version: 66.07
glider: 542
mission: 6
dive: 423
start: 2 20 113 13 18 58
data:
$ID,542
$MISSION,6
$DIVE,423
$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,-11789.541
$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,48
$R_STBD_OVSHOOT,28
$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
$GPS1,200213,130428,-4637.646,435.943,38,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-61.5
$GPS2,200213,131801,-4637.702,436.036,17,0.8,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.020,-0.255
$KALMAN_X,-229580.8,-235.5,-228.2,254191.1,289.4
$KALMAN_Y,346927.9,-370.2,-406.3,-320994.9,6421.0
$MHEAD_RNG_PITCHd_Wd,207.9,41598,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-55.03,0.000,2,0.000,0.000,52,2876,2913,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.2,-4.0,7,124,6.95,1.70,-15.43,0.000,4,0.257,0.077,1618,3894,3418,0,0,0,0,0,0
$GC,203,-0.60,-146.1,18.8,-13.5,23,212,0.00,1.60,0.00,0.000,6,0.000,0.032,1619,2854,3419,0,0,0,0,0,0
$GC,291,-0.60,-146.1,30.4,-13.1,36,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2853,3419,0,0,0,0,0,0
$GC,540,-0.60,-146.1,63.0,-12.9,77,544,0.00,1.67,0.00,0.000,4,0.000,0.058,1611,3899,3419,0,0,0,0,0,0
$GC,583,-0.60,-146.1,68.8,-14.0,84,592,0.00,1.60,0.00,0.000,6,0.000,0.031,1611,2840,3419,0,0,0,0,0,0
$GC,943,-0.60,-146.1,114.0,-10.4,131,946,0.00,1.70,0.00,0.000,4,0.000,0.058,1603,3903,3420,0,0,0,0,0,0
$GC,1169,-0.60,-146.1,140.8,-12.2,144,1173,0.08,1.58,0.00,0.000,6,0.158,0.031,1635,2856,3421,0,0,0,0,0,0
$GC,1508,-0.60,-146.1,172.5,-9.2,165,1512,0.00,1.70,0.00,0.000,4,0.000,0.060,1628,3896,3421,0,0,0,0,0,0
$GC,1549,-0.60,-146.1,177.1,-9.5,167,1553,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2860,3422,0,0,0,0,0,0
$GC,1876,-0.60,-146.1,207.6,-9.3,188,1880,0.00,1.67,0.00,0.000,4,0.000,0.059,1620,3899,3422,0,0,0,0,0,0
$GC,1923,-0.60,-146.1,212.4,-10.2,190,1932,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2850,3422,0,0,0,0,0,0
$GC,2246,-0.60,-146.1,243.4,-9.6,211,2250,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3893,3422,0,0,0,0,0,0
$GC,2287,-0.60,-146.1,248.0,-10.4,213,2291,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2863,3422,0,0,0,0,0,0
$GC,2608,-0.60,-146.1,279.8,-9.8,229,2611,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3904,3422,0,0,0,0,0,0
$GC,2648,-0.60,-146.1,284.7,-10.8,230,2658,0.08,1.58,0.00,0.000,6,0.155,0.031,1628,2857,3421,0,0,0,0,0,0
$GC,2967,-0.60,-146.1,313.9,-9.3,246,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2858,3421,0,0,0,0,0,0
$GC,3278,-0.60,-146.1,343.9,-9.9,261,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2858,3422,0,0,0,0,0,0
$GC,3585,-0.60,-146.1,375.0,-10.2,276,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2857,3422,0,0,0,0,0,0
$GC,3915,-0.60,-146.1,407.1,-10.0,291,3918,0.00,1.67,0.00,0.000,4,0.000,0.062,1621,3896,3422,0,0,0,0,0,0
$GC,3955,-0.60,-146.1,411.5,-10.1,292,3959,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2856,3422,0,0,0,0,0,0
$GC,4292,-0.60,-146.1,445.2,-9.8,303,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2851,3422,0,0,0,0,0,0
$GC,4599,-0.60,-146.1,474.4,-9.6,313,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2851,3421,0,0,0,0,0,0
$GC,4905,-0.60,-146.1,503.1,-9.3,323,4909,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3890,3421,0,0,0,0,0,0
$GC,4945,-0.60,-146.1,507.2,-10.4,324,4949,0.00,1.55,0.00,0.000,6,0.000,0.033,1613,2866,3421,0,0,0,0,0,0
$GC,5285,-0.60,-146.1,538.8,-9.4,335,5289,0.00,1.70,0.00,0.000,4,0.000,0.061,1605,3899,3421,0,0,0,0,0,0
$GC,5322,-0.60,-146.1,542.6,-10.4,336,5325,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2856,3420,0,0,0,0,0,0
$GC,5665,-0.60,-146.1,576.2,-9.6,347,5669,0.10,1.70,0.00,0.000,4,0.189,0.061,1622,3893,3420,0,0,0,0,0,0
$GC,5703,-0.60,-146.1,579.6,-8.9,348,5706,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2855,3420,0,0,0,0,0,0
$GC,6046,-0.60,-146.1,609.0,-8.9,359,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2850,3420,0,0,0,0,0,0
$GC,6352,-0.60,-146.1,637.6,-9.7,369,6355,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3901,3420,0,0,0,0,0,0
$GC,6422,-0.60,-146.1,644.8,-10.2,371,6426,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2864,3420,0,0,0,0,0,0
$GC,6767,-0.60,-146.1,679.4,-10.0,382,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3419,0,0,0,0,0,0
$GC,7072,-0.60,-146.1,709.3,-9.8,392,7075,0.00,1.67,0.00,0.000,4,0.000,0.061,1606,3893,3420,0,0,0,0,0,0
$GC,7123,-0.60,-146.1,715.0,-10.8,393,7127,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2855,3419,0,0,0,0,0,0
$GC,7450,-0.60,-146.1,747.5,-9.8,404,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3419,0,0,0,0,0,0
$GC,7756,-0.60,-146.1,776.0,-9.0,414,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3419,0,0,0,0,0,0
$GC,8063,-0.60,-146.1,804.6,-9.3,424,8067,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3889,3419,0,0,0,0,0,0
$GC,8126,-0.60,-146.1,811.1,-9.9,425,8133,0.10,1.55,0.00,0.000,6,0.153,0.033,1629,2866,3418,0,0,0,0,0,0
$GC,8443,-0.60,-146.1,833.6,-7.2,436,8447,0.00,2.12,0.00,0.000,4,0.000,0.037,1629,1484,3419,0,0,0,0,0,0
$GC,8475,-0.60,-146.1,836.0,-8.0,437,8479,0.00,2.22,0.00,0.000,6,0.000,0.053,1621,2862,3418,0,0,0,0,0,0
$GC,8820,-0.60,-146.1,863.0,-7.9,448,8824,0.00,1.65,0.00,0.000,4,0.000,0.062,1613,3899,3418,0,0,0,0,0,0
$GC,8857,-0.60,-146.1,866.1,-9.0,449,8861,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2860,3418,0,0,0,0,0,0
$GC,9201,-0.60,-146.1,895.1,-8.5,460,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2855,3418,0,0,0,0,0,0
$GC,9508,-0.60,-146.1,920.3,-8.3,470,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2855,3418,0,0,0,0,0,0
$GC,9813,-0.60,-146.1,946.7,-8.6,480,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2855,3418,0,0,0,0,0,0
$GC,10121,-0.60,-146.1,973.5,-8.9,490,10125,0.00,1.67,0.00,0.000,4,0.000,0.063,1605,3893,3418,0,0,0,0,0,0
$GC,10184,-0.60,-146.1,980.0,-9.5,491,10191,0.00,1.58,0.00,0.000,6,0.000,0.033,1605,2852,3417,0,0,0,0,0,0
$STATE,10403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10403,begin apogee
$GC,10414,-0.18,0.0,1000.7,9.4,499,10573,0.55,0.00,151.00,1.826,6,0.151,0.000,1768,2686,2820,0,0,0,0,1,0
$STATE,10575,end apogee,CONTROL_FINISHED_OK
$STATE,10575,begin climb
$GC,10580,0.60,146.1,1007.1,0.0,504,10769,0.77,2.58,166.35,1.762,4,0.086,0.044,2025,1288,2225,0,0,0,0,2,0
$GC,10813,0.60,146.1,981.6,15.1,512,10818,0.00,2.42,0.00,0.000,6,0.000,0.050,2025,2665,2222,0,0,0,0,0,0
$GC,11153,0.60,146.1,919.2,18.6,523,11157,0.00,2.22,0.00,0.000,4,0.000,0.045,2036,1287,2218,0,0,0,0,0,0
$GC,11199,0.60,146.1,910.5,17.2,524,11203,0.00,2.25,0.00,0.000,6,0.000,0.051,2036,2673,2216,0,0,0,0,0,0
$GC,11521,0.60,146.1,851.7,18.5,535,11525,0.00,2.22,0.00,0.000,4,0.000,0.044,2045,1275,2216,0,0,0,0,0,0
$GC,11572,0.60,146.1,842.6,16.2,536,11576,0.00,2.28,0.00,0.000,6,0.000,0.052,2046,2677,2214,0,0,0,0,0,0
$GC,11888,0.60,146.1,781.5,19.8,546,11892,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1277,2214,0,0,0,0,0,0
$GC,11934,0.60,146.1,772.4,18.1,547,11939,0.12,2.25,0.00,0.000,6,0.211,0.052,2028,2670,2214,0,0,0,0,0,0
$GC,12256,0.60,146.1,713.3,18.4,558,12260,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1278,2213,0,0,0,0,0,0
$GC,12296,0.60,146.1,705.8,16.6,559,12301,0.00,2.25,0.00,0.000,6,0.000,0.051,2038,2672,2213,0,0,0,0,0,0
$GC,12623,0.60,146.1,645.6,18.7,570,12627,0.00,2.20,0.00,0.000,4,0.000,0.043,2048,1278,2213,0,0,0,0,0,0
$GC,12658,0.60,146.1,639.0,17.1,571,12662,0.00,2.22,0.00,0.000,6,0.000,0.051,2048,2670,2212,0,0,0,0,0,0
$GC,12990,0.60,146.1,575.3,19.3,582,12994,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1281,2212,0,0,0,0,0,0
$GC,13025,0.60,146.1,568.4,17.1,583,13030,0.12,2.25,0.00,0.000,6,0.203,0.052,2030,2673,2212,0,0,0,0,0,0
$GC,13358,0.60,146.1,511.6,16.6,594,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2673,2212,0,0,0,0,0,0
$GC,13668,0.60,146.1,461.4,16.3,604,13672,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1278,2212,0,0,0,0,0,0
$GC,13714,0.60,146.1,453.5,13.3,605,13718,0.00,2.22,0.00,0.000,6,0.000,0.051,2039,2671,2211,0,0,0,0,0,0
$GC,14035,0.60,146.1,400.4,16.7,616,14039,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1277,2211,0,0,0,0,0,0
$GC,14069,0.60,146.1,394.7,16.3,617,14076,0.00,2.25,0.00,0.000,6,0.000,0.051,2049,2676,2211,0,0,0,0,0,0
$GC,14390,0.60,146.1,340.1,17.3,633,14391,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2676,2210,0,0,0,0,0,0
$GC,14699,0.60,146.1,286.9,17.1,648,14703,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1282,2210,0,0,0,0,0,0
$GC,14796,0.60,146.1,270.8,14.4,652,14801,0.12,2.25,0.00,0.000,6,0.198,0.050,2030,2676,2210,0,0,0,0,0,0
$GC,15118,0.60,146.1,217.3,17.1,670,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2676,2210,0,0,0,0,0,0
$GC,15429,0.60,146.1,165.0,16.7,690,15433,0.00,2.20,0.00,0.000,4,0.000,0.042,2039,1280,2210,0,0,0,0,0,0
$GC,15472,0.60,146.1,157.8,15.2,692,15481,0.00,2.28,0.00,0.000,6,0.000,0.051,2039,2673,2209,0,0,0,0,0,0
$GC,15795,0.60,146.1,102.6,16.1,713,15799,0.00,2.17,0.00,0.000,4,0.000,0.042,2049,1284,2209,0,0,0,0,0,0
$GC,15840,0.60,146.1,95.8,14.9,718,15847,0.00,2.22,0.00,0.000,6,0.000,0.051,2050,2670,2209,0,0,0,0,0,0
$GC,16200,0.60,146.1,45.7,14.4,779,16206,0.00,1.95,0.00,0.000,4,0.000,0.060,2049,3898,2209,0,0,0,0,0,0
$GC,16389,0.60,146.1,14.9,16.7,809,16399,0.10,1.90,0.00,0.000,6,0.214,0.038,2032,2690,2209,0,0,0,0,0,0
$STATE,16470,end climb,SURFACE_DEPTH_REACHED
$STATE,16470,begin surface coast
$FINISH,0.8,1.013184
$STATE,16494,end surface coast,CONTROL_FINISHED_OK
$STATE,16494,begin surface
$SM_CCo,16516,42.92,0.776,1,0,1880,230.09
$SM_GC,2.02,0.00,0.00,42.92,0.000,0.000,0.776,50,2885,1880,-5.56,0.71,230.09
$IRIDIUM_FIX,-4619.84,435.93,200213,080811
$TT8_MAMPS,0.026215
$HUMID,58.93
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.0,77.981
$10V_AH,9.9,42.109
$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,14.400,114.800,317.350,42.925,0.000,32.615,21.659,503.552,0.000,0.000,21.427,2084.271,11287.391,499.185,2683.187,809.197,33.398,1412.578,0.000,2111.353,0.000,1.007,0.000
$DEVICE_MAMPS,257.040,77.265,1826.055,776.475,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.684,1631.447,870.968,331.035,0.000,0.000,0.000,0.000,0.000,0.000
$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,60473,824
$CAP_FILE_SIZE,134171,0
$CFSIZE,259252224,202289152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,200213,175628,-4639.285,435.290,38,0.8,38,-23.5