version: 66.07
glider: 542
mission: 6
dive: 283
start: 1 23 113 21 54 34
data:
$ID,542
$MISSION,6
$DIVE,283
$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,-11382.791
$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,43
$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
$GPS1,230113,214223,-4702.170,424.011,67,0.9,67,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-58.9
$GPS2,230113,215342,-4702.125,424.230,21,1.0,21,-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,-0.019
$KALMAN_X,-220785.6,-241.9,-366.5,230590.0,1246.5
$KALMAN_Y,148845.9,-707.2,-234.3,-167983.3,5337.3
$MHEAD_RNG_PITCHd_Wd,289.2,18400,-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,26,-0.60,-146.1,0.0,0.0,0,84,0.00,0.00,-55.17,0.000,2,0.000,0.000,48,2865,2943,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.1,-3.0,7,117,6.68,2.28,-13.35,0.000,4,0.248,0.050,1629,1455,3418,0,0,0,0,0,0
$GC,160,-0.60,-146.1,13.8,-15.5,16,169,0.00,2.33,0.00,0.000,6,0.000,0.050,1620,2868,3418,0,0,0,0,0,0
$GC,247,-0.60,-146.1,28.3,-17.5,29,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2869,3419,0,0,0,0,0,0
$GC,331,-0.60,-146.1,41.5,-15.2,42,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2869,3419,0,0,0,0,0,0
$GC,576,-0.60,-146.1,76.5,-15.4,83,581,0.00,2.20,0.00,0.000,4,0.000,0.036,1620,1449,3419,0,0,0,0,0,0
$GC,614,-0.60,-146.1,81.9,-14.6,89,619,0.00,2.28,0.00,0.000,6,0.000,0.050,1609,2860,3419,0,0,0,0,0,0
$GC,957,-0.60,-146.1,129.0,-13.5,124,959,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2860,3420,0,0,0,0,0,0
$GC,1269,-0.60,-146.1,167.4,-12.1,144,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2860,3421,0,0,0,0,0,0
$GC,1581,-0.60,-146.1,205.6,-11.9,164,1584,0.00,1.65,0.00,0.000,4,0.000,0.059,1601,3909,3421,0,0,0,0,0,0
$GC,1636,-0.60,-146.1,212.5,-12.8,167,1641,0.08,1.62,0.00,0.000,6,0.161,0.031,1624,2834,3421,0,0,0,0,0,0
$GC,1973,-0.60,-146.1,250.3,-11.2,188,1977,0.00,1.73,0.00,0.000,4,0.000,0.059,1617,3901,3422,0,0,0,0,0,0
$GC,2014,-0.60,-146.1,255.9,-12.3,189,2021,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2853,3421,0,0,0,0,0,0
$GC,2335,-0.60,-146.1,293.3,-11.9,205,2338,0.00,1.67,0.00,0.000,4,0.000,0.060,1609,3896,3421,0,0,0,0,0,0
$GC,2360,-0.60,-146.1,296.8,-12.2,206,2364,0.00,1.55,0.00,0.000,6,0.000,0.031,1609,2868,3421,0,0,0,0,0,0
$GC,2695,-0.60,-146.1,338.1,-12.4,222,2699,0.00,1.65,0.00,0.000,4,0.000,0.060,1601,3893,3421,0,0,0,0,0,0
$GC,2753,-0.60,-146.1,346.0,-13.3,224,2758,0.08,1.55,0.00,0.000,6,0.164,0.031,1624,2870,3421,0,0,0,0,0,0
$GC,3077,-0.60,-146.1,382.1,-11.0,240,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2866,3421,0,0,0,0,0,0
$GC,3395,-0.60,-146.1,415.9,-10.2,253,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2866,3421,0,0,0,0,0,0
$GC,3702,-0.60,-146.1,445.0,-9.3,263,3706,0.00,1.67,0.00,0.000,4,0.000,0.060,1618,3890,3421,0,0,0,0,0,0
$GC,3750,-0.60,-146.1,449.7,-9.8,264,3753,0.00,1.58,0.00,0.000,6,0.000,0.032,1618,2850,3421,0,0,0,0,0,0
$GC,4082,-0.60,-146.1,480.8,-9.4,275,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2845,3421,0,0,0,0,0,0
$GC,4388,-0.60,-146.1,510.9,-10.0,285,4391,0.00,1.70,0.00,0.000,4,0.000,0.060,1609,3900,3421,0,0,0,0,0,0
$GC,4439,-0.60,-146.1,516.9,-11.9,286,4443,0.00,1.58,0.00,0.000,6,0.000,0.032,1609,2865,3421,0,0,0,0,0,0
$GC,4765,-0.60,-146.1,554.1,-11.5,297,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2861,3421,0,0,0,0,0,0
$GC,5072,-0.60,-146.1,590.3,-11.9,307,5075,0.00,1.67,0.00,0.000,4,0.000,0.060,1601,3900,3420,0,0,0,0,0,0
$GC,5112,-0.60,-146.1,595.6,-12.7,308,5116,0.05,1.58,0.00,0.000,6,0.171,0.033,1632,2863,3420,0,0,0,0,0,0
$GC,5450,-0.60,-146.1,627.6,-9.2,319,5454,0.00,2.10,0.00,0.000,4,0.000,0.037,1632,1478,3420,0,0,0,0,0,0
$GC,5474,-0.60,-146.1,630.0,-9.4,319,5481,0.00,2.22,0.00,0.000,6,0.000,0.053,1624,2863,3420,0,0,0,0,0,0
$GC,5790,-0.60,-146.1,659.1,-9.0,330,5793,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3903,3420,0,0,0,0,0,0
$GC,5830,-0.60,-146.1,663.4,-10.4,331,5833,0.00,1.60,0.00,0.000,6,0.000,0.032,1615,2851,3420,0,0,0,0,0,0
$GC,6167,-0.60,-146.1,696.0,-9.6,342,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2846,3420,0,0,0,0,0,0
$GC,6475,-0.60,-146.1,725.7,-9.7,352,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2846,3420,0,0,0,0,0,0
$GC,6779,-0.60,-146.1,755.6,-9.7,362,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2846,3419,0,0,0,0,0,0
$GC,7086,-0.60,-146.1,784.9,-9.4,372,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2846,3419,0,0,0,0,0,0
$GC,7392,-0.60,-146.1,813.1,-9.1,382,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2846,3419,0,0,0,0,0,0
$GC,7698,-0.60,-146.1,839.8,-8.5,392,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2846,3419,0,0,0,0,0,0
$GC,8005,-0.60,-146.1,864.6,-8.1,402,8008,0.00,1.73,0.00,0.000,4,0.000,0.062,1608,3894,3418,0,0,0,0,0,0
$GC,8029,-0.60,-146.1,866.8,-8.3,402,8032,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2864,3418,0,0,0,0,0,0
$GC,8349,-0.60,-146.1,894.0,-8.6,413,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2859,3418,0,0,0,0,0,0
$GC,8657,-0.60,-146.1,920.5,-8.6,423,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2859,3418,0,0,0,0,0,0
$GC,8962,-0.60,-146.1,946.8,-8.5,433,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2859,3418,0,0,0,0,0,0
$GC,9270,-0.60,-146.1,972.4,-8.3,443,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2858,3417,0,0,0,0,0,0
$GC,9574,-0.60,-146.1,998.1,-8.5,453,9578,0.00,2.15,0.00,0.000,4,0.000,0.038,1608,1468,3417,0,0,0,0,0,0
$GC,9593,-0.60,-146.1,999.9,-8.4,453,9597,0.00,2.12,0.00,0.000,3,0.000,0.054,1598,2784,3418,0,0,0,0,0,0
$STATE,9599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9599,begin apogee
$GC,9610,-0.18,0.0,1000.5,8.4,453,9769,0.55,0.00,144.40,1.830,6,0.164,0.000,1760,2675,2820,0,0,0,0,1,0
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9775,0.60,146.1,1003.8,0.0,459,9947,0.82,2.53,157.52,1.789,4,0.096,0.044,2030,1283,2224,0,0,0,0,1,0
$GC,10021,0.60,146.1,967.7,18.5,466,10025,0.00,2.42,0.00,0.000,6,0.000,0.050,2030,2664,2219,0,0,0,0,0,0
$GC,10342,0.60,146.1,899.4,21.2,477,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2664,2215,0,0,0,0,0,0
$GC,10648,0.60,146.1,836.5,20.5,487,10652,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1274,2214,0,0,0,0,0,0
$GC,10666,0.60,146.1,832.6,20.7,487,10670,0.00,2.30,0.00,0.000,6,0.000,0.050,2040,2682,2213,0,0,0,0,0,0
$GC,10987,0.60,146.1,765.5,21.0,498,10991,0.00,2.22,0.00,0.000,4,0.000,0.045,2050,1274,2213,0,0,0,0,0,0
$GC,11011,0.60,146.1,760.1,20.7,498,11018,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2670,2212,0,0,0,0,0,0
$GC,11327,0.60,146.1,692.6,21.7,509,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2670,2212,0,0,0,0,0,0
$GC,11633,0.60,146.1,626.5,21.3,519,11637,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1276,2211,0,0,0,0,0,0
$GC,11664,0.60,146.1,619.8,20.4,520,11669,0.15,2.25,0.00,0.000,6,0.214,0.050,2027,2670,2210,0,0,0,0,0,0
$GC,12002,0.60,146.1,554.2,19.2,531,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2671,2210,0,0,0,0,0,0
$GC,12309,0.60,146.1,496.3,19.0,541,12313,0.00,2.22,0.00,0.000,4,0.000,0.044,2036,1269,2209,0,0,0,0,0,0
$GC,12333,0.60,146.1,491.6,17.7,541,12339,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2670,2209,0,0,0,0,0,0
$GC,12649,0.60,146.1,432.9,18.7,552,12653,0.00,2.20,0.00,0.000,4,0.000,0.044,2046,1270,2209,0,0,0,0,0,0
$GC,12678,0.60,146.1,427.2,17.7,552,12685,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2672,2208,0,0,0,0,0,0
$GC,13006,0.60,146.1,365.5,19.5,566,13010,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1270,2208,0,0,0,0,0,0
$GC,13052,0.60,146.1,356.7,17.5,568,13057,0.12,2.25,0.00,0.000,6,0.213,0.050,2029,2672,2208,0,0,0,0,0,0
$GC,13378,0.60,146.1,298.4,18.4,584,13382,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1270,2208,0,0,0,0,0,0
$GC,13402,0.60,146.1,293.6,17.6,585,13406,0.00,2.28,0.00,0.000,6,0.000,0.050,2038,2678,2208,0,0,0,0,0,0
$GC,13721,0.60,146.1,233.4,19.2,602,13722,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2679,2208,0,0,0,0,0,0
$GC,14034,0.60,146.1,175.7,18.4,622,14038,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1273,2208,0,0,0,0,0,0
$GC,14063,0.60,146.1,170.1,16.6,623,14070,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2672,2207,0,0,0,0,0,0
$GC,14385,0.60,146.1,111.4,17.5,644,14388,0.00,1.98,0.00,0.000,4,0.000,0.060,2048,3917,2207,0,0,0,0,0,0
$GC,14407,0.60,146.1,107.7,17.5,645,14411,0.12,1.95,0.00,0.000,6,0.230,0.039,2031,2680,2208,0,0,0,0,0,0
$GC,14759,0.60,146.1,55.7,14.9,700,14768,0.00,2.25,0.00,0.000,4,0.000,0.046,2041,1261,2207,0,0,0,0,0,0
$GC,14883,0.60,146.1,37.8,14.7,720,14892,0.00,2.30,0.00,0.000,6,0.000,0.052,2041,2668,2206,0,0,0,0,0,0
$STATE,15095,end climb,SURFACE_DEPTH_REACHED
$STATE,15095,begin surface coast
$FINISH,0.8,1.014045
$STATE,15121,end surface coast,CONTROL_FINISHED_OK
$STATE,15121,begin surface
$SM_CCo,15143,42.12,0.761,1,0,1878,230.09
$SM_GC,1.76,0.00,0.00,42.12,0.000,0.000,0.761,53,2891,1878,-5.55,0.88,230.09
$IRIDIUM_FIX,-4644.93,422.23,230113,171713
$TT8_MAMPS,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,53.180
$10V_AH,10.0,26.334
$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,14.125,96.650,301.925,42.125,0.000,26.818,28.374,366.061,0.000,0.000,23.450,1879.663,10519.031,446.409,2328.564,680.367,33.378,1252.830,0.000,1822.537,0.000,1.010,0.000
$DEVICE_MAMPS,247.860,71.145,1829.880,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.047,1482.831,785.435,308.077,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353976
$DATA_FILE_SIZE,53817,758
$CAP_FILE_SIZE,118056,0
$CFSIZE,259252224,211877888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,240113,020905,-4700.719,421.695,32,1.3,32,-23.4