version: 66.07
glider: 542
mission: 6
dive: 371
start: 2 9 113 23 36 57
data:
$ID,542
$MISSION,6
$DIVE,371
$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,-11629.561
$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,31
$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
$GPS1,090213,232206,-4646.913,439.503,33,1.4,34,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-47.8
$GPS2,090213,233600,-4646.953,439.640,17,1.4,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.133,-0.220
$KALMAN_X,-272316.9,151.5,174.5,300690.5,-2773.8
$KALMAN_Y,254301.8,-203.2,-87.1,-245999.2,2401.2
$MHEAD_RNG_PITCHd_Wd,172.3,24168,-16.4,-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,-63.05,0.000,2,0.000,0.000,49,2874,3095,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-3.1,8,125,6.72,2.28,-8.85,0.000,4,0.247,0.054,1641,1458,3419,0,0,0,0,0,0
$GC,319,-0.60,-146.1,32.5,-9.5,42,328,0.00,2.28,0.00,0.000,6,0.000,0.051,1632,2853,3421,0,0,0,0,0,0
$GC,571,-0.60,-146.1,63.9,-12.2,83,576,0.00,1.67,0.00,0.000,4,0.000,0.057,1624,3899,3421,0,0,0,0,0,0
$GC,691,-0.60,-146.1,79.1,-12.4,103,696,0.00,1.60,0.00,0.000,6,0.000,0.030,1624,2837,3421,0,0,0,0,0,0
$GC,1032,-0.60,-146.1,119.5,-10.2,143,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2834,3421,0,0,0,0,0,0
$GC,1345,-0.60,-146.1,150.5,-10.1,163,1349,0.00,1.73,0.00,0.000,4,0.000,0.058,1615,3896,3422,0,0,0,0,0,0
$GC,1392,-0.60,-146.1,156.3,-11.7,165,1399,0.00,1.55,0.00,0.000,6,0.000,0.030,1615,2855,3422,0,0,0,0,0,0
$GC,1716,-0.60,-146.1,192.1,-11.1,186,1719,0.00,1.67,0.00,0.000,4,0.000,0.057,1607,3904,3423,0,0,0,0,0,0
$GC,1752,-0.60,-146.1,196.9,-12.4,188,1756,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2867,3423,0,0,0,0,0,0
$GC,2087,-0.60,-146.1,236.4,-11.9,209,2090,0.00,1.67,0.00,0.000,4,0.000,0.058,1599,3909,3423,0,0,0,0,0,0
$GC,2167,-0.60,-146.1,247.0,-12.6,213,2174,0.10,1.58,0.00,0.000,6,0.162,0.031,1629,2857,3423,0,0,0,0,0,0
$GC,2496,-0.60,-146.1,278.3,-9.3,230,2500,0.00,1.65,0.00,0.000,4,0.000,0.059,1623,3903,3424,0,0,0,0,0,0
$GC,2544,-0.60,-146.1,283.0,-10.0,232,2548,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2871,3423,0,0,0,0,0,0
$GC,2879,-0.60,-146.1,317.3,-10.3,248,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3423,0,0,0,0,0,0
$GC,3190,-0.60,-146.1,348.5,-10.1,263,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3423,0,0,0,0,0,0
$GC,3498,-0.60,-146.1,379.2,-10.0,278,3502,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3908,3423,0,0,0,0,0,0
$GC,3563,-0.60,-146.1,386.4,-10.8,280,3572,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2860,3423,0,0,0,0,0,0
$GC,3900,-0.60,-146.1,419.5,-9.5,294,3904,0.00,1.70,0.00,0.000,4,0.000,0.060,1607,3907,3423,0,0,0,0,0,0
$GC,3952,-0.60,-146.1,424.9,-10.3,295,3956,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2863,3422,0,0,0,0,0,0
$GC,4278,-0.60,-146.1,455.7,-9.4,306,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2859,3422,0,0,0,0,0,0
$GC,4585,-0.60,-146.1,484.5,-9.3,316,4588,0.00,1.65,0.00,0.000,4,0.000,0.059,1598,3900,3422,0,0,0,0,0,0
$GC,4648,-0.60,-146.1,491.0,-10.1,317,4655,0.10,1.58,0.00,0.000,6,0.162,0.032,1629,2856,3422,0,0,0,0,0,0
$GC,4964,-0.60,-146.1,515.1,-7.4,328,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2856,3422,0,0,0,0,0,0
$GC,5270,-0.60,-146.1,539.6,-8.2,338,5274,0.00,1.70,0.00,0.000,4,0.000,0.061,1622,3894,3421,0,0,0,0,0,0
$GC,5311,-0.60,-146.1,543.4,-9.3,339,5315,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2854,3421,0,0,0,0,0,0
$GC,5651,-0.60,-146.1,572.9,-8.7,350,5654,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3903,3421,0,0,0,0,0,0
$GC,5701,-0.60,-146.1,578.4,-10.2,351,5705,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2863,3421,0,0,0,0,0,0
$GC,6029,-0.60,-146.1,610.1,-9.9,362,6033,0.00,1.67,0.00,0.000,4,0.000,0.061,1606,3898,3421,0,0,0,0,0,0
$GC,6058,-0.60,-146.1,613.6,-10.7,362,6065,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2856,3421,0,0,0,0,0,0
$GC,6374,-0.60,-146.1,645.4,-9.9,373,6378,0.00,1.70,0.00,0.000,4,0.000,0.061,1598,3895,3420,0,0,0,0,0,0
$GC,6411,-0.60,-146.1,649.2,-10.3,374,6416,0.10,1.58,0.00,0.000,6,0.161,0.032,1628,2854,3420,0,0,0,0,0,0
$GC,6757,-0.60,-146.1,675.4,-7.0,385,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,7061,-0.60,-146.1,697.8,-7.5,395,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,7370,-0.60,-146.1,722.5,-8.2,405,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2851,3420,0,0,0,0,0,0
$GC,7674,-0.60,-146.1,746.2,-7.7,415,7677,0.00,1.70,0.00,0.000,4,0.000,0.061,1622,3898,3419,0,0,0,0,0,0
$GC,7720,-0.60,-146.1,750.2,-8.5,416,7724,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2866,3419,0,0,0,0,0,0
$GC,8052,-0.60,-146.1,776.9,-8.3,427,8056,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3898,3419,0,0,0,0,0,0
$GC,8098,-0.60,-146.1,781.2,-9.0,428,8102,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2862,3418,0,0,0,0,0,0
$GC,8430,-0.60,-146.1,809.3,-8.4,439,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3419,0,0,0,0,0,0
$GC,8739,-0.60,-146.1,835.4,-8.6,449,8742,0.00,1.70,0.00,0.000,4,0.000,0.062,1606,3905,3418,0,0,0,0,0,0
$GC,8795,-0.60,-146.1,841.3,-10.3,450,8799,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2856,3417,0,0,0,0,0,0
$GC,9115,-0.60,-146.1,872.0,-9.8,461,9117,0.10,0.00,0.00,0.000,6,0.193,0.000,1630,2851,3417,0,0,0,0,0,0
$GC,9424,-0.60,-146.1,895.8,-7.3,471,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3417,0,0,0,0,0,0
$GC,9728,-0.60,-146.1,916.9,-6.7,481,9732,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3897,3418,0,0,0,0,0,0
$GC,9768,-0.60,-146.1,920.0,-6.9,482,9772,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2868,3418,0,0,0,0,0,0
$GC,10106,-0.60,-146.1,943.3,-7.0,493,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3417,0,0,0,0,0,0
$GC,10412,-0.60,-146.1,965.0,-7.1,503,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3417,0,0,0,0,0,0
$GC,10718,-0.60,-146.1,986.1,-6.9,513,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3417,0,0,0,0,0,0
$STATE,10928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10928,begin apogee
$GC,10939,-0.18,0.0,1001.1,7.1,520,11088,0.47,0.00,145.48,1.253,6,0.150,0.000,1764,2674,2819,0,0,0,0,0,0
$STATE,11090,end apogee,CONTROL_FINISHED_OK
$STATE,11090,begin climb
$GC,11094,0.60,146.1,1004.8,0.0,525,11267,0.80,2.50,159.65,1.821,4,0.097,0.044,2031,1281,2225,0,0,0,0,1,0
$GC,11323,0.60,146.1,973.0,18.2,532,11328,0.00,2.42,0.00,0.000,6,0.000,0.050,2031,2669,2220,0,0,0,0,0,0
$GC,11656,0.60,146.1,904.9,20.7,543,11660,0.00,2.25,0.00,0.000,4,0.000,0.046,2041,1282,2216,0,0,0,0,0,0
$GC,11691,0.60,146.1,897.4,19.6,544,11695,0.00,2.30,0.00,0.000,6,0.000,0.050,2042,2680,2215,0,0,0,0,0,0
$GC,12023,0.60,146.1,826.3,21.7,555,12027,0.00,2.22,0.00,0.000,4,0.000,0.045,2052,1275,2214,0,0,0,0,0,0
$GC,12088,0.60,146.1,813.1,19.9,557,12092,0.00,2.25,0.00,0.000,6,0.000,0.050,2052,2669,2214,0,0,0,0,0,0
$GC,12432,0.60,146.1,736.2,22.5,568,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2669,2213,0,0,0,0,0,0
$GC,12738,0.60,146.1,670.8,21.1,578,12742,0.00,2.22,0.00,0.000,4,0.000,0.045,2062,1272,2213,0,0,0,0,0,0
$GC,12790,0.60,146.1,660.4,19.0,579,12795,0.15,2.25,0.00,0.000,6,0.206,0.050,2026,2670,2211,0,0,0,0,0,0
$GC,13111,0.60,146.1,602.8,17.2,590,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2670,2212,0,0,0,0,0,0
$GC,13417,0.60,146.1,550.2,16.6,600,13421,0.00,2.17,0.00,0.000,4,0.000,0.044,2036,1272,2211,0,0,0,0,0,0
$GC,13486,0.60,146.1,539.0,15.3,602,13490,0.00,2.25,0.00,0.000,6,0.000,0.051,2037,2679,2210,0,0,0,0,0,0
$GC,13824,0.60,146.1,479.3,18.1,613,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2679,2210,0,0,0,0,0,0
$GC,14130,0.60,146.1,427.3,16.5,623,14134,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1275,2210,0,0,0,0,0,0
$GC,14182,0.60,146.1,418.9,15.0,624,14186,0.00,2.22,0.00,0.000,6,0.000,0.050,2047,2669,2209,0,0,0,0,0,0
$GC,14505,0.60,146.1,362.5,17.5,638,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2670,2209,0,0,0,0,0,0
$GC,14817,0.60,146.1,305.4,18.2,653,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2670,2209,0,0,0,0,0,0
$GC,15124,0.60,146.1,247.7,18.4,668,15128,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1277,2209,0,0,0,0,0,0
$GC,15165,0.60,146.1,240.0,16.9,670,15174,0.10,2.25,0.00,0.000,6,0.187,0.050,2029,2662,2209,0,0,0,0,0,0
$GC,15493,0.60,146.1,186.0,17.2,691,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2662,2209,0,0,0,0,0,0
$GC,15814,0.60,146.1,133.8,16.0,712,15818,0.00,2.17,0.00,0.000,4,0.000,0.044,2038,1275,2209,0,0,0,0,0,0
$GC,15849,0.60,146.1,128.3,14.3,714,15853,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2673,2208,0,0,0,0,0,0
$GC,16181,0.60,146.1,78.7,13.6,750,16190,0.00,2.22,0.00,0.000,4,0.000,0.043,2048,1277,2208,0,0,0,0,0,0
$GC,16276,0.60,146.1,66.9,12.4,765,16283,0.00,2.28,0.00,0.000,6,0.000,0.053,2048,2667,2207,0,0,0,0,0,0
$GC,16649,0.60,146.1,11.0,16.9,826,16658,0.00,2.00,0.00,0.000,4,0.000,0.060,2048,3902,2208,0,0,0,0,0,0
$STATE,16690,end climb,SURFACE_DEPTH_REACHED
$STATE,16690,begin surface coast
$FINISH,0.6,1.020640
$STATE,16710,end surface coast,CONTROL_FINISHED_OK
$STATE,16710,begin surface
$SM_CCo,16734,41.62,0.786,1,0,1880,230.09
$SM_GC,2.05,0.00,0.00,41.62,0.000,0.000,0.786,53,2855,1880,-5.55,-0.14,230.09
$IRIDIUM_FIX,-4629.23,442.95,090213,181807
$TT8_MAMPS,0.026215
$HUMID,59.25
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,1
$24V_AH,21.3,68.598
$10V_AH,10.0,36.091
$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,14.200,101.225,305.125,41.625,0.000,25.942,35.500,500.144,0.250,0.000,20.111,2089.274,11587.122,443.244,2687.794,794.618,33.396,1350.546,0.000,2085.962,0.000,1.010,0.000
$DEVICE_MAMPS,247.095,61.965,1820.700,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.722,1636.639,867.856,338.069,0.000,0.000,0.000,0.000,0.000,0.000
$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,60417,835
$CAP_FILE_SIZE,130403,0
$CFSIZE,259252224,205910016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100213,041804,-4648.938,441.026,37,0.9,38,-23.5