version: 66.07
glider: 542
mission: 6
dive: 408
start: 2 17 113 11 38 45
data:
$ID,542
$MISSION,6
$DIVE,408
$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,-11742.296
$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,39
$R_STBD_OVSHOOT,42
$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
$GPS1,170213,112427,-4628.454,410.267,36,1.4,40,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-65.6
$GPS2,170213,113748,-4628.409,410.368,18,1.1,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.254,0.032
$KALMAN_X,-234204.3,-853.4,-819.0,227548.9,4056.1
$KALMAN_Y,300970.2,539.8,437.5,-259617.3,-1423.0
$MHEAD_RNG_PITCHd_Wd,106.1,37890,-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,-62.95,0.000,2,0.000,0.000,52,2889,3129,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-2.3,8,118,6.65,1.65,-7.60,0.000,4,0.243,0.073,1621,3891,3417,0,0,0,0,0,0
$GC,397,-0.60,-146.1,47.1,-12.3,55,404,0.00,1.60,0.00,0.000,6,0.000,0.031,1621,2825,3420,0,0,0,0,0,0
$GC,639,-0.60,-146.1,78.6,-12.7,96,648,0.00,1.73,0.00,0.000,4,0.000,0.057,1613,3887,3421,0,0,0,0,0,0
$GC,794,-0.60,-146.1,99.2,-13.1,122,800,0.00,1.52,0.00,0.000,6,0.000,0.031,1613,2856,3421,0,0,0,0,0,0
$GC,1117,-0.60,-146.1,137.0,-11.0,143,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2856,3422,0,0,0,0,0,0
$GC,1430,-0.60,-146.1,171.4,-11.1,163,1433,0.00,1.65,0.00,0.000,4,0.000,0.057,1605,3892,3423,0,0,0,0,0,0
$GC,1487,-0.60,-146.1,178.6,-12.1,166,1491,0.00,1.52,0.00,0.000,6,0.000,0.031,1605,2867,3423,0,0,0,0,0,0
$GC,1816,-0.60,-146.1,216.9,-11.6,187,1818,0.10,0.00,0.00,0.000,6,0.187,0.000,1628,2862,3424,0,0,0,0,0,0
$GC,2127,-0.60,-146.1,247.7,-10.0,207,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3424,0,0,0,0,0,0
$GC,2447,-0.60,-146.1,279.8,-10.4,223,2451,0.00,1.65,0.00,0.000,4,0.000,0.059,1622,3893,3424,0,0,0,0,0,0
$GC,2488,-0.60,-146.1,284.7,-12.0,224,2497,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2854,3424,0,0,0,0,0,0
$GC,2806,-0.60,-146.1,320.3,-11.2,240,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2853,3424,0,0,0,0,0,0
$GC,3118,-0.60,-146.1,353.2,-10.2,255,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2853,3424,0,0,0,0,0,0
$GC,3425,-0.60,-146.1,384.1,-9.9,270,3429,0.00,1.65,0.00,0.000,4,0.000,0.059,1614,3882,3423,0,0,0,0,0,0
$GC,3477,-0.60,-146.1,389.9,-10.4,272,3480,0.00,1.52,0.00,0.000,6,0.000,0.031,1614,2866,3423,0,0,0,0,0,0
$GC,3794,-0.60,-146.1,422.2,-10.2,284,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3423,0,0,0,0,0,0
$GC,4101,-0.60,-146.1,454.2,-10.7,294,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3422,0,0,0,0,0,0
$GC,4406,-0.60,-146.1,487.5,-11.0,304,4409,0.00,1.65,0.00,0.000,4,0.000,0.060,1606,3887,3422,0,0,0,0,0,0
$GC,4442,-0.60,-146.1,491.8,-11.8,305,4446,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2856,3422,0,0,0,0,0,0
$GC,4786,-0.60,-146.1,529.9,-10.8,316,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2852,3421,0,0,0,0,0,0
$GC,5092,-0.60,-146.1,560.3,-9.7,326,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2852,3421,0,0,0,0,0,0
$GC,5399,-0.60,-146.1,588.6,-9.3,336,5402,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3879,3420,0,0,0,0,0,0
$GC,5440,-0.60,-146.1,592.9,-10.5,337,5444,0.10,1.52,0.00,0.000,6,0.155,0.031,1629,2867,3420,0,0,0,0,0,0
$GC,5780,-0.60,-146.1,618.8,-7.7,348,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3420,0,0,0,0,0,0
$GC,6084,-0.60,-146.1,643.7,-8.2,358,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3419,0,0,0,0,0,0
$GC,6392,-0.60,-146.1,670.4,-8.9,368,6395,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3885,3419,0,0,0,0,0,0
$GC,6428,-0.60,-146.1,673.9,-9.3,369,6432,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2857,3418,0,0,0,0,0,0
$GC,6771,-0.60,-146.1,707.8,-10.0,380,6775,0.00,2.08,0.00,0.000,4,0.000,0.037,1623,1483,3418,0,0,0,0,0,0
$GC,6803,-0.60,-146.1,710.8,-9.8,381,6807,0.00,2.20,0.00,0.000,6,0.000,0.052,1612,2849,3417,0,0,0,0,0,0
$GC,7140,-0.60,-146.1,745.9,-10.1,392,7144,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3896,3418,0,0,0,0,0,0
$GC,7220,-0.60,-146.1,754.8,-10.3,394,7223,0.00,1.58,0.00,0.000,6,0.000,0.031,1604,2851,3417,0,0,0,0,0,0
$GC,7552,-0.60,-146.1,788.0,-9.7,405,7554,0.10,0.00,0.00,0.000,6,0.187,0.000,1628,2846,3417,0,0,0,0,0,0
$GC,7858,-0.60,-146.1,810.8,-7.1,415,7862,0.00,1.70,0.00,0.000,4,0.000,0.061,1621,3897,3417,0,0,0,0,0,0
$GC,7904,-0.60,-146.1,814.4,-7.9,416,7908,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2858,3417,0,0,0,0,0,0
$GC,8237,-0.60,-146.1,837.6,-7.1,427,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2854,3416,0,0,0,0,0,0
$GC,8544,-0.60,-146.1,860.3,-7.6,437,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2853,3416,0,0,0,0,0,0
$GC,8849,-0.60,-146.1,884.2,-8.0,447,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2853,3416,0,0,0,0,0,0
$GC,9157,-0.60,-146.1,909.1,-8.3,457,9161,0.00,2.10,0.00,0.000,4,0.000,0.037,1621,1473,3416,0,0,0,0,0,0
$GC,9192,-0.60,-146.1,912.1,-8.8,458,9196,0.00,2.25,0.00,0.000,6,0.000,0.053,1611,2867,3415,0,0,0,0,0,0
$GC,9530,-0.60,-146.1,943.3,-9.2,469,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2868,3415,0,0,0,0,0,0
$GC,9836,-0.60,-146.1,971.2,-9.2,479,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2868,3415,0,0,0,0,0,0
$GC,10142,-0.60,-146.1,998.7,-9.1,489,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2868,3415,0,0,0,0,0,0
$STATE,10168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10168,begin apogee
$GC,10179,-0.18,0.0,1001.5,9.1,490,10327,0.52,0.00,145.40,1.262,6,0.152,0.000,1767,2675,2819,0,0,0,0,0,0
$STATE,10329,end apogee,CONTROL_FINISHED_OK
$STATE,10329,begin climb
$GC,10335,0.60,146.1,1006.9,0.0,495,10511,0.80,0.00,162.20,1.795,6,0.090,0.000,2022,2675,2225,0,0,0,0,2,0
$GC,10810,0.60,146.1,931.1,18.7,511,10814,0.00,2.22,0.00,0.000,4,0.000,0.044,2032,1282,2221,0,0,0,0,0,0
$GC,10876,0.60,146.1,919.6,16.3,513,10880,0.00,2.28,0.00,0.000,6,0.000,0.050,2033,2668,2219,0,0,0,0,0,0
$GC,11220,0.60,146.1,851.5,19.9,524,11224,0.00,2.17,0.00,0.000,4,0.000,0.044,2043,1283,2218,0,0,0,0,0,0
$GC,11286,0.60,146.1,839.1,18.3,526,11290,0.00,2.25,0.00,0.000,6,0.000,0.051,2043,2673,2217,0,0,0,0,0,0
$GC,11624,0.60,146.1,767.9,21.8,537,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2673,2217,0,0,0,0,0,0
$GC,11930,0.60,146.1,701.7,21.3,547,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2673,2216,0,0,0,0,0,0
$GC,12236,0.60,146.1,637.5,20.8,557,12240,0.00,2.17,0.00,0.000,4,0.000,0.043,2052,1281,2216,0,0,0,0,0,0
$GC,12273,0.60,146.1,629.9,20.4,558,12277,0.00,2.22,0.00,0.000,6,0.000,0.050,2053,2670,2215,0,0,0,0,0,0
$GC,12618,0.60,146.1,558.6,20.8,569,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2670,2214,0,0,0,0,0,0
$GC,12923,0.60,146.1,497.0,19.5,579,12924,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2670,2214,0,0,0,0,0,0
$GC,13231,0.60,146.1,437.5,18.9,589,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2670,2214,0,0,0,0,0,0
$GC,13550,0.60,146.1,378.3,18.8,601,13554,0.00,2.17,0.00,0.000,4,0.000,0.043,2063,1274,2214,0,0,0,0,0,0
$GC,13619,0.60,146.1,365.4,17.1,604,13623,0.15,2.25,0.00,0.000,6,0.202,0.050,2028,2671,2213,0,0,0,0,0,0
$GC,13944,0.60,146.1,311.5,16.8,620,13948,0.00,2.20,0.00,0.000,4,0.000,0.042,2037,1273,2213,0,0,0,0,0,0
$GC,13990,0.60,146.1,303.7,14.7,622,13994,0.00,2.22,0.00,0.000,6,0.000,0.050,2037,2670,2211,0,0,0,0,0,0
$GC,14321,0.60,146.1,247.3,17.2,638,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2671,2212,0,0,0,0,0,0
$GC,14632,0.60,146.1,195.6,16.3,658,14636,0.00,2.17,0.00,0.000,4,0.000,0.042,2047,1275,2212,0,0,0,0,0,0
$GC,14685,0.60,146.1,187.4,13.6,661,14689,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2673,2212,0,0,0,0,0,0
$GC,15009,0.60,146.1,134.8,17.2,681,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2212,0,0,0,0,0,0
$GC,15331,0.60,146.1,84.1,15.8,713,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2212,0,0,0,0,0,0
$GC,15690,0.60,146.1,31.2,14.4,774,15699,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2212,0,0,0,0,0,0
$STATE,15892,end climb,SURFACE_DEPTH_REACHED
$STATE,15892,begin surface coast
$FINISH,0.8,1.013292
$STATE,15917,end surface coast,CONTROL_FINISHED_OK
$STATE,15917,begin surface
$SM_CCo,15940,42.22,0.786,1,0,1880,230.09
$SM_GC,2.02,0.00,0.00,42.22,0.000,0.000,0.786,52,2884,1880,-5.56,0.68,230.09
$IRIDIUM_FIX,-4613.60,407.37,170213,060605
$TT8_MAMPS,0.026215
$HUMID,59.01
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.1,75.236
$10V_AH,10.0,40.369
$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,13.850,67.950,307.600,42.225,0.000,28.282,43.759,474.335,0.000,0.000,21.533,1994.993,11078.354,456.164,2498.881,745.938,33.399,1238.617,0.000,1951.341,0.000,1.009,0.000
$DEVICE_MAMPS,242.505,72.675,1794.690,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.849,1614.384,874.284,337.839,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354100
$DATA_FILE_SIZE,57021,810
$CAP_FILE_SIZE,114665,0
$CFSIZE,259252224,203325440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,170213,160634,-4627.283,414.343,34,0.8,34,-23.4