version: 66.07
glider: 542
mission: 6
dive: 420
start: 2 19 113 22 50 8
data:
$ID,542
$MISSION,6
$DIVE,420
$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,-11779.978
$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,49
$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
$GPS1,190213,223604,-4634.836,438.149,37,0.8,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-31.5
$GPS2,190213,224911,-4634.893,438.502,15,2.0,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.040,-0.253
$KALMAN_X,-229320.8,-251.2,83.0,256751.3,875.6
$KALMAN_Y,335969.8,-119.8,-182.1,-305312.9,4757.6
$MHEAD_RNG_PITCHd_Wd,212.5,46537,-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,-146.1,0.0,0.0,0,155,0.00,0.00,-125.70,0.000,2,0.000,0.000,65,2892,2914,0,0,0,0,0,0
$GC,161,-0.60,-146.1,3.0,-3.8,16,195,6.90,2.30,-15.15,0.000,4,0.258,0.050,1630,1452,3418,0,0,0,0,0,0
$GC,454,-0.60,-146.1,33.6,-11.1,61,461,0.00,2.22,0.00,0.000,6,0.000,0.050,1621,2840,3419,0,0,0,0,0,0
$GC,702,-0.60,-146.1,63.5,-10.9,102,711,0.00,1.67,0.00,0.000,4,0.000,0.058,1613,3890,3419,0,0,0,0,0,0
$GC,821,-0.60,-146.1,77.2,-12.5,121,826,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2839,3419,0,0,0,0,0,0
$GC,1164,-0.60,-146.1,120.1,-11.7,162,1168,0.00,1.73,0.00,0.000,4,0.000,0.058,1604,3898,3419,0,0,0,0,0,0
$GC,1255,-0.60,-146.1,132.0,-14.0,167,1258,0.00,1.55,0.00,0.000,6,0.000,0.031,1604,2868,3420,0,0,0,0,0,0
$GC,1589,-0.60,-146.1,180.0,-14.2,188,1593,0.10,1.67,0.00,0.000,4,0.184,0.059,1622,3899,3420,0,0,0,0,0,0
$GC,1646,-0.60,-146.1,187.7,-13.0,191,1649,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2851,3420,0,0,0,0,0,0
$GC,1979,-0.60,-146.1,225.5,-10.4,212,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2846,3420,0,0,0,0,0,0
$GC,2292,-0.60,-146.1,256.9,-10.1,231,2296,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3894,3420,0,0,0,0,0,0
$GC,2366,-0.60,-146.1,265.5,-11.2,234,2370,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2860,3420,0,0,0,0,0,0
$GC,2696,-0.60,-146.1,300.2,-10.6,250,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2856,3420,0,0,0,0,0,0
$GC,3008,-0.60,-146.1,332.8,-10.4,265,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2856,3420,0,0,0,0,0,0
$GC,3314,-0.60,-146.1,364.2,-10.0,280,3318,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3897,3420,0,0,0,0,0,0
$GC,3363,-0.60,-146.1,369.4,-10.9,282,3366,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2855,3420,0,0,0,0,0,0
$GC,3687,-0.60,-146.1,405.0,-11.0,297,3689,0.10,0.00,0.00,0.000,6,0.184,0.000,1630,2850,3419,0,0,0,0,0,0
$GC,3993,-0.60,-146.1,433.3,-9.4,307,3997,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3890,3419,0,0,0,0,0,0
$GC,4031,-0.60,-146.1,437.1,-10.7,308,4035,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2862,3418,0,0,0,0,0,0
$GC,4376,-0.60,-146.1,473.2,-10.8,319,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2857,3418,0,0,0,0,0,0
$GC,4680,-0.60,-146.1,506.5,-10.7,329,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2857,3418,0,0,0,0,0,0
$GC,4989,-0.60,-146.1,538.4,-10.3,339,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2858,3417,0,0,0,0,0,0
$GC,5293,-0.60,-146.1,569.9,-10.2,349,5296,0.00,1.67,0.00,0.000,4,0.000,0.062,1615,3893,3417,0,0,0,0,0,0
$GC,5329,-0.60,-146.1,573.9,-10.8,350,5333,0.00,1.58,0.00,0.000,6,0.000,0.032,1616,2852,3416,0,0,0,0,0,0
$GC,5672,-0.60,-146.1,609.4,-10.2,361,5676,0.00,1.70,0.00,0.000,4,0.000,0.061,1608,3886,3416,0,0,0,0,0,0
$GC,5709,-0.60,-146.1,613.4,-10.3,362,5713,0.00,1.55,0.00,0.000,6,0.000,0.032,1607,2855,3415,0,0,0,0,0,0
$GC,6054,-0.60,-146.1,650.9,-10.8,373,6057,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3893,3415,0,0,0,0,0,0
$GC,6091,-0.60,-146.1,655.4,-11.8,374,6095,0.08,1.55,0.00,0.000,6,0.155,0.032,1624,2868,3415,0,0,0,0,0,0
$GC,6435,-0.60,-146.1,688.2,-9.2,385,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3415,0,0,0,0,0,0
$GC,6741,-0.60,-146.1,715.6,-8.7,395,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3415,0,0,0,0,0,0
$GC,7047,-0.60,-146.1,741.6,-8.3,405,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3415,0,0,0,0,0,0
$GC,7353,-0.60,-146.1,766.1,-7.9,415,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3415,0,0,0,0,0,0
$GC,7659,-0.60,-146.1,790.2,-7.9,425,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3414,0,0,0,0,0,0
$GC,7965,-0.60,-146.1,814.3,-7.7,435,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3415,0,0,0,0,0,0
$GC,8272,-0.60,-146.1,838.5,-8.0,445,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2864,3414,0,0,0,0,0,0
$GC,8578,-0.60,-146.1,864.1,-8.5,455,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2863,3414,0,0,0,0,0,0
$GC,8884,-0.60,-146.1,889.6,-8.3,465,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3414,0,0,0,0,0,0
$GC,9191,-0.60,-146.1,914.8,-8.2,475,9195,0.00,2.12,0.00,0.000,4,0.000,0.038,1625,1472,3414,0,0,0,0,0,0
$GC,9221,-0.60,-146.1,917.6,-8.9,475,9227,0.00,2.25,0.00,0.000,6,0.000,0.053,1615,2868,3413,0,0,0,0,0,0
$GC,9536,-0.60,-146.1,945.3,-8.8,486,9540,0.00,1.65,0.00,0.000,4,0.000,0.062,1607,3904,3414,0,0,0,0,0,0
$GC,9573,-0.60,-146.1,948.5,-8.8,487,9577,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2860,3413,0,0,0,0,0,0
$GC,9917,-0.60,-146.1,978.6,-8.5,498,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2855,3413,0,0,0,0,0,0
$STATE,10187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10187,begin apogee
$GC,10198,-0.18,0.0,1001.4,8.1,507,10353,0.55,0.00,146.12,1.815,6,0.154,0.000,1770,2676,2820,0,0,0,0,1,0
$STATE,10355,end apogee,CONTROL_FINISHED_OK
$STATE,10355,begin climb
$GC,10360,0.60,146.1,1005.2,0.0,512,10537,0.82,2.53,163.38,1.775,4,0.090,0.043,2034,1299,2227,0,0,0,0,1,0
$GC,10597,0.60,146.1,973.8,17.7,519,10604,0.00,2.40,0.00,0.000,6,0.000,0.049,2035,2666,2224,0,0,0,0,0,0
$GC,10914,0.60,146.1,907.7,20.9,530,10918,0.00,2.22,0.00,0.000,4,0.000,0.044,2044,1286,2221,0,0,0,0,0,0
$GC,10983,0.60,146.1,894.0,17.6,532,10987,0.00,2.28,0.00,0.000,6,0.000,0.050,2044,2677,2218,0,0,0,0,0,0
$GC,11315,0.60,146.1,825.9,20.7,543,11319,0.00,2.20,0.00,0.000,4,0.000,0.044,2055,1283,2218,0,0,0,0,0,0
$GC,11389,0.60,146.1,811.5,18.4,545,11394,0.12,2.25,0.00,0.000,6,0.210,0.050,2027,2677,2216,0,0,0,0,0,0
$GC,11717,0.60,146.1,750.7,19.0,556,11721,0.00,2.20,0.00,0.000,4,0.000,0.042,2036,1277,2216,0,0,0,0,0,0
$GC,11763,0.60,146.1,742.4,15.6,557,11767,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2677,2215,0,0,0,0,0,0
$GC,12084,0.60,146.1,679.9,20.1,568,12088,0.00,2.20,0.00,0.000,4,0.000,0.042,2046,1280,2215,0,0,0,0,0,0
$GC,12130,0.60,146.1,671.1,17.5,569,12134,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2679,2214,0,0,0,0,0,0
$GC,12451,0.60,146.1,607.3,20.4,580,12455,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1285,2214,0,0,0,0,0,0
$GC,12474,0.60,146.1,602.1,19.5,580,12482,0.12,2.22,0.00,0.000,6,0.203,0.050,2028,2675,2214,0,0,0,0,0,0
$GC,12792,0.60,146.1,542.5,19.0,591,12796,0.00,2.17,0.00,0.000,4,0.000,0.042,2037,1285,2214,0,0,0,0,0,0
$GC,12849,0.60,146.1,532.1,15.6,592,12856,0.00,2.22,0.00,0.000,6,0.000,0.050,2037,2672,2213,0,0,0,0,0,0
$GC,13165,0.60,146.1,472.4,18.8,603,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2673,2213,0,0,0,0,0,0
$GC,13470,0.60,146.1,417.7,17.8,613,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2673,2213,0,0,0,0,0,0
$GC,13779,0.60,146.1,367.4,16.3,626,13783,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1277,2213,0,0,0,0,0,0
$GC,13831,0.60,146.1,359.3,13.5,628,13835,0.00,2.25,0.00,0.000,6,0.000,0.051,2047,2671,2213,0,0,0,0,0,0
$GC,14159,0.60,146.1,306.4,16.3,644,14160,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2212,0,0,0,0,0,0
$GC,14466,0.60,146.1,255.1,16.5,659,14470,0.00,2.17,0.00,0.000,4,0.000,0.043,2057,1278,2213,0,0,0,0,0,0
$GC,14542,0.60,146.1,242.8,14.5,663,14546,0.12,2.25,0.00,0.000,6,0.200,0.052,2029,2671,2212,0,0,0,0,0,0
$GC,14870,0.60,146.1,195.5,14.3,683,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2672,2212,0,0,0,0,0,0
$GC,15192,0.60,146.1,148.1,14.7,704,15196,0.00,2.20,0.00,0.000,4,0.000,0.042,2038,1275,2212,0,0,0,0,0,0
$GC,15278,0.60,146.1,135.8,15.1,709,15282,0.00,2.22,0.00,0.000,6,0.000,0.051,2038,2671,2211,0,0,0,0,0,0
$GC,15613,0.60,146.1,82.7,16.0,741,15619,0.00,1.98,0.00,0.000,4,0.000,0.059,2038,3897,2212,0,0,0,0,0,0
$GC,15680,0.60,146.1,69.3,19.1,752,15687,0.00,1.88,0.00,0.000,6,0.000,0.037,2047,2680,2212,0,0,0,0,0,0
$GC,16048,0.60,146.1,7.5,16.9,813,16057,0.00,2.22,0.00,0.000,4,0.000,0.041,2058,1263,2212,0,0,0,0,0,0
$STATE,16071,end climb,SURFACE_DEPTH_REACHED
$STATE,16071,begin surface coast
$FINISH,0.9,1.026434
$STATE,16093,end surface coast,CONTROL_FINISHED_OK
$STATE,16093,begin surface
$SM_CCo,16117,45.85,0.770,1,0,1879,230.09
$SM_GC,2.20,0.00,0.00,45.85,0.000,0.000,0.770,59,2872,1879,-5.54,0.34,230.09
$IRIDIUM_FIX,-4616.72,438.80,190213,171716
$TT8_MAMPS,0.026215
$HUMID,59.37
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.1,77.434
$10V_AH,9.9,41.763
$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,14.300,95.200,309.500,45.850,0.000,27.040,20.119,488.575,0.000,0.000,18.589,2024.793,11052.035,490.948,2603.706,771.346,33.401,1382.973,0.000,2059.384,0.000,1.008,0.000
$DEVICE_MAMPS,257.805,61.965,1815.345,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.155,1651.435,907.449,359.849,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354120
$DATA_FILE_SIZE,60416,819
$CAP_FILE_SIZE,123727,0
$CFSIZE,259252224,202498048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,200213,032104,-4636.099,437.753,39,0.8,39,-23.5