$GC,9868,0.60,146.1,1005.0,0.0,462,10039,0.82,2.53,157.60,1.789,4,0.093,0.044,2034,1280,2225,0,0,0,0,1,0
$GC,10067,0.60,146.1,977.2,20.0,469,10071,0.00,2.47,0.00,0.000,6,0.000,0.052,2034,2661,2222,0,0,0,0,0,0
$GC,10405,0.60,146.1,902.1,22.3,480,10409,0.00,2.28,0.00,0.000,4,0.000,0.044,2044,1273,2216,0,0,0,0,0,0
$GC,10436,0.60,146.1,895.1,23.2,481,10441,0.00,2.35,0.00,0.000,6,0.000,0.053,2044,2680,2214,0,0,0,0,0,0
$GC,10774,0.60,146.1,814.4,23.6,492,10778,0.00,2.25,0.00,0.000,4,0.000,0.044,2055,1271,2214,0,0,0,0,0,0
$GC,10792,0.60,146.1,809.8,23.2,492,10796,0.00,2.30,0.00,0.000,6,0.000,0.052,2054,2674,2213,0,0,0,0,0,0
$GC,11113,0.60,146.1,734.0,23.8,503,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2674,2212,0,0,0,0,0,0
$GC,11421,0.60,146.1,664.3,22.6,513,11422,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2674,2213,0,0,0,0,0,0
$GC,11725,0.60,146.1,598.0,21.1,523,11729,0.00,2.22,0.00,0.000,4,0.000,0.044,2065,1263,2212,0,0,0,0,0,0
$GC,11766,0.60,146.1,589.4,20.2,524,11771,0.15,2.30,0.00,0.000,6,0.213,0.052,2030,2677,2210,0,0,0,0,0,0
$GC,12093,0.60,146.1,531.3,17.7,535,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2678,2210,0,0,0,0,0,0
$GC,12399,0.60,146.1,473.6,19.1,545,12403,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1271,2210,0,0,0,0,0,0
$GC,12423,0.60,146.1,468.7,18.7,545,12427,0.00,2.28,0.00,0.000,6,0.000,0.051,2040,2674,2209,0,0,0,0,0,0
$GC,12738,0.60,146.1,407.1,20.0,555,12742,0.00,2.25,0.00,0.000,4,0.000,0.046,2050,1264,2209,0,0,0,0,0,0
$GC,12762,0.60,146.1,402.3,18.3,555,12769,0.00,2.28,0.00,0.000,6,0.000,0.052,2050,2672,2208,0,0,0,0,0,0
$GC,13093,0.60,146.1,337.5,20.2,571,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2672,2208,0,0,0,0,0,0
$GC,13401,0.60,146.1,276.1,19.4,586,13405,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1270,2209,0,0,0,0,0,0
$GC,13425,0.60,146.1,271.0,19.8,587,13429,0.15,2.28,0.00,0.000,6,0.212,0.053,2026,2670,2208,0,0,0,0,0,0
$GC,13750,0.60,146.1,214.1,17.3,606,13754,0.00,2.20,0.00,0.000,4,0.000,0.044,2035,1267,2208,0,0,0,0,0,0
$GC,13801,0.60,146.1,205.5,15.3,609,13805,0.00,2.28,0.00,0.000,6,0.000,0.054,2036,2670,2207,0,0,0,0,0,0
$GC,14130,0.60,146.1,148.1,17.1,630,14133,0.00,1.95,0.00,0.000,4,0.000,0.061,2036,3900,2207,0,0,0,0,0,0
$GC,14152,0.60,146.1,144.4,16.9,631,14155,0.00,1.90,0.00,0.000,6,0.000,0.039,2045,2674,2207,0,0,0,0,0,0
$GC,14480,0.60,146.1,89.4,15.0,658,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2670,2207,0,0,0,0,0,0
$GC,14843,0.60,146.1,33.7,16.6,719,14850,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1267,2207,0,0,0,0,0,0
$GC,14935,0.60,146.1,18.2,14.8,733,14945,0.10,2.30,0.00,0.000,6,0.194,0.052,2028,2674,2206,0,0,0,0,0,0
$STATE,15019,end climb,SURFACE_DEPTH_REACHED
$STATE,15019,begin surface coast
$FINISH,0.8,1.026374
$STATE,15045,end surface coast,CONTROL_FINISHED_OK
$STATE,15045,begin surface
$SM_CCo,15067,42.30,0.761,1,0,1879,230.09
$SM_GC,1.54,0.00,0.00,42.30,0.000,0.000,0.761,49,2882,1879,-5.57,0.62,230.09
$IRIDIUM_FIX,-4644.93,435.06,220113,232335
$TT8_MAMPS,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,52.670
$10V_AH,10.0,26.024
$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,14.175,111.700,302.150,42.300,0.000,26.489,22.649,355.443,0.000,0.000,21.604,1877.273,10381.398,457.971,2353.905,690.049,33.375,1290.455,0.000,1868.503,0.000,1.010,0.000
$DEVICE_MAMPS,246.330,65.790,1841.355,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.735,1472.330,778.713,298.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,53628,749
$CAP_FILE_SIZE,122829,0
$CFSIZE,259252224,212066304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,230113,123652,-4701.407,429.086,41,0.8,41,-23.4