version: 66.07
glider: 542
mission: 6
dive: 360
start: 2 7 113 18 29 42
data:
$ID,542
$MISSION,6
$DIVE,360
$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,-11596.608
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,070213,181423,-4629.850,428.114,39,1.0,40,-23.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-64.7
$GPS2,070213,182845,-4629.726,428.292,20,1.7,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,-0.167
$KALMAN_X,-263085.9,162.1,-264.2,277525.3,-169.6
$KALMAN_Y,237226.2,96.1,-182.2,-197215.5,3395.5
$MHEAD_RNG_PITCHd_Wd,154.2,14934,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.15,0.000,2,0.000,0.000,53,2864,2759,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.1,-3.1,6,125,6.45,1.70,-24.70,0.000,4,0.233,0.076,1620,3900,3417,0,0,0,0,0,0
$GC,379,-0.60,-146.1,39.3,-12.9,52,388,0.00,1.62,0.00,0.000,6,0.000,0.031,1620,2835,3419,0,0,0,0,0,0
$GC,626,-0.60,-146.1,70.5,-12.5,93,633,0.00,1.73,0.00,0.000,4,0.000,0.057,1612,3896,3419,0,0,0,0,0,0
$GC,712,-0.60,-146.1,81.8,-13.1,107,717,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2851,3419,0,0,0,0,0,0
$GC,1045,-0.60,-146.1,121.0,-11.3,144,1049,0.00,1.67,0.00,0.000,4,0.000,0.057,1604,3897,3420,0,0,0,0,0,0
$GC,1137,-0.60,-146.1,132.9,-13.5,149,1141,0.08,1.58,0.00,0.000,6,0.159,0.031,1637,2852,3421,0,0,0,0,0,0
$GC,1469,-0.60,-146.1,165.2,-10.0,170,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2849,3421,0,0,0,0,0,0
$GC,1793,-0.60,-146.1,199.3,-10.2,191,1797,0.00,1.70,0.00,0.000,4,0.000,0.058,1630,3895,3421,0,0,0,0,0,0
$GC,1882,-0.60,-146.1,208.7,-10.3,196,1885,0.00,1.55,0.00,0.000,6,0.000,0.031,1630,2868,3422,0,0,0,0,0,0
$GC,2220,-0.60,-146.1,239.0,-8.9,217,2224,0.00,1.67,0.00,0.000,4,0.000,0.058,1622,3894,3422,0,0,0,0,0,0
$GC,2301,-0.60,-146.1,247.9,-9.9,221,2308,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2848,3422,0,0,0,0,0,0
$GC,2635,-0.60,-146.1,280.7,-10.4,238,2639,0.00,1.70,0.00,0.000,4,0.000,0.059,1614,3894,3421,0,0,0,0,0,0
$GC,2687,-0.60,-146.1,286.9,-11.5,240,2691,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2867,3422,0,0,0,0,0,0
$GC,3016,-0.60,-146.1,324.6,-11.7,256,3020,0.00,1.65,0.00,0.000,4,0.000,0.058,1606,3905,3422,0,0,0,0,0,0
$GC,3064,-0.60,-146.1,330.4,-12.2,258,3068,0.08,1.58,0.00,0.000,6,0.160,0.031,1638,2860,3422,0,0,0,0,0,0
$GC,3400,-0.60,-146.1,362.1,-8.9,274,3403,0.00,1.65,0.00,0.000,4,0.000,0.059,1631,3896,3421,0,0,0,0,0,0
$GC,3440,-0.60,-146.1,366.1,-9.1,275,3447,0.00,1.58,0.00,0.000,6,0.000,0.031,1631,2852,3422,0,0,0,0,0,0
$GC,3761,-0.60,-146.1,394.6,-9.0,291,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2851,3421,0,0,0,0,0,0
$GC,4066,-0.60,-146.1,423.6,-9.8,302,4069,0.00,1.70,0.00,0.000,4,0.000,0.060,1623,3891,3421,0,0,0,0,0,0
$GC,4123,-0.60,-146.1,429.9,-10.9,303,4126,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2869,3421,0,0,0,0,0,0
$GC,4445,-0.60,-146.1,464.6,-11.0,314,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2863,3420,0,0,0,0,0,0
$GC,4749,-0.60,-146.1,498.5,-10.9,324,4753,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3902,3420,0,0,0,0,0,0
$GC,4795,-0.60,-146.1,504.0,-11.3,325,4799,0.00,1.60,0.00,0.000,6,0.000,0.032,1616,2855,3420,0,0,0,0,0,0
$GC,5127,-0.60,-146.1,540.2,-10.8,336,5131,0.00,1.67,0.00,0.000,4,0.000,0.059,1608,3905,3420,0,0,0,0,0,0
$GC,5206,-0.60,-146.1,549.7,-11.9,338,5210,0.00,1.60,0.00,0.000,6,0.000,0.032,1608,2857,3420,0,0,0,0,0,0
$GC,5538,-0.60,-146.1,587.2,-11.1,349,5541,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3906,3419,0,0,0,0,0,0
$GC,5601,-0.60,-146.1,594.8,-11.6,350,5608,0.10,1.60,0.00,0.000,6,0.164,0.032,1630,2853,3420,0,0,0,0,0,0
$GC,5916,-0.60,-146.1,623.6,-9.0,361,5920,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3903,3419,0,0,0,0,0,0
$GC,5968,-0.60,-146.1,628.8,-9.6,362,5972,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2871,3419,0,0,0,0,0,0
$GC,6295,-0.60,-146.1,658.7,-9.2,373,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3419,0,0,0,0,0,0
$GC,6601,-0.60,-146.1,686.4,-9.0,383,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3419,0,0,0,0,0,0
$GC,6907,-0.60,-146.1,712.6,-8.2,393,6910,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3900,3419,0,0,0,0,0,0
$GC,6992,-0.60,-146.1,720.5,-9.7,395,6996,0.00,1.60,0.00,0.000,6,0.000,0.033,1616,2854,3419,0,0,0,0,0,0
$GC,7319,-0.60,-146.1,747.6,-8.1,406,7322,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3900,3419,0,0,0,0,0,0
$GC,7356,-0.60,-146.1,750.5,-8.2,407,7359,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2864,3419,0,0,0,0,0,0
$GC,7699,-0.60,-146.1,778.4,-8.1,418,7703,0.00,1.73,0.00,0.000,4,0.000,0.061,1600,3896,3419,0,0,0,0,0,0
$GC,7756,-0.60,-146.1,783.9,-10.1,419,7760,0.05,1.58,0.00,0.000,6,0.170,0.032,1630,2861,3419,0,0,0,0,0,0
$GC,8079,-0.60,-146.1,805.1,-6.6,430,8083,0.00,1.67,0.00,0.000,4,0.000,0.062,1623,3903,3419,0,0,0,0,0,0
$GC,8125,-0.60,-146.1,808.8,-7.5,431,8129,0.00,1.60,0.00,0.000,6,0.000,0.032,1623,2856,3418,0,0,0,0,0,0
$GC,8457,-0.60,-146.1,833.9,-7.7,442,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3418,0,0,0,0,0,0
$GC,8764,-0.60,-146.1,858.2,-8.1,452,8768,0.00,1.73,0.00,0.000,4,0.000,0.061,1615,3898,3418,0,0,0,0,0,0
$GC,8827,-0.60,-146.1,863.9,-9.1,453,8834,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2862,3418,0,0,0,0,0,0
$GC,9143,-0.60,-146.1,890.8,-8.6,464,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2862,3418,0,0,0,0,0,0
$GC,9449,-0.60,-146.1,918.0,-8.9,474,9453,0.00,1.65,0.00,0.000,4,0.000,0.061,1607,3895,3418,0,0,0,0,0,0
$GC,9501,-0.60,-146.1,923.5,-10.5,475,9505,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2855,3418,0,0,0,0,0,0
$GC,9827,-0.60,-146.1,954.1,-9.3,486,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2850,3416,0,0,0,0,0,0
$GC,10134,-0.60,-146.1,982.3,-9.0,496,10137,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3900,3417,0,0,0,0,0,0
$GC,10197,-0.60,-146.1,988.8,-9.9,497,10204,0.10,1.58,0.00,0.000,6,0.159,0.031,1630,2857,3417,0,0,0,0,0,0
$STATE,10354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10354,begin apogee
$GC,10366,-0.18,0.0,1000.9,7.4,503,10522,0.45,0.00,148.48,1.854,6,0.151,0.000,1766,2678,2820,0,0,0,0,1,0
$STATE,10524,end apogee,CONTROL_FINISHED_OK
$STATE,10524,begin climb
$GC,10529,0.60,146.1,1005.8,0.0,508,10706,0.82,2.58,161.90,1.798,4,0.089,0.046,2031,1290,2224,0,0,0,0,1,0
$GC,10743,0.60,146.1,977.0,18.2,515,10747,0.00,2.45,0.00,0.000,6,0.000,0.048,2031,2668,2220,0,0,0,0,0,0
$GC,11064,0.60,146.1,908.2,21.9,526,11068,0.00,2.25,0.00,0.000,4,0.000,0.047,2041,1286,2215,0,0,0,0,0,0
$GC,11122,0.60,146.1,896.5,18.9,527,11129,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2674,2213,0,0,0,0,0,0
$GC,11437,0.60,146.1,827.1,22.6,538,11441,0.00,2.22,0.00,0.000,4,0.000,0.046,2051,1289,2213,0,0,0,0,0,0
$GC,11489,0.60,146.1,815.9,20.6,539,11493,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2677,2211,0,0,0,0,0,0
$GC,11812,0.60,146.1,742.3,23.5,550,11816,0.00,2.20,0.00,0.000,4,0.000,0.045,2061,1283,2211,0,0,0,0,0,0
$GC,11877,0.60,146.1,727.8,21.6,552,11882,0.15,2.25,0.00,0.000,6,0.213,0.050,2027,2681,2210,0,0,0,0,0,0
$GC,12215,0.60,146.1,658.7,20.5,563,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2682,2210,0,0,0,0,0,0
$GC,12522,0.60,146.1,599.2,19.1,573,12526,0.00,2.20,0.00,0.000,4,0.000,0.047,2036,1285,2209,0,0,0,0,0,0
$GC,12613,0.60,146.1,582.9,15.8,575,12620,0.00,2.22,0.00,0.000,6,0.000,0.050,2036,2673,2208,0,0,0,0,0,0
$GC,12928,0.60,146.1,522.1,19.3,586,12932,0.00,2.17,0.00,0.000,4,0.000,0.046,2046,1290,2208,0,0,0,0,0,0
$GC,12975,0.60,146.1,513.2,16.8,587,12979,0.00,2.22,0.00,0.000,6,0.000,0.050,2046,2674,2208,0,0,0,0,0,0
$GC,13296,0.60,146.1,452.0,19.4,598,13297,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2674,2208,0,0,0,0,0,0
$GC,13615,0.60,146.1,389.0,20.1,609,13619,0.00,2.17,0.00,0.000,4,0.000,0.045,2056,1290,2208,0,0,0,0,0,0
$GC,13707,0.60,146.1,371.8,17.2,613,13712,0.12,2.22,0.00,0.000,6,0.207,0.050,2028,2671,2207,0,0,0,0,0,0
$GC,14034,0.60,146.1,312.9,18.1,629,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2672,2207,0,0,0,0,0,0
$GC,14341,0.60,146.1,260.3,16.8,644,14345,0.00,2.17,0.00,0.000,4,0.000,0.045,2038,1287,2207,0,0,0,0,0,0
$GC,14399,0.60,146.1,251.0,14.4,646,14408,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2669,2206,0,0,0,0,0,0
$GC,14727,0.60,146.1,195.7,17.4,667,14731,0.00,2.17,0.00,0.000,4,0.000,0.044,2048,1284,2207,0,0,0,0,0,0
$GC,14768,0.60,146.1,187.9,16.6,669,14775,0.00,2.22,0.00,0.000,6,0.000,0.050,2048,2673,2206,0,0,0,0,0,0
$GC,15089,0.60,146.1,129.6,17.7,690,15093,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1284,2206,0,0,0,0,0,0
$GC,15130,0.60,146.1,122.7,14.6,692,15135,0.12,2.22,0.00,0.000,6,0.203,0.050,2029,2670,2206,0,0,0,0,0,0
$GC,15467,0.60,146.1,74.8,13.9,732,15476,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2206,0,0,0,0,0,0
$GC,15833,0.60,146.1,22.3,14.7,793,15842,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1286,2205,0,0,0,0,0,0
$GC,15945,0.60,146.1,7.9,12.1,810,15954,0.00,2.25,0.00,0.000,6,0.000,0.049,2039,2673,2205,0,0,0,0,0,0
$STATE,15980,end climb,SURFACE_DEPTH_REACHED
$STATE,15981,begin surface coast
$FINISH,0.9,1.026368
$STATE,16010,end surface coast,CONTROL_FINISHED_OK
$STATE,16010,begin surface
$SM_CCo,16032,41.05,0.769,1,0,1880,230.09
$SM_GC,2.49,0.00,0.00,41.05,0.000,0.000,0.769,52,2887,1880,-5.55,0.74,230.09
$IRIDIUM_FIX,-4610.49,432.07,070213,131335
$TT8_MAMPS,0.026215
$HUMID,58.19
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.4,66.618
$10V_AH,10.0,34.817
$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,13.925,115.150,310.375,41.050,0.000,25.029,54.853,529.873,0.000,0.000,23.190,2068.423,10785.143,475.352,2804.313,794.939,33.366,1421.874,0.000,2177.525,0.000,1.009,0.000
$DEVICE_MAMPS,233.325,76.500,1854.360,768.825,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.006,1632.719,900.859,354.223,0.000,0.000,0.000,0.000,0.000,0.000
$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,60461,819
$CAP_FILE_SIZE,135287,0
$CFSIZE,259252224,206663680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,070213,225904,-4630.659,431.500,34,0.8,35,-23.5