version: 66.07
glider: 542
mission: 6
dive: 329
start: 2 1 113 16 35 31
data:
$ID,542
$MISSION,6
$DIVE,329
$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,-11506.746
$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,43
$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
$GPS1,010213,161434,-4656.367,432.529,27,0.9,27,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-56.6
$GPS2,010213,163435,-4656.430,432.923,22,1.3,22,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.234,-0.103
$KALMAN_X,-252560.0,919.2,351.0,271458.7,-456.0
$KALMAN_Y,197773.1,-605.0,59.3,-206761.1,5993.1
$MHEAD_RNG_PITCHd_Wd,269.7,29699,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.17,0.000,2,0.000,0.000,50,2877,2768,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.3,-4.0,6,125,6.18,1.65,-29.67,0.000,4,0.216,0.076,1626,3894,3415,0,0,0,0,0,0
$GC,138,-0.60,-146.1,4.9,-7.5,12,147,0.00,1.60,0.00,0.000,6,0.000,0.029,1626,2833,3416,0,0,0,0,0,0
$GC,226,-0.60,-146.1,15.4,-12.9,25,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2833,3417,0,0,0,0,0,0
$GC,314,-0.60,-146.1,26.5,-11.7,38,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2833,3417,0,0,0,0,0,0
$GC,399,-0.60,-146.1,37.0,-12.5,51,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2833,3418,0,0,0,0,0,0
$GC,643,-0.60,-146.1,67.5,-12.0,92,649,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2833,3418,0,0,0,0,0,0
$GC,991,-0.60,-146.1,110.4,-13.5,143,994,0.00,1.67,0.00,0.000,4,0.000,0.057,1617,3893,3418,0,0,0,0,0,0
$GC,1066,-0.60,-146.1,120.6,-12.4,147,1069,0.00,1.55,0.00,0.000,6,0.000,0.030,1618,2856,3418,0,0,0,0,0,0
$GC,1392,-0.60,-146.1,158.8,-11.9,168,1396,0.00,1.67,0.00,0.000,4,0.000,0.057,1609,3887,3419,0,0,0,0,0,0
$GC,1433,-0.60,-146.1,164.0,-12.5,170,1436,0.00,1.52,0.00,0.000,6,0.000,0.031,1609,2866,3419,0,0,0,0,0,0
$GC,1762,-0.60,-146.1,203.1,-12.6,191,1765,0.00,1.70,0.00,0.000,4,0.000,0.058,1601,3909,3419,0,0,0,0,0,0
$GC,1791,-0.60,-146.1,207.7,-14.3,192,1800,0.08,1.58,0.00,0.000,6,0.164,0.030,1625,2856,3419,0,0,0,0,0,0
$GC,2119,-0.60,-146.1,244.4,-11.1,213,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3419,0,0,0,0,0,0
$GC,2443,-0.60,-146.1,283.1,-11.8,230,2446,0.00,1.65,0.00,0.000,4,0.000,0.059,1618,3889,3419,0,0,0,0,0,0
$GC,2515,-0.60,-146.1,291.9,-12.6,233,2519,0.00,1.52,0.00,0.000,6,0.000,0.031,1618,2871,3419,0,0,0,0,0,0
$GC,2853,-0.60,-146.1,333.8,-12.4,249,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2866,3418,0,0,0,0,0,0
$GC,3159,-0.60,-146.1,370.4,-11.5,264,3163,0.00,1.65,0.00,0.000,4,0.000,0.058,1610,3896,3419,0,0,0,0,0,0
$GC,3211,-0.60,-146.1,377.0,-12.5,266,3215,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2850,3419,0,0,0,0,0,0
$GC,3539,-0.60,-146.1,415.6,-11.5,280,3543,0.00,1.67,0.00,0.000,4,0.000,0.058,1602,3892,3419,0,0,0,0,0,0
$GC,3602,-0.60,-146.1,423.3,-12.0,281,3609,0.08,1.55,0.00,0.000,6,0.164,0.031,1626,2857,3419,0,0,0,0,0,0
$GC,3918,-0.60,-146.1,451.7,-8.5,292,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2856,3419,0,0,0,0,0,0
$GC,4224,-0.60,-146.1,476.1,-7.8,302,4227,0.00,1.65,0.00,0.000,4,0.000,0.060,1619,3889,3418,0,0,0,0,0,0
$GC,4270,-0.60,-146.1,480.3,-9.2,303,4273,0.00,1.55,0.00,0.000,6,0.000,0.031,1619,2863,3418,0,0,0,0,0,0
$GC,4602,-0.60,-146.1,509.9,-9.5,314,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2858,3418,0,0,0,0,0,0
$GC,4909,-0.60,-146.1,540.2,-9.9,324,4912,0.00,1.65,0.00,0.000,4,0.000,0.060,1611,3887,3418,0,0,0,0,0,0
$GC,4946,-0.60,-146.1,544.1,-10.4,325,4949,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2858,3418,0,0,0,0,0,0
$GC,5289,-0.60,-146.1,580.0,-10.3,336,5293,0.00,2.10,0.00,0.000,4,0.000,0.036,1611,1482,3418,0,0,0,0,0,0
$GC,5321,-0.60,-146.1,583.2,-9.9,337,5325,0.12,2.20,0.00,0.000,6,0.183,0.052,1632,2852,3418,0,0,0,0,0,0
$GC,5659,-0.60,-146.1,612.2,-8.4,348,5663,0.00,1.65,0.00,0.000,4,0.000,0.060,1625,3896,3417,0,0,0,0,0,0
$GC,5706,-0.60,-146.1,616.7,-9.4,349,5710,0.00,1.58,0.00,0.000,6,0.000,0.031,1624,2854,3417,0,0,0,0,0,0
$GC,6039,-0.60,-146.1,645.3,-8.4,360,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2849,3417,0,0,0,0,0,0
$GC,6344,-0.60,-146.1,671.5,-8.5,370,6348,0.00,1.70,0.00,0.000,4,0.000,0.061,1617,3903,3417,0,0,0,0,0,0
$GC,6401,-0.60,-146.1,677.1,-9.9,371,6405,0.00,1.58,0.00,0.000,6,0.000,0.032,1617,2865,3416,0,0,0,0,0,0
$GC,6722,-0.60,-146.1,705.8,-9.2,382,6726,0.00,1.70,0.00,0.000,4,0.000,0.061,1608,3896,3416,0,0,0,0,0,0
$GC,6759,-0.60,-146.1,709.4,-10.2,383,6762,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2855,3415,0,0,0,0,0,0
$GC,7102,-0.60,-146.1,743.6,-10.1,394,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2851,3416,0,0,0,0,0,0
$GC,7408,-0.60,-146.1,773.9,-9.6,404,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2851,3415,0,0,0,0,0,0
$GC,7714,-0.60,-146.1,802.1,-9.1,414,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2851,3415,0,0,0,0,0,0
$GC,8021,-0.60,-146.1,830.5,-9.3,424,8024,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3903,3415,0,0,0,0,0,0
$GC,8061,-0.60,-146.1,834.9,-11.0,425,8065,0.08,1.58,0.00,0.000,6,0.160,0.032,1633,2868,3415,0,0,0,0,0,0
$GC,8399,-0.60,-146.1,861.2,-7.8,436,8403,0.00,1.67,0.00,0.000,4,0.000,0.060,1626,3900,3415,0,0,0,0,0,0
$GC,8440,-0.60,-146.1,864.8,-8.9,437,8444,0.00,1.60,0.00,0.000,6,0.000,0.032,1626,2850,3415,0,0,0,0,0,0
$GC,8778,-0.60,-146.1,893.4,-8.5,448,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2845,3414,0,0,0,0,0,0
$GC,9084,-0.60,-146.1,919.0,-8.2,458,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2845,3414,0,0,0,0,0,0
$GC,9391,-0.60,-146.1,942.1,-7.3,468,9395,0.00,1.73,0.00,0.000,4,0.000,0.061,1618,3894,3415,0,0,0,0,0,0
$GC,9437,-0.60,-146.1,945.9,-8.1,469,9441,0.00,1.58,0.00,0.000,6,0.000,0.032,1618,2854,3415,0,0,0,0,0,0
$GC,9769,-0.60,-146.1,970.9,-7.4,480,9773,0.00,1.70,0.00,0.000,4,0.000,0.060,1610,3888,3414,0,0,0,0,0,0
$GC,9799,-0.60,-146.1,973.5,-8.5,480,9806,0.00,1.55,0.00,0.000,6,0.000,0.033,1610,2864,3414,0,0,0,0,0,0
$GC,10115,-0.60,-146.1,998.8,-7.9,491,10119,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3901,3414,0,0,0,0,0,0
$STATE,10123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10123,begin apogee
$GC,10135,-0.18,0.0,1000.1,8.0,491,10282,0.52,0.00,143.88,1.249,6,0.161,0.000,1759,2666,2819,0,0,0,0,0,0
$STATE,10284,end apogee,CONTROL_FINISHED_OK
$STATE,10284,begin climb
$GC,10290,0.60,146.1,1003.0,0.0,496,10459,0.80,2.47,154.65,1.787,4,0.098,0.043,2028,1294,2225,0,0,0,0,1,0
$GC,10542,0.60,146.1,965.4,18.4,503,10549,0.00,2.40,0.00,0.000,6,0.000,0.050,2028,2669,2221,0,0,0,0,0,0
$GC,10857,0.60,146.1,898.4,21.6,514,10861,0.00,2.25,0.00,0.000,4,0.000,0.044,2039,1283,2217,0,0,0,0,0,0
$GC,10898,0.60,146.1,889.7,19.9,515,10902,0.00,2.30,0.00,0.000,6,0.000,0.051,2039,2676,2216,0,0,0,0,0,0
$GC,11224,0.60,146.1,818.6,22.2,526,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2676,2215,0,0,0,0,0,0
$GC,11532,0.60,146.1,753.1,21.0,536,11536,0.00,2.22,0.00,0.000,4,0.000,0.044,2049,1280,2214,0,0,0,0,0,0
$GC,11568,0.60,146.1,745.3,20.2,537,11572,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2670,2213,0,0,0,0,0,0
$GC,11900,0.60,146.1,673.9,21.3,548,11901,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2213,0,0,0,0,0,0
$GC,12206,0.60,146.1,612.3,20.1,558,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2671,2212,0,0,0,0,0,0
$GC,12512,0.60,146.1,551.7,19.4,568,12516,0.00,2.15,0.00,0.000,4,0.000,0.042,2059,1288,2212,0,0,0,0,0,0
$GC,12544,0.60,146.1,545.8,18.7,569,12549,0.12,2.22,0.00,0.000,6,0.206,0.050,2030,2673,2211,0,0,0,0,0,0
$GC,12882,0.60,146.1,485.1,18.7,580,12886,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1278,2212,0,0,0,0,0,0
$GC,12917,0.60,146.1,478.6,18.2,581,12922,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2676,2211,0,0,0,0,0,0
$GC,13249,0.60,146.1,415.8,19.1,592,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2676,2211,0,0,0,0,0,0
$GC,13568,0.60,146.1,355.5,19.4,606,13572,0.00,2.17,0.00,0.000,4,0.000,0.042,2051,1288,2211,0,0,0,0,0,0
$GC,13598,0.60,146.1,350.6,18.9,607,13602,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2673,2210,0,0,0,0,0,0
$GC,13929,0.60,146.1,284.2,20.0,623,13933,0.00,1.95,0.00,0.000,4,0.000,0.058,2051,3899,2211,0,0,0,0,0,0
$GC,13947,0.60,146.1,279.7,20.4,623,13955,0.10,1.90,0.00,0.000,6,0.216,0.038,2033,2691,2211,0,0,0,0,0,0
$GC,14277,0.60,146.1,221.3,16.5,642,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2687,2211,0,0,0,0,0,0
$GC,14591,0.60,146.1,166.5,17.6,662,14595,0.00,2.20,0.00,0.000,4,0.000,0.043,2043,1270,2211,0,0,0,0,0,0
$GC,14711,0.60,146.1,148.0,14.1,669,14715,0.00,2.25,0.00,0.000,6,0.000,0.050,2043,2669,2210,0,0,0,0,0,0
$GC,15039,0.60,146.1,93.8,16.3,693,15045,0.00,2.25,0.00,0.000,4,0.000,0.044,2053,1266,2210,0,0,0,0,0,0
$GC,15224,0.60,146.1,67.5,13.4,724,15231,0.00,2.25,0.00,0.000,6,0.000,0.050,2053,2671,2210,0,0,0,0,0,0
$STATE,15592,end climb,SURFACE_DEPTH_REACHED
$STATE,15592,begin surface coast
$FINISH,0.9,1.005243
$STATE,15618,end surface coast,CONTROL_FINISHED_OK
$STATE,15618,begin surface
$SM_CCo,15640,42.33,0.764,1,0,1880,230.09
$SM_GC,1.83,0.00,0.00,42.33,0.000,0.000,0.764,59,2886,1880,-5.54,0.74,230.09
$IRIDIUM_FIX,-4638.64,431.42,010213,161613
$TT8_MAMPS,0.026215
$HUMID,59.09
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.7,61.085
$10V_AH,10.0,31.334
$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,13.450,99.950,298.525,42.325,0.000,68.523,103.586,691.367,0.000,0.000,24.541,1974.878,10766.552,441.444,2802.475,889.882,33.404,1325.999,0.000,2006.463,0.000,1.009,0.000
$DEVICE_MAMPS,215.730,76.500,1787.040,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.467,1550.635,828.257,331.632,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354068
$DATA_FILE_SIZE,57087,788
$CAP_FILE_SIZE,130069,0
$CFSIZE,259252224,208809984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010213,205823,-4655.216,429.673,36,0.8,36,-23.4