version: 66.07
glider: 542
mission: 6
dive: 338
start: 2 3 113 10 40 44
data:
$ID,542
$MISSION,6
$DIVE,338
$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,-11532.484
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,030213,102652,-4658.430,413.576,36,0.7,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-56.0
$GPS2,030213,103947,-4658.471,413.672,17,1.6,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.097,-0.237
$KALMAN_X,-253666.3,-140.8,104.8,249506.6,-875.6
$KALMAN_Y,228803.7,-854.9,-292.2,-240960.3,6366.6
$MHEAD_RNG_PITCHd_Wd,225.5,5434,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-47.12,0.000,2,0.000,0.000,60,2892,2756,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.2,-3.5,6,117,6.70,1.65,-23.05,0.000,4,0.249,0.076,1620,3883,3416,0,0,0,0,0,0
$GC,231,-0.60,-146.1,19.6,-14.1,27,240,0.00,1.60,0.00,0.000,6,0.000,0.030,1620,2833,3419,0,0,0,0,0,0
$GC,317,-0.60,-146.1,32.0,-13.0,40,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2833,3418,0,0,0,0,0,0
$GC,568,-0.60,-146.1,66.0,-12.2,81,575,0.00,1.70,0.00,0.000,4,0.000,0.059,1612,3873,3418,0,0,0,0,0,0
$GC,614,-0.60,-146.1,72.2,-14.1,88,623,0.00,1.52,0.00,0.000,6,0.000,0.030,1612,2850,3419,0,0,0,0,0,0
$GC,959,-0.60,-146.1,118.4,-12.5,131,963,0.00,1.65,0.00,0.000,4,0.000,0.058,1604,3880,3419,0,0,0,0,0,0
$GC,1085,-0.60,-146.1,135.1,-13.0,138,1089,0.08,1.52,0.00,0.000,6,0.158,0.030,1627,2867,3420,0,0,0,0,0,0
$GC,1418,-0.60,-146.1,168.9,-10.1,159,1422,0.00,1.65,0.00,0.000,4,0.000,0.059,1621,3877,3420,0,0,0,0,0,0
$GC,1473,-0.60,-146.1,175.2,-10.2,162,1476,0.00,1.52,0.00,0.000,6,0.000,0.031,1620,2861,3420,0,0,0,0,0,0
$GC,1807,-0.60,-146.1,212.5,-11.3,183,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2856,3421,0,0,0,0,0,0
$GC,2119,-0.60,-146.1,247.4,-11.0,203,2123,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3884,3421,0,0,0,0,0,0
$GC,2206,-0.60,-146.1,258.2,-12.2,207,2213,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2844,3421,0,0,0,0,0,0
$GC,2526,-0.60,-146.1,295.5,-11.9,223,2530,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3890,3421,0,0,0,0,0,0
$GC,2578,-0.60,-146.1,302.5,-12.7,225,2582,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2860,3420,0,0,0,0,0,0
$GC,2910,-0.60,-146.1,343.7,-12.7,241,2914,0.10,1.67,0.00,0.000,4,0.192,0.059,1622,3886,3420,0,0,0,0,0,0
$GC,2962,-0.60,-146.1,350.0,-12.1,243,2965,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2854,3420,0,0,0,0,0,0
$GC,3299,-0.60,-146.1,387.4,-11.1,259,3303,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3880,3421,0,0,0,0,0,0
$GC,3362,-0.60,-146.1,395.1,-11.7,261,3369,0.00,1.52,0.00,0.000,6,0.000,0.031,1614,2863,3420,0,0,0,0,0,0
$GC,3688,-0.60,-146.1,431.2,-11.1,273,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2863,3420,0,0,0,0,0,0
$GC,3996,-0.60,-146.1,465.3,-11.0,283,3999,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3890,3420,0,0,0,0,0,0
$GC,4075,-0.60,-146.1,475.2,-12.4,285,4079,0.00,1.55,0.00,0.000,6,0.000,0.032,1605,2864,3420,0,0,0,0,0,0
$GC,4407,-0.60,-146.1,512.1,-11.0,296,4412,0.10,1.67,0.00,0.000,4,0.193,0.060,1622,3872,3420,0,0,0,0,0,0
$GC,4456,-0.60,-146.1,517.2,-9.9,297,4459,0.00,1.52,0.00,0.000,6,0.000,0.031,1622,2864,3420,0,0,0,0,0,0
$GC,4788,-0.60,-146.1,547.4,-9.0,308,4792,0.00,1.65,0.00,0.000,4,0.000,0.060,1614,3883,3420,0,0,0,0,0,0
$GC,4829,-0.60,-146.1,551.6,-10.1,309,4832,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2858,3420,0,0,0,0,0,0
$GC,5166,-0.60,-146.1,584.1,-9.6,320,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2852,3420,0,0,0,0,0,0
$GC,5474,-0.60,-146.1,614.5,-9.9,330,5477,0.00,1.65,0.00,0.000,4,0.000,0.060,1606,3881,3419,0,0,0,0,0,0
$GC,5554,-0.60,-146.1,623.4,-10.7,332,5557,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2858,3419,0,0,0,0,0,0
$GC,5885,-0.60,-146.1,657.9,-10.4,343,5889,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3879,3419,0,0,0,0,0,0
$GC,5937,-0.60,-146.1,663.9,-11.7,344,5942,0.10,1.55,0.00,0.000,6,0.159,0.032,1638,2855,3419,0,0,0,0,0,0
$GC,6266,-0.60,-146.1,689.5,-7.9,355,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2852,3419,0,0,0,0,0,0
$GC,6570,-0.60,-146.1,713.7,-7.9,365,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2852,3419,0,0,0,0,0,0
$GC,6877,-0.60,-146.1,737.6,-7.6,375,6880,0.00,1.67,0.00,0.000,4,0.000,0.061,1631,3889,3419,0,0,0,0,0,0
$GC,6923,-0.60,-146.1,741.6,-8.7,376,6927,0.00,1.58,0.00,0.000,6,0.000,0.033,1631,2854,3419,0,0,0,0,0,0
$GC,7256,-0.60,-146.1,767.5,-8.0,387,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2850,3419,0,0,0,0,0,0
$GC,7564,-0.60,-146.1,791.8,-7.8,397,7567,0.00,1.67,0.00,0.000,4,0.000,0.061,1623,3886,3419,0,0,0,0,0,0
$GC,7610,-0.60,-146.1,796.0,-8.5,398,7614,0.00,1.55,0.00,0.000,6,0.000,0.033,1623,2867,3418,0,0,0,0,0,0
$GC,7944,-0.60,-146.1,822.7,-8.0,409,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2863,3419,0,0,0,0,0,0
$GC,8250,-0.60,-146.1,846.9,-7.9,419,8254,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1479,3419,0,0,0,0,0,0
$GC,8286,-0.60,-146.1,850.3,-8.7,420,8290,0.00,2.20,0.00,0.000,6,0.000,0.052,1613,2843,3419,0,0,0,0,0,0
$GC,8618,-0.60,-146.1,879.3,-8.8,431,8622,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3900,3418,0,0,0,0,0,0
$GC,8658,-0.60,-146.1,883.3,-9.7,432,8663,0.08,1.58,0.00,0.000,6,0.156,0.033,1637,2860,3418,0,0,0,0,0,0
$GC,8998,-0.60,-146.1,908.0,-7.2,443,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2857,3418,0,0,0,0,0,0
$GC,9305,-0.60,-146.1,929.9,-7.2,453,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2857,3418,0,0,0,0,0,0
$GC,9609,-0.60,-146.1,951.8,-7.2,463,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2857,3418,0,0,0,0,0,0
$GC,9916,-0.60,-146.1,972.7,-6.9,473,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2856,3418,0,0,0,0,0,0
$GC,10222,-0.60,-146.1,993.4,-6.8,483,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2857,3418,0,0,0,0,0,0
$STATE,10339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10339,begin apogee
$GC,10350,-0.18,0.0,1002.2,7.1,487,10498,0.43,0.00,145.07,1.242,6,0.149,0.000,1765,2669,2819,0,0,0,0,0,0
$STATE,10500,end apogee,CONTROL_FINISHED_OK
$STATE,10500,begin climb
$GC,10506,0.60,146.1,1006.4,0.0,492,10676,0.77,2.55,155.70,1.803,4,0.097,0.044,2026,1284,2225,0,0,0,0,1,0
$GC,10728,0.60,146.1,977.6,16.1,498,10735,0.00,2.45,0.00,0.000,6,0.000,0.050,2026,2672,2222,0,0,0,0,0,0
$GC,11044,0.60,146.1,912.1,21.0,509,11048,0.00,2.25,0.00,0.000,4,0.000,0.044,2037,1273,2217,0,0,0,0,0,0
$GC,11073,0.60,146.1,906.0,19.9,509,11080,0.00,2.33,0.00,0.000,6,0.000,0.051,2037,2678,2216,0,0,0,0,0,0
$GC,11388,0.60,146.1,840.2,21.0,520,11393,0.00,2.25,0.00,0.000,4,0.000,0.044,2047,1273,2215,0,0,0,0,0,0
$GC,11429,0.60,146.1,831.9,19.3,521,11433,0.00,2.28,0.00,0.000,6,0.000,0.051,2047,2670,2213,0,0,0,0,0,0
$GC,11755,0.60,146.1,763.3,21.5,532,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2671,2213,0,0,0,0,0,0
$GC,12062,0.60,146.1,698.6,21.4,542,12066,0.00,2.17,0.00,0.000,4,0.000,0.044,2057,1281,2213,0,0,0,0,0,0
$GC,12153,0.60,146.1,680.6,17.4,544,12158,0.12,2.25,0.00,0.000,6,0.218,0.052,2030,2682,2211,0,0,0,0,0,0
$GC,12475,0.60,146.1,617.8,20.0,555,12479,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1277,2212,0,0,0,0,0,0
$GC,12504,0.60,146.1,611.9,18.8,555,12511,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2668,2211,0,0,0,0,0,0
$GC,12819,0.60,146.1,547.7,21.0,566,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2668,2211,0,0,0,0,0,0
$GC,13126,0.60,146.1,484.9,20.3,576,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2669,2211,0,0,0,0,0,0
$GC,13432,0.60,146.1,423.3,19.6,586,13436,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1277,2211,0,0,0,0,0,0
$GC,13478,0.60,146.1,414.3,17.6,587,13482,0.00,2.25,0.00,0.000,6,0.000,0.052,2050,2670,2210,0,0,0,0,0,0
$GC,13812,0.60,146.1,348.1,20.3,602,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2671,2210,0,0,0,0,0,0
$GC,14123,0.60,146.1,287.6,19.6,617,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2670,2210,0,0,0,0,0,0
$GC,14436,0.60,146.1,227.8,18.9,634,14440,0.00,2.17,0.00,0.000,4,0.000,0.043,2060,1279,2210,0,0,0,0,0,0
$GC,14483,0.60,146.1,219.4,16.4,636,14493,0.10,2.25,0.00,0.000,6,0.192,0.052,2032,2659,2210,0,0,0,0,0,0
$GC,14810,0.60,146.1,164.9,17.0,657,14814,0.00,2.17,0.00,0.000,4,0.000,0.043,2042,1270,2210,0,0,0,0,0,0
$GC,14834,0.60,146.1,160.1,15.4,658,14838,0.00,2.25,0.00,0.000,6,0.000,0.050,2042,2670,2210,0,0,0,0,0,0
$GC,15157,0.60,146.1,108.1,16.4,678,15158,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2671,2210,0,0,0,0,0,0
$GC,15491,0.60,146.1,56.7,14.6,730,15500,0.00,1.98,0.00,0.000,4,0.000,0.058,2041,3899,2210,0,0,0,0,0,0
$GC,15581,0.60,146.1,40.4,19.1,744,15590,0.08,1.90,0.00,0.000,6,0.219,0.037,2032,2676,2210,0,0,0,0,0,0
$STATE,15830,end climb,SURFACE_DEPTH_REACHED
$STATE,15830,begin surface coast
$FINISH,0.9,1.026470
$STATE,15851,end surface coast,CONTROL_FINISHED_OK
$STATE,15851,begin surface
$SM_CCo,15873,41.62,0.760,1,0,1880,230.09
$SM_GC,2.12,0.00,0.00,41.62,0.000,0.000,0.760,55,2885,1880,-5.55,0.71,230.09
$IRIDIUM_FIX,-4638.64,415.46,030213,050513
$TT8_MAMPS,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.6,62.667
$10V_AH,10.0,32.324
$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,14.000,96.425,300.775,41.625,0.000,26.834,24.051,475.860,0.000,0.000,20.349,1989.131,10941.464,434.658,2543.261,774.370,33.396,1313.208,0.000,2003.714,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,76.500,1803.105,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.183,1554.285,821.499,321.945,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354064
$DATA_FILE_SIZE,57172,787
$CAP_FILE_SIZE,126229,0
$CFSIZE,259252224,208207872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030213,150728,-4659.457,411.712,35,1.1,35,-23.3