version: 66.07
glider: 542
mission: 6
dive: 363
start: 2 8 113 8 58 52
data:
$ID,542
$MISSION,6
$DIVE,363
$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,-11605.521
$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,59
$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
$GPS1,080213,084458,-4631.344,438.798,38,0.9,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-59.3
$GPS2,080213,085755,-4631.302,438.989,20,1.2,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.009,-0.256
$KALMAN_X,-263407.7,161.4,-134.7,291264.7,224.0
$KALMAN_Y,242968.5,-674.4,-205.8,-205084.1,4144.1
$MHEAD_RNG_PITCHd_Wd,205.5,53165,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.05,0.000,2,0.000,0.000,56,2875,3122,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-3.0,8,125,6.70,1.70,-7.88,0.000,4,0.249,0.076,1620,3896,3418,0,0,0,0,0,0
$GC,198,-0.60,-146.1,20.9,-14.6,22,207,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2851,3419,0,0,0,0,0,0
$GC,286,-0.60,-146.1,31.9,-12.6,35,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2850,3419,0,0,0,0,0,0
$GC,534,-0.60,-146.1,65.5,-13.1,76,541,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3887,3419,0,0,0,0,0,0
$GC,584,-0.60,-146.1,72.9,-14.2,84,593,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2857,3420,0,0,0,0,0,0
$GC,941,-0.60,-146.1,119.5,-12.1,127,945,0.00,2.08,0.00,0.000,4,0.000,0.037,1611,1486,3421,0,0,0,0,0,0
$GC,976,-0.60,-146.1,123.2,-10.9,129,981,0.12,2.20,0.00,0.000,6,0.175,0.054,1633,2855,3421,0,0,0,0,0,0
$GC,1309,-0.60,-146.1,154.3,-9.6,150,1313,0.00,1.65,0.00,0.000,4,0.000,0.062,1627,3898,3422,0,0,0,0,0,0
$GC,1434,-0.60,-146.1,167.6,-11.5,157,1438,0.00,1.55,0.00,0.000,6,0.000,0.031,1627,2865,3423,0,0,0,0,0,0
$GC,1770,-0.60,-146.1,203.7,-10.6,178,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3423,0,0,0,0,0,0
$GC,2079,-0.60,-146.1,238.1,-11.2,198,2083,0.00,1.70,0.00,0.000,4,0.000,0.063,1619,3897,3423,0,0,0,0,0,0
$GC,2135,-0.60,-146.1,244.5,-11.6,201,2139,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2852,3423,0,0,0,0,0,0
$GC,2457,-0.60,-146.1,282.3,-11.7,217,2460,0.00,1.70,0.00,0.000,4,0.000,0.061,1611,3903,3423,0,0,0,0,0,0
$GC,2497,-0.60,-146.1,287.7,-12.7,218,2506,0.00,1.58,0.00,0.000,6,0.000,0.032,1610,2860,3422,0,0,0,0,0,0
$GC,2815,-0.60,-146.1,326.0,-11.9,234,2819,0.00,1.70,0.00,0.000,4,0.000,0.062,1602,3899,3423,0,0,0,0,0,0
$GC,2863,-0.60,-146.1,331.8,-13.1,236,2867,0.08,1.58,0.00,0.000,6,0.155,0.032,1635,2858,3423,0,0,0,0,0,0
$GC,3203,-0.60,-146.1,363.1,-8.7,252,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2854,3423,0,0,0,0,0,0
$GC,3512,-0.60,-146.1,391.4,-9.2,267,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3423,0,0,0,0,0,0
$GC,3826,-0.60,-146.1,420.4,-9.1,279,3829,0.00,1.70,0.00,0.000,4,0.000,0.063,1628,3890,3422,0,0,0,0,0,0
$GC,3897,-0.60,-146.1,427.5,-9.1,281,3901,0.00,1.55,0.00,0.000,6,0.000,0.033,1628,2867,3423,0,0,0,0,0,0
$GC,4240,-0.60,-146.1,460.7,-9.6,292,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3422,0,0,0,0,0,0
$GC,4546,-0.60,-146.1,489.8,-9.5,302,4550,0.00,1.67,0.00,0.000,4,0.000,0.063,1621,3896,3421,0,0,0,0,0,0
$GC,4592,-0.60,-146.1,494.8,-10.3,303,4595,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2859,3422,0,0,0,0,0,0
$GC,4923,-0.60,-146.1,528.5,-10.4,314,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3421,0,0,0,0,0,0
$GC,5231,-0.60,-146.1,560.8,-10.5,324,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3421,0,0,0,0,0,0
$GC,5536,-0.60,-146.1,591.8,-10.1,334,5540,0.00,1.70,0.00,0.000,4,0.000,0.063,1612,3902,3420,0,0,0,0,0,0
$GC,5593,-0.60,-146.1,598.2,-11.2,335,5597,0.00,1.60,0.00,0.000,6,0.000,0.033,1612,2852,3421,0,0,0,0,0,0
$GC,5914,-0.60,-146.1,630.7,-10.0,346,5917,0.00,1.70,0.00,0.000,4,0.000,0.061,1605,3897,3421,0,0,0,0,0,0
$GC,5984,-0.60,-146.1,638.3,-10.4,348,5988,0.00,1.58,0.00,0.000,6,0.000,0.033,1605,2862,3421,0,0,0,0,0,0
$GC,6327,-0.60,-146.1,674.1,-10.3,359,6329,0.10,0.00,0.00,0.000,6,0.188,0.000,1628,2856,3421,0,0,0,0,0,0
$GC,6635,-0.60,-146.1,700.3,-8.2,369,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2856,3420,0,0,0,0,0,0
$GC,6940,-0.60,-146.1,724.8,-8.0,379,6944,0.00,1.70,0.00,0.000,4,0.000,0.063,1622,3902,3420,0,0,0,0,0,0
$GC,6992,-0.60,-146.1,729.4,-8.7,380,6996,0.00,1.60,0.00,0.000,6,0.000,0.034,1622,2855,3420,0,0,0,0,0,0
$GC,7318,-0.60,-146.1,757.7,-8.7,391,7322,0.00,1.73,0.00,0.000,4,0.000,0.063,1614,3896,3420,0,0,0,0,0,0
$GC,7365,-0.60,-146.1,762.4,-10.8,392,7368,0.00,1.58,0.00,0.000,6,0.000,0.033,1613,2862,3420,0,0,0,0,0,0
$GC,7697,-0.60,-146.1,792.9,-9.2,403,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3420,0,0,0,0,0,0
$GC,8003,-0.60,-146.1,819.9,-8.6,413,8007,0.00,1.70,0.00,0.000,4,0.000,0.063,1606,3903,3420,0,0,0,0,0,0
$GC,8066,-0.60,-146.1,826.3,-10.3,414,8073,0.00,1.60,0.00,0.000,6,0.000,0.033,1605,2849,3419,0,0,0,0,0,0
$GC,8381,-0.60,-146.1,855.1,-9.1,425,8383,0.10,0.00,0.00,0.000,6,0.188,0.000,1629,2849,3419,0,0,0,0,0,0
$GC,8688,-0.60,-146.1,876.9,-6.8,435,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3419,0,0,0,0,0,0
$GC,8994,-0.60,-146.1,895.7,-6.0,445,8997,0.00,1.70,0.00,0.000,4,0.000,0.063,1623,3893,3419,0,0,0,0,0,0
$GC,9031,-0.60,-146.1,898.1,-6.7,446,9034,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2863,3418,0,0,0,0,0,0
$GC,9375,-0.60,-146.1,920.7,-6.8,457,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2858,3419,0,0,0,0,0,0
$GC,9680,-0.60,-146.1,942.0,-7.0,467,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2858,3419,0,0,0,0,0,0
$GC,9987,-0.60,-146.1,963.1,-6.9,477,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2857,3418,0,0,0,0,0,0
$GC,10293,-0.60,-146.1,983.7,-6.8,487,10297,0.00,1.70,0.00,0.000,4,0.000,0.063,1615,3900,3418,0,0,0,0,0,0
$GC,10351,-0.60,-146.1,988.2,-7.3,488,10354,0.00,1.60,0.00,0.000,6,0.000,0.034,1614,2854,3418,0,0,0,0,0,0
$STATE,10513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10513,begin apogee
$GC,10524,-0.18,0.0,1000.5,7.5,494,10673,0.50,0.00,145.52,1.245,6,0.150,0.000,1764,2676,2819,0,0,0,0,0,0
$STATE,10675,end apogee,CONTROL_FINISHED_OK
$STATE,10675,begin climb
$GC,10680,0.60,146.1,1003.2,0.0,499,10852,0.77,2.53,158.70,1.814,4,0.093,0.046,2027,1287,2224,0,0,0,0,1,0
$GC,10907,0.60,146.1,973.5,17.7,506,10912,0.00,2.45,0.00,0.000,6,0.000,0.052,2027,2668,2221,0,0,0,0,0,0
$GC,11245,0.60,146.1,905.1,20.1,517,11249,0.00,2.25,0.00,0.000,4,0.000,0.047,2037,1284,2217,0,0,0,0,0,0
$GC,11286,0.60,146.1,896.9,19.3,518,11290,0.00,2.28,0.00,0.000,6,0.000,0.052,2037,2673,2214,0,0,0,0,0,0
$GC,11613,0.60,146.1,829.1,20.9,529,11617,0.00,2.25,0.00,0.000,4,0.000,0.046,2047,1273,2214,0,0,0,0,0,0
$GC,11648,0.60,146.1,821.5,20.8,530,11652,0.00,2.25,0.00,0.000,6,0.000,0.052,2047,2670,2213,0,0,0,0,0,0
$GC,11980,0.60,146.1,750.2,22.0,541,11984,0.00,2.20,0.00,0.000,4,0.000,0.046,2057,1283,2213,0,0,0,0,0,0
$GC,12011,0.60,146.1,743.5,20.0,542,12016,0.12,2.22,0.00,0.000,6,0.217,0.052,2030,2672,2212,0,0,0,0,0,0
$GC,12350,0.60,146.1,675.3,19.7,553,12354,0.00,2.20,0.00,0.000,4,0.000,0.045,2039,1273,2212,0,0,0,0,0,0
$GC,12407,0.60,146.1,664.4,16.4,554,12412,0.00,2.28,0.00,0.000,6,0.000,0.051,2039,2679,2211,0,0,0,0,0,0
$GC,12723,0.60,146.1,601.2,20.0,564,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2680,2211,0,0,0,0,0,0
$GC,13029,0.60,146.1,540.9,19.4,574,13033,0.00,2.22,0.00,0.000,4,0.000,0.046,2050,1278,2211,0,0,0,0,0,0
$GC,13076,0.60,146.1,532.3,17.1,575,13080,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2672,2210,0,0,0,0,0,0
$GC,13396,0.60,146.1,469.9,19.7,586,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2673,2211,0,0,0,0,0,0
$GC,13704,0.60,146.1,409.1,20.0,596,13708,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1280,2210,0,0,0,0,0,0
$GC,13745,0.60,146.1,400.8,18.5,597,13750,0.15,2.25,0.00,0.000,6,0.207,0.050,2025,2674,2210,0,0,0,0,0,0
$GC,14078,0.60,146.1,343.2,17.4,613,14082,0.00,2.22,0.00,0.000,4,0.000,0.045,2035,1271,2210,0,0,0,0,0,0
$GC,14122,0.60,146.1,335.7,16.0,615,14126,0.00,2.25,0.00,0.000,6,0.000,0.051,2034,2671,2209,0,0,0,0,0,0
$GC,14460,0.60,146.1,276.3,17.3,631,14461,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2671,2210,0,0,0,0,0,0
$GC,14780,0.60,146.1,220.3,17.3,649,14784,0.00,2.17,0.00,0.000,4,0.000,0.044,2045,1283,2209,0,0,0,0,0,0
$GC,14856,0.60,146.1,207.8,14.1,653,14860,0.00,2.25,0.00,0.000,6,0.000,0.051,2044,2676,2209,0,0,0,0,0,0
$GC,15179,0.60,146.1,151.8,17.7,673,15183,0.00,2.20,0.00,0.000,4,0.000,0.044,2054,1277,2210,0,0,0,0,0,0
$GC,15237,0.60,146.1,142.3,14.4,676,15242,0.12,2.25,0.00,0.000,6,0.207,0.051,2026,2670,2209,0,0,0,0,0,0
$GC,15563,0.60,146.1,95.3,13.1,700,15569,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2210,0,0,0,0,0,0
$GC,15919,0.60,146.1,48.0,14.2,761,15926,0.00,2.20,0.00,0.000,4,0.000,0.044,2035,1274,2209,0,0,0,0,0,0
$GC,16045,0.60,146.1,31.8,12.0,781,16052,0.00,2.25,0.00,0.000,6,0.000,0.051,2036,2671,2209,0,0,0,0,0,0
$STATE,16250,end climb,SURFACE_DEPTH_REACHED
$STATE,16251,begin surface coast
$FINISH,0.8,1.017337
$STATE,16278,end surface coast,CONTROL_FINISHED_OK
$STATE,16278,begin surface
$SM_CCo,16300,41.17,0.770,1,0,1880,230.09
$SM_GC,1.91,0.00,0.00,41.17,0.000,0.000,0.770,50,2878,1880,-5.56,0.51,230.09
$IRIDIUM_FIX,-4613.60,432.32,080213,030345
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.3,67.144
$10V_AH,10.0,35.167
$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,14.050,103.550,304.225,41.175,0.000,27.221,21.174,473.180,0.000,0.000,23.152,2060.942,11190.341,439.745,2630.373,787.580,33.375,1342.859,0.000,2089.621,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,76.500,1813.815,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.327,1613.432,861.094,338.601,0.000,0.000,0.000,0.000,0.000,0.000
$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,60442,818
$CAP_FILE_SIZE,130906,0
$CFSIZE,259252224,206462976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080213,133236,-4632.772,438.540,28,0.9,29,-23.5