version: 66.07
glider: 542
mission: 6
dive: 358
start: 2 7 113 8 52 45
data:
$ID,542
$MISSION,6
$DIVE,358
$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,-11590.676
$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,57
$R_STBD_OVSHOOT,27
$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
$GPS1,070213,083904,-4627.791,423.751,36,0.9,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.5
$GPS2,070213,085148,-4627.688,423.803,18,1.4,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.133
$KALMAN_X,-262236.6,-458.7,-386.9,271758.1,2400.2
$KALMAN_Y,234746.1,-1170.7,-426.3,-189449.8,6726.7
$MHEAD_RNG_PITCHd_Wd,144.9,21088,-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,-63.33,0.000,2,0.000,0.000,54,2874,3108,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-2.5,8,125,6.62,1.67,-8.43,0.000,4,0.245,0.076,1620,3894,3418,0,0,0,0,0,0
$GC,374,-0.60,-146.1,43.4,-13.9,51,380,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2847,3420,0,0,0,0,0,0
$GC,617,-0.60,-146.1,76.9,-13.6,92,623,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2847,3420,0,0,0,0,0,0
$GC,957,-0.60,-146.1,119.5,-12.0,133,961,0.00,1.70,0.00,0.000,4,0.000,0.057,1612,3893,3420,0,0,0,0,0,0
$GC,1064,-0.60,-146.1,133.7,-13.1,139,1067,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2855,3421,0,0,0,0,0,0
$GC,1398,-0.60,-146.1,174.8,-12.4,160,1402,0.00,1.65,0.00,0.000,4,0.000,0.057,1604,3898,3421,0,0,0,0,0,0
$GC,1488,-0.60,-146.1,186.6,-13.1,165,1493,0.08,1.55,0.00,0.000,6,0.161,0.031,1642,2867,3422,0,0,0,0,0,0
$GC,1827,-0.60,-146.1,218.4,-9.0,186,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2863,3422,0,0,0,0,0,0
$GC,2151,-0.60,-146.1,244.2,-7.3,207,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2863,3422,0,0,0,0,0,0
$GC,2470,-0.60,-146.1,267.9,-7.6,224,2474,0.00,1.67,0.00,0.000,4,0.000,0.059,1635,3890,3422,0,0,0,0,0,0
$GC,2511,-0.60,-146.1,271.5,-8.9,225,2517,0.00,1.55,0.00,0.000,6,0.000,0.031,1635,2857,3422,0,0,0,0,0,0
$GC,2832,-0.60,-146.1,298.4,-8.8,241,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2857,3422,0,0,0,0,0,0
$GC,3139,-0.60,-146.1,327.5,-9.7,256,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2857,3422,0,0,0,0,0,0
$GC,3450,-0.60,-146.1,357.4,-9.4,271,3454,0.00,1.70,0.00,0.000,4,0.000,0.060,1627,3895,3422,0,0,0,0,0,0
$GC,3500,-0.60,-146.1,362.2,-10.7,273,3504,0.00,1.55,0.00,0.000,6,0.000,0.032,1627,2868,3422,0,0,0,0,0,0
$GC,3838,-0.60,-146.1,394.3,-9.3,289,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2863,3422,0,0,0,0,0,0
$GC,4163,-0.60,-146.1,423.0,-8.6,301,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2863,3422,0,0,0,0,0,0
$GC,4469,-0.60,-146.1,447.0,-7.6,311,4473,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3900,3421,0,0,0,0,0,0
$GC,4510,-0.60,-146.1,450.6,-8.6,312,4513,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2859,3422,0,0,0,0,0,0
$GC,4847,-0.60,-146.1,478.1,-8.2,323,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2854,3422,0,0,0,0,0,0
$GC,5155,-0.60,-146.1,503.0,-8.1,333,5159,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3894,3421,0,0,0,0,0,0
$GC,5229,-0.60,-146.1,510.1,-9.5,335,5233,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2853,3421,0,0,0,0,0,0
$GC,5569,-0.60,-146.1,541.2,-9.3,346,5572,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3901,3421,0,0,0,0,0,0
$GC,5626,-0.60,-146.1,547.4,-10.2,347,5630,0.08,1.58,0.00,0.000,6,0.160,0.032,1635,2864,3421,0,0,0,0,0,0
$GC,5947,-0.60,-146.1,571.7,-7.5,358,5951,0.00,1.67,0.00,0.000,4,0.000,0.061,1629,3894,3421,0,0,0,0,0,0
$GC,5984,-0.60,-146.1,574.5,-8.0,359,5988,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2856,3421,0,0,0,0,0,0
$GC,6328,-0.60,-146.1,602.0,-8.1,370,6331,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3903,3421,0,0,0,0,0,0
$GC,6365,-0.60,-146.1,605.2,-8.8,371,6368,0.00,1.60,0.00,0.000,6,0.000,0.032,1621,2852,3421,0,0,0,0,0,0
$GC,6708,-0.60,-146.1,634.6,-8.6,382,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2847,3421,0,0,0,0,0,0
$GC,7014,-0.60,-146.1,661.7,-8.8,392,7018,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3898,3420,0,0,0,0,0,0
$GC,7071,-0.60,-146.1,667.3,-10.0,393,7075,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2862,3420,0,0,0,0,0,0
$GC,7392,-0.60,-146.1,697.5,-9.6,404,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3420,0,0,0,0,0,0
$GC,7698,-0.60,-146.1,725.3,-8.8,414,7702,0.00,1.70,0.00,0.000,4,0.000,0.061,1605,3892,3420,0,0,0,0,0,0
$GC,7744,-0.60,-146.1,729.8,-9.9,415,7749,0.08,1.58,0.00,0.000,6,0.162,0.033,1628,2858,3420,0,0,0,0,0,0
$GC,8077,-0.60,-146.1,755.3,-7.6,426,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2853,3420,0,0,0,0,0,0
$GC,8384,-0.60,-146.1,777.6,-7.2,436,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2854,3420,0,0,0,0,0,0
$GC,8689,-0.60,-146.1,798.6,-6.7,446,8693,0.00,1.70,0.00,0.000,4,0.000,0.061,1622,3887,3419,0,0,0,0,0,0
$GC,8736,-0.60,-146.1,802.3,-7.8,447,8740,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2854,3420,0,0,0,0,0,0
$GC,9068,-0.60,-146.1,825.0,-6.7,458,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3420,0,0,0,0,0,0
$GC,9374,-0.60,-146.1,846.9,-7.6,468,9378,0.00,1.67,0.00,0.000,4,0.000,0.062,1613,3895,3420,0,0,0,0,0,0
$GC,9431,-0.60,-146.1,852.1,-9.3,469,9435,0.00,1.58,0.00,0.000,6,0.000,0.033,1613,2863,3420,0,0,0,0,0,0
$GC,9752,-0.60,-146.1,879.9,-8.9,480,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3419,0,0,0,0,0,0
$GC,10059,-0.60,-146.1,908.5,-9.5,490,10063,0.00,1.67,0.00,0.000,4,0.000,0.062,1606,3903,3418,0,0,0,0,0,0
$GC,10105,-0.60,-146.1,913.4,-10.9,491,10108,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2855,3418,0,0,0,0,0,0
$GC,10437,-0.60,-146.1,945.5,-9.7,502,10441,0.10,1.70,0.00,0.000,4,0.194,0.061,1622,3898,3418,0,0,0,0,0,0
$GC,10489,-0.60,-146.1,950.4,-8.5,503,10493,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2866,3418,0,0,0,0,0,0
$GC,10816,-0.60,-146.1,976.0,-7.7,514,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3418,0,0,0,0,0,0
$STATE,11055,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11055,begin apogee
$GC,11066,-0.18,0.0,994.0,7.4,522,11222,0.50,0.00,148.10,1.840,6,0.151,0.000,1770,2674,2820,0,0,0,0,1,0
$STATE,11224,end apogee,CONTROL_FINISHED_OK
$STATE,11224,begin climb
$GC,11229,0.60,146.1,998.3,0.0,527,11419,0.77,2.50,165.18,1.764,4,0.086,0.046,2028,1286,2224,0,0,0,0,3,0
$GC,11479,0.60,146.1,963.7,16.7,534,11483,0.00,2.42,0.00,0.000,6,0.000,0.050,2028,2663,2220,0,0,0,0,0,0
$GC,11796,0.60,146.1,901.1,20.0,544,11800,0.00,2.25,0.00,0.000,4,0.000,0.048,2038,1281,2216,0,0,0,0,0,0
$GC,11848,0.60,146.1,890.9,17.1,545,11852,0.00,2.30,0.00,0.000,6,0.000,0.050,2038,2676,2214,0,0,0,0,0,0
$GC,12164,0.60,146.1,827.3,20.4,555,12168,0.00,2.22,0.00,0.000,4,0.000,0.047,2049,1280,2214,0,0,0,0,0,0
$GC,12215,0.60,146.1,817.1,17.4,556,12219,0.00,2.25,0.00,0.000,6,0.000,0.051,2049,2670,2213,0,0,0,0,0,0
$GC,12532,0.60,146.1,750.6,21.2,566,12533,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2212,0,0,0,0,0,0
$GC,12837,0.60,146.1,687.1,20.2,576,12841,0.00,2.20,0.00,0.000,4,0.000,0.046,2059,1271,2212,0,0,0,0,0,0
$GC,12906,0.60,146.1,673.7,17.3,578,12911,0.12,2.28,0.00,0.000,6,0.211,0.050,2031,2680,2210,0,0,0,0,0,0
$GC,13239,0.60,146.1,611.9,19.0,589,13243,0.00,2.22,0.00,0.000,4,0.000,0.046,2040,1271,2210,0,0,0,0,0,0
$GC,13304,0.60,146.1,600.7,16.4,591,13308,0.00,2.25,0.00,0.000,6,0.000,0.052,2040,2669,2209,0,0,0,0,0,0
$GC,13649,0.60,146.1,533.7,19.4,602,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2669,2210,0,0,0,0,0,0
$GC,13953,0.60,146.1,474.6,19.1,612,13958,0.00,2.20,0.00,0.000,4,0.000,0.047,2050,1274,2210,0,0,0,0,0,0
$GC,14011,0.60,146.1,464.2,16.2,613,14018,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2677,2209,0,0,0,0,0,0
$GC,14327,0.60,146.1,405.2,18.8,624,14328,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2677,2209,0,0,0,0,0,0
$GC,14648,0.60,146.1,345.6,18.6,639,14652,0.00,2.22,0.00,0.000,4,0.000,0.046,2061,1273,2209,0,0,0,0,0,0
$GC,14744,0.60,146.1,329.0,16.8,643,14749,0.15,2.25,0.00,0.000,6,0.203,0.050,2025,2671,2208,0,0,0,0,0,0
$GC,15076,0.60,146.1,273.5,16.6,659,15080,0.00,2.20,0.00,0.000,4,0.000,0.045,2035,1275,2208,0,0,0,0,0,0
$GC,15127,0.60,146.1,265.6,15.0,661,15131,0.00,2.25,0.00,0.000,6,0.000,0.050,2035,2674,2208,0,0,0,0,0,0
$GC,15448,0.60,146.1,210.2,16.9,680,15452,0.00,2.20,0.00,0.000,4,0.000,0.045,2045,1274,2207,0,0,0,0,0,0
$GC,15506,0.60,146.1,200.9,14.3,683,15513,0.00,2.25,0.00,0.000,6,0.000,0.050,2045,2675,2207,0,0,0,0,0,0
$GC,15830,0.60,146.1,147.3,15.9,704,15834,0.00,2.20,0.00,0.000,4,0.000,0.045,2055,1273,2208,0,0,0,0,0,0
$GC,15888,0.60,146.1,138.3,13.3,707,15896,0.12,2.25,0.00,0.000,6,0.205,0.050,2027,2675,2207,0,0,0,0,0,0
$GC,16216,0.60,146.1,92.5,13.0,734,16222,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1277,2207,0,0,0,0,0,0
$GC,16267,0.60,146.1,86.3,12.1,742,16274,0.00,2.22,0.00,0.000,6,0.000,0.050,2036,2672,2206,0,0,0,0,0,0
$GC,16629,0.60,146.1,37.8,15.4,803,16635,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2671,2207,0,0,0,0,0,0
$STATE,16865,end climb,SURFACE_DEPTH_REACHED
$STATE,16865,begin surface coast
$FINISH,0.9,1.025910
$STATE,16891,end surface coast,CONTROL_FINISHED_OK
$STATE,16891,begin surface
$SM_CCo,16913,41.38,0.765,1,0,1881,230.09
$SM_GC,2.35,0.00,0.00,41.38,0.000,0.000,0.765,55,2872,1881,-5.55,0.34,230.09
$IRIDIUM_FIX,-4610.49,422.72,070213,030307
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.4,66.241
$10V_AH,10.0,34.587
$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,14.050,102.175,313.275,41.375,0.000,25.589,21.171,466.975,0.000,0.000,21.103,2130.898,11602.518,462.660,2727.578,788.013,33.391,1399.060,0.000,2192.475,0.000,1.008,0.000
$DEVICE_MAMPS,244.800,75.735,1839.825,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.451,1675.782,900.632,343.066,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354064
$DATA_FILE_SIZE,60402,845
$CAP_FILE_SIZE,134488,0
$CFSIZE,259252224,206807040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,070213,133654,-4628.043,427.919,40,1.0,40,-23.5