version: 66.07
glider: 542
mission: 6
dive: 437
start: 2 23 113 10 47 19
data:
$ID,542
$MISSION,6
$DIVE,437
$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,-11834.043
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,230213,103334,-4659.027,438.537,49,1.0,49,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-61.4
$GPS2,230213,104622,-4659.002,438.831,18,1.3,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,-0.146
$KALMAN_X,-240018.0,72.1,314.6,267299.5,-2091.3
$KALMAN_Y,378967.3,-443.1,96.7,-392923.2,2759.3
$MHEAD_RNG_PITCHd_Wd,258.7,36462,-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,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,92,0.00,0.00,-63.05,0.000,2,0.000,0.000,55,2889,3099,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.6,-2.9,8,116,6.75,0.00,-7.97,0.000,6,0.248,0.000,1629,2890,3417,0,0,0,0,0,0
$GC,195,-0.60,-146.1,23.2,-15.3,22,205,0.00,2.25,0.00,0.000,4,0.000,0.036,1630,1452,3419,0,0,0,0,0,0
$GC,217,-0.60,-146.1,25.8,-13.6,24,226,0.00,2.28,0.00,0.000,6,0.000,0.050,1620,2849,3420,0,0,0,0,0,0
$GC,306,-0.60,-146.1,37.3,-14.2,37,313,0.00,1.67,0.00,0.000,4,0.000,0.058,1612,3907,3420,0,0,0,0,0,0
$GC,353,-0.60,-146.1,43.9,-13.8,44,363,0.00,1.62,0.00,0.000,6,0.000,0.031,1612,2838,3419,0,0,0,0,0,0
$GC,601,-0.60,-146.1,78.3,-13.4,85,606,0.00,1.73,0.00,0.000,4,0.000,0.058,1603,3896,3420,0,0,0,0,0,0
$GC,643,-0.60,-146.1,84.5,-15.7,91,648,0.08,1.58,0.00,0.000,6,0.159,0.031,1636,2855,3420,0,0,0,0,0,0
$GC,985,-0.60,-146.1,120.6,-8.8,126,986,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3421,0,0,0,0,0,0
$GC,1299,-0.60,-146.1,148.4,-9.0,146,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3421,0,0,0,0,0,0
$GC,1610,-0.60,-146.1,178.7,-9.7,166,1614,0.00,1.70,0.00,0.000,4,0.000,0.060,1629,3908,3422,0,0,0,0,0,0
$GC,1681,-0.60,-146.1,186.3,-10.3,170,1685,0.00,1.60,0.00,0.000,6,0.000,0.032,1629,2852,3423,0,0,0,0,0,0
$GC,2016,-0.60,-146.1,218.5,-9.1,191,2020,0.00,1.73,0.00,0.000,4,0.000,0.059,1621,3903,3422,0,0,0,0,0,0
$GC,2055,-0.60,-146.1,222.5,-10.7,193,2059,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2859,3423,0,0,0,0,0,0
$GC,2384,-0.60,-146.1,255.2,-9.9,213,2388,0.00,1.70,0.00,0.000,4,0.000,0.059,1613,3895,3422,0,0,0,0,0,0
$GC,2420,-0.60,-146.1,259.2,-10.5,214,2424,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2854,3422,0,0,0,0,0,0
$GC,2743,-0.60,-146.1,291.3,-10.0,230,2747,0.00,1.70,0.00,0.000,4,0.000,0.059,1605,3893,3423,0,0,0,0,0,0
$GC,2801,-0.60,-146.1,297.9,-11.0,232,2804,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2851,3422,0,0,0,0,0,0
$GC,3125,-0.60,-146.1,333.6,-11.3,248,3126,0.10,0.00,0.00,0.000,6,0.187,0.000,1629,2846,3422,0,0,0,0,0,0
$GC,3436,-0.60,-146.1,363.6,-10.0,263,3439,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3900,3422,0,0,0,0,0,0
$GC,3494,-0.60,-146.1,370.3,-11.5,265,3498,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2866,3422,0,0,0,0,0,0
$GC,3828,-0.60,-146.1,404.5,-10.2,281,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2860,3422,0,0,0,0,0,0
$GC,4134,-0.60,-146.1,435.4,-10.1,291,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2861,3422,0,0,0,0,0,0
$GC,4440,-0.60,-146.1,465.2,-9.6,301,4444,0.00,1.73,0.00,0.000,4,0.000,0.061,1614,3897,3422,0,0,0,0,0,0
$GC,4521,-0.60,-146.1,474.0,-10.7,303,4524,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2864,3422,0,0,0,0,0,0
$GC,4852,-0.60,-146.1,508.0,-10.3,314,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3422,0,0,0,0,0,0
$GC,5159,-0.60,-146.1,540.6,-10.7,324,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3422,0,0,0,0,0,0
$GC,5465,-0.60,-146.1,572.9,-10.4,334,5469,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3908,3422,0,0,0,0,0,0
$GC,5517,-0.60,-146.1,578.8,-11.5,335,5521,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2856,3422,0,0,0,0,0,0
$GC,5843,-0.60,-146.1,614.3,-10.9,346,5847,0.00,1.73,0.00,0.000,4,0.000,0.060,1598,3901,3421,0,0,0,0,0,0
$GC,5917,-0.60,-146.1,623.2,-11.7,348,5922,0.05,1.58,0.00,0.000,6,0.167,0.032,1629,2866,3421,0,0,0,0,0,0
$GC,6256,-0.60,-146.1,653.7,-8.9,359,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3421,0,0,0,0,0,0
$GC,6562,-0.60,-146.1,679.6,-8.3,369,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3421,0,0,0,0,0,0
$GC,6869,-0.60,-146.1,704.8,-8.2,379,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,7174,-0.60,-146.1,727.9,-7.4,389,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,7480,-0.60,-146.1,750.3,-7.3,399,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,7787,-0.60,-146.1,772.7,-7.3,409,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,8093,-0.60,-146.1,796.8,-7.9,419,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,8399,-0.60,-146.1,820.6,-7.9,429,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,8706,-0.60,-146.1,844.1,-7.5,439,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,9012,-0.60,-146.1,865.2,-6.6,449,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,9318,-0.60,-146.1,884.5,-6.3,459,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2864,3420,0,0,0,0,0,0
$GC,9625,-0.60,-146.1,905.3,-7.0,469,9629,0.00,2.15,0.00,0.000,4,0.000,0.038,1629,1480,3419,0,0,0,0,0,0
$GC,9660,-0.60,-146.1,907.9,-6.9,470,9664,0.00,2.25,0.00,0.000,6,0.000,0.053,1621,2869,3419,0,0,0,0,0,0
$GC,9993,-0.60,-146.1,934.5,-8.4,481,9996,0.00,1.62,0.00,0.000,4,0.000,0.061,1612,3903,3419,0,0,0,0,0,0
$GC,10030,-0.60,-146.1,937.8,-8.9,482,10034,0.00,1.60,0.00,0.000,6,0.000,0.033,1612,2854,3419,0,0,0,0,0,0
$GC,10373,-0.60,-146.1,969.1,-9.1,493,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2849,3419,0,0,0,0,0,0
$GC,10679,-0.60,-146.1,997.2,-9.1,503,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2849,3419,0,0,0,0,0,0
$STATE,10736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10736,begin apogee
$GC,10747,-0.18,0.0,1002.6,8.8,505,10898,0.52,0.00,148.07,1.248,6,0.149,0.000,1769,2678,2818,0,0,0,0,0,0
$STATE,10900,end apogee,CONTROL_FINISHED_OK
$STATE,10900,begin climb
$GC,10905,0.60,146.1,1007.8,0.0,510,11085,0.75,2.53,161.85,1.756,4,0.090,0.044,2026,1282,2224,0,0,0,0,2,0
$GC,11139,0.60,146.1,977.5,16.8,517,11144,0.00,2.45,0.00,0.000,6,0.000,0.050,2026,2664,2224,0,0,0,0,0,0
$GC,11466,0.60,146.1,911.8,20.6,528,11470,0.00,2.22,0.00,0.000,4,0.000,0.047,2037,1282,2220,0,0,0,0,0,0
$GC,11513,0.60,146.1,902.4,18.6,529,11517,0.00,2.30,0.00,0.000,6,0.000,0.051,2036,2684,2218,0,0,0,0,0,0
$GC,11834,0.60,146.1,833.9,21.7,540,11838,0.00,2.22,0.00,0.000,4,0.000,0.046,2047,1275,2217,0,0,0,0,0,0
$GC,11908,0.60,146.1,819.0,18.2,542,11912,0.00,2.28,0.00,0.000,6,0.000,0.052,2047,2675,2216,0,0,0,0,0,0
$GC,12235,0.60,146.1,749.7,21.5,553,12239,0.00,2.22,0.00,0.000,4,0.000,0.045,2057,1281,2216,0,0,0,0,0,0
$GC,12286,0.60,146.1,739.0,17.7,554,12291,0.12,2.25,0.00,0.000,6,0.213,0.052,2029,2670,2215,0,0,0,0,0,0
$GC,12602,0.60,146.1,677.8,19.3,564,12606,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1282,2216,0,0,0,0,0,0
$GC,12648,0.60,146.1,669.3,16.7,565,12652,0.00,2.25,0.00,0.000,6,0.000,0.052,2039,2672,2215,0,0,0,0,0,0
$GC,12969,0.60,146.1,607.1,19.8,576,12973,0.00,2.22,0.00,0.000,4,0.000,0.044,2049,1273,2214,0,0,0,0,0,0
$GC,13034,0.60,146.1,595.2,18.2,578,13038,0.00,2.28,0.00,0.000,6,0.000,0.052,2049,2680,2214,0,0,0,0,0,0
$GC,13379,0.60,146.1,529.6,18.9,589,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2680,2214,0,0,0,0,0,0
$GC,13684,0.60,146.1,471.4,19.0,599,13688,0.00,2.22,0.00,0.000,4,0.000,0.044,2059,1281,2214,0,0,0,0,0,0
$GC,13758,0.60,146.1,458.0,17.9,601,13763,0.12,2.25,0.00,0.000,6,0.203,0.051,2031,2674,2213,0,0,0,0,0,0
$GC,14085,0.60,146.1,400.9,17.2,612,14089,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1278,2213,0,0,0,0,0,0
$GC,14117,0.60,146.1,395.6,17.1,613,14121,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2671,2213,0,0,0,0,0,0
$GC,14436,0.60,146.1,339.7,17.6,628,14440,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1270,2213,0,0,0,0,0,0
$GC,14487,0.60,146.1,330.8,15.5,630,14492,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2674,2213,0,0,0,0,0,0
$GC,14812,0.60,146.1,275.1,17.1,646,14816,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1271,2213,0,0,0,0,0,0
$GC,14886,0.60,146.1,263.0,15.2,649,14891,0.15,2.28,0.00,0.000,6,0.199,0.051,2026,2679,2213,0,0,0,0,0,0
$GC,15217,0.60,146.1,215.2,14.0,668,15221,0.00,2.22,0.00,0.000,4,0.000,0.044,2034,1274,2213,0,0,0,0,0,0
$GC,15252,0.60,146.1,209.9,12.5,670,15256,0.00,2.25,0.00,0.000,6,0.000,0.050,2035,2669,2213,0,0,0,0,0,0
$GC,15575,0.60,146.1,162.0,14.6,690,15579,0.00,2.20,0.00,0.000,4,0.000,0.044,2045,1274,2213,0,0,0,0,0,0
$GC,15616,0.60,146.1,155.9,12.4,692,15627,0.00,2.28,0.00,0.000,6,0.000,0.051,2045,2666,2213,0,0,0,0,0,0
$GC,15940,0.60,146.1,109.2,14.8,713,15941,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2666,2213,0,0,0,0,0,0
$GC,16278,0.60,146.1,60.7,14.1,765,16285,0.00,2.22,0.00,0.000,4,0.000,0.044,2055,1274,2213,0,0,0,0,0,0
$GC,16445,0.60,146.1,40.1,11.7,791,16452,0.12,2.28,0.00,0.000,6,0.197,0.051,2026,2683,2212,0,0,0,0,0,0
$GC,16705,0.60,146.1,4.5,14.1,832,16714,0.00,2.25,0.00,0.000,4,0.000,0.044,2036,1274,2212,0,0,0,0,0,0
$STATE,16722,end climb,SURFACE_DEPTH_REACHED
$STATE,16722,begin surface coast
$FINISH,0.8,1.013568
$STATE,16741,end surface coast,CONTROL_FINISHED_OK
$STATE,16742,begin surface
$SM_CCo,16766,43.47,0.763,1,0,1880,230.09
$SM_GC,1.90,0.00,0.00,43.47,0.000,0.000,0.763,61,2878,1880,-5.53,0.48,230.09
$IRIDIUM_FIX,-4641.78,434.81,230213,050516
$TT8_MAMPS,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,20.9,80.549
$10V_AH,9.9,43.753
$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,13.975,108.950,309.925,43.475,0.000,25.610,18.755,467.929,0.000,0.000,21.292,2108.465,11575.729,447.297,2627.876,808.336,33.376,1359.981,0.000,2098.105,0.000,1.008,0.000
$DEVICE_MAMPS,247.860,61.200,1755.675,762.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.066,1650.576,884.247,323.025,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354152
$DATA_FILE_SIZE,60558,837
$CAP_FILE_SIZE,133175,0
$CFSIZE,259252224,201318400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,230213,152859,-4658.294,435.765,36,0.8,37,-23.5