version: 66.07
glider: 542
mission: 6
dive: 202
start: 1 9 113 20 32 7
data:
$ID,542
$MISSION,6
$DIVE,202
$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,573.99261
$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,-11127.198
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$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
$GPS1,090113,202058,-4700.883,420.543,36,0.9,36,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-35.2
$GPS2,090113,203111,-4700.863,420.590,17,0.9,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.247,-0.065
$KALMAN_X,-156411.4,-604.2,525.4,161073.2,1941.0
$KALMAN_Y,90676.4,-591.1,-464.0,-107361.0,5615.8
$MHEAD_RNG_PITCHd_Wd,278.7,13471,-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,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,163,0.00,0.00,-134.10,0.000,2,0.000,0.000,57,2896,3195,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.2,-2.5,17,189,6.68,2.25,-5.85,0.000,4,0.254,0.050,1654,1493,3417,0,0,0,0,0,0
$GC,308,-0.61,-146.1,21.3,-8.7,37,317,0.00,2.28,0.00,0.000,6,0.000,0.052,1645,2883,3420,0,0,0,0,0,0
$GC,396,-0.61,-146.1,31.7,-11.7,50,404,0.00,1.62,0.00,0.000,4,0.000,0.059,1637,3893,3419,0,0,0,0,0,0
$GC,448,-0.61,-146.1,38.1,-13.4,57,455,0.00,1.55,0.00,0.000,6,0.000,0.031,1637,2871,3419,0,0,0,0,0,0
$GC,693,-0.61,-146.1,70.4,-12.5,98,699,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2871,3419,0,0,0,0,0,0
$GC,1040,-0.61,-146.1,113.6,-12.2,146,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2871,3420,0,0,0,0,0,0
$GC,1353,-0.61,-146.1,152.0,-11.8,166,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2871,3422,0,0,0,0,0,0
$GC,1667,-0.61,-146.1,189.1,-11.1,186,1670,0.00,1.65,0.00,0.000,4,0.000,0.059,1629,3909,3422,0,0,0,0,0,0
$GC,1707,-0.61,-146.1,194.4,-12.5,188,1711,0.00,1.55,0.00,0.000,6,0.000,0.032,1629,2885,3422,0,0,0,0,0,0
$GC,2036,-0.61,-146.1,233.1,-11.8,209,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2880,3421,0,0,0,0,0,0
$GC,2357,-0.61,-146.1,271.6,-11.9,227,2360,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3927,3422,0,0,0,0,0,0
$GC,2428,-0.61,-146.1,280.3,-11.5,230,2432,0.08,1.58,0.00,0.000,6,0.158,0.032,1653,2886,3422,0,0,0,0,0,0
$GC,2767,-0.61,-146.1,311.5,-9.1,246,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2882,3422,0,0,0,0,0,0
$GC,3075,-0.61,-146.1,340.4,-9.3,261,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2882,3422,0,0,0,0,0,0
$GC,3382,-0.61,-146.1,368.5,-9.1,276,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2883,3421,0,0,0,0,0,0
$GC,3694,-0.61,-146.1,395.3,-8.5,291,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2882,3420,0,0,0,0,0,0
$GC,3999,-0.61,-146.1,420.7,-8.4,302,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2882,3420,0,0,0,0,0,0
$GC,4306,-0.61,-146.1,447.1,-8.8,312,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2882,3420,0,0,0,0,0,0
$GC,4611,-0.61,-146.1,473.7,-8.7,322,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2882,3419,0,0,0,0,0,0
$GC,4917,-0.61,-146.1,500.0,-8.6,332,4921,0.00,1.65,0.00,0.000,4,0.000,0.062,1647,3900,3419,0,0,0,0,0,0
$GC,4958,-0.61,-146.1,504.0,-9.0,333,4962,0.00,1.55,0.00,0.000,6,0.000,0.034,1646,2878,3419,0,0,0,0,0,0
$GC,5295,-0.61,-146.1,533.1,-8.5,344,5299,0.00,2.10,0.00,0.000,4,0.000,0.040,1646,1491,3419,0,0,0,0,0,0
$GC,5319,-0.61,-146.1,535.5,-9.3,344,5323,0.00,2.22,0.00,0.000,6,0.000,0.053,1636,2890,3418,0,0,0,0,0,0
$GC,5635,-0.61,-146.1,565.0,-9.7,354,5638,0.00,1.60,0.00,0.000,4,0.000,0.061,1628,3899,3418,0,0,0,0,0,0
$GC,5675,-0.61,-146.1,569.3,-10.3,355,5678,0.00,1.55,0.00,0.000,6,0.000,0.034,1628,2873,3418,0,0,0,0,0,0
$GC,6012,-0.61,-146.1,602.7,-10.0,366,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2869,3418,0,0,0,0,0,0
$GC,6320,-0.61,-146.1,632.9,-10.1,376,6323,0.00,1.65,0.00,0.000,4,0.000,0.061,1620,3907,3418,0,0,0,0,0,0
$GC,6357,-0.61,-146.1,636.8,-10.6,377,6361,0.08,1.55,0.00,0.000,6,0.161,0.034,1648,2882,3418,0,0,0,0,0,0
$GC,6701,-0.61,-146.1,666.5,-8.4,388,6704,0.00,2.10,0.00,0.000,4,0.000,0.040,1648,1497,3417,0,0,0,0,0,0
$GC,6732,-0.61,-146.1,669.2,-8.9,389,6736,0.00,2.20,0.00,0.000,6,0.000,0.054,1639,2883,3417,0,0,0,0,0,0
$GC,7070,-0.61,-146.1,698.8,-8.8,400,7074,0.00,1.60,0.00,0.000,4,0.000,0.062,1631,3890,3416,0,0,0,0,0,0
$GC,7133,-0.61,-146.1,704.9,-9.8,401,7140,0.00,1.52,0.00,0.000,6,0.000,0.033,1631,2875,3416,0,0,0,0,0,0
$GC,7449,-0.61,-146.1,732.1,-8.7,412,7452,0.00,2.10,0.00,0.000,4,0.000,0.040,1631,1497,3416,0,0,0,0,0,0
$GC,7480,-0.61,-146.1,734.8,-8.6,413,7485,0.12,2.20,0.00,0.000,6,0.181,0.053,1652,2882,3415,0,0,0,0,0,0
$GC,7819,-0.61,-146.1,757.7,-6.6,424,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2882,3415,0,0,0,0,0,0
$GC,8125,-0.61,-146.1,778.0,-6.6,434,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2883,3416,0,0,0,0,0,0
$GC,8431,-0.61,-146.1,798.5,-6.9,444,8435,0.00,2.10,0.00,0.000,4,0.000,0.039,1652,1500,3415,0,0,0,0,0,0
$GC,8455,-0.61,-146.1,800.3,-7.3,444,8462,0.00,2.20,0.00,0.000,6,0.000,0.054,1643,2885,3415,0,0,0,0,0,0
$GC,8771,-0.61,-146.1,823.2,-7.2,455,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2886,3415,0,0,0,0,0,0
$GC,9077,-0.61,-146.1,846.1,-7.5,465,9081,0.00,2.12,0.00,0.000,4,0.000,0.038,1643,1500,3415,0,0,0,0,0,0
$GC,9114,-0.61,-146.1,849.1,-8.5,466,9118,0.00,2.17,0.00,0.000,6,0.000,0.054,1634,2881,3414,0,0,0,0,0,0
$GC,9459,-0.61,-146.1,877.7,-8.5,477,9463,0.00,1.60,0.00,0.000,4,0.000,0.061,1625,3892,3414,0,0,0,0,0,0
$GC,9511,-0.61,-146.1,882.8,-9.1,478,9515,0.00,1.52,0.00,0.000,6,0.000,0.033,1626,2879,3414,0,0,0,0,0,0
$GC,9838,-0.61,-146.1,911.3,-8.7,489,9842,0.00,2.10,0.00,0.000,4,0.000,0.039,1625,1496,3414,0,0,0,0,0,0
$GC,9870,-0.61,-146.1,914.0,-8.4,490,9875,0.12,2.20,0.00,0.000,6,0.182,0.054,1647,2883,3413,0,0,0,0,0,0
$GC,10209,-0.61,-146.1,937.6,-6.6,501,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2883,3413,0,0,0,0,0,0
$GC,10515,-0.61,-146.1,957.3,-6.2,511,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2883,3413,0,0,0,0,0,0
$GC,10821,-0.61,-146.1,975.6,-6.1,521,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2883,3413,0,0,0,0,0,0
$STATE,11061,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11061,begin apogee
$GC,11072,-0.18,0.0,990.1,5.8,529,11222,0.45,0.00,147.30,1.245,6,0.157,0.000,1783,2712,2819,0,0,0,0,0,0
$STATE,11224,end apogee,CONTROL_FINISHED_OK
$STATE,11224,begin climb
$GC,11229,0.61,146.1,992.0,0.0,534,11391,0.75,2.53,149.00,1.804,4,0.070,0.046,2062,1313,2224,0,0,0,0,1,0
$GC,11423,0.61,146.1,958.1,25.0,540,11427,0.00,2.45,0.00,0.000,6,0.000,0.050,2061,2693,2223,0,0,0,0,0,0
$GC,11755,0.61,146.1,874.2,25.6,551,11759,0.00,2.28,0.00,0.000,4,0.000,0.046,2072,1307,2217,0,0,0,0,0,0
$GC,11779,0.61,146.1,867.8,24.5,551,11786,0.00,2.33,0.00,0.000,6,0.000,0.050,2072,2710,2215,0,0,0,0,0,0
$GC,12094,0.61,146.1,788.8,24.9,562,12098,0.00,2.28,0.00,0.000,4,0.000,0.047,2082,1299,2215,0,0,0,0,0,0
$GC,12112,0.61,146.1,783.9,24.7,562,12117,0.15,2.28,0.00,0.000,6,0.227,0.050,2050,2705,2214,0,0,0,0,0,0
$GC,12428,0.61,146.1,713.8,22.0,572,12432,0.00,2.25,0.00,0.000,4,0.000,0.044,2059,1295,2213,0,0,0,0,0,0
$GC,12459,0.61,146.1,707.1,21.9,573,12463,0.00,2.28,0.00,0.000,6,0.000,0.050,2059,2704,2213,0,0,0,0,0,0
$GC,12796,0.61,146.1,632.9,22.0,584,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2705,2212,0,0,0,0,0,0
$GC,13104,0.61,146.1,563.1,23.5,594,13108,0.00,2.22,0.00,0.000,4,0.000,0.045,2070,1298,2212,0,0,0,0,0,0
$GC,13145,0.61,146.1,553.0,22.6,595,13149,0.00,2.25,0.00,0.000,6,0.000,0.050,2070,2700,2211,0,0,0,0,0,0
$GC,13471,0.61,146.1,474.1,24.6,606,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2700,2211,0,0,0,0,0,0
$GC,13777,0.61,146.1,399.0,24.4,616,13782,0.00,2.20,0.00,0.000,4,0.000,0.046,2080,1294,2211,0,0,0,0,0,0
$GC,13813,0.61,146.1,390.4,22.7,617,13818,0.12,2.25,0.00,0.000,6,0.223,0.051,2053,2700,2211,0,0,0,0,0,0
$GC,14131,0.61,146.1,321.8,21.8,632,14135,0.00,2.20,0.00,0.000,4,0.000,0.045,2062,1304,2211,0,0,0,0,0,0
$GC,14153,0.61,146.1,317.6,21.4,633,14157,0.00,2.22,0.00,0.000,6,0.000,0.050,2062,2699,2210,0,0,0,0,0,0
$GC,14485,0.61,146.1,249.8,20.0,649,14489,0.00,2.17,0.00,0.000,4,0.000,0.044,2072,1306,2211,0,0,0,0,0,0
$GC,14524,0.61,146.1,242.2,18.8,651,14528,0.00,2.22,0.00,0.000,6,0.000,0.050,2072,2702,2210,0,0,0,0,0,0
$GC,14853,0.61,146.1,175.6,19.6,672,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2702,2210,0,0,0,0,0,0
$GC,15163,0.61,146.1,112.3,21.3,692,15167,0.00,2.20,0.00,0.000,4,0.000,0.045,2082,1307,2210,0,0,0,0,0,0
$GC,15195,0.61,146.1,106.2,18.0,694,15200,0.12,2.22,0.00,0.000,6,0.220,0.051,2055,2699,2209,0,0,0,0,0,0
$GC,15548,0.61,146.1,42.0,17.9,750,15557,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1310,2209,0,0,0,0,0,0
$GC,15611,0.61,146.1,31.1,16.9,759,15618,0.00,2.22,0.00,0.000,6,0.000,0.050,2064,2707,2209,0,0,0,0,0,0
$STATE,15754,end climb,SURFACE_DEPTH_REACHED
$STATE,15754,begin surface coast
$FINISH,0.9,1.013028
$STATE,15771,end surface coast,CONTROL_FINISHED_OK
$STATE,15771,begin surface
$SM_CCo,15794,180.48,0.782,1,0,479,573.99
$SM_GC,1.37,0.00,0.00,180.48,0.000,0.000,0.782,58,2903,479,-5.60,0.65,573.99
$IRIDIUM_FIX,-4648.08,422.47,090113,151555
$TT8_MAMPS,0.025466
$HUMID,55.94
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.0,39.213
$10V_AH,10.1,18.368
$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,14.100,101.550,296.300,180.475,0.000,28.176,23.331,317.853,0.000,0.000,23.479,1943.849,10971.795,607.388,2384.264,673.748,33.367,1461.165,0.000,1921.856,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,65.790,1803.870,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.886,1558.322,832.148,324.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,57048,784
$CAP_FILE_SIZE,124466,0
$CFSIZE,259252224,216731648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100113,005958,-4700.285,417.963,43,0.7,43,-23.4