version: 66.07
glider: 542
mission: 6
dive: 385
start: 2 12 113 19 23 21
data:
$ID,542
$MISSION,6
$DIVE,385
$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,-11671.681
$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,60
$R_STBD_OVSHOOT,36
$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
$GPS1,120213,190852,-4657.942,426.947,40,0.9,41,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-48.9
$GPS2,120213,192224,-4657.900,427.003,16,1.5,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.080,-0.243
$KALMAN_X,-272124.8,189.7,58.7,284567.8,1840.8
$KALMAN_Y,288465.8,203.1,-309.8,-300611.0,5169.4
$MHEAD_RNG_PITCHd_Wd,221.6,21825,-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,-146.1,0.0,0.0,0,99,0.00,0.00,-71.05,0.000,2,0.000,0.000,51,2891,3244,0,0,0,0,0,0
$GC,106,-0.60,-146.1,3.3,-1.6,9,125,7.03,2.20,-4.35,0.000,4,0.262,0.044,1636,1458,3415,0,0,0,0,0,0
$GC,262,-0.60,-146.1,27.0,-10.6,32,271,0.00,2.30,0.00,0.000,6,0.000,0.054,1627,2855,3418,0,0,0,0,0,0
$GC,349,-0.60,-146.1,38.3,-14.0,45,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2855,3418,0,0,0,0,0,0
$GC,594,-0.60,-146.1,71.1,-13.7,86,600,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2855,3418,0,0,0,0,0,0
$GC,941,-0.60,-146.1,108.8,-10.7,137,945,0.00,1.65,0.00,0.000,4,0.000,0.059,1618,3903,3419,0,0,0,0,0,0
$GC,1021,-0.60,-146.1,118.8,-12.3,141,1028,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2850,3419,0,0,0,0,0,0
$GC,1343,-0.60,-146.1,153.9,-10.4,162,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2849,3419,0,0,0,0,0,0
$GC,1657,-0.60,-146.1,185.5,-10.1,182,1660,0.00,1.70,0.00,0.000,4,0.000,0.059,1610,3910,3419,0,0,0,0,0,0
$GC,1704,-0.60,-146.1,190.8,-11.1,184,1712,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2858,3420,0,0,0,0,0,0
$GC,2027,-0.60,-146.1,225.2,-11.0,205,2031,0.00,1.70,0.00,0.000,4,0.000,0.060,1602,3901,3420,0,0,0,0,0,0
$GC,2101,-0.60,-146.1,233.9,-12.1,209,2105,0.08,1.58,0.00,0.000,6,0.161,0.031,1634,2855,3420,0,0,0,0,0,0
$GC,2428,-0.60,-146.1,262.7,-8.7,227,2432,0.00,1.70,0.00,0.000,4,0.000,0.060,1628,3909,3420,0,0,0,0,0,0
$GC,2502,-0.60,-146.1,270.8,-10.2,230,2506,0.00,1.58,0.00,0.000,6,0.000,0.031,1628,2865,3420,0,0,0,0,0,0
$GC,2832,-0.60,-146.1,303.5,-12.0,246,2836,0.00,1.70,0.00,0.000,4,0.000,0.060,1620,3906,3419,0,0,0,0,0,0
$GC,2880,-0.60,-146.1,309.4,-13.4,248,2883,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2859,3419,0,0,0,0,0,0
$GC,3215,-0.60,-146.1,341.4,-9.6,264,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3419,0,0,0,0,0,0
$GC,3526,-0.60,-146.1,370.7,-9.6,279,3530,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3900,3419,0,0,0,0,0,0
$GC,3576,-0.60,-146.1,376.0,-10.5,281,3580,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2855,3419,0,0,0,0,0,0
$GC,3900,-0.60,-146.1,411.3,-11.0,295,3904,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3907,3419,0,0,0,0,0,0
$GC,3951,-0.60,-146.1,417.6,-12.7,296,3956,0.08,1.58,0.00,0.000,6,0.164,0.032,1626,2868,3419,0,0,0,0,0,0
$GC,4279,-0.60,-146.1,448.7,-9.4,307,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3419,0,0,0,0,0,0
$GC,4585,-0.60,-146.1,476.6,-8.9,317,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2863,3419,0,0,0,0,0,0
$GC,4891,-0.60,-146.1,502.6,-8.3,327,4895,0.00,1.70,0.00,0.000,4,0.000,0.061,1620,3900,3419,0,0,0,0,0,0
$GC,4928,-0.60,-146.1,505.9,-9.5,328,4932,0.00,1.58,0.00,0.000,6,0.000,0.033,1620,2858,3419,0,0,0,0,0,0
$GC,5274,-0.60,-146.1,537.0,-8.9,339,5277,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3906,3419,0,0,0,0,0,0
$GC,5310,-0.60,-146.1,540.8,-10.4,340,5314,0.00,1.60,0.00,0.000,6,0.000,0.032,1611,2852,3419,0,0,0,0,0,0
$GC,5653,-0.60,-146.1,571.9,-8.9,351,5657,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3903,3418,0,0,0,0,0,0
$GC,5694,-0.60,-146.1,576.2,-9.8,352,5698,0.08,1.58,0.00,0.000,6,0.158,0.033,1636,2862,3418,0,0,0,0,0,0
$GC,6032,-0.60,-146.1,600.6,-7.0,363,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2859,3418,0,0,0,0,0,0
$GC,6338,-0.60,-146.1,623.4,-7.7,373,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2859,3418,0,0,0,0,0,0
$GC,6645,-0.60,-146.1,647.5,-8.0,383,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3418,0,0,0,0,0,0
$GC,6951,-0.60,-146.1,672.7,-8.4,393,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2859,3417,0,0,0,0,0,0
$GC,7257,-0.60,-146.1,698.7,-8.3,403,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2859,3418,0,0,0,0,0,0
$GC,7564,-0.60,-146.1,722.8,-7.7,413,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2859,3417,0,0,0,0,0,0
$GC,7869,-0.60,-146.1,745.3,-7.1,423,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3417,0,0,0,0,0,0
$GC,8176,-0.60,-146.1,766.0,-6.6,433,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2858,3417,0,0,0,0,0,0
$GC,8482,-0.60,-146.1,785.7,-6.5,443,8486,0.00,2.10,0.00,0.000,4,0.000,0.039,1636,1483,3416,0,0,0,0,0,0
$GC,8520,-0.60,-146.1,788.2,-6.6,444,8524,0.00,2.22,0.00,0.000,6,0.000,0.054,1627,2871,3416,0,0,0,0,0,0
$GC,8865,-0.60,-146.1,813.2,-7.5,455,8868,0.00,1.65,0.00,0.000,4,0.000,0.061,1619,3910,3416,0,0,0,0,0,0
$GC,8906,-0.60,-146.1,816.8,-8.0,456,8910,0.00,1.60,0.00,0.000,6,0.000,0.032,1619,2851,3416,0,0,0,0,0,0
$GC,9243,-0.60,-146.1,844.6,-8.5,467,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2846,3416,0,0,0,0,0,0
$GC,9551,-0.60,-146.1,871.3,-8.7,477,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2845,3416,0,0,0,0,0,0
$GC,9856,-0.60,-146.1,897.1,-8.2,487,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2845,3416,0,0,0,0,0,0
$GC,10162,-0.60,-146.1,920.6,-7.5,497,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2845,3416,0,0,0,0,0,0
$GC,10468,-0.60,-146.1,944.1,-7.8,507,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2846,3416,0,0,0,0,0,0
$GC,10775,-0.60,-146.1,967.6,-7.5,517,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2845,3416,0,0,0,0,0,0
$STATE,11045,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11045,begin apogee
$GC,11056,-0.18,0.0,988.4,7.6,526,11205,0.50,0.00,145.65,1.252,6,0.153,0.000,1767,2682,2820,0,0,0,0,0,0
$STATE,11207,end apogee,CONTROL_FINISHED_OK
$STATE,11207,begin climb
$GC,11211,0.60,146.1,992.5,0.0,531,11397,0.80,2.47,163.00,1.782,4,0.090,0.041,2032,1281,2226,0,0,0,0,3,0
$GC,11457,0.60,146.1,959.2,17.0,539,11461,0.00,2.42,0.00,0.000,6,0.000,0.048,2032,2663,2224,0,0,0,0,0,0
$GC,11789,0.60,146.1,891.8,20.4,550,11793,0.00,2.22,0.00,0.000,4,0.000,0.043,2043,1283,2221,0,0,0,0,0,0
$GC,11847,0.60,146.1,880.6,17.6,551,11854,0.00,2.25,0.00,0.000,6,0.000,0.049,2043,2673,2219,0,0,0,0,0,0
$GC,12163,0.60,146.1,817.3,20.1,562,12166,0.00,2.20,0.00,0.000,4,0.000,0.043,2053,1284,2218,0,0,0,0,0,0
$GC,12220,0.60,146.1,806.2,17.1,563,12227,0.00,2.22,0.00,0.000,6,0.000,0.049,2053,2671,2216,0,0,0,0,0,0
$GC,12535,0.60,146.1,740.7,21.4,574,12539,0.00,2.17,0.00,0.000,4,0.000,0.042,2063,1285,2217,0,0,0,0,0,0
$GC,12587,0.60,146.1,730.0,18.3,575,12592,0.15,2.22,0.00,0.000,6,0.209,0.050,2028,2679,2216,0,0,0,0,0,0
$GC,12909,0.60,146.1,670.0,18.6,586,12913,0.00,2.17,0.00,0.000,4,0.000,0.042,2038,1284,2216,0,0,0,0,0,0
$GC,12955,0.60,146.1,661.6,16.2,587,12959,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2669,2215,0,0,0,0,0,0
$GC,13287,0.60,146.1,598.5,19.0,598,13291,0.00,2.17,0.00,0.000,4,0.000,0.043,2048,1274,2215,0,0,0,0,0,0
$GC,13333,0.60,146.1,589.6,17.9,599,13337,0.00,2.22,0.00,0.000,6,0.000,0.050,2048,2670,2214,0,0,0,0,0,0
$GC,13667,0.60,146.1,522.8,20.4,610,13670,0.00,2.17,0.00,0.000,4,0.000,0.044,2058,1286,2215,0,0,0,0,0,0
$GC,13691,0.60,146.1,517.4,20.1,610,13698,0.12,2.22,0.00,0.000,6,0.203,0.051,2030,2674,2214,0,0,0,0,0,0
$GC,14006,0.60,146.1,462.8,17.0,621,14010,0.00,2.17,0.00,0.000,4,0.000,0.042,2039,1280,2214,0,0,0,0,0,0
$GC,14046,0.60,146.1,455.9,15.6,622,14050,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2676,2214,0,0,0,0,0,0
$GC,14386,0.60,146.1,394.9,18.2,633,14390,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1274,2215,0,0,0,0,0,0
$GC,14451,0.60,146.1,383.7,15.5,636,14455,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2671,2214,0,0,0,0,0,0
$GC,14781,0.60,146.1,323.3,18.9,652,14782,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2671,2214,0,0,0,0,0,0
$GC,15092,0.60,146.1,264.0,18.9,667,15096,0.00,2.17,0.00,0.000,4,0.000,0.042,2059,1276,2214,0,0,0,0,0,0
$GC,15167,0.60,146.1,250.1,16.9,670,15172,0.12,2.22,0.00,0.000,6,0.200,0.050,2031,2670,2213,0,0,0,0,0,0
$GC,15508,0.60,146.1,193.8,17.3,691,15512,0.00,2.17,0.00,0.000,4,0.000,0.043,2040,1285,2213,0,0,0,0,0,0
$GC,15565,0.60,146.1,183.2,15.4,694,15574,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2668,2213,0,0,0,0,0,0
$GC,15889,0.60,146.1,128.0,17.6,715,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2668,2213,0,0,0,0,0,0
$GC,16214,0.60,146.1,73.5,16.9,753,16221,0.00,2.20,0.00,0.000,4,0.000,0.041,2050,1280,2213,0,0,0,0,0,0
$GC,16245,0.60,146.1,68.9,16.4,757,16250,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2677,2213,0,0,0,0,0,0
$GC,16613,0.60,146.1,10.6,13.7,818,16621,0.00,2.22,0.00,0.000,4,0.000,0.046,2060,1287,2213,0,0,0,0,0,0
$STATE,16655,end climb,SURFACE_DEPTH_REACHED
$STATE,16655,begin surface coast
$FINISH,0.7,1.026467
$STATE,16675,end surface coast,CONTROL_FINISHED_OK
$STATE,16675,begin surface
$SM_CCo,16700,42.60,0.790,1,0,1878,230.09
$SM_GC,1.72,0.00,0.00,42.60,0.000,0.000,0.790,56,2880,1878,-5.55,0.57,230.09
$IRIDIUM_FIX,-4641.78,431.67,120213,141417
$TT8_MAMPS,0.026215
$HUMID,59.17
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.2,71.103
$10V_AH,9.9,37.692
$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,14.250,103.300,308.650,42.600,0.000,26.217,49.247,487.350,0.000,0.000,18.567,2070.976,11563.724,456.995,2651.616,802.926,33.397,1361.627,0.000,2079.661,0.000,1.008,0.000
$DEVICE_MAMPS,262.395,62.730,1782.450,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.402,1622.672,854.490,330.461,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354056
$DATA_FILE_SIZE,60477,827
$CAP_FILE_SIZE,129900,0
$CFSIZE,259252224,204951552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,130213,000357,-4658.893,425.337,36,1.2,40,-23.4