version: 66.07
glider: 542
mission: 6
dive: 380
start: 2 11 113 19 16 13
data:
$ID,542
$MISSION,6
$DIVE,380
$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,-11656.487
$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,67
$R_STBD_OVSHOOT,21
$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
$GPS1,110213,185534,-4658.929,437.984,30,1.0,31,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-62.9
$GPS2,110213,191517,-4658.864,438.043,17,1.0,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.109,-0.231
$KALMAN_X,-278843.4,905.7,119.7,304472.4,-202.4
$KALMAN_Y,273243.0,204.6,3.7,-287517.3,4754.1
$MHEAD_RNG_PITCHd_Wd,228.6,35482,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.05,0.000,2,0.000,0.000,58,2860,3107,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-2.8,8,125,6.55,1.73,-8.55,0.000,4,0.239,0.078,1621,3901,3418,0,0,0,0,0,0
$GC,307,-0.60,-146.1,34.4,-13.4,40,317,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2859,3419,0,0,0,0,0,0
$GC,555,-0.60,-146.1,66.7,-13.0,81,561,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2859,3419,0,0,0,0,0,0
$GC,911,-0.60,-146.1,106.8,-10.7,135,914,0.00,1.67,0.00,0.000,4,0.000,0.058,1613,3906,3420,0,0,0,0,0,0
$GC,968,-0.60,-146.1,113.9,-12.2,138,972,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2852,3421,0,0,0,0,0,0
$GC,1297,-0.60,-146.1,150.7,-11.2,159,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2848,3421,0,0,0,0,0,0
$GC,1609,-0.60,-146.1,187.5,-11.8,179,1613,0.00,1.70,0.00,0.000,4,0.000,0.058,1605,3908,3421,0,0,0,0,0,0
$GC,1673,-0.60,-146.1,196.3,-13.6,182,1682,0.08,1.58,0.00,0.000,6,0.160,0.031,1628,2858,3421,0,0,0,0,0,0
$GC,1996,-0.60,-146.1,228.5,-9.6,203,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3421,0,0,0,0,0,0
$GC,2311,-0.60,-146.1,258.9,-9.6,222,2315,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3902,3421,0,0,0,0,0,0
$GC,2377,-0.60,-146.1,266.1,-10.9,224,2386,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2867,3421,0,0,0,0,0,0
$GC,2695,-0.60,-146.1,299.4,-10.6,240,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2866,3421,0,0,0,0,0,0
$GC,3006,-0.60,-146.1,333.4,-10.9,255,3010,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3896,3421,0,0,0,0,0,0
$GC,3064,-0.60,-146.1,340.5,-11.6,257,3068,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2869,3421,0,0,0,0,0,0
$GC,3390,-0.60,-146.1,374.9,-10.3,273,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2865,3421,0,0,0,0,0,0
$GC,3718,-0.60,-146.1,407.3,-9.4,288,3722,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3907,3420,0,0,0,0,0,0
$GC,3754,-0.60,-146.1,411.0,-9.8,289,3758,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2862,3420,0,0,0,0,0,0
$GC,4097,-0.60,-146.1,444.5,-9.6,300,4102,0.10,1.73,0.00,0.000,4,0.190,0.059,1623,3900,3420,0,0,0,0,0,0
$GC,4151,-0.60,-146.1,449.5,-8.5,301,4154,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2860,3420,0,0,0,0,0,0
$GC,4477,-0.60,-146.1,476.8,-8.4,312,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2855,3420,0,0,0,0,0,0
$GC,4783,-0.60,-146.1,503.3,-8.7,322,4787,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3901,3420,0,0,0,0,0,0
$GC,4820,-0.60,-146.1,506.7,-9.3,323,4824,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2856,3420,0,0,0,0,0,0
$GC,5163,-0.60,-146.1,539.4,-9.6,334,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2852,3419,0,0,0,0,0,0
$GC,5471,-0.60,-146.1,568.4,-9.4,344,5475,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3904,3419,0,0,0,0,0,0
$GC,5523,-0.60,-146.1,574.0,-10.1,345,5527,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2870,3418,0,0,0,0,0,0
$GC,5849,-0.60,-146.1,606.8,-10.0,356,5852,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3904,3418,0,0,0,0,0,0
$GC,5911,-0.60,-146.1,613.8,-10.4,357,5919,0.10,1.60,0.00,0.000,6,0.159,0.031,1629,2847,3418,0,0,0,0,0,0
$GC,6227,-0.60,-146.1,640.2,-8.2,368,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2847,3418,0,0,0,0,0,0
$GC,6533,-0.60,-146.1,663.8,-7.4,378,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2847,3418,0,0,0,0,0,0
$GC,6839,-0.60,-146.1,686.2,-7.3,388,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2847,3417,0,0,0,0,0,0
$GC,7146,-0.60,-146.1,708.5,-7.4,398,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2847,3416,0,0,0,0,0,0
$GC,7452,-0.60,-146.1,731.0,-7.5,408,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2847,3416,0,0,0,0,0,0
$GC,7758,-0.60,-146.1,755.8,-8.2,418,7762,0.00,1.73,0.00,0.000,4,0.000,0.062,1622,3909,3416,0,0,0,0,0,0
$GC,7810,-0.60,-146.1,760.5,-9.3,419,7814,0.00,1.60,0.00,0.000,6,0.000,0.033,1622,2862,3416,0,0,0,0,0,0
$GC,8136,-0.60,-146.1,789.2,-8.9,430,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3416,0,0,0,0,0,0
$GC,8444,-0.60,-146.1,815.4,-8.5,440,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3416,0,0,0,0,0,0
$GC,8749,-0.60,-146.1,841.2,-8.5,450,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3416,0,0,0,0,0,0
$GC,9055,-0.60,-146.1,867.4,-8.6,460,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3416,0,0,0,0,0,0
$GC,9361,-0.60,-146.1,893.9,-8.5,470,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3415,0,0,0,0,0,0
$GC,9668,-0.60,-146.1,919.2,-7.9,480,9672,0.00,1.70,0.00,0.000,4,0.000,0.062,1614,3903,3415,0,0,0,0,0,0
$GC,9708,-0.60,-146.1,922.9,-9.0,481,9712,0.00,1.60,0.00,0.000,6,0.000,0.033,1614,2854,3415,0,0,0,0,0,0
$GC,10046,-0.60,-146.1,948.7,-7.3,492,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2849,3415,0,0,0,0,0,0
$GC,10353,-0.60,-146.1,971.6,-7.5,502,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2850,3415,0,0,0,0,0,0
$GC,10660,-0.60,-146.1,993.9,-7.2,512,10664,0.00,1.70,0.00,0.000,4,0.000,0.062,1606,3900,3415,0,0,0,0,0,0
$GC,10706,-0.60,-146.1,997.8,-8.0,513,10710,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2867,3415,0,0,0,0,0,0
$STATE,10758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10758,begin apogee
$GC,10769,-0.18,0.0,1002.0,7.8,515,10917,0.55,0.00,145.27,1.255,6,0.155,0.000,1769,2672,2819,0,0,0,0,0,0
$STATE,10919,end apogee,CONTROL_FINISHED_OK
$STATE,10919,begin climb
$GC,10924,0.60,146.1,1004.4,0.0,520,11100,0.80,2.55,158.95,1.798,4,0.092,0.044,2033,1287,2225,0,0,0,0,1,0
$GC,11139,0.60,146.1,973.7,18.5,527,11144,0.00,2.45,0.00,0.000,6,0.000,0.050,2034,2669,2223,0,0,0,0,0,0
$GC,11477,0.60,146.1,902.0,21.4,538,11481,0.00,2.25,0.00,0.000,4,0.000,0.044,2043,1281,2218,0,0,0,0,0,0
$GC,11544,0.60,146.1,889.1,18.0,540,11548,0.00,2.28,0.00,0.000,6,0.000,0.050,2043,2672,2216,0,0,0,0,0,0
$GC,11882,0.60,146.1,816.8,21.5,551,11886,0.00,2.22,0.00,0.000,4,0.000,0.044,2054,1280,2215,0,0,0,0,0,0
$GC,11947,0.60,146.1,804.0,20.2,553,11951,0.00,2.25,0.00,0.000,6,0.000,0.050,2054,2671,2213,0,0,0,0,0,0
$GC,12285,0.60,146.1,732.8,21.1,564,12289,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1270,2213,0,0,0,0,0,0
$GC,12331,0.60,146.1,723.1,18.5,565,12336,0.15,2.25,0.00,0.000,6,0.206,0.050,2029,2676,2213,0,0,0,0,0,0
$GC,12659,0.60,146.1,663.1,18.4,576,12663,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1277,2212,0,0,0,0,0,0
$GC,12733,0.60,146.1,650.1,16.0,578,12737,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2677,2212,0,0,0,0,0,0
$GC,13065,0.60,146.1,586.5,19.7,589,13069,0.00,2.22,0.00,0.000,4,0.000,0.042,2049,1270,2212,0,0,0,0,0,0
$GC,13097,0.60,146.1,580.3,20.6,590,13101,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2670,2211,0,0,0,0,0,0
$GC,13434,0.60,146.1,508.9,21.2,601,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2211,0,0,0,0,0,0
$GC,13741,0.60,146.1,445.9,20.3,611,13745,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1275,2212,0,0,0,0,0,0
$GC,13798,0.60,146.1,434.5,19.0,612,13806,0.12,2.25,0.00,0.000,6,0.204,0.050,2030,2680,2211,0,0,0,0,0,0
$GC,14117,0.60,146.1,377.4,18.4,625,14121,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1280,2211,0,0,0,0,0,0
$GC,14188,0.60,146.1,365.3,15.7,628,14192,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2669,2211,0,0,0,0,0,0
$GC,14518,0.60,146.1,306.4,18.4,644,14522,0.00,2.17,0.00,0.000,4,0.000,0.043,2050,1272,2211,0,0,0,0,0,0
$GC,14566,0.60,146.1,298.1,16.4,646,14570,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2672,2211,0,0,0,0,0,0
$GC,14899,0.60,146.1,234.6,19.1,663,14903,0.00,2.20,0.00,0.000,4,0.000,0.043,2060,1277,2211,0,0,0,0,0,0
$GC,14940,0.60,146.1,226.7,16.8,665,14947,0.12,2.22,0.00,0.000,6,0.202,0.050,2031,2669,2211,0,0,0,0,0,0
$GC,15267,0.60,146.1,175.2,15.4,686,15271,0.00,2.20,0.00,0.000,4,0.000,0.042,2040,1272,2211,0,0,0,0,0,0
$GC,15333,0.60,146.1,164.7,13.8,690,15337,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2671,2210,0,0,0,0,0,0
$GC,15662,0.60,146.1,112.6,16.1,711,15666,0.00,2.20,0.00,0.000,4,0.000,0.042,2050,1274,2210,0,0,0,0,0,0
$GC,15703,0.60,146.1,105.8,14.3,713,15710,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2678,2210,0,0,0,0,0,0
$GC,16052,0.60,146.1,52.7,14.3,770,16061,0.00,2.22,0.00,0.000,4,0.000,0.041,2060,1278,2210,0,0,0,0,0,0
$GC,16104,0.60,146.1,45.6,14.0,777,16113,0.12,2.25,0.00,0.000,6,0.197,0.050,2030,2679,2210,0,0,0,0,0,0
$GC,16362,0.60,146.1,8.3,13.2,818,16371,0.00,1.95,0.00,0.000,4,0.000,0.058,2030,3894,2211,0,0,0,0,0,0
$STATE,16404,end climb,SURFACE_DEPTH_REACHED
$STATE,16404,begin surface coast
$FINISH,1.3,1.026443
$STATE,16418,end surface coast,CONTROL_FINISHED_OK
$STATE,16418,begin surface
$SM_CCo,16441,42.03,0.768,1,0,1880,230.09
$SM_GC,2.44,0.00,0.00,42.03,0.000,0.000,0.768,58,2843,1880,-5.54,-0.48,230.09
$IRIDIUM_FIX,-4641.78,441.10,110213,181815
$TT8_MAMPS,0.026215
$HUMID,58.70
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.2,70.199
$10V_AH,9.9,37.122
$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,14.075,104.825,304.225,42.025,0.000,53.807,41.807,756.242,0.000,0.000,19.606,2068.195,11371.998,451.266,2871.900,893.115,33.396,1359.016,0.000,2091.263,0.000,1.008,0.000
$DEVICE_MAMPS,239.445,78.030,1797.750,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.235,1617.610,861.105,332.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354072
$DATA_FILE_SIZE,60450,826
$CAP_FILE_SIZE,134768,0
$CFSIZE,259252224,205295616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,110213,235228,-4659.865,435.431,37,0.9,38,-23.5