version: 66.07
glider: 542
mission: 6
dive: 391
start: 2 14 113 0 50 3
data:
$ID,542
$MISSION,6
$DIVE,391
$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,-11689.939
$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,50
$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
$GPS1,140213,003535,-4658.958,414.627,33,1.0,34,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-53.5
$GPS2,140213,004906,-4658.911,414.743,18,1.4,18,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.152,-0.205
$KALMAN_X,-269823.4,-731.3,402.9,267316.2,138.9
$KALMAN_Y,310192.5,-471.4,-168.9,-323680.1,6240.4
$MHEAD_RNG_PITCHd_Wd,239.9,6321,-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,-63.10,0.000,2,0.000,0.000,56,2883,3108,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.5,-3.4,8,125,6.88,2.25,-8.07,0.000,4,0.255,0.051,1639,1470,3419,0,0,0,0,0,0
$GC,191,-0.60,-146.1,19.3,-14.0,21,201,0.00,2.25,0.00,0.000,6,0.000,0.051,1630,2849,3420,0,0,0,0,0,0
$GC,280,-0.60,-146.1,27.7,-10.6,34,289,0.00,1.67,0.00,0.000,4,0.000,0.059,1621,3891,3419,0,0,0,0,0,0
$GC,321,-0.60,-146.1,32.3,-11.5,39,327,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2842,3420,0,0,0,0,0,0
$GC,568,-0.60,-146.1,63.5,-12.6,80,574,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2840,3419,0,0,0,0,0,0
$GC,932,-0.60,-146.1,105.7,-11.4,137,936,0.00,1.73,0.00,0.000,4,0.000,0.058,1613,3903,3420,0,0,0,0,0,0
$GC,989,-0.60,-146.1,113.2,-11.8,140,993,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2867,3421,0,0,0,0,0,0
$GC,1318,-0.60,-146.1,151.7,-11.9,161,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2862,3422,0,0,0,0,0,0
$GC,1631,-0.60,-146.1,188.1,-11.4,181,1635,0.00,2.10,0.00,0.000,4,0.000,0.037,1613,1476,3422,0,0,0,0,0,0
$GC,1670,-0.60,-146.1,192.5,-10.4,183,1675,0.12,2.22,0.00,0.000,6,0.176,0.050,1635,2867,3422,0,0,0,0,0,0
$GC,2004,-0.60,-146.1,221.2,-8.5,204,2008,0.00,1.62,0.00,0.000,4,0.000,0.060,1628,3887,3422,0,0,0,0,0,0
$GC,2061,-0.60,-146.1,226.7,-9.1,207,2064,0.00,1.55,0.00,0.000,6,0.000,0.031,1628,2851,3422,0,0,0,0,0,0
$GC,2395,-0.60,-146.1,255.4,-8.4,227,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2846,3423,0,0,0,0,0,0
$GC,2703,-0.60,-146.1,281.4,-8.6,242,2707,0.00,2.08,0.00,0.000,4,0.000,0.037,1628,1486,3423,0,0,0,0,0,0
$GC,2733,-0.60,-146.1,284.4,-9.2,243,2737,0.00,2.20,0.00,0.000,6,0.000,0.051,1617,2860,3422,0,0,0,0,0,0
$GC,3052,-0.60,-146.1,316.3,-10.7,258,3055,0.00,1.67,0.00,0.000,4,0.000,0.060,1610,3893,3422,0,0,0,0,0,0
$GC,3087,-0.60,-146.1,320.6,-11.4,259,3091,0.00,1.55,0.00,0.000,6,0.000,0.031,1610,2860,3422,0,0,0,0,0,0
$GC,3412,-0.60,-146.1,357.3,-11.3,275,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3422,0,0,0,0,0,0
$GC,3720,-0.60,-146.1,394.1,-12.1,290,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3422,0,0,0,0,0,0
$GC,4028,-0.60,-146.1,431.3,-12.1,301,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2855,3422,0,0,0,0,0,0
$GC,4333,-0.60,-146.1,468.5,-12.2,311,4336,0.00,1.67,0.00,0.000,4,0.000,0.060,1602,3897,3422,0,0,0,0,0,0
$GC,4379,-0.60,-146.1,474.5,-13.3,312,4383,0.08,1.55,0.00,0.000,6,0.161,0.032,1625,2872,3422,0,0,0,0,0,0
$GC,4711,-0.60,-146.1,508.4,-10.1,323,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2867,3422,0,0,0,0,0,0
$GC,5017,-0.60,-146.1,537.6,-9.2,333,5021,0.00,2.12,0.00,0.000,4,0.000,0.037,1626,1480,3422,0,0,0,0,0,0
$GC,5058,-0.60,-146.1,541.3,-8.2,334,5062,0.00,2.22,0.00,0.000,6,0.000,0.052,1616,2862,3422,0,0,0,0,0,0
$GC,5385,-0.60,-146.1,571.2,-9.2,345,5389,0.00,1.65,0.00,0.000,4,0.000,0.060,1608,3903,3422,0,0,0,0,0,0
$GC,5437,-0.60,-146.1,576.5,-10.0,346,5440,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2857,3421,0,0,0,0,0,0
$GC,5763,-0.60,-146.1,607.1,-9.4,357,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2852,3422,0,0,0,0,0,0
$GC,6070,-0.60,-146.1,633.8,-8.5,367,6074,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3892,3421,0,0,0,0,0,0
$GC,6121,-0.60,-146.1,639.1,-9.9,368,6125,0.00,1.55,0.00,0.000,6,0.000,0.032,1600,2865,3421,0,0,0,0,0,0
$GC,6448,-0.60,-146.1,668.0,-9.0,379,6450,0.12,0.00,0.00,0.000,6,0.186,0.000,1632,2859,3421,0,0,0,0,0,0
$GC,6756,-0.60,-146.1,689.7,-7.2,389,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2859,3422,0,0,0,0,0,0
$GC,7060,-0.60,-146.1,713.5,-7.8,399,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2859,3421,0,0,0,0,0,0
$GC,7368,-0.60,-146.1,737.8,-7.9,409,7372,0.00,2.12,0.00,0.000,4,0.000,0.037,1631,1478,3421,0,0,0,0,0,0
$GC,7404,-0.60,-146.1,741.1,-7.9,410,7408,0.00,2.22,0.00,0.000,6,0.000,0.053,1623,2858,3420,0,0,0,0,0,0
$GC,7736,-0.60,-146.1,768.3,-8.1,421,7740,0.00,1.65,0.00,0.000,4,0.000,0.061,1614,3897,3420,0,0,0,0,0,0
$GC,7766,-0.60,-146.1,771.1,-9.0,421,7773,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2852,3420,0,0,0,0,0,0
$GC,8083,-0.60,-146.1,796.4,-7.8,432,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3420,0,0,0,0,0,0
$GC,8387,-0.60,-146.1,819.9,-7.7,442,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3420,0,0,0,0,0,0
$GC,8695,-0.60,-146.1,842.2,-7.3,452,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3420,0,0,0,0,0,0
$GC,9000,-0.60,-146.1,865.1,-7.5,462,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3420,0,0,0,0,0,0
$GC,9306,-0.60,-146.1,889.1,-7.9,472,9310,0.00,2.10,0.00,0.000,4,0.000,0.037,1615,1486,3420,0,0,0,0,0,0
$GC,9338,-0.60,-146.1,891.6,-8.3,473,9343,0.10,2.22,0.00,0.000,6,0.186,0.053,1629,2863,3419,0,0,0,0,0,0
$GC,9678,-0.60,-146.1,915.3,-6.9,484,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3419,0,0,0,0,0,0
$GC,9985,-0.60,-146.1,937.0,-7.1,494,9989,0.00,1.65,0.00,0.000,4,0.000,0.061,1622,3903,3419,0,0,0,0,0,0
$GC,10014,-0.60,-146.1,939.5,-7.8,494,10021,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2860,3419,0,0,0,0,0,0
$GC,10330,-0.60,-146.1,963.5,-7.6,505,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2860,3419,0,0,0,0,0,0
$GC,10636,-0.60,-146.1,986.8,-7.7,515,10640,0.00,2.10,0.00,0.000,4,0.000,0.037,1622,1480,3419,0,0,0,0,0,0
$GC,10670,-0.60,-146.1,989.2,-7.5,516,10674,0.00,2.22,0.00,0.000,6,0.000,0.053,1611,2859,3419,0,0,0,0,0,0
$STATE,10819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10819,begin apogee
$GC,10830,-0.18,0.0,1001.8,8.2,521,10980,0.52,0.00,146.45,1.245,6,0.158,0.000,1765,2681,2820,0,0,0,0,0,0
$STATE,10982,end apogee,CONTROL_FINISHED_OK
$STATE,10982,begin climb
$GC,10986,0.60,146.1,1005.8,0.0,526,11176,0.77,2.50,163.38,1.771,4,0.093,0.045,2027,1287,2225,0,0,0,0,3,0
$GC,11241,0.60,146.1,970.2,18.0,533,11248,0.00,2.40,0.00,0.000,6,0.000,0.050,2027,2664,2221,0,0,0,0,0,0
$GC,11557,0.60,146.1,904.8,21.6,544,11561,0.00,2.22,0.00,0.000,4,0.000,0.045,2037,1278,2219,0,0,0,0,0,0
$GC,11590,0.60,146.1,898.2,21.2,545,11594,0.00,2.30,0.00,0.000,6,0.000,0.050,2037,2677,2216,0,0,0,0,0,0
$GC,11928,0.60,146.1,826.0,21.0,556,11932,0.00,2.22,0.00,0.000,4,0.000,0.045,2048,1285,2216,0,0,0,0,0,0
$GC,11974,0.60,146.1,816.6,18.5,557,11978,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2673,2214,0,0,0,0,0,0
$GC,12295,0.60,146.1,749.1,21.0,568,12299,0.00,2.22,0.00,0.000,4,0.000,0.045,2058,1273,2214,0,0,0,0,0,0
$GC,12326,0.60,146.1,742.7,20.3,569,12331,0.12,2.25,0.00,0.000,6,0.211,0.050,2030,2670,2214,0,0,0,0,0,0
$GC,12665,0.60,146.1,679.0,18.9,580,12669,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1274,2214,0,0,0,0,0,0
$GC,12705,0.60,146.1,671.3,17.2,581,12709,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2671,2214,0,0,0,0,0,0
$GC,13032,0.60,146.1,607.6,20.1,592,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2672,2214,0,0,0,0,0,0
$GC,13339,0.60,146.1,547.9,19.3,602,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2214,0,0,0,0,0,0
$GC,13644,0.60,146.1,488.3,19.4,612,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2672,2213,0,0,0,0,0,0
$GC,13950,0.60,146.1,431.7,18.1,622,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2213,0,0,0,0,0,0
$GC,14258,0.60,146.1,376.2,17.8,634,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2213,0,0,0,0,0,0
$GC,14572,0.60,146.1,320.1,17.9,649,14576,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1276,2213,0,0,0,0,0,0
$GC,14624,0.60,146.1,310.1,16.4,651,14628,0.00,2.22,0.00,0.000,6,0.000,0.051,2050,2670,2212,0,0,0,0,0,0
$GC,14950,0.60,146.1,252.2,17.6,667,14954,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1274,2212,0,0,0,0,0,0
$GC,14976,0.60,146.1,247.3,17.6,668,14981,0.15,2.25,0.00,0.000,6,0.198,0.050,2024,2670,2212,0,0,0,0,0,0
$GC,15303,0.60,146.1,196.6,16.0,688,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2670,2212,0,0,0,0,0,0
$GC,15627,0.60,146.1,146.0,14.7,709,15628,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2670,2212,0,0,0,0,0,0
$GC,15939,0.60,146.1,98.5,15.7,729,15946,0.00,2.20,0.00,0.000,4,0.000,0.043,2034,1288,2212,0,0,0,0,0,0
$GC,15962,0.60,146.1,95.0,15.1,732,15971,0.00,2.25,0.00,0.000,6,0.000,0.050,2034,2672,2211,0,0,0,0,0,0
$GC,16326,0.60,146.1,43.8,14.0,793,16332,0.00,2.20,0.00,0.000,4,0.000,0.041,2044,1271,2211,0,0,0,0,0,0
$GC,16445,0.60,146.1,26.2,14.3,812,16454,0.00,2.28,0.00,0.000,6,0.000,0.050,2043,2670,2210,0,0,0,0,0,0
$GC,16534,0.60,146.1,11.7,17.1,825,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2670,2210,0,0,0,0,0,0
$STATE,16587,end climb,SURFACE_DEPTH_REACHED
$STATE,16587,begin surface coast
$FINISH,0.9,1.026475
$STATE,16607,end surface coast,CONTROL_FINISHED_OK
$STATE,16607,begin surface
$SM_CCo,16630,42.35,0.779,1,0,1881,230.09
$SM_GC,1.98,0.00,0.00,42.35,0.000,0.000,0.779,54,2890,1881,-5.55,0.85,230.09
$IRIDIUM_FIX,-4641.78,356.82,130213,191928
$TT8_MAMPS,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.1,72.186
$10V_AH,9.9,38.380
$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,14.250,100.650,309.825,42.350,0.000,28.757,27.765,500.378,0.000,0.000,20.555,2079.271,11530.747,465.790,2596.158,802.302,33.398,1346.775,0.000,2027.285,0.000,1.009,0.000
$DEVICE_MAMPS,254.745,61.200,1770.975,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.062,1642.141,877.645,336.035,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354048
$DATA_FILE_SIZE,60495,836
$CAP_FILE_SIZE,129992,0
$CFSIZE,259252224,204537856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,140213,052929,-4659.346,412.752,40,0.9,41,-23.3