version: 66.07
glider: 542
mission: 6
dive: 428
start: 2 21 113 14 8 9
data:
$ID,542
$MISSION,6
$DIVE,428
$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,-11805.396
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,210213,135405,-4644.279,435.439,33,0.8,34,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-64.9
$GPS2,210213,140712,-4644.141,435.491,15,1.9,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.008,-0.256
$KALMAN_X,-231597.1,-69.5,-65.3,255171.4,-72.4
$KALMAN_Y,361080.8,-628.0,-146.8,-347078.6,4929.1
$MHEAD_RNG_PITCHd_Wd,201.7,29919,-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,-55.05,0.000,2,0.000,0.000,61,2884,2916,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.1,-3.4,7,124,6.65,1.70,-15.68,0.000,4,0.243,0.081,1621,3890,3418,0,0,0,0,0,0
$GC,306,-0.60,-146.1,33.1,-11.7,40,315,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2855,3419,0,0,0,0,0,0
$GC,558,-0.60,-146.1,66.2,-12.5,81,564,0.00,1.70,0.00,0.000,4,0.000,0.063,1613,3886,3419,0,0,0,0,0,0
$GC,592,-0.60,-146.1,70.9,-13.7,86,599,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2859,3420,0,0,0,0,0,0
$GC,948,-0.60,-146.1,116.6,-12.9,133,952,0.00,2.10,0.00,0.000,4,0.000,0.037,1613,1476,3420,0,0,0,0,0,0
$GC,982,-0.60,-146.1,120.5,-12.0,135,987,0.12,2.25,0.00,0.000,6,0.171,0.057,1635,2862,3420,0,0,0,0,0,0
$GC,1314,-0.60,-146.1,153.2,-9.7,156,1317,0.00,1.65,0.00,0.000,4,0.000,0.064,1628,3899,3421,0,0,0,0,0,0
$GC,1370,-0.60,-146.1,159.2,-10.9,159,1373,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2855,3421,0,0,0,0,0,0
$GC,1704,-0.60,-146.1,191.6,-9.9,180,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3421,0,0,0,0,0,0
$GC,2014,-0.60,-146.1,221.6,-9.5,200,2018,0.00,1.70,0.00,0.000,4,0.000,0.064,1620,3897,3421,0,0,0,0,0,0
$GC,2073,-0.60,-146.1,227.6,-9.9,203,2076,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2856,3422,0,0,0,0,0,0
$GC,2406,-0.60,-146.1,258.3,-9.3,223,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2852,3422,0,0,0,0,0,0
$GC,2713,-0.60,-146.1,287.5,-9.6,238,2717,0.00,1.70,0.00,0.000,4,0.000,0.064,1612,3900,3421,0,0,0,0,0,0
$GC,2777,-0.60,-146.1,294.6,-11.5,240,2785,0.00,1.58,0.00,0.000,6,0.000,0.034,1612,2860,3422,0,0,0,0,0,0
$GC,3095,-0.60,-146.1,329.0,-11.0,256,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2860,3421,0,0,0,0,0,0
$GC,3407,-0.60,-146.1,363.4,-11.0,271,3411,0.00,1.67,0.00,0.000,4,0.000,0.064,1604,3893,3421,0,0,0,0,0,0
$GC,3464,-0.60,-146.1,370.5,-11.7,273,3468,0.00,1.58,0.00,0.000,6,0.000,0.033,1605,2853,3422,0,0,0,0,0,0
$GC,3808,-0.60,-146.1,408.0,-10.8,289,3812,0.10,1.73,0.00,0.000,4,0.187,0.063,1622,3899,3421,0,0,0,0,0,0
$GC,3849,-0.60,-146.1,412.5,-9.8,290,3853,0.00,1.58,0.00,0.000,6,0.000,0.034,1622,2866,3421,0,0,0,0,0,0
$GC,4186,-0.60,-146.1,442.4,-8.6,301,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2861,3421,0,0,0,0,0,0
$GC,4493,-0.60,-146.1,467.5,-8.1,311,4496,0.00,1.70,0.00,0.000,4,0.000,0.065,1614,3893,3421,0,0,0,0,0,0
$GC,4539,-0.60,-146.1,471.6,-8.8,312,4543,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2854,3421,0,0,0,0,0,0
$GC,4871,-0.60,-146.1,501.0,-9.0,323,4875,0.00,1.70,0.00,0.000,4,0.000,0.063,1606,3896,3421,0,0,0,0,0,0
$GC,4917,-0.60,-146.1,505.8,-10.3,324,4920,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2859,3421,0,0,0,0,0,0
$GC,5249,-0.60,-146.1,538.5,-10.3,335,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2854,3421,0,0,0,0,0,0
$GC,5556,-0.60,-146.1,570.9,-10.8,345,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2854,3420,0,0,0,0,0,0
$GC,5861,-0.60,-146.1,605.4,-11.6,355,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2854,3420,0,0,0,0,0,0
$GC,6168,-0.60,-146.1,641.1,-11.5,365,6170,0.10,0.00,0.00,0.000,6,0.187,0.000,1631,2853,3420,0,0,0,0,0,0
$GC,6474,-0.60,-146.1,669.8,-9.1,375,6477,0.00,1.70,0.00,0.000,4,0.000,0.064,1624,3896,3420,0,0,0,0,0,0
$GC,6514,-0.60,-146.1,673.7,-9.5,376,6517,0.00,1.58,0.00,0.000,6,0.000,0.034,1624,2867,3420,0,0,0,0,0,0
$GC,6852,-0.60,-146.1,702.5,-8.2,387,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2862,3420,0,0,0,0,0,0
$GC,7157,-0.60,-146.1,725.2,-7.1,397,7161,0.00,2.12,0.00,0.000,4,0.000,0.038,1624,1470,3420,0,0,0,0,0,0
$GC,7193,-0.60,-146.1,727.8,-7.3,398,7197,0.00,2.28,0.00,0.000,6,0.000,0.056,1614,2867,3420,0,0,0,0,0,0
$GC,7525,-0.60,-146.1,752.2,-7.5,409,7529,0.00,1.65,0.00,0.000,4,0.000,0.064,1606,3897,3420,0,0,0,0,0,0
$GC,7562,-0.60,-146.1,755.2,-7.8,410,7566,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2857,3419,0,0,0,0,0,0
$GC,7905,-0.60,-146.1,785.5,-9.1,421,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2852,3419,0,0,0,0,0,0
$GC,8213,-0.60,-146.1,814.2,-9.6,431,8215,0.10,0.00,0.00,0.000,6,0.185,0.000,1630,2852,3419,0,0,0,0,0,0
$GC,8518,-0.60,-146.1,838.5,-7.9,441,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3419,0,0,0,0,0,0
$GC,8824,-0.60,-146.1,863.7,-8.3,451,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3419,0,0,0,0,0,0
$GC,9132,-0.60,-146.1,888.3,-7.9,461,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3419,0,0,0,0,0,0
$GC,9436,-0.60,-146.1,911.0,-7.4,471,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3419,0,0,0,0,0,0
$GC,9743,-0.60,-146.1,932.6,-6.7,481,9747,0.00,2.10,0.00,0.000,4,0.000,0.039,1630,1483,3419,0,0,0,0,0,0
$GC,9784,-0.60,-146.1,935.5,-6.3,482,9788,0.00,2.22,0.00,0.000,6,0.000,0.056,1622,2857,3418,0,0,0,0,0,0
$GC,10124,-0.60,-146.1,958.8,-6.9,493,10128,0.00,1.67,0.00,0.000,4,0.000,0.065,1614,3901,3418,0,0,0,0,0,0
$GC,10176,-0.60,-146.1,963.1,-8.8,494,10179,0.00,1.60,0.00,0.000,6,0.000,0.034,1614,2854,3418,0,0,0,0,0,0
$GC,10502,-0.60,-146.1,986.7,-7.3,505,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2849,3418,0,0,0,0,0,0
$STATE,10681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10681,begin apogee
$GC,10692,-0.18,0.0,1000.2,7.4,511,10843,0.50,0.00,148.43,1.238,6,0.144,0.000,1765,2677,2819,0,0,0,0,0,0
$STATE,10845,end apogee,CONTROL_FINISHED_OK
$STATE,10845,begin climb
$GC,10850,0.60,146.1,1003.9,0.0,516,11022,0.77,2.53,159.52,1.760,4,0.089,0.044,2028,1284,2225,0,0,0,0,1,0
$GC,11063,0.60,146.1,976.7,16.7,522,11067,0.00,2.47,0.00,0.000,6,0.000,0.053,2028,2667,2223,0,0,0,0,0,0
$GC,11379,0.60,146.1,912.0,20.5,532,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2667,2218,0,0,0,0,0,0
$GC,11686,0.60,146.1,852.6,18.7,542,11690,0.00,2.22,0.00,0.000,4,0.000,0.045,2038,1270,2217,0,0,0,0,0,0
$GC,11777,0.60,146.1,836.5,15.4,544,11784,0.00,2.30,0.00,0.000,6,0.000,0.054,2038,2681,2215,0,0,0,0,0,0
$GC,12095,0.60,146.1,779.0,18.6,555,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2682,2215,0,0,0,0,0,0
$GC,12399,0.60,146.1,721.6,18.6,565,12403,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1280,2215,0,0,0,0,0,0
$GC,12445,0.60,146.1,713.0,16.9,566,12449,0.00,2.25,0.00,0.000,6,0.000,0.053,2049,2670,2213,0,0,0,0,0,0
$GC,12766,0.60,146.1,649.5,20.4,577,12770,0.00,2.20,0.00,0.000,4,0.000,0.046,2059,1278,2214,0,0,0,0,0,0
$GC,12807,0.60,146.1,641.3,18.6,578,12811,0.12,2.25,0.00,0.000,6,0.210,0.053,2030,2680,2213,0,0,0,0,0,0
$GC,13134,0.60,146.1,581.3,18.4,589,13138,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1275,2213,0,0,0,0,0,0
$GC,13175,0.60,146.1,573.9,15.8,590,13179,0.00,2.25,0.00,0.000,6,0.000,0.053,2040,2679,2213,0,0,0,0,0,0
$GC,13501,0.60,146.1,513.7,18.5,601,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2679,2212,0,0,0,0,0,0
$GC,13808,0.60,146.1,456.7,19.0,611,13812,0.00,2.22,0.00,0.000,4,0.000,0.043,2050,1271,2212,0,0,0,0,0,0
$GC,13907,0.60,146.1,439.4,15.6,614,13911,0.00,2.28,0.00,0.000,6,0.000,0.052,2050,2676,2212,0,0,0,0,0,0
$GC,14225,0.60,146.1,378.1,19.4,626,14229,0.00,2.20,0.00,0.000,4,0.000,0.043,2060,1278,2211,0,0,0,0,0,0
$GC,14261,0.60,146.1,371.3,17.4,627,14268,0.12,2.25,0.00,0.000,6,0.205,0.054,2032,2668,2212,0,0,0,0,0,0
$GC,14581,0.60,146.1,316.4,17.8,643,14585,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1275,2212,0,0,0,0,0,0
$GC,14611,0.60,146.1,310.7,17.6,644,14615,0.00,2.28,0.00,0.000,6,0.000,0.053,2041,2677,2211,0,0,0,0,0,0
$GC,14932,0.60,146.1,254.4,17.9,659,14936,0.00,2.22,0.00,0.000,4,0.000,0.043,2051,1270,2211,0,0,0,0,0,0
$GC,14967,0.60,146.1,247.8,15.6,660,14975,0.00,2.30,0.00,0.000,6,0.000,0.053,2052,2672,2212,0,0,0,0,0,0
$GC,15290,0.60,146.1,191.0,17.1,681,15295,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1277,2211,0,0,0,0,0,0
$GC,15345,0.60,146.1,181.6,15.7,684,15350,0.15,2.25,0.00,0.000,6,0.198,0.054,2026,2674,2211,0,0,0,0,0,0
$GC,15679,0.60,146.1,135.1,13.7,705,15683,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1272,2211,0,0,0,0,0,0
$GC,15733,0.60,146.1,127.6,11.8,708,15737,0.00,2.28,0.00,0.000,6,0.000,0.053,2035,2674,2211,0,0,0,0,0,0
$GC,16067,0.60,146.1,84.0,11.7,744,16076,0.00,2.22,0.00,0.000,4,0.000,0.044,2045,1283,2211,0,0,0,0,0,0
$GC,16120,0.60,146.1,77.9,10.8,752,16127,0.00,2.25,0.00,0.000,6,0.000,0.053,2045,2676,2211,0,0,0,0,0,0
$GC,16486,0.60,146.1,25.5,14.6,813,16495,0.00,2.22,0.00,0.000,4,0.000,0.043,2055,1280,2211,0,0,0,0,0,0
$GC,16545,0.60,146.1,17.7,11.6,821,16555,0.08,2.28,0.00,0.000,6,0.180,0.054,2034,2665,2210,0,0,0,0,0,0
$GC,16633,0.60,146.1,4.5,14.9,834,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2665,2210,0,0,0,0,0,0
$STATE,16650,end climb,SURFACE_DEPTH_REACHED
$STATE,16650,begin surface coast
$FINISH,0.8,1.013087
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
$SM_CCo,16692,43.20,0.768,1,0,1879,230.09
$SM_GC,2.03,0.00,0.00,43.20,0.000,0.000,0.768,44,2883,1879,-5.58,0.65,230.09
$IRIDIUM_FIX,-4626.10,436.44,210213,080851
$TT8_MAMPS,0.025466
$HUMID,58.93
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.0,78.871
$10V_AH,9.9,42.695
$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,14.200,111.575,307.950,43.200,0.000,26.882,21.916,486.370,0.000,0.000,18.342,2100.460,11496.474,455.114,2650.986,810.073,33.400,1371.569,0.000,2102.091,0.000,1.010,0.000
$DEVICE_MAMPS,243.270,81.090,1759.500,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.441,1650.385,884.219,336.895,0.000,0.000,0.000,0.000,0.000,0.000
$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,60446,839
$CAP_FILE_SIZE,133973,0
$CFSIZE,259252224,201940992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,210213,184834,-4645.565,434.546,36,0.8,36,-23.5