version: 66.07
glider: 542
mission: 6
dive: 425
start: 2 20 113 23 8 51
data:
$ID,542
$MISSION,6
$DIVE,425
$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,-11795.843
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,200213,225458,-4640.156,435.619,40,0.8,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.2
$GPS2,200213,230754,-4640.007,435.591,14,0.8,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.012,-0.255
$KALMAN_X,-230044.9,30.7,-8.6,253596.6,132.9
$KALMAN_Y,353210.9,-647.4,-166.1,-331515.6,6181.8
$MHEAD_RNG_PITCHd_Wd,206.1,37443,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.17,0.000,2,0.000,0.000,51,2883,3114,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-2.7,8,125,6.82,1.65,-8.05,0.000,4,0.250,0.076,1621,3881,3419,0,0,0,0,0,0
$GC,180,-0.60,-146.1,18.0,-14.1,19,189,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2851,3420,0,0,0,0,0,0
$GC,268,-0.60,-146.1,28.5,-12.5,32,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3420,0,0,0,0,0,0
$GC,355,-0.60,-146.1,39.6,-13.9,45,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3420,0,0,0,0,0,0
$GC,599,-0.60,-146.1,71.6,-12.8,86,605,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3420,0,0,0,0,0,0
$GC,945,-0.60,-146.1,113.8,-11.9,133,949,0.00,2.10,0.00,0.000,4,0.000,0.036,1621,1464,3421,0,0,0,0,0,0
$GC,987,-0.60,-146.1,119.5,-12.2,135,994,0.00,2.22,0.00,0.000,6,0.000,0.050,1611,2857,3421,0,0,0,0,0,0
$GC,1309,-0.60,-146.1,159.5,-11.9,156,1313,0.00,1.65,0.00,0.000,4,0.000,0.059,1603,3892,3422,0,0,0,0,0,0
$GC,1367,-0.60,-146.1,167.3,-13.4,159,1371,0.08,1.58,0.00,0.000,6,0.156,0.031,1636,2851,3422,0,0,0,0,0,0
$GC,1700,-0.60,-146.1,198.7,-9.8,180,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2847,3423,0,0,0,0,0,0
$GC,2024,-0.60,-146.1,229.4,-8.8,201,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2847,3423,0,0,0,0,0,0
$GC,2334,-0.60,-146.1,255.6,-8.5,220,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2847,3423,0,0,0,0,0,0
$GC,2645,-0.60,-146.1,282.2,-8.6,235,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2847,3423,0,0,0,0,0,0
$GC,2953,-0.60,-146.1,309.1,-8.6,250,2956,0.00,1.70,0.00,0.000,4,0.000,0.060,1629,3901,3422,0,0,0,0,0,0
$GC,2993,-0.60,-146.1,313.0,-8.8,251,3000,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2858,3422,0,0,0,0,0,0
$GC,3315,-0.60,-146.1,340.4,-8.5,267,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3422,0,0,0,0,0,0
$GC,3622,-0.60,-146.1,367.3,-8.9,282,3626,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3897,3422,0,0,0,0,0,0
$GC,3674,-0.60,-146.1,372.9,-10.2,284,3678,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2855,3422,0,0,0,0,0,0
$GC,4003,-0.60,-146.1,406.4,-10.4,299,4007,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3893,3422,0,0,0,0,0,0
$GC,4049,-0.60,-146.1,411.9,-11.4,300,4053,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2868,3422,0,0,0,0,0,0
$GC,4381,-0.60,-146.1,448.9,-11.2,311,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2863,3422,0,0,0,0,0,0
$GC,4687,-0.60,-146.1,482.8,-10.9,321,4691,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3900,3422,0,0,0,0,0,0
$GC,4728,-0.60,-146.1,487.8,-12.0,322,4731,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2860,3422,0,0,0,0,0,0
$GC,5065,-0.60,-146.1,525.7,-11.2,333,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2855,3422,0,0,0,0,0,0
$GC,5371,-0.60,-146.1,559.8,-11.0,343,5376,0.10,1.73,0.00,0.000,4,0.189,0.061,1623,3891,3422,0,0,0,0,0,0
$GC,5425,-0.60,-146.1,565.5,-10.0,344,5428,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2852,3422,0,0,0,0,0,0
$GC,5753,-0.60,-146.1,596.4,-9.2,355,5756,0.00,1.70,0.00,0.000,4,0.000,0.060,1615,3900,3422,0,0,0,0,0,0
$GC,5789,-0.60,-146.1,600.3,-10.1,356,5793,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2859,3421,0,0,0,0,0,0
$GC,6133,-0.60,-146.1,633.7,-9.6,367,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2853,3422,0,0,0,0,0,0
$GC,6439,-0.60,-146.1,662.7,-9.4,377,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2853,3421,0,0,0,0,0,0
$GC,6745,-0.60,-146.1,690.2,-8.9,387,6749,0.00,1.67,0.00,0.000,4,0.000,0.061,1607,3893,3421,0,0,0,0,0,0
$GC,6786,-0.60,-146.1,694.3,-10.0,388,6789,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2856,3421,0,0,0,0,0,0
$GC,7123,-0.60,-146.1,725.3,-9.1,399,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2852,3421,0,0,0,0,0,0
$GC,7431,-0.60,-146.1,751.4,-8.4,409,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2852,3421,0,0,0,0,0,0
$GC,7736,-0.60,-146.1,776.6,-8.1,419,7740,0.00,1.67,0.00,0.000,4,0.000,0.060,1599,3893,3421,0,0,0,0,0,0
$GC,7793,-0.60,-146.1,781.9,-8.4,420,7798,0.10,1.58,0.00,0.000,6,0.154,0.032,1631,2856,3421,0,0,0,0,0,0
$GC,8115,-0.60,-146.1,801.8,-5.9,431,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2852,3421,0,0,0,0,0,0
$GC,8422,-0.60,-146.1,820.4,-6.1,441,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2852,3420,0,0,0,0,0,0
$GC,8728,-0.60,-146.1,840.2,-6.6,451,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2852,3420,0,0,0,0,0,0
$GC,9034,-0.60,-146.1,861.6,-7.2,461,9038,0.00,2.10,0.00,0.000,4,0.000,0.038,1631,1480,3420,0,0,0,0,0,0
$GC,9066,-0.60,-146.1,864.1,-8.2,462,9070,0.00,2.22,0.00,0.000,6,0.000,0.054,1622,2859,3420,0,0,0,0,0,0
$GC,9404,-0.60,-146.1,891.2,-8.2,473,9407,0.00,1.65,0.00,0.000,4,0.000,0.062,1613,3896,3420,0,0,0,0,0,0
$GC,9441,-0.60,-146.1,894.5,-9.2,474,9445,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2855,3420,0,0,0,0,0,0
$GC,9785,-0.60,-146.1,923.5,-8.4,485,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2851,3420,0,0,0,0,0,0
$GC,10090,-0.60,-146.1,947.6,-7.6,495,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2850,3419,0,0,0,0,0,0
$GC,10397,-0.60,-146.1,969.4,-7.1,505,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2851,3419,0,0,0,0,0,0
$GC,10703,-0.60,-146.1,990.4,-6.7,515,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2851,3419,0,0,0,0,0,0
$STATE,10851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10851,begin apogee
$GC,10862,-0.18,0.0,1000.7,6.7,520,11014,0.50,0.00,148.50,1.242,6,0.148,0.000,1764,2676,2819,0,0,0,0,0,0
$STATE,11015,end apogee,CONTROL_FINISHED_OK
$STATE,11016,begin climb
$GC,11020,0.60,146.1,1003.6,0.0,525,11210,0.77,2.53,162.77,1.760,4,0.091,0.044,2026,1292,2226,0,0,0,0,3,0
$GC,11293,0.60,146.1,964.1,18.6,533,11297,0.00,2.38,0.00,0.000,6,0.000,0.050,2026,2663,2222,0,0,0,0,0,0
$GC,11619,0.60,146.1,897.3,20.6,544,11623,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1280,2219,0,0,0,0,0,0
$GC,11671,0.60,146.1,887.1,17.5,545,11675,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2674,2217,0,0,0,0,0,0
$GC,11992,0.60,146.1,822.4,20.4,556,11996,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1274,2218,0,0,0,0,0,0
$GC,12063,0.60,146.1,808.9,17.3,558,12067,0.00,2.25,0.00,0.000,6,0.000,0.051,2047,2676,2216,0,0,0,0,0,0
$GC,12400,0.60,146.1,740.1,20.0,569,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2676,2216,0,0,0,0,0,0
$GC,12709,0.60,146.1,679.1,20.1,579,12713,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1281,2216,0,0,0,0,0,0
$GC,12807,0.60,146.1,661.0,18.2,582,12812,0.12,2.22,0.00,0.000,6,0.213,0.050,2029,2677,2214,0,0,0,0,0,0
$GC,13146,0.60,146.1,603.6,17.1,593,13150,0.00,2.20,0.00,0.000,4,0.000,0.042,2038,1284,2214,0,0,0,0,0,0
$GC,13181,0.60,146.1,597.5,16.5,594,13185,0.00,2.25,0.00,0.000,6,0.000,0.051,2039,2679,2214,0,0,0,0,0,0
$GC,13513,0.60,146.1,539.8,17.1,605,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2679,2214,0,0,0,0,0,0
$GC,13820,0.60,146.1,488.1,17.1,615,13824,0.00,2.20,0.00,0.000,4,0.000,0.042,2049,1281,2214,0,0,0,0,0,0
$GC,13905,0.60,146.1,474.2,14.9,617,13909,0.00,2.22,0.00,0.000,6,0.000,0.051,2049,2675,2214,0,0,0,0,0,0
$GC,14222,0.60,146.1,418.1,18.3,627,14226,0.00,2.20,0.00,0.000,4,0.000,0.042,2059,1275,2213,0,0,0,0,0,0
$GC,14280,0.60,146.1,407.5,16.7,628,14288,0.12,2.25,0.00,0.000,6,0.207,0.051,2031,2673,2213,0,0,0,0,0,0
$GC,14600,0.60,146.1,353.8,17.0,643,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2214,0,0,0,0,0,0
$GC,14907,0.60,146.1,299.3,17.6,658,14911,0.00,2.17,0.00,0.000,4,0.000,0.042,2040,1283,2214,0,0,0,0,0,0
$GC,14959,0.60,146.1,290.4,16.1,660,14964,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2676,2213,0,0,0,0,0,0
$GC,15281,0.60,146.1,233.2,17.8,677,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2676,2213,0,0,0,0,0,0
$GC,15594,0.60,146.1,178.7,16.7,697,15598,0.00,2.20,0.00,0.000,4,0.000,0.042,2050,1278,2213,0,0,0,0,0,0
$GC,15676,0.60,146.1,165.6,14.1,702,15680,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2673,2212,0,0,0,0,0,0
$GC,16005,0.60,146.1,111.8,15.9,723,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2673,2213,0,0,0,0,0,0
$GC,16338,0.60,146.1,65.4,14.0,773,16343,0.00,2.17,0.00,0.000,4,0.000,0.041,2060,1279,2213,0,0,0,0,0,0
$GC,16394,0.60,146.1,57.4,13.9,782,16403,0.10,2.28,0.00,0.000,6,0.177,0.051,2032,2676,2212,0,0,0,0,0,0
$GC,16653,0.60,146.1,22.9,12.1,823,16661,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2676,2212,0,0,0,0,0,0
$GC,16741,0.60,146.1,9.9,15.8,836,16750,0.00,2.22,0.00,0.000,4,0.000,0.041,2041,1279,2212,0,0,0,0,0,0
$GC,16780,0.60,146.1,4.2,14.4,841,16789,0.00,2.25,0.00,0.000,6,0.000,0.049,2041,2665,2212,0,0,0,0,0,0
$STATE,16797,end climb,SURFACE_DEPTH_REACHED
$STATE,16797,begin surface coast
$FINISH,0.9,1.026406
$STATE,16823,end surface coast,CONTROL_FINISHED_OK
$STATE,16823,begin surface
$SM_CCo,16846,43.00,0.767,1,0,1877,230.09
$SM_GC,2.01,0.00,0.00,43.00,0.000,0.000,0.767,56,2883,1877,-5.55,0.65,230.09
$IRIDIUM_FIX,-4619.84,435.93,200213,181810
$TT8_MAMPS,0.026215
$HUMID,58.19
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.0,78.328
$10V_AH,9.9,42.342
$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,14.200,94.350,311.275,43.000,0.000,26.241,22.522,477.324,0.000,0.000,17.754,2109.448,11605.101,466.636,2665.497,810.550,33.400,1388.064,0.000,2126.875,0.000,1.008,0.000
$DEVICE_MAMPS,250.155,76.500,1759.500,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.179,1668.123,897.462,338.351,0.000,0.000,0.000,0.000,0.000,0.000
$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,60327,847
$CAP_FILE_SIZE,132032,0
$CFSIZE,259252224,202149888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,210213,035153,-4641.140,434.406,38,0.9,39,-23.5