version: 66.07
glider: 542
mission: 6
dive: 411
start: 2 18 113 2 15 38
data:
$ID,542
$MISSION,6
$DIVE,411
$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,-11751.562
$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,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
$GPS1,180213,020122,-4626.388,423.037,36,0.8,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.4
$GPS2,180213,021441,-4626.307,423.231,16,1.3,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.174,-0.187
$KALMAN_X,-235831.2,683.7,-269.7,243356.7,495.8
$KALMAN_Y,309146.1,131.3,125.9,-263175.0,2617.4
$MHEAD_RNG_PITCHd_Wd,160.6,22445,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-62.70,0.000,2,0.000,0.000,50,2884,3088,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.8,8,124,6.75,1.65,-8.85,0.000,4,0.246,0.073,1623,3895,3418,0,0,0,0,0,0
$GC,401,-0.60,-146.1,47.1,-13.4,56,410,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2837,3420,0,0,0,0,0,0
$GC,649,-0.60,-146.1,79.5,-12.9,97,653,0.00,1.73,0.00,0.000,4,0.000,0.057,1615,3896,3420,0,0,0,0,0,0
$GC,734,-0.60,-146.1,90.7,-12.9,111,741,0.00,1.55,0.00,0.000,6,0.000,0.030,1615,2854,3421,0,0,0,0,0,0
$GC,1077,-0.60,-146.1,134.6,-13.4,140,1081,0.00,1.65,0.00,0.000,4,0.000,0.057,1607,3893,3421,0,0,0,0,0,0
$GC,1137,-0.60,-146.1,142.8,-13.3,143,1140,0.00,1.55,0.00,0.000,6,0.000,0.030,1607,2857,3422,0,0,0,0,0,0
$GC,1463,-0.60,-146.1,183.3,-11.3,164,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2852,3422,0,0,0,0,0,0
$GC,1778,-0.60,-146.1,218.6,-11.2,184,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2852,3423,0,0,0,0,0,0
$GC,2093,-0.60,-146.1,252.9,-10.4,204,2096,0.00,1.67,0.00,0.000,4,0.000,0.057,1599,3900,3423,0,0,0,0,0,0
$GC,2167,-0.60,-146.1,261.7,-11.3,207,2172,0.08,1.58,0.00,0.000,6,0.157,0.031,1631,2855,3423,0,0,0,0,0,0
$GC,2500,-0.60,-146.1,289.8,-8.4,223,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2851,3423,0,0,0,0,0,0
$GC,2807,-0.60,-146.1,315.3,-8.3,238,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2851,3423,0,0,0,0,0,0
$GC,3118,-0.60,-146.1,341.8,-8.6,253,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2851,3423,0,0,0,0,0,0
$GC,3426,-0.60,-146.1,369.8,-9.3,268,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2851,3423,0,0,0,0,0,0
$GC,3736,-0.60,-146.1,399.6,-9.6,283,3740,0.00,1.70,0.00,0.000,4,0.000,0.060,1624,3891,3423,0,0,0,0,0,0
$GC,3789,-0.60,-146.1,405.2,-10.9,285,3792,0.00,1.55,0.00,0.000,6,0.000,0.031,1624,2866,3423,0,0,0,0,0,0
$GC,4115,-0.60,-146.1,436.4,-9.4,296,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2860,3422,0,0,0,0,0,0
$GC,4421,-0.60,-146.1,464.8,-9.2,306,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2860,3422,0,0,0,0,0,0
$GC,4728,-0.60,-146.1,493.7,-9.3,316,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2860,3421,0,0,0,0,0,0
$GC,5033,-0.60,-146.1,523.2,-9.9,326,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2860,3421,0,0,0,0,0,0
$GC,5339,-0.60,-146.1,553.3,-9.8,336,5343,0.00,1.70,0.00,0.000,4,0.000,0.061,1616,3898,3421,0,0,0,0,0,0
$GC,5391,-0.60,-146.1,559.0,-10.7,337,5394,0.00,1.58,0.00,0.000,6,0.000,0.032,1616,2858,3421,0,0,0,0,0,0
$GC,5717,-0.60,-146.1,591.5,-10.3,348,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2853,3420,0,0,0,0,0,0
$GC,6024,-0.60,-146.1,622.2,-9.7,358,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2853,3419,0,0,0,0,0,0
$GC,6329,-0.60,-146.1,651.0,-9.2,368,6333,0.00,1.65,0.00,0.000,4,0.000,0.060,1608,3891,3419,0,0,0,0,0,0
$GC,6381,-0.60,-146.1,656.3,-10.2,369,6385,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2851,3419,0,0,0,0,0,0
$GC,6707,-0.60,-146.1,688.2,-9.9,380,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2845,3418,0,0,0,0,0,0
$GC,7014,-0.60,-146.1,719.9,-10.4,390,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3418,0,0,0,0,0,0
$GC,7320,-0.60,-146.1,753.3,-11.1,400,7324,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3884,3418,0,0,0,0,0,0
$GC,7373,-0.60,-146.1,759.7,-12.5,401,7377,0.08,1.55,0.00,0.000,6,0.157,0.032,1639,2859,3418,0,0,0,0,0,0
$GC,7700,-0.60,-146.1,789.0,-8.8,412,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2856,3418,0,0,0,0,0,0
$GC,8006,-0.60,-146.1,816.3,-8.9,422,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2856,3417,0,0,0,0,0,0
$GC,8312,-0.60,-146.1,842.0,-8.1,432,8316,0.00,2.12,0.00,0.000,4,0.000,0.037,1639,1478,3417,0,0,0,0,0,0
$GC,8345,-0.60,-146.1,844.6,-8.6,433,8350,0.00,2.20,0.00,0.000,6,0.000,0.053,1631,2856,3417,0,0,0,0,0,0
$GC,8684,-0.60,-146.1,872.5,-8.1,444,8688,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3895,3417,0,0,0,0,0,0
$GC,8724,-0.60,-146.1,876.4,-9.8,445,8728,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2855,3417,0,0,0,0,0,0
$GC,9062,-0.60,-146.1,905.4,-8.5,456,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3417,0,0,0,0,0,0
$GC,9369,-0.60,-146.1,931.1,-8.1,466,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2850,3417,0,0,0,0,0,0
$GC,9674,-0.60,-146.1,954.9,-7.6,476,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3417,0,0,0,0,0,0
$GC,9980,-0.60,-146.1,978.7,-8.0,486,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3416,0,0,0,0,0,0
$STATE,10251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10251,begin apogee
$GC,10262,-0.18,0.0,1002.3,8.7,495,10411,0.47,0.00,145.32,1.241,6,0.149,0.000,1765,2675,2820,0,0,0,0,0,0
$STATE,10413,end apogee,CONTROL_FINISHED_OK
$STATE,10413,begin climb
$GC,10418,0.60,146.1,1009.0,0.0,500,10597,0.80,2.50,161.18,1.763,4,0.091,0.045,2030,1280,2226,0,0,0,0,2,0
$GC,10644,0.60,146.1,984.0,15.7,507,10648,0.00,2.45,0.00,0.000,6,0.000,0.050,2030,2670,2224,0,0,0,0,0,0
$GC,10965,0.60,146.1,919.1,20.7,518,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2220,0,0,0,0,0,0
$GC,11271,0.60,146.1,856.3,20.5,528,11275,0.00,2.22,0.00,0.000,4,0.000,0.045,2040,1274,2218,0,0,0,0,0,0
$GC,11340,0.60,146.1,843.3,18.2,530,11344,0.00,2.28,0.00,0.000,6,0.000,0.051,2040,2680,2216,0,0,0,0,0,0
$GC,11679,0.60,146.1,771.2,22.2,541,11683,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1282,2216,0,0,0,0,0,0
$GC,11731,0.60,146.1,760.0,19.0,542,11735,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2675,2215,0,0,0,0,0,0
$GC,12047,0.60,146.1,690.1,22.5,552,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2675,2215,0,0,0,0,0,0
$GC,12353,0.60,146.1,626.5,20.2,562,12357,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1272,2215,0,0,0,0,0,0
$GC,12399,0.60,146.1,617.6,16.9,563,12404,0.15,2.25,0.00,0.000,6,0.206,0.050,2026,2670,2214,0,0,0,0,0,0
$GC,12721,0.60,146.1,562.4,17.2,574,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2214,0,0,0,0,0,0
$GC,13029,0.60,146.1,509.7,17.5,584,13033,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1273,2214,0,0,0,0,0,0
$GC,13075,0.60,146.1,501.6,15.4,585,13079,0.00,2.25,0.00,0.000,6,0.000,0.051,2035,2670,2213,0,0,0,0,0,0
$GC,13396,0.60,146.1,444.7,18.1,596,13400,0.00,2.20,0.00,0.000,4,0.000,0.043,2045,1272,2214,0,0,0,0,0,0
$GC,13431,0.60,146.1,438.4,17.0,597,13435,0.00,2.25,0.00,0.000,6,0.000,0.050,2045,2670,2213,0,0,0,0,0,0
$GC,13764,0.60,146.1,375.6,19.4,610,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2670,2213,0,0,0,0,0,0
$GC,14076,0.60,146.1,317.2,18.9,625,14080,0.00,2.17,0.00,0.000,4,0.000,0.043,2055,1279,2213,0,0,0,0,0,0
$GC,14124,0.60,146.1,308.0,17.4,627,14129,0.12,2.25,0.00,0.000,6,0.203,0.050,2027,2674,2213,0,0,0,0,0,0
$GC,14451,0.60,146.1,253.9,16.2,643,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2674,2213,0,0,0,0,0,0
$GC,14774,0.60,146.1,204.7,14.8,663,14778,0.00,2.17,0.00,0.000,4,0.000,0.042,2036,1277,2213,0,0,0,0,0,0
$GC,14875,0.60,146.1,191.6,12.3,669,14879,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2676,2212,0,0,0,0,0,0
$GC,15206,0.60,146.1,142.7,15.3,690,15210,0.00,2.20,0.00,0.000,4,0.000,0.042,2046,1272,2213,0,0,0,0,0,0
$GC,15244,0.60,146.1,137.0,12.9,692,15248,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2671,2212,0,0,0,0,0,0
$GC,15574,0.60,146.1,86.9,13.6,722,15581,0.00,1.95,0.00,0.000,4,0.000,0.059,2046,3899,2213,0,0,0,0,0,0
$GC,15637,0.60,146.1,76.7,17.0,732,15646,0.10,1.90,0.00,0.000,6,0.211,0.037,2029,2684,2213,0,0,0,0,0,0
$GC,16008,0.60,146.1,30.1,10.2,793,16015,0.00,2.22,0.00,0.000,4,0.000,0.041,2039,1257,2213,0,0,0,0,0,0
$GC,16141,0.60,146.1,13.9,10.6,814,16150,0.00,2.28,0.00,0.000,6,0.000,0.048,2039,2664,2211,0,0,0,0,0,0
$STATE,16220,end climb,SURFACE_DEPTH_REACHED
$STATE,16220,begin surface coast
$FINISH,0.7,1.026333
$STATE,16240,end surface coast,CONTROL_FINISHED_OK
$STATE,16240,begin surface
$SM_CCo,16263,42.80,0.756,1,0,1880,230.09
$SM_GC,2.07,0.00,0.00,42.80,0.000,0.000,0.756,49,2874,1880,-5.57,0.40,230.09
$IRIDIUM_FIX,-4610.49,416.49,170213,161611
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.1,75.752
$10V_AH,9.9,40.716
$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,14.050,82.950,306.500,42.800,0.000,24.365,27.694,485.181,0.000,0.000,19.419,2048.321,11273.467,431.267,2580.863,762.119,33.400,1275.089,0.000,2020.332,0.000,1.009,0.000
$DEVICE_MAMPS,245.565,73.440,1763.325,755.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.973,1653.237,904.146,359.045,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354132
$DATA_FILE_SIZE,60431,829
$CAP_FILE_SIZE,121210,0
$CFSIZE,259252224,203108352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,180213,064927,-4627.222,427.328,66,1.5,70,-23.5