version: 66.07
glider: 542
mission: 6
dive: 309
start: 1 28 113 20 24 7
data:
$ID,542
$MISSION,6
$DIVE,309
$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,-11450.698
$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,55
$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
$GPS1,280113,201023,-4633.167,434.428,38,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-65.8
$GPS2,280113,202311,-4633.131,434.489,17,1.0,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.250,0.055
$KALMAN_X,-238496.4,-187.5,-339.4,261210.9,-587.2
$KALMAN_Y,161675.3,-88.4,-307.7,-127667.6,2732.2
$MHEAD_RNG_PITCHd_Wd,101.0,9110,-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,-63.10,0.000,2,0.000,0.000,52,2902,3101,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.4,8,125,6.57,1.60,-8.57,0.000,4,0.243,0.080,1620,3869,3418,0,0,0,0,0,0
$GC,401,-0.60,-146.1,50.1,-14.5,56,411,0.00,1.58,0.00,0.000,6,0.000,0.029,1620,2825,3420,0,0,0,0,0,0
$GC,647,-0.60,-146.1,84.5,-14.0,97,652,0.00,1.65,0.00,0.000,4,0.000,0.057,1611,3869,3420,0,0,0,0,0,0
$GC,911,-0.60,-146.1,120.4,-13.4,125,915,0.00,1.50,0.00,0.000,6,0.000,0.029,1611,2867,3421,0,0,0,0,0,0
$GC,1239,-0.60,-146.1,161.5,-13.1,146,1243,0.00,1.62,0.00,0.000,4,0.000,0.057,1604,3863,3422,0,0,0,0,0,0
$GC,1329,-0.60,-146.1,174.1,-14.2,151,1334,0.08,1.50,0.00,0.000,6,0.160,0.029,1627,2863,3422,0,0,0,0,0,0
$GC,1668,-0.60,-146.1,213.7,-11.1,172,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3423,0,0,0,0,0,0
$GC,1992,-0.60,-146.1,246.3,-9.2,193,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3423,0,0,0,0,0,0
$GC,2307,-0.60,-146.1,275.0,-9.2,209,2310,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3885,3423,0,0,0,0,0,0
$GC,2405,-0.60,-146.1,284.6,-9.3,213,2408,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2855,3423,0,0,0,0,0,0
$GC,2736,-0.60,-146.1,316.8,-10.0,229,2740,0.00,1.65,0.00,0.000,4,0.000,0.059,1612,3880,3423,0,0,0,0,0,0
$GC,2788,-0.60,-146.1,322.8,-10.9,231,2792,0.00,1.52,0.00,0.000,6,0.000,0.031,1612,2865,3423,0,0,0,0,0,0
$GC,3119,-0.60,-146.1,358.6,-11.3,247,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2860,3423,0,0,0,0,0,0
$GC,3426,-0.60,-146.1,392.0,-10.7,262,3430,0.00,1.65,0.00,0.000,4,0.000,0.059,1605,3886,3423,0,0,0,0,0,0
$GC,3462,-0.60,-146.1,396.2,-11.6,263,3466,0.08,1.55,0.00,0.000,6,0.158,0.031,1632,2859,3423,0,0,0,0,0,0
$GC,3795,-0.60,-146.1,426.4,-9.1,275,3799,0.00,1.65,0.00,0.000,4,0.000,0.060,1626,3880,3423,0,0,0,0,0,0
$GC,3852,-0.60,-146.1,432.5,-10.8,276,3856,0.00,1.55,0.00,0.000,6,0.000,0.031,1626,2852,3423,0,0,0,0,0,0
$GC,4174,-0.60,-146.1,463.9,-9.9,287,4177,0.00,1.65,0.00,0.000,4,0.000,0.060,1617,3873,3422,0,0,0,0,0,0
$GC,4231,-0.60,-146.1,470.3,-10.8,288,4234,0.00,1.52,0.00,0.000,6,0.000,0.031,1618,2862,3422,0,0,0,0,0,0
$GC,4551,-0.60,-146.1,503.1,-10.0,299,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3422,0,0,0,0,0,0
$GC,4859,-0.60,-146.1,532.1,-9.5,309,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3422,0,0,0,0,0,0
$GC,5164,-0.60,-146.1,560.3,-9.1,319,5167,0.00,1.65,0.00,0.000,4,0.000,0.060,1610,3879,3421,0,0,0,0,0,0
$GC,5209,-0.60,-146.1,565.1,-10.2,320,5213,0.00,1.55,0.00,0.000,6,0.000,0.032,1610,2857,3421,0,0,0,0,0,0
$GC,5541,-0.60,-146.1,596.7,-9.6,331,5545,0.00,1.65,0.00,0.000,4,0.000,0.060,1602,3876,3420,0,0,0,0,0,0
$GC,5587,-0.60,-146.1,601.8,-10.7,332,5591,0.08,1.55,0.00,0.000,6,0.158,0.031,1641,2849,3420,0,0,0,0,0,0
$GC,5919,-0.60,-146.1,627.0,-7.7,343,5923,0.00,1.65,0.00,0.000,4,0.000,0.060,1634,3868,3420,0,0,0,0,0,0
$GC,5957,-0.60,-146.1,629.9,-8.5,344,5960,0.00,1.52,0.00,0.000,6,0.000,0.032,1634,2864,3420,0,0,0,0,0,0
$GC,6300,-0.60,-146.1,659.9,-9.0,355,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2859,3419,0,0,0,0,0,0
$GC,6606,-0.60,-146.1,686.9,-8.8,365,6610,0.00,1.65,0.00,0.000,4,0.000,0.061,1626,3879,3419,0,0,0,0,0,0
$GC,6663,-0.60,-146.1,692.5,-9.9,366,6667,0.00,1.55,0.00,0.000,6,0.000,0.032,1626,2859,3419,0,0,0,0,0,0
$GC,6985,-0.60,-146.1,722.0,-9.1,377,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2854,3419,0,0,0,0,0,0
$GC,7292,-0.60,-146.1,748.7,-8.6,387,7296,0.00,1.65,0.00,0.000,4,0.000,0.060,1618,3874,3418,0,0,0,0,0,0
$GC,7333,-0.60,-146.1,752.6,-9.2,388,7336,0.00,1.55,0.00,0.000,6,0.000,0.032,1619,2853,3418,0,0,0,0,0,0
$GC,7670,-0.60,-146.1,782.6,-9.1,399,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2849,3418,0,0,0,0,0,0
$GC,7976,-0.60,-146.1,809.9,-8.8,409,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2849,3418,0,0,0,0,0,0
$GC,8283,-0.60,-146.1,836.4,-8.5,419,8287,0.00,2.10,0.00,0.000,4,0.000,0.037,1618,1480,3417,0,0,0,0,0,0
$GC,8324,-0.60,-146.1,840.1,-7.8,420,8328,0.00,2.20,0.00,0.000,6,0.000,0.052,1608,2841,3417,0,0,0,0,0,0
$GC,8650,-0.60,-146.1,870.5,-9.6,431,8654,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3895,3417,0,0,0,0,0,0
$GC,8736,-0.60,-146.1,879.5,-10.9,433,8740,0.08,1.58,0.00,0.000,6,0.160,0.032,1632,2857,3417,0,0,0,0,0,0
$GC,9065,-0.60,-146.1,905.6,-8.1,444,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2854,3417,0,0,0,0,0,0
$GC,9369,-0.60,-146.1,930.1,-8.0,454,9373,0.00,1.70,0.00,0.000,4,0.000,0.060,1626,3903,3417,0,0,0,0,0,0
$GC,9416,-0.60,-146.1,934.3,-8.5,455,9419,0.00,1.58,0.00,0.000,6,0.000,0.032,1626,2866,3417,0,0,0,0,0,0
$GC,9748,-0.60,-146.1,962.1,-8.3,466,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3417,0,0,0,0,0,0
$GC,10054,-0.60,-146.1,986.0,-7.8,476,10058,0.00,1.67,0.00,0.000,4,0.000,0.061,1618,3895,3417,0,0,0,0,0,0
$GC,10095,-0.60,-146.1,989.7,-8.7,477,10099,0.00,1.58,0.00,0.000,6,0.000,0.032,1618,2855,3417,0,0,0,0,0,0
$STATE,10244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10244,begin apogee
$GC,10255,-0.18,0.0,1002.0,8.1,482,10403,0.50,0.00,144.52,1.248,6,0.153,0.000,1765,2675,2820,0,0,0,0,0,0
$STATE,10405,end apogee,CONTROL_FINISHED_OK
$STATE,10405,begin climb
$GC,10410,0.60,146.1,1005.3,0.0,487,10578,0.77,2.50,154.88,1.804,4,0.096,0.042,2027,1286,2225,0,0,0,0,1,0
$GC,10609,0.60,146.1,977.3,18.7,493,10613,0.00,2.45,0.00,0.000,6,0.000,0.050,2027,2671,2223,0,0,0,0,0,0
$GC,10936,0.60,146.1,906.0,22.2,504,10939,0.00,2.00,0.00,0.000,4,0.000,0.059,2026,3903,2218,0,0,0,0,0,0
$GC,10959,0.60,146.1,900.4,22.6,504,10963,0.00,1.92,0.00,0.000,6,0.000,0.036,2036,2683,2218,0,0,0,0,0,0
$GC,11280,0.60,146.1,829.0,22.0,515,11284,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1273,2217,0,0,0,0,0,0
$GC,11311,0.60,146.1,822.4,20.8,516,11315,0.00,2.30,0.00,0.000,6,0.000,0.050,2047,2683,2215,0,0,0,0,0,0
$GC,11649,0.60,146.1,745.4,23.1,527,11653,0.00,2.25,0.00,0.000,4,0.000,0.044,2057,1265,2214,0,0,0,0,0,0
$GC,11735,0.60,146.1,727.5,19.5,529,11740,0.12,2.25,0.00,0.000,6,0.216,0.049,2030,2669,2213,0,0,0,0,0,0
$GC,12050,0.60,146.1,664.9,20.5,539,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2213,0,0,0,0,0,0
$GC,12356,0.60,146.1,604.1,19.2,549,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2213,0,0,0,0,0,0
$GC,12663,0.60,146.1,547.3,18.2,559,12667,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1268,2212,0,0,0,0,0,0
$GC,12703,0.60,146.1,539.8,16.9,560,12707,0.00,2.25,0.00,0.000,6,0.000,0.049,2039,2670,2211,0,0,0,0,0,0
$GC,13042,0.60,146.1,477.8,18.5,571,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2211,0,0,0,0,0,0
$GC,13347,0.60,146.1,419.8,18.9,581,13351,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1270,2211,0,0,0,0,0,0
$GC,13399,0.60,146.1,410.1,16.9,582,13403,0.00,2.25,0.00,0.000,6,0.000,0.049,2050,2671,2211,0,0,0,0,0,0
$GC,13724,0.60,146.1,347.9,19.3,597,13725,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2671,2210,0,0,0,0,0,0
$GC,14032,0.60,146.1,287.1,20.2,612,14036,0.00,2.22,0.00,0.000,4,0.000,0.042,2060,1264,2211,0,0,0,0,0,0
$GC,14067,0.60,146.1,279.8,17.5,613,14075,0.15,2.25,0.00,0.000,6,0.204,0.049,2025,2669,2210,0,0,0,0,0,0
$GC,14398,0.60,146.1,221.5,17.2,632,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2669,2210,0,0,0,0,0,0
$GC,14710,0.60,146.1,169.2,16.0,652,14714,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1270,2210,0,0,0,0,0,0
$GC,14768,0.60,146.1,159.8,14.6,655,14775,0.00,2.25,0.00,0.000,6,0.000,0.050,2035,2669,2210,0,0,0,0,0,0
$GC,15091,0.60,146.1,103.7,17.8,676,15095,0.00,2.20,0.00,0.000,4,0.000,0.044,2045,1266,2209,0,0,0,0,0,0
$GC,15164,0.60,146.1,92.3,15.1,685,15169,0.00,2.28,0.00,0.000,6,0.000,0.050,2045,2677,2209,0,0,0,0,0,0
$GC,15520,0.60,146.1,36.0,16.5,746,15529,0.00,1.98,0.00,0.000,4,0.000,0.060,2045,3896,2209,0,0,0,0,0,0
$GC,15620,0.60,146.1,18.4,18.3,761,15629,0.10,1.92,0.00,0.000,6,0.214,0.037,2028,2672,2210,0,0,0,0,0,0
$GC,15710,0.60,146.1,4.9,14.2,774,15719,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1267,2209,0,0,0,0,0,0
$STATE,15727,end climb,SURFACE_DEPTH_REACHED
$STATE,15727,begin surface coast
$FINISH,0.8,1.026388
$STATE,15747,end surface coast,CONTROL_FINISHED_OK
$STATE,15747,begin surface
$SM_CCo,15771,41.88,0.744,1,0,1881,230.09
$SM_GC,2.18,0.00,0.00,41.88,0.000,0.000,0.744,53,2871,1881,-5.55,0.31,230.09
$IRIDIUM_FIX,-4616.72,429.44,280113,151512
$TT8_MAMPS,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.8,57.591
$10V_AH,10.0,29.153
$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,13.925,104.600,299.400,41.875,0.000,25.424,23.247,472.887,0.000,0.000,19.985,1981.155,10854.632,430.229,2551.351,757.664,33.374,1314.474,0.000,2013.683,0.000,1.008,0.000
$DEVICE_MAMPS,242.505,80.325,1803.870,743.580,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.356,1533.707,808.843,308.776,0.000,0.000,0.000,0.000,0.000,0.000
$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,57003,779
$CAP_FILE_SIZE,127599,0
$CFSIZE,259252224,210120704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290113,004904,-4632.040,437.062,30,1.2,30,-23.5