version: 66.07
glider: 542
mission: 6
dive: 434
start: 2 22 113 19 50 29
data:
$ID,542
$MISSION,6
$DIVE,434
$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,-11824.495
$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,40
$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
$GPS1,220213,193621,-4654.039,437.133,25,1.4,41,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-57.4
$GPS2,220213,194932,-4653.894,437.305,21,1.5,22,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.059,-0.249
$KALMAN_X,-235970.0,-87.2,8.0,261789.4,-748.1
$KALMAN_Y,373632.4,-398.6,-74.0,-377998.5,3589.1
$MHEAD_RNG_PITCHd_Wd,190.1,11809,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-46.90,0.000,2,0.000,0.000,54,2877,2751,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.0,-3.0,6,124,6.78,1.70,-23.45,0.000,4,0.249,0.080,1623,3886,3417,0,0,0,0,0,0
$GC,185,-0.60,-146.1,12.6,-12.2,20,194,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2835,3419,0,0,0,0,0,0
$GC,273,-0.60,-146.1,21.1,-9.4,33,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2835,3419,0,0,0,0,0,0
$GC,359,-0.60,-146.1,33.9,-17.5,46,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2835,3419,0,0,0,0,0,0
$GC,608,-0.60,-146.1,68.8,-13.5,87,615,0.00,1.73,0.00,0.000,4,0.000,0.057,1614,3892,3419,0,0,0,0,0,0
$GC,654,-0.60,-146.1,75.3,-13.6,94,661,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2874,3420,0,0,0,0,0,0
$GC,1009,-0.60,-146.1,119.6,-11.5,137,1013,0.00,1.65,0.00,0.000,4,0.000,0.058,1607,3889,3420,0,0,0,0,0,0
$GC,1050,-0.60,-146.1,125.3,-12.8,139,1054,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2849,3420,0,0,0,0,0,0
$GC,1378,-0.60,-146.1,165.4,-12.1,160,1382,0.00,1.67,0.00,0.000,4,0.000,0.057,1598,3893,3420,0,0,0,0,0,0
$GC,1442,-0.60,-146.1,174.1,-12.5,163,1450,0.10,1.58,0.00,0.000,6,0.153,0.031,1630,2851,3421,0,0,0,0,0,0
$GC,1769,-0.60,-146.1,205.5,-9.2,184,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2851,3421,0,0,0,0,0,0
$GC,2094,-0.60,-146.1,234.7,-8.9,205,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2851,3421,0,0,0,0,0,0
$GC,2404,-0.60,-146.1,261.2,-8.4,223,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2850,3421,0,0,0,0,0,0
$GC,2712,-0.60,-146.1,287.8,-8.8,238,2715,0.00,1.65,0.00,0.000,4,0.000,0.060,1624,3890,3421,0,0,0,0,0,0
$GC,2748,-0.60,-146.1,291.5,-10.0,239,2752,0.00,1.55,0.00,0.000,6,0.000,0.032,1624,2871,3421,0,0,0,0,0,0
$GC,3074,-0.60,-146.1,323.6,-10.1,255,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2866,3421,0,0,0,0,0,0
$GC,3381,-0.60,-146.1,354.9,-10.2,270,3385,0.00,1.62,0.00,0.000,4,0.000,0.060,1616,3890,3421,0,0,0,0,0,0
$GC,3416,-0.60,-146.1,359.0,-11.3,271,3420,0.00,1.58,0.00,0.000,6,0.000,0.032,1616,2857,3421,0,0,0,0,0,0
$GC,3742,-0.60,-146.1,393.3,-10.1,287,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2852,3420,0,0,0,0,0,0
$GC,4068,-0.60,-146.1,425.6,-9.6,299,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2852,3420,0,0,0,0,0,0
$GC,4375,-0.60,-146.1,453.1,-9.2,309,4379,0.00,1.67,0.00,0.000,4,0.000,0.060,1608,3892,3421,0,0,0,0,0,0
$GC,4438,-0.60,-146.1,459.9,-10.5,310,4444,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2856,3420,0,0,0,0,0,0
$GC,4753,-0.60,-146.1,491.1,-10.0,321,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2855,3420,0,0,0,0,0,0
$GC,5059,-0.60,-146.1,521.3,-9.9,331,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2855,3419,0,0,0,0,0,0
$GC,5365,-0.60,-146.1,552.3,-10.0,341,5369,0.00,1.67,0.00,0.000,4,0.000,0.061,1601,3892,3419,0,0,0,0,0,0
$GC,5428,-0.60,-146.1,559.7,-11.3,342,5435,0.08,1.58,0.00,0.000,6,0.151,0.033,1625,2858,3420,0,0,0,0,0,0
$GC,5744,-0.60,-146.1,587.3,-8.7,353,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2857,3419,0,0,0,0,0,0
$GC,6050,-0.60,-146.1,613.6,-8.6,363,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2858,3419,0,0,0,0,0,0
$GC,6356,-0.60,-146.1,640.1,-8.7,373,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2857,3419,0,0,0,0,0,0
$GC,6663,-0.60,-146.1,666.4,-8.5,383,6666,0.00,1.70,0.00,0.000,4,0.000,0.063,1618,3887,3419,0,0,0,0,0,0
$GC,6715,-0.60,-146.1,671.5,-10.0,384,6718,0.00,1.58,0.00,0.000,6,0.000,0.034,1618,2863,3419,0,0,0,0,0,0
$GC,7043,-0.60,-146.1,700.0,-8.6,395,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3418,0,0,0,0,0,0
$GC,7348,-0.60,-146.1,725.2,-8.1,405,7351,0.00,1.67,0.00,0.000,4,0.000,0.062,1610,3891,3418,0,0,0,0,0,0
$GC,7394,-0.60,-146.1,729.5,-9.4,406,7397,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2862,3418,0,0,0,0,0,0
$GC,7726,-0.60,-146.1,756.6,-8.3,417,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2856,3418,0,0,0,0,0,0
$GC,8034,-0.60,-146.1,781.9,-8.2,427,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2856,3418,0,0,0,0,0,0
$GC,8338,-0.60,-146.1,807.6,-8.6,437,8342,0.00,1.67,0.00,0.000,4,0.000,0.062,1603,3892,3418,0,0,0,0,0,0
$GC,8390,-0.60,-146.1,812.7,-9.6,438,8394,0.08,1.58,0.00,0.000,6,0.150,0.033,1627,2862,3417,0,0,0,0,0,0
$GC,8717,-0.60,-146.1,837.5,-7.7,449,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2857,3417,0,0,0,0,0,0
$GC,9025,-0.60,-146.1,860.2,-7.2,459,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2857,3417,0,0,0,0,0,0
$GC,9329,-0.60,-146.1,880.9,-6.6,469,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2857,3417,0,0,0,0,0,0
$GC,9636,-0.60,-146.1,900.4,-6.4,479,9640,0.00,1.65,0.00,0.000,4,0.000,0.063,1621,3888,3417,0,0,0,0,0,0
$GC,9673,-0.60,-146.1,903.1,-6.8,480,9677,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2860,3417,0,0,0,0,0,0
$GC,10016,-0.60,-146.1,927.1,-7.1,491,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2855,3417,0,0,0,0,0,0
$GC,10325,-0.60,-146.1,949.9,-7.6,501,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2855,3416,0,0,0,0,0,0
$GC,10629,-0.60,-146.1,973.6,-7.9,511,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2855,3416,0,0,0,0,0,0
$GC,10935,-0.60,-146.1,996.6,-7.4,521,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2855,3416,0,0,0,0,0,0
$STATE,10991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10991,begin apogee
$GC,11003,-0.18,0.0,1001.1,7.3,523,11162,0.47,0.00,151.10,1.833,6,0.145,0.000,1764,2667,2820,0,0,0,0,1,0
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11169,0.60,146.1,1006.1,0.0,528,11361,0.80,2.58,168.40,1.744,4,0.086,0.047,2027,1287,2224,0,0,0,0,3,0
$GC,11409,0.60,146.1,975.6,17.8,535,11414,0.00,2.42,0.00,0.000,6,0.000,0.050,2027,2656,2221,0,0,0,0,0,0
$GC,11731,0.60,146.1,911.1,20.3,546,11735,0.00,2.22,0.00,0.000,4,0.000,0.047,2038,1280,2217,0,0,0,0,0,0
$GC,11783,0.60,146.1,900.9,17.8,547,11787,0.00,2.30,0.00,0.000,6,0.000,0.050,2038,2681,2215,0,0,0,0,0,0
$GC,12104,0.60,146.1,834.9,20.6,558,12108,0.00,2.25,0.00,0.000,4,0.000,0.047,2048,1281,2215,0,0,0,0,0,0
$GC,12170,0.60,146.1,822.4,18.0,560,12174,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2674,2213,0,0,0,0,0,0
$GC,12507,0.60,146.1,752.2,20.8,571,12511,0.00,2.22,0.00,0.000,4,0.000,0.047,2058,1280,2213,0,0,0,0,0,0
$GC,12574,0.60,146.1,739.7,19.0,573,12579,0.12,2.22,0.00,0.000,6,0.207,0.050,2030,2676,2211,0,0,0,0,0,0
$GC,12913,0.60,146.1,674.3,19.1,584,12917,0.00,2.22,0.00,0.000,4,0.000,0.047,2039,1281,2211,0,0,0,0,0,0
$GC,12953,0.60,146.1,666.6,16.3,585,12957,0.00,2.25,0.00,0.000,6,0.000,0.051,2039,2677,2211,0,0,0,0,0,0
$GC,13280,0.60,146.1,604.4,19.0,596,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2677,2211,0,0,0,0,0,0
$GC,13587,0.60,146.1,550.1,17.0,606,13591,0.00,2.22,0.00,0.000,4,0.000,0.045,2049,1280,2211,0,0,0,0,0,0
$GC,13661,0.60,146.1,538.0,15.8,608,13665,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2673,2210,0,0,0,0,0,0
$GC,13993,0.60,146.1,480.2,17.5,619,13997,0.00,2.20,0.00,0.000,4,0.000,0.047,2060,1280,2210,0,0,0,0,0,0
$GC,14056,0.60,146.1,469.6,15.2,620,14064,0.12,2.22,0.00,0.000,6,0.200,0.050,2031,2671,2210,0,0,0,0,0,0
$GC,14372,0.60,146.1,420.5,16.0,631,14376,0.00,2.22,0.00,0.000,4,0.000,0.045,2040,1270,2210,0,0,0,0,0,0
$GC,14430,0.60,146.1,411.6,14.4,632,14436,0.00,2.25,0.00,0.000,6,0.000,0.049,2040,2672,2209,0,0,0,0,0,0
$GC,14759,0.60,146.1,355.7,17.3,647,14763,0.00,2.22,0.00,0.000,4,0.000,0.045,2050,1272,2209,0,0,0,0,0,0
$GC,14813,0.60,146.1,346.5,16.0,649,14817,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2671,2209,0,0,0,0,0,0
$GC,15132,0.60,146.1,289.7,18.0,664,15136,0.00,2.20,0.00,0.000,4,0.000,0.045,2060,1277,2209,0,0,0,0,0,0
$GC,15213,0.60,146.1,276.2,14.8,667,15218,0.12,2.25,0.00,0.000,6,0.197,0.050,2031,2671,2209,0,0,0,0,0,0
$GC,15546,0.60,146.1,225.4,15.7,685,15550,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1278,2209,0,0,0,0,0,0
$GC,15588,0.60,146.1,219.0,14.6,687,15595,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2677,2209,0,0,0,0,0,0
$GC,15909,0.60,146.1,165.7,17.5,708,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2677,2209,0,0,0,0,0,0
$GC,16224,0.60,146.1,116.8,15.2,728,16228,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1271,2209,0,0,0,0,0,0
$GC,16333,0.60,146.1,101.4,13.8,734,16344,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2668,2209,0,0,0,0,0,0
$GC,16685,0.60,146.1,50.9,16.1,793,16692,0.00,2.22,0.00,0.000,4,0.000,0.045,2060,1272,2209,0,0,0,0,0,0
$GC,16888,0.60,146.1,23.0,15.1,825,16897,0.10,2.30,0.00,0.000,6,0.181,0.052,2032,2681,2208,0,0,0,0,0,0
$GC,16976,0.60,146.1,8.3,16.7,838,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2682,2208,0,0,0,0,0,0
$STATE,17010,end climb,SURFACE_DEPTH_REACHED
$STATE,17010,begin surface coast
$FINISH,1.0,1.026494
$STATE,17036,end surface coast,CONTROL_FINISHED_OK
$STATE,17036,begin surface
$SM_CCo,17059,43.10,0.773,1,0,1879,230.09
$SM_GC,2.12,0.00,0.00,43.10,0.000,0.000,0.773,56,2880,1879,-5.55,0.57,230.09
$IRIDIUM_FIX,-4638.64,356.39,220213,141440
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.0,80.029
$10V_AH,9.9,43.396
$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,14.050,98.175,319.500,43.100,0.000,27.121,20.305,486.224,0.000,0.000,24.144,2116.005,11797.810,484.699,2675.758,809.912,33.397,1412.259,0.000,2122.452,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,79.560,1832.940,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.677,1677.925,890.956,338.516,0.000,0.000,0.000,0.000,0.000,0.000
$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,60497,847
$CAP_FILE_SIZE,133227,0
$CFSIZE,259252224,201527296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,230213,003704,-4655.423,437.265,39,1.1,40,-23.5