version: 66.07
glider: 542
mission: 6
dive: 334
start: 2 2 113 16 3 26
data:
$ID,542
$MISSION,6
$DIVE,334
$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,-11521.011
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,020213,154858,-4655.146,419.073,37,1.0,37,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-59.6
$GPS2,020213,160230,-4655.048,419.092,18,1.3,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.137,-0.216
$KALMAN_X,-251094.5,-193.0,63.1,253919.0,-456.7
$KALMAN_Y,217817.5,-880.1,-413.7,-223485.0,8227.6
$MHEAD_RNG_PITCHd_Wd,235.8,14696,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.60,-146.1,0.0,0.0,0,93,0.00,0.00,-63.10,0.000,2,0.000,0.000,59,2886,3113,0,0,0,0,0,0
$GC,100,-0.60,-146.1,3.3,-3.0,8,126,6.78,1.65,-8.45,0.000,4,0.254,0.075,1623,3897,3418,0,0,0,0,0,0
$GC,186,-0.60,-146.1,19.1,-18.0,20,195,0.00,1.60,0.00,0.000,6,0.000,0.031,1622,2847,3419,0,0,0,0,0,0
$GC,274,-0.60,-146.1,33.9,-18.3,33,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3420,0,0,0,0,0,0
$GC,519,-0.60,-146.1,71.0,-14.4,74,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3420,0,0,0,0,0,0
$GC,861,-0.60,-146.1,116.9,-12.7,119,862,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3420,0,0,0,0,0,0
$GC,1174,-0.60,-146.1,156.4,-11.8,139,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3422,0,0,0,0,0,0
$GC,1486,-0.60,-146.1,189.3,-10.8,159,1490,0.00,1.70,0.00,0.000,4,0.000,0.059,1614,3892,3422,0,0,0,0,0,0
$GC,1550,-0.60,-146.1,197.2,-11.5,162,1559,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2856,3422,0,0,0,0,0,0
$GC,1874,-0.60,-146.1,233.3,-11.5,183,1877,0.00,1.67,0.00,0.000,4,0.000,0.059,1606,3886,3422,0,0,0,0,0,0
$GC,1920,-0.60,-146.1,239.4,-12.8,185,1927,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2851,3422,0,0,0,0,0,0
$GC,2252,-0.60,-146.1,278.6,-12.0,203,2255,0.00,1.67,0.00,0.000,4,0.000,0.058,1598,3897,3422,0,0,0,0,0,0
$GC,2332,-0.60,-146.1,289.6,-13.1,206,2336,0.10,1.55,0.00,0.000,6,0.163,0.031,1636,2869,3422,0,0,0,0,0,0
$GC,2658,-0.60,-146.1,320.8,-9.4,222,2661,0.00,1.65,0.00,0.000,4,0.000,0.059,1630,3894,3422,0,0,0,0,0,0
$GC,2706,-0.60,-146.1,326.0,-10.7,224,2710,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2851,3422,0,0,0,0,0,0
$GC,3041,-0.60,-146.1,360.1,-10.1,240,3045,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3892,3422,0,0,0,0,0,0
$GC,3099,-0.60,-146.1,366.3,-10.7,242,3102,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2862,3422,0,0,0,0,0,0
$GC,3423,-0.60,-146.1,398.6,-10.0,258,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3422,0,0,0,0,0,0
$GC,3749,-0.60,-146.1,430.8,-9.9,269,3753,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3896,3422,0,0,0,0,0,0
$GC,3801,-0.60,-146.1,436.6,-10.9,270,3805,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2855,3422,0,0,0,0,0,0
$GC,4129,-0.60,-146.1,470.3,-10.6,281,4133,0.00,1.67,0.00,0.000,4,0.000,0.059,1606,3893,3422,0,0,0,0,0,0
$GC,4203,-0.60,-146.1,479.3,-11.7,283,4207,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2853,3422,0,0,0,0,0,0
$GC,4542,-0.60,-146.1,518.0,-11.6,294,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2847,3422,0,0,0,0,0,0
$GC,4847,-0.60,-146.1,552.7,-11.1,304,4850,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3891,3422,0,0,0,0,0,0
$GC,4954,-0.60,-146.1,565.7,-12.0,307,4959,0.10,1.55,0.00,0.000,6,0.164,0.032,1628,2867,3422,0,0,0,0,0,0
$GC,5294,-0.60,-146.1,596.6,-8.7,318,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2864,3422,0,0,0,0,0,0
$GC,5599,-0.60,-146.1,623.0,-8.4,328,5603,0.00,1.65,0.00,0.000,4,0.000,0.060,1622,3890,3422,0,0,0,0,0,0
$GC,5636,-0.60,-146.1,626.3,-8.6,329,5639,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2852,3422,0,0,0,0,0,0
$GC,5980,-0.60,-146.1,654.7,-8.0,340,5983,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3887,3421,0,0,0,0,0,0
$GC,6017,-0.60,-146.1,658.0,-9.3,341,6021,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2866,3421,0,0,0,0,0,0
$GC,6362,-0.60,-146.1,688.1,-8.8,352,6365,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3898,3421,0,0,0,0,0,0
$GC,6414,-0.60,-146.1,693.5,-10.6,353,6417,0.00,1.60,0.00,0.000,6,0.000,0.033,1605,2852,3421,0,0,0,0,0,0
$GC,6740,-0.60,-146.1,723.6,-9.4,364,6742,0.10,0.00,0.00,0.000,6,0.198,0.000,1629,2847,3421,0,0,0,0,0,0
$GC,7048,-0.60,-146.1,747.2,-7.7,374,7051,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3899,3421,0,0,0,0,0,0
$GC,7089,-0.60,-146.1,750.8,-8.7,375,7092,0.00,1.60,0.00,0.000,6,0.000,0.033,1622,2851,3421,0,0,0,0,0,0
$GC,7426,-0.60,-146.1,777.5,-7.9,386,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3421,0,0,0,0,0,0
$GC,7732,-0.60,-146.1,801.6,-8.0,396,7736,0.00,1.70,0.00,0.000,4,0.000,0.061,1613,3884,3421,0,0,0,0,0,0
$GC,7779,-0.60,-146.1,806.0,-9.2,397,7783,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2865,3420,0,0,0,0,0,0
$GC,8111,-0.60,-146.1,834.5,-8.7,408,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3421,0,0,0,0,0,0
$GC,8418,-0.60,-146.1,862.4,-9.1,418,8421,0.00,1.67,0.00,0.000,4,0.000,0.061,1606,3895,3419,0,0,0,0,0,0
$GC,8464,-0.60,-146.1,867.1,-10.3,419,8467,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2860,3419,0,0,0,0,0,0
$GC,8795,-0.60,-146.1,899.2,-9.7,430,8797,0.10,0.00,0.00,0.000,6,0.197,0.000,1629,2856,3420,0,0,0,0,0,0
$GC,9102,-0.60,-146.1,922.8,-7.3,440,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2856,3420,0,0,0,0,0,0
$GC,9408,-0.60,-146.1,944.1,-6.7,450,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2856,3420,0,0,0,0,0,0
$GC,9714,-0.60,-146.1,962.6,-6.1,460,9718,0.00,2.12,0.00,0.000,4,0.000,0.037,1629,1479,3419,0,0,0,0,0,0
$GC,9767,-0.60,-146.1,965.9,-6.6,461,9771,0.00,2.22,0.00,0.000,6,0.000,0.052,1620,2855,3419,0,0,0,0,0,0
$GC,10083,-0.60,-146.1,986.8,-6.6,471,10086,0.00,1.65,0.00,0.000,4,0.000,0.061,1612,3894,3419,0,0,0,0,0,0
$GC,10119,-0.60,-146.1,989.5,-7.2,472,10123,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2856,3419,0,0,0,0,0,0
$STATE,10274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10274,begin apogee
$GC,10285,-0.18,0.0,1001.6,7.7,477,10433,0.52,0.00,145.02,1.248,6,0.158,0.000,1765,2675,2819,0,0,0,0,0,0
$STATE,10435,end apogee,CONTROL_FINISHED_OK
$STATE,10435,begin climb
$GC,10440,0.60,146.1,1004.3,0.0,482,10611,0.77,2.55,155.60,1.802,4,0.094,0.043,2026,1285,2224,0,0,0,0,1,0
$GC,10657,0.60,146.1,974.4,18.4,488,10661,0.00,2.42,0.00,0.000,6,0.000,0.050,2026,2663,2222,0,0,0,0,0,0
$GC,10978,0.60,146.1,908.2,20.6,499,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2664,2217,0,0,0,0,0,0
$GC,11285,0.60,146.1,847.5,19.5,509,11289,0.00,2.22,0.00,0.000,4,0.000,0.044,2036,1278,2216,0,0,0,0,0,0
$GC,11325,0.60,146.1,839.6,17.9,510,11329,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2675,2214,0,0,0,0,0,0
$GC,11651,0.60,146.1,773.3,20.7,521,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2214,0,0,0,0,0,0
$GC,11958,0.60,146.1,711.9,20.1,531,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2675,2214,0,0,0,0,0,0
$GC,12264,0.60,146.1,650.1,20.2,541,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2213,0,0,0,0,0,0
$GC,12570,0.60,146.1,588.0,19.9,551,12574,0.00,2.17,0.00,0.000,4,0.000,0.042,2047,1284,2213,0,0,0,0,0,0
$GC,12616,0.60,146.1,579.2,16.8,552,12620,0.00,2.22,0.00,0.000,6,0.000,0.051,2047,2673,2212,0,0,0,0,0,0
$GC,12950,0.60,146.1,512.2,20.3,563,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2212,0,0,0,0,0,0
$GC,13254,0.60,146.1,450.6,20.0,573,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2673,2212,0,0,0,0,0,0
$GC,13571,0.60,146.1,387.2,20.0,584,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2673,2213,0,0,0,0,0,0
$GC,13883,0.60,146.1,326.2,19.7,599,13887,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1281,2212,0,0,0,0,0,0
$GC,13913,0.60,146.1,319.6,19.6,600,13918,0.12,2.25,0.00,0.000,6,0.213,0.050,2029,2675,2211,0,0,0,0,0,0
$GC,14233,0.60,146.1,263.3,17.5,615,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2675,2211,0,0,0,0,0,0
$GC,14548,0.60,146.1,208.6,17.0,634,14552,0.00,1.98,0.00,0.000,4,0.000,0.059,2029,3900,2211,0,0,0,0,0,0
$GC,14572,0.60,146.1,203.8,18.0,635,14576,0.00,1.88,0.00,0.000,6,0.000,0.037,2037,2681,2211,0,0,0,0,0,0
$GC,14901,0.60,146.1,145.0,18.2,656,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2675,2211,0,0,0,0,0,0
$GC,15213,0.60,146.1,93.8,16.2,680,15220,0.00,1.98,0.00,0.000,4,0.000,0.058,2038,3903,2210,0,0,0,0,0,0
$GC,15260,0.60,146.1,86.1,16.6,687,15266,0.00,1.92,0.00,0.000,6,0.000,0.037,2046,2676,2211,0,0,0,0,0,0
$GC,15625,0.60,146.1,24.5,17.5,748,15634,0.00,2.22,0.00,0.000,4,0.000,0.043,2057,1267,2210,0,0,0,0,0,0
$GC,15684,0.60,146.1,14.2,18.1,756,15693,0.08,2.28,0.00,0.000,6,0.190,0.048,2036,2671,2208,0,0,0,0,0,0
$STATE,15749,end climb,SURFACE_DEPTH_REACHED
$STATE,15750,begin surface coast
$FINISH,1.1,1.026469
$STATE,15769,end surface coast,CONTROL_FINISHED_OK
$STATE,15770,begin surface
$SM_CCo,15792,42.20,0.750,1,0,1879,230.09
$SM_GC,1.86,0.00,0.00,42.20,0.000,0.000,0.750,59,2866,1879,-5.53,0.17,230.09
$IRIDIUM_FIX,-4638.64,421.75,020213,111151
$TT8_MAMPS,0.026964
$HUMID,58.30
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.6,61.988
$10V_AH,10.0,31.886
$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,14.125,87.375,300.625,42.200,0.000,26.935,54.833,478.639,0.000,0.000,21.082,1940.389,11010.724,427.597,2499.765,760.651,33.407,1282.407,0.000,1929.170,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,78.795,1802.340,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.830,1505.608,778.685,282.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354184
$DATA_FILE_SIZE,53765,769
$CAP_FILE_SIZE,123151,0
$CFSIZE,259252224,208478208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020213,202857,-4655.665,416.572,39,1.1,43,-23.4