version: 66.07
glider: 542
mission: 6
dive: 418
start: 2 19 113 12 57 14
data:
$ID,542
$MISSION,6
$DIVE,418
$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,-11773.634
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,190213,124322,-4632.779,439.465,39,0.8,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-66.9
$GPS2,190213,125617,-4632.699,439.592,16,1.5,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.052,-0.247
$KALMAN_X,-230076.7,32.9,-147.5,258830.0,1110.4
$KALMAN_Y,329919.7,-458.3,-87.0,-294960.2,5108.0
$MHEAD_RNG_PITCHd_Wd,215.4,50565,-16.7,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-143.8,0.0,0.0,0,85,0.00,0.00,-55.22,0.000,2,0.000,0.000,57,2890,2935,0,0,0,0,0,0
$GC,91,-0.61,-146.1,3.0,-3.1,7,118,6.62,1.67,-15.20,0.000,4,0.243,0.076,1617,3892,3416,0,0,0,0,0,0
$GC,191,-0.61,-146.1,15.8,-13.8,21,199,0.00,1.60,0.00,0.000,6,0.000,0.031,1617,2841,3419,0,0,0,0,0,0
$GC,278,-0.61,-146.1,27.2,-12.5,34,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2841,3419,0,0,0,0,0,0
$GC,365,-0.61,-146.1,38.3,-12.5,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2841,3419,0,0,0,0,0,0
$GC,611,-0.61,-146.1,69.2,-12.0,88,620,0.00,1.70,0.00,0.000,4,0.000,0.057,1609,3886,3419,0,0,0,0,0,0
$GC,672,-0.61,-146.1,76.8,-12.8,97,677,0.00,1.55,0.00,0.000,6,0.000,0.031,1609,2851,3419,0,0,0,0,0,0
$GC,1012,-0.61,-146.1,118.3,-13.6,140,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2848,3420,0,0,0,0,0,0
$GC,1326,-0.61,-146.1,159.4,-12.4,160,1329,0.00,1.67,0.00,0.000,4,0.000,0.058,1601,3896,3421,0,0,0,0,0,0
$GC,1363,-0.61,-146.1,164.4,-13.3,162,1367,0.08,1.55,0.00,0.000,6,0.159,0.031,1625,2866,3421,0,0,0,0,0,0
$GC,1702,-0.61,-146.1,199.6,-9.4,183,1706,0.00,2.12,0.00,0.000,4,0.000,0.036,1625,1470,3421,0,0,0,0,0,0
$GC,1732,-0.61,-146.1,203.3,-9.5,184,1741,0.00,2.22,0.00,0.000,6,0.000,0.050,1616,2844,3421,0,0,0,0,0,0
$GC,2055,-0.61,-146.1,235.9,-9.9,205,2059,0.00,1.65,0.00,0.000,4,0.000,0.058,1607,3903,3421,0,0,0,0,0,0
$GC,2181,-0.61,-146.1,250.3,-11.4,212,2185,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2856,3422,0,0,0,0,0,0
$GC,2505,-0.61,-146.1,284.8,-11.2,228,2509,0.00,1.70,0.00,0.000,4,0.000,0.059,1600,3896,3422,0,0,0,0,0,0
$GC,2553,-0.61,-146.1,290.3,-11.6,230,2557,0.08,1.55,0.00,0.000,6,0.158,0.031,1638,2863,3422,0,0,0,0,0,0
$GC,2889,-0.61,-146.1,318.7,-8.2,246,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2859,3421,0,0,0,0,0,0
$GC,3201,-0.61,-146.1,343.6,-8.0,261,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2859,3422,0,0,0,0,0,0
$GC,3507,-0.61,-146.1,368.9,-8.2,276,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2859,3421,0,0,0,0,0,0
$GC,3819,-0.61,-146.1,395.3,-8.6,291,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2859,3421,0,0,0,0,0,0
$GC,4124,-0.61,-146.1,420.7,-8.1,302,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2859,3421,0,0,0,0,0,0
$GC,4432,-0.61,-146.1,446.5,-8.7,312,4435,0.00,1.70,0.00,0.000,4,0.000,0.061,1632,3894,3420,0,0,0,0,0,0
$GC,4484,-0.61,-146.1,451.7,-9.6,313,4487,0.00,1.58,0.00,0.000,6,0.000,0.032,1632,2856,3420,0,0,0,0,0,0
$GC,4812,-0.61,-146.1,482.9,-9.7,324,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2852,3421,0,0,0,0,0,0
$GC,5116,-0.61,-146.1,512.2,-9.6,334,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2852,3420,0,0,0,0,0,0
$GC,5424,-0.61,-146.1,539.8,-8.8,344,5428,0.00,1.70,0.00,0.000,4,0.000,0.062,1624,3903,3420,0,0,0,0,0,0
$GC,5482,-0.61,-146.1,545.7,-10.0,345,5485,0.00,1.58,0.00,0.000,6,0.000,0.032,1624,2871,3420,0,0,0,0,0,0
$GC,5802,-0.61,-146.1,577.2,-10.1,356,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3419,0,0,0,0,0,0
$GC,6108,-0.61,-146.1,607.2,-9.8,366,6112,0.00,1.67,0.00,0.000,4,0.000,0.061,1616,3887,3419,0,0,0,0,0,0
$GC,6149,-0.61,-146.1,611.6,-11.0,367,6153,0.00,1.58,0.00,0.000,6,0.000,0.033,1616,2849,3419,0,0,0,0,0,0
$GC,6488,-0.61,-146.1,646.1,-10.2,378,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2845,3419,0,0,0,0,0,0
$GC,6793,-0.61,-146.1,675.1,-9.2,388,6797,0.00,1.70,0.00,0.000,4,0.000,0.060,1608,3899,3419,0,0,0,0,0,0
$GC,6851,-0.61,-146.1,681.0,-10.0,389,6855,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2866,3419,0,0,0,0,0,0
$GC,7171,-0.61,-146.1,711.6,-9.6,400,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2861,3418,0,0,0,0,0,0
$GC,7478,-0.61,-146.1,740.3,-9.1,410,7482,0.00,1.67,0.00,0.000,4,0.000,0.060,1601,3897,3418,0,0,0,0,0,0
$GC,7518,-0.61,-146.1,744.3,-9.8,411,7522,0.08,1.58,0.00,0.000,6,0.157,0.032,1633,2860,3418,0,0,0,0,0,0
$GC,7857,-0.61,-146.1,768.3,-7.0,422,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2857,3418,0,0,0,0,0,0
$GC,8163,-0.61,-146.1,788.7,-6.5,432,8166,0.00,1.67,0.00,0.000,4,0.000,0.061,1626,3893,3418,0,0,0,0,0,0
$GC,8200,-0.61,-146.1,791.2,-6.9,433,8204,0.00,1.58,0.00,0.000,6,0.000,0.032,1626,2859,3417,0,0,0,0,0,0
$GC,8543,-0.61,-146.1,816.4,-7.5,444,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2854,3417,0,0,0,0,0,0
$GC,8851,-0.61,-146.1,839.2,-7.6,454,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2854,3417,0,0,0,0,0,0
$GC,9156,-0.61,-146.1,862.2,-7.6,464,9160,0.00,1.70,0.00,0.000,4,0.000,0.062,1618,3900,3417,0,0,0,0,0,0
$GC,9203,-0.61,-146.1,866.1,-8.4,465,9206,0.00,1.60,0.00,0.000,6,0.000,0.033,1618,2852,3417,0,0,0,0,0,0
$GC,9535,-0.61,-146.1,893.9,-8.4,476,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2848,3417,0,0,0,0,0,0
$GC,9843,-0.61,-146.1,920.0,-8.5,486,9847,0.00,1.70,0.00,0.000,4,0.000,0.061,1610,3896,3416,0,0,0,0,0,0
$GC,9906,-0.61,-146.1,926.4,-9.6,487,9912,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2861,3416,0,0,0,0,0,0
$GC,10221,-0.61,-146.1,954.5,-9.1,498,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2862,3416,0,0,0,0,0,0
$GC,10528,-0.61,-146.1,982.1,-8.9,508,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2862,3416,0,0,0,0,0,0
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10737,begin apogee
$GC,10748,-0.18,0.0,1001.3,8.9,515,10897,0.52,0.00,146.20,1.246,6,0.153,0.000,1766,2674,2819,0,0,0,0,0,0
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10904,0.61,146.1,1006.3,0.0,520,11084,0.80,2.53,162.80,1.769,4,0.092,0.044,2031,1282,2226,0,0,0,0,2,0
$GC,11126,0.61,146.1,977.6,17.0,527,11131,0.00,2.45,0.00,0.000,6,0.000,0.050,2031,2662,2224,0,0,0,0,0,0
$GC,11447,0.61,146.1,911.8,20.8,538,11451,0.00,2.25,0.00,0.000,4,0.000,0.044,2041,1271,2220,0,0,0,0,0,0
$GC,11471,0.61,146.1,906.6,20.2,538,11476,0.00,2.33,0.00,0.000,6,0.000,0.051,2041,2681,2219,0,0,0,0,0,0
$GC,11787,0.61,146.1,838.1,22.2,548,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2682,2217,0,0,0,0,0,0
$GC,12093,0.61,146.1,771.3,21.7,558,12097,0.00,2.22,0.00,0.000,4,0.000,0.044,2052,1272,2217,0,0,0,0,0,0
$GC,12151,0.61,146.1,759.2,18.5,559,12155,0.00,2.28,0.00,0.000,6,0.000,0.051,2052,2679,2215,0,0,0,0,0,0
$GC,12467,0.61,146.1,692.8,20.7,569,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2680,2215,0,0,0,0,0,0
$GC,12772,0.61,146.1,631.3,19.8,579,12776,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1274,2215,0,0,0,0,0,0
$GC,12852,0.61,146.1,617.1,16.0,581,12857,0.12,2.25,0.00,0.000,6,0.210,0.050,2033,2669,2214,0,0,0,0,0,0
$GC,13174,0.61,146.1,562.2,17.3,592,13178,0.00,2.20,0.00,0.000,4,0.000,0.043,2042,1273,2214,0,0,0,0,0,0
$GC,13220,0.61,146.1,554.4,14.6,593,13224,0.00,2.25,0.00,0.000,6,0.000,0.052,2043,2669,2213,0,0,0,0,0,0
$GC,13541,0.61,146.1,496.2,19.2,604,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2669,2214,0,0,0,0,0,0
$GC,13847,0.61,146.1,439.5,18.4,614,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2669,2213,0,0,0,0,0,0
$GC,14164,0.61,146.1,378.6,18.7,626,14168,0.00,2.20,0.00,0.000,4,0.000,0.043,2052,1274,2214,0,0,0,0,0,0
$GC,14200,0.61,146.1,372.0,17.3,627,14207,0.00,2.25,0.00,0.000,6,0.000,0.051,2052,2670,2213,0,0,0,0,0,0
$GC,14521,0.61,146.1,310.5,19.6,643,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2671,2213,0,0,0,0,0,0
$GC,14828,0.61,146.1,251.8,18.3,658,14832,0.00,2.20,0.00,0.000,4,0.000,0.043,2063,1272,2213,0,0,0,0,0,0
$GC,14869,0.61,146.1,244.5,17.1,660,14878,0.10,2.28,0.00,0.000,6,0.183,0.053,2034,2664,2212,0,0,0,0,0,0
$GC,15196,0.61,146.1,192.7,15.7,681,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2664,2212,0,0,0,0,0,0
$GC,15519,0.61,146.1,142.3,15.7,702,15523,0.00,2.20,0.00,0.000,4,0.000,0.042,2044,1268,2212,0,0,0,0,0,0
$GC,15569,0.61,146.1,135.2,13.7,705,15574,0.00,2.28,0.00,0.000,6,0.000,0.051,2043,2677,2212,0,0,0,0,0,0
$GC,15901,0.61,146.1,82.5,17.4,737,15905,0.00,2.22,0.00,0.000,4,0.000,0.043,2054,1267,2211,0,0,0,0,0,0
$GC,15962,0.61,146.1,73.3,13.8,747,15969,0.00,2.30,0.00,0.000,6,0.000,0.052,2054,2673,2211,0,0,0,0,0,0
$GC,16330,0.61,146.1,19.9,17.3,808,16339,0.00,2.25,0.00,0.000,4,0.000,0.046,2064,1274,2212,0,0,0,0,0,0
$GC,16370,0.61,146.1,14.1,14.2,813,16379,0.10,2.28,0.00,0.000,6,0.176,0.053,2035,2664,2211,0,0,0,0,0,0
$STATE,16449,end climb,SURFACE_DEPTH_REACHED
$STATE,16449,begin surface coast
$FINISH,0.8,1.026433
$STATE,16479,end surface coast,CONTROL_FINISHED_OK
$STATE,16479,begin surface
$SM_CCo,16502,45.30,0.760,1,0,1879,230.09
$SM_GC,2.17,0.00,0.00,45.30,0.000,0.000,0.760,52,2883,1879,-5.55,0.65,230.09
$IRIDIUM_FIX,-4616.72,438.80,190213,070739
$TT8_MAMPS,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.0,77.030
$10V_AH,9.9,41.531
$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,13.875,92.675,309.000,45.300,0.000,24.980,26.208,472.862,0.000,0.000,19.632,2060.320,11424.568,493.776,2533.147,802.878,33.399,1330.028,0.000,2006.288,0.000,1.009,0.000
$DEVICE_MAMPS,243.270,76.500,1769.445,759.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.882,1643.112,880.782,342.632,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354124
$DATA_FILE_SIZE,60249,829
$CAP_FILE_SIZE,125054,0
$CFSIZE,259252224,202629120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,190213,173435,-4633.701,438.669,39,1.0,40,-23.5