version: 66.07
glider: 542
mission: 6
dive: 298
start: 1 26 113 17 56 32
data:
$ID,542
$MISSION,6
$DIVE,298
$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,-11420.463
$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,41
$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
$GPS1,260113,174253,-4639.738,407.037,41,0.8,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-55.1
$GPS2,260113,175536,-4639.672,407.207,21,1.2,21,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.102,0.234
$KALMAN_X,-224877.3,-349.9,-210.3,213063.5,-1667.5
$KALMAN_Y,148104.2,603.4,258.9,-127493.0,-2432.1
$MHEAD_RNG_PITCHd_Wd,46.9,18264,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.17,0.000,2,0.000,0.000,57,2895,2746,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.0,-3.3,6,125,6.97,2.30,-26.02,0.000,4,0.264,0.047,1626,1440,3415,0,0,0,0,0,0
$GC,249,-0.60,-146.1,15.7,-10.1,30,259,0.00,2.30,0.00,0.000,6,0.000,0.050,1617,2848,3417,0,0,0,0,0,0
$GC,337,-0.60,-146.1,27.0,-14.1,43,346,0.00,1.70,0.00,0.000,4,0.000,0.057,1608,3903,3418,0,0,0,0,0,0
$GC,399,-0.60,-146.1,36.0,-13.2,52,408,0.00,1.62,0.00,0.000,6,0.000,0.029,1608,2838,3418,0,0,0,0,0,0
$GC,647,-0.60,-146.1,73.4,-14.2,93,653,0.00,1.73,0.00,0.000,4,0.000,0.057,1600,3894,3418,0,0,0,0,0,0
$GC,668,-0.60,-146.1,76.7,-14.1,96,677,0.10,1.58,0.00,0.000,6,0.170,0.031,1630,2851,3418,0,0,0,0,0,0
$GC,1023,-0.60,-146.1,115.8,-10.4,141,1027,0.00,2.10,0.00,0.000,4,0.000,0.036,1630,1479,3418,0,0,0,0,0,0
$GC,1149,-0.60,-146.1,127.8,-8.8,148,1158,0.00,2.25,0.00,0.000,6,0.000,0.051,1621,2862,3419,0,0,0,0,0,0
$GC,1472,-0.60,-146.1,164.9,-11.8,169,1476,0.00,1.65,0.00,0.000,4,0.000,0.058,1612,3911,3419,0,0,0,0,0,0
$GC,1581,-0.60,-146.1,177.9,-11.7,175,1584,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2859,3420,0,0,0,0,0,0
$GC,1915,-0.60,-146.1,216.3,-11.6,196,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2855,3420,0,0,0,0,0,0
$GC,2235,-0.60,-146.1,255.6,-12.3,216,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2855,3419,0,0,0,0,0,0
$GC,2547,-0.60,-146.1,292.4,-11.7,231,2550,0.00,1.67,0.00,0.000,4,0.000,0.059,1604,3899,3420,0,0,0,0,0,0
$GC,2572,-0.60,-146.1,295.6,-12.0,232,2577,0.08,1.58,0.00,0.000,6,0.163,0.031,1627,2856,3419,0,0,0,0,0,0
$GC,2908,-0.60,-146.1,332.5,-11.2,248,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2853,3419,0,0,0,0,0,0
$GC,3219,-0.60,-146.1,366.1,-11.0,263,3223,0.00,1.70,0.00,0.000,4,0.000,0.060,1620,3894,3419,0,0,0,0,0,0
$GC,3254,-0.60,-146.1,370.4,-12.0,264,3258,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2855,3419,0,0,0,0,0,0
$GC,3598,-0.60,-146.1,408.1,-11.0,280,3601,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3907,3419,0,0,0,0,0,0
$GC,3634,-0.60,-146.1,412.1,-11.0,281,3638,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2867,3419,0,0,0,0,0,0
$GC,3978,-0.60,-146.1,449.7,-10.7,292,3981,0.00,1.70,0.00,0.000,4,0.000,0.059,1604,3903,3419,0,0,0,0,0,0
$GC,4001,-0.60,-146.1,452.6,-11.0,292,4005,0.05,1.58,0.00,0.000,6,0.164,0.031,1634,2862,3419,0,0,0,0,0,0
$GC,4322,-0.60,-146.1,480.6,-8.7,303,4326,0.00,2.12,0.00,0.000,4,0.000,0.038,1634,1479,3419,0,0,0,0,0,0
$GC,4335,-0.60,-146.1,482.0,-8.7,303,4339,0.00,2.22,0.00,0.000,6,0.000,0.051,1625,2867,3419,0,0,0,0,0,0
$GC,4661,-0.60,-146.1,513.2,-9.8,314,4665,0.00,1.65,0.00,0.000,4,0.000,0.060,1617,3893,3419,0,0,0,0,0,0
$GC,4708,-0.60,-146.1,518.1,-9.7,315,4712,0.00,1.58,0.00,0.000,6,0.000,0.031,1617,2853,3419,0,0,0,0,0,0
$GC,5040,-0.60,-146.1,551.9,-10.2,326,5044,0.00,2.08,0.00,0.000,4,0.000,0.037,1617,1482,3419,0,0,0,0,0,0
$GC,5052,-0.60,-146.1,553.6,-10.4,326,5056,0.00,2.22,0.00,0.000,6,0.000,0.051,1606,2869,3418,0,0,0,0,0,0
$GC,5378,-0.60,-146.1,590.2,-11.7,337,5382,0.00,1.65,0.00,0.000,4,0.000,0.060,1598,3912,3418,0,0,0,0,0,0
$GC,5415,-0.60,-146.1,594.4,-11.9,338,5419,0.08,1.60,0.00,0.000,6,0.171,0.032,1629,2856,3418,0,0,0,0,0,0
$GC,5759,-0.60,-146.1,627.1,-9.3,349,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3418,0,0,0,0,0,0
$GC,6065,-0.60,-146.1,656.6,-9.7,359,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3418,0,0,0,0,0,0
$GC,6371,-0.60,-146.1,686.1,-9.5,369,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3417,0,0,0,0,0,0
$GC,6679,-0.60,-146.1,713.6,-8.7,379,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3417,0,0,0,0,0,0
$GC,6984,-0.60,-146.1,740.0,-8.7,389,6987,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3901,3416,0,0,0,0,0,0
$GC,7012,-0.60,-146.1,743.0,-10.0,389,7019,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2867,3416,0,0,0,0,0,0
$GC,7328,-0.60,-146.1,772.1,-9.2,400,7332,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1476,3416,0,0,0,0,0,0
$GC,7352,-0.60,-146.1,774.6,-9.9,400,7359,0.00,2.22,0.00,0.000,6,0.000,0.052,1612,2860,3416,0,0,0,0,0,0
$GC,7667,-0.60,-146.1,803.3,-9.0,411,7671,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3897,3415,0,0,0,0,0,0
$GC,7708,-0.60,-146.1,807.7,-10.7,412,7712,0.00,1.58,0.00,0.000,6,0.000,0.032,1604,2862,3416,0,0,0,0,0,0
$GC,8047,-0.60,-146.1,840.9,-10.0,423,8052,0.10,2.15,0.00,0.000,4,0.196,0.037,1629,1479,3415,0,0,0,0,0,0
$GC,8100,-0.60,-146.1,845.8,-7.9,424,8104,0.00,2.25,0.00,0.000,6,0.000,0.052,1620,2869,3416,0,0,0,0,0,0
$GC,8416,-0.60,-146.1,872.9,-8.5,434,8420,0.00,1.62,0.00,0.000,4,0.000,0.060,1612,3905,3416,0,0,0,0,0,0
$GC,8454,-0.60,-146.1,876.4,-9.3,435,8457,0.00,1.60,0.00,0.000,6,0.000,0.032,1611,2852,3416,0,0,0,0,0,0
$GC,8797,-0.60,-146.1,906.1,-8.3,446,8801,0.00,2.08,0.00,0.000,4,0.000,0.037,1612,1483,3416,0,0,0,0,0,0
$GC,8821,-0.60,-146.1,908.3,-8.6,446,8828,0.12,2.22,0.00,0.000,6,0.187,0.053,1631,2865,3415,0,0,0,0,0,0
$GC,9137,-0.60,-146.1,929.7,-7.0,457,9141,0.00,1.65,0.00,0.000,4,0.000,0.061,1624,3900,3416,0,0,0,0,0,0
$GC,9167,-0.60,-146.1,932.1,-7.5,457,9173,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2865,3415,0,0,0,0,0,0
$GC,9482,-0.60,-146.1,955.9,-7.8,468,9486,0.00,2.12,0.00,0.000,4,0.000,0.037,1624,1483,3415,0,0,0,0,0,0
$GC,9514,-0.60,-146.1,958.4,-8.2,469,9518,0.00,2.22,0.00,0.000,6,0.000,0.053,1615,2860,3415,0,0,0,0,0,0
$GC,9852,-0.60,-146.1,988.0,-9.1,480,9855,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3911,3415,0,0,0,0,0,0
$GC,9903,-0.60,-146.1,993.4,-10.7,481,9907,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2862,3415,0,0,0,0,0,0
$STATE,9980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9980,begin apogee
$GC,9991,-0.18,0.0,1001.2,9.8,484,10138,0.55,0.00,144.57,1.258,6,0.163,0.000,1764,2670,2819,0,0,0,0,0,0
$STATE,10140,end apogee,CONTROL_FINISHED_OK
$STATE,10140,begin climb
$GC,10146,0.60,146.1,1006.4,0.0,489,10313,0.77,2.47,153.98,1.799,4,0.098,0.043,2025,1284,2225,0,0,0,0,1,0
$GC,10344,0.60,146.1,980.9,18.3,495,10349,0.00,2.47,0.00,0.000,6,0.000,0.050,2025,2670,2222,0,0,0,0,0,0
$GC,10671,0.60,146.1,915.0,20.1,506,10675,0.00,2.30,0.00,0.000,4,0.000,0.045,2035,1281,2217,0,0,0,0,0,0
$GC,10695,0.60,146.1,910.3,18.0,506,10702,0.00,2.33,0.00,0.000,6,0.000,0.050,2035,2681,2215,0,0,0,0,0,0
$GC,11011,0.60,146.1,846.0,20.5,517,11015,0.00,2.28,0.00,0.000,4,0.000,0.044,2045,1274,2215,0,0,0,0,0,0
$GC,11057,0.60,146.1,836.8,17.9,518,11061,0.00,2.30,0.00,0.000,6,0.000,0.050,2046,2678,2214,0,0,0,0,0,0
$GC,11377,0.60,146.1,766.1,22.8,529,11381,0.00,2.22,0.00,0.000,4,0.000,0.044,2056,1273,2214,0,0,0,0,0,0
$GC,11424,0.60,146.1,756.2,19.6,530,11429,0.12,2.28,0.00,0.000,6,0.217,0.050,2029,2672,2212,0,0,0,0,0,0
$GC,11746,0.60,146.1,691.5,20.4,541,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2673,2212,0,0,0,0,0,0
$GC,12052,0.60,146.1,629.9,19.5,551,12056,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1270,2212,0,0,0,0,0,0
$GC,12110,0.60,146.1,619.3,16.5,552,12114,0.00,2.28,0.00,0.000,6,0.000,0.051,2038,2673,2211,0,0,0,0,0,0
$GC,12426,0.60,146.1,558.3,18.9,562,12430,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1273,2211,0,0,0,0,0,0
$GC,12462,0.60,146.1,551.4,17.7,563,12466,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2670,2211,0,0,0,0,0,0
$GC,12794,0.60,146.1,485.8,20.1,574,12798,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1277,2211,0,0,0,0,0,0
$GC,12818,0.60,146.1,480.6,19.7,574,12825,0.12,2.25,0.00,0.000,6,0.209,0.050,2031,2675,2211,0,0,0,0,0,0
$GC,13133,0.60,146.1,422.4,18.6,585,13137,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1274,2211,0,0,0,0,0,0
$GC,13163,0.60,146.1,416.6,17.3,585,13169,0.00,2.25,0.00,0.000,6,0.000,0.050,2041,2671,2210,0,0,0,0,0,0
$GC,13490,0.60,146.1,353.4,19.4,600,13494,0.00,2.20,0.00,0.000,4,0.000,0.044,2051,1271,2210,0,0,0,0,0,0
$GC,13525,0.60,146.1,346.7,17.5,601,13529,0.00,2.28,0.00,0.000,6,0.000,0.050,2051,2677,2210,0,0,0,0,0,0
$GC,13844,0.60,146.1,284.5,19.5,616,13848,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1273,2210,0,0,0,0,0,0
$GC,13866,0.60,146.1,280.6,19.3,617,13871,0.15,2.25,0.00,0.000,6,0.206,0.050,2026,2670,2210,0,0,0,0,0,0
$GC,14199,0.60,146.1,222.8,17.4,635,14203,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1273,2210,0,0,0,0,0,0
$GC,14219,0.60,146.1,218.4,17.3,636,14223,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2670,2210,0,0,0,0,0,0
$GC,14547,0.60,146.1,160.5,18.4,657,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2210,0,0,0,0,0,0
$GC,14860,0.60,146.1,106.9,15.8,677,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2210,0,0,0,0,0,0
$GC,15199,0.60,146.1,60.8,13.9,729,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2209,0,0,0,0,0,0
$STATE,15555,end climb,SURFACE_DEPTH_REACHED
$STATE,15555,begin surface coast
$FINISH,0.9,1.010060
$STATE,15581,end surface coast,CONTROL_FINISHED_OK
$STATE,15581,begin surface
$SM_CCo,15604,42.15,0.770,1,0,1880,230.09
$SM_GC,2.21,0.00,0.00,42.15,0.000,0.000,0.770,54,2877,1880,-5.55,0.48,230.09
$IRIDIUM_FIX,-4626.10,414.53,260113,131318
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.8,55.715
$10V_AH,10.0,27.957
$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,14.625,131.150,298.550,42.150,0.000,27.339,19.133,467.693,0.000,0.000,23.441,1994.289,10593.668,455.862,2563.431,796.547,33.400,1359.367,0.000,2030.044,0.000,1.010,0.000
$DEVICE_MAMPS,263.925,66.555,1798.515,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.746,1569.198,861.403,341.835,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,57029,792
$CAP_FILE_SIZE,132840,0
$CFSIZE,259252224,210845696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,260113,221852,-4637.571,407.108,39,0.8,40,-23.3