version: 66.07
glider: 542
mission: 6
dive: 387
start: 2 13 113 5 14 21
data:
$ID,542
$MISSION,6
$DIVE,387
$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,-11677.796
$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,32
$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
$GPS1,130213,050028,-4659.644,423.442,36,0.8,37,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-56.5
$GPS2,130213,051324,-4659.609,423.458,18,1.4,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.236,-0.097
$KALMAN_X,-272188.6,-1002.4,90.1,281331.0,865.4
$KALMAN_Y,296258.6,-807.2,-209.6,-310666.8,6644.1
$MHEAD_RNG_PITCHd_Wd,271.0,17013,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-55.10,0.000,2,0.000,0.000,54,2887,2870,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.1,-3.5,7,124,6.65,2.25,-16.85,0.000,4,0.244,0.049,1629,1451,3418,0,0,0,0,0,0
$GC,185,-0.60,-146.1,12.3,-7.2,20,194,0.00,2.28,0.00,0.000,6,0.000,0.050,1620,2848,3420,0,0,0,0,0,0
$GC,273,-0.60,-146.1,20.8,-11.0,33,282,0.00,1.67,0.00,0.000,4,0.000,0.057,1611,3894,3420,0,0,0,0,0,0
$GC,343,-0.60,-146.1,29.4,-13.4,43,352,0.00,1.60,0.00,0.000,6,0.000,0.031,1611,2836,3420,0,0,0,0,0,0
$GC,427,-0.60,-146.1,41.2,-13.4,56,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2836,3420,0,0,0,0,0,0
$GC,675,-0.60,-146.1,74.6,-12.2,97,679,0.00,1.67,0.00,0.000,4,0.000,0.058,1603,3896,3419,0,0,0,0,0,0
$GC,817,-0.60,-146.1,94.4,-13.7,121,822,0.08,1.58,0.00,0.000,6,0.161,0.031,1627,2855,3420,0,0,0,0,0,0
$GC,1146,-0.60,-146.1,128.7,-10.0,146,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2851,3420,0,0,0,0,0,0
$GC,1454,-0.60,-146.1,160.6,-10.5,166,1458,0.00,1.67,0.00,0.000,4,0.000,0.058,1620,3898,3421,0,0,0,0,0,0
$GC,1484,-0.60,-146.1,164.2,-11.7,167,1491,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2846,3421,0,0,0,0,0,0
$GC,1805,-0.60,-146.1,200.5,-11.5,188,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2846,3421,0,0,0,0,0,0
$GC,2118,-0.60,-146.1,235.4,-10.8,208,2122,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3906,3421,0,0,0,0,0,0
$GC,2209,-0.60,-146.1,245.7,-11.9,213,2213,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2859,3421,0,0,0,0,0,0
$GC,2535,-0.60,-146.1,282.5,-11.0,229,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2853,3422,0,0,0,0,0,0
$GC,2843,-0.60,-146.1,316.6,-11.3,244,2846,0.00,1.67,0.00,0.000,4,0.000,0.059,1604,3899,3422,0,0,0,0,0,0
$GC,2879,-0.60,-146.1,321.1,-12.5,245,2884,0.08,1.58,0.00,0.000,6,0.155,0.032,1636,2856,3422,0,0,0,0,0,0
$GC,3206,-0.60,-146.1,350.8,-8.9,261,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3422,0,0,0,0,0,0
$GC,3513,-0.60,-146.1,377.7,-8.6,276,3517,0.00,1.67,0.00,0.000,4,0.000,0.060,1630,3894,3421,0,0,0,0,0,0
$GC,3570,-0.60,-146.1,383.2,-9.5,278,3574,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2852,3422,0,0,0,0,0,0
$GC,3893,-0.60,-146.1,410.3,-8.3,292,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2848,3422,0,0,0,0,0,0
$GC,4199,-0.60,-146.1,435.1,-7.8,302,4202,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3903,3421,0,0,0,0,0,0
$GC,4251,-0.60,-146.1,439.6,-8.7,303,4254,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2861,3421,0,0,0,0,0,0
$GC,4577,-0.60,-146.1,467.4,-8.6,314,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2856,3421,0,0,0,0,0,0
$GC,4885,-0.60,-146.1,495.0,-8.9,324,4888,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3896,3421,0,0,0,0,0,0
$GC,4913,-0.60,-146.1,498.1,-9.8,324,4920,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2849,3421,0,0,0,0,0,0
$GC,5229,-0.60,-146.1,528.3,-9.8,335,5233,0.00,1.70,0.00,0.000,4,0.000,0.060,1607,3903,3421,0,0,0,0,0,0
$GC,5269,-0.60,-146.1,532.8,-10.5,336,5273,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2862,3421,0,0,0,0,0,0
$GC,5606,-0.60,-146.1,569.2,-10.9,347,5610,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3895,3421,0,0,0,0,0,0
$GC,5677,-0.60,-146.1,577.6,-12.2,349,5682,0.08,1.58,0.00,0.000,6,0.160,0.032,1632,2855,3420,0,0,0,0,0,0
$GC,6023,-0.60,-146.1,609.3,-8.8,360,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2851,3420,0,0,0,0,0,0
$GC,6327,-0.60,-146.1,635.1,-8.2,370,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2851,3420,0,0,0,0,0,0
$GC,6634,-0.60,-146.1,659.5,-7.8,380,6638,0.00,1.73,0.00,0.000,4,0.000,0.062,1625,3900,3420,0,0,0,0,0,0
$GC,6671,-0.60,-146.1,662.6,-8.4,381,6675,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2862,3420,0,0,0,0,0,0
$GC,7017,-0.60,-146.1,690.1,-7.7,392,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2858,3420,0,0,0,0,0,0
$GC,7322,-0.60,-146.1,712.8,-7.3,402,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2857,3420,0,0,0,0,0,0
$GC,7627,-0.60,-146.1,734.2,-6.9,412,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2858,3420,0,0,0,0,0,0
$GC,7934,-0.60,-146.1,754.8,-6.8,422,7937,0.00,1.70,0.00,0.000,4,0.000,0.063,1617,3891,3420,0,0,0,0,0,0
$GC,7971,-0.60,-146.1,757.6,-8.0,423,7975,0.00,1.58,0.00,0.000,6,0.000,0.033,1617,2853,3420,0,0,0,0,0,0
$GC,8316,-0.60,-146.1,782.8,-7.5,434,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2849,3420,0,0,0,0,0,0
$GC,8621,-0.60,-146.1,806.7,-8.0,444,8625,0.00,1.70,0.00,0.000,4,0.000,0.061,1609,3897,3420,0,0,0,0,0,0
$GC,8662,-0.60,-146.1,810.5,-8.9,445,8666,0.00,1.58,0.00,0.000,6,0.000,0.033,1609,2865,3419,0,0,0,0,0,0
$GC,9000,-0.60,-146.1,841.2,-9.2,456,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2860,3420,0,0,0,0,0,0
$GC,9306,-0.60,-146.1,869.8,-9.3,466,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2860,3420,0,0,0,0,0,0
$GC,9612,-0.60,-146.1,897.7,-9.1,476,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2860,3420,0,0,0,0,0,0
$GC,9918,-0.60,-146.1,926.1,-9.2,486,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2860,3419,0,0,0,0,0,0
$GC,10224,-0.60,-146.1,954.2,-9.1,496,10228,0.00,1.73,0.00,0.000,4,0.000,0.062,1602,3892,3419,0,0,0,0,0,0
$GC,10265,-0.60,-146.1,958.3,-9.8,497,10270,0.08,1.58,0.00,0.000,6,0.158,0.033,1625,2858,3419,0,0,0,0,0,0
$GC,10604,-0.60,-146.1,985.1,-7.8,508,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2853,3419,0,0,0,0,0,0
$STATE,10813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10824,-0.18,0.0,1000.9,7.3,515,10974,0.47,0.00,146.32,1.259,6,0.152,0.000,1768,2665,2820,0,0,0,0,0,0
$STATE,10976,end apogee,CONTROL_FINISHED_OK
$STATE,10976,begin climb
$GC,10981,0.60,146.1,1005.0,0.0,520,11175,0.80,2.45,165.50,1.782,4,0.090,0.042,2033,1287,2225,0,0,0,0,4,0
$GC,11229,0.60,146.1,969.3,19.0,528,11233,0.00,2.42,0.00,0.000,6,0.000,0.050,2033,2664,2223,0,0,0,0,0,0
$GC,11555,0.60,146.1,899.9,21.2,539,11559,0.00,2.22,0.00,0.000,4,0.000,0.044,2043,1285,2219,0,0,0,0,0,0
$GC,11596,0.60,146.1,891.3,19.2,540,11601,0.00,2.30,0.00,0.000,6,0.000,0.050,2043,2683,2217,0,0,0,0,0,0
$GC,11923,0.60,146.1,821.0,21.7,551,11927,0.00,2.22,0.00,0.000,4,0.000,0.044,2053,1282,2217,0,0,0,0,0,0
$GC,11991,0.60,146.1,807.0,18.2,553,11995,0.00,2.25,0.00,0.000,6,0.000,0.050,2053,2679,2215,0,0,0,0,0,0
$GC,12330,0.60,146.1,733.8,21.6,564,12334,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1281,2215,0,0,0,0,0,0
$GC,12363,0.60,146.1,726.6,20.6,565,12368,0.15,2.25,0.00,0.000,6,0.209,0.050,2029,2679,2215,0,0,0,0,0,0
$GC,12702,0.60,146.1,662.4,18.6,576,12706,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1274,2215,0,0,0,0,0,0
$GC,12754,0.60,146.1,653.3,15.1,577,12758,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2670,2214,0,0,0,0,0,0
$GC,13069,0.60,146.1,595.6,18.6,587,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2669,2214,0,0,0,0,0,0
$GC,13375,0.60,146.1,538.0,19.1,597,13379,0.00,2.17,0.00,0.000,4,0.000,0.044,2048,1278,2214,0,0,0,0,0,0
$GC,13422,0.60,146.1,529.6,16.9,598,13426,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2676,2214,0,0,0,0,0,0
$GC,13756,0.60,146.1,465.7,19.6,609,13760,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1284,2214,0,0,0,0,0,0
$GC,13791,0.60,146.1,458.4,17.9,610,13795,0.12,2.22,0.00,0.000,6,0.204,0.050,2030,2669,2214,0,0,0,0,0,0
$GC,14124,0.60,146.1,400.0,17.5,621,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2213,0,0,0,0,0,0
$GC,14443,0.60,146.1,345.2,16.5,636,14447,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1279,2214,0,0,0,0,0,0
$GC,14465,0.60,146.1,341.8,16.4,637,14469,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2669,2213,0,0,0,0,0,0
$GC,14797,0.60,146.1,284.1,18.0,653,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2669,2213,0,0,0,0,0,0
$GC,15110,0.60,146.1,229.4,16.8,670,15114,0.00,2.17,0.00,0.000,4,0.000,0.042,2050,1284,2214,0,0,0,0,0,0
$GC,15132,0.60,146.1,226.2,17.3,671,15136,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2673,2213,0,0,0,0,0,0
$GC,15464,0.60,146.1,166.6,18.2,692,15468,0.00,2.17,0.00,0.000,4,0.000,0.043,2060,1283,2213,0,0,0,0,0,0
$GC,15496,0.60,146.1,160.9,16.7,694,15501,0.12,2.22,0.00,0.000,6,0.199,0.050,2030,2668,2213,0,0,0,0,0,0
$GC,15830,0.60,146.1,109.2,14.9,715,15834,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1271,2213,0,0,0,0,0,0
$GC,15869,0.60,146.1,103.0,13.1,717,15873,0.00,2.25,0.00,0.000,6,0.000,0.049,2040,2671,2213,0,0,0,0,0,0
$GC,16227,0.60,146.1,49.4,15.6,775,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2213,0,0,0,0,0,0
$GC,16482,0.60,146.1,9.9,13.6,816,16491,0.00,2.22,0.00,0.000,4,0.000,0.047,2050,1291,2212,0,0,0,0,0,0
$STATE,16530,end climb,SURFACE_DEPTH_REACHED
$STATE,16530,begin surface coast
$FINISH,0.9,1.026455
$STATE,16556,end surface coast,CONTROL_FINISHED_OK
$STATE,16556,begin surface
$SM_CCo,16581,42.25,0.789,1,0,1879,230.09
$SM_GC,2.02,0.00,0.00,42.25,0.000,0.000,0.789,59,2868,1879,-5.54,0.23,230.09
$IRIDIUM_FIX,-4641.78,425.13,130213,000040
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.1,71.454
$10V_AH,10.0,37.922
$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,13.950,104.625,311.825,42.250,0.000,27.870,19.461,475.716,0.000,0.000,21.321,2080.533,11440.663,460.111,2609.899,799.573,33.398,1357.792,0.000,2070.516,0.000,1.008,0.000
$DEVICE_MAMPS,244.035,62.730,1781.685,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.992,1653.415,890.706,343.587,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,60331,827
$CAP_FILE_SIZE,131543,0
$CFSIZE,259252224,204808192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,130213,095300,-4658.967,420.716,42,0.9,43,-23.4