version: 66.07
glider: 542
mission: 6
dive: 374
start: 2 10 113 14 19 38
data:
$ID,542
$MISSION,6
$DIVE,374
$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,-11638.453
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,100213,140128,-4652.364,441.117,36,0.8,37,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-63.2
$GPS2,100213,141841,-4652.316,441.204,14,1.7,14,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.109,-0.231
$KALMAN_X,-276171.3,186.0,32.6,306636.4,-2591.7
$KALMAN_Y,258795.6,64.7,76.6,-260868.1,2339.4
$MHEAD_RNG_PITCHd_Wd,178.2,14311,-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,-63.03,0.000,2,0.000,0.000,51,2853,3077,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.2,-3.8,8,124,6.88,1.75,-9.35,0.000,4,0.256,0.078,1620,3897,3418,0,0,0,0,0,0
$GC,238,-0.60,-146.1,26.1,-14.7,28,247,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2850,3419,0,0,0,0,0,0
$GC,324,-0.60,-146.1,38.0,-13.2,41,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3419,0,0,0,0,0,0
$GC,570,-0.60,-146.1,71.4,-13.3,82,576,0.00,1.70,0.00,0.000,4,0.000,0.058,1611,3891,3419,0,0,0,0,0,0
$GC,619,-0.60,-146.1,78.5,-14.0,90,628,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2845,3419,0,0,0,0,0,0
$GC,971,-0.60,-146.1,122.2,-12.3,131,972,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2845,3420,0,0,0,0,0,0
$GC,1282,-0.60,-146.1,160.0,-11.9,151,1285,0.00,1.70,0.00,0.000,4,0.000,0.059,1603,3906,3421,0,0,0,0,0,0
$GC,1389,-0.60,-146.1,173.0,-12.2,157,1393,0.08,1.58,0.00,0.000,6,0.157,0.031,1636,2862,3421,0,0,0,0,0,0
$GC,1727,-0.60,-146.1,203.7,-9.0,178,1731,0.00,1.67,0.00,0.000,4,0.000,0.060,1629,3900,3421,0,0,0,0,0,0
$GC,1774,-0.60,-146.1,209.0,-10.2,180,1782,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2847,3421,0,0,0,0,0,0
$GC,2097,-0.60,-146.1,239.9,-9.7,201,2101,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3891,3421,0,0,0,0,0,0
$GC,2136,-0.60,-146.1,244.0,-10.8,203,2140,0.00,1.52,0.00,0.000,6,0.000,0.031,1621,2874,3421,0,0,0,0,0,0
$GC,2471,-0.60,-146.1,279.0,-10.5,220,2475,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3898,3421,0,0,0,0,0,0
$GC,2512,-0.60,-146.1,283.9,-12.1,221,2519,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2849,3421,0,0,0,0,0,0
$GC,2833,-0.60,-146.1,320.1,-11.8,237,2836,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3905,3421,0,0,0,0,0,0
$GC,2885,-0.60,-146.1,327.2,-12.6,239,2889,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2864,3421,0,0,0,0,0,0
$GC,3216,-0.60,-146.1,367.9,-12.5,255,3218,0.10,0.00,0.00,0.000,6,0.190,0.000,1629,2859,3421,0,0,0,0,0,0
$GC,3524,-0.60,-146.1,401.1,-10.8,270,3527,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3897,3421,0,0,0,0,0,0
$GC,3564,-0.60,-146.1,406.0,-11.1,271,3568,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2856,3421,0,0,0,0,0,0
$GC,3902,-0.60,-146.1,444.5,-11.6,282,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2851,3421,0,0,0,0,0,0
$GC,4208,-0.60,-146.1,480.3,-11.9,292,4212,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3890,3421,0,0,0,0,0,0
$GC,4249,-0.60,-146.1,485.7,-13.0,293,4253,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2868,3420,0,0,0,0,0,0
$GC,4588,-0.60,-146.1,525.3,-11.4,304,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3420,0,0,0,0,0,0
$GC,4892,-0.60,-146.1,558.4,-10.5,314,4896,0.00,1.65,0.00,0.000,4,0.000,0.060,1606,3898,3420,0,0,0,0,0,0
$GC,4944,-0.60,-146.1,564.2,-11.3,315,4948,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2854,3420,0,0,0,0,0,0
$GC,5271,-0.60,-146.1,595.6,-9.3,326,5275,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3890,3420,0,0,0,0,0,0
$GC,5323,-0.60,-146.1,601.3,-10.4,327,5327,0.08,1.58,0.00,0.000,6,0.165,0.032,1629,2854,3420,0,0,0,0,0,0
$GC,5652,-0.60,-146.1,626.6,-7.6,338,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,5956,-0.60,-146.1,649.8,-7.6,348,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3419,0,0,0,0,0,0
$GC,6264,-0.60,-146.1,673.8,-7.9,358,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3419,0,0,0,0,0,0
$GC,6569,-0.60,-146.1,697.8,-7.9,368,6573,0.00,1.70,0.00,0.000,4,0.000,0.063,1622,3899,3418,0,0,0,0,0,0
$GC,6643,-0.60,-146.1,704.5,-8.7,370,6647,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2867,3418,0,0,0,0,0,0
$GC,6981,-0.60,-146.1,730.9,-7.9,381,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3418,0,0,0,0,0,0
$GC,7289,-0.60,-146.1,755.0,-7.9,391,7292,0.00,1.67,0.00,0.000,4,0.000,0.062,1614,3896,3417,0,0,0,0,0,0
$GC,7340,-0.60,-146.1,759.6,-8.4,392,7343,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2859,3417,0,0,0,0,0,0
$GC,7666,-0.60,-146.1,787.2,-8.5,403,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2855,3417,0,0,0,0,0,0
$GC,7972,-0.60,-146.1,813.0,-8.4,413,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2855,3417,0,0,0,0,0,0
$GC,8278,-0.60,-146.1,839.2,-8.6,423,8282,0.00,1.70,0.00,0.000,4,0.000,0.062,1606,3902,3417,0,0,0,0,0,0
$GC,8330,-0.60,-146.1,844.2,-9.9,424,8333,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2869,3416,0,0,0,0,0,0
$GC,8656,-0.60,-146.1,872.4,-8.7,435,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2863,3416,0,0,0,0,0,0
$GC,8964,-0.60,-146.1,899.6,-8.8,445,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2863,3416,0,0,0,0,0,0
$GC,9268,-0.60,-146.1,927.0,-9.1,455,9272,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3899,3416,0,0,0,0,0,0
$GC,9354,-0.60,-146.1,935.7,-10.5,457,9358,0.08,1.60,0.00,0.000,6,0.164,0.033,1630,2852,3416,0,0,0,0,0,0
$GC,9681,-0.60,-146.1,960.0,-7.5,468,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2849,3416,0,0,0,0,0,0
$GC,9989,-0.60,-146.1,983.6,-7.6,478,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2849,3416,0,0,0,0,0,0
$STATE,10228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10228,begin apogee
$GC,10239,-0.18,0.0,1002.0,7.3,486,10387,0.45,0.00,145.18,1.240,6,0.150,0.000,1766,2673,2819,0,0,0,0,0,0
$STATE,10389,end apogee,CONTROL_FINISHED_OK
$STATE,10389,begin climb
$GC,10394,0.60,146.1,1006.0,0.0,491,10574,0.80,2.55,161.27,1.790,4,0.093,0.042,2031,1291,2226,0,0,0,0,2,0
$GC,10600,0.60,146.1,978.2,18.8,498,10604,0.00,2.47,0.00,0.000,6,0.000,0.050,2031,2674,2223,0,0,0,0,0,0
$GC,10938,0.60,146.1,907.7,20.4,509,10942,0.00,2.25,0.00,0.000,4,0.000,0.043,2041,1285,2219,0,0,0,0,0,0
$GC,10979,0.60,146.1,899.3,19.3,510,10983,0.00,2.28,0.00,0.000,6,0.000,0.051,2041,2676,2216,0,0,0,0,0,0
$GC,11305,0.60,146.1,831.2,20.8,521,11309,0.00,2.20,0.00,0.000,4,0.000,0.044,2051,1285,2216,0,0,0,0,0,0
$GC,11351,0.60,146.1,821.5,19.6,522,11356,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2673,2215,0,0,0,0,0,0
$GC,11673,0.60,146.1,753.8,21.2,533,11677,0.00,2.20,0.00,0.000,4,0.000,0.043,2061,1282,2215,0,0,0,0,0,0
$GC,11713,0.60,146.1,745.1,18.9,534,11718,0.15,2.22,0.00,0.000,6,0.213,0.050,2027,2676,2214,0,0,0,0,0,0
$GC,12041,0.60,146.1,684.1,18.7,545,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2676,2214,0,0,0,0,0,0
$GC,12347,0.60,146.1,625.8,19.2,555,12351,0.00,2.20,0.00,0.000,4,0.000,0.042,2036,1275,2213,0,0,0,0,0,0
$GC,12421,0.60,146.1,612.6,17.4,557,12425,0.00,2.25,0.00,0.000,6,0.000,0.051,2036,2674,2212,0,0,0,0,0,0
$GC,12753,0.60,146.1,548.1,19.6,568,12757,0.00,2.17,0.00,0.000,4,0.000,0.042,2046,1285,2212,0,0,0,0,0,0
$GC,12806,0.60,146.1,538.1,17.9,569,12810,0.00,2.20,0.00,0.000,6,0.000,0.050,2046,2669,2211,0,0,0,0,0,0
$GC,13128,0.60,146.1,473.8,20.4,580,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2212,0,0,0,0,0,0
$GC,13433,0.60,146.1,414.5,18.8,590,13437,0.00,2.17,0.00,0.000,4,0.000,0.044,2057,1284,2212,0,0,0,0,0,0
$GC,13499,0.60,146.1,403.1,17.0,592,13504,0.12,2.20,0.00,0.000,6,0.206,0.050,2028,2669,2211,0,0,0,0,0,0
$GC,13822,0.60,146.1,348.4,17.3,607,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2211,0,0,0,0,0,0
$GC,14130,0.60,146.1,294.7,17.2,622,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2211,0,0,0,0,0,0
$GC,14446,0.60,146.1,240.3,17.5,638,14450,0.00,2.17,0.00,0.000,4,0.000,0.044,2037,1287,2211,0,0,0,0,0,0
$GC,14500,0.60,146.1,231.2,15.5,641,14504,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2670,2210,0,0,0,0,0,0
$GC,14824,0.60,146.1,175.6,16.8,661,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2671,2210,0,0,0,0,0,0
$GC,15136,0.60,146.1,126.4,15.5,681,15140,0.00,2.17,0.00,0.000,4,0.000,0.043,2048,1285,2210,0,0,0,0,0,0
$GC,15192,0.60,146.1,118.5,12.9,684,15196,0.00,2.20,0.00,0.000,6,0.000,0.051,2047,2669,2210,0,0,0,0,0,0
$GC,15535,0.60,146.1,68.5,14.9,730,15542,0.00,2.17,0.00,0.000,4,0.000,0.044,2058,1280,2210,0,0,0,0,0,0
$GC,15594,0.60,146.1,60.2,13.9,739,15600,0.12,2.22,0.00,0.000,6,0.184,0.050,2028,2670,2210,0,0,0,0,0,0
$GC,15967,0.60,146.1,7.1,14.8,800,15976,0.00,2.00,0.00,0.000,4,0.000,0.065,2027,3896,2210,0,0,0,0,0,0
$STATE,15996,end climb,SURFACE_DEPTH_REACHED
$STATE,15996,begin surface coast
$FINISH,0.8,1.013299
$STATE,16016,end surface coast,CONTROL_FINISHED_OK
$STATE,16016,begin surface
$SM_CCo,16039,42.12,0.777,1,0,1878,230.09
$SM_GC,2.01,0.00,0.00,42.12,0.000,0.000,0.777,62,2853,1878,-5.53,-0.17,230.09
$IRIDIUM_FIX,-4632.36,440.33,100213,141412
$TT8_MAMPS,0.026215
$HUMID,58.82
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.2,69.132
$10V_AH,9.9,36.431
$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,14.100,97.575,306.450,42.125,0.000,53.829,52.998,592.464,0.000,0.000,16.499,2030.211,11088.452,477.478,2726.332,784.397,33.398,1324.980,0.000,2003.618,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,78.030,1790.100,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.363,1575.859,841.273,327.030,0.000,0.000,0.000,0.000,0.000,0.000
$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,56977,807
$CAP_FILE_SIZE,127431,0
$CFSIZE,259252224,205709312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,100213,184905,-4654.407,441.517,31,0.8,32,-23.5