version: 66.07
glider: 542
mission: 6
dive: 355
start: 2 6 113 18 14 14
data:
$ID,542
$MISSION,6
$DIVE,355
$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,-11581.87
$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,59
$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
$GPS1,060213,175935,-4627.813,411.765,29,1.0,29,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-57.3
$GPS2,060213,181317,-4627.861,411.954,15,1.6,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.247,-0.065
$KALMAN_X,-262779.0,-234.2,240.0,256401.5,2715.8
$KALMAN_Y,224168.9,1645.7,166.2,-182638.3,492.7
$MHEAD_RNG_PITCHd_Wd,128.1,35972,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,28,-0.60,-146.1,0.0,0.0,0,93,0.00,0.00,-63.17,0.000,2,0.000,0.000,60,2886,3102,0,0,0,0,0,0
$GC,100,-0.60,-146.1,3.1,-3.0,8,126,6.70,2.25,-8.90,0.000,4,0.249,0.050,1638,1472,3418,0,0,0,0,0,0
$GC,257,-0.60,-146.1,22.4,-9.4,31,266,0.00,2.28,0.00,0.000,6,0.000,0.051,1629,2859,3419,0,0,0,0,0,0
$GC,342,-0.60,-146.1,33.0,-12.4,44,353,0.00,1.67,0.00,0.000,4,0.000,0.059,1621,3899,3419,0,0,0,0,0,0
$GC,387,-0.60,-146.1,39.0,-13.5,50,396,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2854,3419,0,0,0,0,0,0
$GC,636,-0.60,-146.1,71.9,-12.7,91,640,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3419,0,0,0,0,0,0
$GC,990,-0.60,-146.1,115.0,-11.9,138,994,0.00,1.67,0.00,0.000,4,0.000,0.058,1612,3897,3420,0,0,0,0,0,0
$GC,1061,-0.60,-146.1,124.0,-12.8,142,1065,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2867,3420,0,0,0,0,0,0
$GC,1395,-0.60,-146.1,164.9,-12.3,163,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2862,3421,0,0,0,0,0,0
$GC,1708,-0.60,-146.1,203.6,-12.1,183,1712,0.00,1.67,0.00,0.000,4,0.000,0.059,1604,3891,3422,0,0,0,0,0,0
$GC,1806,-0.60,-146.1,217.0,-12.9,188,1815,0.08,1.55,0.00,0.000,6,0.159,0.032,1628,2857,3422,0,0,0,0,0,0
$GC,2134,-0.60,-146.1,249.4,-9.9,209,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2856,3422,0,0,0,0,0,0
$GC,2454,-0.60,-146.1,280.7,-9.7,225,2458,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3897,3422,0,0,0,0,0,0
$GC,2494,-0.60,-146.1,285.5,-10.9,226,2503,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2867,3422,0,0,0,0,0,0
$GC,2813,-0.60,-146.1,320.7,-11.2,242,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3422,0,0,0,0,0,0
$GC,3124,-0.60,-146.1,354.9,-10.7,257,3128,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3907,3422,0,0,0,0,0,0
$GC,3164,-0.60,-146.1,360.0,-11.5,258,3173,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2864,3422,0,0,0,0,0,0
$GC,3483,-0.60,-146.1,396.4,-11.6,274,3487,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3907,3421,0,0,0,0,0,0
$GC,3518,-0.60,-146.1,400.9,-11.9,275,3523,0.08,1.58,0.00,0.000,6,0.158,0.032,1628,2867,3421,0,0,0,0,0,0
$GC,3840,-0.60,-146.1,430.7,-9.1,286,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3421,0,0,0,0,0,0
$GC,4146,-0.60,-146.1,459.5,-9.3,296,4150,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3899,3421,0,0,0,0,0,0
$GC,4183,-0.60,-146.1,463.3,-10.4,297,4186,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2863,3421,0,0,0,0,0,0
$GC,4526,-0.60,-146.1,495.8,-9.2,308,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2859,3421,0,0,0,0,0,0
$GC,4833,-0.60,-146.1,522.2,-8.2,318,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2859,3421,0,0,0,0,0,0
$GC,5138,-0.60,-146.1,545.9,-7.8,328,5142,0.00,1.67,0.00,0.000,4,0.000,0.061,1613,3896,3421,0,0,0,0,0,0
$GC,5175,-0.60,-146.1,548.9,-8.6,329,5179,0.00,1.58,0.00,0.000,6,0.000,0.033,1613,2859,3420,0,0,0,0,0,0
$GC,5520,-0.60,-146.1,577.8,-8.4,340,5524,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3893,3420,0,0,0,0,0,0
$GC,5572,-0.60,-146.1,583.0,-9.7,341,5576,0.08,1.58,0.00,0.000,6,0.156,0.032,1638,2857,3420,0,0,0,0,0,0
$GC,5901,-0.60,-146.1,605.2,-6.6,352,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2854,3419,0,0,0,0,0,0
$GC,6205,-0.60,-146.1,626.6,-7.0,362,6209,0.00,1.67,0.00,0.000,4,0.000,0.060,1632,3895,3419,0,0,0,0,0,0
$GC,6245,-0.60,-146.1,630.1,-7.9,363,6249,0.00,1.58,0.00,0.000,6,0.000,0.033,1632,2860,3420,0,0,0,0,0,0
$GC,6583,-0.60,-146.1,655.5,-7.5,374,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2856,3419,0,0,0,0,0,0
$GC,6889,-0.60,-146.1,678.2,-7.6,384,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3419,0,0,0,0,0,0
$GC,7195,-0.60,-146.1,700.7,-7.5,394,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,7502,-0.60,-146.1,727.9,-8.9,404,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,7808,-0.60,-146.1,754.6,-8.4,414,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,8114,-0.60,-146.1,778.8,-7.9,424,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,8420,-0.60,-146.1,800.8,-7.0,434,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,8727,-0.60,-146.1,821.1,-6.4,444,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2856,3418,0,0,0,0,0,0
$GC,9033,-0.60,-146.1,840.6,-6.4,454,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2856,3418,0,0,0,0,0,0
$GC,9339,-0.60,-146.1,860.0,-6.4,464,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3417,0,0,0,0,0,0
$GC,9646,-0.60,-146.1,881.1,-7.1,474,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2856,3417,0,0,0,0,0,0
$GC,9951,-0.60,-146.1,904.3,-7.6,484,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3417,0,0,0,0,0,0
$GC,10258,-0.60,-146.1,928.0,-7.7,494,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3417,0,0,0,0,0,0
$GC,10564,-0.60,-146.1,950.6,-7.3,504,10565,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3417,0,0,0,0,0,0
$GC,10870,-0.60,-146.1,971.9,-6.8,514,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3417,0,0,0,0,0,0
$STATE,11049,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11049,begin apogee
$GC,11060,-0.18,0.0,983.7,6.4,520,11208,0.45,0.00,144.93,1.228,6,0.148,0.000,1766,2673,2819,0,0,0,0,0,0
$STATE,11210,end apogee,CONTROL_FINISHED_OK
$STATE,11210,begin climb
$GC,11215,0.60,146.1,986.6,0.0,525,11386,0.77,2.58,157.20,1.782,4,0.097,0.050,2027,1283,2225,0,0,0,0,1,0
$GC,11448,0.60,146.1,953.3,18.5,532,11452,0.00,2.45,0.00,0.000,6,0.000,0.050,2027,2673,2221,0,0,0,0,0,0
$GC,11780,0.60,146.1,883.0,21.1,543,11781,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2673,2217,0,0,0,0,0,0
$GC,12087,0.60,146.1,818.9,20.4,553,12091,0.00,2.25,0.00,0.000,4,0.000,0.049,2038,1274,2216,0,0,0,0,0,0
$GC,12127,0.60,146.1,810.5,18.0,554,12132,0.00,2.28,0.00,0.000,6,0.000,0.052,2038,2680,2214,0,0,0,0,0,0
$GC,12465,0.60,146.1,740.9,20.6,565,12469,0.00,2.28,0.00,0.000,4,0.000,0.048,2048,1270,2214,0,0,0,0,0,0
$GC,12506,0.60,146.1,732.5,18.6,566,12510,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2674,2213,0,0,0,0,0,0
$GC,12833,0.60,146.1,664.3,20.8,577,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2674,2212,0,0,0,0,0,0
$GC,13139,0.60,146.1,598.3,21.6,587,13142,0.00,2.22,0.00,0.000,4,0.000,0.049,2058,1277,2212,0,0,0,0,0,0
$GC,13179,0.60,146.1,589.9,19.1,588,13184,0.12,2.25,0.00,0.000,6,0.215,0.050,2030,2679,2212,0,0,0,0,0,0
$GC,13518,0.60,146.1,527.1,18.3,599,13519,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2679,2212,0,0,0,0,0,0
$GC,13823,0.60,146.1,473.1,17.4,609,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2679,2212,0,0,0,0,0,0
$GC,14130,0.60,146.1,421.7,17.1,619,14134,0.00,2.22,0.00,0.000,4,0.000,0.047,2040,1276,2211,0,0,0,0,0,0
$GC,14193,0.60,146.1,411.4,16.1,620,14200,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2677,2210,0,0,0,0,0,0
$GC,14513,0.60,146.1,352.4,19.1,635,14517,0.00,2.22,0.00,0.000,4,0.000,0.047,2050,1274,2210,0,0,0,0,0,0
$GC,14548,0.60,146.1,345.5,17.4,636,14557,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2667,2211,0,0,0,0,0,0
$GC,14867,0.60,146.1,284.5,19.1,652,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2667,2210,0,0,0,0,0,0
$GC,15184,0.60,146.1,227.6,17.5,669,15185,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2667,2210,0,0,0,0,0,0
$GC,15497,0.60,146.1,173.9,17.1,689,15501,0.00,2.22,0.00,0.000,4,0.000,0.047,2060,1269,2210,0,0,0,0,0,0
$GC,15577,0.60,146.1,160.6,14.6,693,15585,0.15,2.28,0.00,0.000,6,0.202,0.050,2025,2682,2209,0,0,0,0,0,0
$GC,15904,0.60,146.1,112.0,13.4,714,15912,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2682,2209,0,0,0,0,0,0
$GC,16249,0.60,146.1,63.7,14.0,765,16256,0.00,2.28,0.00,0.000,4,0.000,0.047,2034,1271,2209,0,0,0,0,0,0
$GC,16294,0.60,146.1,58.3,13.6,771,16301,0.00,2.25,0.00,0.000,6,0.000,0.050,2035,2670,2209,0,0,0,0,0,0
$GC,16545,0.60,146.1,21.4,14.6,812,16554,0.00,1.98,0.00,0.000,4,0.000,0.061,2035,3893,2209,0,0,0,0,0,0
$GC,16591,0.60,146.1,14.2,16.1,818,16602,0.00,1.90,0.00,0.000,6,0.000,0.038,2044,2674,2210,0,0,0,0,0,0
$STATE,16658,end climb,SURFACE_DEPTH_REACHED
$STATE,16658,begin surface coast
$FINISH,1.2,1.026412
$STATE,16678,end surface coast,CONTROL_FINISHED_OK
$STATE,16678,begin surface
$SM_CCo,16701,41.50,0.757,1,0,1878,230.09
$SM_GC,1.76,0.00,0.00,41.50,0.000,0.000,0.757,50,2878,1878,-5.56,0.51,230.09
$IRIDIUM_FIX,-4613.60,413.38,060213,080812
$TT8_MAMPS,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.4,65.655
$10V_AH,10.0,34.241
$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,13.975,78.025,302.125,41.500,0.000,29.708,44.030,497.867,0.000,0.000,18.318,2033.130,11732.444,444.917,2560.581,784.604,33.376,1310.131,0.000,1983.692,0.000,1.007,0.000
$DEVICE_MAMPS,249.390,69.615,1781.685,757.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.830,1626.274,854.698,344.144,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,60292,831
$CAP_FILE_SIZE,122590,0
$CFSIZE,259252224,207020032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060213,225434,-4627.222,416.362,24,0.9,25,-23.4