version: 66.07
glider: 542
mission: 6
dive: 382
start: 2 12 113 5 1 44
data:
$ID,542
$MISSION,6
$DIVE,382
$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,-11662.592
$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,40
$R_STBD_OVSHOOT,38
$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
$GPS1,120213,044734,-4659.092,433.522,36,0.9,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-48.9
$GPS2,120213,050047,-4659.221,433.679,18,1.4,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.082,-0.242
$KALMAN_X,-276221.9,-295.4,953.1,296694.1,-26.0
$KALMAN_Y,279329.7,-838.0,-94.5,-293094.2,5044.9
$MHEAD_RNG_PITCHd_Wd,222.1,29943,-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,-62.97,0.000,2,0.000,0.000,59,2887,3058,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-3.1,8,124,6.82,2.30,-9.98,0.000,4,0.254,0.053,1631,1454,3417,0,0,0,0,0,0
$GC,374,-0.60,-146.1,41.1,-11.8,51,381,0.00,2.25,0.00,0.000,6,0.000,0.050,1622,2849,3419,0,0,0,0,0,0
$GC,617,-0.60,-146.1,74.8,-12.6,92,624,0.00,1.67,0.00,0.000,4,0.000,0.057,1614,3897,3420,0,0,0,0,0,0
$GC,711,-0.60,-146.1,86.6,-12.9,108,721,0.00,1.60,0.00,0.000,6,0.000,0.031,1613,2829,3420,0,0,0,0,0,0
$GC,1057,-0.60,-146.1,127.4,-11.9,141,1061,0.00,1.73,0.00,0.000,4,0.000,0.057,1605,3904,3420,0,0,0,0,0,0
$GC,1096,-0.60,-146.1,132.3,-13.4,143,1100,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2859,3421,0,0,0,0,0,0
$GC,1428,-0.60,-146.1,172.8,-11.9,164,1430,0.10,0.00,0.00,0.000,6,0.190,0.000,1629,2854,3420,0,0,0,0,0,0
$GC,1741,-0.60,-146.1,205.9,-10.4,184,1745,0.00,1.70,0.00,0.000,4,0.000,0.059,1622,3898,3421,0,0,0,0,0,0
$GC,1787,-0.60,-146.1,211.4,-11.8,186,1796,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2847,3421,0,0,0,0,0,0
$GC,2111,-0.60,-146.1,246.1,-10.5,207,2114,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3895,3421,0,0,0,0,0,0
$GC,2151,-0.60,-146.1,250.4,-11.8,209,2155,0.00,1.52,0.00,0.000,6,0.000,0.031,1613,2870,3421,0,0,0,0,0,0
$GC,2477,-0.60,-146.1,287.1,-11.1,225,2480,0.00,1.65,0.00,0.000,4,0.000,0.058,1605,3896,3421,0,0,0,0,0,0
$GC,2516,-0.60,-146.1,292.5,-12.5,226,2525,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2857,3421,0,0,0,0,0,0
$GC,2835,-0.60,-146.1,330.0,-12.0,242,2837,0.10,0.00,0.00,0.000,6,0.190,0.000,1629,2857,3421,0,0,0,0,0,0
$GC,3147,-0.60,-146.1,359.0,-9.0,257,3150,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3900,3421,0,0,0,0,0,0
$GC,3196,-0.60,-146.1,363.9,-9.6,259,3200,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2866,3421,0,0,0,0,0,0
$GC,3534,-0.60,-146.1,395.5,-9.6,275,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3421,0,0,0,0,0,0
$GC,3838,-0.60,-146.1,425.3,-9.6,286,3842,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3889,3421,0,0,0,0,0,0
$GC,3884,-0.60,-146.1,430.3,-10.6,287,3888,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2853,3421,0,0,0,0,0,0
$GC,4216,-0.60,-146.1,464.4,-10.2,298,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3421,0,0,0,0,0,0
$GC,4523,-0.60,-146.1,493.4,-9.2,308,4526,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3894,3421,0,0,0,0,0,0
$GC,4580,-0.60,-146.1,499.3,-10.4,309,4583,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2865,3420,0,0,0,0,0,0
$GC,4900,-0.60,-146.1,529.9,-9.6,320,4902,0.10,0.00,0.00,0.000,6,0.193,0.000,1630,2859,3420,0,0,0,0,0,0
$GC,5207,-0.60,-146.1,556.0,-8.7,330,5210,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3898,3420,0,0,0,0,0,0
$GC,5270,-0.60,-146.1,562.3,-9.7,331,5277,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2850,3420,0,0,0,0,0,0
$GC,5585,-0.60,-146.1,591.9,-9.5,342,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2849,3420,0,0,0,0,0,0
$GC,5892,-0.60,-146.1,619.4,-8.6,352,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2849,3419,0,0,0,0,0,0
$GC,6198,-0.60,-146.1,643.4,-7.4,362,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2850,3420,0,0,0,0,0,0
$GC,6505,-0.60,-146.1,665.1,-7.0,372,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2849,3420,0,0,0,0,0,0
$GC,6810,-0.60,-146.1,687.8,-7.6,382,6814,0.00,1.70,0.00,0.000,4,0.000,0.061,1615,3903,3419,0,0,0,0,0,0
$GC,6856,-0.60,-146.1,692.0,-9.7,383,6860,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2862,3419,0,0,0,0,0,0
$GC,7188,-0.60,-146.1,721.5,-9.3,394,7192,0.00,1.67,0.00,0.000,4,0.000,0.061,1607,3896,3419,0,0,0,0,0,0
$GC,7234,-0.60,-146.1,726.6,-11.2,395,7238,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2854,3418,0,0,0,0,0,0
$GC,7566,-0.60,-146.1,759.8,-9.8,406,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2850,3418,0,0,0,0,0,0
$GC,7873,-0.60,-146.1,788.9,-9.4,416,7877,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3903,3418,0,0,0,0,0,0
$GC,7947,-0.60,-146.1,796.8,-9.9,418,7952,0.10,1.58,0.00,0.000,6,0.160,0.033,1629,2862,3418,0,0,0,0,0,0
$GC,8288,-0.60,-146.1,820.5,-6.5,429,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,8592,-0.60,-146.1,840.2,-6.6,439,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3418,0,0,0,0,0,0
$GC,8900,-0.60,-146.1,860.5,-6.7,449,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3417,0,0,0,0,0,0
$GC,9205,-0.60,-146.1,881.6,-7.0,459,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,9510,-0.60,-146.1,903.9,-7.3,469,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2858,3416,0,0,0,0,0,0
$GC,9817,-0.60,-146.1,926.0,-7.2,479,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3416,0,0,0,0,0,0
$GC,10123,-0.60,-146.1,947.5,-7.2,489,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3416,0,0,0,0,0,0
$GC,10430,-0.60,-146.1,970.4,-7.5,499,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2858,3416,0,0,0,0,0,0
$GC,10735,-0.60,-146.1,992.5,-7.1,509,10739,0.00,1.67,0.00,0.000,4,0.000,0.062,1623,3893,3416,0,0,0,0,0,0
$GC,10776,-0.60,-146.1,995.9,-8.0,510,10779,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2856,3416,0,0,0,0,0,0
$STATE,10833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10833,begin apogee
$GC,10844,-0.18,0.0,1000.5,7.6,512,11001,0.47,0.00,149.02,1.844,6,0.149,0.000,1765,2674,2820,0,0,0,0,1,0
$STATE,11003,end apogee,CONTROL_FINISHED_OK
$STATE,11003,begin climb
$GC,11008,0.60,146.1,1005.1,0.0,517,11188,0.82,0.00,166.15,1.783,6,0.086,0.000,2021,2674,2224,0,0,0,0,2,0
$GC,11475,0.60,146.1,925.7,20.4,533,11479,0.00,2.22,0.00,0.000,4,0.000,0.044,2032,1285,2218,0,0,0,0,0,0
$GC,11577,0.60,146.1,907.1,17.8,536,11581,0.00,2.28,0.00,0.000,6,0.000,0.050,2032,2666,2215,0,0,0,0,0,0
$GC,11910,0.60,146.1,838.8,20.8,547,11914,0.00,2.20,0.00,0.000,4,0.000,0.044,2042,1287,2214,0,0,0,0,0,0
$GC,11961,0.60,146.1,828.3,17.8,548,11965,0.00,2.25,0.00,0.000,6,0.000,0.050,2042,2681,2213,0,0,0,0,0,0
$GC,12282,0.60,146.1,761.1,21.1,559,12286,0.00,2.20,0.00,0.000,4,0.000,0.044,2052,1282,2213,0,0,0,0,0,0
$GC,12353,0.60,146.1,747.6,17.5,561,12357,0.00,2.25,0.00,0.000,6,0.000,0.050,2053,2682,2211,0,0,0,0,0,0
$GC,12691,0.60,146.1,675.0,21.3,572,12695,0.00,2.20,0.00,0.000,4,0.000,0.045,2063,1281,2211,0,0,0,0,0,0
$GC,12762,0.60,146.1,661.6,17.5,574,12767,0.15,2.22,0.00,0.000,6,0.208,0.050,2028,2668,2211,0,0,0,0,0,0
$GC,13101,0.60,146.1,601.1,18.0,585,13105,0.00,2.17,0.00,0.000,4,0.000,0.043,2037,1285,2210,0,0,0,0,0,0
$GC,13175,0.60,146.1,588.2,16.4,587,13179,0.00,2.22,0.00,0.000,6,0.000,0.050,2037,2672,2210,0,0,0,0,0,0
$GC,13507,0.60,146.1,526.0,18.6,598,13511,0.00,2.17,0.00,0.000,4,0.000,0.042,2047,1285,2210,0,0,0,0,0,0
$GC,13542,0.60,146.1,519.3,17.4,599,13546,0.00,2.22,0.00,0.000,6,0.000,0.050,2047,2671,2210,0,0,0,0,0,0
$GC,13874,0.60,146.1,455.8,19.1,610,13878,0.00,2.17,0.00,0.000,4,0.000,0.042,2057,1285,2210,0,0,0,0,0,0
$GC,13926,0.60,146.1,446.4,16.1,611,13931,0.12,2.22,0.00,0.000,6,0.205,0.050,2028,2682,2209,0,0,0,0,0,0
$GC,14261,0.60,146.1,389.8,17.3,623,14265,0.00,2.20,0.00,0.000,4,0.000,0.043,2038,1283,2209,0,0,0,0,0,0
$GC,14318,0.60,146.1,379.8,15.3,625,14325,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2671,2209,0,0,0,0,0,0
$GC,14639,0.60,146.1,323.3,17.8,641,14643,0.00,2.17,0.00,0.000,4,0.000,0.041,2048,1285,2209,0,0,0,0,0,0
$GC,14684,0.60,146.1,315.6,16.1,643,14688,0.00,2.20,0.00,0.000,6,0.000,0.050,2048,2670,2209,0,0,0,0,0,0
$GC,15022,0.60,146.1,254.2,18.1,659,15026,0.00,2.17,0.00,0.000,4,0.000,0.042,2058,1285,2209,0,0,0,0,0,0
$GC,15079,0.60,146.1,243.8,15.5,662,15089,0.10,2.25,0.00,0.000,6,0.184,0.050,2030,2669,2209,0,0,0,0,0,0
$GC,15408,0.60,146.1,189.2,17.8,683,15414,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2208,0,0,0,0,0,0
$GC,15730,0.60,146.1,134.4,16.6,704,15734,0.00,2.17,0.00,0.000,4,0.000,0.042,2039,1283,2209,0,0,0,0,0,0
$GC,15799,0.60,146.1,123.3,15.2,708,15803,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2682,2207,0,0,0,0,0,0
$GC,16138,0.60,146.1,68.0,16.1,750,16147,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2682,2208,0,0,0,0,0,0
$GC,16512,0.60,146.1,12.7,14.8,811,16520,0.00,2.22,0.00,0.000,4,0.000,0.044,2049,1289,2208,0,0,0,0,0,0
$STATE,16577,end climb,SURFACE_DEPTH_REACHED
$STATE,16577,begin surface coast
$FINISH,1.9,1.026435
$STATE,16588,end surface coast,CONTROL_FINISHED_OK
$STATE,16588,begin surface
$SM_CCo,16613,41.78,0.779,1,0,1881,230.09
$SM_GC,1.90,0.00,0.00,41.78,0.000,0.000,0.779,56,2865,1881,-5.55,0.14,230.09
$IRIDIUM_FIX,-4641.78,434.81,110213,232310
$TT8_MAMPS,0.026215
$HUMID,58.89
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.2,70.574
$10V_AH,10.0,37.353
$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,14.425,100.600,315.175,41.775,0.000,24.760,29.114,486.086,0.000,0.000,20.636,2061.072,11485.060,501.173,2604.038,787.335,33.400,1370.245,0.000,2050.269,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,73.440,1844.415,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.854,1617.499,851.156,332.065,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354080
$DATA_FILE_SIZE,60468,822
$CAP_FILE_SIZE,128074,0
$CFSIZE,259252224,205160448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,120213,094058,-4700.324,431.622,41,0.7,46,-23.4