version: 66.07
glider: 542
mission: 6
dive: 365
start: 2 8 113 18 49 37
data:
$ID,542
$MISSION,6
$DIVE,365
$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,-11611.496
$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,43
$R_STBD_OVSHOOT,22
$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
$GPS1,080213,183104,-4634.691,438.580,39,1.2,40,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.0
$GPS2,080213,184841,-4634.799,438.606,15,1.5,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.029,-0.254
$KALMAN_X,-264576.1,-168.6,-91.1,292227.8,-541.0
$KALMAN_Y,246421.7,87.9,-395.2,-215586.5,3296.1
$MHEAD_RNG_PITCHd_Wd,196.9,46705,-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,-47.05,0.000,2,0.000,0.000,46,2863,2763,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.0,-3.2,6,125,6.75,1.73,-24.85,0.000,4,0.249,0.077,1620,3905,3417,0,0,0,0,0,0
$GC,192,-0.60,-146.1,13.2,-13.2,21,202,0.00,1.62,0.00,0.000,6,0.000,0.031,1620,2841,3419,0,0,0,0,0,0
$GC,280,-0.60,-146.1,25.4,-13.0,34,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2841,3419,0,0,0,0,0,0
$GC,366,-0.60,-146.1,37.5,-13.9,47,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2841,3419,0,0,0,0,0,0
$GC,610,-0.60,-146.1,70.9,-13.4,88,617,0.00,1.73,0.00,0.000,4,0.000,0.057,1612,3898,3419,0,0,0,0,0,0
$GC,687,-0.60,-146.1,80.9,-13.7,100,694,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2859,3419,0,0,0,0,0,0
$GC,1029,-0.60,-146.1,126.4,-13.1,136,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2858,3420,0,0,0,0,0,0
$GC,1340,-0.60,-146.1,165.9,-11.8,156,1344,0.00,1.67,0.00,0.000,4,0.000,0.058,1604,3903,3420,0,0,0,0,0,0
$GC,1430,-0.60,-146.1,176.9,-12.4,161,1435,0.08,1.58,0.00,0.000,6,0.157,0.031,1636,2855,3420,0,0,0,0,0,0
$GC,1769,-0.60,-146.1,209.9,-10.5,182,1773,0.00,1.70,0.00,0.000,4,0.000,0.060,1630,3909,3421,0,0,0,0,0,0
$GC,1844,-0.60,-146.1,219.1,-10.8,186,1847,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2868,3421,0,0,0,0,0,0
$GC,2177,-0.60,-146.1,253.4,-10.1,207,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3421,0,0,0,0,0,0
$GC,2485,-0.60,-146.1,283.3,-9.2,222,2489,0.00,1.70,0.00,0.000,4,0.000,0.059,1621,3903,3420,0,0,0,0,0,0
$GC,2535,-0.60,-146.1,288.4,-10.3,224,2539,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2854,3421,0,0,0,0,0,0
$GC,2870,-0.60,-146.1,320.8,-9.9,240,2874,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3892,3421,0,0,0,0,0,0
$GC,2911,-0.60,-146.1,325.5,-11.2,241,2918,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2864,3420,0,0,0,0,0,0
$GC,3232,-0.60,-146.1,360.8,-11.2,257,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2863,3421,0,0,0,0,0,0
$GC,3539,-0.60,-146.1,395.2,-11.0,272,3543,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3905,3420,0,0,0,0,0,0
$GC,3643,-0.60,-146.1,407.6,-11.9,276,3646,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2863,3420,0,0,0,0,0,0
$GC,3985,-0.60,-146.1,448.8,-12.0,287,3989,0.10,1.70,0.00,0.000,4,0.187,0.060,1623,3900,3419,0,0,0,0,0,0
$GC,4027,-0.60,-146.1,453.6,-10.7,288,4030,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2865,3419,0,0,0,0,0,0
$GC,4364,-0.60,-146.1,487.5,-10.2,299,4368,0.00,1.73,0.00,0.000,4,0.000,0.060,1614,3897,3419,0,0,0,0,0,0
$GC,4400,-0.60,-146.1,491.7,-11.2,300,4404,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2859,3419,0,0,0,0,0,0
$GC,4745,-0.60,-146.1,526.8,-10.0,311,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2854,3419,0,0,0,0,0,0
$GC,5050,-0.60,-146.1,558.0,-10.3,321,5053,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3905,3419,0,0,0,0,0,0
$GC,5107,-0.60,-146.1,564.6,-11.4,322,5111,0.00,1.60,0.00,0.000,6,0.000,0.033,1607,2856,3419,0,0,0,0,0,0
$GC,5428,-0.60,-146.1,599.5,-10.8,333,5431,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3906,3418,0,0,0,0,0,0
$GC,5479,-0.60,-146.1,605.5,-12.1,334,5483,0.10,1.60,0.00,0.000,6,0.161,0.032,1629,2858,3418,0,0,0,0,0,0
$GC,5806,-0.60,-146.1,634.0,-8.7,345,5810,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3893,3418,0,0,0,0,0,0
$GC,5859,-0.60,-146.1,639.1,-9.2,346,5862,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2859,3418,0,0,0,0,0,0
$GC,6187,-0.60,-146.1,669.5,-9.3,357,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2854,3418,0,0,0,0,0,0
$GC,6491,-0.60,-146.1,698.0,-9.3,367,6495,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3905,3418,0,0,0,0,0,0
$GC,6543,-0.60,-146.1,703.4,-10.6,368,6547,0.00,1.60,0.00,0.000,6,0.000,0.033,1614,2856,3418,0,0,0,0,0,0
$GC,6870,-0.60,-146.1,733.9,-9.1,379,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2851,3418,0,0,0,0,0,0
$GC,7176,-0.60,-146.1,760.0,-8.3,389,7180,0.00,1.70,0.00,0.000,4,0.000,0.061,1606,3901,3417,0,0,0,0,0,0
$GC,7234,-0.60,-146.1,765.4,-9.8,390,7238,0.05,1.60,0.00,0.000,6,0.164,0.033,1631,2856,3417,0,0,0,0,0,0
$GC,7555,-0.60,-146.1,787.3,-6.7,401,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2852,3417,0,0,0,0,0,0
$GC,7863,-0.60,-146.1,807.5,-6.3,411,7866,0.00,1.70,0.00,0.000,4,0.000,0.062,1625,3901,3417,0,0,0,0,0,0
$GC,7900,-0.60,-146.1,810.4,-7.8,412,7904,0.00,1.60,0.00,0.000,6,0.000,0.033,1624,2855,3416,0,0,0,0,0,0
$GC,8243,-0.60,-146.1,834.3,-6.8,423,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2850,3416,0,0,0,0,0,0
$GC,8551,-0.60,-146.1,855.6,-7.0,433,8555,0.00,1.70,0.00,0.000,4,0.000,0.062,1616,3898,3416,0,0,0,0,0,0
$GC,8603,-0.60,-146.1,860.0,-8.1,434,8607,0.00,1.60,0.00,0.000,6,0.000,0.033,1616,2854,3415,0,0,0,0,0,0
$GC,8930,-0.60,-146.1,884.7,-7.7,445,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2848,3415,0,0,0,0,0,0
$GC,9236,-0.60,-146.1,908.8,-7.9,455,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2849,3415,0,0,0,0,0,0
$GC,9543,-0.60,-146.1,934.1,-8.3,465,9547,0.00,1.70,0.00,0.000,4,0.000,0.061,1608,3897,3415,0,0,0,0,0,0
$GC,9589,-0.60,-146.1,938.6,-10.4,466,9592,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2868,3415,0,0,0,0,0,0
$GC,9921,-0.60,-146.1,968.0,-8.9,477,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2862,3415,0,0,0,0,0,0
$GC,10229,-0.60,-146.1,996.2,-9.2,487,10230,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2862,3415,0,0,0,0,0,0
$STATE,10283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10283,begin apogee
$GC,10294,-0.18,0.0,1001.9,9.2,489,10442,0.55,0.00,144.50,1.260,6,0.155,0.000,1770,2676,2819,0,0,0,0,0,0
$STATE,10444,end apogee,CONTROL_FINISHED_OK
$STATE,10444,begin climb
$GC,10448,0.60,146.1,1006.8,0.0,494,10626,0.80,2.60,159.52,1.823,4,0.093,0.047,2034,1281,2225,0,0,0,0,1,0
$GC,10679,0.60,146.1,974.7,18.1,501,10684,0.00,2.45,0.00,0.000,6,0.000,0.050,2034,2674,2220,0,0,0,0,0,0
$GC,11000,0.60,146.1,904.9,22.3,512,11004,0.00,2.28,0.00,0.000,4,0.000,0.047,2045,1283,2216,0,0,0,0,0,0
$GC,11041,0.60,146.1,896.0,21.1,513,11045,0.00,2.30,0.00,0.000,6,0.000,0.052,2045,2677,2214,0,0,0,0,0,0
$GC,11381,0.60,146.1,820.8,22.7,524,11385,0.00,2.25,0.00,0.000,4,0.000,0.047,2055,1280,2214,0,0,0,0,0,0
$GC,11421,0.60,146.1,811.5,19.7,525,11426,0.12,2.28,0.00,0.000,6,0.218,0.051,2028,2680,2212,0,0,0,0,0,0
$GC,11748,0.60,146.1,744.9,20.3,536,11752,0.00,2.25,0.00,0.000,4,0.000,0.045,2037,1271,2212,0,0,0,0,0,0
$GC,11784,0.60,146.1,737.9,18.5,537,11788,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2677,2211,0,0,0,0,0,0
$GC,12116,0.60,146.1,671.3,20.3,548,12120,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1278,2211,0,0,0,0,0,0
$GC,12156,0.60,146.1,663.4,18.3,549,12160,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2674,2211,0,0,0,0,0,0
$GC,12483,0.60,146.1,596.2,20.6,560,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2211,0,0,0,0,0,0
$GC,12789,0.60,146.1,533.5,20.2,570,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2674,2210,0,0,0,0,0,0
$GC,13095,0.60,146.1,473.1,19.3,580,13099,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1273,2210,0,0,0,0,0,0
$GC,13177,0.60,146.1,458.4,16.6,582,13182,0.12,2.22,0.00,0.000,6,0.210,0.050,2029,2670,2209,0,0,0,0,0,0
$GC,13500,0.60,146.1,402.3,17.6,593,13503,0.00,1.92,0.00,0.000,4,0.000,0.059,2029,3896,2209,0,0,0,0,0,0
$GC,13540,0.60,146.1,394.0,20.2,594,13549,0.00,1.90,0.00,0.000,6,0.000,0.038,2038,2685,2210,0,0,0,0,0,0
$GC,13859,0.60,146.1,336.4,17.7,610,13863,0.00,2.22,0.00,0.000,4,0.000,0.046,2048,1270,2209,0,0,0,0,0,0
$GC,13917,0.60,146.1,326.4,15.4,612,13926,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2667,2209,0,0,0,0,0,0
$GC,14235,0.60,146.1,268.3,18.4,628,14239,0.00,2.22,0.00,0.000,4,0.000,0.045,2058,1267,2209,0,0,0,0,0,0
$GC,14265,0.60,146.1,263.6,18.4,629,14270,0.12,2.25,0.00,0.000,6,0.209,0.050,2030,2680,2208,0,0,0,0,0,0
$GC,14605,0.60,146.1,205.6,16.7,649,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2680,2208,0,0,0,0,0,0
$GC,14927,0.60,146.1,149.6,16.2,670,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2680,2209,0,0,0,0,0,0
$GC,15239,0.60,146.1,99.7,14.1,690,15248,0.00,2.28,0.00,0.000,4,0.000,0.045,2040,1267,2209,0,0,0,0,0,0
$GC,15309,0.60,146.1,89.9,12.9,701,15313,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2676,2208,0,0,0,0,0,0
$GC,15665,0.60,146.1,38.4,15.1,762,15674,0.00,1.98,0.00,0.000,4,0.000,0.059,2040,3897,2207,0,0,0,0,0,0
$GC,15720,0.60,146.1,29.6,16.2,770,15729,0.00,1.92,0.00,0.000,6,0.000,0.038,2049,2669,2208,0,0,0,0,0,0
$GC,15809,0.60,146.1,15.4,16.7,783,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2668,2208,0,0,0,0,0,0
$STATE,15891,end climb,SURFACE_DEPTH_REACHED
$STATE,15891,begin surface coast
$FINISH,0.9,1.001673
$STATE,15911,end surface coast,CONTROL_FINISHED_OK
$STATE,15911,begin surface
$SM_CCo,15934,41.08,0.771,1,0,1879,230.09
$SM_GC,2.09,0.00,0.00,41.08,0.000,0.000,0.771,55,2867,1879,-5.55,0.20,230.09
$IRIDIUM_FIX,-4616.72,438.80,080213,181847
$TT8_MAMPS,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.3,67.512
$10V_AH,9.9,35.403
$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,14.150,105.250,304.025,41.075,0.000,55.444,67.383,603.855,0.000,0.000,18.350,2022.582,10943.454,458.950,2767.240,829.363,33.392,1365.905,0.000,2050.149,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,77.265,1822.995,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.036,1578.945,848.051,331.509,0.000,0.000,0.000,0.000,0.000,0.000
$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,57060,799
$CAP_FILE_SIZE,133149,0
$CFSIZE,259252224,206323712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080213,231727,-4636.729,438.591,41,0.9,42,-23.5