version: 66.07
glider: 542
mission: 6
dive: 438
start: 2 23 113 15 43 19
data:
$ID,542
$MISSION,6
$DIVE,438
$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,-11837.228
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,230213,152859,-4658.294,435.765,36,0.8,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-64.5
$GPS2,230213,154222,-4658.084,435.703,40,1.4,40,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.140,-0.214
$KALMAN_X,-239827.3,602.9,183.2,262740.8,-1489.8
$KALMAN_Y,383142.6,75.2,262.9,-396104.0,4054.1
$MHEAD_RNG_PITCHd_Wd,236.6,32658,-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,-63.08,0.000,2,0.000,0.000,59,2878,3078,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.5,8,125,6.65,2.25,-9.38,0.000,4,0.243,0.051,1631,1477,3418,0,0,0,0,0,0
$GC,168,-0.60,-146.1,14.7,-11.8,17,177,0.00,2.28,0.00,0.000,6,0.000,0.053,1622,2859,3419,0,0,0,0,0,0
$GC,256,-0.60,-146.1,25.0,-11.7,30,265,0.00,1.67,0.00,0.000,4,0.000,0.059,1614,3900,3419,0,0,0,0,0,0
$GC,300,-0.60,-146.1,31.4,-14.1,36,309,0.00,1.60,0.00,0.000,6,0.000,0.031,1614,2851,3419,0,0,0,0,0,0
$GC,553,-0.60,-146.1,64.9,-12.9,77,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2851,3420,0,0,0,0,0,0
$GC,905,-0.60,-146.1,109.9,-12.1,129,909,0.00,2.10,0.00,0.000,4,0.000,0.036,1614,1482,3420,0,0,0,0,0,0
$GC,941,-0.60,-146.1,114.7,-11.6,131,946,0.12,2.22,0.00,0.000,6,0.171,0.050,1635,2873,3421,0,0,0,0,0,0
$GC,1270,-0.60,-146.1,145.3,-10.0,151,1273,0.00,1.62,0.00,0.000,4,0.000,0.060,1629,3891,3422,0,0,0,0,0,0
$GC,1358,-0.60,-146.1,155.5,-10.8,156,1361,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2860,3422,0,0,0,0,0,0
$GC,1692,-0.60,-146.1,191.0,-10.9,177,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3422,0,0,0,0,0,0
$GC,2004,-0.60,-146.1,225.8,-11.0,197,2008,0.00,1.67,0.00,0.000,4,0.000,0.059,1621,3898,3422,0,0,0,0,0,0
$GC,2058,-0.60,-146.1,232.2,-12.0,200,2062,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2854,3423,0,0,0,0,0,0
$GC,2384,-0.60,-146.1,268.5,-10.8,218,2387,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3893,3423,0,0,0,0,0,0
$GC,2425,-0.60,-146.1,273.3,-11.5,219,2432,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2862,3423,0,0,0,0,0,0
$GC,2746,-0.60,-146.1,306.7,-10.5,235,2749,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3904,3423,0,0,0,0,0,0
$GC,2780,-0.60,-146.1,311.1,-11.6,236,2784,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2866,3423,0,0,0,0,0,0
$GC,3104,-0.60,-146.1,346.7,-11.1,252,3106,0.10,0.00,0.00,0.000,6,0.185,0.000,1629,2860,3423,0,0,0,0,0,0
$GC,3416,-0.60,-146.1,374.2,-8.7,267,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2860,3422,0,0,0,0,0,0
$GC,3722,-0.60,-146.1,401.3,-8.8,282,3726,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3902,3423,0,0,0,0,0,0
$GC,3760,-0.60,-146.1,404.9,-9.8,283,3763,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2866,3423,0,0,0,0,0,0
$GC,4102,-0.60,-146.1,438.0,-9.7,294,4106,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3886,3422,0,0,0,0,0,0
$GC,4143,-0.60,-146.1,442.4,-10.2,295,4147,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2850,3422,0,0,0,0,0,0
$GC,4483,-0.60,-146.1,477.7,-10.7,306,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2845,3422,0,0,0,0,0,0
$GC,4788,-0.60,-146.1,510.5,-10.7,316,4792,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3897,3422,0,0,0,0,0,0
$GC,4845,-0.60,-146.1,517.5,-12.1,317,4849,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2863,3422,0,0,0,0,0,0
$GC,5167,-0.60,-146.1,553.0,-11.0,328,5170,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3896,3422,0,0,0,0,0,0
$GC,5218,-0.60,-146.1,559.2,-11.4,329,5223,0.10,1.58,0.00,0.000,6,0.151,0.032,1630,2859,3421,0,0,0,0,0,0
$GC,5545,-0.60,-146.1,587.9,-8.6,340,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,5852,-0.60,-146.1,613.6,-8.3,350,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,6158,-0.60,-146.1,638.4,-8.0,360,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3421,0,0,0,0,0,0
$GC,6464,-0.60,-146.1,663.3,-8.0,370,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,6771,-0.60,-146.1,688.8,-8.4,380,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3420,0,0,0,0,0,0
$GC,7076,-0.60,-146.1,715.1,-8.5,390,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,7383,-0.60,-146.1,741.6,-8.6,400,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,7689,-0.60,-146.1,767.2,-8.3,410,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3420,0,0,0,0,0,0
$GC,7995,-0.60,-146.1,791.6,-7.8,420,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3421,0,0,0,0,0,0
$GC,8301,-0.60,-146.1,815.4,-7.7,430,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3421,0,0,0,0,0,0
$GC,8608,-0.60,-146.1,839.2,-7.7,440,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3421,0,0,0,0,0,0
$GC,8914,-0.60,-146.1,862.3,-7.3,450,8917,0.00,1.70,0.00,0.000,4,0.000,0.063,1624,3899,3420,0,0,0,0,0,0
$GC,8960,-0.60,-146.1,866.0,-8.1,451,8963,0.00,1.60,0.00,0.000,6,0.000,0.034,1623,2856,3420,0,0,0,0,0,0
$GC,9292,-0.60,-146.1,890.6,-7.4,462,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2851,3420,0,0,0,0,0,0
$GC,9599,-0.60,-146.1,912.7,-7.1,472,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2851,3420,0,0,0,0,0,0
$GC,9904,-0.60,-146.1,933.2,-6.4,482,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2851,3420,0,0,0,0,0,0
$GC,10212,-0.60,-146.1,953.1,-6.5,492,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3420,0,0,0,0,0,0
$GC,10517,-0.60,-146.1,973.2,-6.7,502,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2851,3419,0,0,0,0,0,0
$GC,10823,-0.60,-146.1,992.6,-6.3,512,10827,0.00,1.70,0.00,0.000,4,0.000,0.062,1616,3896,3419,0,0,0,0,0,0
$GC,10862,-0.60,-146.1,995.0,-6.8,513,10866,0.00,1.58,0.00,0.000,6,0.000,0.034,1616,2868,3419,0,0,0,0,0,0
$STATE,10955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10955,begin apogee
$GC,10967,-0.18,0.0,1001.5,6.4,516,11127,0.50,0.00,151.50,1.815,6,0.148,0.000,1765,2673,2820,0,0,0,0,1,0
$STATE,11128,end apogee,CONTROL_FINISHED_OK
$STATE,11129,begin climb
$GC,11133,0.60,146.1,1004.7,0.0,521,11315,0.82,0.00,167.77,1.756,6,0.087,0.000,2024,2673,2224,0,0,0,0,2,0
$GC,11605,0.60,146.1,922.5,20.6,537,11609,0.00,2.28,0.00,0.000,4,0.000,0.047,2034,1276,2218,0,0,0,0,0,0
$GC,11657,0.60,146.1,911.2,17.4,538,11661,0.00,2.30,0.00,0.000,6,0.000,0.051,2034,2664,2216,0,0,0,0,0,0
$GC,11972,0.60,146.1,846.5,20.7,548,11976,0.00,2.20,0.00,0.000,4,0.000,0.047,2045,1281,2216,0,0,0,0,0,0
$GC,12013,0.60,146.1,838.1,18.7,549,12017,0.00,2.28,0.00,0.000,6,0.000,0.051,2044,2682,2214,0,0,0,0,0,0
$GC,12341,0.60,146.1,769.9,21.1,560,12345,0.00,2.25,0.00,0.000,4,0.000,0.046,2055,1274,2214,0,0,0,0,0,0
$GC,12365,0.60,146.1,764.5,18.9,560,12372,0.12,2.25,0.00,0.000,6,0.211,0.050,2027,2672,2214,0,0,0,0,0,0
$GC,12681,0.60,146.1,705.6,18.8,571,12685,0.00,2.20,0.00,0.000,4,0.000,0.046,2036,1281,2214,0,0,0,0,0,0
$GC,12738,0.60,146.1,695.0,16.1,572,12745,0.00,2.25,0.00,0.000,6,0.000,0.052,2036,2679,2213,0,0,0,0,0,0
$GC,13053,0.60,146.1,634.2,19.4,583,13057,0.00,2.25,0.00,0.000,4,0.000,0.047,2046,1271,2213,0,0,0,0,0,0
$GC,13089,0.60,146.1,627.6,17.1,584,13093,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2670,2212,0,0,0,0,0,0
$GC,13421,0.60,146.1,563.9,19.2,595,13425,0.00,2.20,0.00,0.000,4,0.000,0.046,2056,1280,2212,0,0,0,0,0,0
$GC,13486,0.60,146.1,552.5,16.9,597,13491,0.12,2.22,0.00,0.000,6,0.203,0.051,2028,2669,2211,0,0,0,0,0,0
$GC,13830,0.60,146.1,494.4,16.4,608,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2669,2211,0,0,0,0,0,0
$GC,14136,0.60,146.1,444.0,16.6,618,14140,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1274,2211,0,0,0,0,0,0
$GC,14194,0.60,146.1,434.8,14.6,619,14198,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2669,2210,0,0,0,0,0,0
$GC,14522,0.60,146.1,378.9,17.2,631,14526,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1280,2210,0,0,0,0,0,0
$GC,14557,0.60,146.1,372.4,17.4,632,14561,0.00,2.25,0.00,0.000,6,0.000,0.051,2047,2675,2210,0,0,0,0,0,0
$GC,14882,0.60,146.1,315.3,17.9,648,14886,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1272,2211,0,0,0,0,0,0
$GC,14911,0.60,146.1,310.8,16.9,649,14916,0.12,2.25,0.00,0.000,6,0.200,0.050,2028,2668,2210,0,0,0,0,0,0
$GC,15243,0.60,146.1,257.9,15.5,665,15247,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1281,2210,0,0,0,0,0,0
$GC,15309,0.60,146.1,248.5,13.4,668,15313,0.00,2.25,0.00,0.000,6,0.000,0.051,2038,2673,2209,0,0,0,0,0,0
$GC,15638,0.60,146.1,198.8,14.2,689,15642,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1272,2210,0,0,0,0,0,0
$GC,15715,0.60,146.1,187.8,12.9,693,15722,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2671,2209,0,0,0,0,0,0
$GC,16037,0.60,146.1,139.1,15.2,714,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2671,2209,0,0,0,0,0,0
$GC,16353,0.60,146.1,95.4,13.1,738,16361,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2671,2209,0,0,0,0,0,0
$GC,16712,0.60,146.1,43.7,14.5,799,16719,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1278,2209,0,0,0,0,0,0
$GC,16791,0.60,146.1,32.7,13.8,811,16798,0.12,2.25,0.00,0.000,6,0.197,0.050,2029,2675,2208,0,0,0,0,0,0
$STATE,17004,end climb,SURFACE_DEPTH_REACHED
$STATE,17004,begin surface coast
$FINISH,0.8,1.017288
$STATE,17030,end surface coast,CONTROL_FINISHED_OK
$STATE,17030,begin surface
$SM_CCo,17053,43.20,0.760,1,0,1879,230.09
$SM_GC,2.29,0.00,0.00,43.20,0.000,0.000,0.760,48,2879,1879,-5.57,0.54,230.09
$IRIDIUM_FIX,-4641.78,437.70,230213,101016
$TT8_MAMPS,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,20.9,80.750
$10V_AH,9.9,43.871
$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,14.100,98.850,319.275,43.200,0.000,28.450,22.457,475.578,0.000,0.000,43.142,2113.068,11842.501,512.589,2616.713,805.287,33.399,1365.849,0.000,2059.773,0.000,1.008,0.000
$DEVICE_MAMPS,243.270,70.380,1815.345,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.258,1683.761,897.526,346.455,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354120
$DATA_FILE_SIZE,60462,849
$CAP_FILE_SIZE,129365,0
$CFSIZE,259252224,201252864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,230213,202934,-4659.046,432.458,25,0.9,26,-23.5