version: 66.07
glider: 542
mission: 6
dive: 348
start: 2 5 113 9 48 9
data:
$ID,542
$MISSION,6
$DIVE,348
$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,-11561.453
$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,43
$R_STBD_OVSHOOT,54
$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
$GPS1,050213,093408,-4639.583,411.786,26,1.1,26,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-60.2
$GPS2,050213,094712,-4639.594,411.780,22,1.0,22,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.193,0.168
$KALMAN_X,-268522.2,407.0,208.7,261317.2,-4264.8
$KALMAN_Y,220073.9,464.1,179.8,-199088.2,-2084.3
$MHEAD_RNG_PITCHd_Wd,72.3,17913,-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,-62.83,0.000,2,0.000,0.000,60,2902,3124,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-2.7,8,124,6.72,2.30,-7.85,0.000,4,0.251,0.048,1631,1461,3418,0,0,0,0,0,0
$GC,231,-0.60,-146.1,20.3,-8.9,27,241,0.00,2.25,0.00,0.000,6,0.000,0.050,1622,2836,3419,0,0,0,0,0,0
$GC,319,-0.60,-146.1,29.4,-10.6,40,328,0.00,1.70,0.00,0.000,4,0.000,0.056,1613,3897,3420,0,0,0,0,0,0
$GC,347,-0.60,-146.1,33.3,-13.4,43,353,0.00,1.60,0.00,0.000,6,0.000,0.030,1613,2846,3419,0,0,0,0,0,0
$GC,593,-0.60,-146.1,71.4,-14.3,84,601,0.00,1.70,0.00,0.000,4,0.000,0.057,1605,3890,3419,0,0,0,0,0,0
$GC,617,-0.60,-146.1,74.7,-14.4,87,626,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2848,3420,0,0,0,0,0,0
$GC,967,-0.60,-146.1,123.6,-13.4,128,972,0.10,1.70,0.00,0.000,4,0.191,0.057,1622,3898,3420,0,0,0,0,0,0
$GC,1113,-0.60,-146.1,140.5,-11.7,136,1117,0.00,1.55,0.00,0.000,6,0.000,0.030,1622,2864,3421,0,0,0,0,0,0
$GC,1448,-0.60,-146.1,177.8,-10.7,157,1452,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3889,3422,0,0,0,0,0,0
$GC,1502,-0.60,-146.1,184.1,-11.5,160,1505,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2853,3423,0,0,0,0,0,0
$GC,1836,-0.60,-146.1,221.9,-11.2,181,1839,0.00,1.67,0.00,0.000,4,0.000,0.059,1606,3897,3423,0,0,0,0,0,0
$GC,1893,-0.60,-146.1,229.2,-11.5,184,1897,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2866,3422,0,0,0,0,0,0
$GC,2226,-0.60,-146.1,269.4,-12.2,203,2230,0.00,1.70,0.00,0.000,4,0.000,0.059,1597,3893,3422,0,0,0,0,0,0
$GC,2290,-0.60,-146.1,278.2,-13.3,205,2297,0.10,1.55,0.00,0.000,6,0.160,0.031,1629,2855,3423,0,0,0,0,0,0
$GC,2610,-0.60,-146.1,310.2,-9.9,221,2613,0.00,1.67,0.00,0.000,4,0.000,0.059,1622,3899,3422,0,0,0,0,0,0
$GC,2662,-0.60,-146.1,316.1,-10.5,223,2665,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2871,3422,0,0,0,0,0,0
$GC,2993,-0.60,-146.1,350.3,-10.4,239,2997,0.00,1.65,0.00,0.000,4,0.000,0.059,1614,3896,3422,0,0,0,0,0,0
$GC,3045,-0.60,-146.1,356.6,-11.0,241,3049,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2850,3422,0,0,0,0,0,0
$GC,3377,-0.60,-146.1,392.7,-10.9,257,3380,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3903,3422,0,0,0,0,0,0
$GC,3440,-0.60,-146.1,400.4,-12.2,259,3447,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2855,3422,0,0,0,0,0,0
$GC,3756,-0.60,-146.1,436.5,-11.4,270,3758,0.10,0.00,0.00,0.000,6,0.190,0.000,1629,2854,3422,0,0,0,0,0,0
$GC,4062,-0.60,-146.1,465.4,-9.3,280,4066,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3895,3422,0,0,0,0,0,0
$GC,4108,-0.60,-146.1,470.3,-10.5,281,4112,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2873,3422,0,0,0,0,0,0
$GC,4440,-0.60,-146.1,502.8,-9.7,292,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2869,3421,0,0,0,0,0,0
$GC,4748,-0.60,-146.1,532.2,-9.6,302,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2868,3421,0,0,0,0,0,0
$GC,5053,-0.60,-146.1,562.4,-9.9,312,5056,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3903,3421,0,0,0,0,0,0
$GC,5104,-0.60,-146.1,568.0,-10.5,313,5108,0.00,1.60,0.00,0.000,6,0.000,0.032,1615,2851,3421,0,0,0,0,0,0
$GC,5430,-0.60,-146.1,600.8,-10.2,324,5434,0.00,1.73,0.00,0.000,4,0.000,0.060,1607,3900,3420,0,0,0,0,0,0
$GC,5467,-0.60,-146.1,604.7,-11.2,325,5471,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2860,3420,0,0,0,0,0,0
$GC,5812,-0.60,-146.1,640.4,-10.2,336,5816,0.00,1.67,0.00,0.000,4,0.000,0.060,1599,3896,3420,0,0,0,0,0,0
$GC,5852,-0.60,-146.1,645.0,-10.8,337,5856,0.08,1.58,0.00,0.000,6,0.160,0.032,1631,2857,3420,0,0,0,0,0,0
$GC,6191,-0.60,-146.1,673.2,-8.4,348,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2852,3420,0,0,0,0,0,0
$GC,6496,-0.60,-146.1,699.9,-9.1,358,6500,0.00,1.70,0.00,0.000,4,0.000,0.060,1625,3890,3419,0,0,0,0,0,0
$GC,6533,-0.60,-146.1,703.3,-9.7,359,6537,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2851,3419,0,0,0,0,0,0
$GC,6879,-0.60,-146.1,735.6,-9.4,370,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2847,3419,0,0,0,0,0,0
$GC,7183,-0.60,-146.1,762.4,-8.5,380,7186,0.00,1.70,0.00,0.000,4,0.000,0.060,1616,3899,3419,0,0,0,0,0,0
$GC,7223,-0.60,-146.1,766.1,-9.0,381,7227,0.00,1.58,0.00,0.000,6,0.000,0.032,1616,2863,3418,0,0,0,0,0,0
$GC,7561,-0.60,-146.1,796.1,-8.9,392,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2858,3418,0,0,0,0,0,0
$GC,7867,-0.60,-146.1,822.9,-8.4,402,7871,0.00,1.67,0.00,0.000,4,0.000,0.061,1608,3896,3418,0,0,0,0,0,0
$GC,7904,-0.60,-146.1,826.2,-9.0,403,7908,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2858,3418,0,0,0,0,0,0
$GC,8247,-0.60,-146.1,857.1,-8.8,414,8251,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3904,3417,0,0,0,0,0,0
$GC,8288,-0.60,-146.1,861.3,-9.6,415,8292,0.08,1.60,0.00,0.000,6,0.160,0.032,1633,2852,3418,0,0,0,0,0,0
$GC,8627,-0.60,-146.1,885.8,-7.2,426,8631,0.00,1.73,0.00,0.000,4,0.000,0.061,1627,3897,3417,0,0,0,0,0,0
$GC,8650,-0.60,-146.1,887.9,-8.1,426,8654,0.00,1.58,0.00,0.000,6,0.000,0.032,1626,2863,3418,0,0,0,0,0,0
$GC,8971,-0.60,-146.1,912.2,-7.6,437,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2859,3418,0,0,0,0,0,0
$GC,9279,-0.60,-146.1,933.7,-6.8,447,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2859,3418,0,0,0,0,0,0
$GC,9584,-0.60,-146.1,954.8,-6.8,457,9588,0.00,1.70,0.00,0.000,4,0.000,0.062,1618,3905,3418,0,0,0,0,0,0
$GC,9613,-0.60,-146.1,957.1,-7.6,457,9620,0.00,1.60,0.00,0.000,6,0.000,0.031,1618,2845,3417,0,0,0,0,0,0
$GC,9929,-0.60,-146.1,980.9,-7.8,468,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2845,3417,0,0,0,0,0,0
$STATE,10169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10169,begin apogee
$GC,10180,-0.18,0.0,1000.0,7.9,476,10328,0.50,0.00,145.15,1.246,6,0.155,0.000,1765,2684,2819,0,0,0,0,0,0
$STATE,10330,end apogee,CONTROL_FINISHED_OK
$STATE,10330,begin climb
$GC,10335,0.60,146.1,1003.7,0.0,481,10506,0.77,2.55,156.95,1.809,4,0.096,0.044,2027,1290,2225,0,0,0,0,1,0
$GC,10532,0.60,146.1,977.3,18.6,487,10536,0.00,2.45,0.00,0.000,6,0.000,0.048,2026,2666,2222,0,0,0,0,0,0
$GC,10864,0.60,146.1,909.4,20.8,498,10868,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1284,2217,0,0,0,0,0,0
$GC,10922,0.60,146.1,897.3,19.2,499,10929,0.00,2.28,0.00,0.000,6,0.000,0.049,2037,2672,2215,0,0,0,0,0,0
$GC,11237,0.60,146.1,828.4,22.3,510,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2673,2215,0,0,0,0,0,0
$GC,11544,0.60,146.1,762.2,21.4,520,11548,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1281,2214,0,0,0,0,0,0
$GC,11601,0.60,146.1,750.4,19.1,521,11608,0.00,2.25,0.00,0.000,6,0.000,0.049,2047,2683,2213,0,0,0,0,0,0
$GC,11916,0.60,146.1,682.8,21.5,532,11920,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1283,2213,0,0,0,0,0,0
$GC,12002,0.60,146.1,665.6,17.8,534,12007,0.12,2.22,0.00,0.000,6,0.210,0.049,2029,2667,2211,0,0,0,0,0,0
$GC,12318,0.60,146.1,605.5,19.0,544,12322,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1274,2212,0,0,0,0,0,0
$GC,12364,0.60,146.1,596.9,17.2,545,12368,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2671,2211,0,0,0,0,0,0
$GC,12696,0.60,146.1,531.5,20.1,556,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2672,2211,0,0,0,0,0,0
$GC,13002,0.60,146.1,470.0,20.0,566,13006,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1278,2211,0,0,0,0,0,0
$GC,13041,0.60,146.1,462.1,18.3,567,13046,0.00,2.25,0.00,0.000,6,0.000,0.051,2049,2672,2210,0,0,0,0,0,0
$GC,13368,0.60,146.1,399.4,19.3,578,13372,0.00,2.20,0.00,0.000,4,0.000,0.042,2059,1273,2210,0,0,0,0,0,0
$GC,13404,0.60,146.1,392.4,18.4,579,13411,0.12,2.25,0.00,0.000,6,0.205,0.050,2031,2674,2210,0,0,0,0,0,0
$GC,13724,0.60,146.1,336.2,18.1,595,13728,0.00,2.17,0.00,0.000,4,0.000,0.043,2040,1283,2210,0,0,0,0,0,0
$GC,13790,0.60,146.1,325.0,16.1,598,13794,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2680,2209,0,0,0,0,0,0
$GC,14119,0.60,146.1,265.9,18.0,614,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2680,2210,0,0,0,0,0,0
$GC,14444,0.60,146.1,208.6,17.6,633,14448,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1274,2210,0,0,0,0,0,0
$GC,14525,0.60,146.1,195.6,15.0,638,14529,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2670,2209,0,0,0,0,0,0
$GC,14854,0.60,146.1,136.6,18.9,659,14858,0.00,2.15,0.00,0.000,4,0.000,0.043,2060,1281,2209,0,0,0,0,0,0
$GC,14890,0.60,146.1,129.7,16.7,661,14895,0.12,2.22,0.00,0.000,6,0.197,0.050,2031,2670,2209,0,0,0,0,0,0
$GC,15230,0.60,146.1,74.2,15.2,699,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2210,0,0,0,0,0,0
$GC,15598,0.60,146.1,19.6,13.6,760,15607,0.00,2.20,0.00,0.000,4,0.000,0.042,2040,1287,2209,0,0,0,0,0,0
$GC,15620,0.60,146.1,16.2,14.5,762,15629,0.00,2.25,0.00,0.000,6,0.000,0.052,2040,2667,2208,0,0,0,0,0,0
$STATE,15704,end climb,SURFACE_DEPTH_REACHED
$STATE,15704,begin surface coast
$FINISH,0.8,1.007634
$STATE,15724,end surface coast,CONTROL_FINISHED_OK
$STATE,15728,begin surface
$SM_CCo,15750,41.25,0.770,1,0,1880,230.09
$SM_GC,2.25,0.00,0.00,41.25,0.000,0.000,0.770,57,2889,1880,-5.54,0.82,230.09
$IRIDIUM_FIX,-4626.10,408.04,050213,040413
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.5,64.418
$10V_AH,10.0,33.456
$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,14.200,116.525,302.100,41.250,0.000,27.900,18.839,481.550,0.000,0.000,25.418,1979.901,10758.430,449.729,2580.821,797.879,33.401,1360.937,0.000,2034.613,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,61.965,1809.225,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.441,1549.545,824.939,318.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354036
$DATA_FILE_SIZE,57142,778
$CAP_FILE_SIZE,131419,0
$CFSIZE,259252224,207503360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,050213,141252,-4637.488,412.999,38,0.8,39,-23.4