version: 66.07
glider: 542
mission: 6
dive: 269
start: 1 21 113 7 51 13
data:
$ID,542
$MISSION,6
$DIVE,269
$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,-11348.738
$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,41
$R_STBD_OVSHOOT,31
$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
$GPS1,210113,074004,-4644.553,448.866,38,0.8,38,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.9
$GPS2,210113,075017,-4644.588,448.916,18,1.3,18,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.100,-0.235
$KALMAN_X,-213650.8,311.1,168.9,253608.4,-2958.2
$KALMAN_Y,125129.6,-381.4,-146.8,-112209.0,2878.3
$MHEAD_RNG_PITCHd_Wd,180.5,30685,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-71.03,0.000,2,0.000,0.000,59,2873,3260,0,0,0,0,0,0
$GC,106,-0.60,-146.1,3.4,-2.5,9,125,6.68,1.62,-3.90,0.000,4,0.250,0.067,1620,3903,3418,0,0,0,0,0,0
$GC,350,-0.60,-146.1,46.4,-14.2,47,357,0.00,1.62,0.00,0.000,6,0.000,0.031,1619,2840,3420,0,0,0,0,0,0
$GC,592,-0.60,-146.1,82.2,-14.6,88,600,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2839,3420,0,0,0,0,0,0
$GC,933,-0.60,-146.1,127.1,-13.2,124,935,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2840,3421,0,0,0,0,0,0
$GC,1246,-0.60,-146.1,166.2,-12.3,144,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2840,3422,0,0,0,0,0,0
$GC,1560,-0.60,-146.1,203.8,-11.6,164,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2840,3423,0,0,0,0,0,0
$GC,1871,-0.60,-146.1,239.5,-11.5,184,1874,0.00,1.70,0.00,0.000,4,0.000,0.059,1612,3900,3423,0,0,0,0,0,0
$GC,1929,-0.60,-146.1,246.8,-12.5,187,1932,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2856,3423,0,0,0,0,0,0
$GC,2263,-0.60,-146.1,285.3,-11.4,204,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3423,0,0,0,0,0,0
$GC,2574,-0.60,-146.1,318.9,-10.8,219,2578,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3894,3423,0,0,0,0,0,0
$GC,2626,-0.60,-146.1,325.3,-11.6,221,2629,0.00,1.58,0.00,0.000,6,0.000,0.032,1603,2855,3423,0,0,0,0,0,0
$GC,2957,-0.60,-146.1,362.7,-11.4,237,2962,0.12,1.73,0.00,0.000,4,0.192,0.060,1627,3894,3423,0,0,0,0,0,0
$GC,3008,-0.60,-146.1,368.1,-10.3,239,3011,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2853,3423,0,0,0,0,0,0
$GC,3345,-0.60,-146.1,400.1,-9.4,255,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2848,3423,0,0,0,0,0,0
$GC,3649,-0.60,-146.1,429.1,-9.5,265,3653,0.00,2.10,0.00,0.000,4,0.000,0.038,1627,1479,3423,0,0,0,0,0,0
$GC,3686,-0.60,-146.1,432.5,-9.2,266,3690,0.00,2.20,0.00,0.000,6,0.000,0.053,1617,2856,3423,0,0,0,0,0,0
$GC,4030,-0.60,-146.1,468.2,-10.7,277,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2856,3423,0,0,0,0,0,0
$GC,4336,-0.60,-146.1,502.8,-11.7,287,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2856,3422,0,0,0,0,0,0
$GC,4643,-0.60,-146.1,538.9,-11.8,297,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2856,3422,0,0,0,0,0,0
$GC,4948,-0.60,-146.1,573.1,-11.1,307,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2856,3422,0,0,0,0,0,0
$GC,5257,-0.60,-146.1,607.3,-11.1,317,5261,0.00,2.10,0.00,0.000,4,0.000,0.037,1617,1483,3421,0,0,0,0,0,0
$GC,5289,-0.60,-146.1,611.1,-11.5,318,5293,0.00,2.20,0.00,0.000,6,0.000,0.053,1606,2863,3421,0,0,0,0,0,0
$GC,5633,-0.60,-146.1,651.0,-11.5,329,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2864,3421,0,0,0,0,0,0
$GC,5938,-0.60,-146.1,685.1,-10.9,339,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2863,3421,0,0,0,0,0,0
$GC,6246,-0.60,-146.1,718.2,-10.8,349,6250,0.00,1.65,0.00,0.000,4,0.000,0.060,1599,3907,3421,0,0,0,0,0,0
$GC,6275,-0.60,-146.1,722.0,-11.8,349,6282,0.10,1.60,0.00,0.000,6,0.165,0.033,1628,2852,3420,0,0,0,0,0,0
$GC,6590,-0.60,-146.1,749.3,-8.6,360,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3420,0,0,0,0,0,0
$GC,6897,-0.60,-146.1,776.7,-8.9,370,6901,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1482,3420,0,0,0,0,0,0
$GC,6949,-0.60,-146.1,781.8,-8.9,371,6953,0.00,2.22,0.00,0.000,6,0.000,0.054,1620,2859,3420,0,0,0,0,0,0
$GC,7264,-0.60,-146.1,812.4,-9.7,381,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2859,3420,0,0,0,0,0,0
$GC,7571,-0.60,-146.1,841.5,-9.5,391,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2859,3419,0,0,0,0,0,0
$GC,7877,-0.60,-146.1,871.1,-9.7,401,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2860,3419,0,0,0,0,0,0
$GC,8183,-0.60,-146.1,902.2,-10.5,411,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2859,3419,0,0,0,0,0,0
$GC,8489,-0.60,-146.1,932.8,-9.8,421,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2859,3419,0,0,0,0,0,0
$GC,8796,-0.60,-146.1,960.4,-8.7,431,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2859,3419,0,0,0,0,0,0
$GC,9102,-0.60,-146.1,984.3,-7.5,441,9105,0.00,1.62,0.00,0.000,4,0.000,0.062,1611,3895,3419,0,0,0,0,0,0
$GC,9148,-0.60,-146.1,988.4,-8.7,442,9152,0.00,1.58,0.00,0.000,6,0.000,0.034,1611,2865,3419,0,0,0,0,0,0
$STATE,9322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9322,begin apogee
$GC,9333,-0.18,0.0,1001.7,7.6,448,9483,0.52,0.00,147.32,1.243,6,0.160,0.000,1764,2673,2819,0,0,0,0,0,0
$STATE,9485,end apogee,CONTROL_FINISHED_OK
$STATE,9485,begin climb
$GC,9490,0.60,146.1,1003.1,0.0,453,9656,0.77,2.53,152.50,1.794,4,0.096,0.043,2027,1284,2224,0,0,0,0,1,0
$GC,9704,0.60,146.1,969.7,18.8,459,9708,0.00,2.45,0.00,0.000,6,0.000,0.052,2027,2671,2221,0,0,0,0,0,0
$GC,10025,0.60,146.1,899.7,22.0,470,10029,0.00,2.03,0.00,0.000,4,0.000,0.061,2027,3907,2217,0,0,0,0,0,0
$GC,10083,0.60,146.1,885.1,24.4,471,10086,0.00,1.98,0.00,0.000,6,0.000,0.037,2037,2672,2217,0,0,0,0,0,0
$GC,10404,0.60,146.1,813.6,22.3,482,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2667,2215,0,0,0,0,0,0
$GC,10709,0.60,146.1,748.2,21.0,492,10713,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1262,2215,0,0,0,0,0,0
$GC,10761,0.60,146.1,737.5,18.5,493,10765,0.00,2.28,0.00,0.000,6,0.000,0.052,2048,2674,2213,0,0,0,0,0,0
$GC,11082,0.60,146.1,667.1,22.2,504,11086,0.00,1.98,0.00,0.000,4,0.000,0.060,2047,3890,2213,0,0,0,0,0,0
$GC,11134,0.60,146.1,654.8,23.0,505,11139,0.12,1.90,0.00,0.000,6,0.241,0.037,2031,2670,2213,0,0,0,0,0,0
$GC,11461,0.60,146.1,590.6,19.6,516,11465,0.00,2.17,0.00,0.000,4,0.000,0.044,2041,1268,2213,0,0,0,0,0,0
$GC,11518,0.60,146.1,579.7,18.0,517,11525,0.00,2.28,0.00,0.000,6,0.000,0.052,2040,2676,2212,0,0,0,0,0,0
$GC,11834,0.60,146.1,518.3,19.6,528,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2677,2212,0,0,0,0,0,0
$GC,12140,0.60,146.1,457.2,19.8,538,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2678,2212,0,0,0,0,0,0
$GC,12446,0.60,146.1,397.9,19.0,548,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2677,2212,0,0,0,0,0,0
$GC,12758,0.60,146.1,337.4,19.4,563,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2677,2211,0,0,0,0,0,0
$GC,13065,0.60,146.1,274.0,21.1,578,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2677,2211,0,0,0,0,0,0
$GC,13376,0.60,146.1,211.1,20.0,596,13380,0.00,1.98,0.00,0.000,4,0.000,0.060,2041,3894,2211,0,0,0,0,0,0
$GC,13406,0.60,146.1,205.0,20.6,597,13414,0.00,1.90,0.00,0.000,6,0.000,0.038,2050,2657,2211,0,0,0,0,0,0
$GC,13727,0.60,146.1,146.3,18.4,618,13731,0.00,2.05,0.00,0.000,4,0.000,0.061,2050,3902,2211,0,0,0,0,0,0
$GC,13756,0.60,146.1,140.1,20.4,619,13764,0.15,1.90,0.00,0.000,6,0.228,0.038,2026,2670,2211,0,0,0,0,0,0
$GC,14089,0.60,146.1,85.0,15.5,650,14096,0.00,2.17,0.00,0.000,4,0.000,0.043,2035,1271,2211,0,0,0,0,0,0
$GC,14227,0.60,146.1,65.5,13.4,673,14232,0.00,2.25,0.00,0.000,6,0.000,0.051,2035,2676,2208,0,0,0,0,0,0
$GC,14598,0.60,146.1,4.4,15.4,734,14606,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2676,2209,0,0,0,0,0,0
$STATE,14614,end climb,SURFACE_DEPTH_REACHED
$STATE,14614,begin surface coast
$FINISH,0.8,1.013333
$STATE,14634,end surface coast,CONTROL_FINISHED_OK
$STATE,14634,begin surface
$SM_CCo,14657,42.45,0.744,1,0,1880,230.09
$SM_GC,2.10,0.00,0.00,42.45,0.000,0.000,0.744,50,2882,1880,-5.56,0.62,230.09
$IRIDIUM_FIX,-4629.23,442.95,210113,030356
$TT8_MAMPS,0.025466
$HUMID,58.54
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.9,50.881
$10V_AH,10.0,24.902
$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,14.025,67.025,299.825,42.450,0.000,27.373,43.401,318.767,0.000,0.000,20.624,1809.698,10242.136,417.758,2240.969,598.458,33.368,1171.717,0.000,1775.420,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,67.320,1793.925,743.580,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.097,1456.045,782.401,300.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,53794,739
$CAP_FILE_SIZE,105253,0
$CFSIZE,259252224,212766720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,210113,115734,-4646.803,449.186,28,0.7,28,-23.6