version: 66.07
glider: 542
mission: 6
dive: 422
start: 2 20 113 8 18 14
data:
$ID,542
$MISSION,6
$DIVE,422
$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,-11786.312
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,200213,080428,-4636.676,437.329,38,1.1,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-60.3
$GPS2,200213,081717,-4636.592,437.279,18,1.3,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.254
$KALMAN_X,-228975.6,45.3,-2.7,254650.9,441.6
$KALMAN_Y,343612.2,-405.4,-223.5,-315781.7,6614.7
$MHEAD_RNG_PITCHd_Wd,209.2,43488,-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,-47.10,0.000,2,0.000,0.000,59,2876,2740,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.2,-3.1,6,124,6.90,1.67,-25.15,0.000,4,0.256,0.076,1619,3890,3417,0,0,0,0,0,0
$GC,173,-0.60,-146.1,11.9,-14.7,18,182,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2838,3418,0,0,0,0,0,0
$GC,261,-0.60,-146.1,24.4,-15.0,31,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2837,3418,0,0,0,0,0,0
$GC,345,-0.60,-146.1,35.8,-12.3,44,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2837,3418,0,0,0,0,0,0
$GC,593,-0.60,-146.1,68.1,-13.3,85,597,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2837,3418,0,0,0,0,0,0
$GC,948,-0.60,-146.1,115.3,-12.1,132,949,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2837,3418,0,0,0,0,0,0
$GC,1259,-0.60,-146.1,153.2,-12.1,152,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2837,3419,0,0,0,0,0,0
$GC,1571,-0.60,-146.1,188.5,-10.6,172,1575,0.00,1.70,0.00,0.000,4,0.000,0.059,1611,3900,3420,0,0,0,0,0,0
$GC,1668,-0.60,-146.1,199.4,-11.0,177,1677,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2848,3420,0,0,0,0,0,0
$GC,1990,-0.60,-146.1,228.3,-8.2,198,1994,0.00,1.70,0.00,0.000,4,0.000,0.059,1603,3893,3420,0,0,0,0,0,0
$GC,2037,-0.60,-146.1,232.5,-8.9,200,2047,0.08,1.55,0.00,0.000,6,0.155,0.031,1627,2862,3420,0,0,0,0,0,0
$GC,2363,-0.60,-146.1,254.7,-7.1,220,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,2669,-0.60,-146.1,279.5,-8.7,235,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,2977,-0.60,-146.1,308.3,-9.8,250,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,3288,-0.60,-146.1,337.9,-9.4,265,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,3596,-0.60,-146.1,366.8,-9.4,280,3599,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3899,3420,0,0,0,0,0,0
$GC,3648,-0.60,-146.1,372.4,-9.9,282,3652,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2860,3420,0,0,0,0,0,0
$GC,3967,-0.60,-146.1,403.3,-9.8,297,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2856,3420,0,0,0,0,0,0
$GC,4274,-0.60,-146.1,432.7,-9.6,307,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2856,3420,0,0,0,0,0,0
$GC,4579,-0.60,-146.1,462.4,-9.7,317,4583,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3895,3420,0,0,0,0,0,0
$GC,4608,-0.60,-146.1,465.6,-10.1,317,4615,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2850,3420,0,0,0,0,0,0
$GC,4923,-0.60,-146.1,496.7,-10.0,328,4927,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3904,3420,0,0,0,0,0,0
$GC,4981,-0.60,-146.1,503.3,-11.1,329,4985,0.08,1.58,0.00,0.000,6,0.153,0.032,1638,2868,3420,0,0,0,0,0,0
$GC,5302,-0.60,-146.1,530.7,-8.3,340,5306,0.00,2.12,0.00,0.000,4,0.000,0.037,1638,1473,3420,0,0,0,0,0,0
$GC,5333,-0.60,-146.1,533.5,-8.2,341,5337,0.00,2.22,0.00,0.000,6,0.000,0.051,1630,2861,3419,0,0,0,0,0,0
$GC,5672,-0.60,-146.1,561.7,-8.2,352,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2862,3419,0,0,0,0,0,0
$GC,5978,-0.60,-146.1,585.7,-7.8,362,5981,0.00,1.65,0.00,0.000,4,0.000,0.061,1622,3903,3420,0,0,0,0,0,0
$GC,6024,-0.60,-146.1,589.7,-8.6,363,6028,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2859,3419,0,0,0,0,0,0
$GC,6357,-0.60,-146.1,616.8,-8.1,374,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2853,3419,0,0,0,0,0,0
$GC,6665,-0.60,-146.1,642.5,-8.6,384,6668,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3894,3419,0,0,0,0,0,0
$GC,6716,-0.60,-146.1,647.7,-9.7,385,6720,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2853,3418,0,0,0,0,0,0
$GC,7043,-0.60,-146.1,677.3,-9.1,396,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2848,3418,0,0,0,0,0,0
$GC,7348,-0.60,-146.1,704.5,-8.9,406,7352,0.00,1.70,0.00,0.000,4,0.000,0.061,1606,3887,3418,0,0,0,0,0,0
$GC,7389,-0.60,-146.1,708.6,-9.5,407,7393,0.00,1.55,0.00,0.000,6,0.000,0.033,1606,2865,3418,0,0,0,0,0,0
$GC,7727,-0.60,-146.1,741.4,-9.9,418,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2859,3418,0,0,0,0,0,0
$GC,8033,-0.60,-146.1,770.9,-9.5,428,8036,0.00,1.67,0.00,0.000,4,0.000,0.061,1598,3897,3417,0,0,0,0,0,0
$GC,8084,-0.60,-146.1,776.6,-10.4,429,8088,0.10,1.58,0.00,0.000,6,0.155,0.033,1629,2860,3417,0,0,0,0,0,0
$GC,8412,-0.60,-146.1,802.2,-7.7,440,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3417,0,0,0,0,0,0
$GC,8717,-0.60,-146.1,825.7,-7.6,450,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3416,0,0,0,0,0,0
$GC,9024,-0.60,-146.1,849.2,-7.5,460,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3416,0,0,0,0,0,0
$GC,9330,-0.60,-146.1,871.8,-7.5,470,9334,0.00,1.70,0.00,0.000,4,0.000,0.062,1623,3905,3416,0,0,0,0,0,0
$GC,9359,-0.60,-146.1,874.4,-8.6,470,9366,0.00,1.60,0.00,0.000,6,0.000,0.033,1623,2851,3416,0,0,0,0,0,0
$GC,9677,-0.60,-146.1,899.5,-7.8,481,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2851,3416,0,0,0,0,0,0
$GC,9982,-0.60,-146.1,923.0,-7.6,491,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3416,0,0,0,0,0,0
$GC,10288,-0.60,-146.1,945.2,-7.1,501,10292,0.00,2.08,0.00,0.000,4,0.000,0.037,1622,1484,3416,0,0,0,0,0,0
$GC,10319,-0.60,-146.1,947.6,-7.6,502,10323,0.00,2.25,0.00,0.000,6,0.000,0.054,1612,2873,3416,0,0,0,0,0,0
$GC,10664,-0.60,-146.1,973.7,-7.6,513,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2873,3416,0,0,0,0,0,0
$GC,10969,-0.60,-146.1,997.3,-7.7,523,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2873,3415,0,0,0,0,0,0
$STATE,11025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11025,begin apogee
$GC,11036,-0.18,0.0,1002.1,7.9,525,11188,0.52,0.00,148.43,1.236,6,0.153,0.000,1768,2687,2819,0,0,0,0,0,0
$STATE,11190,end apogee,CONTROL_FINISHED_OK
$STATE,11190,begin climb
$GC,11195,0.60,146.1,1006.4,0.0,530,11372,0.80,2.53,158.43,1.757,4,0.089,0.043,2034,1274,2224,0,0,0,0,2,0
$GC,11431,0.60,146.1,976.2,16.4,537,11438,0.00,2.45,0.00,0.000,6,0.000,0.050,2034,2665,2223,0,0,0,0,0,0
$GC,11748,0.60,146.1,912.6,19.9,548,11752,0.00,2.25,0.00,0.000,4,0.000,0.045,2044,1275,2220,0,0,0,0,0,0
$GC,11805,0.60,146.1,901.6,17.1,549,11812,0.00,2.30,0.00,0.000,6,0.000,0.051,2044,2678,2218,0,0,0,0,0,0
$GC,12121,0.60,146.1,839.1,20.2,560,12125,0.00,2.22,0.00,0.000,4,0.000,0.045,2054,1275,2218,0,0,0,0,0,0
$GC,12156,0.60,146.1,831.9,18.4,561,12160,0.00,2.28,0.00,0.000,6,0.000,0.052,2054,2677,2216,0,0,0,0,0,0
$GC,12488,0.60,146.1,763.6,21.1,572,12492,0.00,2.20,0.00,0.000,4,0.000,0.044,2065,1273,2216,0,0,0,0,0,0
$GC,12512,0.60,146.1,758.4,21.2,572,12520,0.15,2.25,0.00,0.000,6,0.203,0.051,2030,2669,2216,0,0,0,0,0,0
$GC,12828,0.60,146.1,699.9,18.5,583,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2216,0,0,0,0,0,0
$GC,13133,0.60,146.1,641.8,19.1,593,13137,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1273,2216,0,0,0,0,0,0
$GC,13208,0.60,146.1,628.3,17.3,595,13212,0.00,2.28,0.00,0.000,6,0.000,0.052,2039,2680,2214,0,0,0,0,0,0
$GC,13534,0.60,146.1,565.6,19.5,606,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2680,2215,0,0,0,0,0,0
$GC,13841,0.60,146.1,509.0,18.4,616,13845,0.00,2.22,0.00,0.000,4,0.000,0.044,2049,1272,2215,0,0,0,0,0,0
$GC,13882,0.60,146.1,502.0,15.2,617,13886,0.00,2.28,0.00,0.000,6,0.000,0.052,2049,2681,2214,0,0,0,0,0,0
$GC,14221,0.60,146.1,438.7,19.2,628,14225,0.00,2.25,0.00,0.000,4,0.000,0.045,2059,1266,2214,0,0,0,0,0,0
$GC,14290,0.60,146.1,425.5,16.9,630,14294,0.12,2.25,0.00,0.000,6,0.200,0.052,2030,2669,2214,0,0,0,0,0,0
$GC,14625,0.60,146.1,368.3,16.9,644,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2214,0,0,0,0,0,0
$GC,14936,0.60,146.1,317.4,15.7,659,14940,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1273,2214,0,0,0,0,0,0
$GC,15001,0.60,146.1,307.6,13.5,662,15005,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2669,2214,0,0,0,0,0,0
$GC,15331,0.60,146.1,253.8,16.6,678,15332,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2214,0,0,0,0,0,0
$GC,15654,0.60,146.1,201.3,15.5,698,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2214,0,0,0,0,0,0
$GC,15967,0.60,146.1,150.8,16.0,718,15971,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1269,2214,0,0,0,0,0,0
$GC,16020,0.60,146.1,142.6,14.8,721,16024,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2675,2213,0,0,0,0,0,0
$GC,16350,0.60,146.1,95.1,12.9,745,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2213,0,0,0,0,0,0
$GC,16705,0.60,146.1,46.6,14.1,806,16713,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2213,0,0,0,0,0,0
$GC,16962,0.60,146.1,8.2,14.9,847,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2213,0,0,0,0,0,0
$STATE,16996,end climb,SURFACE_DEPTH_REACHED
$STATE,16997,begin surface coast
$FINISH,0.9,1.026468
$STATE,17017,end surface coast,CONTROL_FINISHED_OK
$STATE,17017,begin surface
$SM_CCo,17040,43.22,0.763,1,0,1880,230.09
$SM_GC,1.94,0.00,0.00,43.22,0.000,0.000,0.763,52,2873,1880,-5.56,0.40,230.09
$IRIDIUM_FIX,-4619.84,435.93,200213,030344
$TT8_MAMPS,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.0,77.778
$10V_AH,9.9,41.993
$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,14.275,85.950,306.850,43.225,0.000,27.283,20.383,468.814,0.000,0.000,20.763,2118.123,11829.722,459.218,2643.549,792.773,33.399,1360.165,0.000,2105.064,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,76.500,1757.205,762.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.106,1689.570,910.532,340.277,0.000,0.000,0.000,0.000,0.000,0.000
$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,60357,855
$CAP_FILE_SIZE,129734,0
$CFSIZE,259252224,202362880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,200213,130428,-4637.646,435.943,38,0.9,38,-23.5