version: 66.07
glider: 542
mission: 6
dive: 421
start: 2 20 113 3 35 32
data:
$ID,542
$MISSION,6
$DIVE,421
$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,-11783.131
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,200213,032104,-4636.099,437.753,39,0.8,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-58.1
$GPS2,200213,033435,-4635.900,438.042,19,1.0,19,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,-0.248
$KALMAN_X,-228986.5,-58.6,-201.8,255928.2,1318.9
$KALMAN_Y,339566.4,-391.6,-91.8,-310600.6,5362.3
$MHEAD_RNG_PITCHd_Wd,217.7,44702,-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,-146.1,0.0,0.0,0,84,0.00,0.00,-55.03,0.000,2,0.000,0.000,58,2874,2924,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-2.7,7,117,6.93,1.73,-14.77,0.000,4,0.259,0.076,1619,3907,3418,0,0,0,0,0,0
$GC,208,-0.60,-146.1,21.8,-15.2,24,217,0.00,1.62,0.00,0.000,6,0.000,0.030,1619,2829,3419,0,0,0,0,0,0
$GC,295,-0.60,-146.1,34.6,-15.6,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2828,3419,0,0,0,0,0,0
$GC,542,-0.60,-146.1,68.9,-12.9,78,551,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2829,3420,0,0,0,0,0,0
$GC,892,-0.60,-146.1,114.4,-11.1,124,893,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2828,3420,0,0,0,0,0,0
$GC,1205,-0.60,-146.1,150.0,-11.2,144,1209,0.00,1.73,0.00,0.000,4,0.000,0.058,1610,3904,3421,0,0,0,0,0,0
$GC,1261,-0.60,-146.1,156.6,-12.2,147,1265,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2854,3421,0,0,0,0,0,0
$GC,1593,-0.60,-146.1,196.9,-12.7,168,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2850,3422,0,0,0,0,0,0
$GC,1906,-0.60,-146.1,237.0,-12.5,188,1910,0.00,1.70,0.00,0.000,4,0.000,0.060,1602,3893,3422,0,0,0,0,0,0
$GC,1952,-0.60,-146.1,243.5,-13.8,190,1962,0.08,1.55,0.00,0.000,6,0.158,0.032,1626,2859,3422,0,0,0,0,0,0
$GC,2278,-0.60,-146.1,279.7,-11.1,207,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2859,3422,0,0,0,0,0,0
$GC,2586,-0.60,-146.1,314.4,-11.1,222,2589,0.00,1.67,0.00,0.000,4,0.000,0.060,1619,3900,3422,0,0,0,0,0,0
$GC,2648,-0.60,-146.1,322.1,-12.1,224,2657,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2849,3422,0,0,0,0,0,0
$GC,2967,-0.60,-146.1,356.8,-10.8,240,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2849,3422,0,0,0,0,0,0
$GC,3278,-0.60,-146.1,389.5,-10.4,255,3282,0.00,1.73,0.00,0.000,4,0.000,0.060,1610,3904,3422,0,0,0,0,0,0
$GC,3349,-0.60,-146.1,397.7,-11.5,258,3353,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2862,3422,0,0,0,0,0,0
$GC,3681,-0.60,-146.1,432.0,-10.3,269,3685,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3899,3422,0,0,0,0,0,0
$GC,3738,-0.60,-146.1,438.8,-12.1,270,3742,0.08,1.58,0.00,0.000,6,0.152,0.032,1635,2857,3422,0,0,0,0,0,0
$GC,4059,-0.60,-146.1,467.3,-9.0,281,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2852,3422,0,0,0,0,0,0
$GC,4368,-0.60,-146.1,495.5,-9.4,291,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2852,3421,0,0,0,0,0,0
$GC,4672,-0.60,-146.1,522.5,-8.6,301,4675,0.00,1.70,0.00,0.000,4,0.000,0.062,1629,3903,3421,0,0,0,0,0,0
$GC,4729,-0.60,-146.1,528.1,-9.4,302,4733,0.00,1.58,0.00,0.000,6,0.000,0.033,1628,2867,3421,0,0,0,0,0,0
$GC,5051,-0.60,-146.1,556.5,-8.9,313,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3421,0,0,0,0,0,0
$GC,5356,-0.60,-146.1,583.5,-8.8,323,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3420,0,0,0,0,0,0
$GC,5663,-0.60,-146.1,610.1,-8.6,333,5666,0.00,1.70,0.00,0.000,4,0.000,0.062,1621,3896,3420,0,0,0,0,0,0
$GC,5720,-0.60,-146.1,615.8,-9.9,334,5724,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2859,3420,0,0,0,0,0,0
$GC,6043,-0.60,-146.1,644.6,-8.8,345,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2854,3420,0,0,0,0,0,0
$GC,6347,-0.60,-146.1,670.9,-8.5,355,6351,0.00,1.70,0.00,0.000,4,0.000,0.062,1613,3905,3419,0,0,0,0,0,0
$GC,6388,-0.60,-146.1,675.1,-10.0,356,6391,0.00,1.60,0.00,0.000,6,0.000,0.033,1614,2853,3419,0,0,0,0,0,0
$GC,6725,-0.60,-146.1,705.1,-8.8,367,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3418,0,0,0,0,0,0
$GC,7032,-0.60,-146.1,733.1,-9.1,377,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2848,3418,0,0,0,0,0,0
$GC,7338,-0.60,-146.1,761.5,-9.2,387,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2849,3418,0,0,0,0,0,0
$GC,7644,-0.60,-146.1,790.5,-9.6,397,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3418,0,0,0,0,0,0
$GC,7950,-0.60,-146.1,820.0,-9.6,407,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3418,0,0,0,0,0,0
$GC,8256,-0.60,-146.1,849.0,-9.4,417,8260,0.00,1.70,0.00,0.000,4,0.000,0.062,1607,3899,3418,0,0,0,0,0,0
$GC,8303,-0.60,-146.1,854.0,-10.6,418,8306,0.00,1.58,0.00,0.000,6,0.000,0.034,1607,2868,3418,0,0,0,0,0,0
$GC,8634,-0.60,-146.1,886.2,-9.5,429,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2863,3418,0,0,0,0,0,0
$GC,8943,-0.60,-146.1,914.1,-9.1,439,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2863,3417,0,0,0,0,0,0
$GC,9248,-0.60,-146.1,940.7,-8.9,449,9251,0.00,1.67,0.00,0.000,4,0.000,0.062,1599,3898,3417,0,0,0,0,0,0
$GC,9305,-0.60,-146.1,946.4,-10.7,450,9309,0.10,1.60,0.00,0.000,6,0.150,0.033,1631,2850,3417,0,0,0,0,0,0
$GC,9628,-0.60,-146.1,970.5,-7.5,461,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2847,3417,0,0,0,0,0,0
$GC,9933,-0.60,-146.1,993.3,-7.4,471,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2847,3417,0,0,0,0,0,0
$STATE,10019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10019,begin apogee
$GC,10030,-0.18,0.0,1000.0,7.3,474,10182,0.45,0.00,148.82,1.248,6,0.142,0.000,1769,2673,2820,0,0,0,0,0,0
$STATE,10184,end apogee,CONTROL_FINISHED_OK
$STATE,10184,begin climb
$GC,10189,0.60,146.1,1004.9,0.0,479,10367,0.75,2.47,160.50,1.762,4,0.086,0.042,2028,1282,2226,0,0,0,0,2,0
$GC,10416,0.60,146.1,976.6,16.8,486,10421,0.00,2.47,0.00,0.000,6,0.000,0.051,2028,2676,2225,0,0,0,0,0,0
$GC,10749,0.60,146.1,911.7,19.4,497,10753,0.00,2.25,0.00,0.000,4,0.000,0.044,2039,1282,2220,0,0,0,0,0,0
$GC,10780,0.60,146.1,906.0,18.3,498,10785,0.00,2.30,0.00,0.000,6,0.000,0.052,2039,2682,2218,0,0,0,0,0,0
$GC,11118,0.60,146.1,839.9,19.7,509,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2683,2218,0,0,0,0,0,0
$GC,11426,0.60,146.1,779.5,19.6,519,11430,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1285,2218,0,0,0,0,0,0
$GC,11491,0.60,146.1,767.3,16.9,521,11495,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2670,2216,0,0,0,0,0,0
$GC,11829,0.60,146.1,699.6,20.2,532,11833,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1275,2216,0,0,0,0,0,0
$GC,11875,0.60,146.1,690.3,17.5,533,11879,0.12,2.25,0.00,0.000,6,0.208,0.050,2030,2676,2215,0,0,0,0,0,0
$GC,12209,0.60,146.1,629.1,18.5,544,12213,0.00,2.20,0.00,0.000,4,0.000,0.042,2040,1280,2215,0,0,0,0,0,0
$GC,12256,0.60,146.1,620.3,16.5,545,12260,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2675,2215,0,0,0,0,0,0
$GC,12576,0.60,146.1,559.8,19.0,556,12580,0.00,2.20,0.00,0.000,4,0.000,0.042,2050,1278,2215,0,0,0,0,0,0
$GC,12608,0.60,146.1,554.2,18.6,557,12612,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2676,2215,0,0,0,0,0,0
$GC,12946,0.60,146.1,487.6,19.6,568,12950,0.00,2.20,0.00,0.000,4,0.000,0.042,2060,1280,2215,0,0,0,0,0,0
$GC,12977,0.60,146.1,481.4,19.2,569,12982,0.15,2.25,0.00,0.000,6,0.200,0.050,2025,2676,2215,0,0,0,0,0,0
$GC,13316,0.60,146.1,421.5,17.5,580,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2676,2215,0,0,0,0,0,0
$GC,13636,0.60,146.1,367.8,16.4,593,13640,0.00,2.20,0.00,0.000,4,0.000,0.042,2034,1277,2215,0,0,0,0,0,0
$GC,13682,0.60,146.1,360.0,15.3,595,13686,0.00,2.22,0.00,0.000,6,0.000,0.050,2034,2670,2214,0,0,0,0,0,0
$GC,14014,0.60,146.1,305.9,17.0,611,14018,0.00,1.95,0.00,0.000,4,0.000,0.059,2034,3903,2214,0,0,0,0,0,0
$GC,14049,0.60,146.1,298.8,18.2,612,14053,0.00,1.90,0.00,0.000,6,0.000,0.039,2043,2680,2214,0,0,0,0,0,0
$GC,14367,0.60,146.1,244.2,17.1,628,14371,0.00,2.20,0.00,0.000,4,0.000,0.044,2054,1266,2214,0,0,0,0,0,0
$GC,14453,0.60,146.1,230.9,15.6,633,14457,0.00,2.28,0.00,0.000,6,0.000,0.050,2054,2680,2213,0,0,0,0,0,0
$GC,14780,0.60,146.1,172.5,17.5,654,14784,0.00,2.25,0.00,0.000,4,0.000,0.043,2064,1252,2213,0,0,0,0,0,0
$GC,14821,0.60,146.1,165.3,15.9,656,14830,0.10,2.30,0.00,0.000,6,0.184,0.050,2035,2665,2214,0,0,0,0,0,0
$GC,15150,0.60,146.1,115.4,16.6,677,15154,0.00,2.20,0.00,0.000,4,0.000,0.041,2044,1264,2213,0,0,0,0,0,0
$GC,15208,0.60,146.1,105.0,14.8,680,15217,0.00,2.30,0.00,0.000,6,0.000,0.050,2044,2674,2213,0,0,0,0,0,0
$GC,15561,0.60,146.1,57.1,14.1,737,15567,0.00,2.22,0.00,0.000,4,0.000,0.041,2054,1264,2213,0,0,0,0,0,0
$GC,15651,0.60,146.1,44.7,13.2,751,15659,0.12,2.28,0.00,0.000,6,0.194,0.050,2026,2679,2213,0,0,0,0,0,0
$GC,15909,0.60,146.1,8.5,13.9,792,15918,0.00,2.25,0.00,0.000,4,0.000,0.041,2035,1264,2213,0,0,0,0,0,0
$STATE,15950,end climb,SURFACE_DEPTH_REACHED
$STATE,15950,begin surface coast
$FINISH,0.9,1.026475
$STATE,15976,end surface coast,CONTROL_FINISHED_OK
$STATE,15976,begin surface
$SM_CCo,16001,44.00,0.754,1,0,1879,230.09
$SM_GC,2.29,0.00,0.00,44.00,0.000,0.000,0.754,60,2875,1879,-5.53,0.42,230.09
$IRIDIUM_FIX,-4619.84,435.93,190213,222245
$TT8_MAMPS,0.026964
$HUMID,57.91
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.0,77.609
$10V_AH,9.9,41.875
$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,14.250,99.225,309.325,44.000,0.000,25.831,42.810,489.134,0.000,0.000,22.087,2002.495,11042.905,448.754,2576.963,776.435,33.399,1319.917,0.000,2004.665,0.000,1.009,0.000
$DEVICE_MAMPS,259.335,76.500,1761.795,754.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.350,1577.657,841.354,328.483,0.000,0.000,0.000,0.000,0.000,0.000
$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,57088,802
$CAP_FILE_SIZE,126098,0
$CFSIZE,259252224,202436608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,200213,080428,-4636.676,437.329,38,1.1,38,-23.5