version: 66.07
glider: 542
mission: 6
dive: 359
start: 2 7 113 13 51 2
data:
$ID,542
$MISSION,6
$DIVE,359
$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,-11593.671
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,070213,133654,-4628.043,427.919,40,1.0,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.1
$GPS2,070213,135005,-4628.112,428.047,17,1.1,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.047,-0.251
$KALMAN_X,-262598.3,317.6,-159.5,276470.0,500.2
$KALMAN_Y,235734.0,-374.0,-413.8,-192019.6,4972.5
$MHEAD_RNG_PITCHd_Wd,192.9,15634,-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,-63.08,0.000,2,0.000,0.000,54,2873,3119,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.3,8,124,6.60,1.70,-8.00,0.000,4,0.243,0.073,1623,3901,3419,0,0,0,0,0,0
$GC,307,-0.60,-146.1,35.3,-13.7,40,316,0.00,1.60,0.00,0.000,6,0.000,0.030,1623,2844,3420,0,0,0,0,0,0
$GC,559,-0.60,-146.1,67.5,-12.1,81,566,0.00,1.70,0.00,0.000,4,0.000,0.057,1615,3890,3420,0,0,0,0,0,0
$GC,674,-0.60,-146.1,83.6,-14.1,100,681,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2860,3421,0,0,0,0,0,0
$GC,1012,-0.60,-146.1,128.6,-12.5,134,1016,0.00,2.10,0.00,0.000,4,0.000,0.037,1615,1487,3421,0,0,0,0,0,0
$GC,1069,-0.60,-146.1,135.1,-11.6,137,1074,0.10,2.20,0.00,0.000,6,0.186,0.050,1629,2862,3422,0,0,0,0,0,0
$GC,1402,-0.60,-146.1,169.6,-10.1,158,1406,0.00,1.65,0.00,0.000,4,0.000,0.057,1623,3914,3422,0,0,0,0,0,0
$GC,1473,-0.60,-146.1,178.1,-11.3,162,1477,0.00,1.60,0.00,0.000,6,0.000,0.030,1623,2847,3423,0,0,0,0,0,0
$GC,1808,-0.60,-146.1,216.5,-11.5,183,1811,0.00,1.67,0.00,0.000,4,0.000,0.057,1614,3893,3423,0,0,0,0,0,0
$GC,1880,-0.60,-146.1,225.1,-11.6,187,1884,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2861,3423,0,0,0,0,0,0
$GC,2202,-0.60,-146.1,259.8,-10.5,206,2206,0.00,1.67,0.00,0.000,4,0.000,0.058,1606,3903,3423,0,0,0,0,0,0
$GC,2275,-0.60,-146.1,267.7,-11.2,209,2278,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2854,3423,0,0,0,0,0,0
$GC,2612,-0.60,-146.1,304.3,-10.9,225,2616,0.00,1.70,0.00,0.000,4,0.000,0.058,1598,3896,3423,0,0,0,0,0,0
$GC,2686,-0.60,-146.1,313.7,-12.1,228,2691,0.10,1.55,0.00,0.000,6,0.161,0.031,1629,2868,3423,0,0,0,0,0,0
$GC,3017,-0.60,-146.1,343.9,-8.8,244,3021,0.00,1.65,0.00,0.000,4,0.000,0.058,1622,3893,3423,0,0,0,0,0,0
$GC,3058,-0.60,-146.1,348.1,-10.7,245,3065,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2845,3423,0,0,0,0,0,0
$GC,3379,-0.60,-146.1,378.7,-9.6,261,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2845,3423,0,0,0,0,0,0
$GC,3695,-0.60,-146.1,408.8,-9.5,275,3699,0.00,1.70,0.00,0.000,4,0.000,0.059,1614,3904,3423,0,0,0,0,0,0
$GC,3775,-0.60,-146.1,417.3,-10.4,277,3779,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2863,3423,0,0,0,0,0,0
$GC,4107,-0.60,-146.1,450.8,-10.1,288,4110,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3900,3422,0,0,0,0,0,0
$GC,4164,-0.60,-146.1,457.3,-10.7,289,4167,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2860,3423,0,0,0,0,0,0
$GC,4485,-0.60,-146.1,490.9,-10.6,300,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2856,3422,0,0,0,0,0,0
$GC,4790,-0.60,-146.1,525.6,-11.6,310,4794,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3899,3421,0,0,0,0,0,0
$GC,4860,-0.60,-146.1,534.5,-12.9,312,4865,0.10,1.58,0.00,0.000,6,0.162,0.033,1628,2859,3422,0,0,0,0,0,0
$GC,5206,-0.60,-146.1,567.3,-9.1,323,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2856,3421,0,0,0,0,0,0
$GC,5511,-0.60,-146.1,594.7,-9.0,333,5514,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3894,3421,0,0,0,0,0,0
$GC,5591,-0.60,-146.1,602.8,-10.3,335,5594,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2859,3421,0,0,0,0,0,0
$GC,5923,-0.60,-146.1,634.0,-9.4,346,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3420,0,0,0,0,0,0
$GC,6231,-0.60,-146.1,662.3,-9.2,356,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3420,0,0,0,0,0,0
$GC,6536,-0.60,-146.1,690.5,-9.2,366,6539,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3891,3420,0,0,0,0,0,0
$GC,6581,-0.60,-146.1,695.2,-9.9,367,6585,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2855,3419,0,0,0,0,0,0
$GC,6913,-0.60,-146.1,725.9,-9.2,378,6917,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3903,3419,0,0,0,0,0,0
$GC,6959,-0.60,-146.1,730.8,-9.8,379,6963,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2868,3419,0,0,0,0,0,0
$GC,7291,-0.60,-146.1,763.6,-10.0,390,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2863,3418,0,0,0,0,0,0
$GC,7599,-0.60,-146.1,793.8,-9.7,400,7603,0.10,1.70,0.00,0.000,4,0.196,0.060,1622,3900,3418,0,0,0,0,0,0
$GC,7663,-0.60,-146.1,799.7,-8.4,401,7670,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2849,3417,0,0,0,0,0,0
$GC,7978,-0.60,-146.1,824.3,-7.8,412,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2849,3417,0,0,0,0,0,0
$GC,8285,-0.60,-146.1,848.4,-7.9,422,8289,0.00,1.73,0.00,0.000,4,0.000,0.062,1614,3896,3417,0,0,0,0,0,0
$GC,8337,-0.60,-146.1,853.3,-9.5,423,8341,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2863,3417,0,0,0,0,0,0
$GC,8665,-0.60,-146.1,882.8,-9.2,434,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3417,0,0,0,0,0,0
$GC,8970,-0.60,-146.1,911.1,-9.3,444,8973,0.00,1.67,0.00,0.000,4,0.000,0.061,1606,3893,3417,0,0,0,0,0,0
$GC,9022,-0.60,-146.1,916.5,-10.4,445,9026,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2856,3417,0,0,0,0,0,0
$GC,9348,-0.60,-146.1,948.0,-9.5,456,9352,0.00,1.70,0.00,0.000,4,0.000,0.061,1598,3886,3417,0,0,0,0,0,0
$GC,9378,-0.60,-146.1,951.2,-10.4,456,9385,0.10,1.58,0.00,0.000,6,0.158,0.033,1629,2850,3417,0,0,0,0,0,0
$GC,9694,-0.60,-146.1,975.4,-7.3,467,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3416,0,0,0,0,0,0
$GC,9999,-0.60,-146.1,997.1,-7.0,477,10003,0.00,1.73,0.00,0.000,4,0.000,0.063,1623,3894,3417,0,0,0,0,0,0
$GC,10037,-0.60,-146.1,999.6,-6.9,478,10041,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2854,3416,0,0,0,0,0,0
$STATE,10044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10044,begin apogee
$GC,10056,-0.18,0.0,1001.0,7.4,478,10204,0.45,0.00,144.60,1.252,6,0.153,0.000,1761,2674,2819,0,0,0,0,0,0
$STATE,10205,end apogee,CONTROL_FINISHED_OK
$STATE,10205,begin climb
$GC,10210,0.60,146.1,1004.6,0.0,483,10389,0.82,2.58,160.12,1.785,4,0.096,0.047,2032,1287,2225,0,0,0,0,2,0
$GC,10431,0.60,146.1,974.0,18.5,490,10435,0.00,2.45,0.00,0.000,6,0.000,0.050,2032,2665,2221,0,0,0,0,0,0
$GC,10763,0.60,146.1,904.6,21.2,501,10767,0.00,2.25,0.00,0.000,4,0.000,0.047,2042,1288,2217,0,0,0,0,0,0
$GC,10830,0.60,146.1,892.0,19.3,503,10835,0.00,2.25,0.00,0.000,6,0.000,0.052,2042,2672,2215,0,0,0,0,0,0
$GC,11168,0.60,146.1,818.2,21.9,514,11172,0.00,2.22,0.00,0.000,4,0.000,0.047,2053,1284,2214,0,0,0,0,0,0
$GC,11226,0.60,146.1,806.5,18.6,515,11233,0.00,2.25,0.00,0.000,6,0.000,0.051,2053,2673,2212,0,0,0,0,0,0
$GC,11541,0.60,146.1,738.6,22.0,526,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2212,0,0,0,0,0,0
$GC,11849,0.60,146.1,671.8,21.4,536,11853,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1284,2212,0,0,0,0,0,0
$GC,11918,0.60,146.1,657.4,19.0,538,11923,0.15,2.22,0.00,0.000,6,0.210,0.050,2028,2680,2211,0,0,0,0,0,0
$GC,12251,0.60,146.1,594.7,18.7,549,12255,0.00,2.22,0.00,0.000,4,0.000,0.047,2038,1284,2211,0,0,0,0,0,0
$GC,12325,0.60,146.1,582.1,16.1,551,12329,0.00,2.20,0.00,0.000,6,0.000,0.050,2037,2670,2210,0,0,0,0,0,0
$GC,12652,0.60,146.1,520.9,19.4,562,12656,0.00,2.20,0.00,0.000,4,0.000,0.045,2048,1280,2210,0,0,0,0,0,0
$GC,12698,0.60,146.1,512.2,15.9,563,12702,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2677,2210,0,0,0,0,0,0
$GC,13019,0.60,146.1,448.9,19.6,574,13023,0.00,2.22,0.00,0.000,4,0.000,0.047,2058,1278,2210,0,0,0,0,0,0
$GC,13077,0.60,146.1,438.2,16.6,575,13084,0.12,2.22,0.00,0.000,6,0.209,0.050,2030,2669,2210,0,0,0,0,0,0
$GC,13403,0.60,146.1,380.7,17.4,588,13407,0.00,2.20,0.00,0.000,4,0.000,0.046,2039,1280,2210,0,0,0,0,0,0
$GC,13439,0.60,146.1,374.5,16.0,589,13446,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2670,2209,0,0,0,0,0,0
$GC,13759,0.60,146.1,316.9,18.4,605,13760,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2210,0,0,0,0,0,0
$GC,14067,0.60,146.1,259.1,18.7,620,14071,0.00,2.17,0.00,0.000,4,0.000,0.045,2049,1279,2210,0,0,0,0,0,0
$GC,14130,0.60,146.1,248.2,14.8,622,14139,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2661,2209,0,0,0,0,0,0
$GC,14454,0.60,146.1,187.5,18.6,643,14457,0.00,1.98,0.00,0.000,4,0.000,0.059,2050,3900,2209,0,0,0,0,0,0
$GC,14507,0.60,146.1,176.5,19.7,646,14511,0.15,1.88,0.00,0.000,6,0.227,0.038,2025,2688,2210,0,0,0,0,0,0
$GC,14846,0.60,146.1,122.1,15.5,667,14850,0.00,2.22,0.00,0.000,4,0.000,0.045,2035,1266,2210,0,0,0,0,0,0
$GC,14916,0.60,146.1,111.4,13.7,671,14920,0.00,2.28,0.00,0.000,6,0.000,0.050,2035,2679,2208,0,0,0,0,0,0
$GC,15264,0.60,146.1,59.0,14.8,721,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2679,2208,0,0,0,0,0,0
$GC,15517,0.60,146.1,19.4,14.7,762,15525,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2679,2209,0,0,0,0,0,0
$GC,15605,0.60,146.1,6.5,14.3,775,15614,0.00,2.25,0.00,0.000,4,0.000,0.045,2046,1273,2209,0,0,0,0,0,0
$STATE,15622,end climb,SURFACE_DEPTH_REACHED
$STATE,15622,begin surface coast
$FINISH,0.9,1.013554
$STATE,15642,end surface coast,CONTROL_FINISHED_OK
$STATE,15642,begin surface
$SM_CCo,15667,41.17,0.767,1,0,1880,230.09
$SM_GC,2.24,0.00,0.00,41.17,0.000,0.000,0.767,54,2864,1880,-5.55,0.11,230.09
$IRIDIUM_FIX,-4610.49,422.72,070213,080842
$TT8_MAMPS,0.027713
$HUMID,58.66
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.4,66.413
$10V_AH,10.0,34.699
$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,14.225,117.050,304.725,41.175,0.000,25.987,23.526,488.909,0.000,0.000,20.482,1990.896,10616.309,457.146,2628.553,796.180,33.392,1383.218,0.000,2079.447,0.000,1.008,0.000
$DEVICE_MAMPS,242.505,73.440,1784.745,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.255,1537.858,821.526,316.513,0.000,0.000,0.000,0.000,0.000,0.000
$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,57256,780
$CAP_FILE_SIZE,132758,0
$CFSIZE,259252224,206741504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,070213,181423,-4629.850,428.114,39,1.0,40,-23.5