version: 66.07
glider: 542
mission: 6
dive: 415
start: 2 18 113 22 11 56
data:
$ID,542
$MISSION,6
$DIVE,415
$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,-11764.09
$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,42
$R_STBD_OVSHOOT,47
$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
$GPS1,180213,215734,-4630.385,432.336,34,0.8,35,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-49.4
$GPS2,180213,221059,-4630.183,432.394,19,1.6,19,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.158,-0.201
$KALMAN_X,-231164.3,-410.8,-153.8,251262.8,2262.4
$KALMAN_Y,321398.0,-159.2,-23.5,-282143.7,4453.1
$MHEAD_RNG_PITCHd_Wd,165.4,9702,-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,-63.00,0.000,2,0.000,0.000,54,2892,3112,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.2,-1.9,8,124,6.72,1.62,-8.02,0.000,4,0.248,0.072,1620,3880,3418,0,0,0,0,0,0
$GC,288,-0.60,-146.1,40.4,-17.2,37,295,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2847,3419,0,0,0,0,0,0
$GC,529,-0.60,-146.1,71.6,-13.4,78,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2846,3419,0,0,0,0,0,0
$GC,880,-0.60,-146.1,116.9,-11.8,124,884,0.00,1.65,0.00,0.000,4,0.000,0.057,1611,3879,3420,0,0,0,0,0,0
$GC,936,-0.60,-146.1,122.9,-10.6,127,940,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2849,3420,0,0,0,0,0,0
$GC,1270,-0.60,-146.1,158.1,-9.9,148,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2844,3421,0,0,0,0,0,0
$GC,1581,-0.60,-146.1,192.1,-10.8,168,1584,0.00,1.65,0.00,0.000,4,0.000,0.057,1604,3879,3422,0,0,0,0,0,0
$GC,1638,-0.60,-146.1,199.1,-11.7,171,1643,0.05,1.52,0.00,0.000,6,0.153,0.031,1621,2864,3422,0,0,0,0,0,0
$GC,1971,-0.60,-146.1,231.2,-10.0,192,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2859,3422,0,0,0,0,0,0
$GC,2294,-0.60,-146.1,261.4,-9.3,211,2298,0.00,1.65,0.00,0.000,4,0.000,0.059,1614,3889,3423,0,0,0,0,0,0
$GC,2365,-0.60,-146.1,268.7,-10.5,214,2369,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2855,3422,0,0,0,0,0,0
$GC,2700,-0.60,-146.1,302.3,-10.3,230,2703,0.00,1.62,0.00,0.000,4,0.000,0.058,1606,3880,3422,0,0,0,0,0,0
$GC,2729,-0.60,-146.1,305.8,-11.4,231,2733,0.00,1.52,0.00,0.000,6,0.000,0.031,1606,2865,3423,0,0,0,0,0,0
$GC,3061,-0.60,-146.1,339.9,-9.9,247,3064,0.00,1.67,0.00,0.000,4,0.000,0.059,1597,3900,3421,0,0,0,0,0,0
$GC,3112,-0.60,-146.1,346.1,-11.4,249,3116,0.08,1.58,0.00,0.000,6,0.154,0.031,1630,2859,3422,0,0,0,0,0,0
$GC,3445,-0.60,-146.1,373.5,-8.4,265,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2854,3422,0,0,0,0,0,0
$GC,3751,-0.60,-146.1,400.5,-9.0,280,3755,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3892,3421,0,0,0,0,0,0
$GC,3797,-0.60,-146.1,405.3,-9.5,281,3801,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2865,3421,0,0,0,0,0,0
$GC,4130,-0.60,-146.1,436.1,-9.3,292,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2861,3421,0,0,0,0,0,0
$GC,4436,-0.60,-146.1,463.2,-8.9,302,4439,0.00,1.67,0.00,0.000,4,0.000,0.061,1616,3869,3420,0,0,0,0,0,0
$GC,4492,-0.60,-146.1,469.1,-10.5,303,4496,0.00,1.52,0.00,0.000,6,0.000,0.032,1615,2863,3420,0,0,0,0,0,0
$GC,4813,-0.60,-146.1,499.5,-9.3,314,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2858,3420,0,0,0,0,0,0
$GC,5120,-0.60,-146.1,527.1,-9.0,324,5124,0.00,1.62,0.00,0.000,4,0.000,0.060,1608,3879,3420,0,0,0,0,0,0
$GC,5177,-0.60,-146.1,533.0,-10.5,325,5180,0.00,1.55,0.00,0.000,6,0.000,0.032,1608,2855,3419,0,0,0,0,0,0
$GC,5498,-0.60,-146.1,565.5,-10.2,336,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2850,3419,0,0,0,0,0,0
$GC,5803,-0.60,-146.1,597.4,-10.5,346,5807,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3873,3418,0,0,0,0,0,0
$GC,5844,-0.60,-146.1,602.2,-11.5,347,5848,0.10,1.52,0.00,0.000,6,0.155,0.032,1632,2868,3418,0,0,0,0,0,0
$GC,6185,-0.60,-146.1,631.5,-8.6,358,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3418,0,0,0,0,0,0
$GC,6489,-0.60,-146.1,657.2,-8.3,368,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2864,3417,0,0,0,0,0,0
$GC,6795,-0.60,-146.1,680.8,-7.4,378,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3417,0,0,0,0,0,0
$GC,7102,-0.60,-146.1,702.5,-6.9,388,7106,0.00,2.12,0.00,0.000,4,0.000,0.037,1632,1482,3416,0,0,0,0,0,0
$GC,7139,-0.60,-146.1,705.1,-7.0,389,7143,0.00,2.17,0.00,0.000,6,0.000,0.052,1623,2840,3417,0,0,0,0,0,0
$GC,7484,-0.60,-146.1,731.9,-7.6,400,7488,0.00,1.65,0.00,0.000,4,0.000,0.062,1615,3894,3416,0,0,0,0,0,0
$GC,7542,-0.60,-146.1,736.8,-8.6,401,7546,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2858,3416,0,0,0,0,0,0
$GC,7863,-0.60,-146.1,762.8,-8.4,412,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3416,0,0,0,0,0,0
$GC,8171,-0.60,-146.1,788.9,-8.7,422,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3416,0,0,0,0,0,0
$GC,8476,-0.60,-146.1,816.4,-9.1,432,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2852,3415,0,0,0,0,0,0
$GC,8782,-0.60,-146.1,844.2,-9.1,442,8785,0.00,1.70,0.00,0.000,4,0.000,0.062,1608,3896,3415,0,0,0,0,0,0
$GC,8827,-0.60,-146.1,848.9,-10.4,443,8831,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2867,3415,0,0,0,0,0,0
$GC,9160,-0.60,-146.1,880.3,-9.6,454,9163,0.00,1.67,0.00,0.000,4,0.000,0.061,1600,3895,3415,0,0,0,0,0,0
$GC,9211,-0.60,-146.1,886.1,-10.9,455,9215,0.08,1.60,0.00,0.000,6,0.156,0.032,1633,2847,3415,0,0,0,0,0,0
$GC,9538,-0.60,-146.1,912.6,-8.0,466,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2844,3415,0,0,0,0,0,0
$GC,9845,-0.60,-146.1,937.3,-7.9,476,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2844,3415,0,0,0,0,0,0
$GC,10150,-0.60,-146.1,960.9,-7.5,486,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2844,3415,0,0,0,0,0,0
$GC,10456,-0.60,-146.1,981.5,-6.7,496,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2844,3415,0,0,0,0,0,0
$STATE,10727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10727,begin apogee
$GC,10738,-0.18,0.0,1000.3,6.9,505,10887,0.45,0.00,145.60,1.259,6,0.147,0.000,1770,2672,2819,0,0,0,0,0,0
$STATE,10889,end apogee,CONTROL_FINISHED_OK
$STATE,10889,begin climb
$GC,10894,0.60,146.1,1004.6,0.0,510,11070,0.75,2.58,160.88,1.795,4,0.087,0.044,2028,1285,2225,0,0,0,0,1,0
$GC,11116,0.60,146.1,976.5,17.9,516,11123,0.00,2.45,0.00,0.000,6,0.000,0.050,2029,2666,2221,0,0,0,0,0,0
$GC,11432,0.60,146.1,910.8,21.2,527,11436,0.00,2.22,0.00,0.000,4,0.000,0.045,2038,1285,2216,0,0,0,0,0,0
$GC,11484,0.60,146.1,900.4,18.3,528,11488,0.00,2.28,0.00,0.000,6,0.000,0.050,2038,2682,2215,0,0,0,0,0,0
$GC,11806,0.60,146.1,833.1,20.9,539,11810,0.00,1.95,0.00,0.000,4,0.000,0.060,2038,3896,2214,0,0,0,0,0,0
$GC,11835,0.60,146.1,825.7,22.3,539,11842,0.00,1.88,0.00,0.000,6,0.000,0.037,2048,2692,2214,0,0,0,0,0,0
$GC,12151,0.60,146.1,757.1,21.5,550,12155,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1264,2214,0,0,0,0,0,0
$GC,12237,0.60,146.1,739.9,19.4,552,12241,0.12,2.28,0.00,0.000,6,0.212,0.050,2030,2672,2211,0,0,0,0,0,0
$GC,12552,0.60,146.1,679.7,19.0,562,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2671,2211,0,0,0,0,0,0
$GC,12858,0.60,146.1,622.8,18.1,572,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2671,2211,0,0,0,0,0,0
$GC,13164,0.60,146.1,568.3,17.6,582,13168,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1267,2211,0,0,0,0,0,0
$GC,13222,0.60,146.1,558.4,16.2,583,13229,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2670,2210,0,0,0,0,0,0
$GC,13537,0.60,146.1,501.1,18.4,594,13541,0.00,1.95,0.00,0.000,4,0.000,0.059,2040,3897,2210,0,0,0,0,0,0
$GC,13583,0.60,146.1,491.4,20.7,595,13587,0.00,1.90,0.00,0.000,6,0.000,0.038,2049,2662,2210,0,0,0,0,0,0
$GC,13915,0.60,146.1,429.4,18.3,606,13916,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2657,2210,0,0,0,0,0,0
$GC,14222,0.60,146.1,372.9,17.9,618,14226,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1256,2210,0,0,0,0,0,0
$GC,14259,0.60,146.1,366.4,16.0,619,14266,0.12,2.28,0.00,0.000,6,0.201,0.050,2031,2669,2210,0,0,0,0,0,0
$GC,14580,0.60,146.1,312.7,17.0,635,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2210,0,0,0,0,0,0
$GC,14886,0.60,146.1,260.9,16.7,650,14887,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2209,0,0,0,0,0,0
$GC,15205,0.60,146.1,208.9,15.6,669,15209,0.00,1.95,0.00,0.000,4,0.000,0.059,2030,3897,2210,0,0,0,0,0,0
$GC,15246,0.60,146.1,202.0,18.8,671,15249,0.00,1.90,0.00,0.000,6,0.000,0.038,2039,2661,2210,0,0,0,0,0,0
$GC,15579,0.60,146.1,147.2,15.5,692,15583,0.00,2.17,0.00,0.000,4,0.000,0.043,2049,1263,2210,0,0,0,0,0,0
$GC,15615,0.60,146.1,141.7,13.7,694,15619,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2670,2209,0,0,0,0,0,0
$GC,15943,0.60,146.1,88.8,14.9,722,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2209,0,0,0,0,0,0
$GC,16302,0.60,146.1,39.3,17.2,783,16309,0.00,2.20,0.00,0.000,4,0.000,0.041,2060,1259,2209,0,0,0,0,0,0
$GC,16469,0.60,146.1,11.7,15.4,809,16479,0.10,2.30,0.00,0.000,6,0.180,0.052,2031,2669,2208,0,0,0,0,0,0
$STATE,16535,end climb,SURFACE_DEPTH_REACHED
$STATE,16536,begin surface coast
$FINISH,0.9,1.026486
$STATE,16593,end surface coast,CONTROL_FINISHED_OK
$STATE,16593,begin surface
$SM_CCo,16615,42.15,0.780,1,0,1878,230.09
$SM_GC,2.09,0.00,0.00,42.15,0.000,0.000,0.780,58,2882,1878,-5.54,0.62,230.09
$IRIDIUM_FIX,-4610.49,432.07,180213,161616
$TT8_MAMPS,0.026215
$HUMID,58.93
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.0,76.501
$10V_AH,9.9,41.187
$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,13.950,89.975,306.475,42.150,0.000,26.190,27.382,498.736,0.000,0.000,21.864,2065.067,11540.811,436.292,2616.094,796.270,33.402,1317.745,0.000,2051.786,0.000,1.009,0.000
$DEVICE_MAMPS,247.860,73.440,1795.455,780.300,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.686,1628.367,864.475,320.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,60584,827
$CAP_FILE_SIZE,126869,0
$CFSIZE,259252224,202833920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,190213,025105,-4631.122,435.004,37,0.9,38,-23.5