version: 66.07
glider: 542
mission: 6
dive: 366
start: 2 8 113 23 31 28
data:
$ID,542
$MISSION,6
$DIVE,366
$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,-11614.536
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,080213,231727,-4636.729,438.591,41,0.9,42,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-61.9
$GPS2,080213,233031,-4636.754,438.757,19,1.5,19,-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,-265092.2,-241.7,75.1,292842.2,-506.8
$KALMAN_Y,248089.8,-325.7,26.8,-220889.5,2697.5
$MHEAD_RNG_PITCHd_Wd,197.1,43080,-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,-63.03,0.000,2,0.000,0.000,54,2867,3107,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.6,8,124,6.65,1.67,-8.38,0.000,4,0.244,0.072,1622,3894,3418,0,0,0,0,0,0
$GC,279,-0.60,-146.1,30.6,-13.2,35,286,0.00,1.60,0.00,0.000,6,0.000,0.031,1622,2844,3420,0,0,0,0,0,0
$GC,527,-0.60,-146.1,63.0,-12.9,76,534,0.00,1.73,0.00,0.000,4,0.000,0.057,1614,3900,3420,0,0,0,0,0,0
$GC,604,-0.60,-146.1,73.4,-13.9,88,613,0.00,1.60,0.00,0.000,6,0.000,0.031,1614,2846,3420,0,0,0,0,0,0
$GC,959,-0.60,-146.1,119.6,-11.5,131,963,0.00,1.70,0.00,0.000,4,0.000,0.058,1606,3892,3421,0,0,0,0,0,0
$GC,1002,-0.60,-146.1,125.5,-12.8,133,1006,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2853,3421,0,0,0,0,0,0
$GC,1330,-0.60,-146.1,164.7,-11.8,154,1334,0.00,1.67,0.00,0.000,4,0.000,0.057,1598,3899,3422,0,0,0,0,0,0
$GC,1422,-0.60,-146.1,177.2,-12.8,159,1426,0.08,1.55,0.00,0.000,6,0.160,0.031,1636,2866,3422,0,0,0,0,0,0
$GC,1754,-0.60,-146.1,206.5,-8.7,180,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2862,3423,0,0,0,0,0,0
$GC,2078,-0.60,-146.1,235.7,-9.1,201,2082,0.00,1.67,0.00,0.000,4,0.000,0.060,1629,3903,3422,0,0,0,0,0,0
$GC,2142,-0.60,-146.1,242.1,-9.6,204,2150,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2855,3423,0,0,0,0,0,0
$GC,2478,-0.60,-146.1,273.3,-9.1,222,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3423,0,0,0,0,0,0
$GC,2788,-0.60,-146.1,301.6,-9.5,237,2792,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3897,3423,0,0,0,0,0,0
$GC,2851,-0.60,-146.1,308.6,-10.9,239,2858,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2850,3423,0,0,0,0,0,0
$GC,3171,-0.60,-146.1,340.0,-10.1,255,3175,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3894,3423,0,0,0,0,0,0
$GC,3221,-0.60,-146.1,345.3,-11.1,257,3225,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2867,3423,0,0,0,0,0,0
$GC,3558,-0.60,-146.1,381.8,-10.8,273,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3423,0,0,0,0,0,0
$GC,3865,-0.60,-146.1,415.1,-11.0,286,3868,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3903,3423,0,0,0,0,0,0
$GC,3916,-0.60,-146.1,421.3,-11.5,287,3920,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2862,3422,0,0,0,0,0,0
$GC,4242,-0.60,-146.1,456.5,-10.7,298,4246,0.10,1.70,0.00,0.000,4,0.189,0.060,1623,3903,3422,0,0,0,0,0,0
$GC,4300,-0.60,-146.1,462.6,-10.0,299,4304,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2863,3422,0,0,0,0,0,0
$GC,4621,-0.60,-146.1,491.8,-9.0,310,4625,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3895,3422,0,0,0,0,0,0
$GC,4673,-0.60,-146.1,497.1,-9.5,311,4677,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2855,3422,0,0,0,0,0,0
$GC,4999,-0.60,-146.1,529.3,-10.1,322,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3422,0,0,0,0,0,0
$GC,5306,-0.60,-146.1,559.6,-9.9,332,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2851,3421,0,0,0,0,0,0
$GC,5611,-0.60,-146.1,590.2,-10.0,342,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3421,0,0,0,0,0,0
$GC,5918,-0.60,-146.1,620.0,-9.6,352,5921,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3900,3421,0,0,0,0,0,0
$GC,5969,-0.60,-146.1,625.5,-10.8,353,5973,0.00,1.58,0.00,0.000,6,0.000,0.033,1607,2867,3421,0,0,0,0,0,0
$GC,6295,-0.60,-146.1,659.1,-10.3,364,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2861,3421,0,0,0,0,0,0
$GC,6603,-0.60,-146.1,689.8,-10.0,374,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2862,3420,0,0,0,0,0,0
$GC,6908,-0.60,-146.1,720.8,-10.1,384,6911,0.00,1.67,0.00,0.000,4,0.000,0.060,1599,3899,3421,0,0,0,0,0,0
$GC,6971,-0.60,-146.1,727.7,-11.1,385,6978,0.10,1.60,0.00,0.000,6,0.163,0.033,1630,2848,3420,0,0,0,0,0,0
$GC,7286,-0.60,-146.1,753.2,-8.0,396,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2849,3420,0,0,0,0,0,0
$GC,7593,-0.60,-146.1,776.5,-7.4,406,7597,0.00,1.70,0.00,0.000,4,0.000,0.060,1623,3899,3420,0,0,0,0,0,0
$GC,7650,-0.60,-146.1,781.4,-8.9,407,7654,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2869,3420,0,0,0,0,0,0
$GC,7971,-0.60,-146.1,805.3,-7.6,418,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2863,3420,0,0,0,0,0,0
$GC,8279,-0.60,-146.1,828.2,-7.4,428,8283,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3897,3420,0,0,0,0,0,0
$GC,8316,-0.60,-146.1,831.4,-8.1,429,8320,0.00,1.60,0.00,0.000,6,0.000,0.033,1615,2849,3419,0,0,0,0,0,0
$GC,8660,-0.60,-146.1,860.3,-8.5,440,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2844,3419,0,0,0,0,0,0
$GC,8968,-0.60,-146.1,886.6,-8.7,450,8972,0.00,1.70,0.00,0.000,4,0.000,0.060,1607,3894,3418,0,0,0,0,0,0
$GC,9014,-0.60,-146.1,891.4,-9.5,451,9017,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2856,3419,0,0,0,0,0,0
$GC,9346,-0.60,-146.1,921.8,-9.1,462,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3418,0,0,0,0,0,0
$GC,9653,-0.60,-146.1,949.9,-9.3,472,9656,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3900,3418,0,0,0,0,0,0
$GC,9689,-0.60,-146.1,953.5,-10.0,473,9693,0.08,1.58,0.00,0.000,6,0.155,0.033,1631,2865,3418,0,0,0,0,0,0
$GC,10033,-0.60,-146.1,977.1,-6.5,484,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3418,0,0,0,0,0,0
$GC,10341,-0.60,-146.1,995.5,-5.7,494,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3418,0,0,0,0,0,0
$STATE,10428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10428,begin apogee
$GC,10438,-0.18,0.0,1000.6,5.6,497,10587,0.45,0.00,145.55,1.251,6,0.144,0.000,1768,2675,2819,0,0,0,0,0,0
$STATE,10589,end apogee,CONTROL_FINISHED_OK
$STATE,10589,begin climb
$GC,10594,0.60,146.1,1002.2,0.0,502,10766,0.80,2.53,160.27,1.814,4,0.093,0.046,2033,1286,2224,0,0,0,0,1,0
$GC,10801,0.60,146.1,970.9,20.2,509,10805,0.00,2.45,0.00,0.000,6,0.000,0.050,2033,2662,2221,0,0,0,0,0,0
$GC,11133,0.60,146.1,896.7,22.4,520,11137,0.00,2.25,0.00,0.000,4,0.000,0.047,2043,1283,2217,0,0,0,0,0,0
$GC,11180,0.60,146.1,886.8,19.7,521,11184,0.00,2.30,0.00,0.000,6,0.000,0.051,2043,2675,2215,0,0,0,0,0,0
$GC,11501,0.60,146.1,817.0,22.1,532,11505,0.00,2.22,0.00,0.000,4,0.000,0.046,2053,1281,2214,0,0,0,0,0,0
$GC,11536,0.60,146.1,809.2,20.3,533,11540,0.00,2.22,0.00,0.000,6,0.000,0.050,2053,2671,2213,0,0,0,0,0,0
$GC,11868,0.60,146.1,736.2,22.3,544,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2672,2213,0,0,0,0,0,0
$GC,12175,0.60,146.1,668.3,21.9,554,12179,0.00,2.20,0.00,0.000,4,0.000,0.045,2063,1281,2213,0,0,0,0,0,0
$GC,12249,0.60,146.1,652.7,18.3,556,12254,0.15,2.22,0.00,0.000,6,0.209,0.049,2028,2677,2211,0,0,0,0,0,0
$GC,12584,0.60,146.1,589.1,19.0,567,12588,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1273,2211,0,0,0,0,0,0
$GC,12624,0.60,146.1,581.2,17.1,568,12628,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2672,2210,0,0,0,0,0,0
$GC,12951,0.60,146.1,518.1,19.5,579,12955,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1281,2210,0,0,0,0,0,0
$GC,12991,0.60,146.1,510.3,18.0,580,12996,0.00,2.22,0.00,0.000,6,0.000,0.050,2048,2669,2211,0,0,0,0,0,0
$GC,13318,0.60,146.1,446.4,19.7,591,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2668,2210,0,0,0,0,0,0
$GC,13625,0.60,146.1,384.6,20.3,602,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2669,2210,0,0,0,0,0,0
$GC,13936,0.60,146.1,324.5,19.1,617,13940,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1281,2210,0,0,0,0,0,0
$GC,13988,0.60,146.1,314.5,16.3,619,13993,0.12,2.22,0.00,0.000,6,0.205,0.050,2030,2676,2209,0,0,0,0,0,0
$GC,14315,0.60,146.1,259.1,17.5,635,14316,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2676,2209,0,0,0,0,0,0
$GC,14624,0.60,146.1,204.4,17.2,654,14628,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1277,2210,0,0,0,0,0,0
$GC,14682,0.60,146.1,194.5,16.3,657,14689,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2669,2209,0,0,0,0,0,0
$GC,15006,0.60,146.1,140.0,16.5,678,15010,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1278,2209,0,0,0,0,0,0
$GC,15064,0.60,146.1,130.2,14.1,681,15071,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2668,2209,0,0,0,0,0,0
$GC,15398,0.60,146.1,77.4,15.6,718,15404,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2669,2208,0,0,0,0,0,0
$GC,15763,0.60,146.1,21.4,17.0,779,15772,0.00,2.20,0.00,0.000,4,0.000,0.041,2059,1280,2208,0,0,0,0,0,0
$GC,15880,0.60,146.1,4.7,14.9,797,15890,0.10,2.25,0.00,0.000,6,0.171,0.053,2030,2663,2207,0,0,0,0,0,0
$STATE,15899,end climb,SURFACE_DEPTH_REACHED
$STATE,15900,begin surface coast
$FINISH,0.9,1.004736
$STATE,15925,end surface coast,CONTROL_FINISHED_OK
$STATE,15925,begin surface
$SM_CCo,15948,41.28,0.761,1,0,1880,230.09
$SM_GC,2.60,0.00,0.00,41.28,0.000,0.000,0.761,63,2878,1880,-5.52,0.51,230.09
$IRIDIUM_FIX,-4616.72,441.92,080213,181832
$TT8_MAMPS,0.026215
$HUMID,59.01
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.3,67.685
$10V_AH,10.0,35.515
$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,13.950,97.825,305.825,41.275,0.000,27.826,21.076,480.620,0.000,0.000,22.179,2017.896,10951.461,479.749,2546.983,768.809,33.400,1325.987,0.000,2004.887,0.000,1.009,0.000
$DEVICE_MAMPS,244.035,71.910,1813.815,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.410,1596.198,857.936,331.630,0.000,0.000,0.000,0.000,0.000,0.000
$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,57206,803
$CAP_FILE_SIZE,125339,0
$CFSIZE,259252224,206262272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,090213,035928,-4638.585,437.930,37,0.8,38,-23.5