version: 66.07
glider: 542
mission: 6
dive: 353
start: 2 6 113 9 0 20
data:
$ID,542
$MISSION,6
$DIVE,353
$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,-11576.001
$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,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
$GPS1,060213,084634,-4629.456,415.329,32,1.0,33,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-65.8
$GPS2,060213,085923,-4629.370,415.473,14,1.6,14,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.245,-0.021
$KALMAN_X,-270685.6,1692.5,687.7,266357.8,-1692.5
$KALMAN_Y,219094.4,-322.8,321.2,-178532.5,-716.1
$MHEAD_RNG_PITCHd_Wd,288.5,7074,-17.3,-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,-0.61,-135.4,0.0,0.0,0,92,0.00,0.00,-62.90,0.000,2,0.000,0.000,59,2877,3122,0,0,0,0,0,0
$GC,98,-0.62,-146.1,3.1,-1.9,8,125,6.75,1.70,-7.95,0.000,4,0.253,0.077,1615,3906,3418,0,0,0,0,0,0
$GC,173,-0.62,-146.1,17.7,-15.6,18,182,0.00,1.62,0.00,0.000,6,0.000,0.032,1615,2846,3419,0,0,0,0,0,0
$GC,261,-0.62,-146.1,30.3,-14.5,31,268,0.00,2.15,0.00,0.000,4,0.000,0.044,1615,1485,3419,0,0,0,0,0,0
$GC,296,-0.62,-146.1,35.6,-14.3,36,305,0.00,2.25,0.00,0.000,6,0.000,0.054,1605,2854,3419,0,0,0,0,0,0
$GC,547,-0.62,-146.1,71.7,-13.8,77,552,0.00,1.67,0.00,0.000,4,0.000,0.060,1597,3907,3420,0,0,0,0,0,0
$GC,632,-0.62,-146.1,83.4,-12.7,91,638,0.08,1.60,0.00,0.000,6,0.163,0.033,1620,2865,3420,0,0,0,0,0,0
$GC,976,-0.62,-146.1,125.3,-12.2,128,980,0.00,2.17,0.00,0.000,4,0.000,0.046,1620,1473,3421,0,0,0,0,0,0
$GC,1008,-0.62,-146.1,129.5,-11.6,130,1012,0.00,2.25,0.00,0.000,6,0.000,0.053,1610,2870,3421,0,0,0,0,0,0
$GC,1337,-0.62,-146.1,171.1,-12.6,151,1340,0.00,1.62,0.00,0.000,4,0.000,0.061,1603,3913,3422,0,0,0,0,0,0
$GC,1424,-0.62,-146.1,182.8,-12.8,156,1428,0.00,1.60,0.00,0.000,6,0.000,0.032,1602,2857,3422,0,0,0,0,0,0
$GC,1759,-0.62,-146.1,225.5,-12.6,177,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2852,3422,0,0,0,0,0,0
$GC,2079,-0.62,-146.1,263.2,-11.2,196,2083,0.00,1.65,0.00,0.000,4,0.000,0.061,1594,3895,3422,0,0,0,0,0,0
$GC,2152,-0.62,-146.1,271.8,-11.6,199,2156,0.08,1.58,0.00,0.000,6,0.163,0.033,1626,2853,3422,0,0,0,0,0,0
$GC,2489,-0.62,-146.1,303.7,-9.5,215,2493,0.00,1.70,0.00,0.000,4,0.000,0.062,1619,3890,3422,0,0,0,0,0,0
$GC,2540,-0.62,-146.1,309.0,-10.8,217,2544,0.00,1.55,0.00,0.000,6,0.000,0.034,1619,2862,3423,0,0,0,0,0,0
$GC,2877,-0.62,-146.1,343.1,-10.1,233,2880,0.00,1.67,0.00,0.000,4,0.000,0.062,1611,3896,3422,0,0,0,0,0,0
$GC,2928,-0.62,-146.1,348.5,-11.3,235,2931,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2861,3422,0,0,0,0,0,0
$GC,3265,-0.62,-146.1,386.0,-11.3,251,3268,0.00,1.67,0.00,0.000,4,0.000,0.062,1603,3894,3422,0,0,0,0,0,0
$GC,3300,-0.62,-146.1,390.6,-12.3,252,3303,0.00,1.58,0.00,0.000,6,0.000,0.033,1603,2861,3423,0,0,0,0,0,0
$GC,3641,-0.62,-146.1,432.2,-12.3,265,3645,0.00,2.15,0.00,0.000,4,0.000,0.047,1603,1484,3422,0,0,0,0,0,0
$GC,3659,-0.62,-146.1,434.8,-12.3,265,3664,0.12,2.22,0.00,0.000,6,0.189,0.053,1624,2867,3422,0,0,0,0,0,0
$GC,3976,-0.62,-146.1,467.1,-10.1,275,3980,0.00,1.65,0.00,0.000,4,0.000,0.062,1616,3907,3422,0,0,0,0,0,0
$GC,4028,-0.62,-146.1,473.0,-11.4,276,4032,0.00,1.60,0.00,0.000,6,0.000,0.033,1616,2854,3422,0,0,0,0,0,0
$GC,4354,-0.62,-146.1,506.3,-10.0,287,4357,0.00,1.70,0.00,0.000,4,0.000,0.061,1608,3903,3422,0,0,0,0,0,0
$GC,4390,-0.62,-146.1,510.1,-10.5,288,4394,0.00,1.58,0.00,0.000,6,0.000,0.034,1608,2863,3422,0,0,0,0,0,0
$GC,4733,-0.62,-146.1,544.7,-9.9,299,4737,0.00,1.67,0.00,0.000,4,0.000,0.062,1600,3893,3421,0,0,0,0,0,0
$GC,4785,-0.62,-146.1,550.5,-10.8,300,4789,0.00,1.58,0.00,0.000,6,0.000,0.034,1600,2860,3421,0,0,0,0,0,0
$GC,5111,-0.62,-146.1,584.4,-10.6,311,5115,0.00,1.70,0.00,0.000,4,0.000,0.061,1593,3890,3421,0,0,0,0,0,0
$GC,5148,-0.62,-146.1,588.6,-11.0,312,5153,0.10,1.58,0.00,0.000,6,0.165,0.033,1623,2853,3421,0,0,0,0,0,0
$GC,5493,-0.62,-146.1,620.2,-9.0,323,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2850,3421,0,0,0,0,0,0
$GC,5798,-0.62,-146.1,646.7,-8.5,333,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2850,3420,0,0,0,0,0,0
$GC,6107,-0.62,-146.1,672.2,-8.4,343,6110,0.00,1.70,0.00,0.000,4,0.000,0.062,1616,3899,3420,0,0,0,0,0,0
$GC,6152,-0.62,-146.1,676.8,-9.5,344,6156,0.00,1.58,0.00,0.000,6,0.000,0.034,1616,2872,3420,0,0,0,0,0,0
$GC,6484,-0.62,-146.1,706.0,-8.7,355,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2867,3419,0,0,0,0,0,0
$GC,6791,-0.62,-146.1,733.3,-9.0,365,6795,0.00,1.67,0.00,0.000,4,0.000,0.062,1607,3899,3419,0,0,0,0,0,0
$GC,6831,-0.62,-146.1,737.5,-10.0,366,6835,0.00,1.60,0.00,0.000,6,0.000,0.034,1608,2862,3419,0,0,0,0,0,0
$GC,7169,-0.62,-146.1,767.2,-8.6,377,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2857,3419,0,0,0,0,0,0
$GC,7477,-0.62,-146.1,793.5,-8.7,387,7481,0.00,1.67,0.00,0.000,4,0.000,0.062,1600,3903,3418,0,0,0,0,0,0
$GC,7540,-0.62,-146.1,800.0,-9.8,388,7546,0.00,1.60,0.00,0.000,6,0.000,0.034,1600,2855,3418,0,0,0,0,0,0
$GC,7855,-0.62,-146.1,831.5,-10.4,399,7858,0.00,1.67,0.00,0.000,4,0.000,0.062,1592,3891,3418,0,0,0,0,0,0
$GC,7892,-0.62,-146.1,835.6,-11.7,400,7896,0.08,1.58,0.00,0.000,6,0.164,0.034,1624,2857,3417,0,0,0,0,0,0
$GC,8235,-0.62,-146.1,865.6,-8.3,411,8239,0.00,1.70,0.00,0.000,4,0.000,0.063,1617,3903,3418,0,0,0,0,0,0
$GC,8265,-0.62,-146.1,868.2,-9.0,411,8272,0.00,1.60,0.00,0.000,6,0.000,0.034,1617,2857,3418,0,0,0,0,0,0
$GC,8583,-0.62,-146.1,895.5,-8.7,422,8586,0.00,1.70,0.00,0.000,4,0.000,0.063,1609,3903,3417,0,0,0,0,0,0
$GC,8606,-0.62,-146.1,898.0,-8.9,422,8610,0.00,1.60,0.00,0.000,6,0.000,0.034,1608,2863,3418,0,0,0,0,0,0
$GC,8927,-0.62,-146.1,926.4,-8.9,433,8931,0.00,1.67,0.00,0.000,4,0.000,0.063,1601,3892,3418,0,0,0,0,0,0
$GC,8956,-0.62,-146.1,929.2,-9.4,433,8963,0.00,1.58,0.00,0.000,6,0.000,0.034,1602,2856,3417,0,0,0,0,0,0
$GC,9272,-0.62,-146.1,958.6,-9.4,444,9276,0.00,1.70,0.00,0.000,4,0.000,0.062,1593,3903,3417,0,0,0,0,0,0
$GC,9302,-0.62,-146.1,961.7,-10.6,444,9310,0.10,1.60,0.00,0.000,6,0.161,0.034,1623,2859,3417,0,0,0,0,0,0
$GC,9620,-0.62,-146.1,984.9,-7.0,455,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2859,3417,0,0,0,0,0,0
$STATE,9828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9828,begin apogee
$GC,9838,-0.18,0.0,1000.2,7.2,462,9994,0.47,0.00,147.50,1.867,6,0.157,0.000,1764,2672,2820,0,0,0,0,1,0
$STATE,9996,end apogee,CONTROL_FINISHED_OK
$STATE,9996,begin climb
$GC,10001,0.62,146.1,1003.3,0.0,467,10183,0.82,2.60,162.62,1.789,4,0.092,0.057,2034,1287,2225,0,0,0,0,2,0
$GC,10242,0.62,146.1,966.9,19.0,474,10246,0.00,2.42,0.00,0.000,6,0.000,0.052,2034,2660,2221,0,0,0,0,0,0
$GC,10563,0.62,146.1,895.6,22.2,485,10568,0.00,2.25,0.00,0.000,4,0.000,0.055,2044,1287,2217,0,0,0,0,0,0
$GC,10615,0.62,146.1,884.1,19.6,486,10620,0.00,2.30,0.00,0.000,6,0.000,0.053,2044,2676,2215,0,0,0,0,0,0
$GC,10931,0.62,146.1,813.8,22.3,496,10935,0.00,2.28,0.00,0.000,4,0.000,0.054,2054,1283,2215,0,0,0,0,0,0
$GC,10962,0.62,146.1,806.9,22.1,497,10966,0.00,2.25,0.00,0.000,6,0.000,0.052,2054,2671,2214,0,0,0,0,0,0
$GC,11300,0.62,146.1,730.8,22.6,508,11304,0.00,2.25,0.00,0.000,4,0.000,0.053,2064,1282,2213,0,0,0,0,0,0
$GC,11341,0.62,146.1,721.8,21.9,509,11346,0.12,2.25,0.00,0.000,6,0.220,0.051,2037,2672,2213,0,0,0,0,0,0
$GC,11668,0.62,146.1,653.5,21.3,520,11672,0.00,2.20,0.00,0.000,4,0.000,0.050,2046,1286,2212,0,0,0,0,0,0
$GC,11699,0.62,146.1,647.1,20.4,521,11703,0.00,2.22,0.00,0.000,6,0.000,0.051,2046,2670,2212,0,0,0,0,0,0
$GC,12037,0.62,146.1,576.5,20.4,532,12041,0.00,2.20,0.00,0.000,4,0.000,0.053,2057,1285,2212,0,0,0,0,0,0
$GC,12072,0.62,146.1,569.1,19.8,533,12076,0.00,2.22,0.00,0.000,6,0.000,0.050,2057,2669,2211,0,0,0,0,0,0
$GC,12404,0.62,146.1,499.6,21.5,544,12408,0.00,2.20,0.00,0.000,4,0.000,0.052,2067,1280,2211,0,0,0,0,0,0
$GC,12436,0.62,146.1,493.1,20.4,545,12441,0.12,2.25,0.00,0.000,6,0.211,0.050,2038,2679,2211,0,0,0,0,0,0
$GC,12774,0.62,146.1,427.0,19.6,556,12778,0.00,2.22,0.00,0.000,4,0.000,0.048,2047,1278,2211,0,0,0,0,0,0
$GC,12837,0.62,146.1,415.4,17.2,557,12844,0.00,2.22,0.00,0.000,6,0.000,0.050,2047,2670,2210,0,0,0,0,0,0
$GC,13165,0.62,146.1,350.4,19.9,572,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2670,2210,0,0,0,0,0,0
$GC,13476,0.62,146.1,290.8,18.8,587,13480,0.00,2.20,0.00,0.000,4,0.000,0.048,2057,1285,2210,0,0,0,0,0,0
$GC,13498,0.62,146.1,286.7,18.1,588,13502,0.00,2.22,0.00,0.000,6,0.000,0.050,2057,2670,2209,0,0,0,0,0,0
$GC,13829,0.62,146.1,224.5,18.7,606,13833,0.00,2.20,0.00,0.000,4,0.000,0.050,2068,1285,2209,0,0,0,0,0,0
$GC,13861,0.62,146.1,218.3,18.9,608,13866,0.15,2.22,0.00,0.000,6,0.205,0.051,2033,2669,2209,0,0,0,0,0,0
$GC,14195,0.62,146.1,162.4,17.2,629,14201,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2669,2209,0,0,0,0,0,0
$GC,14516,0.62,146.1,111.0,15.3,650,14520,0.00,2.17,0.00,0.000,4,0.000,0.048,2042,1285,2209,0,0,0,0,0,0
$GC,14575,0.62,146.1,102.3,13.5,653,14581,0.00,2.22,0.00,0.000,6,0.000,0.051,2041,2671,2208,0,0,0,0,0,0
$GC,14926,0.62,146.1,49.8,15.5,712,14935,0.00,2.22,0.00,0.000,4,0.000,0.047,2052,1288,2208,0,0,0,0,0,0
$GC,14965,0.62,146.1,44.5,14.8,717,14972,0.00,2.22,0.00,0.000,6,0.000,0.050,2052,2669,2208,0,0,0,0,0,0
$STATE,15211,end climb,SURFACE_DEPTH_REACHED
$STATE,15211,begin surface coast
$FINISH,0.9,1.015759
$STATE,15231,end surface coast,CONTROL_FINISHED_OK
$STATE,15231,begin surface
$SM_CCo,15253,41.20,0.768,1,0,1880,230.09
$SM_GC,2.23,0.00,0.00,41.20,0.000,0.000,0.768,61,2867,1880,-5.53,0.20,230.09
$IRIDIUM_FIX,-4613.60,416.73,060213,040406
$TT8_MAMPS,0.026215
$HUMID,58.86
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.5,65.311
$10V_AH,10.0,34.014
$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,14.275,129.875,310.125,41.200,0.000,25.245,21.077,472.454,0.000,0.000,16.922,1943.393,10341.685,471.730,2509.335,788.742,33.395,1364.441,0.000,1979.138,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,77.265,1866.600,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.092,1488.155,791.777,299.883,0.000,0.000,0.000,0.000,0.000,0.000
$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,53785,760
$CAP_FILE_SIZE,132857,0
$CFSIZE,259252224,207151104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,060213,131651,-4627.907,413.671,27,1.4,43,-23.4