version: 66.07
glider: 542
mission: 6
dive: 436
start: 2 23 113 5 51 2
data:
$ID,542
$MISSION,6
$DIVE,436
$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,-11830.851
$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,26
$R_STBD_OVSHOOT,18
$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
$GPS1,230213,053634,-4657.491,437.004,26,0.9,27,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-53.3
$GPS2,230213,055005,-4657.562,436.994,18,1.1,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.126,-0.222
$KALMAN_X,-239164.5,-84.8,-74.6,264680.4,-1720.7
$KALMAN_Y,377273.1,-168.9,-448.1,-388283.2,3565.4
$MHEAD_RNG_PITCHd_Wd,173.9,5898,-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,-63.10,0.000,2,0.000,0.000,56,2879,3089,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-2.1,8,125,6.78,1.70,-8.95,0.000,4,0.249,0.076,1622,3897,3418,0,0,0,0,0,0
$GC,367,-0.60,-146.1,42.2,-10.7,50,376,0.00,1.65,0.00,0.000,6,0.000,0.032,1622,2824,3419,0,0,0,0,0,0
$GC,617,-0.60,-146.1,70.5,-12.3,91,621,0.00,1.73,0.00,0.000,4,0.000,0.059,1613,3908,3420,0,0,0,0,0,0
$GC,691,-0.60,-146.1,80.0,-13.6,103,696,0.00,1.60,0.00,0.000,6,0.000,0.031,1613,2859,3420,0,0,0,0,0,0
$GC,1024,-0.60,-146.1,122.7,-11.0,140,1028,0.00,2.12,0.00,0.000,4,0.000,0.037,1613,1473,3420,0,0,0,0,0,0
$GC,1075,-0.60,-146.1,128.0,-10.2,143,1080,0.12,2.25,0.00,0.000,6,0.168,0.050,1635,2877,3420,0,0,0,0,0,0
$GC,1408,-0.60,-146.1,160.0,-9.5,164,1412,0.00,1.62,0.00,0.000,4,0.000,0.059,1628,3893,3421,0,0,0,0,0,0
$GC,1455,-0.60,-146.1,165.1,-9.9,166,1464,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2845,3422,0,0,0,0,0,0
$GC,1779,-0.60,-146.1,194.3,-8.9,187,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2845,3422,0,0,0,0,0,0
$GC,2091,-0.60,-146.1,223.7,-9.2,207,2095,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3886,3422,0,0,0,0,0,0
$GC,2146,-0.60,-146.1,229.3,-10.0,210,2149,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2856,3422,0,0,0,0,0,0
$GC,2474,-0.60,-146.1,260.9,-9.6,229,2477,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3893,3422,0,0,0,0,0,0
$GC,2532,-0.60,-146.1,267.4,-11.2,231,2536,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2865,3422,0,0,0,0,0,0
$GC,2857,-0.60,-146.1,300.7,-10.3,247,2861,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3903,3422,0,0,0,0,0,0
$GC,2892,-0.60,-146.1,304.9,-11.3,248,2896,0.08,1.58,0.00,0.000,6,0.151,0.031,1637,2865,3423,0,0,0,0,0,0
$GC,3217,-0.60,-146.1,331.5,-8.1,264,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2860,3422,0,0,0,0,0,0
$GC,3528,-0.60,-146.1,356.2,-7.9,279,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2860,3422,0,0,0,0,0,0
$GC,3835,-0.60,-146.1,382.2,-8.4,294,3838,0.00,1.70,0.00,0.000,4,0.000,0.061,1631,3895,3422,0,0,0,0,0,0
$GC,3910,-0.60,-146.1,388.6,-9.0,297,3913,0.00,1.58,0.00,0.000,6,0.000,0.031,1631,2859,3422,0,0,0,0,0,0
$GC,4253,-0.60,-146.1,419.2,-8.7,310,4256,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3893,3422,0,0,0,0,0,0
$GC,4290,-0.60,-146.1,422.6,-9.1,311,4294,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2855,3421,0,0,0,0,0,0
$GC,4633,-0.60,-146.1,454.5,-9.4,322,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3422,0,0,0,0,0,0
$GC,4939,-0.60,-146.1,484.3,-9.9,332,4943,0.00,1.70,0.00,0.000,4,0.000,0.060,1616,3902,3421,0,0,0,0,0,0
$GC,4980,-0.60,-146.1,488.8,-11.1,333,4983,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2868,3421,0,0,0,0,0,0
$GC,5317,-0.60,-146.1,523.2,-10.1,344,5320,0.00,1.67,0.00,0.000,4,0.000,0.060,1608,3899,3421,0,0,0,0,0,0
$GC,5374,-0.60,-146.1,529.6,-10.9,345,5378,0.00,1.60,0.00,0.000,6,0.000,0.031,1608,2853,3421,0,0,0,0,0,0
$GC,5695,-0.60,-146.1,562.5,-10.6,356,5698,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3900,3421,0,0,0,0,0,0
$GC,5752,-0.60,-146.1,569.0,-11.1,357,5756,0.08,1.60,0.00,0.000,6,0.157,0.031,1625,2856,3420,0,0,0,0,0,0
$GC,6073,-0.60,-146.1,598.0,-9.2,368,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2852,3420,0,0,0,0,0,0
$GC,6380,-0.60,-146.1,625.3,-8.8,378,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2852,3420,0,0,0,0,0,0
$GC,6686,-0.60,-146.1,652.6,-8.9,388,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2852,3420,0,0,0,0,0,0
$GC,6992,-0.60,-146.1,679.2,-8.7,398,6996,0.00,1.67,0.00,0.000,4,0.000,0.060,1619,3899,3420,0,0,0,0,0,0
$GC,7044,-0.60,-146.1,684.2,-10.3,399,7047,0.00,1.60,0.00,0.000,6,0.000,0.032,1619,2853,3419,0,0,0,0,0,0
$GC,7370,-0.60,-146.1,715.0,-9.8,410,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2848,3419,0,0,0,0,0,0
$GC,7678,-0.60,-146.1,744.7,-9.7,420,7681,0.00,1.70,0.00,0.000,4,0.000,0.061,1610,3897,3419,0,0,0,0,0,0
$GC,7723,-0.60,-146.1,749.9,-10.8,421,7727,0.00,1.60,0.00,0.000,6,0.000,0.032,1610,2854,3420,0,0,0,0,0,0
$GC,8056,-0.60,-146.1,782.8,-9.9,432,8059,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3898,3419,0,0,0,0,0,0
$GC,8118,-0.60,-146.1,789.6,-10.7,433,8126,0.08,1.60,0.00,0.000,6,0.153,0.032,1627,2851,3419,0,0,0,0,0,0
$GC,8434,-0.60,-146.1,816.3,-8.3,444,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2850,3419,0,0,0,0,0,0
$GC,8740,-0.60,-146.1,842.4,-8.6,454,8744,0.00,1.70,0.00,0.000,4,0.000,0.061,1620,3897,3419,0,0,0,0,0,0
$GC,8781,-0.60,-146.1,846.2,-9.4,455,8784,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2868,3419,0,0,0,0,0,0
$GC,9119,-0.60,-146.1,875.8,-8.9,466,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2863,3419,0,0,0,0,0,0
$GC,9425,-0.60,-146.1,901.5,-8.1,476,9428,0.00,1.67,0.00,0.000,4,0.000,0.061,1612,3895,3418,0,0,0,0,0,0
$GC,9462,-0.60,-146.1,904.7,-9.3,477,9466,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2861,3418,0,0,0,0,0,0
$GC,9806,-0.60,-146.1,933.6,-8.3,488,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2856,3418,0,0,0,0,0,0
$GC,10113,-0.60,-146.1,958.4,-8.0,498,10117,0.00,1.67,0.00,0.000,4,0.000,0.062,1605,3892,3418,0,0,0,0,0,0
$GC,10159,-0.60,-146.1,962.6,-9.3,499,10163,0.08,1.58,0.00,0.000,6,0.148,0.031,1638,2854,3418,0,0,0,0,0,0
$GC,10492,-0.60,-146.1,982.2,-5.5,510,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2850,3418,0,0,0,0,0,0
$GC,10800,-0.60,-146.1,998.4,-5.2,520,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2850,3418,0,0,0,0,0,0
$STATE,10854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10854,begin apogee
$GC,10865,-0.18,0.0,1001.5,5.2,522,11016,0.43,0.00,148.25,1.248,6,0.142,0.000,1768,2676,2819,0,0,0,0,0,0
$STATE,11018,end apogee,CONTROL_FINISHED_OK
$STATE,11018,begin climb
$GC,11024,0.60,146.1,1004.2,0.0,527,11197,0.77,2.60,159.62,1.773,4,0.076,0.045,2034,1284,2226,0,0,0,0,1,0
$GC,11274,0.60,146.1,967.8,19.7,535,11279,0.00,2.40,0.00,0.000,6,0.000,0.049,2034,2668,2222,0,0,0,0,0,0
$GC,11612,0.60,146.1,894.2,21.5,546,11616,0.00,2.25,0.00,0.000,4,0.000,0.047,2044,1281,2219,0,0,0,0,0,0
$GC,11682,0.60,146.1,880.8,17.8,548,11686,0.00,2.28,0.00,0.000,6,0.000,0.050,2044,2674,2216,0,0,0,0,0,0
$GC,12014,0.60,146.1,810.9,21.0,559,12018,0.00,2.22,0.00,0.000,4,0.000,0.045,2054,1281,2216,0,0,0,0,0,0
$GC,12079,0.60,146.1,798.2,18.4,561,12083,0.12,2.22,0.00,0.000,6,0.214,0.050,2027,2671,2215,0,0,0,0,0,0
$GC,12423,0.60,146.1,732.1,19.1,572,12427,0.00,2.22,0.00,0.000,4,0.000,0.044,2036,1272,2215,0,0,0,0,0,0
$GC,12464,0.60,146.1,724.5,16.7,573,12468,0.00,2.22,0.00,0.000,6,0.000,0.049,2036,2671,2214,0,0,0,0,0,0
$GC,12790,0.60,146.1,662.5,19.0,584,12794,0.00,2.20,0.00,0.000,4,0.000,0.044,2046,1284,2214,0,0,0,0,0,0
$GC,12877,0.60,146.1,647.3,16.1,586,12881,0.00,2.20,0.00,0.000,6,0.000,0.049,2047,2671,2214,0,0,0,0,0,0
$GC,13192,0.60,146.1,587.6,19.1,596,13196,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1282,2214,0,0,0,0,0,0
$GC,13263,0.60,146.1,574.6,17.4,598,13268,0.12,2.20,0.00,0.000,6,0.210,0.050,2029,2672,2213,0,0,0,0,0,0
$GC,13601,0.60,146.1,514.7,17.4,609,13605,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1282,2213,0,0,0,0,0,0
$GC,13664,0.60,146.1,504.5,15.0,610,13671,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2670,2213,0,0,0,0,0,0
$GC,13980,0.60,146.1,449.1,18.3,621,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2213,0,0,0,0,0,0
$GC,14296,0.60,146.1,392.5,18.1,632,14300,0.00,2.17,0.00,0.000,4,0.000,0.044,2048,1274,2213,0,0,0,0,0,0
$GC,14411,0.60,146.1,373.9,15.6,637,14415,0.00,2.22,0.00,0.000,6,0.000,0.050,2048,2670,2213,0,0,0,0,0,0
$GC,14738,0.60,146.1,314.8,18.6,653,14742,0.00,2.17,0.00,0.000,4,0.000,0.044,2058,1282,2213,0,0,0,0,0,0
$GC,14791,0.60,146.1,304.9,17.4,655,14796,0.12,2.25,0.00,0.000,6,0.205,0.050,2029,2680,2212,0,0,0,0,0,0
$GC,15110,0.60,146.1,253.2,15.5,670,15114,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1278,2212,0,0,0,0,0,0
$GC,15169,0.60,146.1,244.5,14.2,673,15176,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2680,2212,0,0,0,0,0,0
$GC,15492,0.60,146.1,190.5,16.5,694,15496,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1277,2212,0,0,0,0,0,0
$GC,15551,0.60,146.1,181.2,15.0,697,15558,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2677,2212,0,0,0,0,0,0
$GC,15874,0.60,146.1,129.2,16.4,718,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2677,2212,0,0,0,0,0,0
$GC,16197,0.60,146.1,81.8,13.9,752,16204,0.00,1.95,0.00,0.000,4,0.000,0.060,2049,3903,2212,0,0,0,0,0,0
$GC,16248,0.60,146.1,73.9,16.8,760,16256,0.10,1.92,0.00,0.000,6,0.214,0.038,2033,2673,2212,0,0,0,0,0,0
$GC,16623,0.60,146.1,22.6,13.5,821,16632,0.00,2.22,0.00,0.000,4,0.000,0.043,2042,1266,2212,0,0,0,0,0,0
$GC,16711,0.60,146.1,11.6,11.4,834,16720,0.00,2.28,0.00,0.000,6,0.000,0.050,2042,2664,2210,0,0,0,0,0,0
$STATE,16764,end climb,SURFACE_DEPTH_REACHED
$STATE,16764,begin surface coast
$FINISH,0.8,1.005873
$STATE,16784,end surface coast,CONTROL_FINISHED_OK
$STATE,16784,begin surface
$SM_CCo,16806,43.95,0.768,1,0,1880,230.09
$SM_GC,2.23,0.00,0.00,43.95,0.000,0.000,0.768,57,2887,1880,-5.54,0.79,230.09
$IRIDIUM_FIX,-4635.50,437.45,230213,000047
$TT8_MAMPS,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.0,80.377
$10V_AH,9.9,43.637
$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,14.250,118.350,307.875,43.950,0.000,25.961,22.816,504.632,0.000,0.000,20.738,2150.486,11429.526,457.789,2783.794,829.318,33.401,1412.922,0.000,2211.560,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,76.500,1773.270,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.803,1679.224,907.399,348.548,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354124
$DATA_FILE_SIZE,60387,845
$CAP_FILE_SIZE,138986,0
$CFSIZE,259252224,201383936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,230213,103334,-4659.027,438.537,49,1.0,49,-23.5