version: 66.07
glider: 542
mission: 6
dive: 416
start: 2 19 113 3 9 32
data:
$ID,542
$MISSION,6
$DIVE,416
$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,-11767.225
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,190213,025105,-4631.122,435.004,37,0.9,38,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-57.3
$GPS2,190213,030835,-4631.049,435.086,15,1.6,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,-0.160
$KALMAN_X,-231470.0,-3.8,-277.0,254698.3,1365.9
$KALMAN_Y,324425.7,-280.4,-349.4,-286327.3,5129.8
$MHEAD_RNG_PITCHd_Wd,152.3,6559,-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,-47.15,0.000,2,0.000,0.000,56,2885,2778,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.0,-2.7,6,116,6.80,1.70,-21.35,0.000,4,0.249,0.076,1622,3903,3417,0,0,0,0,0,0
$GC,184,-0.60,-146.1,13.8,-12.5,20,193,0.00,1.62,0.00,0.000,6,0.000,0.031,1622,2837,3420,0,0,0,0,0,0
$GC,272,-0.60,-146.1,25.7,-14.4,33,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2837,3420,0,0,0,0,0,0
$GC,357,-0.60,-146.1,41.2,-17.4,46,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2837,3420,0,0,0,0,0,0
$GC,604,-0.60,-146.1,74.3,-13.5,87,610,0.00,1.73,0.00,0.000,4,0.000,0.057,1614,3897,3420,0,0,0,0,0,0
$GC,650,-0.60,-146.1,80.8,-14.0,94,656,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2851,3420,0,0,0,0,0,0
$GC,999,-0.60,-146.1,121.3,-13.0,135,1003,0.00,2.08,0.00,0.000,4,0.000,0.036,1614,1488,3420,0,0,0,0,0,0
$GC,1040,-0.60,-146.1,127.0,-12.6,137,1044,0.12,2.20,0.00,0.000,6,0.171,0.050,1636,2873,3421,0,0,0,0,0,0
$GC,1372,-0.60,-146.1,158.2,-9.3,158,1376,0.00,1.62,0.00,0.000,4,0.000,0.059,1629,3901,3421,0,0,0,0,0,0
$GC,1486,-0.60,-146.1,171.0,-11.1,164,1495,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2850,3421,0,0,0,0,0,0
$GC,1809,-0.60,-146.1,204.9,-10.4,185,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3422,0,0,0,0,0,0
$GC,2121,-0.60,-146.1,235.7,-9.8,205,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2849,3421,0,0,0,0,0,0
$GC,2445,-0.60,-146.1,267.2,-10.3,223,2448,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3893,3422,0,0,0,0,0,0
$GC,2497,-0.60,-146.1,273.6,-11.9,225,2500,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2866,3421,0,0,0,0,0,0
$GC,2828,-0.60,-146.1,309.2,-10.7,241,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2861,3422,0,0,0,0,0,0
$GC,3136,-0.60,-146.1,340.0,-9.6,256,3139,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3901,3421,0,0,0,0,0,0
$GC,3176,-0.60,-146.1,344.4,-10.9,257,3183,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2852,3421,0,0,0,0,0,0
$GC,3496,-0.60,-146.1,376.9,-10.2,273,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2852,3421,0,0,0,0,0,0
$GC,3813,-0.60,-146.1,409.4,-9.8,287,3817,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3892,3421,0,0,0,0,0,0
$GC,3887,-0.60,-146.1,417.4,-10.7,289,3891,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2867,3420,0,0,0,0,0,0
$GC,4225,-0.60,-146.1,452.6,-10.5,300,4229,0.10,1.67,0.00,0.000,4,0.184,0.060,1623,3901,3421,0,0,0,0,0,0
$GC,4266,-0.60,-146.1,456.8,-9.5,301,4270,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2862,3421,0,0,0,0,0,0
$GC,4603,-0.60,-146.1,485.0,-8.2,312,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2858,3421,0,0,0,0,0,0
$GC,4910,-0.60,-146.1,510.5,-8.5,322,4913,0.00,1.65,0.00,0.000,4,0.000,0.061,1615,3894,3420,0,0,0,0,0,0
$GC,4956,-0.60,-146.1,515.1,-9.6,323,4959,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2856,3420,0,0,0,0,0,0
$GC,5287,-0.60,-146.1,546.6,-9.7,334,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3420,0,0,0,0,0,0
$GC,5595,-0.60,-146.1,576.9,-9.8,344,5599,0.00,1.67,0.00,0.000,4,0.000,0.061,1607,3900,3420,0,0,0,0,0,0
$GC,5652,-0.60,-146.1,583.3,-11.4,345,5656,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2863,3419,0,0,0,0,0,0
$GC,5973,-0.60,-146.1,614.3,-9.6,356,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2859,3419,0,0,0,0,0,0
$GC,6279,-0.60,-146.1,642.8,-9.2,366,6283,0.00,1.70,0.00,0.000,4,0.000,0.061,1600,3893,3419,0,0,0,0,0,0
$GC,6337,-0.60,-146.1,648.9,-10.8,367,6342,0.08,1.58,0.00,0.000,6,0.153,0.032,1633,2855,3419,0,0,0,0,0,0
$GC,6660,-0.60,-146.1,672.8,-7.3,378,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2851,3419,0,0,0,0,0,0
$GC,6965,-0.60,-146.1,695.4,-7.2,388,6968,0.00,1.67,0.00,0.000,4,0.000,0.061,1626,3901,3419,0,0,0,0,0,0
$GC,7002,-0.60,-146.1,698.1,-7.4,389,7006,0.00,1.58,0.00,0.000,6,0.000,0.033,1626,2866,3419,0,0,0,0,0,0
$GC,7345,-0.60,-146.1,724.6,-7.9,400,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3419,0,0,0,0,0,0
$GC,7652,-0.60,-146.1,748.1,-7.8,410,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3419,0,0,0,0,0,0
$GC,7958,-0.60,-146.1,772.6,-8.0,420,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3419,0,0,0,0,0,0
$GC,8264,-0.60,-146.1,797.0,-8.2,430,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3418,0,0,0,0,0,0
$GC,8570,-0.60,-146.1,823.0,-8.4,440,8574,0.00,1.70,0.00,0.000,4,0.000,0.062,1618,3892,3418,0,0,0,0,0,0
$GC,8623,-0.60,-146.1,827.8,-8.6,441,8627,0.00,1.58,0.00,0.000,6,0.000,0.033,1618,2855,3418,0,0,0,0,0,0
$GC,8951,-0.60,-146.1,854.8,-7.9,452,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2851,3418,0,0,0,0,0,0
$GC,9258,-0.60,-146.1,878.4,-7.4,462,9261,0.00,1.67,0.00,0.000,4,0.000,0.061,1610,3897,3418,0,0,0,0,0,0
$GC,9299,-0.60,-146.1,882.2,-9.5,463,9302,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2866,3418,0,0,0,0,0,0
$GC,9636,-0.60,-146.1,909.6,-8.0,474,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2862,3418,0,0,0,0,0,0
$GC,9942,-0.60,-146.1,932.7,-7.4,484,9946,0.00,1.67,0.00,0.000,4,0.000,0.061,1604,3893,3418,0,0,0,0,0,0
$GC,9989,-0.60,-146.1,936.6,-8.4,485,9993,0.05,1.58,0.00,0.000,6,0.153,0.032,1636,2856,3418,0,0,0,0,0,0
$GC,10322,-0.60,-146.1,956.5,-6.2,496,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3418,0,0,0,0,0,0
$GC,10630,-0.60,-146.1,976.5,-6.9,506,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2852,3417,0,0,0,0,0,0
$GC,10934,-0.60,-146.1,996.8,-6.5,516,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3418,0,0,0,0,0,0
$STATE,10990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10990,begin apogee
$GC,11001,-0.18,0.0,1000.9,6.5,518,11151,0.43,0.00,146.38,1.258,6,0.144,0.000,1766,2677,2819,0,0,0,0,0,0
$STATE,11152,end apogee,CONTROL_FINISHED_OK
$STATE,11153,begin climb
$GC,11158,0.60,146.1,1005.2,0.0,523,11337,0.80,0.00,162.98,1.772,6,0.090,0.000,2021,2677,2225,0,0,0,0,2,0
$GC,11664,0.60,146.1,918.9,19.7,540,11669,0.00,2.22,0.00,0.000,4,0.000,0.044,2032,1285,2220,0,0,0,0,0,0
$GC,11736,0.60,146.1,906.2,18.2,542,11740,0.00,2.28,0.00,0.000,6,0.000,0.052,2032,2667,2218,0,0,0,0,0,0
$GC,12073,0.60,146.1,839.0,19.6,553,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2668,2218,0,0,0,0,0,0
$GC,12380,0.60,146.1,781.2,18.9,563,12384,0.00,2.17,0.00,0.000,4,0.000,0.043,2042,1273,2217,0,0,0,0,0,0
$GC,12438,0.60,146.1,770.9,17.0,564,12445,0.00,2.25,0.00,0.000,6,0.000,0.050,2042,2672,2215,0,0,0,0,0,0
$GC,12753,0.60,146.1,710.4,19.5,575,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2672,2215,0,0,0,0,0,0
$GC,13061,0.60,146.1,651.3,18.8,585,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2672,2215,0,0,0,0,0,0
$GC,13366,0.60,146.1,593.5,18.9,595,13370,0.00,2.17,0.00,0.000,4,0.000,0.043,2052,1280,2215,0,0,0,0,0,0
$GC,13423,0.60,146.1,583.0,16.6,596,13430,0.00,2.22,0.00,0.000,6,0.000,0.051,2053,2670,2213,0,0,0,0,0,0
$GC,13738,0.60,146.1,522.9,19.2,607,13742,0.00,2.17,0.00,0.000,4,0.000,0.042,2063,1281,2213,0,0,0,0,0,0
$GC,13785,0.60,146.1,514.6,17.0,608,13790,0.15,2.22,0.00,0.000,6,0.202,0.050,2027,2672,2213,0,0,0,0,0,0
$GC,14119,0.60,146.1,459.2,17.0,619,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2673,2213,0,0,0,0,0,0
$GC,14424,0.60,146.1,406.5,17.3,629,14428,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1278,2213,0,0,0,0,0,0
$GC,14482,0.60,146.1,397.0,14.9,630,14489,0.00,2.25,0.00,0.000,6,0.000,0.051,2036,2680,2213,0,0,0,0,0,0
$GC,14800,0.60,146.1,341.1,18.0,646,14801,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2680,2212,0,0,0,0,0,0
$GC,15112,0.60,146.1,285.7,17.6,661,15116,0.00,2.20,0.00,0.000,4,0.000,0.043,2046,1284,2212,0,0,0,0,0,0
$GC,15171,0.60,146.1,275.9,13.8,663,15178,0.00,2.22,0.00,0.000,6,0.000,0.052,2047,2670,2212,0,0,0,0,0,0
$GC,15498,0.60,146.1,217.2,18.6,682,15502,0.00,2.17,0.00,0.000,4,0.000,0.043,2057,1275,2212,0,0,0,0,0,0
$GC,15539,0.60,146.1,209.5,16.2,684,15549,0.10,2.28,0.00,0.000,6,0.186,0.051,2028,2670,2212,0,0,0,0,0,0
$GC,15867,0.60,146.1,157.4,16.4,705,15873,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2211,0,0,0,0,0,0
$GC,16189,0.60,146.1,108.8,13.0,726,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2212,0,0,0,0,0,0
$GC,16522,0.60,146.1,67.9,12.6,776,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2211,0,0,0,0,0,0
$GC,16893,0.60,146.1,18.3,13.3,837,16902,0.00,2.20,0.00,0.000,4,0.000,0.041,2037,1280,2211,0,0,0,0,0,0
$GC,16932,0.60,146.1,13.2,13.0,842,16941,0.00,2.25,0.00,0.000,6,0.000,0.049,2038,2667,2211,0,0,0,0,0,0
$STATE,17003,end climb,SURFACE_DEPTH_REACHED
$STATE,17003,begin surface coast
$FINISH,1.0,1.026397
$STATE,17023,end surface coast,CONTROL_FINISHED_OK
$STATE,17023,begin surface
$SM_CCo,17046,43.30,0.756,1,0,1880,230.09
$SM_GC,2.42,0.00,0.00,43.30,0.000,0.000,0.756,56,2884,1880,-5.55,0.68,230.09
$IRIDIUM_FIX,-4613.60,432.32,190213,020250
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,21.0,76.684
$10V_AH,9.9,41.306
$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,13.975,85.875,309.350,43.300,0.000,55.455,61.570,592.212,0.000,0.000,17.900,2114.156,11883.278,492.149,2814.743,825.380,33.398,1367.855,0.000,2088.159,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,76.500,1771.740,755.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.723,1677.178,894.090,343.909,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354152
$DATA_FILE_SIZE,60348,856
$CAP_FILE_SIZE,130095,0
$CFSIZE,259252224,202760192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,190213,075558,-4631.584,438.934,43,1.0,44,-23.5