version: 66.07
glider: 542
mission: 6
dive: 378
start: 2 11 113 9 33 10
data:
$ID,542
$MISSION,6
$DIVE,378
$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,-11650.513
$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,41
$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
$GPS1,110213,091752,-4659.775,442.286,38,0.7,39,-23.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.6
$GPS2,110213,093213,-4659.744,442.273,18,1.4,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,-0.180
$KALMAN_X,-281899.6,337.7,121.4,313472.5,-3153.2
$KALMAN_Y,265729.2,-14.9,-463.3,-280921.2,3736.8
$MHEAD_RNG_PITCHd_Wd,248.6,40766,-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,-63.15,0.000,2,0.000,0.000,51,2889,3092,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.3,8,124,6.72,0.00,-9.38,0.000,6,0.248,0.000,1627,2889,3419,0,0,0,0,0,0
$GC,203,-0.60,-146.1,17.4,-11.7,23,212,0.00,1.60,0.00,0.000,4,0.000,0.059,1621,3876,3420,0,0,0,0,0,0
$GC,249,-0.60,-146.1,24.2,-14.9,29,258,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2845,3420,0,0,0,0,0,0
$GC,334,-0.60,-146.1,35.6,-12.6,42,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2846,3420,0,0,0,0,0,0
$GC,582,-0.60,-146.1,69.7,-13.4,83,586,0.00,1.67,0.00,0.000,4,0.000,0.057,1612,3887,3420,0,0,0,0,0,0
$GC,642,-0.60,-146.1,77.9,-13.3,93,648,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2839,3420,0,0,0,0,0,0
$GC,987,-0.60,-146.1,122.7,-12.5,133,990,0.00,1.67,0.00,0.000,4,0.000,0.057,1604,3885,3421,0,0,0,0,0,0
$GC,1074,-0.60,-146.1,135.1,-13.8,138,1079,0.08,1.52,0.00,0.000,6,0.162,0.031,1627,2871,3421,0,0,0,0,0,0
$GC,1413,-0.60,-146.1,172.3,-10.7,159,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2866,3422,0,0,0,0,0,0
$GC,1735,-0.60,-146.1,206.3,-10.1,180,1738,0.00,1.65,0.00,0.000,4,0.000,0.058,1621,3897,3422,0,0,0,0,0,0
$GC,1798,-0.60,-146.1,213.5,-11.8,183,1805,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2848,3422,0,0,0,0,0,0
$GC,2122,-0.60,-146.1,248.0,-10.6,204,2126,0.00,1.65,0.00,0.000,4,0.000,0.059,1612,3882,3422,0,0,0,0,0,0
$GC,2151,-0.60,-146.1,252.0,-12.0,206,2155,0.00,1.52,0.00,0.000,6,0.000,0.031,1612,2870,3423,0,0,0,0,0,0
$GC,2482,-0.60,-146.1,288.3,-11.1,222,2486,0.00,1.65,0.00,0.000,4,0.000,0.058,1605,3879,3422,0,0,0,0,0,0
$GC,2530,-0.60,-146.1,294.0,-11.7,224,2535,0.08,1.52,0.00,0.000,6,0.160,0.031,1628,2867,3422,0,0,0,0,0,0
$GC,2870,-0.60,-146.1,324.5,-8.7,240,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3422,0,0,0,0,0,0
$GC,3178,-0.60,-146.1,350.6,-8.3,255,3182,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3887,3422,0,0,0,0,0,0
$GC,3241,-0.60,-146.1,357.0,-9.4,257,3248,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2857,3422,0,0,0,0,0,0
$GC,3562,-0.60,-146.1,384.6,-8.6,273,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2856,3422,0,0,0,0,0,0
$GC,3869,-0.60,-146.1,411.1,-8.7,286,3873,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3880,3422,0,0,0,0,0,0
$GC,3921,-0.60,-146.1,416.2,-9.9,287,3924,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2854,3421,0,0,0,0,0,0
$GC,4248,-0.60,-146.1,447.8,-9.7,298,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2850,3421,0,0,0,0,0,0
$GC,4553,-0.60,-146.1,478.6,-10.4,308,4557,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3892,3422,0,0,0,0,0,0
$GC,4627,-0.60,-146.1,487.1,-10.9,310,4631,0.00,1.55,0.00,0.000,6,0.000,0.032,1605,2867,3422,0,0,0,0,0,0
$GC,4964,-0.60,-146.1,523.0,-10.3,321,4968,0.10,1.67,0.00,0.000,4,0.194,0.060,1622,3889,3422,0,0,0,0,0,0
$GC,4994,-0.60,-146.1,526.1,-8.9,321,5001,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2863,3421,0,0,0,0,0,0
$GC,5310,-0.60,-146.1,553.7,-8.7,332,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3421,0,0,0,0,0,0
$GC,5617,-0.60,-146.1,580.0,-8.7,342,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3421,0,0,0,0,0,0
$GC,5922,-0.60,-146.1,606.3,-8.6,352,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3421,0,0,0,0,0,0
$GC,6229,-0.60,-146.1,632.6,-8.7,362,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2863,3421,0,0,0,0,0,0
$GC,6535,-0.60,-146.1,658.0,-8.3,372,6539,0.00,1.65,0.00,0.000,4,0.000,0.060,1614,3886,3421,0,0,0,0,0,0
$GC,6592,-0.60,-146.1,663.2,-9.6,373,6596,0.00,1.55,0.00,0.000,6,0.000,0.033,1614,2866,3420,0,0,0,0,0,0
$GC,6913,-0.60,-146.1,691.6,-9.0,384,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3420,0,0,0,0,0,0
$GC,7221,-0.60,-146.1,718.5,-8.9,394,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3420,0,0,0,0,0,0
$GC,7526,-0.60,-146.1,745.1,-8.8,404,7529,0.00,1.65,0.00,0.000,4,0.000,0.060,1606,3883,3420,0,0,0,0,0,0
$GC,7562,-0.60,-146.1,748.6,-9.7,405,7566,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2857,3420,0,0,0,0,0,0
$GC,7905,-0.60,-146.1,783.0,-10.0,416,7909,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3877,3420,0,0,0,0,0,0
$GC,7946,-0.60,-146.1,787.6,-11.1,417,7951,0.10,1.55,0.00,0.000,6,0.161,0.032,1628,2857,3420,0,0,0,0,0,0
$GC,8286,-0.60,-146.1,815.9,-8.1,428,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3420,0,0,0,0,0,0
$GC,8591,-0.60,-146.1,841.1,-8.4,438,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3420,0,0,0,0,0,0
$GC,8899,-0.60,-146.1,866.5,-8.3,448,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3419,0,0,0,0,0,0
$GC,9203,-0.60,-146.1,891.7,-8.3,458,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3420,0,0,0,0,0,0
$GC,9510,-0.60,-146.1,917.2,-8.5,468,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2853,3420,0,0,0,0,0,0
$GC,9816,-0.60,-146.1,943.6,-8.6,478,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3420,0,0,0,0,0,0
$GC,10122,-0.60,-146.1,969.9,-8.6,488,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3419,0,0,0,0,0,0
$GC,10428,-0.60,-146.1,995.5,-8.2,498,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3420,0,0,0,0,0,0
$STATE,10484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10484,begin apogee
$GC,10496,-0.18,0.0,1000.5,8.2,500,10645,0.45,0.00,146.48,1.256,6,0.148,0.000,1765,2675,2819,0,0,0,0,0,0
$STATE,10647,end apogee,CONTROL_FINISHED_OK
$STATE,10647,begin climb
$GC,10652,0.60,146.1,1006.3,0.0,505,10829,0.80,2.55,158.98,1.805,4,0.091,0.042,2030,1291,2225,0,0,0,0,1,0
$GC,10883,0.60,146.1,976.5,16.2,512,10887,0.00,2.40,0.00,0.000,6,0.000,0.050,2030,2649,2222,0,0,0,0,0,0
$GC,11209,0.60,146.1,911.6,20.3,523,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2650,2218,0,0,0,0,0,0
$GC,11516,0.60,146.1,850.6,19.7,533,11520,0.00,2.17,0.00,0.000,4,0.000,0.044,2040,1287,2216,0,0,0,0,0,0
$GC,11567,0.60,146.1,840.5,18.2,534,11571,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2674,2214,0,0,0,0,0,0
$GC,11882,0.60,146.1,777.0,19.9,544,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2674,2214,0,0,0,0,0,0
$GC,12189,0.60,146.1,715.6,20.1,554,12193,0.00,2.20,0.00,0.000,4,0.000,0.044,2051,1275,2214,0,0,0,0,0,0
$GC,12241,0.60,146.1,705.2,18.5,555,12245,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2673,2212,0,0,0,0,0,0
$GC,12563,0.60,146.1,639.2,21.2,566,12567,0.00,2.17,0.00,0.000,4,0.000,0.044,2061,1285,2212,0,0,0,0,0,0
$GC,12604,0.60,146.1,630.5,18.9,567,12609,0.15,2.22,0.00,0.000,6,0.206,0.049,2025,2672,2212,0,0,0,0,0,0
$GC,12931,0.60,146.1,571.2,18.0,578,12935,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1280,2212,0,0,0,0,0,0
$GC,12955,0.60,146.1,566.8,17.1,578,12962,0.00,2.22,0.00,0.000,6,0.000,0.050,2035,2671,2211,0,0,0,0,0,0
$GC,13271,0.60,146.1,508.2,19.1,589,13275,0.00,2.17,0.00,0.000,4,0.000,0.043,2045,1286,2211,0,0,0,0,0,0
$GC,13334,0.60,146.1,496.8,17.6,590,13341,0.00,2.22,0.00,0.000,6,0.000,0.050,2045,2676,2211,0,0,0,0,0,0
$GC,13649,0.60,146.1,435.7,19.8,601,13653,0.00,2.20,0.00,0.000,4,0.000,0.044,2055,1283,2211,0,0,0,0,0,0
$GC,13673,0.60,146.1,430.6,19.0,601,13681,0.12,2.22,0.00,0.000,6,0.207,0.050,2026,2672,2211,0,0,0,0,0,0
$GC,13990,0.60,146.1,376.0,17.4,614,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2671,2211,0,0,0,0,0,0
$GC,14301,0.60,146.1,323.5,17.0,629,14305,0.00,2.17,0.00,0.000,4,0.000,0.043,2036,1284,2210,0,0,0,0,0,0
$GC,14336,0.60,146.1,317.2,15.0,630,14340,0.00,2.20,0.00,0.000,6,0.000,0.050,2036,2669,2211,0,0,0,0,0,0
$GC,14660,0.60,146.1,262.6,16.9,646,14664,0.00,2.17,0.00,0.000,4,0.000,0.043,2046,1286,2211,0,0,0,0,0,0
$GC,14690,0.60,146.1,257.5,15.5,647,14694,0.00,2.22,0.00,0.000,6,0.000,0.050,2046,2670,2211,0,0,0,0,0,0
$GC,15013,0.60,146.1,203.4,16.4,667,15017,0.00,2.15,0.00,0.000,4,0.000,0.043,2057,1286,2211,0,0,0,0,0,0
$GC,15065,0.60,146.1,194.6,14.2,670,15070,0.12,2.22,0.00,0.000,6,0.204,0.050,2028,2667,2210,0,0,0,0,0,0
$GC,15392,0.60,146.1,148.9,13.0,690,15396,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1275,2210,0,0,0,0,0,0
$GC,15445,0.60,146.1,141.3,12.3,693,15449,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2675,2210,0,0,0,0,0,0
$GC,15773,0.60,146.1,91.7,14.8,719,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2210,0,0,0,0,0,0
$GC,16126,0.60,146.1,42.6,14.5,780,16135,0.00,2.22,0.00,0.000,4,0.000,0.043,2047,1280,2210,0,0,0,0,0,0
$GC,16164,0.60,146.1,37.4,14.6,785,16171,0.00,2.22,0.00,0.000,6,0.000,0.050,2047,2669,2210,0,0,0,0,0,0
$STATE,16375,end climb,SURFACE_DEPTH_REACHED
$STATE,16375,begin surface coast
$FINISH,1.1,1.026434
$STATE,16397,end surface coast,CONTROL_FINISHED_OK
$STATE,16397,begin surface
$SM_CCo,16420,41.92,0.783,1,0,1880,230.09
$SM_GC,2.18,0.00,0.00,41.92,0.000,0.000,0.783,56,2878,1880,-5.54,0.51,230.09
$IRIDIUM_FIX,-4641.78,441.10,110213,040413
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.2,69.835
$10V_AH,10.0,36.887
$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,14.200,95.750,305.450,41.925,0.000,24.685,55.225,529.034,0.000,0.000,21.383,2043.090,11365.839,456.762,2648.333,799.579,33.377,1335.811,0.000,2029.193,0.000,1.008,0.000
$DEVICE_MAMPS,247.860,62.730,1804.635,783.360,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.866,1624.629,874.038,330.783,0.000,0.000,0.000,0.000,0.000,0.000
$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,60477,822
$CAP_FILE_SIZE,128954,0
$CFSIZE,259252224,205438976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,110213,140904,-4659.766,440.264,38,0.8,39,-23.5