version: 66.07
glider: 542
mission: 6
dive: 419
start: 2 19 113 17 49 15
data:
$ID,542
$MISSION,6
$DIVE,419
$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,-11776.793
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,190213,173435,-4633.701,438.669,39,1.0,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-57.8
$GPS2,190213,174818,-4633.731,438.777,18,1.1,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.049,-0.251
$KALMAN_X,-229841.7,-180.5,-129.9,257767.7,1023.3
$KALMAN_Y,333092.6,-136.7,-334.3,-300120.2,5614.0
$MHEAD_RNG_PITCHd_Wd,214.5,48674,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,76,0.00,0.00,-47.08,0.000,2,0.000,0.000,52,2886,2729,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.0,-3.3,6,125,6.95,1.65,-26.77,0.000,4,0.257,0.080,1621,3879,3413,0,0,0,0,0,0
$GC,316,-0.60,-146.1,28.4,-13.1,41,325,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2843,3415,0,0,0,0,0,0
$GC,399,-0.60,-146.1,40.9,-15.9,54,408,0.00,2.12,0.00,0.000,4,0.000,0.038,1621,1478,3415,0,0,0,0,0,0
$GC,427,-0.60,-146.1,44.9,-16.0,57,434,0.00,2.22,0.00,0.000,6,0.000,0.053,1610,2856,3415,0,0,0,0,0,0
$GC,670,-0.60,-146.1,79.5,-14.1,98,677,0.00,1.65,0.00,0.000,4,0.000,0.059,1602,3890,3415,0,0,0,0,0,0
$GC,707,-0.60,-146.1,84.5,-13.6,104,715,0.08,1.55,0.00,0.000,6,0.159,0.031,1626,2857,3416,0,0,0,0,0,0
$GC,1046,-0.60,-146.1,123.2,-11.3,140,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2856,3416,0,0,0,0,0,0
$GC,1357,-0.60,-146.1,158.4,-11.3,160,1360,0.00,1.67,0.00,0.000,4,0.000,0.061,1620,3900,3417,0,0,0,0,0,0
$GC,1387,-0.60,-146.1,162.2,-11.9,161,1393,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2847,3418,0,0,0,0,0,0
$GC,1710,-0.60,-146.1,198.9,-11.2,182,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2846,3418,0,0,0,0,0,0
$GC,2020,-0.60,-146.1,231.5,-10.1,202,2024,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3904,3418,0,0,0,0,0,0
$GC,2058,-0.60,-146.1,235.4,-10.5,204,2062,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2857,3418,0,0,0,0,0,0
$GC,2388,-0.60,-146.1,268.6,-9.8,222,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3417,0,0,0,0,0,0
$GC,2699,-0.60,-146.1,298.5,-9.7,237,2703,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3893,3418,0,0,0,0,0,0
$GC,2771,-0.60,-146.1,306.4,-11.0,240,2775,0.08,1.55,0.00,0.000,6,0.160,0.032,1626,2867,3418,0,0,0,0,0,0
$GC,3111,-0.60,-146.1,337.3,-9.4,256,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3417,0,0,0,0,0,0
$GC,3419,-0.60,-146.1,367.6,-10.0,271,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3417,0,0,0,0,0,0
$GC,3725,-0.60,-146.1,399.2,-10.3,286,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3417,0,0,0,0,0,0
$GC,4052,-0.60,-146.1,432.6,-10.1,297,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3417,0,0,0,0,0,0
$GC,4360,-0.60,-146.1,463.0,-9.8,307,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3417,0,0,0,0,0,0
$GC,4664,-0.60,-146.1,492.6,-9.7,317,4668,0.00,1.67,0.00,0.000,4,0.000,0.063,1620,3896,3418,0,0,0,0,0,0
$GC,4701,-0.60,-146.1,496.2,-10.3,318,4705,0.00,1.58,0.00,0.000,6,0.000,0.033,1620,2856,3417,0,0,0,0,0,0
$GC,5044,-0.60,-146.1,530.6,-9.9,329,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2852,3417,0,0,0,0,0,0
$GC,5350,-0.60,-146.1,561.0,-10.0,339,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2852,3417,0,0,0,0,0,0
$GC,5656,-0.60,-146.1,591.2,-9.7,349,5660,0.00,1.73,0.00,0.000,4,0.000,0.063,1611,3899,3416,0,0,0,0,0,0
$GC,5696,-0.60,-146.1,595.6,-11.1,350,5700,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2860,3416,0,0,0,0,0,0
$GC,6036,-0.60,-146.1,630.6,-10.6,361,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2855,3417,0,0,0,0,0,0
$GC,6340,-0.60,-146.1,663.6,-10.8,371,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2855,3416,0,0,0,0,0,0
$GC,6646,-0.60,-146.1,696.8,-10.8,381,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2855,3416,0,0,0,0,0,0
$GC,6953,-0.60,-146.1,728.8,-10.4,391,6957,0.00,1.70,0.00,0.000,4,0.000,0.063,1603,3890,3415,0,0,0,0,0,0
$GC,7010,-0.60,-146.1,735.5,-11.0,392,7015,0.08,1.58,0.00,0.000,6,0.152,0.034,1635,2855,3415,0,0,0,0,0,0
$GC,7333,-0.60,-146.1,761.7,-7.8,403,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3415,0,0,0,0,0,0
$GC,7638,-0.60,-146.1,785.0,-7.5,413,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3415,0,0,0,0,0,0
$GC,7944,-0.60,-146.1,805.9,-6.7,423,7948,0.00,2.10,0.00,0.000,4,0.000,0.037,1636,1482,3414,0,0,0,0,0,0
$GC,7976,-0.60,-146.1,807.9,-6.9,424,7980,0.00,2.22,0.00,0.000,6,0.000,0.054,1628,2860,3415,0,0,0,0,0,0
$GC,8314,-0.60,-146.1,830.5,-6.7,435,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2860,3414,0,0,0,0,0,0
$GC,8620,-0.60,-146.1,852.3,-7.3,445,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2860,3414,0,0,0,0,0,0
$GC,8926,-0.60,-146.1,874.6,-7.3,455,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3414,0,0,0,0,0,0
$GC,9233,-0.60,-146.1,896.4,-7.1,465,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2860,3414,0,0,0,0,0,0
$GC,9539,-0.60,-146.1,915.8,-6.2,475,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2861,3414,0,0,0,0,0,0
$GC,9845,-0.60,-146.1,934.4,-6.1,485,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2860,3414,0,0,0,0,0,0
$GC,10152,-0.60,-146.1,953.5,-6.3,495,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2860,3414,0,0,0,0,0,0
$GC,10457,-0.60,-146.1,973.9,-6.8,505,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2860,3414,0,0,0,0,0,0
$GC,10764,-0.60,-146.1,993.7,-6.4,515,10767,0.00,2.15,0.00,0.000,4,0.000,0.038,1628,1479,3413,0,0,0,0,0,0
$GC,10804,-0.60,-146.1,996.5,-7.1,516,10808,0.00,2.25,0.00,0.000,6,0.000,0.054,1617,2863,3414,0,0,0,0,0,0
$STATE,10881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10881,begin apogee
$GC,10892,-0.18,0.0,1002.0,7.0,519,11042,0.50,0.00,145.98,1.246,6,0.149,0.000,1767,2679,2819,0,0,0,0,0,0
$STATE,11043,end apogee,CONTROL_FINISHED_OK
$STATE,11044,begin climb
$GC,11048,0.60,146.1,1005.7,0.0,524,11231,0.77,2.55,162.27,1.768,4,0.089,0.044,2031,1280,2225,0,0,0,0,2,0
$GC,11295,0.60,146.1,973.0,16.8,531,11300,0.00,2.45,0.00,0.000,6,0.000,0.051,2031,2666,2222,0,0,0,0,0,0
$GC,11611,0.60,146.1,911.3,19.8,541,11616,0.00,2.25,0.00,0.000,4,0.000,0.045,2041,1272,2219,0,0,0,0,0,0
$GC,11663,0.60,146.1,901.6,16.2,542,11668,0.00,2.33,0.00,0.000,6,0.000,0.052,2041,2684,2217,0,0,0,0,0,0
$GC,11979,0.60,146.1,839.3,20.5,552,11983,0.00,2.25,0.00,0.000,4,0.000,0.044,2051,1271,2216,0,0,0,0,0,0
$GC,12044,0.60,146.1,827.0,17.3,554,12049,0.00,2.28,0.00,0.000,6,0.000,0.052,2051,2672,2215,0,0,0,0,0,0
$GC,12382,0.60,146.1,754.9,21.7,565,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2672,2214,0,0,0,0,0,0
$GC,12689,0.60,146.1,687.4,21.8,575,12693,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1264,2214,0,0,0,0,0,0
$GC,12740,0.60,146.1,676.5,18.3,576,12745,0.15,2.28,0.00,0.000,6,0.200,0.052,2026,2671,2213,0,0,0,0,0,0
$GC,13055,0.60,146.1,615.8,19.4,586,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2671,2213,0,0,0,0,0,0
$GC,13362,0.60,146.1,558.0,18.7,596,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2671,2213,0,0,0,0,0,0
$GC,13668,0.60,146.1,504.4,17.1,606,13672,0.00,2.22,0.00,0.000,4,0.000,0.044,2036,1264,2213,0,0,0,0,0,0
$GC,13733,0.60,146.1,494.1,15.6,608,13737,0.00,2.28,0.00,0.000,6,0.000,0.052,2036,2671,2212,0,0,0,0,0,0
$GC,14071,0.60,146.1,436.2,17.1,619,14075,0.00,2.20,0.00,0.000,4,0.000,0.044,2046,1270,2212,0,0,0,0,0,0
$GC,14094,0.60,146.1,431.9,16.1,619,14098,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2677,2211,0,0,0,0,0,0
$GC,14413,0.60,146.1,378.0,17.1,631,14417,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1274,2212,0,0,0,0,0,0
$GC,14488,0.60,146.1,365.9,15.0,634,14493,0.12,2.25,0.00,0.000,6,0.202,0.052,2027,2675,2211,0,0,0,0,0,0
$GC,14818,0.60,146.1,317.6,14.7,650,14822,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1268,2211,0,0,0,0,0,0
$GC,14893,0.60,146.1,307.5,11.8,653,14897,0.00,2.25,0.00,0.000,6,0.000,0.051,2037,2670,2212,0,0,0,0,0,0
$GC,15219,0.60,146.1,258.6,15.2,669,15223,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1265,2211,0,0,0,0,0,0
$GC,15254,0.60,146.1,252.6,14.3,670,15258,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2672,2211,0,0,0,0,0,0
$GC,15588,0.60,146.1,196.7,17.9,691,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2211,0,0,0,0,0,0
$GC,15901,0.60,146.1,141.7,18.1,711,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2211,0,0,0,0,0,0
$GC,16224,0.60,146.1,89.2,14.1,739,16228,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2672,2211,0,0,0,0,0,0
$GC,16581,0.60,146.1,35.5,14.3,800,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2211,0,0,0,0,0,0
$STATE,16796,end climb,SURFACE_DEPTH_REACHED
$STATE,16796,begin surface coast
$FINISH,0.8,1.025524
$STATE,16816,end surface coast,CONTROL_FINISHED_OK
$STATE,16816,begin surface
$SM_CCo,16821,187.82,0.788,1,0,477,573.99
$SM_GC,1.17,5.80,0.00,0.00,0.072,0.000,0.000,68,2888,476,-5.45,0.82,574.97
$IRIDIUM_FIX,-4616.72,435.68,190213,121205
$TT8_MAMPS,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.0,77.236
$10V_AH,9.9,41.648
$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,14.525,80.650,308.250,187.825,0.000,26.079,45.044,497.130,0.000,0.000,21.092,2067.285,11881.511,581.478,2613.982,788.922,33.397,1438.428,0.000,2035.539,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,79.560,1767.915,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.518,1666.441,894.167,335.855,0.000,0.000,0.000,0.000,0.000,0.000
$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,60484,837
$CAP_FILE_SIZE,124077,0
$CFSIZE,259252224,202563584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,190213,223604,-4634.836,438.149,37,0.8,37,-23.5