version: 66.07
glider: 542
mission: 6
dive: 409
start: 2 17 113 16 20 32
data:
$ID,542
$MISSION,6
$DIVE,409
$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,-11745.312
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,170213,160634,-4627.283,414.343,34,0.8,34,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-66.1
$GPS2,170213,161935,-4627.280,414.459,31,1.6,31,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.251,-0.049
$KALMAN_X,-234535.0,-1681.3,-72.1,233125.4,2970.9
$KALMAN_Y,302617.2,716.7,154.7,-259067.4,-254.7
$MHEAD_RNG_PITCHd_Wd,124.4,32948,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-47.00,0.000,2,0.000,0.000,50,2887,2753,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.1,-3.4,6,124,6.80,1.65,-24.52,0.000,4,0.250,0.077,1621,3886,3418,0,0,0,0,0,0
$GC,400,-0.60,-146.1,43.4,-13.5,56,409,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2839,3419,0,0,0,0,0,0
$GC,647,-0.60,-146.1,73.6,-11.3,97,652,0.00,1.70,0.00,0.000,4,0.000,0.057,1612,3887,3419,0,0,0,0,0,0
$GC,737,-0.60,-146.1,84.9,-13.0,112,744,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2848,3420,0,0,0,0,0,0
$GC,1083,-0.60,-146.1,126.6,-11.8,147,1087,0.00,1.65,0.00,0.000,4,0.000,0.057,1604,3889,3420,0,0,0,0,0,0
$GC,1137,-0.60,-146.1,133.1,-12.1,150,1141,0.08,1.52,0.00,0.000,6,0.155,0.031,1627,2868,3421,0,0,0,0,0,0
$GC,1476,-0.60,-146.1,166.8,-10.0,171,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3421,0,0,0,0,0,0
$GC,1799,-0.60,-146.1,199.8,-10.1,192,1803,0.00,1.65,0.00,0.000,4,0.000,0.058,1621,3896,3422,0,0,0,0,0,0
$GC,1874,-0.60,-146.1,208.2,-10.7,196,1878,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2859,3422,0,0,0,0,0,0
$GC,2203,-0.60,-146.1,239.3,-9.3,217,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3422,0,0,0,0,0,0
$GC,2512,-0.60,-146.1,267.0,-8.9,234,2516,0.00,1.67,0.00,0.000,4,0.000,0.058,1613,3887,3422,0,0,0,0,0,0
$GC,2585,-0.60,-146.1,274.0,-10.4,237,2588,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2854,3422,0,0,0,0,0,0
$GC,2922,-0.60,-146.1,308.2,-10.4,253,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2849,3422,0,0,0,0,0,0
$GC,3229,-0.60,-146.1,340.9,-10.8,268,3232,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3894,3422,0,0,0,0,0,0
$GC,3301,-0.60,-146.1,349.1,-11.5,271,3305,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2863,3422,0,0,0,0,0,0
$GC,3639,-0.60,-146.1,387.8,-11.4,287,3640,0.10,0.00,0.00,0.000,6,0.185,0.000,1629,2858,3422,0,0,0,0,0,0
$GC,3964,-0.60,-146.1,418.7,-9.1,300,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3422,0,0,0,0,0,0
$GC,4273,-0.60,-146.1,445.7,-8.7,310,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3422,0,0,0,0,0,0
$GC,4577,-0.60,-146.1,472.1,-8.6,320,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3421,0,0,0,0,0,0
$GC,4885,-0.60,-146.1,497.7,-8.2,330,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3421,0,0,0,0,0,0
$GC,5189,-0.60,-146.1,521.8,-7.9,340,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3420,0,0,0,0,0,0
$GC,5498,-0.60,-146.1,547.0,-8.4,350,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3420,0,0,0,0,0,0
$GC,5802,-0.60,-146.1,574.4,-9.0,360,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3419,0,0,0,0,0,0
$GC,6109,-0.60,-146.1,601.1,-8.8,370,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3419,0,0,0,0,0,0
$GC,6415,-0.60,-146.1,626.7,-8.2,380,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3418,0,0,0,0,0,0
$GC,6721,-0.60,-146.1,651.2,-7.9,390,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3418,0,0,0,0,0,0
$GC,7027,-0.60,-146.1,673.6,-7.4,400,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,7337,-0.60,-146.1,697.1,-7.8,410,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,7639,-0.60,-146.1,721.1,-7.8,420,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3417,0,0,0,0,0,0
$GC,7947,-0.60,-146.1,745.4,-7.9,430,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,8252,-0.60,-146.1,770.1,-8.1,440,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,8558,-0.60,-146.1,795.2,-8.3,450,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,8866,-0.60,-146.1,821.2,-8.5,460,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,9170,-0.60,-146.1,846.5,-8.2,470,9174,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3895,3416,0,0,0,0,0,0
$GC,9207,-0.60,-146.1,849.6,-8.9,471,9211,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2852,3416,0,0,0,0,0,0
$GC,9551,-0.60,-146.1,878.7,-8.5,482,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2847,3416,0,0,0,0,0,0
$GC,9859,-0.60,-146.1,905.1,-8.6,492,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2847,3415,0,0,0,0,0,0
$GC,10163,-0.60,-146.1,930.8,-8.4,502,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2847,3415,0,0,0,0,0,0
$GC,10470,-0.60,-146.1,956.2,-8.1,512,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2847,3415,0,0,0,0,0,0
$GC,10776,-0.60,-146.1,980.8,-7.9,522,10779,0.00,2.10,0.00,0.000,4,0.000,0.036,1623,1479,3415,0,0,0,0,0,0
$GC,10808,-0.60,-146.1,983.5,-8.6,523,10812,0.00,2.22,0.00,0.000,6,0.000,0.051,1613,2862,3415,0,0,0,0,0,0
$STATE,11018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11018,begin apogee
$GC,11029,-0.18,0.0,1001.2,8.2,530,11178,0.52,0.00,145.50,1.258,6,0.153,0.000,1768,2685,2819,0,0,0,0,0,0
$STATE,11180,end apogee,CONTROL_FINISHED_OK
$STATE,11180,begin climb
$GC,11185,0.60,146.1,1005.2,0.0,535,11367,0.77,2.55,161.18,1.782,4,0.092,0.042,2031,1293,2227,0,0,0,0,2,0
$GC,11408,0.60,146.1,976.9,18.9,541,11415,0.00,2.42,0.00,0.000,6,0.000,0.048,2031,2666,2223,0,0,0,0,0,0
$GC,11723,0.60,146.1,913.8,20.0,552,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2666,2219,0,0,0,0,0,0
$GC,12029,0.60,146.1,851.0,21.0,562,12033,0.00,2.17,0.00,0.000,4,0.000,0.043,2041,1282,2218,0,0,0,0,0,0
$GC,12053,0.60,146.1,845.7,20.0,562,12060,0.00,2.25,0.00,0.000,6,0.000,0.050,2041,2675,2215,0,0,0,0,0,0
$GC,12370,0.60,146.1,778.8,21.0,573,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2676,2215,0,0,0,0,0,0
$GC,12675,0.60,146.1,715.1,20.4,583,12679,0.00,2.20,0.00,0.000,4,0.000,0.042,2051,1281,2215,0,0,0,0,0,0
$GC,12744,0.60,146.1,701.7,18.2,585,12748,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2679,2214,0,0,0,0,0,0
$GC,13076,0.60,146.1,633.2,20.5,596,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2680,2214,0,0,0,0,0,0
$GC,13382,0.60,146.1,571.9,19.5,606,13386,0.00,2.20,0.00,0.000,4,0.000,0.043,2062,1280,2214,0,0,0,0,0,0
$GC,13429,0.60,146.1,563.2,16.8,607,13434,0.15,2.22,0.00,0.000,6,0.200,0.050,2026,2670,2213,0,0,0,0,0,0
$GC,13763,0.60,146.1,506.2,17.2,618,13764,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2213,0,0,0,0,0,0
$GC,14068,0.60,146.1,454.6,16.5,628,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2213,0,0,0,0,0,0
$GC,14376,0.60,146.1,405.2,15.7,638,14380,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1271,2213,0,0,0,0,0,0
$GC,14434,0.60,146.1,396.0,14.0,640,14443,0.00,2.28,0.00,0.000,6,0.000,0.050,2035,2669,2212,0,0,0,0,0,0
$GC,14752,0.60,146.1,342.1,17.2,656,14753,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2669,2212,0,0,0,0,0,0
$GC,15064,0.60,146.1,285.9,18.2,671,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2669,2212,0,0,0,0,0,0
$GC,15377,0.60,146.1,229.4,18.0,688,15378,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2670,2212,0,0,0,0,0,0
$GC,15690,0.60,146.1,175.8,16.6,708,15691,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2669,2212,0,0,0,0,0,0
$GC,16002,0.60,146.1,125.3,15.3,728,16006,0.00,2.17,0.00,0.000,4,0.000,0.041,2045,1279,2212,0,0,0,0,0,0
$GC,16053,0.60,146.1,118.1,14.7,731,16057,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2679,2211,0,0,0,0,0,0
$GC,16393,0.60,146.1,66.6,13.0,777,16400,0.00,2.22,0.00,0.000,4,0.000,0.041,2056,1281,2212,0,0,0,0,0,0
$GC,16492,0.60,146.1,54.8,11.7,793,16500,0.12,2.22,0.00,0.000,6,0.196,0.050,2026,2670,2210,0,0,0,0,0,0
$GC,16746,0.60,146.1,22.8,12.4,834,16755,0.00,1.98,0.00,0.000,4,0.000,0.057,2026,3897,2211,0,0,0,0,0,0
$GC,16792,0.60,146.1,16.5,14.8,840,16801,0.00,1.90,0.00,0.000,6,0.000,0.037,2035,2677,2211,0,0,0,0,0,0
$GC,16880,0.60,146.1,4.8,14.0,853,16889,0.00,2.22,0.00,0.000,4,0.000,0.043,2045,1262,2211,0,0,0,0,0,0
$STATE,16897,end climb,SURFACE_DEPTH_REACHED
$STATE,16897,begin surface coast
$FINISH,0.8,1.026302
$STATE,16905,end surface coast,CONTROL_FINISHED_OK
$STATE,16905,begin surface
$SM_CCo,16929,42.50,0.771,1,0,1881,230.09
$SM_GC,2.16,0.00,0.00,42.50,0.000,0.000,0.771,55,2870,1881,-5.55,0.25,230.09
$IRIDIUM_FIX,-4613.60,410.26,170213,111112
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,21.1,75.408
$10V_AH,10.0,40.484
$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,13.925,67.450,306.675,42.500,0.000,25.241,20.747,471.843,0.000,0.000,33.684,2082.892,11924.595,439.252,2543.454,755.814,33.398,1271.187,0.000,1997.994,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,77.265,1781.685,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.740,1688.586,904.061,353.616,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354096
$DATA_FILE_SIZE,60396,856
$CAP_FILE_SIZE,119377,0
$CFSIZE,259252224,203243520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,170213,210453,-4626.234,418.930,35,0.9,36,-23.4