version: 66.07
glider: 542
mission: 6
dive: 431
start: 2 22 113 4 54 14
data:
$ID,542
$MISSION,6
$DIVE,431
$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,-11814.926
$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,49
$R_STBD_OVSHOOT,33
$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
$GPS1,220213,044004,-4648.962,435.692,27,0.9,28,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-63.3
$GPS2,220213,045317,-4648.789,435.781,17,1.2,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.047,-0.251
$KALMAN_X,-233944.8,145.8,-54.6,257660.2,-655.0
$KALMAN_Y,367686.6,-314.2,-137.4,-362618.0,3986.9
$MHEAD_RNG_PITCHd_Wd,192.9,21435,-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,-62.97,0.000,2,0.000,0.000,48,2881,3084,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.6,8,125,6.88,1.67,-9.07,0.000,4,0.253,0.076,1622,3897,3419,0,0,0,0,0,0
$GC,339,-0.60,-146.1,35.8,-12.2,45,347,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2848,3420,0,0,0,0,0,0
$GC,585,-0.60,-146.1,67.4,-12.8,86,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2848,3420,0,0,0,0,0,0
$GC,935,-0.60,-146.1,107.6,-11.6,139,936,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2848,3421,0,0,0,0,0,0
$GC,1248,-0.60,-146.1,145.4,-11.9,159,1252,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3887,3422,0,0,0,0,0,0
$GC,1295,-0.60,-146.1,152.0,-13.2,161,1301,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2856,3423,0,0,0,0,0,0
$GC,1618,-0.60,-146.1,191.8,-12.0,182,1621,0.00,1.67,0.00,0.000,4,0.000,0.061,1606,3895,3422,0,0,0,0,0,0
$GC,1674,-0.60,-146.1,198.9,-13.5,185,1678,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2867,3423,0,0,0,0,0,0
$GC,2008,-0.60,-146.1,239.5,-12.3,206,2012,0.00,1.65,0.00,0.000,4,0.000,0.061,1598,3889,3422,0,0,0,0,0,0
$GC,2079,-0.60,-146.1,249.1,-13.5,210,2083,0.08,1.55,0.00,0.000,6,0.155,0.032,1637,2858,3423,0,0,0,0,0,0
$GC,2409,-0.60,-146.1,281.7,-9.5,226,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,2721,-0.60,-146.1,310.7,-9.3,241,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,3028,-0.60,-146.1,339.0,-9.0,256,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,3339,-0.60,-146.1,366.8,-9.0,271,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,3646,-0.60,-146.1,394.8,-9.0,286,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,3954,-0.60,-146.1,423.3,-9.2,297,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3422,0,0,0,0,0,0
$GC,4259,-0.60,-146.1,449.8,-8.4,307,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,4566,-0.60,-146.1,474.3,-7.9,317,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3422,0,0,0,0,0,0
$GC,4873,-0.60,-146.1,497.7,-7.6,327,4876,0.00,1.70,0.00,0.000,4,0.000,0.063,1631,3896,3422,0,0,0,0,0,0
$GC,4909,-0.60,-146.1,500.8,-8.4,328,4913,0.00,1.58,0.00,0.000,6,0.000,0.033,1631,2866,3422,0,0,0,0,0,0
$GC,5253,-0.60,-146.1,529.6,-8.4,339,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3422,0,0,0,0,0,0
$GC,5561,-0.60,-146.1,555.8,-8.5,349,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2862,3422,0,0,0,0,0,0
$GC,5865,-0.60,-146.1,581.7,-8.5,359,5869,0.00,1.67,0.00,0.000,4,0.000,0.063,1623,3892,3422,0,0,0,0,0,0
$GC,5916,-0.60,-146.1,586.7,-9.6,360,5920,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2856,3421,0,0,0,0,0,0
$GC,6243,-0.60,-146.1,617.0,-9.3,371,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2852,3422,0,0,0,0,0,0
$GC,6549,-0.60,-146.1,644.6,-8.6,381,6553,0.00,1.70,0.00,0.000,4,0.000,0.063,1615,3897,3421,0,0,0,0,0,0
$GC,6595,-0.60,-146.1,649.0,-9.3,382,6599,0.00,1.58,0.00,0.000,6,0.000,0.033,1615,2863,3421,0,0,0,0,0,0
$GC,6928,-0.60,-146.1,677.3,-8.3,393,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2859,3421,0,0,0,0,0,0
$GC,7235,-0.60,-146.1,702.0,-7.9,403,7239,0.00,1.67,0.00,0.000,4,0.000,0.063,1608,3890,3421,0,0,0,0,0,0
$GC,7276,-0.60,-146.1,705.7,-9.1,404,7279,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2855,3421,0,0,0,0,0,0
$GC,7614,-0.60,-146.1,733.8,-8.5,415,7617,0.00,1.67,0.00,0.000,4,0.000,0.062,1600,3888,3421,0,0,0,0,0,0
$GC,7659,-0.60,-146.1,738.6,-10.3,416,7663,0.08,1.58,0.00,0.000,6,0.154,0.032,1634,2852,3421,0,0,0,0,0,0
$GC,7992,-0.60,-146.1,763.6,-7.7,427,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3421,0,0,0,0,0,0
$GC,8300,-0.60,-146.1,788.2,-8.1,437,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3420,0,0,0,0,0,0
$GC,8604,-0.60,-146.1,812.9,-8.0,447,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3421,0,0,0,0,0,0
$GC,8912,-0.60,-146.1,838.2,-8.1,457,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3421,0,0,0,0,0,0
$GC,9217,-0.60,-146.1,862.0,-7.7,467,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3421,0,0,0,0,0,0
$GC,9523,-0.60,-146.1,885.1,-7.6,477,9527,0.00,1.70,0.00,0.000,4,0.000,0.063,1627,3892,3421,0,0,0,0,0,0
$GC,9560,-0.60,-146.1,888.0,-7.9,478,9564,0.00,1.58,0.00,0.000,6,0.000,0.033,1627,2863,3420,0,0,0,0,0,0
$GC,9904,-0.60,-146.1,916.1,-8.0,489,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3420,0,0,0,0,0,0
$GC,10211,-0.60,-146.1,940.6,-8.0,499,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3420,0,0,0,0,0,0
$GC,10518,-0.60,-146.1,965.4,-8.2,509,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3420,0,0,0,0,0,0
$GC,10823,-0.60,-146.1,988.7,-7.4,519,10826,0.00,1.67,0.00,0.000,4,0.000,0.064,1619,3889,3420,0,0,0,0,0,0
$GC,10886,-0.60,-146.1,993.8,-7.8,520,10893,0.00,1.58,0.00,0.000,6,0.000,0.033,1619,2850,3420,0,0,0,0,0,0
$STATE,10982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10982,begin apogee
$GC,10993,-0.18,0.0,1001.2,7.5,524,11144,0.50,0.00,148.32,1.239,6,0.144,0.000,1771,2673,2820,0,0,0,0,0,0
$STATE,11146,end apogee,CONTROL_FINISHED_OK
$STATE,11146,begin climb
$GC,11152,0.60,146.1,1005.8,0.0,529,11334,0.77,2.55,163.65,1.762,4,0.084,0.042,2031,1283,2225,0,0,0,0,2,0
$GC,11365,0.60,146.1,977.7,18.1,536,11369,0.00,2.47,0.00,0.000,6,0.000,0.050,2031,2664,2223,0,0,0,0,0,0
$GC,11686,0.60,146.1,912.0,20.9,547,11690,0.00,2.25,0.00,0.000,4,0.000,0.044,2041,1280,2219,0,0,0,0,0,0
$GC,11738,0.60,146.1,901.4,18.4,548,11742,0.00,2.30,0.00,0.000,6,0.000,0.051,2041,2675,2217,0,0,0,0,0,0
$GC,12053,0.60,146.1,834.5,21.6,558,12057,0.00,2.20,0.00,0.000,4,0.000,0.044,2052,1278,2217,0,0,0,0,0,0
$GC,12111,0.60,146.1,822.7,18.5,559,12119,0.00,2.28,0.00,0.000,6,0.000,0.052,2052,2680,2215,0,0,0,0,0,0
$GC,12427,0.60,146.1,755.0,21.7,570,12431,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1280,2215,0,0,0,0,0,0
$GC,12467,0.60,146.1,746.2,20.2,571,12472,0.15,2.22,0.00,0.000,6,0.211,0.052,2027,2668,2214,0,0,0,0,0,0
$GC,12795,0.60,146.1,683.0,19.5,582,12799,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1277,2213,0,0,0,0,0,0
$GC,12847,0.60,146.1,673.1,16.8,583,12851,0.00,2.25,0.00,0.000,6,0.000,0.053,2037,2676,2213,0,0,0,0,0,0
$GC,13168,0.60,146.1,611.4,19.2,594,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2677,2213,0,0,0,0,0,0
$GC,13474,0.60,146.1,554.3,18.5,604,13478,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1284,2213,0,0,0,0,0,0
$GC,13508,0.60,146.1,547.8,16.8,605,13512,0.00,2.22,0.00,0.000,6,0.000,0.051,2047,2676,2212,0,0,0,0,0,0
$GC,13840,0.60,146.1,487.1,18.4,616,13844,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1283,2212,0,0,0,0,0,0
$GC,13887,0.60,146.1,478.7,15.9,617,13892,0.12,2.25,0.00,0.000,6,0.207,0.051,2029,2676,2212,0,0,0,0,0,0
$GC,14209,0.60,146.1,425.8,16.4,628,14212,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1285,2212,0,0,0,0,0,0
$GC,14250,0.60,146.1,419.3,14.0,629,14254,0.00,2.25,0.00,0.000,6,0.000,0.051,2038,2679,2212,0,0,0,0,0,0
$GC,14580,0.60,146.1,365.7,15.9,643,14584,0.00,2.22,0.00,0.000,4,0.000,0.043,2048,1272,2212,0,0,0,0,0,0
$GC,14615,0.60,146.1,359.7,14.9,644,14624,0.00,2.28,0.00,0.000,6,0.000,0.051,2049,2665,2212,0,0,0,0,0,0
$GC,14934,0.60,146.1,304.7,18.0,660,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2665,2212,0,0,0,0,0,0
$GC,15245,0.60,146.1,249.8,17.6,675,15249,0.00,2.17,0.00,0.000,4,0.000,0.043,2058,1284,2212,0,0,0,0,0,0
$GC,15326,0.60,146.1,235.7,16.1,679,15333,0.12,2.22,0.00,0.000,6,0.201,0.050,2030,2673,2212,0,0,0,0,0,0
$GC,15653,0.60,146.1,187.2,14.4,700,15661,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2673,2211,0,0,0,0,0,0
$GC,15977,0.60,146.1,136.8,15.1,721,15981,0.00,2.17,0.00,0.000,4,0.000,0.042,2039,1284,2211,0,0,0,0,0,0
$GC,16017,0.60,146.1,131.2,14.2,723,16021,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2678,2211,0,0,0,0,0,0
$GC,16353,0.60,146.1,81.3,15.7,757,16358,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1284,2211,0,0,0,0,0,0
$GC,16522,0.60,146.1,58.4,13.4,786,16531,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2664,2211,0,0,0,0,0,0
$GC,16778,0.60,146.1,20.7,16.3,827,16787,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2664,2211,0,0,0,0,0,0
$GC,16866,0.60,146.1,7.0,14.5,840,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2664,2211,0,0,0,0,0,0
$STATE,16888,end climb,SURFACE_DEPTH_REACHED
$STATE,16888,begin surface coast
$FINISH,0.9,1.006785
$STATE,16914,end surface coast,CONTROL_FINISHED_OK
$STATE,16914,begin surface
$SM_CCo,16936,43.58,0.776,1,0,1879,230.09
$SM_GC,1.86,0.00,0.00,43.58,0.000,0.000,0.776,60,2885,1879,-5.53,0.71,230.09
$IRIDIUM_FIX,-4632.36,433.81,210213,232354
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.0,79.450
$10V_AH,9.9,43.045
$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,13.925,90.350,311.975,43.575,0.000,24.877,22.110,489.789,0.000,0.000,19.948,2101.014,11777.771,498.633,2583.389,803.424,33.399,1347.635,0.000,2034.469,0.000,1.008,0.000
$DEVICE_MAMPS,253.215,75.735,1761.795,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.342,1657.631,877.510,343.485,0.000,0.000,0.000,0.000,0.000,0.000
$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,60261,847
$CAP_FILE_SIZE,127491,0
$CFSIZE,259252224,201736192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,220213,093834,-4650.389,436.087,25,1.1,26,-23.5