version: 66.07
glider: 542
mission: 6
dive: 430
start: 2 21 113 23 54 45
data:
$ID,542
$MISSION,6
$DIVE,430
$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,-11811.767
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,210213,234000,-4647.312,434.345,41,0.9,42,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-54.3
$GPS2,210213,235348,-4647.371,434.678,19,1.3,19,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.087,-0.240
$KALMAN_X,-233760.5,-8.8,311.5,255873.9,-1724.0
$KALMAN_Y,365500.6,-284.0,-335.2,-357629.8,4670.4
$MHEAD_RNG_PITCHd_Wd,183.6,24336,-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,-55.00,0.000,2,0.000,0.000,59,2885,2910,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-2.5,7,117,6.88,1.70,-15.05,0.000,4,0.256,0.082,1622,3892,3418,0,0,0,0,0,0
$GC,306,-0.60,-146.1,32.5,-11.8,40,315,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2843,3419,0,0,0,0,0,0
$GC,559,-0.60,-146.1,63.0,-11.5,81,565,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2843,3419,0,0,0,0,0,0
$GC,914,-0.60,-146.1,101.7,-10.8,140,917,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3897,3420,0,0,0,0,0,0
$GC,1073,-0.60,-146.1,120.4,-12.5,149,1077,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2853,3421,0,0,0,0,0,0
$GC,1407,-0.60,-146.1,159.9,-12.2,170,1410,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3892,3421,0,0,0,0,0,0
$GC,1453,-0.60,-146.1,166.2,-13.2,172,1462,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2857,3421,0,0,0,0,0,0
$GC,1777,-0.60,-146.1,206.1,-12.7,193,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2858,3421,0,0,0,0,0,0
$GC,2089,-0.60,-146.1,246.5,-12.6,213,2094,0.10,1.73,0.00,0.000,4,0.187,0.061,1623,3897,3421,0,0,0,0,0,0
$GC,2131,-0.60,-146.1,252.1,-11.6,215,2138,0.00,1.55,0.00,0.000,6,0.000,0.033,1623,2869,3422,0,0,0,0,0,0
$GC,2452,-0.60,-146.1,284.9,-9.9,231,2455,0.00,1.62,0.00,0.000,4,0.000,0.061,1615,3892,3421,0,0,0,0,0,0
$GC,2486,-0.60,-146.1,288.9,-10.4,232,2490,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2866,3421,0,0,0,0,0,0
$GC,2811,-0.60,-146.1,319.0,-8.9,248,2814,0.00,1.70,0.00,0.000,4,0.000,0.062,1607,3898,3421,0,0,0,0,0,0
$GC,2862,-0.60,-146.1,324.3,-10.2,250,2866,0.00,1.58,0.00,0.000,6,0.000,0.033,1607,2859,3421,0,0,0,0,0,0
$GC,3192,-0.60,-146.1,358.0,-10.5,266,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2854,3421,0,0,0,0,0,0
$GC,3504,-0.60,-146.1,392.1,-11.3,281,3508,0.00,1.67,0.00,0.000,4,0.000,0.061,1599,3893,3421,0,0,0,0,0,0
$GC,3567,-0.60,-146.1,400.3,-12.3,283,3574,0.10,1.58,0.00,0.000,6,0.155,0.032,1631,2851,3421,0,0,0,0,0,0
$GC,3885,-0.60,-146.1,430.0,-9.1,294,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2851,3421,0,0,0,0,0,0
$GC,4189,-0.60,-146.1,457.8,-9.2,304,4192,0.00,1.70,0.00,0.000,4,0.000,0.062,1624,3900,3421,0,0,0,0,0,0
$GC,4234,-0.60,-146.1,462.5,-9.5,305,4238,0.00,1.58,0.00,0.000,6,0.000,0.032,1624,2869,3421,0,0,0,0,0,0
$GC,4567,-0.60,-146.1,494.0,-9.4,316,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3421,0,0,0,0,0,0
$GC,4873,-0.60,-146.1,522.7,-9.4,326,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2863,3421,0,0,0,0,0,0
$GC,5179,-0.60,-146.1,550.8,-9.0,336,5183,0.00,1.70,0.00,0.000,4,0.000,0.062,1616,3893,3421,0,0,0,0,0,0
$GC,5219,-0.60,-146.1,554.9,-10.2,337,5223,0.00,1.58,0.00,0.000,6,0.000,0.032,1616,2854,3421,0,0,0,0,0,0
$GC,5559,-0.60,-146.1,585.4,-8.9,348,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2850,3420,0,0,0,0,0,0
$GC,5863,-0.60,-146.1,612.1,-8.7,358,5867,0.00,1.70,0.00,0.000,4,0.000,0.063,1608,3896,3420,0,0,0,0,0,0
$GC,5900,-0.60,-146.1,615.4,-9.1,359,5904,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2859,3420,0,0,0,0,0,0
$GC,6244,-0.60,-146.1,646.4,-9.0,370,6248,0.00,1.70,0.00,0.000,4,0.000,0.062,1601,3888,3420,0,0,0,0,0,0
$GC,6284,-0.60,-146.1,650.6,-10.3,371,6289,0.08,1.55,0.00,0.000,6,0.156,0.033,1625,2870,3420,0,0,0,0,0,0
$GC,6625,-0.60,-146.1,677.9,-8.2,382,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2865,3420,0,0,0,0,0,0
$GC,6929,-0.60,-146.1,701.4,-7.5,392,6933,0.00,1.67,0.00,0.000,4,0.000,0.063,1619,3897,3420,0,0,0,0,0,0
$GC,6966,-0.60,-146.1,704.3,-7.7,393,6970,0.00,1.58,0.00,0.000,6,0.000,0.033,1619,2862,3420,0,0,0,0,0,0
$GC,7310,-0.60,-146.1,729.3,-7.2,404,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2858,3420,0,0,0,0,0,0
$GC,7615,-0.60,-146.1,752.3,-7.5,414,7619,0.00,1.67,0.00,0.000,4,0.000,0.063,1610,3892,3420,0,0,0,0,0,0
$GC,7686,-0.60,-146.1,758.5,-8.9,416,7690,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2852,3419,0,0,0,0,0,0
$GC,8032,-0.60,-146.1,788.8,-8.8,427,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2847,3419,0,0,0,0,0,0
$GC,8336,-0.60,-146.1,815.8,-8.7,437,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2847,3419,0,0,0,0,0,0
$GC,8644,-0.60,-146.1,841.2,-8.1,447,8647,0.00,1.70,0.00,0.000,4,0.000,0.062,1603,3894,3419,0,0,0,0,0,0
$GC,8685,-0.60,-146.1,845.2,-9.2,448,8689,0.08,1.58,0.00,0.000,6,0.151,0.032,1636,2856,3419,0,0,0,0,0,0
$GC,9023,-0.60,-146.1,868.9,-7.1,459,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3419,0,0,0,0,0,0
$GC,9329,-0.60,-146.1,890.2,-6.9,469,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3419,0,0,0,0,0,0
$GC,9636,-0.60,-146.1,910.1,-6.2,479,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2851,3419,0,0,0,0,0,0
$GC,9942,-0.60,-146.1,929.1,-6.0,489,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3418,0,0,0,0,0,0
$GC,10248,-0.60,-146.1,947.1,-6.2,499,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3418,0,0,0,0,0,0
$GC,10555,-0.60,-146.1,966.1,-6.3,509,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2850,3418,0,0,0,0,0,0
$GC,10860,-0.60,-146.1,986.8,-7.0,519,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3417,0,0,0,0,0,0
$STATE,11039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11039,begin apogee
$GC,11050,-0.18,0.0,1000.0,7.3,525,11210,0.43,0.00,151.62,1.828,6,0.144,0.000,1766,2675,2820,0,0,0,0,1,0
$STATE,11211,end apogee,CONTROL_FINISHED_OK
$STATE,11212,begin climb
$GC,11217,0.60,146.1,1006.5,0.0,530,11406,0.77,2.53,167.35,1.756,4,0.080,0.042,2026,1304,2224,0,0,0,0,2,0
$GC,11437,0.60,146.1,982.5,15.4,537,11444,0.00,2.42,0.00,0.000,6,0.000,0.050,2026,2661,2221,0,0,0,0,0,0
$GC,11753,0.60,146.1,923.3,19.2,548,11757,0.00,2.22,0.00,0.000,4,0.000,0.043,2036,1287,2217,0,0,0,0,0,0
$GC,11839,0.60,146.1,908.6,15.6,550,11843,0.00,2.25,0.00,0.000,6,0.000,0.052,2036,2673,2214,0,0,0,0,0,0
$GC,12157,0.60,146.1,850.0,19.0,560,12161,0.00,2.20,0.00,0.000,4,0.000,0.044,2046,1282,2214,0,0,0,0,0,0
$GC,12204,0.60,146.1,840.5,17.2,561,12208,0.00,2.22,0.00,0.000,6,0.000,0.051,2046,2672,2212,0,0,0,0,0,0
$GC,12524,0.60,146.1,776.1,20.2,572,12528,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1285,2212,0,0,0,0,0,0
$GC,12582,0.60,146.1,764.6,18.1,573,12589,0.12,2.22,0.00,0.000,6,0.213,0.051,2029,2671,2211,0,0,0,0,0,0
$GC,12897,0.60,146.1,703.8,19.4,584,12901,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1284,2211,0,0,0,0,0,0
$GC,12962,0.60,146.1,691.9,17.0,586,12966,0.00,2.22,0.00,0.000,6,0.000,0.053,2038,2674,2211,0,0,0,0,0,0
$GC,13308,0.60,146.1,624.5,19.9,597,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2674,2210,0,0,0,0,0,0
$GC,13614,0.60,146.1,564.2,19.7,607,13618,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1279,2211,0,0,0,0,0,0
$GC,13683,0.60,146.1,551.1,16.9,609,13687,0.00,2.25,0.00,0.000,6,0.000,0.052,2048,2670,2210,0,0,0,0,0,0
$GC,14015,0.60,146.1,487.2,19.2,620,14019,0.00,2.17,0.00,0.000,4,0.000,0.043,2058,1287,2210,0,0,0,0,0,0
$GC,14084,0.60,146.1,474.6,16.7,622,14088,0.12,2.22,0.00,0.000,6,0.207,0.052,2030,2676,2209,0,0,0,0,0,0
$GC,14424,0.60,146.1,417.2,16.9,633,14428,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1287,2209,0,0,0,0,0,0
$GC,14470,0.60,146.1,409.1,15.4,634,14474,0.00,2.25,0.00,0.000,6,0.000,0.052,2039,2678,2209,0,0,0,0,0,0
$GC,14795,0.60,146.1,352.4,18.1,649,14799,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1288,2209,0,0,0,0,0,0
$GC,14863,0.60,146.1,341.0,16.3,652,14867,0.00,2.22,0.00,0.000,6,0.000,0.052,2049,2678,2209,0,0,0,0,0,0
$GC,15192,0.60,146.1,279.7,18.7,668,15196,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1278,2209,0,0,0,0,0,0
$GC,15250,0.60,146.1,269.5,16.3,670,15255,0.12,2.25,0.00,0.000,6,0.203,0.052,2030,2670,2209,0,0,0,0,0,0
$GC,15571,0.60,146.1,216.8,16.0,688,15575,0.00,2.17,0.00,0.000,4,0.000,0.043,2040,1288,2208,0,0,0,0,0,0
$GC,15602,0.60,146.1,211.6,14.9,690,15607,0.00,2.25,0.00,0.000,6,0.000,0.052,2040,2680,2209,0,0,0,0,0,0
$GC,15932,0.60,146.1,156.0,16.6,711,15936,0.00,2.17,0.00,0.000,4,0.000,0.043,2050,1288,2209,0,0,0,0,0,0
$GC,15989,0.60,146.1,146.4,14.7,714,15999,0.00,2.25,0.00,0.000,6,0.000,0.053,2049,2664,2209,0,0,0,0,0,0
$GC,16312,0.60,146.1,96.5,15.0,737,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2664,2209,0,0,0,0,0,0
$GC,16672,0.60,146.1,42.6,15.4,798,16682,0.00,2.00,0.00,0.000,4,0.000,0.060,2050,3897,2209,0,0,0,0,0,0
$GC,16790,0.60,146.1,22.5,17.7,816,16800,0.10,1.90,0.00,0.000,6,0.218,0.037,2033,2676,2209,0,0,0,0,0,0
$GC,16880,0.60,146.1,9.6,12.8,829,16889,0.00,2.22,0.00,0.000,4,0.000,0.045,2043,1279,2208,0,0,0,0,0,0
$GC,16926,0.60,146.1,3.3,13.9,835,16935,0.00,2.30,0.00,0.000,6,0.000,0.054,2042,2676,2207,0,0,0,0,0,0
$STATE,16944,end climb,SURFACE_DEPTH_REACHED
$STATE,16944,begin surface coast
$FINISH,0.7,1.015562
$STATE,16970,end surface coast,CONTROL_FINISHED_OK
$STATE,16970,begin surface
$SM_CCo,16994,43.83,0.760,1,0,1878,230.09
$SM_GC,2.14,0.00,0.00,43.83,0.000,0.000,0.760,49,2879,1878,-5.57,0.54,230.09
$IRIDIUM_FIX,-4626.10,436.69,210213,181814
$TT8_MAMPS,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.0,79.276
$10V_AH,9.9,42.929
$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,14.325,108.300,318.975,43.825,0.000,37.094,24.771,509.975,0.000,0.000,22.329,2121.576,11710.949,513.151,2700.215,811.431,33.398,1418.721,0.000,2113.931,0.000,1.009,0.000
$DEVICE_MAMPS,255.510,81.855,1827.585,759.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.054,1642.239,861.212,348.625,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354124
$DATA_FILE_SIZE,60612,841
$CAP_FILE_SIZE,134341,0
$CFSIZE,259252224,201801728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,220213,044004,-4648.962,435.692,27,0.9,28,-23.5