version: 66.07
glider: 542
mission: 6
dive: 302
start: 1 27 113 12 23 10
data:
$ID,542
$MISSION,6
$DIVE,302
$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,-11431.439
$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,53
$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
$GPS1,270113,120934,-4632.022,412.351,22,0.9,22,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-63.4
$GPS2,270113,122213,-4631.972,412.500,16,1.8,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.255,-0.016
$KALMAN_X,-235493.0,343.7,378.4,229082.6,-5144.8
$KALMAN_Y,150505.8,627.1,113.1,-115505.3,374.4
$MHEAD_RNG_PITCHd_Wd,117.1,35248,-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,26,-0.60,-146.1,0.0,0.0,0,75,0.00,0.00,-47.10,0.000,2,0.000,0.000,43,2883,2755,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.0,-3.3,6,124,6.85,1.65,-26.98,0.000,4,0.253,0.075,1623,3883,3417,0,0,0,0,0,0
$GC,400,-0.60,-146.1,42.1,-13.7,56,409,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2838,3418,0,0,0,0,0,0
$GC,647,-0.60,-146.1,77.6,-15.0,97,652,0.00,1.70,0.00,0.000,4,0.000,0.057,1615,3896,3418,0,0,0,0,0,0
$GC,865,-0.60,-146.1,111.4,-13.5,125,871,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2861,3419,0,0,0,0,0,0
$GC,1186,-0.60,-146.1,151.1,-11.7,146,1190,0.00,1.70,0.00,0.000,4,0.000,0.057,1606,3906,3419,0,0,0,0,0,0
$GC,1267,-0.60,-146.1,161.8,-12.8,150,1276,0.00,1.58,0.00,0.000,6,0.000,0.030,1607,2854,3420,0,0,0,0,0,0
$GC,1590,-0.60,-146.1,202.1,-11.9,171,1594,0.00,2.08,0.00,0.000,4,0.000,0.035,1606,1491,3420,0,0,0,0,0,0
$GC,1630,-0.60,-146.1,206.6,-10.6,173,1634,0.15,2.17,0.00,0.000,6,0.172,0.050,1635,2851,3421,0,0,0,0,0,0
$GC,1963,-0.60,-146.1,236.1,-9.5,194,1966,0.00,1.65,0.00,0.000,4,0.000,0.058,1628,3902,3421,0,0,0,0,0,0
$GC,2027,-0.60,-146.1,243.4,-10.9,197,2033,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2867,3421,0,0,0,0,0,0
$GC,2345,-0.60,-146.1,277.2,-10.8,214,2349,0.00,1.65,0.00,0.000,4,0.000,0.058,1621,3897,3421,0,0,0,0,0,0
$GC,2393,-0.60,-146.1,282.7,-12.0,216,2397,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2867,3421,0,0,0,0,0,0
$GC,2728,-0.60,-146.1,320.0,-10.9,232,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2863,3421,0,0,0,0,0,0
$GC,3039,-0.60,-146.1,353.7,-10.8,247,3043,0.00,1.65,0.00,0.000,4,0.000,0.058,1612,3894,3421,0,0,0,0,0,0
$GC,3074,-0.60,-146.1,358.0,-11.1,248,3078,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2866,3421,0,0,0,0,0,0
$GC,3398,-0.60,-146.1,394.5,-11.1,264,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2862,3421,0,0,0,0,0,0
$GC,3704,-0.60,-146.1,427.4,-10.6,275,3708,0.00,1.67,0.00,0.000,4,0.000,0.058,1605,3892,3421,0,0,0,0,0,0
$GC,3784,-0.60,-146.1,436.4,-10.9,277,3788,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2863,3421,0,0,0,0,0,0
$GC,4117,-0.60,-146.1,471.9,-10.8,288,4119,0.10,0.00,0.00,0.000,6,0.198,0.000,1628,2858,3421,0,0,0,0,0,0
$GC,4423,-0.60,-146.1,500.9,-9.7,298,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3420,0,0,0,0,0,0
$GC,4729,-0.60,-146.1,531.6,-10.2,308,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2858,3420,0,0,0,0,0,0
$GC,5036,-0.60,-146.1,562.5,-9.9,318,5039,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3896,3420,0,0,0,0,0,0
$GC,5106,-0.60,-146.1,569.6,-10.0,320,5110,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2858,3420,0,0,0,0,0,0
$GC,5451,-0.60,-146.1,603.8,-9.9,331,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2853,3419,0,0,0,0,0,0
$GC,5756,-0.60,-146.1,634.1,-10.0,341,5759,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3893,3419,0,0,0,0,0,0
$GC,5801,-0.60,-146.1,639.2,-11.3,342,5805,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2855,3418,0,0,0,0,0,0
$GC,6133,-0.60,-146.1,674.7,-10.6,353,6136,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3903,3418,0,0,0,0,0,0
$GC,6185,-0.60,-146.1,680.7,-11.1,354,6189,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2867,3418,0,0,0,0,0,0
$GC,6511,-0.60,-146.1,716.6,-10.8,365,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2862,3417,0,0,0,0,0,0
$GC,6817,-0.60,-146.1,749.4,-10.5,375,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2862,3417,0,0,0,0,0,0
$GC,7124,-0.60,-146.1,781.5,-10.6,385,7128,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3898,3417,0,0,0,0,0,0
$GC,7170,-0.60,-146.1,787.1,-11.5,386,7174,0.10,1.58,0.00,0.000,6,0.155,0.032,1630,2861,3416,0,0,0,0,0,0
$GC,7503,-0.60,-146.1,816.7,-8.9,397,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2858,3417,0,0,0,0,0,0
$GC,7809,-0.60,-146.1,844.5,-9.2,407,7813,0.00,2.10,0.00,0.000,4,0.000,0.038,1630,1482,3416,0,0,0,0,0,0
$GC,7833,-0.60,-146.1,846.9,-8.9,407,7840,0.00,2.22,0.00,0.000,6,0.000,0.052,1621,2863,3416,0,0,0,0,0,0
$GC,8149,-0.60,-146.1,875.2,-8.9,418,8153,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3889,3416,0,0,0,0,0,0
$GC,8195,-0.60,-146.1,879.7,-9.6,419,8199,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2850,3416,0,0,0,0,0,0
$GC,8527,-0.60,-146.1,908.8,-8.7,430,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2846,3416,0,0,0,0,0,0
$GC,8834,-0.60,-146.1,932.9,-7.8,440,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2845,3416,0,0,0,0,0,0
$GC,9140,-0.60,-146.1,956.4,-7.8,450,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2845,3416,0,0,0,0,0,0
$GC,9446,-0.60,-146.1,980.9,-8.2,460,9450,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3894,3416,0,0,0,0,0,0
$GC,9483,-0.60,-146.1,984.2,-9.3,461,9487,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2862,3416,0,0,0,0,0,0
$STATE,9668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9668,begin apogee
$GC,9680,-0.18,0.0,1001.3,8.9,467,9827,0.55,0.00,144.55,1.258,6,0.157,0.000,1767,2669,2819,0,0,0,0,0,0
$STATE,9829,end apogee,CONTROL_FINISHED_OK
$STATE,9829,begin climb
$GC,9834,0.60,146.1,1005.0,0.0,472,10001,0.77,2.47,154.02,1.818,4,0.093,0.043,2030,1281,2225,0,0,0,0,1,0
$GC,10032,0.60,146.1,977.8,20.3,478,10037,0.00,2.47,0.00,0.000,6,0.000,0.050,2029,2668,2224,0,0,0,0,0,0
$GC,10359,0.60,146.1,910.2,20.6,489,10363,0.00,2.25,0.00,0.000,4,0.000,0.044,2040,1281,2218,0,0,0,0,0,0
$GC,10417,0.60,146.1,898.6,18.8,490,10424,0.00,2.30,0.00,0.000,6,0.000,0.051,2040,2672,2216,0,0,0,0,0,0
$GC,10732,0.60,146.1,831.9,21.3,501,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2672,2215,0,0,0,0,0,0
$GC,11038,0.60,146.1,765.5,22.3,511,11042,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1281,2215,0,0,0,0,0,0
$GC,11073,0.60,146.1,757.8,20.3,512,11078,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2683,2214,0,0,0,0,0,0
$GC,11406,0.60,146.1,683.8,22.4,523,11407,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2683,2214,0,0,0,0,0,0
$GC,11712,0.60,146.1,615.6,21.9,533,11716,0.00,2.22,0.00,0.000,4,0.000,0.045,2060,1281,2214,0,0,0,0,0,0
$GC,11769,0.60,146.1,604.1,17.6,534,11774,0.15,2.25,0.00,0.000,6,0.208,0.050,2026,2674,2213,0,0,0,0,0,0
$GC,12086,0.60,146.1,547.2,17.6,544,12090,0.00,2.20,0.00,0.000,4,0.000,0.044,2035,1278,2213,0,0,0,0,0,0
$GC,12127,0.60,146.1,539.8,15.5,545,12131,0.00,2.25,0.00,0.000,6,0.000,0.049,2035,2672,2212,0,0,0,0,0,0
$GC,12455,0.60,146.1,480.9,18.3,556,12459,0.00,2.20,0.00,0.000,4,0.000,0.043,2046,1271,2212,0,0,0,0,0,0
$GC,12506,0.60,146.1,471.3,16.0,557,12510,0.00,2.25,0.00,0.000,6,0.000,0.049,2046,2670,2212,0,0,0,0,0,0
$GC,12822,0.60,146.1,411.4,19.5,567,12826,0.00,2.17,0.00,0.000,4,0.000,0.044,2056,1280,2212,0,0,0,0,0,0
$GC,12857,0.60,146.1,404.4,18.1,568,12862,0.12,2.25,0.00,0.000,6,0.210,0.050,2028,2674,2212,0,0,0,0,0,0
$GC,13193,0.60,146.1,344.2,17.7,584,13197,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1273,2212,0,0,0,0,0,0
$GC,13245,0.60,146.1,335.5,14.6,586,13249,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2677,2211,0,0,0,0,0,0
$GC,13569,0.60,146.1,276.1,19.1,602,13573,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1273,2212,0,0,0,0,0,0
$GC,13621,0.60,146.1,266.7,17.2,604,13625,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2679,2211,0,0,0,0,0,0
$GC,13953,0.60,146.1,201.7,20.8,624,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2679,2211,0,0,0,0,0,0
$GC,14265,0.60,146.1,143.4,18.3,644,14269,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1274,2211,0,0,0,0,0,0
$GC,14351,0.60,146.1,129.9,14.7,649,14355,0.12,2.22,0.00,0.000,6,0.206,0.049,2030,2671,2210,0,0,0,0,0,0
$GC,14688,0.60,146.1,78.2,14.4,685,14693,0.00,1.95,0.00,0.000,4,0.000,0.058,2030,3895,2211,0,0,0,0,0,0
$GC,14730,0.60,146.1,71.2,15.8,692,14737,0.00,1.88,0.00,0.000,6,0.000,0.037,2038,2676,2211,0,0,0,0,0,0
$GC,15099,0.60,146.1,15.8,14.0,753,15108,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1269,2210,0,0,0,0,0,0
$GC,15145,0.60,146.1,8.9,15.0,759,15154,0.00,2.28,0.00,0.000,6,0.000,0.049,2049,2668,2209,0,0,0,0,0,0
$STATE,15186,end climb,SURFACE_DEPTH_REACHED
$STATE,15186,begin surface coast
$FINISH,0.9,1.013283
$STATE,15212,end surface coast,CONTROL_FINISHED_OK
$STATE,15212,begin surface
$SM_CCo,15234,41.80,0.767,1,0,1881,230.09
$SM_GC,2.16,0.00,0.00,41.80,0.000,0.000,0.767,54,2890,1881,-5.55,0.85,230.09
$IRIDIUM_FIX,-4616.72,410.71,270113,070741
$TT8_MAMPS,0.026964
$HUMID,58.15
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.8,56.404
$10V_AH,10.0,28.397
$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,14.350,104.750,298.575,41.800,0.000,28.152,19.373,466.917,0.000,0.000,19.157,1935.450,10399.664,435.822,2508.297,750.085,33.403,1295.039,0.000,1988.211,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,74.970,1818.405,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.031,1545.034,841.477,335.815,0.000,0.000,0.000,0.000,0.000,0.000
$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,53871,769
$CAP_FILE_SIZE,123620,0
$CFSIZE,259252224,210583552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270113,163904,-4630.844,415.514,24,0.9,24,-23.4