version: 66.07
glider: 542
mission: 6
dive: 367
start: 2 9 113 4 13 50
data:
$ID,542
$MISSION,6
$DIVE,367
$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,-11617.513
$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,53
$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
$GPS1,090213,035928,-4638.585,437.930,37,0.8,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-62.9
$GPS2,090213,041253,-4638.611,437.933,17,0.9,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.040,-0.252
$KALMAN_X,-266631.7,-72.1,-253.8,293504.1,-759.0
$KALMAN_Y,250394.5,-560.7,-145.2,-226231.0,3973.0
$MHEAD_RNG_PITCHd_Wd,194.5,39698,-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,-146.1,0.0,0.0,0,99,0.00,0.00,-70.88,0.000,2,0.000,0.000,61,2880,3319,0,0,0,0,0,0
$GC,106,-0.60,-146.1,3.7,-2.7,9,124,6.72,1.62,-2.28,0.000,4,0.250,0.066,1621,3896,3417,0,0,0,0,0,0
$GC,327,-0.60,-146.1,42.4,-13.0,43,334,0.00,1.60,0.00,0.000,6,0.000,0.031,1621,2837,3420,0,0,0,0,0,0
$GC,570,-0.60,-146.1,74.1,-12.7,84,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2836,3420,0,0,0,0,0,0
$GC,919,-0.60,-146.1,115.9,-11.5,130,923,0.00,1.70,0.00,0.000,4,0.000,0.058,1613,3898,3421,0,0,0,0,0,0
$GC,992,-0.60,-146.1,124.3,-11.8,134,996,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2868,3421,0,0,0,0,0,0
$GC,1326,-0.60,-146.1,164.5,-12.3,155,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2862,3422,0,0,0,0,0,0
$GC,1638,-0.60,-146.1,201.0,-11.2,175,1642,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3893,3422,0,0,0,0,0,0
$GC,1698,-0.60,-146.1,208.3,-11.5,178,1702,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2857,3422,0,0,0,0,0,0
$GC,2027,-0.60,-146.1,246.6,-11.8,199,2031,0.10,1.73,0.00,0.000,4,0.190,0.059,1622,3900,3422,0,0,0,0,0,0
$GC,2085,-0.60,-146.1,253.6,-10.8,202,2089,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2853,3422,0,0,0,0,0,0
$GC,2409,-0.60,-146.1,285.2,-9.7,218,2412,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3894,3422,0,0,0,0,0,0
$GC,2472,-0.60,-146.1,291.9,-10.4,220,2482,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2860,3422,0,0,0,0,0,0
$GC,2790,-0.60,-146.1,323.9,-10.0,236,2794,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3904,3422,0,0,0,0,0,0
$GC,2827,-0.60,-146.1,327.9,-10.4,237,2830,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2863,3422,0,0,0,0,0,0
$GC,3152,-0.60,-146.1,362.2,-11.2,253,3156,0.10,1.70,0.00,0.000,4,0.189,0.059,1623,3900,3422,0,0,0,0,0,0
$GC,3203,-0.60,-146.1,367.6,-9.8,255,3207,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2855,3422,0,0,0,0,0,0
$GC,3548,-0.60,-146.1,404.1,-10.7,271,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2850,3422,0,0,0,0,0,0
$GC,3856,-0.60,-146.1,436.6,-10.6,281,3859,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3893,3421,0,0,0,0,0,0
$GC,3896,-0.60,-146.1,441.4,-11.0,282,3900,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2852,3421,0,0,0,0,0,0
$GC,4234,-0.60,-146.1,477.0,-10.7,293,4237,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3893,3421,0,0,0,0,0,0
$GC,4270,-0.60,-146.1,481.1,-11.8,294,4274,0.00,1.55,0.00,0.000,6,0.000,0.032,1607,2870,3421,0,0,0,0,0,0
$GC,4613,-0.60,-146.1,520.1,-11.3,305,4617,0.00,1.65,0.00,0.000,4,0.000,0.059,1599,3893,3421,0,0,0,0,0,0
$GC,4659,-0.60,-146.1,525.9,-12.0,306,4663,0.08,1.58,0.00,0.000,6,0.164,0.032,1631,2852,3421,0,0,0,0,0,0
$GC,4991,-0.60,-146.1,556.2,-9.0,317,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2850,3421,0,0,0,0,0,0
$GC,5298,-0.60,-146.1,582.3,-8.4,327,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2850,3421,0,0,0,0,0,0
$GC,5604,-0.60,-146.1,605.7,-7.4,337,5608,0.00,1.70,0.00,0.000,4,0.000,0.061,1624,3887,3420,0,0,0,0,0,0
$GC,5641,-0.60,-146.1,608.8,-8.1,338,5645,0.00,1.55,0.00,0.000,6,0.000,0.033,1624,2869,3420,0,0,0,0,0,0
$GC,5987,-0.60,-146.1,636.3,-8.2,349,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3420,0,0,0,0,0,0
$GC,6291,-0.60,-146.1,661.8,-8.6,359,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3420,0,0,0,0,0,0
$GC,6597,-0.60,-146.1,688.7,-8.6,369,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3420,0,0,0,0,0,0
$GC,6904,-0.60,-146.1,714.5,-8.3,379,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2864,3418,0,0,0,0,0,0
$GC,7210,-0.60,-146.1,738.9,-7.9,389,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3418,0,0,0,0,0,0
$GC,7516,-0.60,-146.1,762.0,-7.5,399,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3418,0,0,0,0,0,0
$GC,7824,-0.60,-146.1,785.0,-7.6,409,7828,0.00,1.67,0.00,0.000,4,0.000,0.062,1616,3896,3417,0,0,0,0,0,0
$GC,7881,-0.60,-146.1,790.2,-8.9,410,7885,0.00,1.58,0.00,0.000,6,0.000,0.033,1616,2863,3418,0,0,0,0,0,0
$GC,8202,-0.60,-146.1,816.8,-8.5,421,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2859,3417,0,0,0,0,0,0
$GC,8510,-0.60,-146.1,843.0,-8.6,431,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2859,3417,0,0,0,0,0,0
$GC,8815,-0.60,-146.1,869.7,-8.7,441,8818,0.00,1.67,0.00,0.000,4,0.000,0.061,1608,3893,3417,0,0,0,0,0,0
$GC,8860,-0.60,-146.1,874.3,-10.0,442,8864,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2857,3416,0,0,0,0,0,0
$GC,9193,-0.60,-146.1,904.3,-9.0,453,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2852,3416,0,0,0,0,0,0
$GC,9498,-0.60,-146.1,931.4,-8.7,463,9502,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3901,3417,0,0,0,0,0,0
$GC,9572,-0.60,-146.1,938.6,-9.7,465,9577,0.10,1.60,0.00,0.000,6,0.160,0.033,1632,2851,3416,0,0,0,0,0,0
$GC,9913,-0.60,-146.1,962.5,-6.8,476,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2848,3416,0,0,0,0,0,0
$GC,10217,-0.60,-146.1,983.3,-6.6,486,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2849,3416,0,0,0,0,0,0
$STATE,10488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10488,begin apogee
$GC,10499,-0.18,0.0,1001.4,6.5,495,10647,0.45,0.00,145.38,1.242,6,0.148,0.000,1768,2675,2819,0,0,0,0,0,0
$STATE,10649,end apogee,CONTROL_FINISHED_OK
$STATE,10649,begin climb
$GC,10655,0.60,146.1,1004.8,0.0,500,10833,0.80,2.53,160.65,1.792,4,0.093,0.046,2032,1287,2225,0,0,0,0,2,0
$GC,10898,0.60,146.1,970.4,18.5,507,10907,0.00,2.42,0.00,0.000,6,0.000,0.050,2032,2672,2220,0,0,0,0,0,0
$GC,11214,0.60,146.1,902.5,21.8,518,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2672,2217,0,0,0,0,0,0
$GC,11520,0.60,146.1,836.1,21.7,528,11524,0.00,2.22,0.00,0.000,4,0.000,0.045,2042,1283,2215,0,0,0,0,0,0
$GC,11600,0.60,146.1,820.4,18.2,530,11605,0.00,2.25,0.00,0.000,6,0.000,0.051,2043,2672,2213,0,0,0,0,0,0
$GC,11923,0.60,146.1,750.8,22.0,541,11927,0.00,2.22,0.00,0.000,4,0.000,0.044,2053,1273,2213,0,0,0,0,0,0
$GC,11958,0.60,146.1,742.9,21.0,542,11962,0.00,2.25,0.00,0.000,6,0.000,0.050,2053,2670,2213,0,0,0,0,0,0
$GC,12290,0.60,146.1,669.2,22.4,553,12294,0.00,2.20,0.00,0.000,4,0.000,0.045,2063,1278,2213,0,0,0,0,0,0
$GC,12342,0.60,146.1,658.1,20.2,554,12347,0.15,2.25,0.00,0.000,6,0.209,0.052,2028,2672,2211,0,0,0,0,0,0
$GC,12658,0.60,146.1,599.4,18.1,564,12662,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1283,2212,0,0,0,0,0,0
$GC,12709,0.60,146.1,590.5,15.8,565,12713,0.00,2.25,0.00,0.000,6,0.000,0.051,2038,2678,2211,0,0,0,0,0,0
$GC,13025,0.60,146.1,532.8,18.5,575,13029,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1272,2211,0,0,0,0,0,0
$GC,13057,0.60,146.1,527.1,18.2,576,13061,0.00,2.25,0.00,0.000,6,0.000,0.051,2048,2670,2211,0,0,0,0,0,0
$GC,13394,0.60,146.1,461.7,19.6,587,13398,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1281,2211,0,0,0,0,0,0
$GC,13426,0.60,146.1,455.9,18.4,588,13431,0.12,2.22,0.00,0.000,6,0.207,0.050,2029,2679,2211,0,0,0,0,0,0
$GC,13765,0.60,146.1,397.4,17.4,599,13769,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1284,2210,0,0,0,0,0,0
$GC,13818,0.60,146.1,388.4,15.1,601,13822,0.00,2.22,0.00,0.000,6,0.000,0.051,2039,2670,2210,0,0,0,0,0,0
$GC,14137,0.60,146.1,332.0,18.1,616,14141,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1275,2210,0,0,0,0,0,0
$GC,14206,0.60,146.1,320.6,17.4,619,14210,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2674,2209,0,0,0,0,0,0
$GC,14537,0.60,146.1,258.4,19.1,635,14541,0.00,2.17,0.00,0.000,4,0.000,0.044,2059,1283,2210,0,0,0,0,0,0
$GC,14582,0.60,146.1,250.6,16.2,637,14587,0.12,2.22,0.00,0.000,6,0.205,0.051,2030,2678,2209,0,0,0,0,0,0
$GC,14919,0.60,146.1,196.3,15.1,658,14923,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1273,2209,0,0,0,0,0,0
$GC,15005,0.60,146.1,184.0,13.9,663,15009,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2670,2208,0,0,0,0,0,0
$GC,15333,0.60,146.1,130.4,17.4,684,15337,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1273,2209,0,0,0,0,0,0
$GC,15434,0.60,146.1,114.8,15.3,690,15438,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2670,2208,0,0,0,0,0,0
$GC,15773,0.60,146.1,64.0,15.5,738,15783,0.00,2.22,0.00,0.000,4,0.000,0.043,2060,1280,2208,0,0,0,0,0,0
$GC,15816,0.60,146.1,57.9,15.0,744,15826,0.10,2.25,0.00,0.000,6,0.181,0.051,2032,2663,2208,0,0,0,0,0,0
$GC,16074,0.60,146.1,20.6,13.9,785,16082,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2663,2208,0,0,0,0,0,0
$GC,16161,0.60,146.1,7.9,14.9,798,16170,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2664,2208,0,0,0,0,0,0
$STATE,16202,end climb,SURFACE_DEPTH_REACHED
$STATE,16202,begin surface coast
$FINISH,0.9,1.013569
$STATE,16228,end surface coast,CONTROL_FINISHED_OK
$STATE,16228,begin surface
$SM_CCo,16250,41.33,0.765,1,0,1880,230.09
$SM_GC,2.17,0.00,0.00,41.33,0.000,0.000,0.765,51,2875,1880,-5.56,0.42,230.09
$IRIDIUM_FIX,-4619.84,435.93,080213,232308
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.3,67.859
$10V_AH,10.0,35.629
$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,14.175,104.400,306.025,41.325,0.000,28.543,43.317,483.094,0.000,0.000,19.954,2041.977,11175.789,446.462,2633.323,790.342,33.397,1355.637,0.000,2067.240,0.000,1.008,0.000
$DEVICE_MAMPS,250.155,74.970,1791.630,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.145,1580.696,838.056,326.062,0.000,0.000,0.000,0.000,0.000,0.000
$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,57034,808
$CAP_FILE_SIZE,130967,0
$CFSIZE,259252224,206192640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,090213,084654,-4640.834,437.346,39,1.0,40,-23.5