version: 66.07
glider: 542
mission: 6
dive: 364
start: 2 8 113 13 51 24
data:
$ID,542
$MISSION,6
$DIVE,364
$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,-11608.566
$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,54
$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
$GPS1,080213,133236,-4632.772,438.540,28,0.9,29,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.9
$GPS2,080213,135028,-4632.683,438.547,36,0.7,36,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.053,-0.250
$KALMAN_X,-264077.6,188.1,107.5,291102.6,-1076.0
$KALMAN_Y,245090.2,-144.5,-75.2,-210430.8,3905.4
$MHEAD_RNG_PITCHd_Wd,191.5,50624,-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,-63.12,0.000,2,0.000,0.000,49,2879,3119,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.5,8,125,6.70,2.28,-7.97,0.000,4,0.246,0.053,1637,1465,3418,0,0,0,0,0,0
$GC,327,-0.60,-146.1,32.7,-10.2,43,334,0.00,2.22,0.00,0.000,6,0.000,0.050,1628,2856,3419,0,0,0,0,0,0
$GC,574,-0.60,-146.1,63.8,-12.7,84,583,0.00,1.67,0.00,0.000,4,0.000,0.058,1620,3899,3420,0,0,0,0,0,0
$GC,606,-0.60,-146.1,67.7,-12.9,88,615,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2844,3420,0,0,0,0,0,0
$GC,967,-0.60,-146.1,113.1,-11.9,137,968,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2844,3420,0,0,0,0,0,0
$GC,1279,-0.60,-146.1,149.7,-11.9,157,1283,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3889,3421,0,0,0,0,0,0
$GC,1320,-0.60,-146.1,155.1,-12.7,159,1324,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2852,3422,0,0,0,0,0,0
$GC,1649,-0.60,-146.1,194.9,-12.5,180,1652,0.00,1.65,0.00,0.000,4,0.000,0.059,1603,3896,3422,0,0,0,0,0,0
$GC,1689,-0.60,-146.1,200.7,-13.7,182,1693,0.08,1.55,0.00,0.000,6,0.155,0.031,1642,2865,3422,0,0,0,0,0,0
$GC,2023,-0.60,-146.1,232.5,-9.5,203,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2860,3422,0,0,0,0,0,0
$GC,2345,-0.60,-146.1,261.6,-8.5,222,2349,0.00,1.73,0.00,0.000,4,0.000,0.062,1635,3897,3422,0,0,0,0,0,0
$GC,2393,-0.60,-146.1,266.1,-9.5,224,2397,0.00,1.58,0.00,0.000,6,0.000,0.031,1635,2852,3422,0,0,0,0,0,0
$GC,2728,-0.60,-146.1,293.1,-7.6,240,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2848,3422,0,0,0,0,0,0
$GC,3040,-0.60,-146.1,316.5,-8.0,255,3044,0.00,1.67,0.00,0.000,4,0.000,0.060,1627,3900,3422,0,0,0,0,0,0
$GC,3075,-0.60,-146.1,319.9,-8.8,256,3079,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2862,3421,0,0,0,0,0,0
$GC,3399,-0.60,-146.1,349.2,-9.2,272,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2858,3422,0,0,0,0,0,0
$GC,3711,-0.60,-146.1,378.4,-9.3,287,3715,0.00,1.70,0.00,0.000,4,0.000,0.061,1619,3894,3421,0,0,0,0,0,0
$GC,3740,-0.60,-146.1,381.9,-10.2,288,3744,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2851,3421,0,0,0,0,0,0
$GC,4068,-0.60,-146.1,414.3,-10.1,302,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2847,3421,0,0,0,0,0,0
$GC,4374,-0.60,-146.1,446.2,-10.4,312,4377,0.00,1.70,0.00,0.000,4,0.000,0.061,1610,3900,3420,0,0,0,0,0,0
$GC,4437,-0.60,-146.1,453.3,-10.9,313,4444,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2855,3420,0,0,0,0,0,0
$GC,4753,-0.60,-146.1,486.8,-10.6,324,4756,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3893,3420,0,0,0,0,0,0
$GC,4804,-0.60,-146.1,492.8,-11.8,325,4809,0.08,1.55,0.00,0.000,6,0.155,0.032,1642,2870,3420,0,0,0,0,0,0
$GC,5133,-0.60,-146.1,518.0,-7.3,336,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2866,3420,0,0,0,0,0,0
$GC,5438,-0.60,-146.1,539.2,-6.8,346,5441,0.00,1.67,0.00,0.000,4,0.000,0.062,1635,3900,3420,0,0,0,0,0,0
$GC,5509,-0.60,-146.1,544.3,-6.9,348,5512,0.00,1.58,0.00,0.000,6,0.000,0.031,1635,2863,3420,0,0,0,0,0,0
$GC,5852,-0.60,-146.1,569.1,-7.4,359,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2859,3419,0,0,0,0,0,0
$GC,6158,-0.60,-146.1,593.8,-8.4,369,6162,0.00,1.67,0.00,0.000,4,0.000,0.062,1627,3894,3420,0,0,0,0,0,0
$GC,6204,-0.60,-146.1,598.1,-9.7,370,6208,0.00,1.58,0.00,0.000,6,0.000,0.031,1627,2850,3420,0,0,0,0,0,0
$GC,6536,-0.60,-146.1,626.3,-8.1,381,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2845,3419,0,0,0,0,0,0
$GC,6844,-0.60,-146.1,650.1,-7.7,391,6847,0.00,1.70,0.00,0.000,4,0.000,0.060,1619,3900,3418,0,0,0,0,0,0
$GC,6896,-0.60,-146.1,654.7,-9.3,392,6900,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2856,3418,0,0,0,0,0,0
$GC,7222,-0.60,-146.1,680.3,-7.9,403,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2851,3418,0,0,0,0,0,0
$GC,7528,-0.60,-146.1,704.2,-7.8,413,7532,0.00,1.70,0.00,0.000,4,0.000,0.060,1610,3890,3418,0,0,0,0,0,0
$GC,7600,-0.60,-146.1,710.3,-8.7,415,7603,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2864,3417,0,0,0,0,0,0
$GC,7943,-0.60,-146.1,740.0,-8.6,426,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2860,3417,0,0,0,0,0,0
$GC,8249,-0.60,-146.1,766.8,-8.7,436,8253,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3896,3417,0,0,0,0,0,0
$GC,8295,-0.60,-146.1,771.4,-9.7,437,8300,0.08,1.58,0.00,0.000,6,0.156,0.031,1635,2854,3416,0,0,0,0,0,0
$GC,8628,-0.60,-146.1,795.2,-7.2,448,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2851,3417,0,0,0,0,0,0
$GC,8936,-0.60,-146.1,816.4,-6.9,458,8939,0.00,1.70,0.00,0.000,4,0.000,0.061,1629,3897,3416,0,0,0,0,0,0
$GC,8982,-0.60,-146.1,820.2,-7.7,459,8986,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2862,3416,0,0,0,0,0,0
$GC,9314,-0.60,-146.1,844.9,-7.7,470,9317,0.00,1.67,0.00,0.000,4,0.000,0.061,1620,3894,3416,0,0,0,0,0,0
$GC,9360,-0.60,-146.1,848.8,-8.4,471,9364,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2854,3416,0,0,0,0,0,0
$GC,9692,-0.60,-146.1,875.3,-7.9,482,9696,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3900,3416,0,0,0,0,0,0
$GC,9738,-0.60,-146.1,879.4,-9.5,483,9742,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2855,3416,0,0,0,0,0,0
$GC,10070,-0.60,-146.1,907.0,-8.3,494,10074,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3904,3415,0,0,0,0,0,0
$GC,10122,-0.60,-146.1,911.9,-9.3,495,10126,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2863,3415,0,0,0,0,0,0
$GC,10449,-0.60,-146.1,940.1,-8.7,506,10453,0.00,1.70,0.00,0.000,4,0.000,0.060,1597,3893,3416,0,0,0,0,0,0
$GC,10502,-0.60,-146.1,945.4,-9.4,507,10506,0.08,1.58,0.00,0.000,6,0.162,0.031,1628,2851,3415,0,0,0,0,0,0
$GC,10829,-0.60,-146.1,969.8,-7.6,518,10832,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3899,3416,0,0,0,0,0,0
$GC,10869,-0.60,-146.1,973.3,-8.3,519,10873,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2863,3416,0,0,0,0,0,0
$STATE,11048,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11049,begin apogee
$GC,11060,-0.18,0.0,988.1,8.3,525,11208,0.50,0.00,145.05,1.248,6,0.152,0.000,1770,2669,2819,0,0,0,0,0,0
$STATE,11210,end apogee,CONTROL_FINISHED_OK
$STATE,11210,begin climb
$GC,11215,0.60,146.1,992.7,0.0,530,11394,0.80,2.55,160.90,1.803,4,0.090,0.045,2037,1284,2225,0,0,0,0,2,0
$GC,11431,0.60,146.1,964.2,18.4,537,11435,0.00,2.45,0.00,0.000,6,0.000,0.048,2037,2663,2222,0,0,0,0,0,0
$GC,11763,0.60,146.1,894.0,21.2,548,11768,0.00,2.25,0.00,0.000,4,0.000,0.046,2047,1284,2217,0,0,0,0,0,0
$GC,11804,0.60,146.1,885.4,19.5,549,11808,0.00,2.30,0.00,0.000,6,0.000,0.050,2047,2680,2215,0,0,0,0,0,0
$GC,12131,0.60,146.1,815.2,22.1,560,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2681,2214,0,0,0,0,0,0
$GC,12437,0.60,146.1,746.0,22.5,570,12441,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1283,2213,0,0,0,0,0,0
$GC,12511,0.60,146.1,730.0,19.5,572,12516,0.12,2.22,0.00,0.000,6,0.213,0.049,2029,2670,2211,0,0,0,0,0,0
$GC,12844,0.60,146.1,660.5,21.3,583,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2670,2211,0,0,0,0,0,0
$GC,13151,0.60,146.1,596.1,20.6,593,13155,0.00,2.20,0.00,0.000,4,0.000,0.045,2038,1278,2211,0,0,0,0,0,0
$GC,13215,0.60,146.1,584.0,17.7,595,13219,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2670,2211,0,0,0,0,0,0
$GC,13559,0.60,146.1,516.8,19.3,606,13563,0.00,2.22,0.00,0.000,4,0.000,0.046,2049,1275,2210,0,0,0,0,0,0
$GC,13605,0.60,146.1,508.0,16.9,607,13609,0.00,2.25,0.00,0.000,6,0.000,0.051,2049,2670,2210,0,0,0,0,0,0
$GC,13926,0.60,146.1,444.3,20.0,618,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2671,2211,0,0,0,0,0,0
$GC,14235,0.60,146.1,383.9,19.4,629,14239,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1277,2210,0,0,0,0,0,0
$GC,14286,0.60,146.1,374.8,17.3,631,14290,0.12,2.22,0.00,0.000,6,0.207,0.051,2030,2670,2210,0,0,0,0,0,0
$GC,14620,0.60,146.1,317.2,17.4,647,14624,0.00,2.20,0.00,0.000,4,0.000,0.045,2040,1280,2210,0,0,0,0,0,0
$GC,14665,0.60,146.1,309.8,15.3,649,14669,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2676,2209,0,0,0,0,0,0
$GC,14997,0.60,146.1,251.8,17.9,665,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2676,2210,0,0,0,0,0,0
$GC,15314,0.60,146.1,197.6,16.2,685,15318,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1274,2209,0,0,0,0,0,0
$GC,15389,0.60,146.1,185.6,14.4,689,15398,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2673,2209,0,0,0,0,0,0
$GC,15711,0.60,146.1,132.4,15.6,710,15715,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1280,2209,0,0,0,0,0,0
$GC,15782,0.60,146.1,121.6,15.7,714,15787,0.12,2.25,0.00,0.000,6,0.198,0.052,2031,2673,2209,0,0,0,0,0,0
$GC,16121,0.60,146.1,75.6,13.5,754,16128,0.00,1.95,0.00,0.000,4,0.000,0.058,2030,3906,2209,0,0,0,0,0,0
$GC,16170,0.60,146.1,67.7,15.7,762,16179,0.00,1.92,0.00,0.000,6,0.000,0.037,2039,2673,2209,0,0,0,0,0,0
$GC,16542,0.60,146.1,11.2,17.4,823,16550,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1265,2209,0,0,0,0,0,0
$STATE,16595,end climb,SURFACE_DEPTH_REACHED
$STATE,16595,begin surface coast
$FINISH,1.0,1.014842
$STATE,16621,end surface coast,CONTROL_FINISHED_OK
$STATE,16621,begin surface
$SM_CCo,16645,41.33,0.773,1,0,1880,230.09
$SM_GC,2.10,0.00,0.00,41.33,0.000,0.000,0.773,46,2863,1880,-5.58,0.08,230.09
$IRIDIUM_FIX,-4616.72,439.06,080213,131314
$TT8_MAMPS,0.026215
$HUMID,58.34
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.3,67.327
$10V_AH,9.9,35.288
$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,13.900,116.150,305.950,41.325,0.000,52.363,55.615,602.932,0.000,0.000,39.047,2118.036,11427.909,450.841,2917.378,836.201,33.397,1393.704,0.000,2173.961,0.000,1.008,0.000
$DEVICE_MAMPS,246.330,61.965,1803.105,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.138,1660.933,900.722,347.477,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354112
$DATA_FILE_SIZE,60328,835
$CAP_FILE_SIZE,139443,0
$CFSIZE,259252224,206381056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,080213,183104,-4634.691,438.580,39,1.2,40,-23.5