version: 66.07
glider: 542
mission: 6
dive: 384
start: 2 12 113 14 39 8
data:
$ID,542
$MISSION,6
$DIVE,384
$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,-11668.697
$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,57
$R_STBD_OVSHOOT,46
$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
$GPS1,120213,142435,-4658.801,429.386,33,1.0,34,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-51.5
$GPS2,120213,143811,-4658.762,429.493,19,0.9,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.242,-0.082
$KALMAN_X,-274370.1,77.6,406.9,289744.8,1001.4
$KALMAN_Y,285676.0,-167.2,-328.7,-299029.6,6408.5
$MHEAD_RNG_PITCHd_Wd,274.7,24727,-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,-62.85,0.000,2,0.000,0.000,51,2892,3045,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-4.2,8,125,6.93,2.25,-10.07,0.000,4,0.258,0.046,1631,1459,3418,0,0,0,0,0,0
$GC,161,-0.60,-146.1,14.5,-16.1,16,170,0.00,2.28,0.00,0.000,6,0.000,0.053,1622,2844,3419,0,0,0,0,0,0
$GC,250,-0.60,-146.1,27.1,-15.7,29,259,0.00,1.70,0.00,0.000,4,0.000,0.062,1613,3894,3419,0,0,0,0,0,0
$GC,308,-0.60,-146.1,36.7,-16.3,37,315,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2842,3419,0,0,0,0,0,0
$GC,552,-0.60,-146.1,73.9,-15.3,78,561,0.00,2.08,0.00,0.000,4,0.000,0.037,1613,1497,3419,0,0,0,0,0,0
$GC,592,-0.60,-146.1,80.3,-15.4,84,601,0.00,2.22,0.00,0.000,6,0.000,0.051,1603,2869,3420,0,0,0,0,0,0
$GC,933,-0.60,-146.1,131.6,-14.0,118,938,0.12,1.62,0.00,0.000,4,0.192,0.060,1627,3900,3420,0,0,0,0,0,0
$GC,1026,-0.60,-146.1,143.1,-11.0,123,1029,0.00,1.55,0.00,0.000,6,0.000,0.031,1627,2867,3420,0,0,0,0,0,0
$GC,1354,-0.60,-146.1,177.9,-10.7,144,1358,0.00,2.10,0.00,0.000,4,0.000,0.036,1627,1481,3421,0,0,0,0,0,0
$GC,1389,-0.60,-146.1,182.0,-10.5,146,1393,0.00,2.20,0.00,0.000,6,0.000,0.051,1617,2859,3421,0,0,0,0,0,0
$GC,1712,-0.60,-146.1,217.5,-10.5,166,1716,0.00,1.65,0.00,0.000,4,0.000,0.060,1608,3909,3421,0,0,0,0,0,0
$GC,1776,-0.60,-146.1,225.0,-11.1,169,1783,0.00,1.58,0.00,0.000,6,0.000,0.031,1608,2851,3421,0,0,0,0,0,0
$GC,2104,-0.60,-146.1,259.1,-10.6,189,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2851,3421,0,0,0,0,0,0
$GC,2412,-0.60,-146.1,291.4,-10.7,204,2415,0.00,1.67,0.00,0.000,4,0.000,0.060,1601,3897,3421,0,0,0,0,0,0
$GC,2460,-0.60,-146.1,296.9,-11.4,206,2465,0.08,1.55,0.00,0.000,6,0.159,0.031,1624,2866,3421,0,0,0,0,0,0
$GC,2796,-0.60,-146.1,329.5,-9.7,222,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2860,3421,0,0,0,0,0,0
$GC,3107,-0.60,-146.1,359.9,-9.9,237,3111,0.00,1.70,0.00,0.000,4,0.000,0.061,1618,3902,3421,0,0,0,0,0,0
$GC,3142,-0.60,-146.1,364.0,-10.4,238,3146,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2855,3421,0,0,0,0,0,0
$GC,3466,-0.60,-146.1,396.6,-9.9,254,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2850,3421,0,0,0,0,0,0
$GC,3783,-0.60,-146.1,429.0,-10.4,265,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2850,3420,0,0,0,0,0,0
$GC,4091,-0.60,-146.1,459.9,-10.0,275,4095,0.00,2.10,0.00,0.000,4,0.000,0.037,1618,1479,3420,0,0,0,0,0,0
$GC,4122,-0.60,-146.1,463.3,-9.9,276,4126,0.00,2.22,0.00,0.000,6,0.000,0.052,1607,2865,3420,0,0,0,0,0,0
$GC,4467,-0.60,-146.1,499.2,-10.7,287,4470,0.00,1.65,0.00,0.000,4,0.000,0.060,1599,3908,3419,0,0,0,0,0,0
$GC,4524,-0.60,-146.1,506.2,-11.9,288,4529,0.08,1.58,0.00,0.000,6,0.162,0.031,1630,2864,3419,0,0,0,0,0,0
$GC,4846,-0.60,-146.1,533.2,-8.3,299,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2860,3419,0,0,0,0,0,0
$GC,5152,-0.60,-146.1,558.7,-8.5,309,5156,0.00,1.73,0.00,0.000,4,0.000,0.062,1624,3895,3419,0,0,0,0,0,0
$GC,5181,-0.60,-146.1,561.8,-9.5,309,5188,0.00,1.58,0.00,0.000,6,0.000,0.032,1624,2848,3419,0,0,0,0,0,0
$GC,5497,-0.60,-146.1,591.2,-9.4,320,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2848,3419,0,0,0,0,0,0
$GC,5803,-0.60,-146.1,620.9,-9.7,330,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2848,3419,0,0,0,0,0,0
$GC,6110,-0.60,-146.1,650.4,-9.7,340,6113,0.00,1.70,0.00,0.000,4,0.000,0.061,1615,3900,3418,0,0,0,0,0,0
$GC,6150,-0.60,-146.1,654.9,-10.6,341,6153,0.00,1.58,0.00,0.000,6,0.000,0.033,1615,2863,3418,0,0,0,0,0,0
$GC,6487,-0.60,-146.1,688.1,-9.9,352,6491,0.00,2.10,0.00,0.000,4,0.000,0.037,1616,1477,3418,0,0,0,0,0,0
$GC,6518,-0.60,-146.1,691.2,-10.0,353,6523,0.10,2.22,0.00,0.000,6,0.189,0.052,1629,2860,3418,0,0,0,0,0,0
$GC,6857,-0.60,-146.1,721.1,-8.8,364,6861,0.00,1.67,0.00,0.000,4,0.000,0.061,1622,3886,3418,0,0,0,0,0,0
$GC,6894,-0.60,-146.1,724.5,-9.3,365,6898,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2855,3418,0,0,0,0,0,0
$GC,7238,-0.60,-146.1,755.2,-8.7,376,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2850,3418,0,0,0,0,0,0
$GC,7543,-0.60,-146.1,781.1,-8.2,386,7547,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3900,3417,0,0,0,0,0,0
$GC,7589,-0.60,-146.1,785.3,-8.8,387,7593,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2863,3417,0,0,0,0,0,0
$GC,7922,-0.60,-146.1,812.6,-8.4,398,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3417,0,0,0,0,0,0
$GC,8228,-0.60,-146.1,838.2,-8.4,408,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3416,0,0,0,0,0,0
$GC,8534,-0.60,-146.1,864.5,-8.6,418,8537,0.00,1.67,0.00,0.000,4,0.000,0.063,1606,3893,3416,0,0,0,0,0,0
$GC,8574,-0.60,-146.1,868.6,-9.5,419,8578,0.00,1.58,0.00,0.000,6,0.000,0.034,1606,2854,3416,0,0,0,0,0,0
$GC,8912,-0.60,-146.1,898.4,-8.8,430,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2850,3416,0,0,0,0,0,0
$GC,9220,-0.60,-146.1,924.6,-8.6,440,9224,0.00,1.70,0.00,0.000,4,0.000,0.062,1598,3899,3415,0,0,0,0,0,0
$GC,9257,-0.60,-146.1,928.2,-10.4,441,9261,0.08,1.58,0.00,0.000,6,0.155,0.033,1631,2857,3415,0,0,0,0,0,0
$GC,9601,-0.60,-146.1,951.5,-6.6,452,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3415,0,0,0,0,0,0
$GC,9907,-0.60,-146.1,971.0,-6.2,462,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3415,0,0,0,0,0,0
$GC,10214,-0.60,-146.1,989.6,-6.1,472,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3415,0,0,0,0,0,0
$STATE,10392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10392,begin apogee
$GC,10403,-0.18,0.0,1000.9,6.1,478,10551,0.45,0.00,145.35,1.255,6,0.148,0.000,1767,2676,2819,0,0,0,0,0,0
$STATE,10553,end apogee,CONTROL_FINISHED_OK
$STATE,10553,begin climb
$GC,10558,0.60,146.1,1003.8,0.0,483,10735,0.80,2.53,159.85,1.815,4,0.089,0.043,2033,1293,2226,0,0,0,0,1,0
$GC,10774,0.60,146.1,973.5,19.7,490,10778,0.00,2.45,0.00,0.000,6,0.000,0.051,2033,2668,2222,0,0,0,0,0,0
$GC,11112,0.60,146.1,900.8,22.0,501,11116,0.00,2.22,0.00,0.000,4,0.000,0.044,2044,1290,2218,0,0,0,0,0,0
$GC,11164,0.60,146.1,889.8,18.9,502,11168,0.00,2.28,0.00,0.000,6,0.000,0.052,2043,2676,2215,0,0,0,0,0,0
$GC,11485,0.60,146.1,820.8,21.5,513,11489,0.00,2.22,0.00,0.000,4,0.000,0.044,2054,1278,2215,0,0,0,0,0,0
$GC,11548,0.60,146.1,808.0,18.5,514,11555,0.00,2.25,0.00,0.000,6,0.000,0.050,2054,2670,2214,0,0,0,0,0,0
$GC,11864,0.60,146.1,739.8,21.9,525,11868,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1286,2214,0,0,0,0,0,0
$GC,11899,0.60,146.1,732.0,22.2,526,11904,0.15,2.25,0.00,0.000,6,0.207,0.050,2029,2683,2213,0,0,0,0,0,0
$GC,12232,0.60,146.1,667.7,19.2,537,12236,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1277,2213,0,0,0,0,0,0
$GC,12297,0.60,146.1,656.2,17.1,539,12301,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2675,2212,0,0,0,0,0,0
$GC,12635,0.60,146.1,590.4,19.8,550,12639,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1282,2212,0,0,0,0,0,0
$GC,12681,0.60,146.1,581.3,17.5,551,12685,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2679,2212,0,0,0,0,0,0
$GC,13015,0.60,146.1,512.6,20.9,562,13019,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1284,2212,0,0,0,0,0,0
$GC,13067,0.60,146.1,501.7,18.7,563,13072,0.12,2.22,0.00,0.000,6,0.203,0.050,2030,2668,2211,0,0,0,0,0,0
$GC,13382,0.60,146.1,442.6,18.7,573,13386,0.00,2.17,0.00,0.000,4,0.000,0.043,2040,1287,2212,0,0,0,0,0,0
$GC,13417,0.60,146.1,436.2,16.4,574,13421,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2670,2211,0,0,0,0,0,0
$GC,13753,0.60,146.1,373.6,18.7,587,13757,0.00,2.17,0.00,0.000,4,0.000,0.043,2050,1286,2211,0,0,0,0,0,0
$GC,13803,0.60,146.1,364.8,16.2,589,13807,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2671,2210,0,0,0,0,0,0
$GC,14135,0.60,146.1,302.6,18.9,605,14139,0.00,2.17,0.00,0.000,4,0.000,0.043,2060,1287,2211,0,0,0,0,0,0
$GC,14170,0.60,146.1,295.6,16.4,606,14179,0.10,2.25,0.00,0.000,6,0.181,0.051,2031,2669,2211,0,0,0,0,0,0
$GC,14496,0.60,146.1,241.2,17.2,623,14500,0.00,2.17,0.00,0.000,4,0.000,0.044,2041,1285,2211,0,0,0,0,0,0
$GC,14531,0.60,146.1,236.0,16.2,625,14535,0.00,2.22,0.00,0.000,6,0.000,0.050,2041,2671,2210,0,0,0,0,0,0
$GC,14860,0.60,146.1,180.0,17.1,646,14861,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2210,0,0,0,0,0,0
$GC,15171,0.60,146.1,126.6,17.0,666,15175,0.00,2.17,0.00,0.000,4,0.000,0.042,2051,1281,2210,0,0,0,0,0,0
$GC,15224,0.60,146.1,117.5,15.5,669,15228,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2679,2209,0,0,0,0,0,0
$GC,15567,0.60,146.1,59.0,17.1,715,15574,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1285,2210,0,0,0,0,0,0
$GC,15635,0.60,146.1,48.6,14.3,725,15642,0.15,2.22,0.00,0.000,6,0.197,0.050,2026,2670,2210,0,0,0,0,0,0
$GC,15892,0.60,146.1,16.8,15.4,766,15900,0.00,2.20,0.00,0.000,4,0.000,0.044,2035,1289,2210,0,0,0,0,0,0
$GC,15981,0.60,146.1,3.0,12.7,779,15990,0.00,2.28,0.00,0.000,6,0.000,0.059,2035,2664,2207,0,0,0,0,0,0
$STATE,15999,end climb,SURFACE_DEPTH_REACHED
$STATE,15999,begin surface coast
$FINISH,0.7,1.008164
$STATE,16025,end surface coast,CONTROL_FINISHED_OK
$STATE,16025,begin surface
$SM_CCo,16048,42.00,0.785,1,0,1881,230.09
$SM_GC,1.96,0.00,0.00,42.00,0.000,0.000,0.785,51,2889,1881,-5.56,0.82,230.09
$IRIDIUM_FIX,-4644.93,434.81,120213,090936
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.1,70.927
$10V_AH,10.0,37.577
$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,14.550,124.000,305.200,42.000,0.000,28.504,22.700,512.931,0.000,0.000,21.512,2003.552,11051.101,465.343,2581.613,795.768,33.396,1358.785,0.000,2002.215,0.000,1.010,0.000
$DEVICE_MAMPS,257.805,62.730,1815.345,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.641,1562.681,821.492,314.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354084
$DATA_FILE_SIZE,57121,785
$CAP_FILE_SIZE,132956,0
$CFSIZE,259252224,205021184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,120213,190852,-4657.942,426.947,40,0.9,41,-23.4