version: 66.07
glider: 542
mission: 6
dive: 357
start: 2 7 113 4 2 50
data:
$ID,542
$MISSION,6
$DIVE,357
$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,-11587.734
$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,54
$R_STBD_OVSHOOT,28
$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
$GPS1,070213,034305,-4627.595,419.770,41,1.2,41,-23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-62.4
$GPS2,070213,040154,-4627.548,419.890,16,1.3,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.231,-0.109
$KALMAN_X,-260783.0,-1403.5,-649.3,266559.5,5290.8
$KALMAN_Y,232278.0,-1031.9,-2.1,-187309.1,4938.6
$MHEAD_RNG_PITCHd_Wd,138.6,26036,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.60,-146.1,0.0,0.0,0,94,0.00,0.00,-63.30,0.000,2,0.000,0.000,51,2871,3117,0,0,0,0,0,0
$GC,100,-0.60,-146.1,3.2,-2.7,8,126,6.57,1.67,-8.20,0.000,4,0.242,0.072,1619,3893,3419,0,0,0,0,0,0
$GC,403,-0.60,-146.1,48.6,-13.1,56,412,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2848,3420,0,0,0,0,0,0
$GC,651,-0.60,-146.1,80.3,-13.0,97,655,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2849,3420,0,0,0,0,0,0
$GC,995,-0.60,-146.1,123.4,-12.3,136,998,0.00,1.65,0.00,0.000,4,0.000,0.057,1611,3895,3421,0,0,0,0,0,0
$GC,1103,-0.60,-146.1,136.8,-12.2,142,1106,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2859,3421,0,0,0,0,0,0
$GC,1432,-0.60,-146.1,178.5,-13.6,163,1435,0.00,1.67,0.00,0.000,4,0.000,0.057,1603,3902,3422,0,0,0,0,0,0
$GC,1470,-0.60,-146.1,184.1,-14.0,165,1475,0.08,1.58,0.00,0.000,6,0.155,0.031,1627,2856,3422,0,0,0,0,0,0
$GC,1808,-0.60,-146.1,222.0,-10.3,186,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2852,3422,0,0,0,0,0,0
$GC,2126,-0.60,-146.1,255.2,-10.2,206,2130,0.00,1.70,0.00,0.000,4,0.000,0.059,1620,3895,3422,0,0,0,0,0,0
$GC,2167,-0.60,-146.1,259.9,-10.8,207,2173,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2862,3422,0,0,0,0,0,0
$GC,2488,-0.60,-146.1,292.9,-10.1,223,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2861,3422,0,0,0,0,0,0
$GC,2794,-0.60,-146.1,323.2,-10.1,238,2798,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3904,3422,0,0,0,0,0,0
$GC,2842,-0.60,-146.1,328.3,-11.2,240,2846,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2856,3422,0,0,0,0,0,0
$GC,3177,-0.60,-146.1,364.1,-10.9,256,3181,0.00,1.70,0.00,0.000,4,0.000,0.059,1604,3896,3422,0,0,0,0,0,0
$GC,3235,-0.60,-146.1,371.1,-11.8,258,3239,0.08,1.55,0.00,0.000,6,0.155,0.032,1643,2869,3422,0,0,0,0,0,0
$GC,3560,-0.60,-146.1,398.3,-8.3,274,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2865,3422,0,0,0,0,0,0
$GC,3876,-0.60,-146.1,424.8,-8.3,285,3880,0.00,1.65,0.00,0.000,4,0.000,0.059,1636,3893,3421,0,0,0,0,0,0
$GC,3927,-0.60,-146.1,429.6,-9.5,286,3931,0.00,1.58,0.00,0.000,6,0.000,0.031,1636,2852,3421,0,0,0,0,0,0
$GC,4255,-0.60,-146.1,457.4,-8.5,297,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2848,3421,0,0,0,0,0,0
$GC,4560,-0.60,-146.1,483.9,-8.7,307,4564,0.00,1.67,0.00,0.000,4,0.000,0.060,1628,3900,3421,0,0,0,0,0,0
$GC,4617,-0.60,-146.1,489.6,-9.8,308,4621,0.00,1.58,0.00,0.000,6,0.000,0.032,1628,2864,3421,0,0,0,0,0,0
$GC,4938,-0.60,-146.1,517.7,-8.6,319,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3421,0,0,0,0,0,0
$GC,5245,-0.60,-146.1,543.2,-8.2,329,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3420,0,0,0,0,0,0
$GC,5550,-0.60,-146.1,568.4,-8.3,339,5554,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3898,3420,0,0,0,0,0,0
$GC,5587,-0.60,-146.1,571.7,-9.7,340,5591,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2852,3420,0,0,0,0,0,0
$GC,5930,-0.60,-146.1,603.3,-9.3,351,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2848,3420,0,0,0,0,0,0
$GC,6236,-0.60,-146.1,631.7,-9.3,361,6240,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3903,3420,0,0,0,0,0,0
$GC,6282,-0.60,-146.1,636.6,-10.4,362,6286,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2864,3419,0,0,0,0,0,0
$GC,6614,-0.60,-146.1,669.5,-10.0,373,6617,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3900,3418,0,0,0,0,0,0
$GC,6660,-0.60,-146.1,674.8,-11.0,374,6664,0.08,1.58,0.00,0.000,6,0.155,0.031,1637,2860,3418,0,0,0,0,0,0
$GC,6992,-0.60,-146.1,701.5,-8.0,385,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2856,3418,0,0,0,0,0,0
$GC,7300,-0.60,-146.1,725.2,-7.8,395,7303,0.00,1.67,0.00,0.000,4,0.000,0.061,1630,3893,3418,0,0,0,0,0,0
$GC,7337,-0.60,-146.1,728.5,-9.0,396,7341,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2851,3417,0,0,0,0,0,0
$GC,7680,-0.60,-146.1,758.3,-8.6,407,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2847,3418,0,0,0,0,0,0
$GC,7986,-0.60,-146.1,784.9,-8.9,417,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2847,3417,0,0,0,0,0,0
$GC,8293,-0.60,-146.1,813.1,-9.3,427,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2848,3417,0,0,0,0,0,0
$GC,8599,-0.60,-146.1,838.8,-8.2,437,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2847,3417,0,0,0,0,0,0
$GC,8905,-0.60,-146.1,861.5,-7.1,447,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2847,3417,0,0,0,0,0,0
$GC,9211,-0.60,-146.1,883.5,-7.4,457,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2846,3416,0,0,0,0,0,0
$GC,9517,-0.60,-146.1,906.7,-7.7,467,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2846,3416,0,0,0,0,0,0
$GC,9824,-0.60,-146.1,931.6,-8.3,477,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2846,3416,0,0,0,0,0,0
$GC,10130,-0.60,-146.1,957.0,-8.3,487,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2846,3416,0,0,0,0,0,0
$GC,10436,-0.60,-146.1,982.9,-8.5,497,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2846,3416,0,0,0,0,0,0
$STATE,10645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10646,begin apogee
$GC,10657,-0.18,0.0,1001.3,8.6,504,10805,0.45,0.00,144.85,1.237,6,0.148,0.000,1765,2672,2819,0,0,0,0,0,0
$STATE,10807,end apogee,CONTROL_FINISHED_OK
$STATE,10807,begin climb
$GC,10811,0.60,146.1,1007.2,0.0,509,10980,0.80,0.00,159.52,1.801,6,0.093,0.000,2018,2672,2224,0,0,0,0,1,0
$GC,11291,0.60,146.1,927.8,20.0,525,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2672,2218,0,0,0,0,0,0
$GC,11593,0.60,146.1,869.2,19.1,535,11597,0.00,2.20,0.00,0.000,4,0.000,0.046,2029,1283,2216,0,0,0,0,0,0
$GC,11663,0.60,146.1,856.6,16.8,537,11668,0.00,2.25,0.00,0.000,6,0.000,0.049,2029,2672,2214,0,0,0,0,0,0
$GC,12001,0.60,146.1,788.9,20.0,548,12005,0.00,2.20,0.00,0.000,4,0.000,0.046,2039,1284,2213,0,0,0,0,0,0
$GC,12036,0.60,146.1,781.6,18.6,549,12040,0.00,2.25,0.00,0.000,6,0.000,0.049,2039,2679,2212,0,0,0,0,0,0
$GC,12368,0.60,146.1,711.1,21.7,560,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2680,2212,0,0,0,0,0,0
$GC,12675,0.60,146.1,645.2,21.4,570,12679,0.00,2.20,0.00,0.000,4,0.000,0.047,2050,1285,2212,0,0,0,0,0,0
$GC,12755,0.60,146.1,629.3,18.8,572,12759,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2670,2211,0,0,0,0,0,0
$GC,13081,0.60,146.1,560.3,21.2,583,13085,0.00,2.20,0.00,0.000,4,0.000,0.048,2060,1288,2211,0,0,0,0,0,0
$GC,13128,0.60,146.1,551.3,16.9,584,13133,0.12,2.20,0.00,0.000,6,0.210,0.050,2031,2669,2211,0,0,0,0,0,0
$GC,13462,0.60,146.1,489.6,18.1,595,13463,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2210,0,0,0,0,0,0
$GC,13767,0.60,146.1,437.3,17.0,605,13771,0.00,2.17,0.00,0.000,4,0.000,0.046,2040,1283,2210,0,0,0,0,0,0
$GC,13824,0.60,146.1,427.9,14.7,606,13831,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2670,2210,0,0,0,0,0,0
$GC,14143,0.60,146.1,372.5,18.1,619,14147,0.00,2.20,0.00,0.000,4,0.000,0.046,2050,1280,2209,0,0,0,0,0,0
$GC,14188,0.60,146.1,364.9,16.0,621,14192,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2678,2209,0,0,0,0,0,0
$GC,14519,0.60,146.1,304.8,18.3,637,14523,0.00,2.22,0.00,0.000,4,0.000,0.046,2060,1277,2209,0,0,0,0,0,0
$GC,14577,0.60,146.1,294.3,15.4,639,14582,0.15,2.25,0.00,0.000,6,0.205,0.050,2025,2674,2208,0,0,0,0,0,0
$GC,14909,0.60,146.1,242.1,15.6,655,14913,0.00,2.20,0.00,0.000,4,0.000,0.045,2035,1286,2209,0,0,0,0,0,0
$GC,14976,0.60,146.1,232.1,13.6,659,14980,0.00,2.22,0.00,0.000,6,0.000,0.050,2035,2669,2208,0,0,0,0,0,0
$GC,15303,0.60,146.1,177.9,16.1,680,15304,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2670,2209,0,0,0,0,0,0
$GC,15617,0.60,146.1,126.8,16.9,700,15618,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2670,2208,0,0,0,0,0,0
$GC,15943,0.60,146.1,71.8,14.8,740,15950,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2670,2209,0,0,0,0,0,0
$GC,16309,0.60,146.1,17.4,16.0,801,16318,0.00,2.20,0.00,0.000,4,0.000,0.044,2045,1285,2208,0,0,0,0,0,0
$STATE,16404,end climb,SURFACE_DEPTH_REACHED
$STATE,16404,begin surface coast
$FINISH,1.6,1.026407
$STATE,16418,end surface coast,CONTROL_FINISHED_OK
$STATE,16418,begin surface
$SM_CCo,16442,41.15,0.762,1,0,1879,230.09
$SM_GC,2.14,0.00,0.00,41.15,0.000,0.000,0.762,55,2874,1879,-5.55,0.40,230.09
$IRIDIUM_FIX,-4610.49,419.61,070213,030351
$TT8_MAMPS,0.026215
$HUMID,58.86
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.4,66.043
$10V_AH,10.0,34.469
$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,13.675,79.450,304.375,41.150,0.000,52.678,51.614,694.484,0.000,0.000,18.871,2026.495,11569.701,459.811,2758.765,788.174,33.398,1270.036,0.000,1971.071,0.000,1.008,0.000
$DEVICE_MAMPS,241.740,71.910,1800.810,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.043,1598.196,844.709,330.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354112
$DATA_FILE_SIZE,57052,818
$CAP_FILE_SIZE,123016,0
$CFSIZE,259252224,206884864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,070213,083904,-4627.791,423.751,36,0.9,37,-23.5