version: 66.07
glider: 542
mission: 6
dive: 349
start: 2 5 113 14 27 2
data:
$ID,542
$MISSION,6
$DIVE,349
$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,-11564.355
$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,56
$R_STBD_OVSHOOT,47
$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
$GPS1,050213,141252,-4637.488,412.999,38,0.8,39,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.1
$GPS2,050213,142605,-4637.501,413.043,15,2.0,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.204,0.154
$KALMAN_X,-270983.8,579.1,115.0,265295.0,-4717.6
$KALMAN_Y,220473.4,294.4,385.7,-195659.7,-1841.8
$MHEAD_RNG_PITCHd_Wd,76.4,14424,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,92,0.00,0.00,-63.05,0.000,2,0.000,0.000,57,2892,3110,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-2.8,8,125,6.60,1.62,-8.45,0.000,4,0.244,0.077,1622,3872,3418,0,0,0,0,0,0
$GC,402,-0.60,-146.1,48.0,-13.3,56,411,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2849,3419,0,0,0,0,0,0
$GC,648,-0.60,-146.1,82.1,-14.3,97,653,0.00,1.70,0.00,0.000,4,0.000,0.063,1614,3880,3420,0,0,0,0,0,0
$GC,830,-0.60,-146.1,107.7,-13.5,121,834,0.00,1.52,0.00,0.000,6,0.000,0.031,1614,2866,3421,0,0,0,0,0,0
$GC,1157,-0.60,-146.1,147.9,-11.8,142,1161,0.00,1.67,0.00,0.000,4,0.000,0.063,1606,3879,3422,0,0,0,0,0,0
$GC,1198,-0.60,-146.1,153.3,-13.0,144,1202,0.00,1.52,0.00,0.000,6,0.000,0.032,1607,2868,3422,0,0,0,0,0,0
$GC,1527,-0.60,-146.1,193.4,-12.7,165,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2862,3423,0,0,0,0,0,0
$GC,1839,-0.60,-146.1,234.0,-13.1,185,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2862,3423,0,0,0,0,0,0
$GC,2148,-0.60,-146.1,273.7,-12.8,202,2152,0.00,1.67,0.00,0.000,4,0.000,0.064,1598,3880,3422,0,0,0,0,0,0
$GC,2199,-0.60,-146.1,281.0,-14.0,204,2204,0.08,1.55,0.00,0.000,6,0.164,0.032,1636,2854,3422,0,0,0,0,0,0
$GC,2530,-0.60,-146.1,312.9,-9.2,220,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2850,3422,0,0,0,0,0,0
$GC,2841,-0.60,-146.1,341.5,-9.3,235,2844,0.00,1.67,0.00,0.000,4,0.000,0.065,1630,3881,3423,0,0,0,0,0,0
$GC,2898,-0.60,-146.1,347.5,-9.6,237,2901,0.00,1.55,0.00,0.000,6,0.000,0.033,1630,2858,3422,0,0,0,0,0,0
$GC,3224,-0.60,-146.1,377.3,-9.0,253,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2853,3422,0,0,0,0,0,0
$GC,3530,-0.60,-146.1,405.9,-9.2,267,3534,0.00,1.67,0.00,0.000,4,0.000,0.065,1622,3883,3422,0,0,0,0,0,0
$GC,3571,-0.60,-146.1,410.1,-10.2,268,3574,0.00,1.55,0.00,0.000,6,0.000,0.033,1622,2860,3422,0,0,0,0,0,0
$GC,3908,-0.60,-146.1,444.6,-10.7,279,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2855,3422,0,0,0,0,0,0
$GC,4216,-0.60,-146.1,477.1,-10.4,289,4219,0.00,1.67,0.00,0.000,4,0.000,0.065,1614,3883,3421,0,0,0,0,0,0
$GC,4273,-0.60,-146.1,483.9,-11.1,290,4276,0.00,1.55,0.00,0.000,6,0.000,0.034,1614,2862,3421,0,0,0,0,0,0
$GC,4593,-0.60,-146.1,519.7,-11.2,301,4597,0.00,1.65,0.00,0.000,4,0.000,0.065,1606,3885,3421,0,0,0,0,0,0
$GC,4630,-0.60,-146.1,524.0,-11.7,302,4633,0.00,1.55,0.00,0.000,6,0.000,0.033,1605,2862,3421,0,0,0,0,0,0
$GC,4973,-0.60,-146.1,562.2,-10.9,313,4976,0.00,1.65,0.00,0.000,4,0.000,0.064,1598,3876,3420,0,0,0,0,0,0
$GC,5013,-0.60,-146.1,567.0,-11.9,314,5017,0.08,1.55,0.00,0.000,6,0.161,0.034,1636,2853,3420,0,0,0,0,0,0
$GC,5351,-0.60,-146.1,593.7,-7.5,325,5354,0.00,1.67,0.00,0.000,4,0.000,0.066,1630,3877,3420,0,0,0,0,0,0
$GC,5388,-0.60,-146.1,596.6,-8.1,326,5392,0.00,1.55,0.00,0.000,6,0.000,0.034,1629,2855,3419,0,0,0,0,0,0
$GC,5731,-0.60,-146.1,625.4,-8.5,337,5735,0.00,1.70,0.00,0.000,4,0.000,0.065,1622,3876,3419,0,0,0,0,0,0
$GC,5761,-0.60,-146.1,628.3,-9.1,337,5767,0.00,1.55,0.00,0.000,6,0.000,0.034,1622,2854,3419,0,0,0,0,0,0
$GC,6077,-0.60,-146.1,656.9,-9.1,348,6080,0.00,1.67,0.00,0.000,4,0.000,0.065,1615,3882,3419,0,0,0,0,0,0
$GC,6113,-0.60,-146.1,660.4,-9.3,349,6117,0.00,1.55,0.00,0.000,6,0.000,0.034,1614,2865,3419,0,0,0,0,0,0
$GC,6456,-0.60,-146.1,694.2,-9.8,360,6460,0.00,1.70,0.00,0.000,4,0.000,0.066,1606,3886,3418,0,0,0,0,0,0
$GC,6502,-0.60,-146.1,699.2,-10.3,361,6506,0.00,1.58,0.00,0.000,6,0.000,0.034,1606,2854,3418,0,0,0,0,0,0
$GC,6834,-0.60,-146.1,733.7,-10.4,372,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2849,3418,0,0,0,0,0,0
$GC,7140,-0.60,-146.1,765.3,-10.2,382,7143,0.00,1.67,0.00,0.000,4,0.000,0.065,1598,3876,3417,0,0,0,0,0,0
$GC,7214,-0.60,-146.1,773.8,-11.1,384,7219,0.10,1.55,0.00,0.000,6,0.159,0.034,1629,2862,3417,0,0,0,0,0,0
$GC,7554,-0.60,-146.1,801.5,-8.1,395,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,7859,-0.60,-146.1,825.2,-7.6,405,7862,0.00,1.65,0.00,0.000,4,0.000,0.067,1623,3879,3417,0,0,0,0,0,0
$GC,7888,-0.60,-146.1,827.6,-7.6,405,7895,0.00,1.58,0.00,0.000,6,0.000,0.035,1623,2849,3417,0,0,0,0,0,0
$GC,8204,-0.60,-146.1,851.5,-7.6,416,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2848,3416,0,0,0,0,0,0
$GC,8510,-0.60,-146.1,875.0,-7.7,426,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2849,3416,0,0,0,0,0,0
$GC,8817,-0.60,-146.1,899.4,-8.1,436,8820,0.00,1.70,0.00,0.000,4,0.000,0.067,1614,3884,3416,0,0,0,0,0,0
$GC,8854,-0.60,-146.1,902.4,-9.0,437,8857,0.00,1.58,0.00,0.000,6,0.000,0.034,1614,2855,3416,0,0,0,0,0,0
$GC,9197,-0.60,-146.1,932.7,-9.0,448,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2851,3416,0,0,0,0,0,0
$GC,9505,-0.60,-146.1,961.0,-9.2,458,9509,0.00,1.67,0.00,0.000,4,0.000,0.068,1606,3873,3416,0,0,0,0,0,0
$GC,9542,-0.60,-146.1,964.7,-9.7,459,9545,0.00,1.55,0.00,0.000,6,0.000,0.036,1607,2872,3416,0,0,0,0,0,0
$GC,9885,-0.60,-146.1,996.0,-8.9,470,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2867,3416,0,0,0,0,0,0
$STATE,9941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9941,begin apogee
$GC,9952,-0.18,0.0,1001.3,8.9,472,10100,0.55,0.00,144.85,1.245,6,0.158,0.000,1767,2676,2819,0,0,0,0,0,0
$STATE,10102,end apogee,CONTROL_FINISHED_OK
$STATE,10102,begin climb
$GC,10107,0.60,146.1,1005.2,0.0,477,10283,0.77,2.60,157.77,1.811,4,0.092,0.045,2031,1271,2225,0,0,0,0,1,0
$GC,10309,0.60,146.1,978.3,18.2,483,10313,0.00,2.50,0.00,0.000,6,0.000,0.057,2031,2649,2223,0,0,0,0,0,0
$GC,10635,0.60,146.1,912.2,20.5,494,10640,0.00,2.28,0.00,0.000,4,0.000,0.047,2041,1260,2217,0,0,0,0,0,0
$GC,10693,0.60,146.1,900.9,18.1,495,10700,0.00,2.38,0.00,0.000,6,0.000,0.057,2041,2681,2215,0,0,0,0,0,0
$GC,11008,0.60,146.1,835.2,20.9,506,11012,0.00,2.28,0.00,0.000,4,0.000,0.045,2052,1258,2215,0,0,0,0,0,0
$GC,11071,0.60,146.1,822.8,18.2,507,11080,0.00,2.33,0.00,0.000,6,0.000,0.056,2052,2673,2213,0,0,0,0,0,0
$GC,11387,0.60,146.1,754.5,22.3,518,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2212,0,0,0,0,0,0
$GC,11693,0.60,146.1,685.2,22.3,528,11697,0.00,2.22,0.00,0.000,4,0.000,0.044,2062,1264,2212,0,0,0,0,0,0
$GC,11739,0.60,146.1,675.0,20.1,529,11744,0.15,2.33,0.00,0.000,6,0.207,0.057,2027,2679,2211,0,0,0,0,0,0
$GC,12066,0.60,146.1,609.2,19.9,540,12070,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1267,2211,0,0,0,0,0,0
$GC,12129,0.60,146.1,597.1,16.8,541,12136,0.00,2.30,0.00,0.000,6,0.000,0.057,2037,2676,2210,0,0,0,0,0,0
$GC,12445,0.60,146.1,532.8,21.0,552,12449,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1259,2210,0,0,0,0,0,0
$GC,12497,0.60,146.1,522.3,17.2,553,12501,0.00,2.33,0.00,0.000,6,0.000,0.057,2047,2676,2210,0,0,0,0,0,0
$GC,12812,0.60,146.1,455.7,21.6,563,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2676,2210,0,0,0,0,0,0
$GC,13129,0.60,146.1,390.8,20.5,574,13133,0.00,2.25,0.00,0.000,4,0.000,0.045,2058,1255,2210,0,0,0,0,0,0
$GC,13182,0.60,146.1,380.6,18.6,576,13187,0.12,2.30,0.00,0.000,6,0.204,0.057,2029,2668,2210,0,0,0,0,0,0
$GC,13502,0.60,146.1,324.0,17.3,591,13506,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1258,2210,0,0,0,0,0,0
$GC,13552,0.60,146.1,315.8,14.6,593,13557,0.00,2.30,0.00,0.000,6,0.000,0.056,2038,2680,2209,0,0,0,0,0,0
$GC,13885,0.60,146.1,257.7,17.1,609,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2681,2210,0,0,0,0,0,0
$GC,14195,0.60,146.1,205.3,16.3,628,14199,0.00,2.25,0.00,0.000,4,0.000,0.044,2049,1261,2210,0,0,0,0,0,0
$GC,14261,0.60,146.1,195.0,14.9,632,14265,0.00,2.30,0.00,0.000,6,0.000,0.055,2049,2670,2209,0,0,0,0,0,0
$GC,14590,0.60,146.1,139.2,16.3,653,14594,0.00,2.22,0.00,0.000,4,0.000,0.044,2059,1256,2209,0,0,0,0,0,0
$GC,14648,0.60,146.1,129.5,14.6,656,14653,0.12,2.33,0.00,0.000,6,0.200,0.054,2030,2679,2209,0,0,0,0,0,0
$GC,14983,0.60,146.1,77.8,13.9,692,14990,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1268,2209,0,0,0,0,0,0
$GC,15037,0.60,146.1,71.1,13.3,700,15044,0.00,2.28,0.00,0.000,6,0.000,0.054,2040,2669,2208,0,0,0,0,0,0
$GC,15406,0.60,146.1,15.3,13.9,761,15415,0.00,2.25,0.00,0.000,4,0.000,0.044,2050,1261,2208,0,0,0,0,0,0
$GC,15428,0.60,146.1,12.3,14.1,763,15437,0.00,2.33,0.00,0.000,6,0.000,0.054,2050,2673,2209,0,0,0,0,0,0
$STATE,15488,end climb,SURFACE_DEPTH_REACHED
$STATE,15488,begin surface coast
$FINISH,0.9,1.009429
$STATE,15508,end surface coast,CONTROL_FINISHED_OK
$STATE,15508,begin surface
$SM_CCo,15531,41.20,0.768,1,0,1880,230.09
$SM_GC,2.45,0.00,0.00,41.20,0.000,0.000,0.768,59,2883,1880,-5.53,0.65,230.09
$IRIDIUM_FIX,-4622.97,410.94,050213,090948
$TT8_MAMPS,0.026215
$HUMID,58.86
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.5,64.591
$10V_AH,10.0,33.566
$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,14.075,110.625,302.625,41.200,0.000,25.052,24.411,496.355,0.000,0.000,17.578,1959.776,10625.535,459.075,2550.923,761.874,33.397,1325.768,0.000,1993.848,0.000,1.010,0.000
$DEVICE_MAMPS,244.035,77.265,1810.755,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.210,1532.378,828.215,318.161,0.000,0.000,0.000,0.000,0.000,0.000
$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,57092,775
$CAP_FILE_SIZE,126546,0
$CFSIZE,259252224,207441920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,050213,184805,-4635.629,414.708,37,1.1,38,-23.4