version: 66.07
glider: 542
mission: 6
dive: 373
start: 2 10 113 9 20 26
data:
$ID,542
$MISSION,6
$DIVE,373
$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,-11635.48
$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,36
$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
$GPS1,100213,090604,-4650.797,441.561,37,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-60.7
$GPS2,100213,091929,-4650.777,441.733,18,1.1,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.060,-0.249
$KALMAN_X,-274166.4,186.4,-33.3,305360.0,-1673.1
$KALMAN_Y,256580.8,-82.9,13.6,-255586.4,2071.3
$MHEAD_RNG_PITCHd_Wd,190.0,17221,-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,-62.97,0.000,2,0.000,0.000,56,2882,3078,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.0,-2.5,8,124,6.93,1.65,-9.23,0.000,4,0.259,0.077,1619,3887,3418,0,0,0,0,0,0
$GC,325,-0.60,-146.1,37.2,-13.9,43,332,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2840,3419,0,0,0,0,0,0
$GC,569,-0.60,-146.1,71.9,-14.7,84,577,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2839,3420,0,0,0,0,0,0
$GC,919,-0.60,-146.1,114.6,-11.5,130,922,0.00,1.67,0.00,0.000,4,0.000,0.057,1611,3887,3420,0,0,0,0,0,0
$GC,1114,-0.60,-146.1,140.0,-13.6,141,1118,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2854,3422,0,0,0,0,0,0
$GC,1446,-0.60,-146.1,182.6,-12.0,162,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2849,3422,0,0,0,0,0,0
$GC,1758,-0.60,-146.1,218.5,-11.3,182,1762,0.00,1.67,0.00,0.000,4,0.000,0.057,1602,3883,3422,0,0,0,0,0,0
$GC,1817,-0.60,-146.1,225.9,-12.1,185,1821,0.08,1.55,0.00,0.000,6,0.160,0.031,1641,2854,3422,0,0,0,0,0,0
$GC,2144,-0.60,-146.1,253.9,-8.5,205,2148,0.00,1.67,0.00,0.000,4,0.000,0.059,1635,3881,3422,0,0,0,0,0,0
$GC,2195,-0.60,-146.1,258.8,-9.8,207,2199,0.00,1.52,0.00,0.000,6,0.000,0.031,1635,2866,3422,0,0,0,0,0,0
$GC,2532,-0.60,-146.1,290.9,-9.6,223,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2862,3422,0,0,0,0,0,0
$GC,2840,-0.60,-146.1,320.0,-9.3,238,2844,0.00,1.67,0.00,0.000,4,0.000,0.060,1627,3890,3422,0,0,0,0,0,0
$GC,2898,-0.60,-146.1,326.0,-10.1,240,2901,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2848,3422,0,0,0,0,0,0
$GC,3221,-0.60,-146.1,357.2,-9.8,256,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2844,3422,0,0,0,0,0,0
$GC,3533,-0.60,-146.1,389.6,-10.8,271,3536,0.00,1.67,0.00,0.000,4,0.000,0.059,1619,3887,3422,0,0,0,0,0,0
$GC,3603,-0.60,-146.1,398.0,-11.6,274,3607,0.00,1.55,0.00,0.000,6,0.000,0.032,1619,2857,3422,0,0,0,0,0,0
$GC,3935,-0.60,-146.1,435.4,-11.0,285,3938,0.00,1.67,0.00,0.000,4,0.000,0.060,1610,3893,3421,0,0,0,0,0,0
$GC,3981,-0.60,-146.1,441.1,-11.6,286,3985,0.00,1.55,0.00,0.000,6,0.000,0.032,1610,2868,3421,0,0,0,0,0,0
$GC,4313,-0.60,-146.1,478.7,-11.3,297,4316,0.00,1.62,0.00,0.000,4,0.000,0.060,1602,3887,3421,0,0,0,0,0,0
$GC,4358,-0.60,-146.1,484.3,-12.4,298,4363,0.08,1.55,0.00,0.000,6,0.163,0.032,1641,2861,3421,0,0,0,0,0,0
$GC,4691,-0.60,-146.1,510.9,-7.7,309,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2856,3421,0,0,0,0,0,0
$GC,4997,-0.60,-146.1,534.5,-7.8,319,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2856,3421,0,0,0,0,0,0
$GC,5303,-0.60,-146.1,556.4,-6.9,329,5307,0.00,1.67,0.00,0.000,4,0.000,0.061,1634,3879,3421,0,0,0,0,0,0
$GC,5362,-0.60,-146.1,561.0,-7.6,330,5365,0.00,1.55,0.00,0.000,6,0.000,0.032,1634,2856,3421,0,0,0,0,0,0
$GC,5684,-0.60,-146.1,583.7,-7.2,341,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2852,3421,0,0,0,0,0,0
$GC,5988,-0.60,-146.1,605.1,-6.9,351,5992,0.00,1.67,0.00,0.000,4,0.000,0.061,1626,3886,3420,0,0,0,0,0,0
$GC,6029,-0.60,-146.1,608.2,-8.0,352,6033,0.00,1.58,0.00,0.000,6,0.000,0.032,1626,2851,3420,0,0,0,0,0,0
$GC,6369,-0.60,-146.1,633.1,-7.6,363,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2847,3420,0,0,0,0,0,0
$GC,6673,-0.60,-146.1,657.8,-8.1,373,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2847,3420,0,0,0,0,0,0
$GC,6980,-0.60,-146.1,681.8,-7.7,383,6984,0.00,1.70,0.00,0.000,4,0.000,0.062,1618,3882,3420,0,0,0,0,0,0
$GC,7026,-0.60,-146.1,685.6,-7.9,384,7030,0.00,1.55,0.00,0.000,6,0.000,0.033,1618,2865,3420,0,0,0,0,0,0
$GC,7358,-0.60,-146.1,713.0,-8.5,395,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2860,3420,0,0,0,0,0,0
$GC,7665,-0.60,-146.1,739.2,-8.7,405,7669,0.00,1.70,0.00,0.000,4,0.000,0.061,1610,3894,3419,0,0,0,0,0,0
$GC,7717,-0.60,-146.1,744.5,-10.1,406,7720,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2860,3419,0,0,0,0,0,0
$GC,8042,-0.60,-146.1,776.2,-9.8,417,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3419,0,0,0,0,0,0
$GC,8351,-0.60,-146.1,805.6,-9.5,427,8354,0.00,1.67,0.00,0.000,4,0.000,0.060,1602,3890,3419,0,0,0,0,0,0
$GC,8408,-0.60,-146.1,811.9,-10.2,428,8412,0.08,1.58,0.00,0.000,6,0.156,0.032,1635,2855,3419,0,0,0,0,0,0
$GC,8729,-0.60,-146.1,836.4,-7.5,439,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2851,3419,0,0,0,0,0,0
$GC,9037,-0.60,-146.1,859.9,-7.9,449,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2851,3419,0,0,0,0,0,0
$GC,9341,-0.60,-146.1,883.8,-7.7,459,9345,0.00,1.67,0.00,0.000,4,0.000,0.063,1628,3886,3419,0,0,0,0,0,0
$GC,9388,-0.60,-146.1,887.6,-8.1,460,9391,0.00,1.55,0.00,0.000,6,0.000,0.032,1628,2870,3419,0,0,0,0,0,0
$GC,9720,-0.60,-146.1,911.9,-7.2,471,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2864,3419,0,0,0,0,0,0
$GC,10026,-0.60,-146.1,935.2,-7.6,481,10029,0.00,1.65,0.00,0.000,4,0.000,0.062,1620,3886,3419,0,0,0,0,0,0
$GC,10083,-0.60,-146.1,939.9,-8.4,482,10086,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2852,3418,0,0,0,0,0,0
$GC,10404,-0.60,-146.1,964.6,-7.7,493,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3418,0,0,0,0,0,0
$GC,10711,-0.60,-146.1,987.4,-7.3,503,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2847,3418,0,0,0,0,0,0
$STATE,10889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10889,begin apogee
$GC,10899,-0.18,0.0,1000.4,7.1,509,11049,0.50,0.00,146.00,1.248,6,0.149,0.000,1769,2673,2819,0,0,0,0,0,0
$STATE,11051,end apogee,CONTROL_FINISHED_OK
$STATE,11051,begin climb
$GC,11056,0.60,146.1,1003.2,0.0,514,11228,0.75,2.53,159.00,1.805,4,0.090,0.044,2025,1283,2225,0,0,0,0,1,0
$GC,11295,0.60,146.1,969.3,18.0,521,11299,0.00,2.40,0.00,0.000,6,0.000,0.050,2025,2658,2221,0,0,0,0,0,0
$GC,11616,0.60,146.1,907.6,19.2,532,11620,0.00,2.22,0.00,0.000,4,0.000,0.044,2036,1280,2217,0,0,0,0,0,0
$GC,11663,0.60,146.1,899.1,16.7,533,11667,0.00,2.28,0.00,0.000,6,0.000,0.051,2036,2674,2215,0,0,0,0,0,0
$GC,11983,0.60,146.1,838.0,19.6,544,11988,0.00,2.22,0.00,0.000,4,0.000,0.044,2046,1281,2215,0,0,0,0,0,0
$GC,12018,0.60,146.1,831.1,18.3,545,12022,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2670,2214,0,0,0,0,0,0
$GC,12351,0.60,146.1,764.2,20.7,556,12355,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1281,2214,0,0,0,0,0,0
$GC,12415,0.60,146.1,751.5,19.6,558,12420,0.12,2.25,0.00,0.000,6,0.216,0.050,2029,2678,2213,0,0,0,0,0,0
$GC,12759,0.60,146.1,686.7,18.8,569,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2679,2213,0,0,0,0,0,0
$GC,13066,0.60,146.1,629.5,18.5,579,13070,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1270,2213,0,0,0,0,0,0
$GC,13146,0.60,146.1,615.6,15.5,581,13150,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2671,2211,0,0,0,0,0,0
$GC,13466,0.60,146.1,555.5,18.9,592,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2671,2212,0,0,0,0,0,0
$GC,13773,0.60,146.1,499.0,18.4,602,13777,0.00,2.20,0.00,0.000,4,0.000,0.043,2048,1276,2212,0,0,0,0,0,0
$GC,13814,0.60,146.1,491.5,16.9,603,13818,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2675,2211,0,0,0,0,0,0
$GC,14140,0.60,146.1,429.9,19.1,614,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2675,2211,0,0,0,0,0,0
$GC,14461,0.60,146.1,367.4,19.7,627,14465,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1280,2211,0,0,0,0,0,0
$GC,14526,0.60,146.1,355.3,16.4,630,14531,0.12,2.22,0.00,0.000,6,0.205,0.050,2030,2670,2210,0,0,0,0,0,0
$GC,14857,0.60,146.1,298.1,17.6,646,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2211,0,0,0,0,0,0
$GC,15176,0.60,146.1,242.6,17.4,662,15180,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1271,2211,0,0,0,0,0,0
$GC,15227,0.60,146.1,234.8,15.0,665,15231,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2671,2210,0,0,0,0,0,0
$GC,15556,0.60,146.1,179.6,16.2,686,15557,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2672,2210,0,0,0,0,0,0
$GC,15866,0.60,146.1,128.0,16.0,706,15870,0.00,2.20,0.00,0.000,4,0.000,0.042,2050,1276,2210,0,0,0,0,0,0
$GC,15907,0.60,146.1,121.3,15.5,708,15916,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2672,2210,0,0,0,0,0,0
$GC,16250,0.60,146.1,64.2,16.7,753,16256,0.00,2.22,0.00,0.000,4,0.000,0.043,2060,1276,2210,0,0,0,0,0,0
$GC,16399,0.60,146.1,43.8,13.1,777,16406,0.12,2.22,0.00,0.000,6,0.198,0.050,2031,2675,2209,0,0,0,0,0,0
$GC,16655,0.60,146.1,8.0,12.0,818,16666,0.00,1.98,0.00,0.000,4,0.000,0.057,2031,3903,2210,0,0,0,0,0,0
$STATE,16686,end climb,SURFACE_DEPTH_REACHED
$STATE,16686,begin surface coast
$FINISH,0.7,1.002357
$STATE,16706,end surface coast,CONTROL_FINISHED_OK
$STATE,16706,begin surface
$SM_CCo,16729,42.03,0.768,1,0,1879,230.09
$SM_GC,1.80,0.00,0.00,42.03,0.000,0.000,0.768,52,2852,1879,-5.55,-0.23,230.09
$IRIDIUM_FIX,-4632.36,440.08,090213,232347
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.2,68.950
$10V_AH,10.0,36.317
$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,14.025,97.350,305.000,42.025,0.000,30.738,22.186,500.516,0.000,0.000,20.683,2086.280,11594.894,425.234,2671.564,791.370,33.398,1335.458,0.000,2102.075,0.000,1.010,0.000
$DEVICE_MAMPS,259.335,77.265,1804.635,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.404,1627.744,854.291,330.304,0.000,0.000,0.000,0.000,0.000,0.000
$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,60297,825
$CAP_FILE_SIZE,130323,0
$CFSIZE,259252224,205774848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100213,140128,-4652.364,441.117,36,0.8,37,-23.5