version: 66.07
glider: 542
mission: 6
dive: 335
start: 2 2 113 20 42 39
data:
$ID,542
$MISSION,6
$DIVE,335
$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,-11523.881
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,020213,202857,-4655.665,416.572,39,1.1,43,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-53.0
$GPS2,020213,204142,-4655.734,416.745,18,1.1,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.115,-0.228
$KALMAN_X,-251368.4,72.7,6.5,250992.4,-574.2
$KALMAN_Y,220887.3,-899.0,-456.7,-227760.4,7881.0
$MHEAD_RNG_PITCHd_Wd,230.1,11619,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.60,-146.1,0.0,0.0,0,91,0.00,0.00,-63.08,0.000,2,0.000,0.000,59,2866,3100,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.2,-3.2,8,116,6.78,0.00,-8.82,0.000,6,0.255,0.000,1626,2866,3417,0,0,0,0,0,0
$GC,195,-0.60,-146.1,19.0,-13.2,22,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2866,3419,0,0,0,0,0,0
$GC,282,-0.60,-146.1,31.2,-12.2,35,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2866,3419,0,0,0,0,0,0
$GC,531,-0.60,-146.1,65.4,-14.5,76,537,0.00,1.65,0.00,0.000,4,0.000,0.057,1619,3892,3419,0,0,0,0,0,0
$GC,590,-0.60,-146.1,72.9,-12.0,85,595,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2842,3420,0,0,0,0,0,0
$GC,934,-0.60,-146.1,118.1,-12.7,129,938,0.00,1.73,0.00,0.000,4,0.000,0.059,1611,3894,3420,0,0,0,0,0,0
$GC,1044,-0.60,-146.1,132.3,-12.6,135,1047,0.00,1.58,0.00,0.000,6,0.000,0.030,1611,2847,3421,0,0,0,0,0,0
$GC,1378,-0.60,-146.1,177.0,-13.1,156,1381,0.00,1.70,0.00,0.000,4,0.000,0.058,1603,3903,3422,0,0,0,0,0,0
$GC,1442,-0.60,-146.1,186.5,-14.6,159,1449,0.08,1.58,0.00,0.000,6,0.162,0.030,1626,2858,3422,0,0,0,0,0,0
$GC,1765,-0.60,-146.1,221.9,-10.7,180,1768,0.00,1.67,0.00,0.000,4,0.000,0.059,1620,3900,3422,0,0,0,0,0,0
$GC,1821,-0.60,-146.1,228.4,-11.5,183,1824,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2855,3422,0,0,0,0,0,0
$GC,2152,-0.60,-146.1,265.9,-11.3,202,2155,0.00,1.70,0.00,0.000,4,0.000,0.059,1611,3909,3423,0,0,0,0,0,0
$GC,2204,-0.60,-146.1,272.5,-12.3,204,2208,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2867,3422,0,0,0,0,0,0
$GC,2534,-0.60,-146.1,311.0,-11.9,220,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2862,3422,0,0,0,0,0,0
$GC,2844,-0.60,-146.1,348.2,-12.1,235,2848,0.00,1.67,0.00,0.000,4,0.000,0.059,1603,3890,3422,0,0,0,0,0,0
$GC,2908,-0.60,-146.1,357.0,-13.0,237,2915,0.08,1.55,0.00,0.000,6,0.162,0.032,1627,2862,3422,0,0,0,0,0,0
$GC,3229,-0.60,-146.1,391.5,-10.5,253,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3422,0,0,0,0,0,0
$GC,3553,-0.60,-146.1,426.1,-10.5,265,3557,0.00,1.70,0.00,0.000,4,0.000,0.060,1620,3901,3422,0,0,0,0,0,0
$GC,3605,-0.60,-146.1,432.1,-11.4,266,3609,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2865,3422,0,0,0,0,0,0
$GC,3933,-0.60,-146.1,467.5,-10.9,277,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2861,3422,0,0,0,0,0,0
$GC,4237,-0.60,-146.1,501.4,-11.2,287,4241,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3900,3422,0,0,0,0,0,0
$GC,4277,-0.60,-146.1,506.4,-12.1,288,4281,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2863,3422,0,0,0,0,0,0
$GC,4615,-0.60,-146.1,546.2,-12.0,299,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2857,3422,0,0,0,0,0,0
$GC,4921,-0.60,-146.1,581.6,-11.2,309,4924,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3897,3421,0,0,0,0,0,0
$GC,4978,-0.60,-146.1,588.7,-11.9,310,4982,0.08,1.58,0.00,0.000,6,0.159,0.032,1636,2862,3421,0,0,0,0,0,0
$GC,5299,-0.60,-146.1,617.3,-8.7,321,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3421,0,0,0,0,0,0
$GC,5607,-0.60,-146.1,643.1,-8.4,331,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3421,0,0,0,0,0,0
$GC,5911,-0.60,-146.1,668.3,-8.3,341,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2857,3421,0,0,0,0,0,0
$GC,6219,-0.60,-146.1,693.3,-8.3,351,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3421,0,0,0,0,0,0
$GC,6524,-0.60,-146.1,718.8,-8.3,361,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3421,0,0,0,0,0,0
$GC,6830,-0.60,-146.1,743.9,-8.1,371,6834,0.00,1.70,0.00,0.000,4,0.000,0.061,1629,3906,3420,0,0,0,0,0,0
$GC,6860,-0.60,-146.1,746.7,-8.3,371,6866,0.00,1.60,0.00,0.000,6,0.000,0.033,1629,2856,3420,0,0,0,0,0,0
$GC,7176,-0.60,-146.1,772.5,-8.1,382,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2856,3420,0,0,0,0,0,0
$GC,7483,-0.60,-146.1,795.8,-7.5,392,7487,0.00,2.12,0.00,0.000,4,0.000,0.037,1629,1478,3420,0,0,0,0,0,0
$GC,7518,-0.60,-146.1,798.8,-7.6,393,7523,0.00,2.25,0.00,0.000,6,0.000,0.052,1619,2871,3419,0,0,0,0,0,0
$GC,7851,-0.60,-146.1,826.1,-8.3,404,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2871,3420,0,0,0,0,0,0
$GC,8157,-0.60,-146.1,852.0,-8.4,414,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2871,3419,0,0,0,0,0,0
$GC,8463,-0.60,-146.1,878.5,-8.8,424,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2872,3419,0,0,0,0,0,0
$GC,8770,-0.60,-146.1,905.8,-9.0,434,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2872,3419,0,0,0,0,0,0
$GC,9076,-0.60,-146.1,932.6,-8.7,444,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2872,3419,0,0,0,0,0,0
$GC,9382,-0.60,-146.1,958.6,-8.5,454,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2872,3418,0,0,0,0,0,0
$GC,9689,-0.60,-146.1,983.8,-8.1,464,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2873,3418,0,0,0,0,0,0
$STATE,9898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9898,begin apogee
$GC,9909,-0.18,0.0,1000.7,7.9,471,10057,0.50,0.00,144.80,1.231,6,0.158,0.000,1764,2682,2819,0,0,0,0,0,0
$STATE,10059,end apogee,CONTROL_FINISHED_OK
$STATE,10059,begin climb
$GC,10063,0.60,146.1,1004.1,0.0,476,10232,0.82,2.55,155.12,1.785,4,0.096,0.043,2035,1284,2225,0,0,0,0,1,0
$GC,10269,0.60,146.1,974.6,19.7,482,10276,0.00,2.45,0.00,0.000,6,0.000,0.050,2035,2665,2223,0,0,0,0,0,0
$GC,10585,0.60,146.1,906.8,21.7,493,10589,0.00,2.28,0.00,0.000,4,0.000,0.044,2045,1273,2217,0,0,0,0,0,0
$GC,10620,0.60,146.1,898.9,20.4,494,10624,0.00,2.33,0.00,0.000,6,0.000,0.052,2045,2673,2215,0,0,0,0,0,0
$GC,10952,0.60,146.1,825.9,22.1,505,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2673,2215,0,0,0,0,0,0
$GC,11258,0.60,146.1,760.3,21.4,515,11262,0.00,2.20,0.00,0.000,4,0.000,0.043,2055,1273,2215,0,0,0,0,0,0
$GC,11316,0.60,146.1,748.9,17.4,516,11320,0.12,2.28,0.00,0.000,6,0.225,0.050,2029,2674,2213,0,0,0,0,0,0
$GC,11632,0.60,146.1,690.5,18.2,526,11636,0.00,2.22,0.00,0.000,4,0.000,0.043,2038,1270,2213,0,0,0,0,0,0
$GC,11673,0.60,146.1,683.1,15.7,527,11677,0.00,2.28,0.00,0.000,6,0.000,0.051,2038,2674,2213,0,0,0,0,0,0
$GC,12000,0.60,146.1,625.4,18.1,538,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2674,2213,0,0,0,0,0,0
$GC,12306,0.60,146.1,568.4,18.8,548,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2674,2213,0,0,0,0,0,0
$GC,12613,0.60,146.1,509.7,19.2,558,12617,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1270,2213,0,0,0,0,0,0
$GC,12653,0.60,146.1,502.1,17.9,559,12657,0.00,2.28,0.00,0.000,6,0.000,0.051,2049,2677,2211,0,0,0,0,0,0
$GC,12980,0.60,146.1,441.1,18.9,570,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2677,2212,0,0,0,0,0,0
$GC,13289,0.60,146.1,381.6,20.0,581,13293,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1275,2212,0,0,0,0,0,0
$GC,13318,0.60,146.1,375.2,18.2,582,13323,0.12,2.25,0.00,0.000,6,0.213,0.050,2032,2669,2211,0,0,0,0,0,0
$GC,13642,0.60,146.1,316.8,18.2,598,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2211,0,0,0,0,0,0
$GC,13955,0.60,146.1,261.6,17.5,613,13958,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1277,2211,0,0,0,0,0,0
$GC,13989,0.60,146.1,255.0,16.6,614,13998,0.00,2.28,0.00,0.000,6,0.000,0.051,2041,2669,2211,0,0,0,0,0,0
$GC,14323,0.60,146.1,194.0,18.9,635,14327,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1271,2211,0,0,0,0,0,0
$GC,14347,0.60,146.1,189.3,16.9,636,14351,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2679,2210,0,0,0,0,0,0
$GC,14668,0.60,146.1,131.5,18.2,656,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2679,2211,0,0,0,0,0,0
$GC,14996,0.60,146.1,72.1,15.6,694,15003,0.00,1.92,0.00,0.000,4,0.000,0.060,2051,3894,2210,0,0,0,0,0,0
$GC,15021,0.60,146.1,68.3,15.3,697,15026,0.15,1.88,0.00,0.000,6,0.230,0.037,2026,2677,2211,0,0,0,0,0,0
$GC,15393,0.60,146.1,16.6,10.7,758,15402,0.00,2.22,0.00,0.000,4,0.000,0.043,2036,1270,2210,0,0,0,0,0,0
$GC,15439,0.60,146.1,10.1,13.3,764,15448,0.00,2.28,0.00,0.000,6,0.000,0.053,2036,2661,2209,0,0,0,0,0,0
$STATE,15480,end climb,SURFACE_DEPTH_REACHED
$STATE,15480,begin surface coast
$FINISH,1.0,1.023513
$STATE,15500,end surface coast,CONTROL_FINISHED_OK
$STATE,15500,begin surface
$SM_CCo,15522,42.40,0.767,1,0,1880,230.09
$SM_GC,1.97,0.00,0.00,42.40,0.000,0.000,0.767,60,2887,1880,-5.53,0.79,230.09
$IRIDIUM_FIX,-4638.64,421.75,020213,111151
$TT8_MAMPS,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.6,62.156
$10V_AH,10.0,31.993
$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,13.975,82.425,299.925,42.400,0.000,24.584,21.351,469.556,0.000,0.000,20.904,1918.055,10838.016,436.968,2391.758,738.125,33.401,1238.421,0.000,1871.168,0.000,1.010,0.000
$DEVICE_MAMPS,254.745,63.495,1784.745,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.392,1528.423,811.743,327.028,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354088
$DATA_FILE_SIZE,53802,773
$CAP_FILE_SIZE,117996,0
$CFSIZE,259252224,208420864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030213,010334,-4656.335,413.993,36,1.2,37,-23.3