version: 66.07
glider: 542
mission: 6
dive: 375
start: 2 10 113 19 3 14
data:
$ID,542
$MISSION,6
$DIVE,375
$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,-11641.385
$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,25
$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
$GPS1,100213,184905,-4654.407,441.517,31,0.8,32,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-61.5
$GPS2,100213,190217,-4654.429,441.584,18,1.7,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.116,-0.228
$KALMAN_X,-277850.6,-42.2,134.6,308917.8,-2823.6
$KALMAN_Y,260244.5,-45.3,-336.1,-265696.8,2954.6
$MHEAD_RNG_PITCHd_Wd,176.5,10509,-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,-63.12,0.000,2,0.000,0.000,61,2853,3101,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-3.4,8,124,6.80,1.73,-8.50,0.000,4,0.254,0.074,1621,3895,3418,0,0,0,0,0,0
$GC,351,-0.60,-146.1,39.8,-13.1,47,357,0.00,1.60,0.00,0.000,6,0.000,0.031,1621,2837,3420,0,0,0,0,0,0
$GC,597,-0.60,-146.1,74.4,-13.0,88,604,0.00,1.73,0.00,0.000,4,0.000,0.058,1612,3894,3420,0,0,0,0,0,0
$GC,672,-0.60,-146.1,85.2,-13.7,100,679,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2865,3420,0,0,0,0,0,0
$GC,1012,-0.60,-146.1,128.2,-12.9,134,1015,0.00,1.67,0.00,0.000,4,0.000,0.058,1604,3907,3421,0,0,0,0,0,0
$GC,1068,-0.60,-146.1,136.0,-14.0,137,1073,0.08,1.58,0.00,0.000,6,0.158,0.031,1636,2860,3421,0,0,0,0,0,0
$GC,1407,-0.60,-146.1,171.8,-10.3,158,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2856,3422,0,0,0,0,0,0
$GC,1731,-0.60,-146.1,203.5,-9.3,179,1735,0.00,1.70,0.00,0.000,4,0.000,0.059,1629,3897,3422,0,0,0,0,0,0
$GC,1789,-0.60,-146.1,209.8,-10.1,182,1792,0.00,1.55,0.00,0.000,6,0.000,0.031,1630,2871,3422,0,0,0,0,0,0
$GC,2117,-0.60,-146.1,242.6,-10.4,203,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2866,3422,0,0,0,0,0,0
$GC,2441,-0.60,-146.1,274.9,-9.9,220,2445,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3893,3422,0,0,0,0,0,0
$GC,2495,-0.60,-146.1,280.8,-10.2,222,2499,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2849,3422,0,0,0,0,0,0
$GC,2824,-0.60,-146.1,314.9,-10.2,238,2827,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3901,3422,0,0,0,0,0,0
$GC,2865,-0.60,-146.1,319.7,-11.6,239,2872,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2853,3422,0,0,0,0,0,0
$GC,3186,-0.60,-146.1,355.9,-11.5,255,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2854,3422,0,0,0,0,0,0
$GC,3493,-0.60,-146.1,390.9,-11.0,270,3496,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3897,3422,0,0,0,0,0,0
$GC,3550,-0.60,-146.1,398.0,-12.2,272,3554,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2871,3422,0,0,0,0,0,0
$GC,3891,-0.60,-146.1,435.5,-10.9,284,3896,0.10,1.70,0.00,0.000,4,0.190,0.059,1623,3893,3422,0,0,0,0,0,0
$GC,3945,-0.60,-146.1,441.3,-10.1,285,3948,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2852,3422,0,0,0,0,0,0
$GC,4272,-0.60,-146.1,472.4,-9.5,296,4276,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3903,3422,0,0,0,0,0,0
$GC,4312,-0.60,-146.1,476.8,-10.3,297,4316,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2857,3422,0,0,0,0,0,0
$GC,4650,-0.60,-146.1,509.2,-9.5,308,4653,0.00,1.67,0.00,0.000,4,0.000,0.059,1606,3896,3422,0,0,0,0,0,0
$GC,4690,-0.60,-146.1,513.6,-10.9,309,4694,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2867,3422,0,0,0,0,0,0
$GC,5027,-0.60,-146.1,547.2,-9.9,320,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2862,3421,0,0,0,0,0,0
$GC,5336,-0.60,-146.1,576.9,-9.4,330,5339,0.00,1.67,0.00,0.000,4,0.000,0.059,1598,3903,3421,0,0,0,0,0,0
$GC,5387,-0.60,-146.1,582.7,-11.0,331,5391,0.08,1.58,0.00,0.000,6,0.162,0.031,1629,2859,3421,0,0,0,0,0,0
$GC,5714,-0.60,-146.1,607.7,-7.4,342,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,6022,-0.60,-146.1,630.1,-7.4,352,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3421,0,0,0,0,0,0
$GC,6328,-0.60,-146.1,651.7,-7.1,362,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3421,0,0,0,0,0,0
$GC,6633,-0.60,-146.1,674.0,-7.3,372,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,6939,-0.60,-146.1,695.7,-7.0,382,6943,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3892,3421,0,0,0,0,0,0
$GC,7003,-0.60,-146.1,700.9,-8.3,383,7010,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2849,3421,0,0,0,0,0,0
$GC,7320,-0.60,-146.1,725.1,-7.9,394,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2849,3421,0,0,0,0,0,0
$GC,7625,-0.60,-146.1,751.3,-8.7,404,7629,0.00,1.70,0.00,0.000,4,0.000,0.061,1615,3900,3421,0,0,0,0,0,0
$GC,7665,-0.60,-146.1,755.2,-9.3,405,7669,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2865,3420,0,0,0,0,0,0
$GC,8003,-0.60,-146.1,785.0,-8.9,416,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2860,3420,0,0,0,0,0,0
$GC,8310,-0.60,-146.1,810.9,-8.2,426,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2860,3420,0,0,0,0,0,0
$GC,8615,-0.60,-146.1,834.9,-7.8,436,8619,0.00,1.73,0.00,0.000,4,0.000,0.060,1607,3895,3421,0,0,0,0,0,0
$GC,8653,-0.60,-146.1,838.0,-8.1,437,8657,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2854,3420,0,0,0,0,0,0
$GC,8998,-0.60,-146.1,864.8,-7.8,448,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2849,3420,0,0,0,0,0,0
$GC,9302,-0.60,-146.1,889.1,-8.1,458,9306,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3900,3420,0,0,0,0,0,0
$GC,9359,-0.60,-146.1,894.5,-9.8,459,9364,0.10,1.58,0.00,0.000,6,0.161,0.032,1630,2862,3420,0,0,0,0,0,0
$GC,9682,-0.60,-146.1,917.9,-7.6,470,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2860,3420,0,0,0,0,0,0
$GC,9988,-0.60,-146.1,941.3,-7.7,480,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2860,3420,0,0,0,0,0,0
$GC,10294,-0.60,-146.1,964.1,-7.2,490,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2860,3420,0,0,0,0,0,0
$GC,10601,-0.60,-146.1,984.6,-6.5,500,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3420,0,0,0,0,0,0
$STATE,10871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10871,begin apogee
$GC,10882,-0.18,0.0,1001.6,6.2,509,11031,0.45,0.00,146.30,1.246,6,0.148,0.000,1766,2672,2820,0,0,0,0,0,0
$STATE,11033,end apogee,CONTROL_FINISHED_OK
$STATE,11033,begin climb
$GC,11038,0.60,146.1,1004.2,0.0,514,11221,0.80,0.00,163.93,1.788,6,0.096,0.000,2018,2672,2224,0,0,0,0,3,0
$GC,11513,0.60,146.1,919.1,20.8,530,11517,0.00,2.25,0.00,0.000,4,0.000,0.043,2028,1282,2220,0,0,0,0,0,0
$GC,11604,0.60,146.1,900.5,18.7,532,11611,0.00,2.28,0.00,0.000,6,0.000,0.050,2028,2669,2216,0,0,0,0,0,0
$GC,11920,0.60,146.1,830.4,22.8,543,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2669,2216,0,0,0,0,0,0
$GC,12225,0.60,146.1,765.3,20.7,553,12229,0.00,2.20,0.00,0.000,4,0.000,0.041,2038,1274,2215,0,0,0,0,0,0
$GC,12330,0.60,146.1,745.6,18.5,556,12334,0.00,2.22,0.00,0.000,6,0.000,0.049,2039,2671,2213,0,0,0,0,0,0
$GC,12668,0.60,146.1,676.1,20.4,567,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2213,0,0,0,0,0,0
$GC,12973,0.60,146.1,615.9,19.3,577,12977,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1278,2213,0,0,0,0,0,0
$GC,13048,0.60,146.1,602.4,16.9,579,13052,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2673,2212,0,0,0,0,0,0
$GC,13380,0.60,146.1,536.3,19.9,590,13381,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2673,2211,0,0,0,0,0,0
$GC,13687,0.60,146.1,477.9,18.9,600,13691,0.00,2.17,0.00,0.000,4,0.000,0.044,2059,1283,2212,0,0,0,0,0,0
$GC,13745,0.60,146.1,467.3,16.0,601,13754,0.12,2.22,0.00,0.000,6,0.215,0.051,2031,2670,2211,0,0,0,0,0,0
$GC,14060,0.60,146.1,414.7,16.6,612,14061,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2211,0,0,0,0,0,0
$GC,14379,0.60,146.1,360.0,17.3,626,14383,0.00,2.17,0.00,0.000,4,0.000,0.043,2041,1270,2211,0,0,0,0,0,0
$GC,14437,0.60,146.1,350.6,15.8,628,14446,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2668,2211,0,0,0,0,0,0
$GC,14755,0.60,146.1,293.8,17.8,644,14756,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2668,2211,0,0,0,0,0,0
$GC,15065,0.60,146.1,238.3,17.8,660,15069,0.00,2.20,0.00,0.000,4,0.000,0.044,2051,1277,2211,0,0,0,0,0,0
$GC,15117,0.60,146.1,230.0,17.1,663,15121,0.00,2.22,0.00,0.000,6,0.000,0.051,2050,2670,2211,0,0,0,0,0,0
$GC,15449,0.60,146.1,167.6,19.3,684,15453,0.00,2.17,0.00,0.000,4,0.000,0.044,2061,1275,2211,0,0,0,0,0,0
$GC,15502,0.60,146.1,156.9,16.9,687,15507,0.15,2.22,0.00,0.000,6,0.204,0.051,2026,2670,2211,0,0,0,0,0,0
$GC,15830,0.60,146.1,105.2,15.6,707,15836,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2211,0,0,0,0,0,0
$GC,16182,0.60,146.1,55.6,13.5,764,16191,0.00,1.98,0.00,0.000,4,0.000,0.060,2025,3897,2211,0,0,0,0,0,0
$GC,16233,0.60,146.1,48.0,16.4,771,16240,0.00,1.88,0.00,0.000,6,0.000,0.037,2034,2678,2211,0,0,0,0,0,0
$GC,16489,0.60,146.1,12.2,14.9,812,16499,0.00,2.20,0.00,0.000,4,0.000,0.041,2044,1281,2211,0,0,0,0,0,0
$GC,16541,0.60,146.1,3.5,14.2,819,16550,0.00,2.25,0.00,0.000,6,0.000,0.050,2045,2669,2210,0,0,0,0,0,0
$STATE,16560,end climb,SURFACE_DEPTH_REACHED
$STATE,16560,begin surface coast
$FINISH,0.8,1.014809
$STATE,16586,end surface coast,CONTROL_FINISHED_OK
$STATE,16586,begin surface
$SM_CCo,16609,42.08,0.769,1,0,1879,230.09
$SM_GC,1.97,0.00,0.00,42.08,0.000,0.000,0.769,59,2878,1879,-5.54,0.51,230.09
$IRIDIUM_FIX,-4635.50,440.59,100213,141411
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.2,69.307
$10V_AH,10.0,36.545
$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,14.075,88.900,310.225,42.075,0.000,25.931,24.059,490.571,0.000,0.000,20.736,2050.374,11527.051,499.925,2565.164,793.188,33.395,1349.292,0.000,2017.059,0.000,1.009,0.000
$DEVICE_MAMPS,253.980,74.205,1787.805,768.825,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.196,1625.719,851.270,328.148,0.000,0.000,0.000,0.000,0.000,0.000
$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,60509,825
$CAP_FILE_SIZE,125076,0
$CFSIZE,259252224,205643776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,100213,234204,-4656.164,442.609,25,0.9,26,-23.5