version: 66.07
glider: 542
mission: 6
dive: 372
start: 2 10 113 4 33 42
data:
$ID,542
$MISSION,6
$DIVE,372
$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,-11632.478
$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,44
$R_STBD_OVSHOOT,21
$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
$GPS1,100213,041804,-4648.938,441.026,37,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-56.2
$GPS2,100213,043245,-4648.973,441.121,27,0.8,28,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.094,-0.238
$KALMAN_X,-273086.6,4.8,234.0,303413.9,-2193.7
$KALMAN_Y,255164.7,-129.9,-187.1,-250575.0,2134.5
$MHEAD_RNG_PITCHd_Wd,181.9,20472,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.17,0.000,2,0.000,0.000,52,2855,3083,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.8,8,125,6.68,1.73,-9.07,0.000,4,0.246,0.076,1623,3895,3419,0,0,0,0,0,0
$GC,400,-0.60,-146.1,53.2,-15.8,55,406,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2834,3421,0,0,0,0,0,0
$GC,640,-0.60,-146.1,86.1,-13.5,96,649,0.00,1.73,0.00,0.000,4,0.000,0.057,1615,3894,3421,0,0,0,0,0,0
$GC,714,-0.60,-146.1,96.4,-13.5,108,723,0.00,1.55,0.00,0.000,6,0.000,0.030,1615,2860,3421,0,0,0,0,0,0
$GC,1047,-0.60,-146.1,135.8,-10.9,132,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2860,3422,0,0,0,0,0,0
$GC,1360,-0.60,-146.1,170.7,-11.1,152,1364,0.00,1.70,0.00,0.000,4,0.000,0.058,1607,3894,3423,0,0,0,0,0,0
$GC,1400,-0.60,-146.1,175.9,-12.4,154,1404,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2862,3423,0,0,0,0,0,0
$GC,1731,-0.60,-146.1,216.6,-12.0,175,1734,0.00,1.67,0.00,0.000,4,0.000,0.058,1598,3904,3423,0,0,0,0,0,0
$GC,1769,-0.60,-146.1,221.7,-12.8,177,1774,0.10,1.58,0.00,0.000,6,0.160,0.031,1629,2856,3423,0,0,0,0,0,0
$GC,2103,-0.60,-146.1,255.1,-9.8,197,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3423,0,0,0,0,0,0
$GC,2407,-0.60,-146.1,284.1,-9.1,212,2410,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3909,3423,0,0,0,0,0,0
$GC,2481,-0.60,-146.1,292.2,-10.5,215,2485,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2863,3423,0,0,0,0,0,0
$GC,2812,-0.60,-146.1,326.3,-10.8,231,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2859,3423,0,0,0,0,0,0
$GC,3120,-0.60,-146.1,358.7,-10.3,246,3123,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3900,3422,0,0,0,0,0,0
$GC,3177,-0.60,-146.1,365.1,-10.4,248,3181,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2856,3422,0,0,0,0,0,0
$GC,3501,-0.60,-146.1,399.9,-10.9,264,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2852,3422,0,0,0,0,0,0
$GC,3827,-0.60,-146.1,436.1,-11.3,275,3831,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3905,3422,0,0,0,0,0,0
$GC,3879,-0.60,-146.1,442.4,-12.3,276,3883,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2865,3421,0,0,0,0,0,0
$GC,4205,-0.60,-146.1,479.2,-11.2,287,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2860,3421,0,0,0,0,0,0
$GC,4512,-0.60,-146.1,511.7,-10.7,297,4515,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3903,3421,0,0,0,0,0,0
$GC,4552,-0.60,-146.1,516.4,-11.4,298,4556,0.08,1.58,0.00,0.000,6,0.161,0.032,1629,2864,3421,0,0,0,0,0,0
$GC,4890,-0.60,-146.1,546.5,-9.0,309,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3421,0,0,0,0,0,0
$GC,5196,-0.60,-146.1,574.6,-9.2,319,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3420,0,0,0,0,0,0
$GC,5502,-0.60,-146.1,601.9,-8.9,329,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3420,0,0,0,0,0,0
$GC,5810,-0.60,-146.1,628.1,-8.4,339,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3419,0,0,0,0,0,0
$GC,6115,-0.60,-146.1,653.1,-8.1,349,6119,0.00,1.70,0.00,0.000,4,0.000,0.062,1622,3907,3419,0,0,0,0,0,0
$GC,6156,-0.60,-146.1,656.7,-9.4,350,6159,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2858,3419,0,0,0,0,0,0
$GC,6493,-0.60,-146.1,685.3,-8.6,361,6497,0.00,1.73,0.00,0.000,4,0.000,0.061,1614,3903,3419,0,0,0,0,0,0
$GC,6540,-0.60,-146.1,690.0,-9.8,362,6544,0.00,1.60,0.00,0.000,6,0.000,0.032,1614,2852,3419,0,0,0,0,0,0
$GC,6872,-0.60,-146.1,721.0,-9.3,373,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2847,3418,0,0,0,0,0,0
$GC,7178,-0.60,-146.1,749.2,-9.2,383,7182,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3900,3418,0,0,0,0,0,0
$GC,7224,-0.60,-146.1,754.1,-10.6,384,7228,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2854,3417,0,0,0,0,0,0
$GC,7556,-0.60,-146.1,785.8,-9.7,395,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2849,3417,0,0,0,0,0,0
$GC,7864,-0.60,-146.1,816.0,-9.8,405,7867,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3901,3417,0,0,0,0,0,0
$GC,7921,-0.60,-146.1,822.5,-11.4,406,7926,0.08,1.60,0.00,0.000,6,0.166,0.032,1629,2853,3416,0,0,0,0,0,0
$GC,8243,-0.60,-146.1,846.9,-7.5,417,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3417,0,0,0,0,0,0
$GC,8549,-0.60,-146.1,868.3,-7.0,427,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3417,0,0,0,0,0,0
$GC,8855,-0.60,-146.1,891.0,-7.4,437,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3417,0,0,0,0,0,0
$GC,9161,-0.60,-146.1,912.2,-7.0,447,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3417,0,0,0,0,0,0
$GC,9467,-0.60,-146.1,933.2,-6.7,457,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3417,0,0,0,0,0,0
$GC,9774,-0.60,-146.1,953.0,-6.3,467,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3417,0,0,0,0,0,0
$GC,10080,-0.60,-146.1,972.1,-6.1,477,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2850,3417,0,0,0,0,0,0
$GC,10386,-0.60,-146.1,991.5,-6.6,487,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3416,0,0,0,0,0,0
$STATE,10504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10504,begin apogee
$GC,10515,-0.18,0.0,1000.3,7.2,491,10664,0.45,0.00,145.65,1.246,6,0.149,0.000,1765,2674,2819,0,0,0,0,0,0
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10666,begin climb
$GC,10670,0.60,146.1,1004.7,0.0,496,10843,0.77,2.50,159.90,1.809,4,0.093,0.043,2028,1292,2225,0,0,0,0,1,0
$GC,10899,0.60,146.1,974.1,17.1,503,10904,0.00,2.42,0.00,0.000,6,0.000,0.050,2028,2679,2220,0,0,0,0,0,0
$GC,11232,0.60,146.1,907.3,20.2,514,11236,0.00,2.28,0.00,0.000,4,0.000,0.044,2038,1280,2216,0,0,0,0,0,0
$GC,11272,0.60,146.1,899.1,19.3,515,11277,0.00,2.28,0.00,0.000,6,0.000,0.050,2039,2676,2215,0,0,0,0,0,0
$GC,11599,0.60,146.1,830.7,21.2,526,11603,0.00,2.22,0.00,0.000,4,0.000,0.044,2049,1285,2214,0,0,0,0,0,0
$GC,11645,0.60,146.1,821.0,19.3,527,11649,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2676,2212,0,0,0,0,0,0
$GC,11966,0.60,146.1,751.9,21.6,538,11970,0.00,2.22,0.00,0.000,4,0.000,0.043,2059,1273,2212,0,0,0,0,0,0
$GC,12001,0.60,146.1,744.1,19.5,539,12006,0.12,2.25,0.00,0.000,6,0.211,0.050,2030,2672,2212,0,0,0,0,0,0
$GC,12334,0.60,146.1,679.1,19.3,550,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2672,2211,0,0,0,0,0,0
$GC,12641,0.60,146.1,620.6,18.8,560,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2672,2211,0,0,0,0,0,0
$GC,12946,0.60,146.1,563.8,18.2,570,12950,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1279,2211,0,0,0,0,0,0
$GC,13004,0.60,146.1,553.9,16.2,571,13011,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2670,2210,0,0,0,0,0,0
$GC,13319,0.60,146.1,496.1,18.7,582,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2210,0,0,0,0,0,0
$GC,13626,0.60,146.1,438.7,18.7,592,13630,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1277,2210,0,0,0,0,0,0
$GC,13691,0.60,146.1,427.2,17.4,594,13695,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2675,2209,0,0,0,0,0,0
$GC,14012,0.60,146.1,365.8,19.1,607,14016,0.00,2.20,0.00,0.000,4,0.000,0.045,2060,1277,2210,0,0,0,0,0,0
$GC,14062,0.60,146.1,356.8,16.4,609,14067,0.12,2.25,0.00,0.000,6,0.201,0.050,2030,2677,2209,0,0,0,0,0,0
$GC,14395,0.60,146.1,299.9,17.5,625,14399,0.00,2.17,0.00,0.000,4,0.000,0.044,2040,1284,2210,0,0,0,0,0,0
$GC,14440,0.60,146.1,292.2,16.4,627,14444,0.00,2.20,0.00,0.000,6,0.000,0.050,2040,2669,2209,0,0,0,0,0,0
$GC,14760,0.60,146.1,232.4,19.0,644,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2209,0,0,0,0,0,0
$GC,15073,0.60,146.1,176.2,17.4,664,15077,0.00,2.17,0.00,0.000,4,0.000,0.044,2050,1287,2209,0,0,0,0,0,0
$GC,15191,0.60,146.1,157.0,16.3,671,15195,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2669,2209,0,0,0,0,0,0
$GC,15518,0.60,146.1,99.0,16.9,692,15524,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2670,2209,0,0,0,0,0,0
$GC,15879,0.60,146.1,42.2,16.7,753,15886,0.00,1.95,0.00,0.000,4,0.000,0.057,2050,3904,2209,0,0,0,0,0,0
$GC,15922,0.60,146.1,34.8,18.0,759,15930,0.15,1.88,0.00,0.000,6,0.227,0.037,2026,2673,2209,0,0,0,0,0,0
$STATE,16154,end climb,SURFACE_DEPTH_REACHED
$STATE,16155,begin surface coast
$FINISH,0.7,1.002579
$STATE,16187,end surface coast,CONTROL_FINISHED_OK
$STATE,16187,begin surface
$SM_CCo,16209,41.70,0.782,1,0,1879,230.09
$SM_GC,1.84,0.00,0.00,41.70,0.000,0.000,0.782,58,2881,1879,-5.54,0.59,230.09
$IRIDIUM_FIX,-4632.36,440.08,090213,232347
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.3,68.776
$10V_AH,10.0,36.202
$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,13.775,84.250,305.550,41.700,0.000,26.102,44.596,547.747,0.000,0.000,30.573,1993.001,11332.525,427.415,2605.668,764.304,33.371,1268.732,0.000,1970.548,0.000,1.008,0.000
$DEVICE_MAMPS,245.565,75.735,1809.225,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.161,1580.584,828.031,308.752,0.000,0.000,0.000,0.000,0.000,0.000
$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,57064,801
$CAP_FILE_SIZE,122334,0
$CFSIZE,259252224,205852672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100213,090604,-4650.797,441.561,37,0.9,38,-23.5