version: 66.07
glider: 542
mission: 6
dive: 377
start: 2 11 113 4 41 32
data:
$ID,542
$MISSION,6
$DIVE,377
$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,-11647.451
$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,17
$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
$GPS1,110213,042735,-4657.618,442.544,37,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-63.1
$GPS2,110213,044035,-4657.606,442.639,18,0.9,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.061,-0.248
$KALMAN_X,-280245.6,471.9,35.9,312230.0,-2521.8
$KALMAN_Y,264334.2,-266.3,-14.9,-275779.2,3613.3
$MHEAD_RNG_PITCHd_Wd,189.8,5547,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.10,0.000,2,0.000,0.000,61,2860,2738,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.0,-3.3,6,125,6.78,1.73,-25.75,0.000,4,0.252,0.073,1620,3911,3416,0,0,0,0,0,0
$GC,280,-0.60,-146.1,26.1,-13.2,35,289,0.00,1.62,0.00,0.000,6,0.000,0.031,1619,2841,3418,0,0,0,0,0,0
$GC,364,-0.60,-146.1,38.6,-13.5,48,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2841,3418,0,0,0,0,0,0
$GC,608,-0.60,-146.1,74.5,-15.3,89,615,0.00,1.73,0.00,0.000,4,0.000,0.058,1611,3913,3419,0,0,0,0,0,0
$GC,698,-0.60,-146.1,87.4,-13.9,104,704,0.00,1.60,0.00,0.000,6,0.000,0.031,1611,2849,3418,0,0,0,0,0,0
$GC,1041,-0.60,-146.1,128.6,-12.5,137,1045,0.00,1.73,0.00,0.000,4,0.000,0.059,1602,3909,3419,0,0,0,0,0,0
$GC,1081,-0.60,-146.1,133.9,-14.3,139,1085,0.05,1.58,0.00,0.000,6,0.168,0.031,1633,2860,3419,0,0,0,0,0,0
$GC,1419,-0.60,-146.1,169.9,-10.6,160,1423,0.00,1.70,0.00,0.000,4,0.000,0.060,1626,3912,3419,0,0,0,0,0,0
$GC,1475,-0.60,-146.1,176.9,-12.0,163,1479,0.00,1.60,0.00,0.000,6,0.000,0.031,1626,2848,3419,0,0,0,0,0,0
$GC,1809,-0.60,-146.1,216.5,-11.2,184,1813,0.00,1.70,0.00,0.000,4,0.000,0.060,1618,3905,3419,0,0,0,0,0,0
$GC,1865,-0.60,-146.1,222.7,-11.5,187,1869,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2856,3420,0,0,0,0,0,0
$GC,2200,-0.60,-146.1,257.4,-10.3,207,2204,0.00,1.73,0.00,0.000,4,0.000,0.059,1610,3909,3419,0,0,0,0,0,0
$GC,2235,-0.60,-146.1,261.8,-11.7,208,2239,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2866,3420,0,0,0,0,0,0
$GC,2559,-0.60,-146.1,297.9,-11.2,224,2563,0.00,1.70,0.00,0.000,4,0.000,0.059,1602,3904,3419,0,0,0,0,0,0
$GC,2607,-0.60,-146.1,303.7,-12.2,226,2611,0.08,1.58,0.00,0.000,6,0.161,0.032,1634,2860,3420,0,0,0,0,0,0
$GC,2942,-0.60,-146.1,335.5,-9.2,242,2946,0.00,1.70,0.00,0.000,4,0.000,0.060,1627,3897,3420,0,0,0,0,0,0
$GC,2978,-0.60,-146.1,339.2,-9.8,243,2981,0.00,1.58,0.00,0.000,6,0.000,0.031,1627,2857,3420,0,0,0,0,0,0
$GC,3304,-0.60,-146.1,370.7,-9.9,259,3307,0.00,1.67,0.00,0.000,4,0.000,0.060,1619,3906,3419,0,0,0,0,0,0
$GC,3339,-0.60,-146.1,374.9,-11.3,260,3342,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2867,3420,0,0,0,0,0,0
$GC,3672,-0.60,-146.1,410.4,-11.0,275,3675,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3904,3419,0,0,0,0,0,0
$GC,3723,-0.60,-146.1,416.8,-12.9,276,3727,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2865,3419,0,0,0,0,0,0
$GC,4049,-0.60,-146.1,453.4,-11.0,287,4053,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3904,3419,0,0,0,0,0,0
$GC,4112,-0.60,-146.1,461.2,-11.9,288,4120,0.08,1.58,0.00,0.000,6,0.161,0.031,1626,2863,3419,0,0,0,0,0,0
$GC,4428,-0.60,-146.1,490.9,-9.1,299,4431,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3904,3419,0,0,0,0,0,0
$GC,4465,-0.60,-146.1,494.3,-9.4,300,4468,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2867,3419,0,0,0,0,0,0
$GC,4808,-0.60,-146.1,526.1,-9.0,311,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2863,3419,0,0,0,0,0,0
$GC,5114,-0.60,-146.1,551.3,-8.0,321,5117,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3904,3419,0,0,0,0,0,0
$GC,5194,-0.60,-146.1,558.5,-9.1,323,5197,0.00,1.60,0.00,0.000,6,0.000,0.031,1612,2852,3419,0,0,0,0,0,0
$GC,5526,-0.60,-146.1,585.3,-8.2,334,5530,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3904,3418,0,0,0,0,0,0
$GC,5566,-0.60,-146.1,589.4,-10.1,335,5570,0.05,1.60,0.00,0.000,6,0.168,0.032,1628,2853,3418,0,0,0,0,0,0
$GC,5905,-0.60,-146.1,616.1,-8.0,346,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3418,0,0,0,0,0,0
$GC,6211,-0.60,-146.1,641.2,-8.3,356,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2849,3419,0,0,0,0,0,0
$GC,6517,-0.60,-146.1,667.6,-8.8,366,6520,0.00,1.73,0.00,0.000,4,0.000,0.062,1622,3912,3418,0,0,0,0,0,0
$GC,6574,-0.60,-146.1,673.4,-9.7,367,6578,0.00,1.60,0.00,0.000,6,0.000,0.033,1622,2866,3418,0,0,0,0,0,0
$GC,6895,-0.60,-146.1,702.7,-8.9,378,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3418,0,0,0,0,0,0
$GC,7202,-0.60,-146.1,729.3,-8.6,388,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3417,0,0,0,0,0,0
$GC,7508,-0.60,-146.1,755.3,-8.4,398,7512,0.00,1.73,0.00,0.000,4,0.000,0.061,1613,3909,3417,0,0,0,0,0,0
$GC,7561,-0.60,-146.1,760.2,-9.3,399,7564,0.00,1.60,0.00,0.000,6,0.000,0.032,1613,2857,3417,0,0,0,0,0,0
$GC,7888,-0.60,-146.1,790.0,-9.5,410,7892,0.00,1.73,0.00,0.000,4,0.000,0.061,1606,3913,3417,0,0,0,0,0,0
$GC,7927,-0.60,-146.1,793.8,-10.2,411,7931,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2864,3417,0,0,0,0,0,0
$GC,8271,-0.60,-146.1,826.4,-9.2,422,8275,0.10,1.73,0.00,0.000,4,0.193,0.061,1622,3909,3416,0,0,0,0,0,0
$GC,8312,-0.60,-146.1,830.1,-8.6,423,8315,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2859,3416,0,0,0,0,0,0
$GC,8650,-0.60,-146.1,856.1,-7.6,434,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3416,0,0,0,0,0,0
$GC,8956,-0.60,-146.1,878.7,-7.4,444,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3416,0,0,0,0,0,0
$GC,9262,-0.60,-146.1,900.7,-6.9,454,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3416,0,0,0,0,0,0
$GC,9569,-0.60,-146.1,921.6,-6.8,464,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3416,0,0,0,0,0,0
$GC,9875,-0.60,-146.1,941.3,-6.2,474,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3416,0,0,0,0,0,0
$GC,10181,-0.60,-146.1,961.3,-6.8,484,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3416,0,0,0,0,0,0
$GC,10488,-0.60,-146.1,982.4,-7.0,494,10491,0.00,1.73,0.00,0.000,4,0.000,0.062,1614,3897,3416,0,0,0,0,0,0
$GC,10525,-0.60,-146.1,985.2,-7.5,495,10529,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2865,3416,0,0,0,0,0,0
$STATE,10741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10741,begin apogee
$GC,10752,-0.18,0.0,1002.2,7.8,502,10901,0.52,0.00,145.75,1.252,6,0.151,0.000,1770,2674,2819,0,0,0,0,0,0
$STATE,10903,end apogee,CONTROL_FINISHED_OK
$STATE,10903,begin climb
$GC,10908,0.60,146.1,1005.8,0.0,507,11088,0.80,2.55,161.12,1.795,4,0.091,0.044,2035,1286,2226,0,0,0,0,2,0
$GC,11125,0.60,146.1,976.4,17.3,514,11130,0.00,2.47,0.00,0.000,6,0.000,0.050,2035,2675,2222,0,0,0,0,0,0
$GC,11457,0.60,146.1,909.1,20.8,525,11462,0.00,2.28,0.00,0.000,4,0.000,0.045,2045,1278,2217,0,0,0,0,0,0
$GC,11524,0.60,146.1,896.6,18.3,527,11528,0.00,2.28,0.00,0.000,6,0.000,0.051,2045,2674,2215,0,0,0,0,0,0
$GC,11862,0.60,146.1,824.5,21.1,538,11866,0.00,2.22,0.00,0.000,4,0.000,0.043,2055,1276,2214,0,0,0,0,0,0
$GC,11903,0.60,146.1,815.9,18.7,539,11908,0.12,2.25,0.00,0.000,6,0.214,0.050,2028,2676,2213,0,0,0,0,0,0
$GC,12230,0.60,146.1,752.6,19.5,550,12234,0.00,2.22,0.00,0.000,4,0.000,0.043,2037,1274,2213,0,0,0,0,0,0
$GC,12276,0.60,146.1,743.9,16.6,551,12281,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2680,2213,0,0,0,0,0,0
$GC,12597,0.60,146.1,680.3,19.8,562,12601,0.00,2.25,0.00,0.000,4,0.000,0.044,2048,1268,2213,0,0,0,0,0,0
$GC,12638,0.60,146.1,672.2,19.6,563,12642,0.00,2.28,0.00,0.000,6,0.000,0.051,2048,2676,2212,0,0,0,0,0,0
$GC,12964,0.60,146.1,606.5,19.8,574,12968,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1273,2212,0,0,0,0,0,0
$GC,12999,0.60,146.1,599.6,18.5,575,13004,0.12,2.25,0.00,0.000,6,0.207,0.051,2030,2670,2212,0,0,0,0,0,0
$GC,13333,0.60,146.1,538.3,18.4,586,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2212,0,0,0,0,0,0
$GC,13638,0.60,146.1,480.9,18.9,596,13642,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1270,2211,0,0,0,0,0,0
$GC,13684,0.60,146.1,472.6,16.4,597,13688,0.00,2.25,0.00,0.000,6,0.000,0.051,2039,2670,2211,0,0,0,0,0,0
$GC,14018,0.60,146.1,411.2,18.8,608,14022,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1274,2211,0,0,0,0,0,0
$GC,14070,0.60,146.1,401.1,17.6,609,14074,0.00,2.22,0.00,0.000,6,0.000,0.051,2049,2669,2210,0,0,0,0,0,0
$GC,14388,0.60,146.1,338.2,19.6,624,14390,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2669,2210,0,0,0,0,0,0
$GC,14700,0.60,146.1,276.1,19.9,639,14704,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1271,2210,0,0,0,0,0,0
$GC,14775,0.60,146.1,261.9,17.3,642,14780,0.12,2.25,0.00,0.000,6,0.202,0.051,2030,2680,2209,0,0,0,0,0,0
$GC,15104,0.60,146.1,207.1,17.0,661,15108,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1271,2209,0,0,0,0,0,0
$GC,15137,0.60,146.1,200.8,16.0,663,15141,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2670,2209,0,0,0,0,0,0
$GC,15466,0.60,146.1,144.9,16.2,684,15470,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1271,2209,0,0,0,0,0,0
$GC,15507,0.60,146.1,138.3,15.2,686,15516,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2666,2209,0,0,0,0,0,0
$GC,15838,0.60,146.1,84.4,17.1,717,15844,0.00,2.22,0.00,0.000,4,0.000,0.042,2060,1272,2209,0,0,0,0,0,0
$GC,15980,0.60,146.1,64.1,13.4,741,15987,0.10,2.28,0.00,0.000,6,0.177,0.050,2032,2671,2208,0,0,0,0,0,0
$GC,16351,0.60,146.1,10.7,12.5,802,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2671,2209,0,0,0,0,0,0
$STATE,16404,end climb,SURFACE_DEPTH_REACHED
$STATE,16404,begin surface coast
$FINISH,0.9,1.014493
$STATE,16424,end surface coast,CONTROL_FINISHED_OK
$STATE,16424,begin surface
$SM_CCo,16446,41.60,0.790,1,0,1880,230.09
$SM_GC,2.24,0.00,0.00,41.60,0.000,0.000,0.790,51,2887,1880,-5.56,0.79,230.09
$IRIDIUM_FIX,-4638.64,440.85,100213,232345
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.2,69.657
$10V_AH,10.0,36.772
$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,14.300,117.400,306.875,41.600,0.000,25.658,19.396,483.112,0.000,0.000,20.605,2075.964,11284.959,446.101,2641.850,812.100,33.397,1377.248,0.000,2097.108,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,73.440,1794.690,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.729,1606.377,851.094,338.058,0.000,0.000,0.000,0.000,0.000,0.000
$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,56979,813
$CAP_FILE_SIZE,135920,0
$CFSIZE,259252224,205504512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,110213,091752,-4659.775,442.286,38,0.7,39,-23.5