version: 66.07
glider: 542
mission: 6
dive: 370
start: 2 9 113 18 45 57
data:
$ID,542
$MISSION,6
$DIVE,370
$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,-11626.527
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,090213,182635,-4644.969,439.204,39,1.1,40,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-58.2
$GPS2,090213,184501,-4645.011,439.375,14,1.5,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.089,-0.239
$KALMAN_X,-270681.3,337.3,-118.4,298823.5,-1813.9
$KALMAN_Y,253189.6,-318.1,-264.7,-240996.7,2706.5
$MHEAD_RNG_PITCHd_Wd,183.1,27770,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-70.93,0.000,2,0.000,0.000,50,2888,3302,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.6,-2.3,9,125,6.75,1.60,-2.70,0.000,4,0.248,0.069,1623,3880,3416,0,0,0,0,0,0
$GC,399,-0.60,-146.1,53.1,-12.7,56,409,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2844,3418,0,0,0,0,0,0
$GC,646,-0.60,-146.1,84.9,-12.5,97,651,0.00,1.67,0.00,0.000,4,0.000,0.057,1615,3877,3419,0,0,0,0,0,0
$GC,741,-0.60,-146.1,96.9,-12.4,113,746,0.00,1.52,0.00,0.000,6,0.000,0.031,1615,2857,3419,0,0,0,0,0,0
$GC,1065,-0.60,-146.1,134.3,-11.7,136,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2854,3419,0,0,0,0,0,0
$GC,1378,-0.60,-146.1,168.6,-10.7,156,1381,0.00,1.65,0.00,0.000,4,0.000,0.057,1607,3889,3420,0,0,0,0,0,0
$GC,1452,-0.60,-146.1,177.5,-12.0,160,1455,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2857,3420,0,0,0,0,0,0
$GC,1780,-0.60,-146.1,215.9,-11.6,181,1784,0.00,1.65,0.00,0.000,4,0.000,0.057,1599,3886,3420,0,0,0,0,0,0
$GC,1838,-0.60,-146.1,223.5,-12.9,184,1842,0.08,1.55,0.00,0.000,6,0.160,0.031,1637,2851,3420,0,0,0,0,0,0
$GC,2176,-0.60,-146.1,252.7,-9.1,205,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2848,3420,0,0,0,0,0,0
$GC,2480,-0.60,-146.1,280.6,-8.9,220,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2848,3421,0,0,0,0,0,0
$GC,2791,-0.60,-146.1,309.7,-9.7,235,2794,0.00,1.67,0.00,0.000,4,0.000,0.060,1630,3890,3420,0,0,0,0,0,0
$GC,2849,-0.60,-146.1,316.3,-10.7,237,2853,0.00,1.55,0.00,0.000,6,0.000,0.032,1630,2866,3420,0,0,0,0,0,0
$GC,3175,-0.60,-146.1,349.4,-10.4,253,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2862,3420,0,0,0,0,0,0
$GC,3482,-0.60,-146.1,381.7,-10.5,268,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3420,0,0,0,0,0,0
$GC,3790,-0.60,-146.1,413.6,-10.4,281,3794,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3886,3420,0,0,0,0,0,0
$GC,3864,-0.60,-146.1,422.0,-11.0,283,3868,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2857,3420,0,0,0,0,0,0
$GC,4201,-0.60,-146.1,457.6,-10.4,294,4205,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3882,3420,0,0,0,0,0,0
$GC,4241,-0.60,-146.1,462.3,-10.7,295,4245,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2857,3419,0,0,0,0,0,0
$GC,4579,-0.60,-146.1,496.4,-9.9,306,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2852,3419,0,0,0,0,0,0
$GC,4885,-0.60,-146.1,525.8,-9.5,316,4889,0.00,1.65,0.00,0.000,4,0.000,0.060,1607,3890,3419,0,0,0,0,0,0
$GC,4936,-0.60,-146.1,531.3,-10.4,317,4940,0.00,1.55,0.00,0.000,6,0.000,0.032,1607,2867,3419,0,0,0,0,0,0
$GC,5263,-0.60,-146.1,563.3,-9.6,328,5266,0.00,1.65,0.00,0.000,4,0.000,0.060,1599,3887,3418,0,0,0,0,0,0
$GC,5309,-0.60,-146.1,568.3,-10.4,329,5313,0.08,1.55,0.00,0.000,6,0.160,0.032,1637,2863,3418,0,0,0,0,0,0
$GC,5641,-0.60,-146.1,591.8,-6.8,340,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2860,3418,0,0,0,0,0,0
$GC,5948,-0.60,-146.1,612.8,-7.0,350,5951,0.00,1.67,0.00,0.000,4,0.000,0.062,1630,3879,3418,0,0,0,0,0,0
$GC,5994,-0.60,-146.1,616.6,-8.3,351,5998,0.00,1.55,0.00,0.000,6,0.000,0.032,1630,2857,3417,0,0,0,0,0,0
$GC,6328,-0.60,-146.1,641.0,-7.5,362,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2853,3418,0,0,0,0,0,0
$GC,6632,-0.60,-146.1,665.4,-8.1,372,6636,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3887,3418,0,0,0,0,0,0
$GC,6690,-0.60,-146.1,670.7,-8.9,373,6693,0.00,1.55,0.00,0.000,6,0.000,0.033,1623,2868,3418,0,0,0,0,0,0
$GC,7011,-0.60,-146.1,699.4,-9.0,384,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2863,3417,0,0,0,0,0,0
$GC,7318,-0.60,-146.1,726.7,-9.0,394,7322,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3886,3417,0,0,0,0,0,0
$GC,7358,-0.60,-146.1,730.9,-9.6,395,7362,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2852,3417,0,0,0,0,0,0
$GC,7697,-0.60,-146.1,761.0,-8.7,406,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2847,3417,0,0,0,0,0,0
$GC,8003,-0.60,-146.1,785.5,-7.6,416,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2847,3417,0,0,0,0,0,0
$GC,8309,-0.60,-146.1,810.1,-8.0,426,8312,0.00,1.67,0.00,0.000,4,0.000,0.062,1607,3880,3417,0,0,0,0,0,0
$GC,8372,-0.60,-146.1,816.0,-9.0,427,8379,0.00,1.55,0.00,0.000,6,0.000,0.033,1607,2856,3416,0,0,0,0,0,0
$GC,8688,-0.60,-146.1,845.4,-9.6,438,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2855,3416,0,0,0,0,0,0
$GC,8993,-0.60,-146.1,874.7,-9.5,448,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2854,3416,0,0,0,0,0,0
$GC,9299,-0.60,-146.1,905.0,-9.9,458,9303,0.00,1.67,0.00,0.000,4,0.000,0.061,1599,3890,3416,0,0,0,0,0,0
$GC,9351,-0.60,-146.1,910.6,-10.7,459,9356,0.08,1.55,0.00,0.000,6,0.157,0.033,1638,2870,3416,0,0,0,0,0,0
$GC,9678,-0.60,-146.1,934.0,-6.9,470,9682,0.00,2.12,0.00,0.000,4,0.000,0.039,1638,1479,3416,0,0,0,0,0,0
$GC,9703,-0.60,-146.1,935.9,-6.9,470,9710,0.00,2.20,0.00,0.000,6,0.000,0.053,1630,2845,3416,0,0,0,0,0,0
$GC,10019,-0.60,-146.1,957.4,-7.0,481,10022,0.00,1.67,0.00,0.000,4,0.000,0.061,1622,3899,3416,0,0,0,0,0,0
$GC,10059,-0.60,-146.1,960.8,-7.9,482,10063,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2862,3416,0,0,0,0,0,0
$GC,10397,-0.60,-146.1,986.1,-7.5,493,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3416,0,0,0,0,0,0
$STATE,10606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10606,begin apogee
$GC,10617,-0.18,0.0,1001.9,7.4,500,10775,0.47,0.00,149.35,1.900,6,0.150,0.000,1764,2671,2820,0,0,0,0,1,0
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10781,0.60,146.1,1006.4,0.0,505,10959,0.85,2.55,163.10,1.825,4,0.090,0.046,2036,1285,2225,0,0,0,0,1,0
$GC,11005,0.60,146.1,977.5,17.7,512,11009,0.00,2.42,0.00,0.000,6,0.000,0.050,2036,2664,2221,0,0,0,0,0,0
$GC,11332,0.60,146.1,911.8,20.1,523,11336,0.00,2.25,0.00,0.000,4,0.000,0.046,2046,1277,2216,0,0,0,0,0,0
$GC,11384,0.60,146.1,901.2,19.0,524,11389,0.00,2.30,0.00,0.000,6,0.000,0.050,2046,2674,2214,0,0,0,0,0,0
$GC,11707,0.60,146.1,832.1,22.5,535,11711,0.00,2.25,0.00,0.000,4,0.000,0.045,2057,1269,2213,0,0,0,0,0,0
$GC,11776,0.60,146.1,817.0,19.9,537,11781,0.12,2.28,0.00,0.000,6,0.214,0.051,2030,2672,2211,0,0,0,0,0,0
$GC,12109,0.60,146.1,750.0,19.9,548,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2672,2211,0,0,0,0,0,0
$GC,12415,0.60,146.1,689.3,19.9,558,12419,0.00,2.20,0.00,0.000,4,0.000,0.045,2039,1273,2211,0,0,0,0,0,0
$GC,12467,0.60,146.1,679.5,17.8,559,12472,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2672,2210,0,0,0,0,0,0
$GC,12783,0.60,146.1,618.1,19.4,569,12787,0.00,2.20,0.00,0.000,4,0.000,0.045,2049,1271,2210,0,0,0,0,0,0
$GC,12816,0.60,146.1,612.2,18.6,570,12820,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2670,2209,0,0,0,0,0,0
$GC,13154,0.60,146.1,544.7,19.8,581,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2671,2210,0,0,0,0,0,0
$GC,13460,0.60,146.1,485.0,19.5,591,13464,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1272,2210,0,0,0,0,0,0
$GC,13512,0.60,146.1,475.2,17.6,592,13517,0.12,2.22,0.00,0.000,6,0.203,0.050,2030,2672,2209,0,0,0,0,0,0
$GC,13837,0.60,146.1,419.4,17.3,603,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2672,2209,0,0,0,0,0,0
$GC,14141,0.60,146.1,364.1,17.8,616,14145,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1271,2209,0,0,0,0,0,0
$GC,14199,0.60,146.1,354.3,15.5,618,14203,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2671,2208,0,0,0,0,0,0
$GC,14520,0.60,146.1,296.7,17.8,633,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2209,0,0,0,0,0,0
$GC,14840,0.60,146.1,241.3,16.8,649,14844,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1273,2209,0,0,0,0,0,0
$GC,14922,0.60,146.1,228.0,15.2,654,14926,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2672,2207,0,0,0,0,0,0
$GC,15252,0.60,146.1,172.5,16.5,675,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2673,2208,0,0,0,0,0,0
$GC,15564,0.60,146.1,120.7,15.4,695,15568,0.00,2.20,0.00,0.000,4,0.000,0.043,2060,1273,2208,0,0,0,0,0,0
$GC,15711,0.60,146.1,100.0,12.1,703,15719,0.12,2.25,0.00,0.000,6,0.197,0.050,2031,2681,2207,0,0,0,0,0,0
$GC,16074,0.60,146.1,52.4,12.2,764,16083,0.00,1.95,0.00,0.000,4,0.000,0.058,2031,3895,2207,0,0,0,0,0,0
$GC,16150,0.60,146.1,40.8,16.6,775,16157,0.00,1.88,0.00,0.000,6,0.000,0.037,2039,2675,2208,0,0,0,0,0,0
$STATE,16397,end climb,SURFACE_DEPTH_REACHED
$STATE,16397,begin surface coast
$FINISH,0.7,1.013180
$STATE,16418,end surface coast,CONTROL_FINISHED_OK
$STATE,16418,begin surface
$SM_CCo,16441,41.45,0.786,1,0,1881,230.09
$SM_GC,1.80,0.00,0.00,41.45,0.000,0.000,0.786,49,2874,1881,-5.56,0.40,230.09
$IRIDIUM_FIX,-4626.10,436.44,090213,181812
$TT8_MAMPS,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.3,68.422
$10V_AH,9.9,35.975
$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,14.025,97.525,312.450,41.450,0.000,51.543,74.471,638.731,0.000,0.000,18.977,2055.134,11421.999,440.032,2844.390,818.106,33.396,1335.996,0.000,2076.421,0.000,1.008,0.000
$DEVICE_MAMPS,247.860,68.850,1900.260,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.339,1601.712,848.058,318.964,0.000,0.000,0.000,0.000,0.000,0.000
$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,60370,818
$CAP_FILE_SIZE,132305,0
$CFSIZE,259252224,205975552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,090213,232206,-4646.913,439.503,33,1.4,34,-23.5