version: 66.07
glider: 542
mission: 6
dive: 296
start: 1 26 113 8 45 37
data:
$ID,542
$MISSION,6
$DIVE,296
$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,-11415.468
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,260113,082258,-4644.477,405.776,56,0.9,56,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-59.4
$GPS2,260113,084441,-4644.425,405.888,16,1.4,16,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.148,0.209
$KALMAN_X,-221553.4,239.4,-7.0,207282.1,-2727.2
$KALMAN_Y,148623.7,259.0,80.0,-136284.6,-2330.3
$MHEAD_RNG_PITCHd_Wd,58.7,27225,-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,21,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,84,0.00,0.00,-55.20,0.000,2,0.000,0.000,58,2888,2914,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.0,-3.7,7,125,6.93,2.30,-15.90,0.000,4,0.262,0.050,1629,1449,3418,0,0,0,0,0,0
$GC,225,-0.60,-146.1,20.2,-14.9,26,234,0.00,2.28,0.00,0.000,6,0.000,0.047,1619,2851,3419,0,0,0,0,0,0
$GC,312,-0.60,-146.1,33.8,-14.5,39,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2851,3419,0,0,0,0,0,0
$GC,561,-0.60,-146.1,68.4,-13.0,80,567,0.00,1.67,0.00,0.000,4,0.000,0.056,1611,3896,3419,0,0,0,0,0,0
$GC,587,-0.60,-146.1,72.2,-13.1,84,597,0.00,1.60,0.00,0.000,6,0.000,0.030,1610,2836,3420,0,0,0,0,0,0
$GC,934,-0.60,-146.1,118.4,-13.2,127,937,0.00,1.70,0.00,0.000,4,0.000,0.057,1602,3894,3420,0,0,0,0,0,0
$GC,1084,-0.60,-146.1,140.4,-13.5,135,1092,0.08,1.55,0.00,0.000,6,0.168,0.030,1626,2863,3421,0,0,0,0,0,0
$GC,1411,-0.60,-146.1,172.2,-9.9,156,1415,0.00,2.10,0.00,0.000,4,0.000,0.036,1626,1479,3421,0,0,0,0,0,0
$GC,1447,-0.60,-146.1,176.5,-9.6,158,1451,0.00,2.22,0.00,0.000,6,0.000,0.049,1616,2868,3421,0,0,0,0,0,0
$GC,1770,-0.60,-146.1,212.9,-11.8,178,1773,0.00,1.62,0.00,0.000,4,0.000,0.057,1608,3890,3421,0,0,0,0,0,0
$GC,1894,-0.60,-146.1,228.3,-12.5,185,1898,0.00,1.55,0.00,0.000,6,0.000,0.031,1608,2853,3421,0,0,0,0,0,0
$GC,2231,-0.60,-146.1,268.5,-11.7,204,2234,0.00,1.67,0.00,0.000,4,0.000,0.057,1600,3897,3421,0,0,0,0,0,0
$GC,2303,-0.60,-146.1,277.4,-12.1,207,2307,0.08,1.55,0.00,0.000,6,0.166,0.031,1638,2867,3421,0,0,0,0,0,0
$GC,2641,-0.60,-146.1,309.3,-9.1,223,2645,0.00,1.67,0.00,0.000,4,0.000,0.059,1631,3893,3421,0,0,0,0,0,0
$GC,2667,-0.60,-146.1,312.1,-9.8,224,2670,0.00,1.55,0.00,0.000,6,0.000,0.031,1631,2865,3421,0,0,0,0,0,0
$GC,3001,-0.60,-146.1,344.5,-9.7,240,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2860,3421,0,0,0,0,0,0
$GC,3313,-0.60,-146.1,374.5,-9.6,255,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2860,3421,0,0,0,0,0,0
$GC,3640,-0.60,-146.1,406.3,-9.7,270,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2860,3421,0,0,0,0,0,0
$GC,3946,-0.60,-146.1,436.7,-10.0,280,3950,0.00,1.73,0.00,0.000,4,0.000,0.060,1623,3898,3421,0,0,0,0,0,0
$GC,3987,-0.60,-146.1,441.1,-10.7,281,3991,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2856,3421,0,0,0,0,0,0
$GC,4326,-0.60,-146.1,476.4,-10.5,292,4330,0.00,1.67,0.00,0.000,4,0.000,0.059,1615,3894,3421,0,0,0,0,0,0
$GC,4363,-0.60,-146.1,480.8,-11.9,293,4367,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2854,3420,0,0,0,0,0,0
$GC,4706,-0.60,-146.1,518.1,-10.7,304,4710,0.00,1.67,0.00,0.000,4,0.000,0.059,1607,3894,3420,0,0,0,0,0,0
$GC,4752,-0.60,-146.1,523.6,-11.3,305,4755,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2857,3420,0,0,0,0,0,0
$GC,5083,-0.60,-146.1,559.0,-10.6,316,5087,0.00,1.67,0.00,0.000,4,0.000,0.059,1600,3895,3420,0,0,0,0,0,0
$GC,5120,-0.60,-146.1,563.0,-10.8,317,5124,0.08,1.58,0.00,0.000,6,0.168,0.031,1632,2857,3420,0,0,0,0,0,0
$GC,5464,-0.60,-146.1,592.7,-8.4,328,5468,0.00,1.70,0.00,0.000,4,0.000,0.060,1625,3893,3420,0,0,0,0,0,0
$GC,5493,-0.60,-146.1,595.6,-9.1,328,5500,0.00,1.58,0.00,0.000,6,0.000,0.031,1625,2847,3419,0,0,0,0,0,0
$GC,5809,-0.60,-146.1,624.7,-9.4,339,5813,0.00,1.70,0.00,0.000,4,0.000,0.060,1617,3900,3419,0,0,0,0,0,0
$GC,5846,-0.60,-146.1,628.5,-10.5,340,5849,0.00,1.58,0.00,0.000,6,0.000,0.032,1617,2862,3418,0,0,0,0,0,0
$GC,6189,-0.60,-146.1,663.1,-10.1,351,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2858,3418,0,0,0,0,0,0
$GC,6496,-0.60,-146.1,693.7,-9.8,361,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2856,3418,0,0,0,0,0,0
$GC,6801,-0.60,-146.1,722.9,-9.6,371,6804,0.00,1.67,0.00,0.000,4,0.000,0.061,1609,3893,3418,0,0,0,0,0,0
$GC,6847,-0.60,-146.1,727.8,-10.5,372,6850,0.00,1.58,0.00,0.000,6,0.000,0.032,1609,2858,3417,0,0,0,0,0,0
$GC,7178,-0.60,-146.1,761.4,-9.8,383,7182,0.00,1.67,0.00,0.000,4,0.000,0.060,1601,3893,3417,0,0,0,0,0,0
$GC,7241,-0.60,-146.1,768.2,-10.5,384,7248,0.10,1.58,0.00,0.000,6,0.171,0.031,1631,2854,3417,0,0,0,0,0,0
$GC,7557,-0.60,-146.1,791.9,-7.4,395,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2853,3417,0,0,0,0,0,0
$GC,7863,-0.60,-146.1,814.1,-7.3,405,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2853,3416,0,0,0,0,0,0
$GC,8169,-0.60,-146.1,837.0,-7.5,415,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3416,0,0,0,0,0,0
$GC,8475,-0.60,-146.1,859.7,-7.3,425,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2853,3416,0,0,0,0,0,0
$GC,8782,-0.60,-146.1,883.0,-7.8,435,8786,0.00,1.73,0.00,0.000,4,0.000,0.062,1624,3897,3416,0,0,0,0,0,0
$GC,8840,-0.60,-146.1,888.1,-8.3,436,8843,0.00,1.58,0.00,0.000,6,0.000,0.032,1624,2866,3416,0,0,0,0,0,0
$GC,9162,-0.60,-146.1,915.3,-8.6,447,9166,0.00,2.12,0.00,0.000,4,0.000,0.038,1624,1472,3416,0,0,0,0,0,0
$GC,9194,-0.60,-146.1,918.4,-9.5,448,9198,0.00,2.25,0.00,0.000,6,0.000,0.054,1613,2863,3416,0,0,0,0,0,0
$GC,9538,-0.60,-146.1,949.4,-9.0,459,9541,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3901,3416,0,0,0,0,0,0
$GC,9589,-0.60,-146.1,954.8,-9.6,460,9593,0.05,1.60,0.00,0.000,6,0.170,0.032,1629,2855,3415,0,0,0,0,0,0
$GC,9916,-0.60,-146.1,979.6,-7.5,471,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3415,0,0,0,0,0,0
$STATE,10219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10219,begin apogee
$GC,10230,-0.18,0.0,1001.7,7.1,481,10377,0.47,0.00,144.62,1.242,6,0.159,0.000,1769,2673,2819,0,0,0,0,0,0
$STATE,10379,end apogee,CONTROL_FINISHED_OK
$STATE,10379,begin climb
$GC,10384,0.60,146.1,1004.6,0.0,486,10551,0.75,2.47,153.77,1.797,4,0.095,0.043,2025,1283,2225,0,0,0,0,1,0
$GC,10583,0.60,146.1,976.1,20.0,492,10587,0.00,2.47,0.00,0.000,6,0.000,0.050,2025,2671,2223,0,0,0,0,0,0
$GC,10909,0.60,146.1,906.0,21.6,503,10913,0.00,2.25,0.00,0.000,4,0.000,0.044,2036,1281,2217,0,0,0,0,0,0
$GC,10944,0.60,146.1,898.3,20.4,504,10949,0.00,2.30,0.00,0.000,6,0.000,0.050,2036,2675,2215,0,0,0,0,0,0
$GC,11277,0.60,146.1,825.1,21.9,515,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2676,2215,0,0,0,0,0,0
$GC,11583,0.60,146.1,758.5,21.9,525,11587,0.00,2.22,0.00,0.000,4,0.000,0.044,2046,1286,2214,0,0,0,0,0,0
$GC,11696,0.60,146.1,735.9,18.2,528,11700,0.00,2.25,0.00,0.000,6,0.000,0.051,2046,2671,2213,0,0,0,0,0,0
$GC,12017,0.60,146.1,666.7,22.0,539,12021,0.00,2.22,0.00,0.000,4,0.000,0.044,2056,1280,2212,0,0,0,0,0,0
$GC,12063,0.60,146.1,656.9,19.1,540,12068,0.12,2.22,0.00,0.000,6,0.216,0.050,2029,2671,2212,0,0,0,0,0,0
$GC,12385,0.60,146.1,595.3,19.1,551,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2672,2212,0,0,0,0,0,0
$GC,12693,0.60,146.1,538.5,18.2,561,12697,0.00,2.17,0.00,0.000,4,0.000,0.044,2038,1284,2212,0,0,0,0,0,0
$GC,12711,0.60,146.1,534.6,18.0,561,12715,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2678,2212,0,0,0,0,0,0
$GC,13026,0.60,146.1,475.0,18.8,571,13030,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1274,2212,0,0,0,0,0,0
$GC,13061,0.60,146.1,468.1,17.4,572,13065,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2669,2211,0,0,0,0,0,0
$GC,13393,0.60,146.1,402.1,20.0,583,13397,0.00,2.17,0.00,0.000,4,0.000,0.044,2059,1285,2211,0,0,0,0,0,0
$GC,13425,0.60,146.1,396.1,18.3,584,13430,0.12,2.25,0.00,0.000,6,0.209,0.050,2031,2677,2211,0,0,0,0,0,0
$GC,13746,0.60,146.1,339.5,17.7,599,13750,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1285,2211,0,0,0,0,0,0
$GC,13769,0.60,146.1,334.7,17.1,600,13773,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2676,2211,0,0,0,0,0,0
$GC,14099,0.60,146.1,276.3,17.9,616,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2676,2211,0,0,0,0,0,0
$GC,14420,0.60,146.1,219.3,18.3,634,14424,0.00,2.20,0.00,0.000,4,0.000,0.043,2051,1281,2211,0,0,0,0,0,0
$GC,14511,0.60,146.1,204.6,15.3,639,14515,0.00,2.25,0.00,0.000,6,0.000,0.049,2051,2680,2210,0,0,0,0,0,0
$GC,14839,0.60,146.1,146.5,16.1,660,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2680,2210,0,0,0,0,0,0
$GC,15152,0.60,146.1,93.3,15.1,684,15161,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1288,2210,0,0,0,0,0,0
$GC,15324,0.60,146.1,66.4,16.5,712,15332,0.15,2.22,0.00,0.000,6,0.203,0.051,2026,2673,2209,0,0,0,0,0,0
$GC,15696,0.60,146.1,8.3,15.7,773,15705,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1288,2209,0,0,0,0,0,0
$STATE,15726,end climb,SURFACE_DEPTH_REACHED
$STATE,15726,begin surface coast
$FINISH,0.9,1.026451
$STATE,15745,end surface coast,CONTROL_FINISHED_OK
$STATE,15745,begin surface
$SM_CCo,15770,42.30,0.771,1,0,1881,230.09
$SM_GC,2.13,0.00,0.00,42.30,0.000,0.000,0.771,53,2870,1881,-5.55,0.28,230.09
$IRIDIUM_FIX,-4626.10,402.00,260113,080832
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.8,55.375
$10V_AH,10.0,27.735
$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,14.350,112.125,298.400,42.300,0.000,84.138,88.411,713.118,0.000,0.000,18.506,1978.774,10953.088,441.961,2917.548,817.642,33.396,1326.111,0.000,2016.233,0.000,1.010,0.000
$DEVICE_MAMPS,261.630,61.965,1796.985,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.970,1546.219,821.788,317.221,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,56976,780
$CAP_FILE_SIZE,131324,0
$CFSIZE,259252224,210980864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,260113,131034,-4642.072,406.844,31,0.9,31,-23.3