version: 66.07
glider: 542
mission: 6
dive: 297
start: 1 26 113 13 24 37
data:
$ID,542
$MISSION,6
$DIVE,297
$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,-11418.104
$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,57
$R_STBD_OVSHOOT,25
$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
$GPS1,260113,131034,-4642.072,406.844,31,0.9,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-52.3
$GPS2,260113,132341,-4642.065,406.968,20,1.2,20,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.128,0.221
$KALMAN_X,-222784.6,-435.4,185.8,210351.6,-2359.9
$KALMAN_Y,148111.0,605.8,346.6,-132021.4,-2657.4
$MHEAD_RNG_PITCHd_Wd,53.3,22677,-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,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,84,0.00,0.00,-55.03,0.000,2,0.000,0.000,51,2870,2902,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.6,7,125,6.80,2.22,-17.88,0.000,4,0.255,0.050,1626,1475,3416,0,0,0,0,0,0
$GC,267,-0.60,-146.1,23.1,-13.9,33,276,0.00,2.28,0.00,0.000,6,0.000,0.052,1617,2861,3417,0,0,0,0,0,0
$GC,353,-0.60,-146.1,34.2,-13.3,46,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3417,0,0,0,0,0,0
$GC,600,-0.60,-146.1,72.0,-15.3,87,607,0.00,1.65,0.00,0.000,4,0.000,0.056,1609,3892,3418,0,0,0,0,0,0
$GC,655,-0.60,-146.1,80.8,-15.2,96,664,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2843,3418,0,0,0,0,0,0
$GC,1003,-0.60,-146.1,126.2,-12.6,133,1007,0.00,2.05,0.00,0.000,4,0.000,0.036,1609,1490,3418,0,0,0,0,0,0
$GC,1036,-0.60,-146.1,130.4,-13.2,135,1041,0.12,2.20,0.00,0.000,6,0.185,0.050,1628,2863,3418,0,0,0,0,0,0
$GC,1368,-0.60,-146.1,168.5,-11.5,156,1372,0.00,1.65,0.00,0.000,4,0.000,0.057,1622,3913,3419,0,0,0,0,0,0
$GC,1415,-0.60,-146.1,174.8,-12.5,158,1423,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2863,3419,0,0,0,0,0,0
$GC,1738,-0.60,-146.1,212.0,-11.5,179,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3419,0,0,0,0,0,0
$GC,2050,-0.60,-146.1,245.0,-10.2,199,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3420,0,0,0,0,0,0
$GC,2361,-0.60,-146.1,276.1,-9.9,215,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3420,0,0,0,0,0,0
$GC,2668,-0.60,-146.1,307.4,-10.1,230,2672,0.00,1.65,0.00,0.000,4,0.000,0.058,1614,3893,3420,0,0,0,0,0,0
$GC,2703,-0.60,-146.1,311.6,-11.5,231,2707,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2867,3419,0,0,0,0,0,0
$GC,3029,-0.60,-146.1,348.2,-11.6,247,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3419,0,0,0,0,0,0
$GC,3336,-0.60,-146.1,384.1,-11.6,262,3339,0.00,1.65,0.00,0.000,4,0.000,0.059,1606,3893,3420,0,0,0,0,0,0
$GC,3387,-0.60,-146.1,390.7,-12.4,264,3391,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2866,3420,0,0,0,0,0,0
$GC,3715,-0.60,-146.1,431.3,-12.3,276,3719,0.00,1.65,0.00,0.000,4,0.000,0.058,1598,3893,3419,0,0,0,0,0,0
$GC,3744,-0.60,-146.1,435.5,-13.3,276,3751,0.10,1.58,0.00,0.000,6,0.166,0.031,1628,2849,3419,0,0,0,0,0,0
$GC,4059,-0.60,-146.1,467.9,-10.1,287,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2848,3419,0,0,0,0,0,0
$GC,4366,-0.60,-146.1,498.5,-9.8,297,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2848,3419,0,0,0,0,0,0
$GC,4672,-0.60,-146.1,528.7,-9.8,307,4676,0.00,1.73,0.00,0.000,4,0.000,0.060,1621,3899,3419,0,0,0,0,0,0
$GC,4708,-0.60,-146.1,532.6,-10.6,308,4713,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2866,3419,0,0,0,0,0,0
$GC,5052,-0.60,-146.1,566.6,-9.6,319,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3419,0,0,0,0,0,0
$GC,5358,-0.60,-146.1,595.3,-9.2,329,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3418,0,0,0,0,0,0
$GC,5666,-0.60,-146.1,624.4,-9.8,339,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3418,0,0,0,0,0,0
$GC,5971,-0.60,-146.1,654.6,-10.0,349,5975,0.00,2.12,0.00,0.000,4,0.000,0.038,1621,1475,3418,0,0,0,0,0,0
$GC,6011,-0.60,-146.1,658.9,-9.9,350,6015,0.00,2.22,0.00,0.000,6,0.000,0.052,1610,2866,3417,0,0,0,0,0,0
$GC,6339,-0.60,-146.1,692.9,-10.5,361,6343,0.00,1.65,0.00,0.000,4,0.000,0.060,1603,3909,3418,0,0,0,0,0,0
$GC,6402,-0.60,-146.1,700.4,-11.3,362,6409,0.08,1.60,0.00,0.000,6,0.160,0.031,1626,2854,3417,0,0,0,0,0,0
$GC,6718,-0.60,-146.1,727.9,-8.5,373,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2854,3417,0,0,0,0,0,0
$GC,7023,-0.60,-146.1,752.3,-7.9,383,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2854,3417,0,0,0,0,0,0
$GC,7330,-0.60,-146.1,776.9,-8.3,393,7334,0.00,2.10,0.00,0.000,4,0.000,0.039,1626,1485,3417,0,0,0,0,0,0
$GC,7354,-0.60,-146.1,779.2,-8.6,393,7358,0.00,2.22,0.00,0.000,6,0.000,0.052,1617,2860,3417,0,0,0,0,0,0
$GC,7670,-0.60,-146.1,807.8,-9.2,403,7673,0.00,1.65,0.00,0.000,4,0.000,0.060,1609,3901,3417,0,0,0,0,0,0
$GC,7726,-0.60,-146.1,814.0,-10.6,404,7730,0.00,1.58,0.00,0.000,6,0.000,0.032,1609,2866,3417,0,0,0,0,0,0
$GC,8047,-0.60,-146.1,845.7,-10.1,415,8051,0.00,2.10,0.00,0.000,4,0.000,0.037,1608,1483,3416,0,0,0,0,0,0
$GC,8078,-0.60,-146.1,848.8,-10.2,416,8083,0.12,2.20,0.00,0.000,6,0.187,0.052,1629,2862,3417,0,0,0,0,0,0
$GC,8417,-0.60,-146.1,877.8,-8.5,427,8421,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3900,3416,0,0,0,0,0,0
$GC,8463,-0.60,-146.1,882.2,-9.5,428,8468,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2864,3417,0,0,0,0,0,0
$GC,8796,-0.60,-146.1,911.4,-8.7,439,8800,0.00,2.15,0.00,0.000,4,0.000,0.037,1622,1476,3416,0,0,0,0,0,0
$GC,8833,-0.60,-146.1,914.8,-8.7,440,8838,0.00,2.25,0.00,0.000,6,0.000,0.052,1612,2872,3417,0,0,0,0,0,0
$GC,9179,-0.60,-146.1,946.9,-9.3,451,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2872,3416,0,0,0,0,0,0
$GC,9483,-0.60,-146.1,975.6,-9.5,461,9487,0.00,1.65,0.00,0.000,4,0.000,0.060,1604,3910,3416,0,0,0,0,0,0
$GC,9512,-0.60,-146.1,978.8,-10.7,461,9520,0.08,1.60,0.00,0.000,6,0.164,0.031,1627,2850,3416,0,0,0,0,0,0
$STATE,9762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9762,begin apogee
$GC,9773,-0.18,0.0,1000.8,8.7,470,9921,0.47,0.00,145.30,1.250,6,0.156,0.000,1768,2672,2819,0,0,0,0,0,0
$STATE,9923,end apogee,CONTROL_FINISHED_OK
$STATE,9923,begin climb
$GC,9928,0.60,146.1,1005.5,0.0,475,10095,0.77,2.45,155.02,1.802,4,0.094,0.042,2030,1295,2224,0,0,0,0,1,0
$GC,10108,0.60,146.1,983.0,18.2,480,10115,0.00,2.45,0.00,0.000,6,0.000,0.049,2030,2662,2224,0,0,0,0,0,0
$GC,10423,0.60,146.1,917.6,21.2,491,10427,0.00,2.22,0.00,0.000,4,0.000,0.044,2041,1291,2218,0,0,0,0,0,0
$GC,10447,0.60,146.1,912.3,20.8,491,10451,0.00,2.30,0.00,0.000,6,0.000,0.049,2040,2673,2216,0,0,0,0,0,0
$GC,10762,0.60,146.1,845.3,21.5,501,10766,0.00,2.20,0.00,0.000,4,0.000,0.044,2051,1291,2216,0,0,0,0,0,0
$GC,10803,0.60,146.1,836.5,19.4,502,10807,0.00,2.28,0.00,0.000,6,0.000,0.050,2051,2680,2214,0,0,0,0,0,0
$GC,11129,0.60,146.1,765.2,22.2,513,11133,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1291,2214,0,0,0,0,0,0
$GC,11160,0.60,146.1,758.2,21.0,514,11165,0.15,2.25,0.00,0.000,6,0.216,0.050,2028,2681,2212,0,0,0,0,0,0
$GC,11499,0.60,146.1,690.3,19.7,525,11503,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1287,2213,0,0,0,0,0,0
$GC,11531,0.60,146.1,684.2,20.0,526,11535,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2676,2212,0,0,0,0,0,0
$GC,11868,0.60,146.1,617.2,20.0,537,11872,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1288,2212,0,0,0,0,0,0
$GC,11899,0.60,146.1,611.3,17.9,538,11903,0.00,2.22,0.00,0.000,6,0.000,0.050,2047,2669,2211,0,0,0,0,0,0
$GC,12237,0.60,146.1,543.7,20.5,549,12241,0.00,2.17,0.00,0.000,4,0.000,0.044,2057,1285,2211,0,0,0,0,0,0
$GC,12278,0.60,146.1,535.3,18.5,550,12282,0.12,2.25,0.00,0.000,6,0.210,0.050,2029,2676,2211,0,0,0,0,0,0
$GC,12605,0.60,146.1,476.0,18.3,561,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2677,2211,0,0,0,0,0,0
$GC,12911,0.60,146.1,420.0,17.7,571,12915,0.00,2.17,0.00,0.000,4,0.000,0.042,2039,1288,2211,0,0,0,0,0,0
$GC,12957,0.60,146.1,412.0,15.3,572,12961,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2674,2210,0,0,0,0,0,0
$GC,13294,0.60,146.1,352.0,18.0,587,13298,0.00,1.95,0.00,0.000,4,0.000,0.058,2039,3895,2210,0,0,0,0,0,0
$GC,13306,0.60,146.1,349.0,18.1,587,13310,0.00,1.88,0.00,0.000,6,0.000,0.037,2048,2687,2210,0,0,0,0,0,0
$GC,13632,0.60,146.1,288.4,18.6,603,13636,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1263,2210,0,0,0,0,0,0
$GC,13684,0.60,146.1,278.8,16.1,605,13689,0.12,2.28,0.00,0.000,6,0.209,0.050,2031,2670,2209,0,0,0,0,0,0
$GC,14011,0.60,146.1,224.6,16.6,623,14015,0.00,2.22,0.00,0.000,4,0.000,0.043,2040,1263,2209,0,0,0,0,0,0
$GC,14031,0.60,146.1,220.3,16.4,624,14035,0.00,2.28,0.00,0.000,6,0.000,0.050,2040,2673,2209,0,0,0,0,0,0
$GC,14360,0.60,146.1,161.5,18.1,645,14364,0.00,2.22,0.00,0.000,4,0.000,0.043,2050,1269,2209,0,0,0,0,0,0
$GC,14384,0.60,146.1,156.5,17.5,646,14393,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2663,2209,0,0,0,0,0,0
$GC,14707,0.60,146.1,98.4,16.8,667,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2664,2209,0,0,0,0,0,0
$GC,15063,0.60,146.1,39.6,16.2,728,15073,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1274,2209,0,0,0,0,0,0
$GC,15175,0.60,146.1,23.4,13.2,745,15185,0.10,2.28,0.00,0.000,6,0.190,0.050,2033,2672,2209,0,0,0,0,0,0
$GC,15263,0.60,146.1,8.1,18.2,758,15272,0.00,2.22,0.00,0.000,4,0.000,0.041,2042,1271,2209,0,0,0,0,0,0
$GC,15291,0.60,146.1,4.0,15.8,761,15299,0.00,2.25,0.00,0.000,6,0.000,0.047,2042,2666,2208,0,0,0,0,0,0
$STATE,15308,end climb,SURFACE_DEPTH_REACHED
$STATE,15308,begin surface coast
$FINISH,0.7,1.024698
$STATE,15336,end surface coast,CONTROL_FINISHED_OK
$STATE,15336,begin surface
$SM_CCo,15359,41.85,0.775,1,0,1880,230.09
$SM_GC,1.91,0.00,0.00,41.85,0.000,0.000,0.775,58,2894,1880,-5.54,0.93,230.09
$IRIDIUM_FIX,-4626.10,405.14,260113,080827
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.8,55.546
$10V_AH,10.0,27.844
$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,14.450,121.400,300.325,41.850,0.000,27.337,25.967,482.273,0.000,0.000,22.379,1923.274,10548.277,488.877,2438.597,781.185,33.400,1320.201,0.000,1895.805,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,61.200,1801.575,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.727,1530.367,828.385,317.527,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,57202,767
$CAP_FILE_SIZE,125481,0
$CFSIZE,259252224,210919424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,260113,174253,-4639.738,407.037,41,0.8,41,-23.3