version: 66.07
glider: 542
mission: 6
dive: 361
start: 2 7 113 23 12 45
data:
$ID,542
$MISSION,6
$DIVE,361
$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,-11599.628
$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,63
$R_STBD_OVSHOOT,38
$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
$GPS1,070213,225904,-4630.659,431.500,34,0.8,35,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.8
$GPS2,070213,231148,-4630.548,431.479,15,0.8,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.207,-0.150
$KALMAN_X,-263021.4,-371.5,135.3,281622.5,-173.8
$KALMAN_Y,239430.1,-123.9,-232.5,-200679.0,3560.9
$MHEAD_RNG_PITCHd_Wd,149.3,10911,-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,-63.12,0.000,2,0.000,0.000,52,2887,3122,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.2,-3.0,8,124,6.65,1.65,-8.02,0.000,4,0.246,0.074,1620,3887,3419,0,0,0,0,0,0
$GC,362,-0.60,-146.1,43.4,-13.7,49,369,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2861,3420,0,0,0,0,0,0
$GC,603,-0.60,-146.1,76.8,-14.1,90,611,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2860,3420,0,0,0,0,0,0
$GC,955,-0.60,-146.1,122.0,-11.8,131,956,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2860,3421,0,0,0,0,0,0
$GC,1267,-0.60,-146.1,158.1,-11.2,151,1271,0.00,1.67,0.00,0.000,4,0.000,0.057,1611,3879,3422,0,0,0,0,0,0
$GC,1359,-0.60,-146.1,169.8,-12.4,156,1363,0.00,1.52,0.00,0.000,6,0.000,0.031,1612,2855,3422,0,0,0,0,0,0
$GC,1689,-0.60,-146.1,210.9,-12.6,177,1693,0.00,1.65,0.00,0.000,4,0.000,0.057,1604,3886,3423,0,0,0,0,0,0
$GC,1762,-0.60,-146.1,220.4,-12.4,181,1767,0.08,1.52,0.00,0.000,6,0.161,0.031,1627,2868,3423,0,0,0,0,0,0
$GC,2090,-0.60,-146.1,253.3,-10.0,201,2094,0.00,1.65,0.00,0.000,4,0.000,0.058,1621,3880,3423,0,0,0,0,0,0
$GC,2131,-0.60,-146.1,258.3,-10.2,202,2140,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2847,3423,0,0,0,0,0,0
$GC,2450,-0.60,-146.1,289.8,-9.5,218,2454,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3879,3423,0,0,0,0,0,0
$GC,2501,-0.60,-146.1,295.1,-9.8,220,2505,0.00,1.52,0.00,0.000,6,0.000,0.031,1612,2865,3423,0,0,0,0,0,0
$GC,2831,-0.60,-146.1,325.6,-9.1,236,2835,0.00,1.67,0.00,0.000,4,0.000,0.058,1605,3889,3423,0,0,0,0,0,0
$GC,2889,-0.60,-146.1,331.7,-9.9,238,2893,0.08,1.55,0.00,0.000,6,0.158,0.031,1643,2858,3423,0,0,0,0,0,0
$GC,3213,-0.60,-146.1,355.7,-7.5,254,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2853,3422,0,0,0,0,0,0
$GC,3525,-0.60,-146.1,380.3,-8.3,269,3529,0.00,1.65,0.00,0.000,4,0.000,0.060,1637,3894,3422,0,0,0,0,0,0
$GC,3575,-0.60,-146.1,384.7,-8.8,271,3579,0.00,1.58,0.00,0.000,6,0.000,0.032,1637,2852,3422,0,0,0,0,0,0
$GC,3920,-0.60,-146.1,414.6,-8.8,285,3924,0.00,1.65,0.00,0.000,4,0.000,0.060,1629,3889,3422,0,0,0,0,0,0
$GC,3966,-0.60,-146.1,419.5,-10.2,286,3970,0.00,1.55,0.00,0.000,6,0.000,0.032,1629,2863,3422,0,0,0,0,0,0
$GC,4297,-0.60,-146.1,451.6,-9.8,297,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3422,0,0,0,0,0,0
$GC,4605,-0.60,-146.1,482.2,-9.9,307,4609,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3885,3422,0,0,0,0,0,0
$GC,4710,-0.60,-146.1,493.2,-10.1,310,4713,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2862,3422,0,0,0,0,0,0
$GC,5052,-0.60,-146.1,527.0,-9.7,321,5056,0.00,1.65,0.00,0.000,4,0.000,0.061,1614,3885,3421,0,0,0,0,0,0
$GC,5138,-0.60,-146.1,536.0,-10.9,323,5142,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2857,3421,0,0,0,0,0,0
$GC,5464,-0.60,-146.1,567.4,-9.5,334,5467,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3893,3420,0,0,0,0,0,0
$GC,5536,-0.60,-146.1,574.7,-10.1,336,5539,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2855,3420,0,0,0,0,0,0
$GC,5879,-0.60,-146.1,609.7,-10.0,347,5883,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3892,3420,0,0,0,0,0,0
$GC,5925,-0.60,-146.1,614.8,-10.8,348,5929,0.08,1.58,0.00,0.000,6,0.161,0.032,1630,2853,3420,0,0,0,0,0,0
$GC,6257,-0.60,-146.1,640.5,-7.5,359,6261,0.00,1.65,0.00,0.000,4,0.000,0.060,1624,3889,3420,0,0,0,0,0,0
$GC,6315,-0.60,-146.1,645.4,-8.8,360,6319,0.00,1.55,0.00,0.000,6,0.000,0.032,1624,2867,3420,0,0,0,0,0,0
$GC,6636,-0.60,-146.1,669.2,-7.4,371,6640,0.00,1.67,0.00,0.000,4,0.000,0.060,1616,3885,3420,0,0,0,0,0,0
$GC,6689,-0.60,-146.1,673.3,-7.6,372,6692,0.00,1.55,0.00,0.000,6,0.000,0.032,1616,2860,3419,0,0,0,0,0,0
$GC,7017,-0.60,-146.1,697.7,-7.5,383,7020,0.00,1.65,0.00,0.000,4,0.000,0.060,1608,3892,3419,0,0,0,0,0,0
$GC,7062,-0.60,-146.1,701.9,-8.7,384,7066,0.00,1.58,0.00,0.000,6,0.000,0.031,1608,2855,3419,0,0,0,0,0,0
$GC,7394,-0.60,-146.1,730.9,-9.1,395,7398,0.00,1.65,0.00,0.000,4,0.000,0.060,1601,3887,3419,0,0,0,0,0,0
$GC,7457,-0.60,-146.1,737.6,-10.0,396,7464,0.08,1.55,0.00,0.000,6,0.163,0.032,1625,2863,3418,0,0,0,0,0,0
$GC,7773,-0.60,-146.1,764.2,-8.5,407,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3419,0,0,0,0,0,0
$GC,8079,-0.60,-146.1,791.2,-8.8,417,8083,0.00,1.67,0.00,0.000,4,0.000,0.061,1618,3885,3418,0,0,0,0,0,0
$GC,8116,-0.60,-146.1,794.7,-9.8,418,8120,0.00,1.55,0.00,0.000,6,0.000,0.032,1618,2865,3418,0,0,0,0,0,0
$GC,8461,-0.60,-146.1,826.6,-9.4,429,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2860,3418,0,0,0,0,0,0
$GC,8766,-0.60,-146.1,854.2,-9.0,439,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2860,3417,0,0,0,0,0,0
$GC,9072,-0.60,-146.1,879.4,-8.1,449,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2860,3417,0,0,0,0,0,0
$GC,9380,-0.60,-146.1,902.6,-7.4,459,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2860,3417,0,0,0,0,0,0
$GC,9685,-0.60,-146.1,925.0,-7.3,469,9688,0.00,1.65,0.00,0.000,4,0.000,0.061,1610,3892,3417,0,0,0,0,0,0
$GC,9755,-0.60,-146.1,930.8,-8.4,471,9759,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2855,3417,0,0,0,0,0,0
$GC,10101,-0.60,-146.1,957.8,-8.0,482,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2851,3417,0,0,0,0,0,0
$GC,10406,-0.60,-146.1,982.9,-8.2,492,10409,0.00,1.65,0.00,0.000,4,0.000,0.061,1602,3885,3417,0,0,0,0,0,0
$GC,10469,-0.60,-146.1,988.8,-9.4,493,10476,0.08,1.55,0.00,0.000,6,0.158,0.033,1625,2859,3417,0,0,0,0,0,0
$STATE,10626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10626,begin apogee
$GC,10637,-0.18,0.0,1000.6,7.2,499,10786,0.47,0.00,145.00,1.248,6,0.151,0.000,1768,2669,2819,0,0,0,0,0,0
$STATE,10787,end apogee,CONTROL_FINISHED_OK
$STATE,10788,begin climb
$GC,10792,0.60,146.1,1004.9,0.0,504,10968,0.80,2.58,159.45,1.804,4,0.090,0.046,2034,1282,2224,0,0,0,0,1,0
$GC,11007,0.60,146.1,976.0,18.3,511,11012,0.00,2.42,0.00,0.000,6,0.000,0.050,2034,2652,2220,0,0,0,0,0,0
$GC,11345,0.60,146.1,905.2,21.2,522,11349,0.00,2.22,0.00,0.000,4,0.000,0.046,2044,1285,2216,0,0,0,0,0,0
$GC,11391,0.60,146.1,895.6,19.9,523,11396,0.00,2.28,0.00,0.000,6,0.000,0.050,2044,2673,2214,0,0,0,0,0,0
$GC,11724,0.60,146.1,824.8,21.5,534,11728,0.00,2.22,0.00,0.000,4,0.000,0.045,2055,1280,2214,0,0,0,0,0,0
$GC,11770,0.60,146.1,815.1,19.6,535,11774,0.00,2.25,0.00,0.000,6,0.000,0.050,2054,2678,2212,0,0,0,0,0,0
$GC,12102,0.60,146.1,740.7,22.9,546,12106,0.00,2.22,0.00,0.000,4,0.000,0.046,2065,1272,2212,0,0,0,0,0,0
$GC,12177,0.60,146.1,724.5,20.7,548,12182,0.15,2.25,0.00,0.000,6,0.212,0.050,2031,2669,2211,0,0,0,0,0,0
$GC,12510,0.60,146.1,659.4,19.2,559,12514,0.00,2.17,0.00,0.000,4,0.000,0.046,2040,1281,2211,0,0,0,0,0,0
$GC,12550,0.60,146.1,651.6,17.4,560,12554,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2679,2210,0,0,0,0,0,0
$GC,12877,0.60,146.1,588.2,19.3,571,12881,0.00,2.22,0.00,0.000,4,0.000,0.047,2050,1277,2210,0,0,0,0,0,0
$GC,12929,0.60,146.1,578.4,16.4,572,12933,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2673,2210,0,0,0,0,0,0
$GC,13250,0.60,146.1,517.2,19.4,583,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2672,2210,0,0,0,0,0,0
$GC,13556,0.60,146.1,459.3,19.0,593,13560,0.00,2.17,0.00,0.000,4,0.000,0.045,2060,1281,2210,0,0,0,0,0,0
$GC,13669,0.60,146.1,439.9,16.2,596,13674,0.15,2.22,0.00,0.000,6,0.204,0.050,2025,2669,2209,0,0,0,0,0,0
$GC,13992,0.60,146.1,386.5,16.4,608,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2670,2209,0,0,0,0,0,0
$GC,14303,0.60,146.1,336.2,16.0,623,14307,0.00,2.17,0.00,0.000,4,0.000,0.045,2034,1281,2209,0,0,0,0,0,0
$GC,14383,0.60,146.1,323.9,13.6,626,14387,0.00,2.25,0.00,0.000,6,0.000,0.050,2034,2679,2208,0,0,0,0,0,0
$GC,14707,0.60,146.1,270.9,17.0,642,14711,0.00,2.20,0.00,0.000,4,0.000,0.045,2044,1278,2208,0,0,0,0,0,0
$GC,14759,0.60,146.1,262.2,15.6,644,14763,0.00,2.25,0.00,0.000,6,0.000,0.050,2045,2675,2208,0,0,0,0,0,0
$GC,15086,0.60,146.1,204.9,17.9,664,15090,0.00,2.20,0.00,0.000,4,0.000,0.045,2055,1276,2208,0,0,0,0,0,0
$GC,15138,0.60,146.1,195.9,14.5,667,15143,0.12,2.25,0.00,0.000,6,0.204,0.050,2027,2673,2207,0,0,0,0,0,0
$GC,15468,0.60,146.1,147.3,14.7,687,15472,0.00,2.20,0.00,0.000,4,0.000,0.045,2036,1271,2208,0,0,0,0,0,0
$GC,15535,0.60,146.1,137.3,13.0,691,15539,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2680,2207,0,0,0,0,0,0
$GC,15865,0.60,146.1,86.6,14.6,720,15874,0.00,2.25,0.00,0.000,4,0.000,0.045,2046,1280,2208,0,0,0,0,0,0
$GC,15917,0.60,146.1,78.9,14.4,728,15924,0.00,2.22,0.00,0.000,6,0.000,0.050,2046,2668,2207,0,0,0,0,0,0
$GC,16284,0.60,146.1,25.2,15.1,789,16293,0.00,2.22,0.00,0.000,4,0.000,0.045,2057,1281,2207,0,0,0,0,0,0
$GC,16330,0.60,146.1,18.7,13.7,795,16340,0.10,2.25,0.00,0.000,6,0.185,0.050,2028,2665,2207,0,0,0,0,0,0
$GC,16418,0.60,146.1,6.9,14.5,808,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2666,2207,0,0,0,0,0,0
$STATE,16447,end climb,SURFACE_DEPTH_REACHED
$STATE,16447,begin surface coast
$FINISH,0.9,1.026375
$STATE,16473,end surface coast,CONTROL_FINISHED_OK
$STATE,16473,begin surface
$SM_CCo,16495,41.22,0.750,1,0,1880,230.09
$SM_GC,2.27,0.00,0.00,41.22,0.000,0.000,0.750,55,2875,1880,-5.55,0.42,230.09
$IRIDIUM_FIX,-4613.60,432.32,070213,181810
$TT8_MAMPS,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.4,66.789
$10V_AH,10.0,34.934
$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,14.200,120.025,304.450,41.225,0.000,25.821,18.290,470.509,0.000,0.000,19.012,2097.566,11196.055,473.000,2710.739,815.901,33.396,1422.232,0.000,2181.521,0.000,1.008,0.000
$DEVICE_MAMPS,245.565,74.205,1803.870,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.476,1614.211,864.537,326.154,0.000,0.000,0.000,0.000,0.000,0.000
$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,56995,816
$CAP_FILE_SIZE,138108,0
$CFSIZE,259252224,206598144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080213,034957,-4631.322,434.807,41,1.9,42,-23.5