version: 66.07
glider: 542
mission: 6
dive: 327
start: 2 1 113 7 7 38
data:
$ID,542
$MISSION,6
$DIVE,327
$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,-11501.117
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,010213,065251,-4658.703,438.139,38,1.3,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-51.7
$GPS2,010213,070641,-4658.600,438.204,22,1.4,22,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.248,-0.064
$KALMAN_X,-255929.9,376.7,126.4,282304.9,-2326.8
$KALMAN_Y,190349.3,25.4,-42.4,-203904.1,6029.6
$MHEAD_RNG_PITCHd_Wd,279.0,35718,-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,-55.10,0.000,2,0.000,0.000,56,2880,2927,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.4,7,125,6.85,2.22,-15.35,0.000,4,0.257,0.048,1628,1465,3417,0,0,0,0,0,0
$GC,179,-0.60,-146.1,14.9,-14.0,19,189,0.00,2.28,0.00,0.000,6,0.000,0.053,1619,2848,3419,0,0,0,0,0,0
$GC,267,-0.60,-146.1,26.4,-15.1,32,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2848,3420,0,0,0,0,0,0
$GC,355,-0.60,-146.1,39.6,-14.7,45,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2848,3420,0,0,0,0,0,0
$GC,597,-0.60,-146.1,73.9,-14.2,86,604,0.00,1.67,0.00,0.000,4,0.000,0.057,1610,3895,3420,0,0,0,0,0,0
$GC,678,-0.60,-146.1,86.5,-15.0,99,684,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2846,3419,0,0,0,0,0,0
$GC,1018,-0.60,-146.1,129.2,-11.7,131,1022,0.00,1.70,0.00,0.000,4,0.000,0.057,1603,3893,3420,0,0,0,0,0,0
$GC,1041,-0.60,-146.1,132.9,-12.6,132,1046,0.08,1.55,0.00,0.000,6,0.163,0.031,1640,2863,3420,0,0,0,0,0,0
$GC,1374,-0.60,-146.1,164.3,-9.6,153,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2859,3421,0,0,0,0,0,0
$GC,1697,-0.60,-146.1,191.5,-8.4,174,1700,0.00,1.67,0.00,0.000,4,0.000,0.059,1634,3902,3421,0,0,0,0,0,0
$GC,1738,-0.60,-146.1,195.4,-9.4,176,1741,0.00,1.58,0.00,0.000,6,0.000,0.031,1634,2860,3421,0,0,0,0,0,0
$GC,2067,-0.60,-146.1,227.3,-10.4,197,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2855,3421,0,0,0,0,0,0
$GC,2381,-0.60,-146.1,259.6,-9.8,216,2385,0.00,1.67,0.00,0.000,4,0.000,0.059,1625,3899,3421,0,0,0,0,0,0
$GC,2429,-0.60,-146.1,264.9,-11.5,218,2433,0.00,1.58,0.00,0.000,6,0.000,0.031,1625,2854,3421,0,0,0,0,0,0
$GC,2764,-0.60,-146.1,303.1,-11.3,234,2768,0.00,1.70,0.00,0.000,4,0.000,0.059,1617,3892,3421,0,0,0,0,0,0
$GC,2794,-0.60,-146.1,306.8,-11.9,235,2798,0.00,1.55,0.00,0.000,6,0.000,0.031,1617,2866,3421,0,0,0,0,0,0
$GC,3125,-0.60,-146.1,342.8,-10.7,251,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3422,0,0,0,0,0,0
$GC,3433,-0.60,-146.1,375.0,-10.3,266,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3421,0,0,0,0,0,0
$GC,3741,-0.60,-146.1,406.4,-10.2,280,3745,0.00,1.67,0.00,0.000,4,0.000,0.060,1609,3900,3421,0,0,0,0,0,0
$GC,3770,-0.60,-146.1,409.7,-11.1,280,3777,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2859,3420,0,0,0,0,0,0
$GC,4087,-0.60,-146.1,444.9,-11.6,291,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3420,0,0,0,0,0,0
$GC,4391,-0.60,-146.1,480.0,-11.3,301,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3421,0,0,0,0,0,0
$GC,4699,-0.60,-146.1,512.2,-10.4,311,4703,0.00,1.67,0.00,0.000,4,0.000,0.060,1601,3897,3420,0,0,0,0,0,0
$GC,4739,-0.60,-146.1,516.9,-11.2,312,4743,0.08,1.58,0.00,0.000,6,0.163,0.032,1634,2859,3420,0,0,0,0,0,0
$GC,5078,-0.60,-146.1,544.1,-7.9,323,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2855,3420,0,0,0,0,0,0
$GC,5385,-0.60,-146.1,569.0,-8.2,333,5389,0.00,1.67,0.00,0.000,4,0.000,0.060,1626,3897,3419,0,0,0,0,0,0
$GC,5426,-0.60,-146.1,573.0,-9.3,334,5430,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2862,3419,0,0,0,0,0,0
$GC,5763,-0.60,-146.1,604.5,-9.6,345,5767,0.00,1.67,0.00,0.000,4,0.000,0.060,1619,3896,3419,0,0,0,0,0,0
$GC,5792,-0.60,-146.1,607.6,-10.4,345,5799,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2855,3419,0,0,0,0,0,0
$GC,6110,-0.60,-146.1,636.5,-9.1,356,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2854,3419,0,0,0,0,0,0
$GC,6414,-0.60,-146.1,663.4,-8.7,366,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2855,3419,0,0,0,0,0,0
$GC,6720,-0.60,-146.1,691.0,-9.1,376,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2855,3418,0,0,0,0,0,0
$GC,7026,-0.60,-146.1,720.1,-9.6,386,7030,0.00,1.70,0.00,0.000,4,0.000,0.060,1610,3890,3418,0,0,0,0,0,0
$GC,7089,-0.60,-146.1,726.8,-10.5,387,7096,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2851,3418,0,0,0,0,0,0
$GC,7406,-0.60,-146.1,760.0,-10.6,398,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2851,3418,0,0,0,0,0,0
$GC,7711,-0.60,-146.1,790.2,-9.5,408,7714,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3900,3418,0,0,0,0,0,0
$GC,7768,-0.60,-146.1,796.0,-10.5,409,7772,0.08,1.58,0.00,0.000,6,0.164,0.033,1626,2873,3417,0,0,0,0,0,0
$GC,8089,-0.60,-146.1,820.9,-7.5,420,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2869,3417,0,0,0,0,0,0
$GC,8395,-0.60,-146.1,844.0,-7.5,430,8399,0.00,1.67,0.00,0.000,4,0.000,0.061,1620,3899,3417,0,0,0,0,0,0
$GC,8427,-0.60,-146.1,846.5,-8.4,430,8434,0.00,1.60,0.00,0.000,6,0.000,0.033,1620,2850,3416,0,0,0,0,0,0
$GC,8744,-0.60,-146.1,871.2,-7.8,441,8748,0.00,2.10,0.00,0.000,4,0.000,0.037,1620,1483,3416,0,0,0,0,0,0
$GC,8776,-0.60,-146.1,873.8,-8.2,442,8780,0.00,2.22,0.00,0.000,6,0.000,0.053,1609,2871,3416,0,0,0,0,0,0
$GC,9122,-0.60,-146.1,904.4,-9.3,453,9125,0.00,1.65,0.00,0.000,4,0.000,0.061,1601,3909,3416,0,0,0,0,0,0
$GC,9207,-0.60,-146.1,913.4,-10.5,455,9211,0.08,1.60,0.00,0.000,6,0.163,0.032,1633,2859,3415,0,0,0,0,0,0
$GC,9536,-0.60,-146.1,938.7,-7.7,466,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2856,3416,0,0,0,0,0,0
$GC,9840,-0.60,-146.1,963.2,-8.2,476,9844,0.00,1.70,0.00,0.000,4,0.000,0.062,1626,3903,3416,0,0,0,0,0,0
$GC,9897,-0.60,-146.1,968.5,-10.0,477,9901,0.00,1.60,0.00,0.000,6,0.000,0.033,1626,2854,3416,0,0,0,0,0,0
$GC,10219,-0.60,-146.1,996.9,-8.9,488,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2851,3416,0,0,0,0,0,0
$STATE,10274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10274,begin apogee
$GC,10285,-0.18,0.0,1002.6,9.0,490,10433,0.47,0.00,145.10,1.243,6,0.155,0.000,1766,2676,2819,0,0,0,0,0,0
$STATE,10435,end apogee,CONTROL_FINISHED_OK
$STATE,10435,begin climb
$GC,10440,0.60,146.1,1008.4,0.0,495,10609,0.77,2.50,155.20,1.815,4,0.098,0.044,2025,1285,2226,0,0,0,0,1,0
$GC,10669,0.60,146.1,980.5,16.1,502,10674,0.00,2.42,0.00,0.000,6,0.000,0.050,2025,2663,2223,0,0,0,0,0,0
$GC,11008,0.60,146.1,913.0,19.9,513,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2663,2219,0,0,0,0,0,0
$GC,11314,0.60,146.1,852.5,19.9,523,11317,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1283,2217,0,0,0,0,0,0
$GC,11350,0.60,146.1,845.2,18.9,524,11354,0.00,2.28,0.00,0.000,6,0.000,0.052,2036,2684,2215,0,0,0,0,0,0
$GC,11695,0.60,146.1,772.3,21.9,535,11700,0.00,2.22,0.00,0.000,4,0.000,0.044,2046,1275,2216,0,0,0,0,0,0
$GC,11713,0.60,146.1,767.7,21.2,535,11718,0.00,2.28,0.00,0.000,6,0.000,0.050,2046,2679,2215,0,0,0,0,0,0
$GC,12029,0.60,146.1,698.3,22.3,545,12033,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1281,2215,0,0,0,0,0,0
$GC,12047,0.60,146.1,693.7,22.1,545,12052,0.12,2.25,0.00,0.000,6,0.216,0.050,2029,2675,2215,0,0,0,0,0,0
$GC,12368,0.60,146.1,628.7,19.5,556,12372,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1284,2215,0,0,0,0,0,0
$GC,12405,0.60,146.1,622.0,17.4,557,12409,0.00,2.22,0.00,0.000,6,0.000,0.052,2039,2669,2213,0,0,0,0,0,0
$GC,12750,0.60,146.1,552.9,20.1,568,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2213,0,0,0,0,0,0
$GC,13055,0.60,146.1,494.8,19.0,578,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2213,0,0,0,0,0,0
$GC,13362,0.60,146.1,439.2,18.2,588,13366,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1276,2213,0,0,0,0,0,0
$GC,13409,0.60,146.1,430.8,16.3,589,13413,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2671,2213,0,0,0,0,0,0
$GC,13731,0.60,146.1,371.4,18.6,602,13735,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1278,2213,0,0,0,0,0,0
$GC,13753,0.60,146.1,367.6,18.8,603,13758,0.12,2.25,0.00,0.000,6,0.205,0.050,2031,2675,2213,0,0,0,0,0,0
$GC,14086,0.60,146.1,309.6,17.4,619,14090,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1282,2213,0,0,0,0,0,0
$GC,14106,0.60,146.1,305.7,17.1,620,14110,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2676,2212,0,0,0,0,0,0
$GC,14430,0.60,146.1,244.3,19.3,636,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2677,2212,0,0,0,0,0,0
$GC,14743,0.60,146.1,185.5,18.8,656,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2677,2212,0,0,0,0,0,0
$GC,15057,0.60,146.1,130.7,17.5,676,15060,0.00,1.95,0.00,0.000,4,0.000,0.059,2040,3897,2212,0,0,0,0,0,0
$GC,15094,0.60,146.1,123.6,19.3,678,15098,0.00,1.88,0.00,0.000,6,0.000,0.037,2049,2683,2213,0,0,0,0,0,0
$GC,15434,0.60,146.1,66.5,15.7,721,15438,0.00,1.98,0.00,0.000,4,0.000,0.058,2050,3896,2212,0,0,0,0,0,0
$GC,15479,0.60,146.1,58.5,17.4,728,15489,0.08,1.92,0.00,0.000,6,0.211,0.038,2039,2670,2213,0,0,0,0,0,0
$GC,15735,0.60,146.1,19.4,17.6,769,15745,0.00,2.22,0.00,0.000,4,0.000,0.046,2048,1271,2212,0,0,0,0,0,0
$GC,15794,0.60,146.1,11.3,14.5,777,15804,0.00,2.28,0.00,0.000,6,0.000,0.051,2048,2665,2210,0,0,0,0,0,0
$STATE,15841,end climb,SURFACE_DEPTH_REACHED
$STATE,15841,begin surface coast
$FINISH,1.0,1.016946
$STATE,15862,end surface coast,CONTROL_FINISHED_OK
$STATE,15862,begin surface
$SM_CCo,15884,42.47,0.768,1,0,1880,230.09
$SM_GC,1.96,0.00,0.00,42.47,0.000,0.000,0.768,52,2881,1880,-5.56,0.59,230.09
$IRIDIUM_FIX,-4644.93,444.25,010213,020206
$TT8_MAMPS,0.026215
$HUMID,58.93
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.7,60.729
$10V_AH,10.0,31.110
$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,14.050,103.350,300.300,42.475,0.000,27.114,45.107,506.082,0.000,0.000,25.140,1985.639,10987.263,447.258,2541.973,788.419,33.373,1309.812,0.000,1949.388,0.000,1.011,0.000
$DEVICE_MAMPS,257.040,63.495,1814.580,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.130,1562.870,834.714,314.480,0.000,0.000,0.000,0.000,0.000,0.000
$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,57181,787
$CAP_FILE_SIZE,127190,0
$CFSIZE,259252224,208945152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010213,113435,-4657.646,435.097,36,0.9,36,-23.5