version: 66.07
glider: 542
mission: 6
dive: 433
start: 2 22 113 14 52 57
data:
$ID,542
$MISSION,6
$DIVE,433
$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,-11821.355
$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,56
$R_STBD_OVSHOOT,35
$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
$GPS1,220213,143852,-4652.276,436.253,38,0.8,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.3
$GPS2,220213,145200,-4652.314,436.499,15,2.0,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,-0.242
$KALMAN_X,-235487.3,-10.1,117.8,260100.5,-1424.3
$KALMAN_Y,371802.2,-397.9,-357.2,-372954.9,4177.9
$MHEAD_RNG_PITCHd_Wd,185.0,14905,-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,-146.1,0.0,0.0,0,93,0.00,0.00,-63.08,0.000,2,0.000,0.000,54,2880,3089,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-2.8,8,126,6.70,1.67,-9.10,0.000,4,0.246,0.080,1621,3890,3418,0,0,0,0,0,0
$GC,304,-0.60,-146.1,32.3,-13.8,39,311,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2848,3420,0,0,0,0,0,0
$GC,551,-0.60,-146.1,65.5,-13.0,80,558,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3888,3420,0,0,0,0,0,0
$GC,589,-0.60,-146.1,69.7,-12.9,85,594,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2860,3420,0,0,0,0,0,0
$GC,938,-0.60,-146.1,116.7,-12.9,132,942,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3897,3420,0,0,0,0,0,0
$GC,1055,-0.60,-146.1,133.3,-14.2,138,1064,0.00,1.58,0.00,0.000,6,0.000,0.030,1605,2851,3422,0,0,0,0,0,0
$GC,1379,-0.60,-146.1,175.1,-12.9,159,1383,0.10,1.70,0.00,0.000,4,0.186,0.059,1623,3883,3422,0,0,0,0,0,0
$GC,1438,-0.60,-146.1,182.7,-11.7,162,1441,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2852,3422,0,0,0,0,0,0
$GC,1766,-0.60,-146.1,218.6,-11.1,183,1770,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3888,3422,0,0,0,0,0,0
$GC,1812,-0.60,-146.1,224.5,-12.0,185,1819,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2856,3422,0,0,0,0,0,0
$GC,2140,-0.60,-146.1,260.7,-11.3,205,2144,0.00,1.67,0.00,0.000,4,0.000,0.059,1607,3882,3422,0,0,0,0,0,0
$GC,2190,-0.60,-146.1,266.6,-12.9,207,2194,0.00,1.52,0.00,0.000,6,0.000,0.031,1607,2867,3422,0,0,0,0,0,0
$GC,2527,-0.60,-146.1,305.7,-11.5,223,2531,0.00,1.65,0.00,0.000,4,0.000,0.060,1599,3887,3422,0,0,0,0,0,0
$GC,2568,-0.60,-146.1,311.0,-11.9,224,2577,0.10,1.55,0.00,0.000,6,0.155,0.031,1631,2858,3422,0,0,0,0,0,0
$GC,2886,-0.60,-146.1,339.7,-8.8,240,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2857,3422,0,0,0,0,0,0
$GC,3198,-0.60,-146.1,368.0,-9.4,255,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2858,3422,0,0,0,0,0,0
$GC,3505,-0.60,-146.1,397.0,-9.3,270,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2857,3422,0,0,0,0,0,0
$GC,3822,-0.60,-146.1,426.3,-9.2,281,3825,0.00,1.67,0.00,0.000,4,0.000,0.062,1624,3891,3422,0,0,0,0,0,0
$GC,3874,-0.60,-146.1,431.8,-10.3,282,3877,0.00,1.58,0.00,0.000,6,0.000,0.032,1624,2852,3422,0,0,0,0,0,0
$GC,4200,-0.60,-146.1,462.7,-9.4,293,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2847,3422,0,0,0,0,0,0
$GC,4507,-0.60,-146.1,492.0,-9.7,303,4511,0.00,1.70,0.00,0.000,4,0.000,0.061,1616,3896,3422,0,0,0,0,0,0
$GC,4565,-0.60,-146.1,498.4,-11.2,304,4568,0.00,1.58,0.00,0.000,6,0.000,0.031,1616,2856,3422,0,0,0,0,0,0
$GC,4885,-0.60,-146.1,532.1,-10.5,315,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2851,3421,0,0,0,0,0,0
$GC,5193,-0.60,-146.1,562.1,-9.6,325,5197,0.00,1.67,0.00,0.000,4,0.000,0.062,1608,3886,3421,0,0,0,0,0,0
$GC,5256,-0.60,-146.1,569.0,-10.8,326,5263,0.00,1.55,0.00,0.000,6,0.000,0.032,1608,2862,3421,0,0,0,0,0,0
$GC,5572,-0.60,-146.1,599.5,-9.4,337,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2861,3421,0,0,0,0,0,0
$GC,5878,-0.60,-146.1,627.5,-8.9,347,5882,0.00,1.67,0.00,0.000,4,0.000,0.061,1601,3882,3421,0,0,0,0,0,0
$GC,5918,-0.60,-146.1,631.5,-10.2,348,5923,0.08,1.55,0.00,0.000,6,0.153,0.031,1625,2863,3421,0,0,0,0,0,0
$GC,6259,-0.60,-146.1,655.3,-6.8,359,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2858,3421,0,0,0,0,0,0
$GC,6563,-0.60,-146.1,676.7,-7.0,369,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2858,3421,0,0,0,0,0,0
$GC,6870,-0.60,-146.1,699.5,-7.5,379,6873,0.00,1.65,0.00,0.000,4,0.000,0.061,1619,3892,3420,0,0,0,0,0,0
$GC,6916,-0.60,-146.1,703.6,-8.7,380,6920,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2855,3420,0,0,0,0,0,0
$GC,7248,-0.60,-146.1,730.9,-8.4,391,7251,0.00,1.67,0.00,0.000,4,0.000,0.061,1610,3887,3420,0,0,0,0,0,0
$GC,7300,-0.60,-146.1,735.9,-9.1,392,7304,0.00,1.55,0.00,0.000,6,0.000,0.033,1611,2866,3420,0,0,0,0,0,0
$GC,7627,-0.60,-146.1,765.6,-9.2,403,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2861,3420,0,0,0,0,0,0
$GC,7933,-0.60,-146.1,793.8,-9.1,413,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2861,3419,0,0,0,0,0,0
$GC,8240,-0.60,-146.1,820.5,-8.5,423,8244,0.00,1.73,0.00,0.000,4,0.000,0.063,1603,3892,3419,0,0,0,0,0,0
$GC,8297,-0.60,-146.1,826.4,-10.4,424,8301,0.08,1.58,0.00,0.000,6,0.150,0.032,1636,2858,3418,0,0,0,0,0,0
$GC,8620,-0.60,-146.1,847.2,-6.3,435,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3419,0,0,0,0,0,0
$GC,8925,-0.60,-146.1,865.2,-5.6,445,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3419,0,0,0,0,0,0
$GC,9231,-0.60,-146.1,880.8,-4.9,455,9235,0.00,1.67,0.00,0.000,4,0.000,0.062,1630,3895,3419,0,0,0,0,0,0
$GC,9272,-0.60,-146.1,883.1,-6.0,456,9275,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2860,3418,0,0,0,0,0,0
$GC,9610,-0.60,-146.1,901.9,-5.6,467,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3418,0,0,0,0,0,0
$GC,9916,-0.60,-146.1,920.4,-6.1,477,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3419,0,0,0,0,0,0
$GC,10222,-0.60,-146.1,939.3,-6.2,487,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3418,0,0,0,0,0,0
$GC,10531,-0.60,-146.1,960.5,-7.1,497,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3418,0,0,0,0,0,0
$GC,10835,-0.60,-146.1,983.9,-7.9,507,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3417,0,0,0,0,0,0
$STATE,11046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11046,begin apogee
$GC,11057,-0.18,0.0,1000.5,8.0,514,11217,0.45,0.00,151.62,1.829,6,0.142,0.000,1766,2676,2820,0,0,0,0,1,0
$STATE,11218,end apogee,CONTROL_FINISHED_OK
$STATE,11219,begin climb
$GC,11224,0.60,146.1,1007.1,0.0,519,11416,0.80,2.55,168.90,1.756,4,0.083,0.042,2032,1282,2225,0,0,0,0,3,0
$GC,11470,0.60,146.1,977.7,16.5,526,11475,0.00,2.40,0.00,0.000,6,0.000,0.048,2033,2655,2222,0,0,0,0,0,0
$GC,11786,0.60,146.1,915.1,20.4,536,11790,0.00,2.22,0.00,0.000,4,0.000,0.043,2042,1280,2218,0,0,0,0,0,0
$GC,11849,0.60,146.1,903.0,17.5,537,11856,0.00,2.28,0.00,0.000,6,0.000,0.050,2042,2676,2215,0,0,0,0,0,0
$GC,12164,0.60,146.1,837.8,21.1,548,12168,0.00,2.22,0.00,0.000,4,0.000,0.044,2053,1280,2215,0,0,0,0,0,0
$GC,12229,0.60,146.1,825.2,18.4,550,12233,0.00,2.25,0.00,0.000,6,0.000,0.050,2052,2674,2214,0,0,0,0,0,0
$GC,12569,0.60,146.1,753.6,21.3,561,12573,0.00,2.20,0.00,0.000,4,0.000,0.043,2063,1285,2214,0,0,0,0,0,0
$GC,12632,0.60,146.1,740.3,19.5,562,12639,0.15,2.22,0.00,0.000,6,0.206,0.050,2028,2673,2213,0,0,0,0,0,0
$GC,12947,0.60,146.1,679.4,19.5,573,12951,0.00,2.17,0.00,0.000,4,0.000,0.043,2037,1285,2213,0,0,0,0,0,0
$GC,12987,0.60,146.1,671.8,16.7,574,12991,0.00,2.20,0.00,0.000,6,0.000,0.050,2037,2671,2213,0,0,0,0,0,0
$GC,13314,0.60,146.1,608.8,19.2,585,13318,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1282,2213,0,0,0,0,0,0
$GC,13345,0.60,146.1,603.0,17.9,586,13349,0.00,2.22,0.00,0.000,6,0.000,0.050,2047,2679,2212,0,0,0,0,0,0
$GC,13683,0.60,146.1,535.2,20.4,597,13687,0.00,2.20,0.00,0.000,4,0.000,0.043,2058,1274,2212,0,0,0,0,0,0
$GC,13729,0.60,146.1,526.1,17.9,598,13734,0.12,2.22,0.00,0.000,6,0.200,0.050,2029,2670,2212,0,0,0,0,0,0
$GC,14051,0.60,146.1,466.5,19.0,609,14055,0.00,2.20,0.00,0.000,4,0.000,0.045,2038,1278,2212,0,0,0,0,0,0
$GC,14118,0.60,146.1,455.0,16.4,611,14122,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2676,2211,0,0,0,0,0,0
$GC,14445,0.60,146.1,392.8,19.3,622,14449,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1274,2211,0,0,0,0,0,0
$GC,14504,0.60,146.1,381.9,17.4,624,14512,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2670,2211,0,0,0,0,0,0
$GC,14822,0.60,146.1,319.7,19.7,640,14826,0.00,2.17,0.00,0.000,4,0.000,0.043,2058,1280,2211,0,0,0,0,0,0
$GC,14874,0.60,146.1,309.8,16.7,642,14879,0.12,2.25,0.00,0.000,6,0.200,0.050,2029,2679,2211,0,0,0,0,0,0
$GC,15199,0.60,146.1,253.1,17.6,658,15203,0.00,2.20,0.00,0.000,4,0.000,0.043,2038,1285,2210,0,0,0,0,0,0
$GC,15264,0.60,146.1,242.5,15.4,662,15269,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2668,2210,0,0,0,0,0,0
$GC,15598,0.60,146.1,186.2,17.2,683,15602,0.00,2.20,0.00,0.000,4,0.000,0.042,2049,1275,2210,0,0,0,0,0,0
$GC,15673,0.60,146.1,173.0,14.9,687,15680,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2676,2210,0,0,0,0,0,0
$GC,15996,0.60,146.1,120.3,15.5,708,15997,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2677,2210,0,0,0,0,0,0
$GC,16324,0.60,146.1,74.1,13.2,750,16332,0.00,1.98,0.00,0.000,4,0.000,0.059,2048,3896,2210,0,0,0,0,0,0
$GC,16431,0.60,146.1,57.2,17.1,767,16439,0.12,1.85,0.00,0.000,6,0.223,0.037,2030,2688,2210,0,0,0,0,0,0
$GC,16685,0.60,146.1,22.2,16.1,808,16694,0.00,2.22,0.00,0.000,4,0.000,0.040,2040,1272,2209,0,0,0,0,0,0
$GC,16756,0.66,192.4,15.1,7.4,818,16797,0.00,2.28,31.20,0.728,6,0.000,0.051,2040,2667,2032,0,0,0,0,1,0
$STATE,16837,end climb,SURFACE_DEPTH_REACHED
$STATE,16837,begin surface coast
$FINISH,0.8,1.012000
$STATE,16863,end surface coast,CONTROL_FINISHED_OK
$STATE,16863,begin surface
$SM_CCo,16885,24.52,0.682,1,0,1881,230.09
$SM_GC,1.63,0.00,0.00,24.52,0.000,0.000,0.682,55,2875,1881,-5.55,0.42,230.09
$IRIDIUM_FIX,-4632.36,434.06,220213,090914
$TT8_MAMPS,0.026964
$HUMID,58.11
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.0,79.827
$10V_AH,9.9,43.278
$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,14.250,111.275,351.725,24.525,0.000,27.196,25.786,481.175,0.000,0.000,18.346,2087.536,11629.215,482.685,2665.684,823.669,33.397,1428.141,0.000,2119.223,0.000,1.008,0.000
$DEVICE_MAMPS,245.565,80.325,1829.115,681.615,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.965,1629.459,854.513,337.819,0.000,0.000,0.000,0.000,0.000,0.000
$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,60575,832
$CAP_FILE_SIZE,135755,0
$CFSIZE,259252224,201592832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1
$GPS,220213,193621,-4654.039,437.133,25,1.4,41,-23.5