version: 66.07
glider: 542
mission: 6
dive: 410
start: 2 17 113 21 19 9
data:
$ID,542
$MISSION,6
$DIVE,410
$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,-11748.447
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,170213,210453,-4626.234,418.930,35,0.9,36,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-59.8
$GPS2,170213,211812,-4626.245,419.094,19,1.3,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.219,-0.133
$KALMAN_X,-234575.0,-755.2,-538.4,238564.2,3826.9
$KALMAN_Y,305600.4,567.2,430.8,-260262.5,589.9
$MHEAD_RNG_PITCHd_Wd,144.6,27544,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-54.83,0.000,2,0.000,0.000,54,2870,2921,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.7,7,124,6.82,1.70,-15.68,0.000,4,0.252,0.079,1619,3894,3418,0,0,0,0,0,0
$GC,402,-0.60,-146.1,44.1,-13.2,56,411,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2837,3419,0,0,0,0,0,0
$GC,649,-0.60,-146.1,77.2,-14.3,97,654,0.00,1.73,0.00,0.000,4,0.000,0.057,1611,3901,3419,0,0,0,0,0,0
$GC,676,-0.60,-146.1,81.3,-13.5,101,680,0.00,1.58,0.00,0.000,6,0.000,0.030,1611,2855,3419,0,0,0,0,0,0
$GC,1008,-0.60,-146.1,124.7,-12.6,138,1012,0.00,2.10,0.00,0.000,4,0.000,0.035,1611,1473,3420,0,0,0,0,0,0
$GC,1040,-0.60,-146.1,128.5,-11.8,140,1045,0.12,2.22,0.00,0.000,6,0.173,0.050,1633,2868,3420,0,0,0,0,0,0
$GC,1374,-0.60,-146.1,160.3,-8.7,161,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2868,3421,0,0,0,0,0,0
$GC,1696,-0.60,-146.1,189.2,-9.1,182,1700,0.00,1.62,0.00,0.000,4,0.000,0.058,1626,3890,3422,0,0,0,0,0,0
$GC,1726,-0.60,-146.1,192.5,-10.1,183,1733,0.00,1.55,0.00,0.000,6,0.000,0.031,1626,2847,3422,0,0,0,0,0,0
$GC,2049,-0.60,-146.1,224.9,-10.1,204,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2846,3422,0,0,0,0,0,0
$GC,2375,-0.60,-146.1,257.2,-10.0,224,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2846,3422,0,0,0,0,0,0
$GC,2686,-0.60,-146.1,286.9,-9.6,239,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2846,3422,0,0,0,0,0,0
$GC,2994,-0.60,-146.1,314.5,-8.6,254,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2847,3422,0,0,0,0,0,0
$GC,3309,-0.60,-146.1,341.6,-8.9,269,3312,0.00,1.67,0.00,0.000,4,0.000,0.060,1618,3903,3422,0,0,0,0,0,0
$GC,3367,-0.60,-146.1,347.8,-9.8,271,3371,0.00,1.55,0.00,0.000,6,0.000,0.031,1618,2875,3422,0,0,0,0,0,0
$GC,3694,-0.60,-146.1,379.1,-10.0,287,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2871,3421,0,0,0,0,0,0
$GC,4020,-0.60,-146.1,413.1,-10.6,301,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2871,3421,0,0,0,0,0,0
$GC,4327,-0.60,-146.1,445.0,-10.6,311,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2871,3421,0,0,0,0,0,0
$GC,4632,-0.60,-146.1,478.7,-11.0,321,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2871,3420,0,0,0,0,0,0
$GC,4940,-0.60,-146.1,511.3,-10.5,331,4944,0.00,1.65,0.00,0.000,4,0.000,0.060,1610,3894,3420,0,0,0,0,0,0
$GC,4980,-0.60,-146.1,516.3,-11.1,332,4984,0.00,1.58,0.00,0.000,6,0.000,0.032,1610,2855,3420,0,0,0,0,0,0
$GC,5318,-0.60,-146.1,551.3,-9.9,343,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2850,3420,0,0,0,0,0,0
$GC,5624,-0.60,-146.1,582.9,-10.4,353,5628,0.00,1.70,0.00,0.000,4,0.000,0.060,1602,3890,3420,0,0,0,0,0,0
$GC,5715,-0.60,-146.1,593.6,-11.9,355,5720,0.08,1.55,0.00,0.000,6,0.153,0.032,1627,2868,3419,0,0,0,0,0,0
$GC,6037,-0.60,-146.1,623.5,-9.3,366,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2863,3419,0,0,0,0,0,0
$GC,6343,-0.60,-146.1,652.9,-9.5,376,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2863,3419,0,0,0,0,0,0
$GC,6649,-0.60,-146.1,683.0,-9.8,386,6653,0.00,2.12,0.00,0.000,4,0.000,0.038,1627,1482,3418,0,0,0,0,0,0
$GC,6678,-0.60,-146.1,686.0,-9.6,386,6685,0.00,2.20,0.00,0.000,6,0.000,0.051,1618,2858,3417,0,0,0,0,0,0
$GC,6994,-0.60,-146.1,716.4,-9.6,397,6997,0.00,1.62,0.00,0.000,4,0.000,0.060,1610,3898,3417,0,0,0,0,0,0
$GC,7040,-0.60,-146.1,721.2,-10.1,398,7043,0.00,1.58,0.00,0.000,6,0.000,0.032,1610,2856,3417,0,0,0,0,0,0
$GC,7372,-0.60,-146.1,751.3,-9.0,409,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2852,3417,0,0,0,0,0,0
$GC,7679,-0.60,-146.1,778.8,-8.8,419,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2852,3416,0,0,0,0,0,0
$GC,7984,-0.60,-146.1,805.9,-9.0,429,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2852,3416,0,0,0,0,0,0
$GC,8290,-0.60,-146.1,833.6,-8.9,439,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2852,3416,0,0,0,0,0,0
$GC,8597,-0.60,-146.1,860.2,-8.6,449,8601,0.00,1.70,0.00,0.000,4,0.000,0.060,1602,3890,3416,0,0,0,0,0,0
$GC,8654,-0.60,-146.1,865.9,-10.1,450,8659,0.08,1.58,0.00,0.000,6,0.151,0.032,1635,2851,3416,0,0,0,0,0,0
$GC,8976,-0.60,-146.1,886.7,-6.3,461,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2847,3416,0,0,0,0,0,0
$GC,9282,-0.60,-146.1,904.4,-5.6,471,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2847,3416,0,0,0,0,0,0
$GC,9588,-0.60,-146.1,921.2,-5.4,481,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2847,3416,0,0,0,0,0,0
$GC,9894,-0.60,-146.1,937.8,-5.6,491,9898,0.00,1.70,0.00,0.000,4,0.000,0.062,1629,3893,3415,0,0,0,0,0,0
$GC,10106,-0.60,-146.1,952.0,-6.8,497,10110,0.00,1.58,0.00,0.000,6,0.000,0.033,1629,2855,3415,0,0,0,0,0,0
$GC,10444,-0.60,-146.1,974.6,-6.8,508,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3415,0,0,0,0,0,0
$GC,10750,-0.60,-146.1,995.8,-7.3,518,10754,0.00,2.10,0.00,0.000,4,0.000,0.038,1629,1483,3415,0,0,0,0,0,0
$GC,10791,-0.60,-146.1,999.1,-7.8,519,10795,0.00,2.22,0.00,0.000,6,0.000,0.053,1619,2859,3415,0,0,0,0,0,0
$STATE,10806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10817,-0.18,0.0,1000.3,6.9,520,10966,0.50,0.00,145.77,1.248,6,0.150,0.000,1769,2683,2820,0,0,0,0,0,0
$STATE,10968,end apogee,CONTROL_FINISHED_OK
$STATE,10968,begin climb
$GC,10974,0.60,146.1,1005.7,0.0,525,11155,0.75,2.58,161.00,1.767,4,0.089,0.044,2026,1286,2226,0,0,0,0,2,0
$GC,11204,0.60,146.1,977.8,16.0,532,11208,0.00,2.45,0.00,0.000,6,0.000,0.050,2026,2667,2224,0,0,0,0,0,0
$GC,11536,0.60,146.1,911.0,20.5,543,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2668,2219,0,0,0,0,0,0
$GC,11843,0.60,146.1,848.4,20.6,553,11847,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1272,2219,0,0,0,0,0,0
$GC,11877,0.60,146.1,841.1,19.9,554,11882,0.00,2.28,0.00,0.000,6,0.000,0.050,2037,2674,2216,0,0,0,0,0,0
$GC,12210,0.60,146.1,772.7,20.7,565,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2674,2217,0,0,0,0,0,0
$GC,12517,0.60,146.1,710.0,20.3,575,12521,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1272,2216,0,0,0,0,0,0
$GC,12563,0.60,146.1,700.7,18.2,576,12567,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2669,2215,0,0,0,0,0,0
$GC,12883,0.60,146.1,636.7,20.1,587,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2669,2215,0,0,0,0,0,0
$GC,13190,0.60,146.1,578.2,18.7,597,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2669,2214,0,0,0,0,0,0
$GC,13496,0.60,146.1,520.6,18.9,607,13500,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1272,2214,0,0,0,0,0,0
$GC,13548,0.60,146.1,511.3,16.0,608,13552,0.12,2.25,0.00,0.000,6,0.207,0.050,2029,2670,2213,0,0,0,0,0,0
$GC,13863,0.60,146.1,459.0,17.0,618,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2670,2213,0,0,0,0,0,0
$GC,14169,0.60,146.1,408.1,16.4,628,14173,0.00,2.17,0.00,0.000,4,0.000,0.043,2038,1274,2213,0,0,0,0,0,0
$GC,14206,0.60,146.1,402.4,14.6,629,14210,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2670,2213,0,0,0,0,0,0
$GC,14532,0.60,146.1,351.0,15.6,644,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2212,0,0,0,0,0,0
$GC,14843,0.60,146.1,301.8,16.4,659,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2212,0,0,0,0,0,0
$GC,15150,0.60,146.1,249.2,17.4,674,15154,0.00,2.20,0.00,0.000,4,0.000,0.042,2049,1272,2212,0,0,0,0,0,0
$GC,15186,0.60,146.1,242.7,16.9,676,15190,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2670,2211,0,0,0,0,0,0
$GC,15509,0.60,146.1,183.4,18.3,696,15512,0.00,1.95,0.00,0.000,4,0.000,0.060,2049,3896,2212,0,0,0,0,0,0
$GC,15555,0.60,146.1,173.6,20.1,698,15564,0.10,1.90,0.00,0.000,6,0.217,0.038,2031,2679,2213,0,0,0,0,0,0
$GC,15885,0.60,146.1,125.0,13.6,719,15888,0.00,2.17,0.00,0.000,4,0.000,0.043,2041,1271,2212,0,0,0,0,0,0
$GC,15971,0.60,146.1,112.4,12.4,724,15975,0.00,2.25,0.00,0.000,6,0.000,0.050,2041,2671,2210,0,0,0,0,0,0
$GC,16317,0.60,146.1,63.7,12.4,772,16324,0.00,1.95,0.00,0.000,4,0.000,0.059,2041,3900,2211,0,0,0,0,0,0
$GC,16416,0.60,146.1,48.3,16.1,788,16425,0.00,1.92,0.00,0.000,6,0.000,0.037,2050,2667,2212,0,0,0,0,0,0
$GC,16675,0.60,146.1,9.5,13.6,829,16684,0.00,2.20,0.00,0.000,4,0.000,0.040,2061,1273,2211,0,0,0,0,0,0
$GC,16727,0.60,146.1,3.2,12.6,836,16736,0.10,2.28,0.00,0.000,6,0.171,0.053,2032,2661,2210,0,0,0,0,0,0
$STATE,16744,end climb,SURFACE_DEPTH_REACHED
$STATE,16744,begin surface coast
$FINISH,0.8,1.012933
$STATE,16776,end surface coast,CONTROL_FINISHED_OK
$STATE,16776,begin surface
$SM_CCo,16799,43.17,0.754,1,0,1878,230.09
$SM_GC,2.03,0.00,0.00,43.17,0.000,0.000,0.754,51,2882,1878,-5.56,0.59,230.09
$IRIDIUM_FIX,-4610.49,416.49,170213,161611
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.1,75.581
$10V_AH,9.9,40.601
$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,14.125,86.675,306.775,43.175,0.000,26.263,28.460,489.684,0.000,0.000,21.975,2091.613,11668.301,443.829,2638.629,791.043,33.400,1324.905,0.000,2080.582,0.000,1.009,0.000
$DEVICE_MAMPS,252.450,78.795,1767.150,753.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.498,1685.021,907.463,343.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,60483,843
$CAP_FILE_SIZE,126457,0
$CFSIZE,259252224,203173888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,180213,020122,-4626.388,423.037,36,0.8,37,-23.5