version: 66.07
glider: 542
mission: 6
dive: 300
start: 1 27 113 3 13 49
data:
$ID,542
$MISSION,6
$DIVE,300
$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,-11426.004
$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,51
$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
$GPS1,270113,025952,-4635.437,408.271,35,0.8,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-57.5
$GPS2,270113,031253,-4635.485,408.367,29,0.9,29,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,0.086
$KALMAN_X,-230920.8,502.3,176.4,219330.0,-4940.8
$KALMAN_Y,148239.8,-103.3,328.2,-119231.5,-1035.8
$MHEAD_RNG_PITCHd_Wd,93.8,10369,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-62.92,0.000,2,0.000,0.000,51,2897,3134,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-2.8,8,118,6.72,1.62,-7.55,0.000,4,0.251,0.074,1620,3877,3417,0,0,0,0,0,0
$GC,398,-0.60,-146.1,50.4,-14.8,55,405,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2827,3420,0,0,0,0,0,0
$GC,637,-0.60,-146.1,85.0,-13.3,96,646,0.00,1.70,0.00,0.000,4,0.000,0.057,1611,3867,3420,0,0,0,0,0,0
$GC,806,-0.60,-146.1,106.2,-12.2,119,810,0.00,1.52,0.00,0.000,6,0.000,0.031,1611,2855,3421,0,0,0,0,0,0
$GC,1134,-0.60,-146.1,147.6,-12.8,140,1138,0.00,2.05,0.00,0.000,4,0.000,0.035,1611,1485,3422,0,0,0,0,0,0
$GC,1175,-0.60,-146.1,153.3,-12.2,142,1185,0.08,2.20,0.00,0.000,6,0.165,0.050,1625,2841,3421,0,0,0,0,0,0
$GC,1503,-0.60,-146.1,190.3,-11.2,163,1507,0.00,1.67,0.00,0.000,4,0.000,0.058,1618,3890,3422,0,0,0,0,0,0
$GC,1561,-0.60,-146.1,198.2,-12.7,166,1564,0.00,1.55,0.00,0.000,6,0.000,0.031,1618,2859,3423,0,0,0,0,0,0
$GC,1889,-0.60,-146.1,234.0,-10.9,187,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2855,3422,0,0,0,0,0,0
$GC,2211,-0.60,-146.1,268.4,-10.8,205,2214,0.00,1.67,0.00,0.000,4,0.000,0.058,1609,3900,3422,0,0,0,0,0,0
$GC,2281,-0.60,-146.1,276.7,-11.5,208,2285,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2851,3423,0,0,0,0,0,0
$GC,2616,-0.60,-146.1,315.0,-11.4,224,2620,0.00,1.70,0.00,0.000,4,0.000,0.059,1601,3893,3422,0,0,0,0,0,0
$GC,2664,-0.60,-146.1,320.9,-12.4,226,2668,0.08,1.55,0.00,0.000,6,0.166,0.031,1639,2864,3423,0,0,0,0,0,0
$GC,3000,-0.60,-146.1,350.7,-8.5,242,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2859,3423,0,0,0,0,0,0
$GC,3311,-0.60,-146.1,375.9,-8.2,257,3315,0.00,1.67,0.00,0.000,4,0.000,0.060,1632,3899,3422,0,0,0,0,0,0
$GC,3346,-0.60,-146.1,379.5,-9.2,258,3350,0.00,1.58,0.00,0.000,6,0.000,0.031,1632,2862,3422,0,0,0,0,0,0
$GC,3679,-0.60,-146.1,410.9,-9.8,273,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3422,0,0,0,0,0,0
$GC,3987,-0.60,-146.1,443.1,-10.8,283,3991,0.00,1.67,0.00,0.000,4,0.000,0.060,1624,3896,3421,0,0,0,0,0,0
$GC,4033,-0.60,-146.1,448.6,-11.4,284,4037,0.00,1.58,0.00,0.000,6,0.000,0.033,1624,2855,3422,0,0,0,0,0,0
$GC,4364,-0.60,-146.1,485.3,-11.2,295,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2850,3421,0,0,0,0,0,0
$GC,4671,-0.60,-146.1,517.8,-10.4,305,4675,0.00,1.70,0.00,0.000,4,0.000,0.060,1616,3890,3421,0,0,0,0,0,0
$GC,4712,-0.60,-146.1,522.4,-11.5,306,4716,0.00,1.55,0.00,0.000,6,0.000,0.033,1616,2869,3421,0,0,0,0,0,0
$GC,5049,-0.60,-146.1,557.4,-10.5,317,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2863,3421,0,0,0,0,0,0
$GC,5355,-0.60,-146.1,590.4,-10.9,327,5359,0.00,1.67,0.00,0.000,4,0.000,0.060,1608,3903,3420,0,0,0,0,0,0
$GC,5401,-0.60,-146.1,595.8,-11.7,328,5405,0.00,1.60,0.00,0.000,6,0.000,0.032,1608,2852,3420,0,0,0,0,0,0
$GC,5733,-0.60,-146.1,631.9,-10.8,339,5736,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3903,3419,0,0,0,0,0,0
$GC,5762,-0.60,-146.1,635.5,-11.3,339,5769,0.08,1.60,0.00,0.000,6,0.171,0.032,1623,2849,3419,0,0,0,0,0,0
$GC,6077,-0.60,-146.1,665.3,-9.4,350,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2850,3419,0,0,0,0,0,0
$GC,6383,-0.60,-146.1,694.4,-9.4,360,6387,0.00,1.73,0.00,0.000,4,0.000,0.061,1616,3899,3419,0,0,0,0,0,0
$GC,6413,-0.60,-146.1,697.5,-10.1,360,6421,0.00,1.58,0.00,0.000,6,0.000,0.033,1616,2862,3418,0,0,0,0,0,0
$GC,6728,-0.60,-146.1,728.2,-9.6,371,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2862,3418,0,0,0,0,0,0
$GC,7035,-0.60,-146.1,756.5,-9.0,381,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3418,0,0,0,0,0,0
$GC,7341,-0.60,-146.1,783.2,-8.6,391,7344,0.00,1.67,0.00,0.000,4,0.000,0.060,1608,3897,3418,0,0,0,0,0,0
$GC,7377,-0.60,-146.1,786.6,-9.7,392,7381,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2863,3418,0,0,0,0,0,0
$GC,7721,-0.60,-146.1,818.4,-9.3,403,7724,0.00,1.67,0.00,0.000,4,0.000,0.061,1601,3894,3418,0,0,0,0,0,0
$GC,7766,-0.60,-146.1,823.5,-10.5,404,7770,0.08,1.58,0.00,0.000,6,0.165,0.032,1633,2860,3418,0,0,0,0,0,0
$GC,8099,-0.60,-146.1,850.1,-8.2,415,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2857,3418,0,0,0,0,0,0
$GC,8405,-0.60,-146.1,875.4,-8.4,425,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2856,3417,0,0,0,0,0,0
$GC,8711,-0.60,-146.1,899.7,-7.7,435,8715,0.00,2.12,0.00,0.000,4,0.000,0.039,1633,1475,3418,0,0,0,0,0,0
$GC,8735,-0.60,-146.1,901.8,-8.4,435,8739,0.00,2.25,0.00,0.000,6,0.000,0.054,1625,2862,3417,0,0,0,0,0,0
$GC,9051,-0.60,-146.1,926.6,-7.8,445,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3417,0,0,0,0,0,0
$GC,9357,-0.60,-146.1,949.4,-7.0,455,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3418,0,0,0,0,0,0
$GC,9663,-0.60,-146.1,970.2,-6.7,465,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3418,0,0,0,0,0,0
$GC,9970,-0.60,-146.1,991.4,-7.0,475,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3417,0,0,0,0,0,0
$STATE,10087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10087,begin apogee
$GC,10097,-0.18,0.0,1000.1,7.0,479,10245,0.47,0.00,144.85,1.231,6,0.157,0.000,1764,2675,2819,0,0,0,0,0,0
$STATE,10247,end apogee,CONTROL_FINISHED_OK
$STATE,10247,begin climb
$GC,10252,0.60,146.1,1002.9,0.0,484,10419,0.77,2.55,153.18,1.792,4,0.101,0.044,2025,1280,2225,0,0,0,0,1,0
$GC,10470,0.60,146.1,972.2,17.5,490,10475,0.00,2.45,0.00,0.000,6,0.000,0.050,2024,2666,2222,0,0,0,0,0,0
$GC,10786,0.60,146.1,906.6,20.4,500,10790,0.00,2.28,0.00,0.000,4,0.000,0.044,2035,1276,2217,0,0,0,0,0,0
$GC,10832,0.60,146.1,897.3,18.0,501,10836,0.00,2.30,0.00,0.000,6,0.000,0.050,2036,2673,2215,0,0,0,0,0,0
$GC,11153,0.60,146.1,830.1,20.9,512,11157,0.00,2.25,0.00,0.000,4,0.000,0.044,2045,1273,2215,0,0,0,0,0,0
$GC,11194,0.60,146.1,821.7,19.1,513,11198,0.00,2.30,0.00,0.000,6,0.000,0.050,2045,2680,2213,0,0,0,0,0,0
$GC,11520,0.60,146.1,754.2,20.8,524,11524,0.00,1.95,0.00,0.000,4,0.000,0.059,2045,3896,2213,0,0,0,0,0,0
$GC,11543,0.60,146.1,748.6,22.2,524,11548,0.12,1.90,0.00,0.000,6,0.244,0.037,2029,2676,2213,0,0,0,0,0,0
$GC,11865,0.60,146.1,684.2,20.1,535,11869,0.00,2.17,0.00,0.000,4,0.000,0.044,2039,1270,2213,0,0,0,0,0,0
$GC,11896,0.60,146.1,677.8,20.8,536,11900,0.00,2.25,0.00,0.000,6,0.000,0.051,2039,2673,2211,0,0,0,0,0,0
$GC,12234,0.60,146.1,606.7,21.5,547,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2673,2211,0,0,0,0,0,0
$GC,12540,0.60,146.1,543.7,20.4,557,12544,0.00,1.98,0.00,0.000,4,0.000,0.059,2039,3893,2211,0,0,0,0,0,0
$GC,12577,0.60,146.1,535.7,22.4,558,12581,0.00,1.92,0.00,0.000,6,0.000,0.037,2048,2671,2211,0,0,0,0,0,0
$GC,12922,0.60,146.1,465.8,20.1,569,12926,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1268,2211,0,0,0,0,0,0
$GC,12974,0.60,146.1,455.4,18.2,570,12979,0.12,2.28,0.00,0.000,6,0.210,0.050,2031,2674,2210,0,0,0,0,0,0
$GC,13289,0.60,146.1,398.4,18.2,580,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2674,2210,0,0,0,0,0,0
$GC,13601,0.60,146.1,341.3,18.6,595,13605,0.00,2.22,0.00,0.000,4,0.000,0.045,2041,1268,2211,0,0,0,0,0,0
$GC,13641,0.60,146.1,333.4,18.1,596,13652,0.00,2.30,0.00,0.000,6,0.000,0.051,2040,2672,2210,0,0,0,0,0,0
$GC,13960,0.60,146.1,272.6,19.4,612,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2672,2210,0,0,0,0,0,0
$GC,14271,0.60,146.1,215.3,18.1,630,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2672,2210,0,0,0,0,0,0
$GC,14585,0.60,146.1,159.4,17.6,650,14589,0.00,2.22,0.00,0.000,4,0.000,0.043,2051,1266,2210,0,0,0,0,0,0
$GC,14654,0.60,146.1,148.2,14.4,654,14658,0.00,2.28,0.00,0.000,6,0.000,0.050,2051,2672,2210,0,0,0,0,0,0
$GC,14978,0.60,146.1,94.3,17.8,676,14985,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1263,2210,0,0,0,0,0,0
$GC,15047,0.60,146.1,83.5,14.9,687,15054,0.10,2.30,0.00,0.000,6,0.188,0.050,2033,2673,2209,0,0,0,0,0,0
$GC,15411,0.60,146.1,28.8,16.4,748,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2673,2209,0,0,0,0,0,0
$GC,15498,0.60,146.1,14.9,15.6,761,15507,0.00,2.25,0.00,0.000,4,0.000,0.044,2042,1269,2210,0,0,0,0,0,0
$GC,15537,0.60,146.1,9.1,14.6,766,15546,0.00,2.30,0.00,0.000,6,0.000,0.051,2042,2675,2209,0,0,0,0,0,0
$STATE,15574,end climb,SURFACE_DEPTH_REACHED
$STATE,15574,begin surface coast
$FINISH,0.9,1.026375
$STATE,15593,end surface coast,CONTROL_FINISHED_OK
$STATE,15594,begin surface
$SM_CCo,15616,42.03,0.763,1,0,1879,230.09
$SM_GC,2.16,0.00,0.00,42.03,0.000,0.000,0.763,58,2884,1879,-5.54,0.68,230.09
$IRIDIUM_FIX,-4619.84,404.69,260113,222234
$TT8_MAMPS,0.026215
$HUMID,57.87
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.8,56.065
$10V_AH,10.0,28.178
$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,14.075,100.375,298.025,42.025,0.000,26.390,23.511,471.866,0.000,0.000,32.263,1939.952,10831.633,431.831,2471.987,756.815,33.375,1284.303,0.000,1927.137,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,74.205,1792.395,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.392,1526.184,815.097,302.837,0.000,0.000,0.000,0.000,0.000,0.000
$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,57130,774
$CAP_FILE_SIZE,123404,0
$CFSIZE,259252224,210714624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270113,073604,-4633.922,410.125,22,0.9,22,-23.4