version: 66.07
glider: 542
mission: 6
dive: 295
start: 1 26 113 4 9 25
data:
$ID,542
$MISSION,6
$DIVE,295
$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,-11412.938
$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,33
$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
$GPS1,260113,035535,-4646.649,406.218,39,1.0,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-55.1
$GPS2,260113,040829,-4646.541,406.334,19,1.0,19,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.065,0.247
$KALMAN_X,-219593.9,526.8,-256.7,205848.3,-957.8
$KALMAN_Y,149897.4,-20.1,311.2,-141440.5,-2531.6
$MHEAD_RNG_PITCHd_Wd,37.9,30988,-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,23,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,93,0.00,0.00,-63.10,0.000,2,0.000,0.000,64,2885,3101,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-3.7,8,126,6.80,2.30,-8.48,0.000,4,0.257,0.055,1629,1461,3419,0,0,0,0,0,0
$GC,138,-0.60,-146.1,11.6,-17.2,12,147,0.00,2.30,0.00,0.000,6,0.000,0.052,1620,2852,3419,0,0,0,0,0,0
$GC,227,-0.60,-146.1,25.3,-17.0,25,235,0.00,2.22,0.00,0.000,4,0.000,0.037,1620,1452,3419,0,0,0,0,0,0
$GC,348,-0.60,-146.1,42.3,-14.1,44,357,0.00,2.30,0.00,0.000,6,0.000,0.050,1609,2859,3419,0,0,0,0,0,0
$GC,597,-0.60,-146.1,81.7,-16.5,85,601,0.00,1.65,0.00,0.000,4,0.000,0.057,1601,3905,3420,0,0,0,0,0,0
$GC,670,-0.60,-146.1,94.1,-15.5,97,676,0.08,1.62,0.00,0.000,6,0.164,0.030,1624,2839,3421,0,0,0,0,0,0
$GC,999,-0.60,-146.1,134.5,-11.8,122,1003,0.00,2.08,0.00,0.000,4,0.000,0.035,1625,1481,3421,0,0,0,0,0,0
$GC,1040,-0.60,-146.1,139.7,-10.7,124,1044,0.00,2.22,0.00,0.000,6,0.000,0.049,1615,2863,3422,0,0,0,0,0,0
$GC,1363,-0.60,-146.1,176.9,-11.7,144,1366,0.00,1.65,0.00,0.000,4,0.000,0.057,1607,3913,3422,0,0,0,0,0,0
$GC,1434,-0.60,-146.1,186.2,-12.5,148,1438,0.00,1.60,0.00,0.000,6,0.000,0.030,1607,2856,3423,0,0,0,0,0,0
$GC,1768,-0.60,-146.1,226.9,-12.6,169,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2852,3422,0,0,0,0,0,0
$GC,2080,-0.60,-146.1,265.6,-12.6,187,2084,0.00,1.67,0.00,0.000,4,0.000,0.057,1599,3900,3423,0,0,0,0,0,0
$GC,2139,-0.60,-146.1,274.1,-13.5,189,2143,0.08,1.58,0.00,0.000,6,0.164,0.031,1630,2855,3423,0,0,0,0,0,0
$GC,2465,-0.60,-146.1,308.1,-10.3,205,2469,0.00,1.67,0.00,0.000,4,0.000,0.058,1623,3896,3423,0,0,0,0,0,0
$GC,2500,-0.60,-146.1,312.1,-10.7,206,2504,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2853,3423,0,0,0,0,0,0
$GC,2823,-0.60,-146.1,344.8,-10.0,222,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2848,3423,0,0,0,0,0,0
$GC,3135,-0.60,-146.1,376.2,-10.3,237,3139,0.00,1.70,0.00,0.000,4,0.000,0.059,1615,3893,3422,0,0,0,0,0,0
$GC,3193,-0.60,-146.1,383.1,-11.1,239,3197,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2868,3423,0,0,0,0,0,0
$GC,3535,-0.60,-146.1,422.3,-11.8,253,3539,0.00,1.67,0.00,0.000,4,0.000,0.059,1607,3905,3422,0,0,0,0,0,0
$GC,3564,-0.60,-146.1,426.4,-13.4,253,3571,0.00,1.60,0.00,0.000,6,0.000,0.031,1607,2841,3422,0,0,0,0,0,0
$GC,3881,-0.60,-146.1,466.9,-13.2,264,3885,0.00,1.70,0.00,0.000,4,0.000,0.058,1599,3903,3422,0,0,0,0,0,0
$GC,3904,-0.60,-146.1,470.8,-13.7,264,3909,0.10,1.55,0.00,0.000,6,0.166,0.031,1629,2880,3422,0,0,0,0,0,0
$GC,4226,-0.60,-146.1,506.6,-10.7,275,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2876,3421,0,0,0,0,0,0
$GC,4532,-0.60,-146.1,538.7,-10.4,285,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2876,3421,0,0,0,0,0,0
$GC,4838,-0.60,-146.1,568.6,-9.4,295,4842,0.00,2.12,0.00,0.000,4,0.000,0.037,1629,1483,3420,0,0,0,0,0,0
$GC,4862,-0.60,-146.1,571.1,-10.0,295,4866,0.00,2.22,0.00,0.000,6,0.000,0.051,1620,2864,3420,0,0,0,0,0,0
$GC,5177,-0.60,-146.1,601.0,-9.6,305,5180,0.00,1.65,0.00,0.000,4,0.000,0.060,1612,3909,3420,0,0,0,0,0,0
$GC,5247,-0.60,-146.1,608.3,-10.7,307,5252,0.00,1.60,0.00,0.000,6,0.000,0.031,1612,2851,3419,0,0,0,0,0,0
$GC,5591,-0.60,-146.1,643.6,-10.2,318,5595,0.00,1.70,0.00,0.000,4,0.000,0.059,1604,3902,3419,0,0,0,0,0,0
$GC,5609,-0.60,-146.1,645.7,-10.7,318,5613,0.08,1.58,0.00,0.000,6,0.163,0.032,1634,2866,3419,0,0,0,0,0,0
$GC,5936,-0.60,-146.1,673.8,-8.4,329,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2862,3419,0,0,0,0,0,0
$GC,6243,-0.60,-146.1,699.3,-8.3,339,6247,0.00,1.67,0.00,0.000,4,0.000,0.060,1628,3900,3418,0,0,0,0,0,0
$GC,6273,-0.60,-146.1,702.3,-9.1,339,6279,0.00,1.58,0.00,0.000,6,0.000,0.032,1628,2859,3418,0,0,0,0,0,0
$GC,6588,-0.60,-146.1,732.2,-10.1,350,6592,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3896,3418,0,0,0,0,0,0
$GC,6628,-0.60,-146.1,736.9,-11.0,351,6632,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2860,3418,0,0,0,0,0,0
$GC,6965,-0.60,-146.1,773.8,-11.2,362,6969,0.00,2.10,0.00,0.000,4,0.000,0.037,1620,1479,3417,0,0,0,0,0,0
$GC,7006,-0.60,-146.1,778.6,-10.8,363,7010,0.00,2.22,0.00,0.000,6,0.000,0.051,1609,2868,3417,0,0,0,0,0,0
$GC,7345,-0.60,-146.1,819.1,-12.2,374,7349,0.00,1.65,0.00,0.000,4,0.000,0.060,1601,3909,3417,0,0,0,0,0,0
$GC,7419,-0.60,-146.1,829.0,-13.4,376,7423,0.08,1.60,0.00,0.000,6,0.158,0.032,1624,2858,3417,0,0,0,0,0,0
$GC,7759,-0.60,-146.1,864.2,-10.1,387,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2852,3417,0,0,0,0,0,0
$GC,8064,-0.60,-146.1,892.5,-9.0,397,8067,0.00,1.70,0.00,0.000,4,0.000,0.061,1618,3903,3417,0,0,0,0,0,0
$GC,8093,-0.60,-146.1,895.4,-9.4,397,8100,0.00,1.60,0.00,0.000,6,0.000,0.032,1618,2845,3417,0,0,0,0,0,0
$GC,8409,-0.60,-146.1,923.0,-8.6,408,8413,0.00,2.08,0.00,0.000,4,0.000,0.037,1618,1483,3417,0,0,0,0,0,0
$GC,8433,-0.60,-146.1,925.3,-8.5,408,8441,0.00,2.22,0.00,0.000,6,0.000,0.052,1607,2865,3417,0,0,0,0,0,0
$GC,8748,-0.60,-146.1,950.8,-8.1,419,8752,0.00,1.65,0.00,0.000,4,0.000,0.060,1600,3890,3417,0,0,0,0,0,0
$GC,8778,-0.60,-146.1,953.6,-8.9,419,8785,0.08,1.55,0.00,0.000,6,0.157,0.031,1623,2866,3416,0,0,0,0,0,0
$GC,9094,-0.60,-146.1,976.2,-7.1,430,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3417,0,0,0,0,0,0
$GC,9400,-0.60,-146.1,998.5,-7.5,440,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3417,0,0,0,0,0,0
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9426,begin apogee
$GC,9437,-0.18,0.0,1001.0,7.6,441,9585,0.50,0.00,145.02,1.249,6,0.161,0.000,1769,2675,2819,0,0,0,0,0,0
$STATE,9587,end apogee,CONTROL_FINISHED_OK
$STATE,9587,begin climb
$GC,9591,0.60,146.1,1004.4,0.0,446,9758,0.77,2.47,153.88,1.805,4,0.094,0.044,2030,1288,2225,0,0,0,0,1,0
$GC,9784,0.60,146.1,978.9,19.1,452,9788,0.00,2.47,0.00,0.000,6,0.000,0.049,2030,2671,2222,0,0,0,0,0,0
$GC,10116,0.60,146.1,908.6,21.2,463,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2672,2217,0,0,0,0,0,0
$GC,10423,0.60,146.1,846.5,20.1,473,10427,0.00,2.25,0.00,0.000,4,0.000,0.044,2040,1276,2216,0,0,0,0,0,0
$GC,10458,0.60,146.1,839.1,19.4,474,10462,0.00,2.30,0.00,0.000,6,0.000,0.050,2040,2678,2214,0,0,0,0,0,0
$GC,10790,0.60,146.1,771.8,20.1,485,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2678,2213,0,0,0,0,0,0
$GC,11096,0.60,146.1,707.9,21.5,495,11100,0.00,2.20,0.00,0.000,4,0.000,0.043,2051,1281,2213,0,0,0,0,0,0
$GC,11142,0.60,146.1,698.1,18.2,496,11146,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2674,2211,0,0,0,0,0,0
$GC,11474,0.60,146.1,631.4,19.9,507,11478,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1281,2212,0,0,0,0,0,0
$GC,11487,0.60,146.1,628.7,19.5,507,11492,0.15,2.25,0.00,0.000,6,0.216,0.048,2027,2680,2211,0,0,0,0,0,0
$GC,11814,0.60,146.1,570.8,18.1,518,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2681,2210,0,0,0,0,0,0
$GC,12120,0.60,146.1,515.2,18.5,528,12124,0.00,2.22,0.00,0.000,4,0.000,0.043,2037,1270,2211,0,0,0,0,0,0
$GC,12161,0.60,146.1,507.6,17.1,529,12165,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2673,2210,0,0,0,0,0,0
$GC,12498,0.60,146.1,441.5,20.0,540,12502,0.00,1.98,0.00,0.000,4,0.000,0.058,2037,3893,2210,0,0,0,0,0,0
$GC,12516,0.60,146.1,437.4,20.0,540,12520,0.00,1.88,0.00,0.000,6,0.000,0.037,2046,2678,2210,0,0,0,0,0,0
$GC,12847,0.60,146.1,370.2,19.8,553,12851,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1273,2210,0,0,0,0,0,0
$GC,12912,0.60,146.1,357.7,17.0,556,12917,0.12,2.22,0.00,0.000,6,0.209,0.050,2029,2669,2209,0,0,0,0,0,0
$GC,13243,0.60,146.1,299.5,17.5,572,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2669,2209,0,0,0,0,0,0
$GC,13563,0.60,146.1,243.9,17.4,588,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2669,2209,0,0,0,0,0,0
$GC,13875,0.60,146.1,193.0,16.0,608,13879,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1262,2209,0,0,0,0,0,0
$GC,13894,0.60,146.1,189.7,15.8,609,13898,0.00,2.28,0.00,0.000,6,0.000,0.050,2038,2670,2209,0,0,0,0,0,0
$GC,14217,0.60,146.1,131.5,19.1,629,14221,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1270,2209,0,0,0,0,0,0
$GC,14290,0.60,146.1,119.4,15.5,633,14295,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2675,2208,0,0,0,0,0,0
$GC,14634,0.60,146.1,63.2,16.7,679,14638,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2675,2208,0,0,0,0,0,0
$STATE,14978,end climb,SURFACE_DEPTH_REACHED
$STATE,14978,begin surface coast
$FINISH,0.9,1.002306
$STATE,15038,end surface coast,CONTROL_FINISHED_OK
$STATE,15038,begin surface
$SM_CCo,15060,42.03,0.763,1,0,1879,230.09
$SM_GC,1.84,0.00,0.00,42.03,0.000,0.000,0.763,59,2886,1879,-5.54,0.76,230.09
$IRIDIUM_FIX,-4632.36,405.36,250113,232313
$TT8_MAMPS,0.026215
$HUMID,59.29
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.8,55.186
$10V_AH,10.0,27.619
$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,14.200,112.625,298.900,42.025,0.000,25.256,22.191,476.005,0.000,0.000,21.741,1889.088,10354.076,433.296,2425.558,765.586,33.401,1276.720,0.000,1895.480,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,61.965,1805.400,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.297,1488.594,798.701,299.801,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354032
$DATA_FILE_SIZE,53753,745
$CAP_FILE_SIZE,123229,0
$CFSIZE,259252224,211054592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,260113,082258,-4644.477,405.776,56,0.9,56,-23.3