version: 66.07
glider: 542
mission: 6
dive: 376
start: 2 10 113 23 57 26
data:
$ID,542
$MISSION,6
$DIVE,376
$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,-11644.433
$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,45
$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
$GPS1,100213,234204,-4656.164,442.609,25,0.9,26,-23.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-55.4
$GPS2,100213,235629,-4656.154,442.804,17,1.2,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.048,-0.251
$KALMAN_X,-278932.1,136.7,211.4,311281.6,-2424.8
$KALMAN_Y,261765.2,-410.7,68.7,-270451.9,2471.7
$MHEAD_RNG_PITCHd_Wd,192.7,7954,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.12,0.000,2,0.000,0.000,57,2879,3098,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.6,8,125,6.82,1.67,-8.77,0.000,4,0.254,0.077,1622,3892,3418,0,0,0,0,0,0
$GC,279,-0.60,-146.1,29.5,-14.0,35,288,0.00,1.60,0.00,0.000,6,0.000,0.031,1622,2841,3419,0,0,0,0,0,0
$GC,365,-0.60,-146.1,41.0,-12.6,48,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2840,3419,0,0,0,0,0,0
$GC,612,-0.60,-146.1,72.7,-12.1,89,615,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2840,3419,0,0,0,0,0,0
$GC,960,-0.60,-146.1,115.6,-10.8,134,963,0.00,1.67,0.00,0.000,4,0.000,0.058,1613,3886,3420,0,0,0,0,0,0
$GC,1188,-0.60,-146.1,143.4,-12.5,147,1193,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2852,3421,0,0,0,0,0,0
$GC,1521,-0.60,-146.1,181.0,-10.5,168,1525,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3893,3421,0,0,0,0,0,0
$GC,1567,-0.60,-146.1,186.5,-11.4,170,1576,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2854,3422,0,0,0,0,0,0
$GC,1891,-0.60,-146.1,221.5,-10.8,191,1895,0.10,1.70,0.00,0.000,4,0.190,0.059,1622,3885,3421,0,0,0,0,0,0
$GC,1946,-0.60,-146.1,227.4,-10.6,194,1950,0.00,1.52,0.00,0.000,6,0.000,0.031,1622,2868,3421,0,0,0,0,0,0
$GC,2274,-0.60,-146.1,262.3,-11.4,213,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3422,0,0,0,0,0,0
$GC,2582,-0.60,-146.1,298.1,-11.8,228,2585,0.00,1.65,0.00,0.000,4,0.000,0.059,1614,3892,3421,0,0,0,0,0,0
$GC,2634,-0.60,-146.1,304.8,-12.3,230,2638,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2861,3422,0,0,0,0,0,0
$GC,2963,-0.60,-146.1,345.2,-12.2,246,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2856,3421,0,0,0,0,0,0
$GC,3274,-0.60,-146.1,381.3,-11.7,261,3278,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3883,3422,0,0,0,0,0,0
$GC,3361,-0.60,-146.1,392.3,-12.3,264,3370,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2848,3421,0,0,0,0,0,0
$GC,3677,-0.60,-146.1,428.6,-11.2,276,3680,0.00,1.70,0.00,0.000,4,0.000,0.059,1598,3891,3421,0,0,0,0,0,0
$GC,3723,-0.60,-146.1,434.3,-11.7,277,3727,0.10,1.55,0.00,0.000,6,0.163,0.032,1629,2865,3421,0,0,0,0,0,0
$GC,4056,-0.60,-146.1,463.8,-8.6,288,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2861,3421,0,0,0,0,0,0
$GC,4362,-0.60,-146.1,487.7,-7.7,298,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2861,3420,0,0,0,0,0,0
$GC,4668,-0.60,-146.1,513.0,-8.3,308,4672,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3884,3421,0,0,0,0,0,0
$GC,4731,-0.60,-146.1,519.2,-9.5,309,4738,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2856,3420,0,0,0,0,0,0
$GC,5047,-0.60,-146.1,548.2,-9.4,320,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2856,3420,0,0,0,0,0,0
$GC,5354,-0.60,-146.1,576.4,-9.2,330,5357,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3892,3420,0,0,0,0,0,0
$GC,5424,-0.60,-146.1,583.8,-10.0,332,5427,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2870,3420,0,0,0,0,0,0
$GC,5767,-0.60,-146.1,619.3,-10.4,343,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2865,3419,0,0,0,0,0,0
$GC,6075,-0.60,-146.1,650.6,-9.9,353,6078,0.00,1.65,0.00,0.000,4,0.000,0.060,1606,3890,3419,0,0,0,0,0,0
$GC,6154,-0.60,-146.1,659.6,-10.5,355,6158,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2852,3418,0,0,0,0,0,0
$GC,6486,-0.60,-146.1,693.1,-9.8,366,6490,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3884,3418,0,0,0,0,0,0
$GC,6527,-0.60,-146.1,697.7,-10.7,367,6532,0.10,1.55,0.00,0.000,6,0.161,0.032,1629,2862,3418,0,0,0,0,0,0
$GC,6867,-0.60,-146.1,725.7,-8.2,378,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3418,0,0,0,0,0,0
$GC,7172,-0.60,-146.1,750.7,-8.3,388,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3417,0,0,0,0,0,0
$GC,7480,-0.60,-146.1,775.0,-7.8,398,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3417,0,0,0,0,0,0
$GC,7784,-0.60,-146.1,798.6,-7.5,408,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3417,0,0,0,0,0,0
$GC,8091,-0.60,-146.1,820.9,-7.2,418,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3417,0,0,0,0,0,0
$GC,8397,-0.60,-146.1,843.2,-7.4,428,8401,0.00,1.67,0.00,0.000,4,0.000,0.062,1623,3892,3416,0,0,0,0,0,0
$GC,8443,-0.60,-146.1,847.2,-8.6,429,8447,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2858,3416,0,0,0,0,0,0
$GC,8776,-0.60,-146.1,873.3,-8.1,440,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2853,3416,0,0,0,0,0,0
$GC,9084,-0.60,-146.1,899.9,-8.9,450,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2852,3416,0,0,0,0,0,0
$GC,9388,-0.60,-146.1,927.0,-8.9,460,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2852,3416,0,0,0,0,0,0
$GC,9695,-0.60,-146.1,953.0,-8.4,470,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2852,3416,0,0,0,0,0,0
$GC,10001,-0.60,-146.1,976.8,-7.6,480,10005,0.00,2.10,0.00,0.000,4,0.000,0.037,1622,1473,3415,0,0,0,0,0,0
$GC,10042,-0.60,-146.1,980.0,-6.8,481,10047,0.00,2.20,0.00,0.000,6,0.000,0.052,1612,2850,3415,0,0,0,0,0,0
$STATE,10303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10303,begin apogee
$GC,10314,-0.18,0.0,1000.8,7.9,490,10462,0.52,0.00,144.85,1.240,6,0.158,0.000,1765,2680,2820,0,0,0,0,0,0
$STATE,10464,end apogee,CONTROL_FINISHED_OK
$STATE,10464,begin climb
$GC,10469,0.60,146.1,1004.0,0.0,495,10642,0.77,2.53,158.95,1.801,4,0.097,0.042,2025,1280,2224,0,0,0,0,1,0
$GC,10728,0.60,146.1,968.1,16.6,503,10732,0.00,2.42,0.00,0.000,6,0.000,0.050,2025,2667,2221,0,0,0,0,0,0
$GC,11066,0.60,146.1,901.1,19.8,514,11070,0.00,2.22,0.00,0.000,4,0.000,0.044,2035,1274,2217,0,0,0,0,0,0
$GC,11137,0.60,146.1,888.6,17.5,516,11141,0.00,2.30,0.00,0.000,6,0.000,0.050,2036,2681,2215,0,0,0,0,0,0
$GC,11474,0.60,146.1,822.4,19.8,527,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2681,2214,0,0,0,0,0,0
$GC,11781,0.60,146.1,761.0,20.3,537,11785,0.00,2.22,0.00,0.000,4,0.000,0.044,2046,1274,2214,0,0,0,0,0,0
$GC,11832,0.60,146.1,750.6,19.4,538,11836,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2670,2212,0,0,0,0,0,0
$GC,12147,0.60,146.1,686.3,20.6,548,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2212,0,0,0,0,0,0
$GC,12454,0.60,146.1,620.7,21.3,558,12458,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1273,2212,0,0,0,0,0,0
$GC,12511,0.60,146.1,608.8,19.0,559,12516,0.12,2.25,0.00,0.000,6,0.214,0.050,2028,2673,2211,0,0,0,0,0,0
$GC,12828,0.60,146.1,549.1,18.9,569,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2673,2211,0,0,0,0,0,0
$GC,13133,0.60,146.1,491.0,18.8,579,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2673,2211,0,0,0,0,0,0
$GC,13441,0.60,146.1,434.8,18.5,589,13445,0.00,2.22,0.00,0.000,4,0.000,0.043,2037,1267,2211,0,0,0,0,0,0
$GC,13527,0.60,146.1,420.0,14.9,591,13531,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2672,2210,0,0,0,0,0,0
$GC,13851,0.60,146.1,362.1,18.2,605,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2671,2210,0,0,0,0,0,0
$GC,14159,0.60,146.1,307.8,17.5,620,14163,0.00,2.17,0.00,0.000,4,0.000,0.042,2048,1273,2210,0,0,0,0,0,0
$GC,14200,0.60,146.1,300.8,15.7,621,14206,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2675,2210,0,0,0,0,0,0
$GC,14528,0.60,146.1,243.4,18.0,638,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2675,2210,0,0,0,0,0,0
$GC,14841,0.60,146.1,188.0,18.3,658,14845,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1270,2210,0,0,0,0,0,0
$GC,14933,0.60,146.1,172.4,15.4,663,14940,0.12,2.25,0.00,0.000,6,0.206,0.050,2030,2670,2210,0,0,0,0,0,0
$GC,15259,0.60,146.1,120.9,16.6,684,15260,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2671,2210,0,0,0,0,0,0
$GC,15581,0.60,146.1,71.2,14.4,726,15590,0.00,1.98,0.00,0.000,4,0.000,0.059,2030,3897,2210,0,0,0,0,0,0
$GC,15622,0.60,146.1,65.1,15.8,732,15633,0.00,1.90,0.00,0.000,6,0.000,0.037,2038,2673,2210,0,0,0,0,0,0
$GC,15997,0.60,146.1,10.3,16.3,793,16005,0.00,2.20,0.00,0.000,4,0.000,0.042,2048,1278,2210,0,0,0,0,0,0
$STATE,16043,end climb,SURFACE_DEPTH_REACHED
$STATE,16044,begin surface coast
$FINISH,1.3,1.026451
$STATE,16051,end surface coast,CONTROL_FINISHED_OK
$STATE,16052,begin surface
$SM_CCo,16076,41.92,0.786,1,0,1880,230.09
$SM_GC,2.07,0.00,0.00,41.92,0.000,0.000,0.786,61,2859,1880,-5.53,-0.03,230.09
$IRIDIUM_FIX,-4635.50,440.59,100213,181843
$TT8_MAMPS,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.2,69.483
$10V_AH,10.0,36.657
$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,14.050,83.800,303.800,41.925,0.000,25.646,47.562,539.786,0.000,0.000,19.997,1997.897,11122.686,435.989,2657.657,760.589,33.369,1316.502,0.000,2033.816,0.000,1.009,0.000
$DEVICE_MAMPS,253.980,77.265,1800.810,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.819,1569.692,834.755,327.740,0.000,0.000,0.000,0.000,0.000,0.000
$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,57229,801
$CAP_FILE_SIZE,123088,0
$CFSIZE,259252224,205582336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,110213,042735,-4657.618,442.544,37,0.9,38,-23.5