version: 66.07
glider: 542
mission: 6
dive: 429
start: 2 21 113 19 2 38
data:
$ID,542
$MISSION,6
$DIVE,429
$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,-11808.552
$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,34
$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
$GPS1,210213,184834,-4645.565,434.546,36,0.8,36,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-59.7
$GPS2,210213,190141,-4645.652,434.538,21,1.2,21,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,-0.255
$KALMAN_X,-232933.3,10.0,-222.2,255393.7,-546.0
$KALMAN_Y,363703.6,-490.2,-396.3,-352389.8,5606.6
$MHEAD_RNG_PITCHd_Wd,198.3,27453,-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,-146.1,0.0,0.0,0,84,0.00,0.00,-55.10,0.000,2,0.000,0.000,44,2884,2922,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.2,-3.0,7,117,6.68,1.67,-15.05,0.000,4,0.240,0.078,1622,3889,3417,0,0,0,0,0,0
$GC,314,-0.60,-146.1,35.5,-12.3,41,320,0.00,1.60,0.00,0.000,6,0.000,0.033,1622,2837,3419,0,0,0,0,0,0
$GC,563,-0.60,-146.1,66.2,-12.5,82,570,0.00,1.73,0.00,0.000,4,0.000,0.061,1613,3887,3419,0,0,0,0,0,0
$GC,607,-0.60,-146.1,71.7,-12.9,88,615,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2862,3419,0,0,0,0,0,0
$GC,956,-0.60,-146.1,113.8,-10.7,134,959,0.00,2.10,0.00,0.000,4,0.000,0.037,1613,1480,3420,0,0,0,0,0,0
$GC,997,-0.60,-146.1,118.1,-9.5,136,1006,0.08,2.22,0.00,0.000,6,0.151,0.054,1628,2846,3420,0,0,0,0,0,0
$GC,1324,-0.60,-146.1,150.4,-10.5,157,1328,0.00,1.67,0.00,0.000,4,0.000,0.061,1621,3890,3420,0,0,0,0,0,0
$GC,1378,-0.60,-146.1,156.9,-11.4,160,1382,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2859,3421,0,0,0,0,0,0
$GC,1713,-0.60,-146.1,195.9,-12.3,181,1716,0.00,1.67,0.00,0.000,4,0.000,0.062,1613,3894,3421,0,0,0,0,0,0
$GC,1766,-0.60,-146.1,203.2,-13.2,184,1770,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2850,3421,0,0,0,0,0,0
$GC,2101,-0.60,-146.1,244.4,-12.1,205,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2845,3421,0,0,0,0,0,0
$GC,2411,-0.60,-146.1,279.6,-11.0,221,2414,0.00,1.70,0.00,0.000,4,0.000,0.062,1605,3898,3421,0,0,0,0,0,0
$GC,2508,-0.60,-146.1,291.2,-11.2,225,2511,0.00,1.58,0.00,0.000,6,0.000,0.033,1605,2856,3421,0,0,0,0,0,0
$GC,2839,-0.60,-146.1,326.5,-10.6,241,2841,0.10,0.00,0.00,0.000,6,0.189,0.000,1629,2851,3421,0,0,0,0,0,0
$GC,3146,-0.60,-146.1,353.5,-8.7,256,3150,0.00,1.70,0.00,0.000,4,0.000,0.063,1622,3899,3421,0,0,0,0,0,0
$GC,3219,-0.60,-146.1,360.3,-9.9,259,3223,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2863,3421,0,0,0,0,0,0
$GC,3557,-0.60,-146.1,392.6,-9.4,275,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2859,3421,0,0,0,0,0,0
$GC,3882,-0.60,-146.1,425.4,-10.3,287,3886,0.00,1.70,0.00,0.000,4,0.000,0.064,1614,3890,3421,0,0,0,0,0,0
$GC,3923,-0.60,-146.1,429.9,-10.8,288,3927,0.00,1.58,0.00,0.000,6,0.000,0.034,1614,2852,3421,0,0,0,0,0,0
$GC,4262,-0.60,-146.1,466.5,-10.8,299,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2847,3421,0,0,0,0,0,0
$GC,4566,-0.60,-146.1,498.9,-10.5,309,4570,0.00,1.70,0.00,0.000,4,0.000,0.063,1606,3895,3421,0,0,0,0,0,0
$GC,4607,-0.60,-146.1,503.6,-12.1,310,4611,0.00,1.58,0.00,0.000,6,0.000,0.034,1605,2862,3421,0,0,0,0,0,0
$GC,4944,-0.60,-146.1,541.4,-11.4,321,4948,0.00,1.70,0.00,0.000,4,0.000,0.063,1598,3890,3421,0,0,0,0,0,0
$GC,4990,-0.60,-146.1,547.3,-12.6,322,4995,0.10,1.58,0.00,0.000,6,0.156,0.034,1629,2855,3420,0,0,0,0,0,0
$GC,5324,-0.60,-146.1,578.5,-9.2,333,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,5629,-0.60,-146.1,606.1,-8.9,343,5633,0.00,1.70,0.00,0.000,4,0.000,0.063,1622,3896,3420,0,0,0,0,0,0
$GC,5692,-0.60,-146.1,612.5,-9.9,344,5699,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2860,3419,0,0,0,0,0,0
$GC,6008,-0.60,-146.1,642.0,-9.6,355,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2860,3419,0,0,0,0,0,0
$GC,6314,-0.60,-146.1,669.5,-8.9,365,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2860,3419,0,0,0,0,0,0
$GC,6620,-0.60,-146.1,696.0,-8.7,375,6624,0.00,1.73,0.00,0.000,4,0.000,0.065,1614,3903,3419,0,0,0,0,0,0
$GC,6657,-0.60,-146.1,699.4,-10.0,376,6661,0.00,1.60,0.00,0.000,6,0.000,0.034,1614,2855,3419,0,0,0,0,0,0
$GC,7000,-0.60,-146.1,730.2,-8.7,387,7004,0.00,1.70,0.00,0.000,4,0.000,0.063,1606,3894,3419,0,0,0,0,0,0
$GC,7051,-0.60,-146.1,735.1,-9.6,388,7055,0.00,1.58,0.00,0.000,6,0.000,0.034,1606,2860,3419,0,0,0,0,0,0
$GC,7378,-0.60,-146.1,763.2,-8.5,399,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2855,3419,0,0,0,0,0,0
$GC,7684,-0.60,-146.1,788.2,-8.1,409,7688,0.00,1.70,0.00,0.000,4,0.000,0.063,1598,3899,3418,0,0,0,0,0,0
$GC,7764,-0.60,-146.1,795.4,-8.7,411,7769,0.10,1.58,0.00,0.000,6,0.155,0.033,1629,2866,3418,0,0,0,0,0,0
$GC,8099,-0.60,-146.1,816.4,-6.2,422,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3418,0,0,0,0,0,0
$GC,8403,-0.60,-146.1,836.7,-6.8,432,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3418,0,0,0,0,0,0
$GC,8711,-0.60,-146.1,858.3,-7.0,442,8715,0.00,1.70,0.00,0.000,4,0.000,0.065,1623,3903,3418,0,0,0,0,0,0
$GC,8758,-0.60,-146.1,862.3,-8.1,443,8761,0.00,1.60,0.00,0.000,6,0.000,0.034,1623,2858,3417,0,0,0,0,0,0
$GC,9090,-0.60,-146.1,888.3,-8.0,454,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2853,3418,0,0,0,0,0,0
$GC,9396,-0.60,-146.1,911.7,-7.6,464,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2853,3417,0,0,0,0,0,0
$GC,9703,-0.60,-146.1,934.5,-7.6,474,9706,0.00,1.70,0.00,0.000,4,0.000,0.064,1615,3893,3417,0,0,0,0,0,0
$GC,9749,-0.60,-146.1,938.6,-9.0,475,9752,0.00,1.58,0.00,0.000,6,0.000,0.034,1615,2863,3417,0,0,0,0,0,0
$GC,10081,-0.60,-146.1,966.0,-8.7,486,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2858,3417,0,0,0,0,0,0
$GC,10389,-0.60,-146.1,992.6,-8.8,496,10393,0.00,1.70,0.00,0.000,4,0.000,0.065,1607,3897,3417,0,0,0,0,0,0
$GC,10435,-0.60,-146.1,997.2,-9.1,497,10439,0.00,1.60,0.00,0.000,6,0.000,0.034,1607,2852,3417,0,0,0,0,0,0
$STATE,10486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10487,begin apogee
$GC,10498,-0.18,0.0,1002.2,9.2,499,10657,0.55,0.00,150.70,1.821,6,0.154,0.000,1770,2675,2820,0,0,0,0,1,0
$STATE,10659,end apogee,CONTROL_FINISHED_OK
$STATE,10659,begin climb
$GC,10664,0.60,146.1,1008.5,0.0,504,10847,0.77,2.53,166.98,1.755,4,0.080,0.044,2029,1282,2225,0,0,0,0,2,0
$GC,10886,0.60,146.1,982.7,17.4,511,10891,0.00,2.47,0.00,0.000,6,0.000,0.053,2029,2662,2223,0,0,0,0,0,0
$GC,11226,0.60,146.1,914.5,20.3,522,11230,0.00,2.25,0.00,0.000,4,0.000,0.045,2040,1274,2218,0,0,0,0,0,0
$GC,11278,0.60,146.1,904.0,17.8,523,11282,0.00,2.33,0.00,0.000,6,0.000,0.054,2040,2680,2216,0,0,0,0,0,0
$GC,11594,0.60,146.1,838.9,21.2,533,11598,0.00,2.22,0.00,0.000,4,0.000,0.045,2050,1272,2215,0,0,0,0,0,0
$GC,11651,0.60,146.1,827.3,17.5,534,11658,0.00,2.28,0.00,0.000,6,0.000,0.054,2050,2672,2214,0,0,0,0,0,0
$GC,11967,0.60,146.1,759.2,22.1,545,11971,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1272,2214,0,0,0,0,0,0
$GC,12013,0.60,146.1,749.0,20.3,546,12018,0.15,2.28,0.00,0.000,6,0.208,0.053,2025,2673,2213,0,0,0,0,0,0
$GC,12336,0.60,146.1,684.7,20.3,557,12340,0.00,2.20,0.00,0.000,4,0.000,0.044,2035,1282,2213,0,0,0,0,0,0
$GC,12367,0.60,146.1,678.4,18.5,558,12371,0.00,2.22,0.00,0.000,6,0.000,0.054,2035,2671,2213,0,0,0,0,0,0
$GC,12705,0.60,146.1,612.1,19.2,569,12709,0.00,2.20,0.00,0.000,4,0.000,0.044,2044,1281,2212,0,0,0,0,0,0
$GC,12745,0.60,146.1,604.3,17.5,570,12749,0.00,2.22,0.00,0.000,6,0.000,0.053,2044,2670,2212,0,0,0,0,0,0
$GC,13072,0.60,146.1,539.8,19.7,581,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2670,2212,0,0,0,0,0,0
$GC,13380,0.60,146.1,479.8,19.5,591,13384,0.00,2.20,0.00,0.000,4,0.000,0.044,2055,1273,2212,0,0,0,0,0,0
$GC,13465,0.60,146.1,464.0,15.7,593,13470,0.12,2.28,0.00,0.000,6,0.207,0.054,2026,2680,2211,0,0,0,0,0,0
$GC,13789,0.60,146.1,409.6,16.5,604,13793,0.00,2.22,0.00,0.000,4,0.000,0.044,2035,1273,2211,0,0,0,0,0,0
$GC,13830,0.60,146.1,402.7,16.1,605,13834,0.00,2.28,0.00,0.000,6,0.000,0.053,2036,2677,2211,0,0,0,0,0,0
$GC,14150,0.60,146.1,350.9,16.2,620,14151,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2677,2211,0,0,0,0,0,0
$GC,14462,0.60,146.1,301.1,16.0,635,14466,0.00,2.20,0.00,0.000,4,0.000,0.042,2046,1283,2211,0,0,0,0,0,0
$GC,14515,0.60,146.1,292.5,14.4,637,14519,0.00,2.22,0.00,0.000,6,0.000,0.053,2046,2670,2210,0,0,0,0,0,0
$GC,14837,0.60,146.1,239.0,16.8,653,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2210,0,0,0,0,0,0
$GC,15149,0.60,146.1,186.8,16.7,673,15153,0.00,2.20,0.00,0.000,4,0.000,0.043,2056,1272,2210,0,0,0,0,0,0
$GC,15235,0.60,146.1,173.0,13.8,678,15240,0.12,2.25,0.00,0.000,6,0.203,0.053,2027,2673,2210,0,0,0,0,0,0
$GC,15563,0.60,146.1,125.9,15.0,698,15571,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2673,2210,0,0,0,0,0,0
$GC,15899,0.60,146.1,81.2,10.5,737,15904,0.00,1.98,0.00,0.000,4,0.000,0.061,2027,3893,2210,0,0,0,0,0,0
$GC,16022,0.60,146.1,65.2,13.5,758,16029,0.00,1.88,0.00,0.000,6,0.000,0.037,2036,2670,2209,0,0,0,0,0,0
$GC,16393,0.60,146.1,14.4,13.3,819,16401,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2668,2210,0,0,0,0,0,0
$STATE,16459,end climb,SURFACE_DEPTH_REACHED
$STATE,16459,begin surface coast
$FINISH,0.9,1.026480
$STATE,16479,end surface coast,CONTROL_FINISHED_OK
$STATE,16479,begin surface
$SM_CCo,16501,45.30,0.764,1,0,1880,230.09
$SM_GC,1.78,0.00,0.00,45.30,0.000,0.000,0.764,59,2882,1880,-5.54,0.62,230.09
$IRIDIUM_FIX,-4626.10,433.56,210213,131348
$TT8_MAMPS,0.026215
$HUMID,59.25
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.0,79.072
$10V_AH,9.9,42.812
$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,14.100,106.450,317.675,45.300,0.000,25.191,21.194,483.972,0.000,0.000,24.055,2100.461,11257.993,499.403,2661.545,804.914,33.400,1385.964,0.000,2116.579,0.000,1.009,0.000
$DEVICE_MAMPS,240.210,78.030,1820.700,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.941,1635.644,884.303,344.263,0.000,0.000,0.000,0.000,0.000,0.000
$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,60550,832
$CAP_FILE_SIZE,131423,0
$CFSIZE,259252224,201871360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,210213,234000,-4647.312,434.345,41,0.9,42,-23.5