version: 66.07
glider: 542
mission: 6
dive: 301
start: 1 27 113 7 49 40
data:
$ID,542
$MISSION,6
$DIVE,301
$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,-11428.715
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,270113,073604,-4633.922,410.125,22,0.9,22,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-60.9
$GPS2,270113,074843,-4633.951,410.243,15,1.8,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.235,0.100
$KALMAN_X,-233424.1,423.6,168.1,224290.2,-5079.0
$KALMAN_Y,149288.5,231.5,94.9,-117543.9,281.3
$MHEAD_RNG_PITCHd_Wd,90.3,7324,-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,-54.83,0.000,2,0.000,0.000,58,2884,2929,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.1,-3.4,7,125,6.85,1.67,-15.93,0.000,4,0.257,0.079,1623,3890,3418,0,0,0,0,0,0
$GC,402,-0.60,-146.1,44.4,-13.7,56,411,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2841,3419,0,0,0,0,0,0
$GC,649,-0.60,-146.1,78.2,-14.0,97,654,0.00,1.70,0.00,0.000,4,0.000,0.057,1615,3883,3419,0,0,0,0,0,0
$GC,835,-0.60,-146.1,104.7,-13.7,125,842,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2854,3420,0,0,0,0,0,0
$GC,1158,-0.60,-146.1,148.5,-13.5,146,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2854,3420,0,0,0,0,0,0
$GC,1469,-0.60,-146.1,188.6,-12.3,166,1473,0.00,1.67,0.00,0.000,4,0.000,0.058,1606,3897,3421,0,0,0,0,0,0
$GC,1527,-0.60,-146.1,196.1,-12.2,169,1530,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2854,3422,0,0,0,0,0,0
$GC,1855,-0.60,-146.1,237.4,-12.3,190,1859,0.00,1.67,0.00,0.000,4,0.000,0.058,1598,3896,3422,0,0,0,0,0,0
$GC,1896,-0.60,-146.1,243.5,-13.9,192,1900,0.08,1.55,0.00,0.000,6,0.158,0.031,1637,2867,3422,0,0,0,0,0,0
$GC,2223,-0.60,-146.1,274.8,-9.1,209,2227,0.00,2.10,0.00,0.000,4,0.000,0.037,1637,1479,3422,0,0,0,0,0,0
$GC,2247,-0.60,-146.1,277.4,-9.2,210,2251,0.00,2.20,0.00,0.000,6,0.000,0.050,1628,2862,3422,0,0,0,0,0,0
$GC,2577,-0.60,-146.1,308.3,-9.6,226,2580,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3907,3422,0,0,0,0,0,0
$GC,2625,-0.60,-146.1,313.1,-10.6,228,2629,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2862,3422,0,0,0,0,0,0
$GC,2960,-0.60,-146.1,348.8,-10.9,244,2964,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3887,3422,0,0,0,0,0,0
$GC,2995,-0.60,-146.1,353.3,-12.1,245,2999,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2856,3421,0,0,0,0,0,0
$GC,3321,-0.60,-146.1,390.3,-11.4,261,3324,0.00,1.67,0.00,0.000,4,0.000,0.059,1603,3895,3422,0,0,0,0,0,0
$GC,3370,-0.60,-146.1,396.4,-12.2,263,3375,0.08,1.55,0.00,0.000,6,0.165,0.032,1626,2870,3421,0,0,0,0,0,0
$GC,3693,-0.60,-146.1,428.4,-9.4,274,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2865,3421,0,0,0,0,0,0
$GC,4000,-0.60,-146.1,456.7,-9.2,284,4004,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3890,3421,0,0,0,0,0,0
$GC,4063,-0.60,-146.1,463.2,-9.8,285,4070,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2847,3421,0,0,0,0,0,0
$GC,4380,-0.60,-146.1,494.5,-10.0,296,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2847,3421,0,0,0,0,0,0
$GC,4685,-0.60,-146.1,524.8,-9.9,306,4688,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3900,3421,0,0,0,0,0,0
$GC,4725,-0.60,-146.1,529.2,-10.8,307,4728,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2863,3421,0,0,0,0,0,0
$GC,5062,-0.60,-146.1,563.0,-9.9,318,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2859,3421,0,0,0,0,0,0
$GC,5368,-0.60,-146.1,594.2,-10.2,328,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2859,3420,0,0,0,0,0,0
$GC,5675,-0.60,-146.1,627.7,-11.3,338,5679,0.00,1.70,0.00,0.000,4,0.000,0.061,1604,3893,3420,0,0,0,0,0,0
$GC,5721,-0.60,-146.1,633.6,-12.2,339,5725,0.08,1.58,0.00,0.000,6,0.164,0.032,1626,2857,3419,0,0,0,0,0,0
$GC,6053,-0.60,-146.1,668.0,-10.3,350,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2852,3419,0,0,0,0,0,0
$GC,6360,-0.60,-146.1,697.0,-9.1,360,6363,0.00,1.70,0.00,0.000,4,0.000,0.061,1620,3901,3419,0,0,0,0,0,0
$GC,6400,-0.60,-146.1,701.1,-9.3,361,6404,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2847,3418,0,0,0,0,0,0
$GC,6738,-0.60,-146.1,728.8,-8.0,372,6741,0.00,1.70,0.00,0.000,4,0.000,0.059,1611,3897,3418,0,0,0,0,0,0
$GC,6779,-0.60,-146.1,732.5,-8.8,373,6782,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2855,3418,0,0,0,0,0,0
$GC,7116,-0.60,-146.1,759.9,-8.1,384,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2850,3418,0,0,0,0,0,0
$GC,7423,-0.60,-146.1,784.9,-8.4,394,7426,0.00,1.67,0.00,0.000,4,0.000,0.059,1604,3892,3417,0,0,0,0,0,0
$GC,7486,-0.60,-146.1,790.9,-9.2,395,7493,0.08,1.55,0.00,0.000,6,0.162,0.031,1627,2866,3417,0,0,0,0,0,0
$GC,7801,-0.60,-146.1,816.2,-8.3,406,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2866,3417,0,0,0,0,0,0
$GC,8108,-0.60,-146.1,842.8,-8.7,416,8112,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3891,3417,0,0,0,0,0,0
$GC,8137,-0.60,-146.1,845.7,-9.2,416,8144,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2861,3417,0,0,0,0,0,0
$GC,8453,-0.60,-146.1,875.3,-9.3,427,8457,0.00,2.12,0.00,0.000,4,0.000,0.037,1621,1479,3416,0,0,0,0,0,0
$GC,8476,-0.60,-146.1,877.8,-10.0,427,8483,0.00,2.22,0.00,0.000,6,0.000,0.050,1610,2866,3416,0,0,0,0,0,0
$GC,8792,-0.60,-146.1,906.1,-8.8,438,8796,0.00,1.65,0.00,0.000,4,0.000,0.059,1602,3893,3416,0,0,0,0,0,0
$GC,8822,-0.60,-146.1,909.1,-9.8,438,8829,0.08,1.58,0.00,0.000,6,0.160,0.031,1626,2847,3416,0,0,0,0,0,0
$GC,9137,-0.60,-146.1,932.1,-7.2,449,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2847,3416,0,0,0,0,0,0
$GC,9444,-0.60,-146.1,955.0,-7.6,459,9448,0.00,1.73,0.00,0.000,4,0.000,0.060,1619,3897,3416,0,0,0,0,0,0
$GC,9484,-0.60,-146.1,958.7,-8.6,460,9488,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2857,3416,0,0,0,0,0,0
$GC,9824,-0.60,-146.1,986.6,-8.3,471,9828,0.00,2.10,0.00,0.000,4,0.000,0.036,1619,1484,3416,0,0,0,0,0,0
$GC,9848,-0.60,-146.1,988.9,-9.0,471,9855,0.00,2.22,0.00,0.000,6,0.000,0.051,1608,2867,3416,0,0,0,0,0,0
$STATE,9975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9975,begin apogee
$GC,9986,-0.18,0.0,1000.1,8.7,476,10133,0.55,0.00,144.38,1.250,6,0.160,0.000,1768,2675,2818,0,0,0,0,0,0
$STATE,10135,end apogee,CONTROL_FINISHED_OK
$STATE,10135,begin climb
$GC,10140,0.60,146.1,1003.3,0.0,481,10307,0.77,2.50,153.98,1.815,4,0.095,0.043,2031,1284,2225,0,0,0,0,1,0
$GC,10354,0.60,146.1,973.1,18.1,487,10358,0.00,2.42,0.00,0.000,6,0.000,0.048,2031,2667,2222,0,0,0,0,0,0
$GC,10675,0.60,146.1,903.3,21.8,498,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2667,2217,0,0,0,0,0,0
$GC,10981,0.60,146.1,839.4,20.6,508,10985,0.00,2.25,0.00,0.000,4,0.000,0.044,2041,1273,2216,0,0,0,0,0,0
$GC,11067,0.60,146.1,823.3,16.5,510,11071,0.00,2.28,0.00,0.000,6,0.000,0.049,2041,2673,2213,0,0,0,0,0,0
$GC,11384,0.60,146.1,757.6,21.0,520,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2673,2213,0,0,0,0,0,0
$GC,11688,0.60,146.1,692.5,21.2,530,11692,0.00,2.22,0.00,0.000,4,0.000,0.043,2052,1272,2213,0,0,0,0,0,0
$GC,11746,0.60,146.1,680.8,18.2,531,11753,0.00,2.25,0.00,0.000,6,0.000,0.050,2052,2670,2211,0,0,0,0,0,0
$GC,12061,0.60,146.1,613.2,21.7,542,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2671,2211,0,0,0,0,0,0
$GC,12367,0.60,146.1,547.3,20.9,552,12371,0.00,2.22,0.00,0.000,4,0.000,0.044,2062,1274,2211,0,0,0,0,0,0
$GC,12433,0.60,146.1,534.6,17.9,554,12438,0.15,2.25,0.00,0.000,6,0.207,0.050,2027,2671,2211,0,0,0,0,0,0
$GC,12771,0.60,146.1,473.0,18.0,565,12775,0.00,2.20,0.00,0.000,4,0.000,0.042,2037,1270,2211,0,0,0,0,0,0
$GC,12795,0.60,146.1,468.4,17.0,565,12799,0.00,2.25,0.00,0.000,6,0.000,0.049,2037,2678,2211,0,0,0,0,0,0
$GC,13110,0.60,146.1,408.3,19.2,575,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2211,0,0,0,0,0,0
$GC,13420,0.60,146.1,347.1,20.1,589,13424,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1276,2211,0,0,0,0,0,0
$GC,13455,0.60,146.1,340.1,17.2,590,13459,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2674,2210,0,0,0,0,0,0
$GC,13780,0.60,146.1,278.0,18.7,606,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2210,0,0,0,0,0,0
$GC,14100,0.60,146.1,219.9,17.6,624,14104,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1271,2210,0,0,0,0,0,0
$GC,14137,0.60,146.1,213.3,17.5,626,14142,0.12,2.25,0.00,0.000,6,0.205,0.050,2029,2680,2210,0,0,0,0,0,0
$GC,14472,0.60,146.1,159.8,17.2,647,14476,0.00,2.22,0.00,0.000,4,0.000,0.043,2039,1276,2210,0,0,0,0,0,0
$GC,14546,0.60,146.1,146.4,14.8,651,14553,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2675,2210,0,0,0,0,0,0
$GC,14875,0.60,146.1,94.7,15.5,676,14882,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1279,2210,0,0,0,0,0,0
$GC,14935,0.60,146.1,85.4,14.4,685,14940,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2670,2209,0,0,0,0,0,0
$GC,15298,0.60,146.1,25.3,16.8,746,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2209,0,0,0,0,0,0
$GC,15386,0.60,146.1,10.7,16.4,759,15394,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2209,0,0,0,0,0,0
$STATE,15434,end climb,SURFACE_DEPTH_REACHED
$STATE,15434,begin surface coast
$FINISH,0.8,1.001105
$STATE,15454,end surface coast,CONTROL_FINISHED_OK
$STATE,15454,begin surface
$SM_CCo,15476,41.95,0.773,1,0,1879,230.09
$SM_GC,2.14,0.00,0.00,41.95,0.000,0.000,0.773,43,2883,1879,-5.59,0.62,230.09
$IRIDIUM_FIX,-4619.84,407.59,270113,030330
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.8,56.235
$10V_AH,10.0,28.287
$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,14.200,106.225,298.350,41.950,0.000,27.293,23.870,463.968,0.000,0.000,17.519,1932.258,10643.965,446.720,2475.133,773.274,33.374,1306.833,0.000,1950.202,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,78.795,1814.580,772.650,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.353,1520.359,815.107,321.102,0.000,0.000,0.000,0.000,0.000,0.000
$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,57067,769
$CAP_FILE_SIZE,125462,0
$CFSIZE,259252224,210649088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270113,120934,-4632.022,412.351,22,0.9,22,-23.4