version: 66.07
glider: 542
mission: 6
dive: 331
start: 2 2 113 2 10 27
data:
$ID,542
$MISSION,6
$DIVE,331
$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,-11512.475
$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
$GPS1,020213,014224,-4654.841,426.423,40,1.2,40,-23.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.7
$GPS2,020213,020931,-4654.658,426.534,15,0.9,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,-0.161
$KALMAN_X,-249299.9,-567.5,21.2,261953.5,1622.7
$KALMAN_Y,206546.4,-515.9,-653.5,-211614.6,8382.2
$MHEAD_RNG_PITCHd_Wd,254.4,23109,-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,-146.1,0.0,0.0,0,93,0.00,0.00,-63.22,0.000,2,0.000,0.000,61,2874,3172,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.4,-1.9,8,118,6.60,2.25,-5.78,0.000,4,0.246,0.052,1637,1473,3418,0,0,0,0,0,0
$GC,173,-0.60,-146.1,19.6,-13.1,18,182,0.00,2.25,0.00,0.000,6,0.000,0.049,1628,2851,3419,0,0,0,0,0,0
$GC,261,-0.60,-146.1,30.5,-10.9,31,268,0.00,1.67,0.00,0.000,4,0.000,0.057,1620,3906,3419,0,0,0,0,0,0
$GC,316,-0.60,-146.1,38.4,-13.9,39,323,0.00,1.60,0.00,0.000,6,0.000,0.030,1620,2852,3419,0,0,0,0,0,0
$GC,562,-0.60,-146.1,71.2,-13.5,80,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2852,3419,0,0,0,0,0,0
$GC,918,-0.60,-146.1,114.1,-12.5,129,920,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2852,3420,0,0,0,0,0,0
$GC,1231,-0.60,-146.1,153.5,-13.0,149,1235,0.00,1.70,0.00,0.000,4,0.000,0.058,1611,3900,3420,0,0,0,0,0,0
$GC,1323,-0.60,-146.1,166.6,-14.3,154,1327,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2850,3421,0,0,0,0,0,0
$GC,1652,-0.60,-146.1,206.6,-11.7,175,1655,0.00,1.70,0.00,0.000,4,0.000,0.058,1604,3907,3421,0,0,0,0,0,0
$GC,1681,-0.60,-146.1,210.6,-12.6,176,1690,0.08,1.58,0.00,0.000,6,0.164,0.031,1627,2858,3421,0,0,0,0,0,0
$GC,2004,-0.60,-146.1,241.8,-9.9,197,2008,0.00,1.67,0.00,0.000,4,0.000,0.059,1620,3904,3421,0,0,0,0,0,0
$GC,2062,-0.60,-146.1,248.3,-11.1,200,2065,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2857,3421,0,0,0,0,0,0
$GC,2380,-0.60,-146.1,281.3,-10.4,216,2383,0.00,1.70,0.00,0.000,4,0.000,0.059,1611,3911,3421,0,0,0,0,0,0
$GC,2414,-0.60,-146.1,285.6,-11.7,217,2418,0.00,1.58,0.00,0.000,6,0.000,0.030,1611,2864,3421,0,0,0,0,0,0
$GC,2741,-0.60,-146.1,322.8,-11.5,233,2745,0.00,1.73,0.00,0.000,4,0.000,0.060,1603,3903,3421,0,0,0,0,0,0
$GC,2781,-0.60,-146.1,328.4,-12.8,234,2790,0.08,1.58,0.00,0.000,6,0.164,0.031,1627,2856,3421,0,0,0,0,0,0
$GC,3099,-0.60,-146.1,361.4,-10.5,250,3103,0.00,1.70,0.00,0.000,4,0.000,0.060,1620,3900,3421,0,0,0,0,0,0
$GC,3148,-0.60,-146.1,366.8,-10.8,252,3152,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2855,3421,0,0,0,0,0,0
$GC,3493,-0.60,-146.1,404.9,-10.9,268,3497,0.00,1.73,0.00,0.000,4,0.000,0.060,1612,3907,3421,0,0,0,0,0,0
$GC,3529,-0.60,-146.1,409.0,-11.2,269,3533,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2863,3420,0,0,0,0,0,0
$GC,3874,-0.60,-146.1,447.8,-11.3,280,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2859,3421,0,0,0,0,0,0
$GC,4179,-0.60,-146.1,481.7,-11.2,290,4182,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3912,3420,0,0,0,0,0,0
$GC,4241,-0.60,-146.1,489.5,-12.4,291,4249,0.08,1.60,0.00,0.000,6,0.162,0.031,1626,2853,3420,0,0,0,0,0,0
$GC,4557,-0.60,-146.1,521.5,-10.2,302,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2852,3420,0,0,0,0,0,0
$GC,4863,-0.60,-146.1,551.3,-9.7,312,4866,0.00,1.70,0.00,0.000,4,0.000,0.060,1619,3907,3420,0,0,0,0,0,0
$GC,4908,-0.60,-146.1,556.3,-10.6,313,4912,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2871,3419,0,0,0,0,0,0
$GC,5240,-0.60,-146.1,587.8,-9.2,324,5244,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3905,3419,0,0,0,0,0,0
$GC,5292,-0.60,-146.1,592.9,-9.9,325,5295,0.00,1.60,0.00,0.000,6,0.000,0.032,1611,2851,3419,0,0,0,0,0,0
$GC,5618,-0.60,-146.1,621.5,-8.7,336,5622,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3903,3418,0,0,0,0,0,0
$GC,5670,-0.60,-146.1,626.5,-9.0,337,5675,0.08,1.58,0.00,0.000,6,0.161,0.031,1627,2865,3418,0,0,0,0,0,0
$GC,5997,-0.60,-146.1,652.0,-8.1,348,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3418,0,0,0,0,0,0
$GC,6304,-0.60,-146.1,679.3,-9.2,358,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3418,0,0,0,0,0,0
$GC,6609,-0.60,-146.1,709.2,-9.9,368,6613,0.00,1.70,0.00,0.000,4,0.000,0.060,1620,3896,3417,0,0,0,0,0,0
$GC,6646,-0.60,-146.1,713.0,-10.2,369,6650,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2857,3417,0,0,0,0,0,0
$GC,6992,-0.60,-146.1,746.9,-9.4,380,6995,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3906,3417,0,0,0,0,0,0
$GC,7043,-0.60,-146.1,752.4,-9.9,381,7047,0.00,1.60,0.00,0.000,6,0.000,0.031,1612,2852,3416,0,0,0,0,0,0
$GC,7369,-0.60,-146.1,782.8,-9.4,392,7373,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3902,3417,0,0,0,0,0,0
$GC,7406,-0.60,-146.1,786.6,-10.2,393,7410,0.08,1.58,0.00,0.000,6,0.161,0.032,1635,2864,3417,0,0,0,0,0,0
$GC,7750,-0.60,-146.1,812.0,-7.3,404,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2860,3416,0,0,0,0,0,0
$GC,8056,-0.60,-146.1,835.7,-8.1,414,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2860,3416,0,0,0,0,0,0
$GC,8363,-0.60,-146.1,861.6,-8.6,424,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2861,3416,0,0,0,0,0,0
$GC,8669,-0.60,-146.1,886.9,-8.2,434,8672,0.00,1.70,0.00,0.000,4,0.000,0.062,1629,3907,3416,0,0,0,0,0,0
$GC,8698,-0.60,-146.1,889.7,-9.5,434,8705,0.00,1.60,0.00,0.000,6,0.000,0.032,1629,2849,3416,0,0,0,0,0,0
$GC,9014,-0.60,-146.1,914.6,-7.7,445,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3416,0,0,0,0,0,0
$GC,9320,-0.60,-146.1,936.6,-7.1,455,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3416,0,0,0,0,0,0
$GC,9626,-0.60,-146.1,957.4,-6.7,465,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2849,3415,0,0,0,0,0,0
$GC,9934,-0.60,-146.1,977.6,-6.6,475,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3416,0,0,0,0,0,0
$GC,10239,-0.60,-146.1,999.3,-7.2,485,10242,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3902,3416,0,0,0,0,0,0
$STATE,10247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10247,begin apogee
$GC,10259,-0.18,0.0,1000.5,7.4,485,10407,0.47,0.00,144.00,1.246,6,0.157,0.000,1764,2669,2819,0,0,0,0,0,0
$STATE,10408,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10414,0.60,146.1,1004.7,0.0,490,10573,0.77,2.47,151.15,1.203,4,0.091,0.041,2029,1293,2219,0,0,0,0,0,0
$GC,10659,0.60,146.1,969.5,17.2,497,10663,0.00,2.40,0.00,0.000,6,0.000,0.049,2029,2672,2210,0,0,0,0,0,0
$GC,10985,0.60,146.1,899.9,20.9,508,10989,0.00,2.25,0.00,0.000,4,0.000,0.044,2039,1287,2208,0,0,0,0,0,0
$GC,11020,0.60,146.1,892.5,20.0,509,11024,0.00,2.28,0.00,0.000,6,0.000,0.050,2039,2672,2206,0,0,0,0,0,0
$GC,11353,0.60,146.1,820.0,22.2,520,11357,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1276,2206,0,0,0,0,0,0
$GC,11393,0.60,146.1,810.9,21.1,521,11397,0.00,2.28,0.00,0.000,6,0.000,0.050,2049,2676,2204,0,0,0,0,0,0
$GC,11719,0.60,146.1,736.0,23.6,532,11723,0.00,2.20,0.00,0.000,4,0.000,0.042,2060,1286,2204,0,0,0,0,0,0
$GC,11760,0.60,146.1,726.5,21.5,533,11765,0.15,2.25,0.00,0.000,6,0.210,0.050,2025,2677,2203,0,0,0,0,0,0
$GC,12087,0.60,146.1,659.0,20.4,544,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2678,2203,0,0,0,0,0,0
$GC,12394,0.60,146.1,596.7,19.8,554,12398,0.00,2.20,0.00,0.000,4,0.000,0.042,2035,1285,2203,0,0,0,0,0,0
$GC,12418,0.60,146.1,591.6,19.4,554,12425,0.00,2.22,0.00,0.000,6,0.000,0.049,2035,2675,2203,0,0,0,0,0,0
$GC,12733,0.60,146.1,527.2,20.1,565,12737,0.00,2.17,0.00,0.000,4,0.000,0.041,2045,1288,2202,0,0,0,0,0,0
$GC,12757,0.60,146.1,522.4,17.9,565,12761,0.00,2.22,0.00,0.000,6,0.000,0.049,2045,2670,2202,0,0,0,0,0,0
$GC,13072,0.60,146.1,459.6,20.4,575,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2671,2202,0,0,0,0,0,0
$GC,13378,0.60,146.1,398.5,19.9,585,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2671,2202,0,0,0,0,0,0
$GC,13687,0.60,146.1,338.9,19.3,600,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2671,2202,0,0,0,0,0,0
$GC,13999,0.60,146.1,280.0,18.6,615,14003,0.00,2.17,0.00,0.000,4,0.000,0.042,2055,1283,2202,0,0,0,0,0,0
$GC,14028,0.60,146.1,273.9,17.6,616,14033,0.12,2.25,0.00,0.000,6,0.203,0.050,2027,2676,2201,0,0,0,0,0,0
$GC,14367,0.60,146.1,217.6,17.2,635,14373,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2676,2201,0,0,0,0,0,0
$GC,14689,0.60,146.1,161.9,17.1,656,14693,0.00,1.98,0.00,0.000,4,0.000,0.059,2026,3899,2201,0,0,0,0,0,0
$GC,14745,0.60,146.1,151.8,18.8,659,14749,0.00,1.88,0.00,0.000,6,0.000,0.037,2035,2681,2201,0,0,0,0,0,0
$GC,15066,0.60,146.1,96.9,16.7,680,15073,0.00,1.98,0.00,0.000,4,0.000,0.058,2035,3903,2201,0,0,0,0,0,0
$GC,15118,0.60,146.1,88.0,17.7,688,15125,0.00,1.90,0.00,0.000,6,0.000,0.037,2044,2671,2201,0,0,0,0,0,0
$GC,15478,0.60,146.1,28.7,14.4,749,15487,0.00,2.22,0.00,0.000,4,0.000,0.043,2055,1268,2201,0,0,0,0,0,0
$GC,15541,0.60,146.1,19.0,15.6,758,15550,0.00,2.28,0.00,0.000,6,0.000,0.050,2055,2667,2199,0,0,0,0,0,0
$STATE,15625,end climb,SURFACE_DEPTH_REACHED
$STATE,15626,begin surface coast
$FINISH,0.8,1.026428
$STATE,15639,end surface coast,CONTROL_FINISHED_OK
$STATE,15640,begin surface
$SM_CCo,15662,41.45,0.741,1,0,1877,230.09
$SM_GC,1.83,0.00,0.00,41.45,0.000,0.000,0.741,59,2886,1877,-5.54,0.74,230.09
$IRIDIUM_FIX,-4638.64,421.75,020213,010154
$TT8_MAMPS,0.026215
$HUMID,59.17
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,1
$24V_AH,22.3,61.438
$10V_AH,10.0,31.562
$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,13.875,104.700,295.150,41.450,0.000,84.257,103.169,1026.272,0.250,0.000,18.868,1937.080,10985.067,435.824,3044.890,919.508,33.376,1292.690,0.000,1925.631,0.000,1.009,0.000
$DEVICE_MAMPS,245.565,61.965,1246.185,740.520,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.153,1504.953,791.930,301.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354192
$DATA_FILE_SIZE,56964,773
$CAP_FILE_SIZE,133895,0
$CFSIZE,259252224,208670720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020213,063352,-4654.070,423.689,47,0.9,48,-23.4