version: 66.07
glider: 542
mission: 6
dive: 341
start: 2 4 113 0 42 32
data:
$ID,542
$MISSION,6
$DIVE,341
$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,-11541.081
$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,47
$R_STBD_OVSHOOT,23
$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
$GPS1,040213,002834,-4654.905,411.488,39,0.9,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-63.4
$GPS2,040213,004135,-4654.869,411.523,18,1.1,18,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.057,0.249
$KALMAN_X,-255613.1,-23.8,-52.2,248780.7,-1529.1
$KALMAN_Y,229350.1,-1496.9,-263.7,-234206.0,2443.1
$MHEAD_RNG_PITCHd_Wd,36.2,46099,-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,-47.20,0.000,2,0.000,0.000,55,2866,2763,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.1,-3.1,6,124,6.85,2.22,-25.88,0.000,4,0.256,0.047,1626,1459,3415,0,0,0,0,0,0
$GC,226,-0.60,-146.1,16.0,-14.0,26,235,0.00,2.30,0.00,0.000,6,0.000,0.052,1617,2861,3417,0,0,0,0,0,0
$GC,314,-0.60,-146.1,28.4,-14.3,39,323,0.00,1.67,0.00,0.000,4,0.000,0.058,1608,3901,3417,0,0,0,0,0,0
$GC,360,-0.60,-146.1,34.9,-14.6,45,368,0.00,1.60,0.00,0.000,6,0.000,0.030,1608,2847,3418,0,0,0,0,0,0
$GC,605,-0.60,-146.1,70.7,-15.0,86,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2847,3418,0,0,0,0,0,0
$GC,946,-0.60,-146.1,116.1,-12.4,131,950,0.00,1.70,0.00,0.000,4,0.000,0.058,1600,3893,3418,0,0,0,0,0,0
$GC,1112,-0.60,-146.1,138.3,-13.5,140,1117,0.08,1.58,0.00,0.000,6,0.167,0.031,1623,2853,3418,0,0,0,0,0,0
$GC,1442,-0.60,-146.1,175.0,-11.0,161,1446,0.00,2.10,0.00,0.000,4,0.000,0.037,1624,1468,3418,0,0,0,0,0,0
$GC,1462,-0.60,-146.1,177.5,-11.2,162,1466,0.00,2.22,0.00,0.000,6,0.000,0.050,1614,2872,3418,0,0,0,0,0,0
$GC,1791,-0.60,-146.1,216.2,-11.3,183,1794,0.00,1.62,0.00,0.000,4,0.000,0.060,1606,3896,3419,0,0,0,0,0,0
$GC,1854,-0.60,-146.1,224.4,-12.1,186,1863,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2848,3419,0,0,0,0,0,0
$GC,2185,-0.60,-146.1,263.1,-11.9,206,2189,0.00,1.67,0.00,0.000,4,0.000,0.059,1598,3894,3419,0,0,0,0,0,0
$GC,2258,-0.60,-146.1,272.5,-12.8,209,2262,0.08,1.55,0.00,0.000,6,0.163,0.031,1636,2862,3419,0,0,0,0,0,0
$GC,2595,-0.60,-146.1,308.0,-10.2,225,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3419,0,0,0,0,0,0
$GC,2903,-0.60,-146.1,339.1,-9.8,240,2906,0.00,1.67,0.00,0.000,4,0.000,0.060,1629,3900,3419,0,0,0,0,0,0
$GC,2937,-0.60,-146.1,343.0,-9.7,241,2941,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2862,3419,0,0,0,0,0,0
$GC,3264,-0.60,-146.1,372.8,-9.0,257,3268,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3899,3419,0,0,0,0,0,0
$GC,3293,-0.60,-146.1,376.1,-10.0,258,3297,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2856,3419,0,0,0,0,0,0
$GC,3631,-0.60,-146.1,409.5,-10.0,273,3635,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3893,3419,0,0,0,0,0,0
$GC,3677,-0.60,-146.1,414.7,-11.1,274,3681,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2869,3419,0,0,0,0,0,0
$GC,4009,-0.60,-146.1,449.8,-10.6,285,4012,0.00,1.65,0.00,0.000,4,0.000,0.059,1605,3892,3419,0,0,0,0,0,0
$GC,4055,-0.60,-146.1,455.4,-11.4,286,4058,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2852,3419,0,0,0,0,0,0
$GC,4387,-0.60,-146.1,493.0,-11.6,297,4391,0.10,1.70,0.00,0.000,4,0.193,0.060,1622,3893,3418,0,0,0,0,0,0
$GC,4444,-0.60,-146.1,499.7,-10.6,298,4448,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2868,3418,0,0,0,0,0,0
$GC,4765,-0.60,-146.1,532.1,-10.0,309,4768,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3901,3418,0,0,0,0,0,0
$GC,4817,-0.60,-146.1,537.9,-11.1,310,4820,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2862,3418,0,0,0,0,0,0
$GC,5143,-0.60,-146.1,573.8,-11.1,321,5147,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3894,3418,0,0,0,0,0,0
$GC,5200,-0.60,-146.1,581.1,-12.7,322,5204,0.08,1.58,0.00,0.000,6,0.157,0.031,1638,2857,3418,0,0,0,0,0,0
$GC,5523,-0.60,-146.1,612.3,-9.6,333,5527,0.00,1.67,0.00,0.000,4,0.000,0.061,1632,3892,3417,0,0,0,0,0,0
$GC,5560,-0.60,-146.1,616.2,-10.4,334,5563,0.00,1.58,0.00,0.000,6,0.000,0.032,1632,2853,3418,0,0,0,0,0,0
$GC,5903,-0.60,-146.1,649.4,-9.4,345,5907,0.00,2.10,0.00,0.000,4,0.000,0.037,1632,1479,3417,0,0,0,0,0,0
$GC,5922,-0.60,-146.1,651.3,-9.4,345,5926,0.00,2.22,0.00,0.000,6,0.000,0.052,1621,2859,3417,0,0,0,0,0,0
$GC,6237,-0.60,-146.1,680.5,-9.1,355,6241,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3887,3417,0,0,0,0,0,0
$GC,6312,-0.60,-146.1,687.9,-9.6,357,6316,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2862,3417,0,0,0,0,0,0
$GC,6650,-0.60,-146.1,719.3,-9.4,368,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2857,3417,0,0,0,0,0,0
$GC,6956,-0.60,-146.1,747.8,-9.4,378,6959,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3894,3417,0,0,0,0,0,0
$GC,7002,-0.60,-146.1,752.8,-10.1,379,7005,0.00,1.58,0.00,0.000,6,0.000,0.033,1605,2856,3417,0,0,0,0,0,0
$GC,7333,-0.60,-146.1,784.6,-9.6,390,7338,0.10,1.73,0.00,0.000,4,0.191,0.061,1622,3905,3417,0,0,0,0,0,0
$GC,7371,-0.60,-146.1,788.3,-8.9,391,7375,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2867,3416,0,0,0,0,0,0
$GC,7714,-0.60,-146.1,816.0,-8.0,402,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3417,0,0,0,0,0,0
$GC,8020,-0.60,-146.1,840.3,-7.9,412,8024,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3897,3416,0,0,0,0,0,0
$GC,8057,-0.60,-146.1,843.4,-8.8,413,8061,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2862,3416,0,0,0,0,0,0
$GC,8401,-0.60,-146.1,872.2,-8.7,424,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2855,3416,0,0,0,0,0,0
$GC,8707,-0.60,-146.1,898.4,-8.6,434,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2855,3416,0,0,0,0,0,0
$GC,9013,-0.60,-146.1,923.9,-8.3,444,9017,0.00,1.70,0.00,0.000,4,0.000,0.062,1606,3904,3416,0,0,0,0,0,0
$GC,9043,-0.60,-146.1,926.6,-8.9,444,9050,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2850,3416,0,0,0,0,0,0
$GC,9358,-0.60,-146.1,953.8,-8.6,455,9360,0.10,0.00,0.00,0.000,6,0.191,0.000,1629,2849,3416,0,0,0,0,0,0
$GC,9665,-0.60,-146.1,976.1,-7.3,465,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3416,0,0,0,0,0,0
$GC,9971,-0.60,-146.1,998.6,-7.5,475,9975,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1483,3416,0,0,0,0,0,0
$STATE,9985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9985,begin apogee
$GC,9997,-0.18,0.0,1000.3,7.7,475,10144,0.47,0.00,143.93,1.249,6,0.155,0.000,1766,2668,2819,0,0,0,0,0,0
$STATE,10146,end apogee,CONTROL_FINISHED_OK
$STATE,10146,begin climb
$GC,10151,0.60,146.1,1005.1,0.0,480,10312,0.77,2.50,151.48,1.209,4,0.094,0.044,2026,1300,2220,0,0,0,0,0,0
$GC,10349,0.60,146.1,979.3,17.4,486,10353,0.00,2.40,0.00,0.000,6,0.000,0.050,2027,2666,2215,0,0,0,0,0,0
$GC,10682,0.60,146.1,910.6,21.1,497,10686,0.00,2.25,0.00,0.000,4,0.000,0.045,2037,1290,2211,0,0,0,0,0,0
$GC,10700,0.60,146.1,906.6,20.1,497,10704,0.00,2.30,0.00,0.000,6,0.000,0.051,2037,2676,2209,0,0,0,0,0,0
$GC,11015,0.60,146.1,839.7,21.6,507,11019,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1291,2208,0,0,0,0,0,0
$GC,11062,0.60,146.1,830.0,19.1,508,11066,0.00,2.25,0.00,0.000,6,0.000,0.051,2047,2670,2207,0,0,0,0,0,0
$GC,11382,0.60,146.1,762.6,21.4,519,11386,0.00,2.17,0.00,0.000,4,0.000,0.044,2057,1293,2207,0,0,0,0,0,0
$GC,11406,0.60,146.1,757.0,21.8,519,11413,0.12,2.22,0.00,0.000,6,0.217,0.050,2030,2671,2206,0,0,0,0,0,0
$GC,11721,0.60,146.1,694.0,19.9,530,11725,0.00,2.17,0.00,0.000,4,0.000,0.044,2039,1290,2206,0,0,0,0,0,0
$GC,11751,0.60,146.1,687.9,19.0,530,11758,0.00,2.22,0.00,0.000,6,0.000,0.051,2039,2671,2205,0,0,0,0,0,0
$GC,12066,0.60,146.1,622.0,21.1,541,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2205,0,0,0,0,0,0
$GC,12374,0.60,146.1,558.6,20.8,551,12378,0.00,2.17,0.00,0.000,4,0.000,0.045,2050,1285,2205,0,0,0,0,0,0
$GC,12414,0.60,146.1,550.1,18.1,552,12418,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2673,2204,0,0,0,0,0,0
$GC,12753,0.60,146.1,480.8,20.8,563,12757,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1292,2205,0,0,0,0,0,0
$GC,12777,0.60,146.1,475.2,20.3,563,12784,0.12,2.22,0.00,0.000,6,0.208,0.050,2031,2679,2205,0,0,0,0,0,0
$GC,13092,0.60,146.1,415.6,18.9,574,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2679,2205,0,0,0,0,0,0
$GC,13411,0.60,146.1,356.3,18.5,588,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2679,2205,0,0,0,0,0,0
$GC,13722,0.60,146.1,297.9,19.4,603,13726,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1290,2205,0,0,0,0,0,0
$GC,13746,0.60,146.1,292.9,18.2,604,13750,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2669,2204,0,0,0,0,0,0
$GC,14067,0.60,146.1,231.4,19.7,621,14071,0.00,2.15,0.00,0.000,4,0.000,0.044,2050,1291,2204,0,0,0,0,0,0
$GC,14088,0.60,146.1,227.3,19.3,622,14092,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2672,2204,0,0,0,0,0,0
$GC,14416,0.60,146.1,166.4,17.6,643,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2672,2204,0,0,0,0,0,0
$GC,14729,0.60,146.1,112.4,17.7,663,14733,0.00,1.98,0.00,0.000,4,0.000,0.060,2050,3891,2204,0,0,0,0,0,0
$GC,14753,0.60,146.1,107.4,18.6,664,14757,0.15,1.85,0.00,0.000,6,0.226,0.037,2026,2695,2204,0,0,0,0,0,0
$GC,15103,0.60,146.1,56.7,13.4,720,15112,0.00,2.25,0.00,0.000,4,0.000,0.044,2036,1268,2203,0,0,0,0,0,0
$GC,15189,0.60,146.1,45.7,12.9,733,15195,0.00,2.28,0.00,0.000,6,0.000,0.050,2036,2678,2202,0,0,0,0,0,0
$GC,15445,0.60,146.1,7.5,16.2,774,15455,0.00,2.25,0.00,0.000,4,0.000,0.041,2046,1267,2202,0,0,0,0,0,0
$STATE,15475,end climb,SURFACE_DEPTH_REACHED
$STATE,15475,begin surface coast
$FINISH,0.9,1.014027
$STATE,15494,end surface coast,CONTROL_FINISHED_OK
$STATE,15494,begin surface
$SM_CCo,15519,40.40,0.747,1,0,1881,230.09
$SM_GC,2.24,0.00,0.00,40.40,0.000,0.000,0.747,48,2874,1881,-5.57,0.42,230.09
$IRIDIUM_FIX,-4638.64,412.32,030213,191936
$TT8_MAMPS,0.026964
$HUMID,58.42
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.2,63.181
$10V_AH,10.0,32.659
$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,14.425,126.000,295.400,40.400,0.000,25.562,43.428,463.408,0.000,0.000,20.710,1972.670,10560.807,442.342,2564.522,792.530,33.400,1339.097,0.000,2018.052,0.000,1.009,0.000
$DEVICE_MAMPS,256.275,61.965,1249.245,746.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.319,1547.182,841.441,335.385,0.000,0.000,0.000,0.000,0.000,0.000
$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,57118,781
$CAP_FILE_SIZE,131131,0
$CFSIZE,259252224,207994880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,040213,050323,-4652.812,411.830,38,0.9,38,-23.3