version: 66.07
glider: 542
mission: 6
dive: 337
start: 2 3 113 6 1 46
data:
$ID,542
$MISSION,6
$DIVE,337
$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,-11529.616
$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,42
$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
$GPS1,030213,054735,-4657.475,415.690,32,1.0,32,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-62.3
$GPS2,030213,060049,-4657.424,415.764,15,0.8,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.108,-0.232
$KALMAN_X,-253511.3,-84.2,180.6,251881.4,-1918.5
$KALMAN_Y,226245.7,-701.0,-607.7,-236289.9,6804.4
$MHEAD_RNG_PITCHd_Wd,228.3,8704,-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,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,84,0.00,0.00,-55.17,0.000,2,0.000,0.000,51,2880,2918,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.1,-3.4,7,125,6.75,1.67,-16.30,0.000,4,0.252,0.076,1620,3897,3418,0,0,0,0,0,0
$GC,167,-0.60,-146.1,12.5,-13.3,17,176,0.00,1.62,0.00,0.000,6,0.000,0.030,1620,2836,3419,0,0,0,0,0,0
$GC,255,-0.60,-146.1,24.8,-14.3,30,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2836,3419,0,0,0,0,0,0
$GC,341,-0.60,-146.1,37.6,-14.4,43,348,0.00,1.70,0.00,0.000,4,0.000,0.057,1611,3893,3419,0,0,0,0,0,0
$GC,385,-0.60,-146.1,44.7,-16.8,49,392,0.00,1.58,0.00,0.000,6,0.000,0.030,1611,2847,3419,0,0,0,0,0,0
$GC,626,-0.60,-146.1,80.9,-13.5,90,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2846,3419,0,0,0,0,0,0
$GC,974,-0.60,-146.1,127.4,-12.8,127,975,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2846,3420,0,0,0,0,0,0
$GC,1286,-0.60,-146.1,167.2,-12.3,147,1290,0.00,1.70,0.00,0.000,4,0.000,0.058,1603,3892,3421,0,0,0,0,0,0
$GC,1393,-0.60,-146.1,180.9,-13.1,153,1398,0.08,1.55,0.00,0.000,6,0.166,0.031,1626,2864,3421,0,0,0,0,0,0
$GC,1732,-0.60,-146.1,215.4,-10.3,174,1736,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3901,3421,0,0,0,0,0,0
$GC,1805,-0.60,-146.1,224.1,-11.0,178,1809,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2855,3421,0,0,0,0,0,0
$GC,2128,-0.60,-146.1,258.8,-10.5,197,2132,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3893,3421,0,0,0,0,0,0
$GC,2180,-0.60,-146.1,265.2,-11.5,199,2184,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2863,3421,0,0,0,0,0,0
$GC,2512,-0.60,-146.1,300.4,-10.7,215,2516,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3901,3421,0,0,0,0,0,0
$GC,2564,-0.60,-146.1,306.3,-11.8,217,2568,0.08,1.58,0.00,0.000,6,0.160,0.031,1635,2856,3421,0,0,0,0,0,0
$GC,2902,-0.60,-146.1,337.7,-9.1,233,2905,0.00,1.67,0.00,0.000,4,0.000,0.060,1629,3895,3422,0,0,0,0,0,0
$GC,2951,-0.60,-146.1,342.4,-10.0,235,2955,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2869,3421,0,0,0,0,0,0
$GC,3289,-0.60,-146.1,374.5,-9.5,251,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3421,0,0,0,0,0,0
$GC,3607,-0.60,-146.1,404.9,-9.6,266,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3421,0,0,0,0,0,0
$GC,3912,-0.60,-146.1,434.3,-9.7,276,3916,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3892,3421,0,0,0,0,0,0
$GC,3949,-0.60,-146.1,438.0,-9.9,277,3952,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2849,3421,0,0,0,0,0,0
$GC,4291,-0.60,-146.1,472.9,-10.3,288,4295,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3886,3421,0,0,0,0,0,0
$GC,4349,-0.60,-146.1,479.5,-11.3,289,4353,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2858,3421,0,0,0,0,0,0
$GC,4671,-0.60,-146.1,513.8,-10.7,300,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2853,3421,0,0,0,0,0,0
$GC,4976,-0.60,-146.1,545.0,-10.0,310,4979,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3893,3421,0,0,0,0,0,0
$GC,5027,-0.60,-146.1,550.8,-10.8,311,5031,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2852,3421,0,0,0,0,0,0
$GC,5354,-0.60,-146.1,585.0,-10.5,322,5358,0.10,1.73,0.00,0.000,4,0.194,0.060,1621,3889,3420,0,0,0,0,0,0
$GC,5395,-0.60,-146.1,589.6,-9.4,323,5399,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2867,3420,0,0,0,0,0,0
$GC,5735,-0.60,-146.1,620.4,-9.2,334,5739,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3900,3420,0,0,0,0,0,0
$GC,5781,-0.60,-146.1,625.6,-10.2,335,5785,0.00,1.60,0.00,0.000,6,0.000,0.032,1613,2851,3420,0,0,0,0,0,0
$GC,6112,-0.60,-146.1,659.5,-10.5,346,6116,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3900,3420,0,0,0,0,0,0
$GC,6164,-0.60,-146.1,665.7,-11.6,347,6168,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2862,3419,0,0,0,0,0,0
$GC,6490,-0.60,-146.1,702.3,-11.2,358,6494,0.10,1.70,0.00,0.000,4,0.194,0.060,1622,3894,3419,0,0,0,0,0,0
$GC,6548,-0.60,-146.1,708.4,-9.6,359,6551,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2860,3419,0,0,0,0,0,0
$GC,6869,-0.60,-146.1,738.5,-9.3,370,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2856,3419,0,0,0,0,0,0
$GC,7175,-0.60,-146.1,765.3,-8.7,380,7178,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3891,3419,0,0,0,0,0,0
$GC,7238,-0.60,-146.1,771.3,-8.9,381,7244,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2850,3418,0,0,0,0,0,0
$GC,7554,-0.60,-146.1,799.5,-9.0,392,7557,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3900,3418,0,0,0,0,0,0
$GC,7624,-0.60,-146.1,806.6,-10.1,394,7628,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2863,3417,0,0,0,0,0,0
$GC,7969,-0.60,-146.1,838.5,-9.2,405,7973,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3893,3417,0,0,0,0,0,0
$GC,8015,-0.60,-146.1,843.3,-9.5,406,8019,0.08,1.58,0.00,0.000,6,0.161,0.032,1630,2856,3417,0,0,0,0,0,0
$GC,8348,-0.60,-146.1,866.9,-6.9,417,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3417,0,0,0,0,0,0
$GC,8656,-0.60,-146.1,888.6,-7.1,427,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3417,0,0,0,0,0,0
$GC,8961,-0.60,-146.1,910.6,-7.1,437,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3416,0,0,0,0,0,0
$GC,9267,-0.60,-146.1,932.1,-7.0,447,9270,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3900,3417,0,0,0,0,0,0
$GC,9313,-0.60,-146.1,935.9,-7.8,448,9316,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2870,3417,0,0,0,0,0,0
$GC,9645,-0.60,-146.1,958.8,-6.6,459,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2865,3416,0,0,0,0,0,0
$GC,9953,-0.60,-146.1,977.9,-6.3,469,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2865,3416,0,0,0,0,0,0
$GC,10257,-0.60,-146.1,999.0,-7.2,479,10261,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3899,3416,0,0,0,0,0,0
$STATE,10265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10265,begin apogee
$GC,10278,-0.18,0.0,1000.0,7.2,479,10426,0.50,0.00,144.55,1.244,6,0.158,0.000,1765,2653,2818,0,0,0,0,0,0
$STATE,10427,end apogee,CONTROL_FINISHED_OK
$STATE,10428,begin climb
$GC,10432,0.60,146.1,1003.4,0.0,484,10600,0.77,2.45,154.95,1.795,4,0.096,0.043,2027,1285,2226,0,0,0,0,1,0
$GC,10694,0.60,146.1,964.7,17.6,492,10698,0.00,2.40,0.00,0.000,6,0.000,0.050,2027,2662,2222,0,0,0,0,0,0
$GC,11026,0.60,146.1,896.0,20.8,503,11030,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1288,2219,0,0,0,0,0,0
$GC,11055,0.60,146.1,889.8,19.5,503,11062,0.00,2.28,0.00,0.000,6,0.000,0.052,2037,2672,2217,0,0,0,0,0,0
$GC,11371,0.60,146.1,825.1,20.8,514,11374,0.00,2.20,0.00,0.000,4,0.000,0.043,2048,1288,2217,0,0,0,0,0,0
$GC,11428,0.60,146.1,813.8,17.7,515,11436,0.00,2.22,0.00,0.000,6,0.000,0.051,2048,2672,2215,0,0,0,0,0,0
$GC,11743,0.60,146.1,746.1,21.9,526,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2215,0,0,0,0,0,0
$GC,12050,0.60,146.1,679.8,21.4,536,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2215,0,0,0,0,0,0
$GC,12356,0.60,146.1,612.6,22.1,546,12360,0.00,2.20,0.00,0.000,4,0.000,0.043,2058,1278,2214,0,0,0,0,0,0
$GC,12391,0.60,146.1,605.0,20.0,547,12396,0.12,2.25,0.00,0.000,6,0.214,0.050,2030,2672,2213,0,0,0,0,0,0
$GC,12724,0.60,146.1,541.1,19.2,558,12728,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1275,2213,0,0,0,0,0,0
$GC,12759,0.60,146.1,534.6,17.5,559,12763,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2671,2213,0,0,0,0,0,0
$GC,13091,0.60,146.1,470.6,19.2,570,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2672,2213,0,0,0,0,0,0
$GC,13399,0.60,146.1,410.8,19.9,580,13403,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1275,2213,0,0,0,0,0,0
$GC,13445,0.60,146.1,401.8,17.2,581,13449,0.00,2.25,0.00,0.000,6,0.000,0.052,2050,2669,2212,0,0,0,0,0,0
$GC,13771,0.60,146.1,337.6,20.2,597,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2670,2212,0,0,0,0,0,0
$GC,14078,0.60,146.1,279.1,18.4,612,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2669,2212,0,0,0,0,0,0
$GC,14400,0.60,146.1,220.5,18.0,630,14404,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1286,2212,0,0,0,0,0,0
$GC,14435,0.60,146.1,214.0,16.6,632,14440,0.15,2.25,0.00,0.000,6,0.206,0.052,2025,2679,2212,0,0,0,0,0,0
$GC,14763,0.60,146.1,161.3,16.5,652,14767,0.00,2.20,0.00,0.000,4,0.000,0.043,2034,1282,2212,0,0,0,0,0,0
$GC,14798,0.60,146.1,154.6,14.7,654,14802,0.00,2.25,0.00,0.000,6,0.000,0.051,2034,2676,2212,0,0,0,0,0,0
$GC,15121,0.60,146.1,103.0,15.4,674,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2676,2212,0,0,0,0,0,0
$GC,15463,0.60,146.1,52.1,15.7,730,15472,0.00,1.98,0.00,0.000,4,0.000,0.059,2034,3900,2212,0,0,0,0,0,0
$GC,15506,0.60,146.1,44.5,17.9,736,15515,0.00,1.90,0.00,0.000,6,0.000,0.037,2043,2676,2211,0,0,0,0,0,0
$STATE,15731,end climb,SURFACE_DEPTH_REACHED
$STATE,15732,begin surface coast
$FINISH,1.2,1.026468
$STATE,15751,end surface coast,CONTROL_FINISHED_OK
$STATE,15752,begin surface
$SM_CCo,15774,42.25,0.759,1,0,1879,230.09
$SM_GC,1.86,0.00,0.00,42.25,0.000,0.000,0.759,60,2892,1879,-5.53,0.90,230.09
$IRIDIUM_FIX,-4638.64,412.32,030213,010108
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.6,62.497
$10V_AH,10.0,32.214
$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,14.000,102.450,299.500,42.250,0.000,26.595,45.293,471.695,0.000,0.000,19.035,1968.773,10863.122,434.357,2555.744,779.866,33.400,1322.470,0.000,1996.630,0.000,1.011,0.000
$DEVICE_MAMPS,251.685,76.500,1794.690,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.041,1526.851,801.823,292.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,57026,775
$CAP_FILE_SIZE,128377,0
$CFSIZE,259252224,208273408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030213,102652,-4658.430,413.576,36,0.7,37,-23.3