version: 66.07
glider: 542
mission: 6
dive: 356
start: 2 6 113 23 9 2
data:
$ID,542
$MISSION,6
$DIVE,356
$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,-11584.853
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,060213,225434,-4627.222,416.362,24,0.9,25,-23.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-52.8
$GPS2,060213,230805,-4627.120,416.594,17,1.5,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.210,-0.146
$KALMAN_X,-260341.8,-1522.3,-376.9,261767.3,5604.8
$KALMAN_Y,228035.2,515.8,324.3,-184154.6,1289.8
$MHEAD_RNG_PITCHd_Wd,148.2,30312,-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,-146.1,0.0,0.0,0,84,0.00,0.00,-55.10,0.000,2,0.000,0.000,49,2878,2929,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.2,-3.5,7,117,6.75,1.70,-15.00,0.000,4,0.249,0.079,1623,3891,3418,0,0,0,0,0,0
$GC,398,-0.60,-146.1,45.1,-13.5,55,404,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2836,3420,0,0,0,0,0,0
$GC,639,-0.60,-146.1,78.5,-13.4,96,648,0.00,1.73,0.00,0.000,4,0.000,0.058,1615,3892,3420,0,0,0,0,0,0
$GC,777,-0.60,-146.1,97.0,-13.4,119,782,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2856,3421,0,0,0,0,0,0
$GC,1101,-0.60,-146.1,139.7,-12.9,142,1104,0.00,1.65,0.00,0.000,4,0.000,0.057,1607,3897,3421,0,0,0,0,0,0
$GC,1172,-0.60,-146.1,149.1,-13.6,146,1175,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2865,3422,0,0,0,0,0,0
$GC,1506,-0.60,-146.1,191.0,-11.8,167,1510,0.00,2.12,0.00,0.000,4,0.000,0.039,1606,1482,3422,0,0,0,0,0,0
$GC,1539,-0.60,-146.1,194.8,-11.5,169,1544,0.15,2.17,0.00,0.000,6,0.175,0.050,1635,2855,3423,0,0,0,0,0,0
$GC,1871,-0.60,-146.1,224.5,-8.9,190,1875,0.00,1.62,0.00,0.000,4,0.000,0.059,1628,3903,3423,0,0,0,0,0,0
$GC,1912,-0.60,-146.1,228.8,-9.5,192,1916,0.00,1.58,0.00,0.000,6,0.000,0.031,1628,2858,3423,0,0,0,0,0,0
$GC,2249,-0.60,-146.1,261.1,-10.1,212,2252,0.00,1.65,0.00,0.000,4,0.000,0.059,1620,3894,3423,0,0,0,0,0,0
$GC,2329,-0.60,-146.1,270.0,-10.7,215,2333,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2866,3423,0,0,0,0,0,0
$GC,2655,-0.60,-146.1,304.4,-10.5,231,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3423,0,0,0,0,0,0
$GC,2962,-0.60,-146.1,335.1,-9.6,246,2966,0.00,1.65,0.00,0.000,4,0.000,0.059,1612,3902,3422,0,0,0,0,0,0
$GC,3014,-0.60,-146.1,341.1,-10.7,248,3018,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2860,3422,0,0,0,0,0,0
$GC,3344,-0.60,-146.1,375.8,-10.2,264,3348,0.00,1.65,0.00,0.000,4,0.000,0.060,1604,3895,3422,0,0,0,0,0,0
$GC,3393,-0.60,-146.1,381.0,-10.8,266,3398,0.08,1.58,0.00,0.000,6,0.160,0.032,1627,2855,3422,0,0,0,0,0,0
$GC,3739,-0.60,-146.1,407.9,-8.0,281,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2851,3422,0,0,0,0,0,0
$GC,4045,-0.60,-146.1,431.1,-7.6,291,4049,0.00,1.70,0.00,0.000,4,0.000,0.060,1620,3905,3422,0,0,0,0,0,0
$GC,4127,-0.60,-146.1,438.2,-8.8,293,4130,0.00,1.60,0.00,0.000,6,0.000,0.032,1620,2854,3421,0,0,0,0,0,0
$GC,4459,-0.60,-146.1,468.2,-9.3,304,4463,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3902,3421,0,0,0,0,0,0
$GC,4499,-0.60,-146.1,472.7,-10.2,305,4503,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2866,3421,0,0,0,0,0,0
$GC,4837,-0.60,-146.1,508.2,-10.8,316,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2860,3421,0,0,0,0,0,0
$GC,5145,-0.60,-146.1,541.8,-11.1,326,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2861,3421,0,0,0,0,0,0
$GC,5449,-0.60,-146.1,575.8,-10.9,336,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2861,3421,0,0,0,0,0,0
$GC,5757,-0.60,-146.1,608.0,-10.6,346,5760,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3895,3420,0,0,0,0,0,0
$GC,5814,-0.60,-146.1,615.0,-11.7,347,5818,0.08,1.58,0.00,0.000,6,0.155,0.033,1637,2859,3420,0,0,0,0,0,0
$GC,6136,-0.60,-146.1,643.5,-8.5,358,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2855,3420,0,0,0,0,0,0
$GC,6443,-0.60,-146.1,669.7,-8.4,368,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2855,3420,0,0,0,0,0,0
$GC,6747,-0.60,-146.1,694.4,-7.8,378,6751,0.00,1.67,0.00,0.000,4,0.000,0.062,1630,3900,3419,0,0,0,0,0,0
$GC,6788,-0.60,-146.1,697.8,-8.5,379,6792,0.00,1.60,0.00,0.000,6,0.000,0.033,1630,2855,3419,0,0,0,0,0,0
$GC,7126,-0.60,-146.1,722.0,-7.0,390,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2851,3419,0,0,0,0,0,0
$GC,7432,-0.60,-146.1,744.0,-7.3,400,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2851,3419,0,0,0,0,0,0
$GC,7738,-0.60,-146.1,766.9,-7.7,410,7742,0.00,1.73,0.00,0.000,4,0.000,0.062,1622,3894,3419,0,0,0,0,0,0
$GC,7796,-0.60,-146.1,771.8,-8.1,411,7800,0.00,1.58,0.00,0.000,6,0.000,0.034,1622,2865,3418,0,0,0,0,0,0
$GC,8119,-0.60,-146.1,798.4,-8.2,422,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2860,3418,0,0,0,0,0,0
$GC,8423,-0.60,-146.1,823.4,-8.2,432,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2860,3418,0,0,0,0,0,0
$GC,8731,-0.60,-146.1,847.5,-7.9,442,8734,0.00,1.65,0.00,0.000,4,0.000,0.062,1614,3893,3418,0,0,0,0,0,0
$GC,8777,-0.60,-146.1,851.8,-9.4,443,8780,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2862,3418,0,0,0,0,0,0
$GC,9109,-0.60,-146.1,879.9,-8.6,454,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3418,0,0,0,0,0,0
$GC,9415,-0.60,-146.1,906.5,-8.5,464,9419,0.00,1.70,0.00,0.000,4,0.000,0.062,1607,3890,3418,0,0,0,0,0,0
$GC,9452,-0.60,-146.1,909.9,-9.7,465,9456,0.00,1.58,0.00,0.000,6,0.000,0.033,1607,2856,3418,0,0,0,0,0,0
$GC,9798,-0.60,-146.1,941.0,-8.8,476,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2850,3417,0,0,0,0,0,0
$GC,10102,-0.60,-146.1,966.5,-8.1,486,10106,0.00,1.67,0.00,0.000,4,0.000,0.061,1599,3898,3417,0,0,0,0,0,0
$GC,10173,-0.60,-146.1,972.7,-8.3,488,10177,0.08,1.58,0.00,0.000,6,0.158,0.033,1631,2862,3417,0,0,0,0,0,0
$GC,10517,-0.60,-146.1,995.0,-6.5,499,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2858,3417,0,0,0,0,0,0
$STATE,10604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10604,begin apogee
$GC,10615,-0.18,0.0,1000.8,6.3,502,10771,0.45,0.00,147.90,1.845,6,0.151,0.000,1766,2672,2820,0,0,0,0,1,0
$STATE,10773,end apogee,CONTROL_FINISHED_OK
$STATE,10773,begin climb
$GC,10777,0.60,146.1,1004.8,0.0,507,10954,0.82,2.58,161.88,1.798,4,0.091,0.050,2029,1285,2223,0,0,0,0,1,0
$GC,10985,0.60,146.1,977.8,18.5,514,10990,0.00,2.47,0.00,0.000,6,0.000,0.050,2030,2669,2220,0,0,0,0,0,0
$GC,11318,0.60,146.1,910.1,20.7,525,11322,0.00,2.28,0.00,0.000,4,0.000,0.050,2040,1278,2216,0,0,0,0,0,0
$GC,11364,0.60,146.1,900.8,18.7,526,11368,0.00,2.33,0.00,0.000,6,0.000,0.051,2040,2683,2214,0,0,0,0,0,0
$GC,11685,0.60,146.1,834.6,21.0,537,11689,0.00,2.25,0.00,0.000,4,0.000,0.048,2050,1278,2213,0,0,0,0,0,0
$GC,11731,0.60,146.1,825.1,18.2,538,11735,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2678,2212,0,0,0,0,0,0
$GC,12052,0.60,146.1,756.7,21.4,549,12056,0.00,2.22,0.00,0.000,4,0.000,0.048,2060,1278,2212,0,0,0,0,0,0
$GC,12093,0.60,146.1,748.0,19.5,550,12098,0.15,2.25,0.00,0.000,6,0.213,0.050,2026,2670,2210,0,0,0,0,0,0
$GC,12420,0.60,146.1,686.8,18.5,561,12424,0.00,2.20,0.00,0.000,4,0.000,0.048,2036,1273,2210,0,0,0,0,0,0
$GC,12455,0.60,146.1,680.1,18.1,562,12459,0.00,2.25,0.00,0.000,6,0.000,0.051,2035,2670,2210,0,0,0,0,0,0
$GC,12787,0.60,146.1,616.0,19.4,573,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2209,0,0,0,0,0,0
$GC,13095,0.60,146.1,556.7,19.2,583,13099,0.00,2.20,0.00,0.000,4,0.000,0.050,2045,1277,2209,0,0,0,0,0,0
$GC,13164,0.60,146.1,543.5,17.5,585,13168,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2677,2208,0,0,0,0,0,0
$GC,13496,0.60,146.1,477.6,19.9,596,13500,0.00,2.20,0.00,0.000,4,0.000,0.046,2056,1276,2208,0,0,0,0,0,0
$GC,13553,0.60,146.1,466.6,16.8,597,13561,0.12,2.22,0.00,0.000,6,0.209,0.050,2027,2671,2208,0,0,0,0,0,0
$GC,13869,0.60,146.1,410.6,18.1,608,13870,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2671,2208,0,0,0,0,0,0
$GC,14177,0.60,146.1,351.8,19.2,622,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2671,2208,0,0,0,0,0,0
$GC,14488,0.60,146.1,296.2,17.7,637,14492,0.00,2.20,0.00,0.000,4,0.000,0.047,2037,1280,2208,0,0,0,0,0,0
$GC,14541,0.60,146.1,286.7,15.4,639,14545,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2676,2207,0,0,0,0,0,0
$GC,14873,0.60,146.1,226.9,17.8,657,14875,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2676,2207,0,0,0,0,0,0
$GC,15186,0.60,146.1,171.6,17.2,677,15190,0.00,2.22,0.00,0.000,4,0.000,0.046,2047,1277,2207,0,0,0,0,0,0
$GC,15272,0.60,146.1,157.6,15.2,682,15276,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2672,2206,0,0,0,0,0,0
$GC,15593,0.60,146.1,100.5,16.8,702,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2206,0,0,0,0,0,0
$GC,15934,0.60,146.1,49.9,15.9,760,15943,0.00,2.22,0.00,0.000,4,0.000,0.046,2057,1284,2206,0,0,0,0,0,0
$GC,15986,0.60,146.1,42.6,14.4,767,15993,0.12,2.22,0.00,0.000,6,0.202,0.050,2029,2670,2206,0,0,0,0,0,0
$GC,16243,0.60,146.1,5.2,15.7,808,16251,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2670,2205,0,0,0,0,0,0
$STATE,16259,end climb,SURFACE_DEPTH_REACHED
$STATE,16259,begin surface coast
$FINISH,0.8,1.026447
$STATE,16285,end surface coast,CONTROL_FINISHED_OK
$STATE,16285,begin surface
$SM_CCo,16307,41.12,0.757,1,0,1879,230.09
$SM_GC,2.32,0.00,0.00,41.12,0.000,0.000,0.757,53,2869,1879,-5.55,0.28,230.09
$IRIDIUM_FIX,-4610.49,416.26,060213,181818
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.5,65.856
$10V_AH,10.0,34.354
$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,14.175,98.950,309.775,41.125,0.000,27.746,21.574,511.710,0.000,0.000,20.467,2054.409,11250.442,436.484,2634.882,774.659,33.378,1323.011,0.000,2060.505,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,78.795,1845.180,757.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.873,1602.314,851.365,326.618,0.000,0.000,0.000,0.000,0.000,0.000
$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,57085,814
$CAP_FILE_SIZE,129637,0
$CFSIZE,259252224,206950400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,070213,034305,-4627.595,419.770,41,1.2,41,-23.4