version: 66.07
glider: 542
mission: 6
dive: 386
start: 2 13 113 0 18 3
data:
$ID,542
$MISSION,6
$DIVE,386
$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,-11674.753
$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,58
$R_STBD_OVSHOOT,29
$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
$GPS1,130213,000357,-4658.893,425.337,36,1.2,40,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-58.7
$GPS2,130213,001706,-4658.835,425.497,15,1.2,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,-0.240
$KALMAN_X,-271343.9,-132.1,-704.1,282982.9,3019.2
$KALMAN_Y,292149.0,-349.6,-131.3,-305658.8,5219.1
$MHEAD_RNG_PITCHd_Wd,223.4,19693,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-63.15,0.000,2,0.000,0.000,55,2882,3082,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-3.3,8,124,6.88,1.65,-8.98,0.000,4,0.256,0.074,1619,3892,3418,0,0,0,0,0,0
$GC,191,-0.60,-146.1,18.5,-13.5,21,200,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2852,3419,0,0,0,0,0,0
$GC,276,-0.60,-146.1,32.0,-17.5,34,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2852,3419,0,0,0,0,0,0
$GC,527,-0.60,-146.1,67.9,-14.5,75,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2852,3419,0,0,0,0,0,0
$GC,882,-0.60,-146.1,110.8,-11.7,126,886,0.00,1.67,0.00,0.000,4,0.000,0.058,1611,3897,3420,0,0,0,0,0,0
$GC,928,-0.60,-146.1,116.9,-13.1,128,937,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2862,3420,0,0,0,0,0,0
$GC,1252,-0.60,-146.1,155.6,-11.7,149,1256,0.00,1.67,0.00,0.000,4,0.000,0.059,1603,3892,3421,0,0,0,0,0,0
$GC,1310,-0.60,-146.1,163.4,-12.7,152,1314,0.08,1.55,0.00,0.000,6,0.161,0.031,1626,2862,3421,0,0,0,0,0,0
$GC,1643,-0.60,-146.1,195.7,-10.0,173,1647,0.00,1.67,0.00,0.000,4,0.000,0.059,1620,3886,3421,0,0,0,0,0,0
$GC,1699,-0.60,-146.1,202.5,-11.4,176,1703,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2848,3422,0,0,0,0,0,0
$GC,2034,-0.60,-146.1,239.7,-11.4,197,2037,0.00,1.67,0.00,0.000,4,0.000,0.059,1611,3893,3421,0,0,0,0,0,0
$GC,2074,-0.60,-146.1,244.6,-13.0,199,2077,0.00,1.55,0.00,0.000,6,0.000,0.032,1611,2859,3421,0,0,0,0,0,0
$GC,2395,-0.60,-146.1,282.9,-11.4,215,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2854,3422,0,0,0,0,0,0
$GC,2702,-0.60,-146.1,318.8,-11.4,230,2706,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3898,3421,0,0,0,0,0,0
$GC,2743,-0.60,-146.1,324.0,-12.2,231,2750,0.08,1.55,0.00,0.000,6,0.158,0.031,1627,2867,3421,0,0,0,0,0,0
$GC,3064,-0.60,-146.1,356.3,-10.1,247,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2867,3421,0,0,0,0,0,0
$GC,3371,-0.60,-146.1,386.2,-9.5,262,3375,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3894,3421,0,0,0,0,0,0
$GC,3428,-0.60,-146.1,392.5,-10.4,264,3432,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2867,3422,0,0,0,0,0,0
$GC,3770,-0.60,-146.1,425.7,-9.9,277,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3421,0,0,0,0,0,0
$GC,4077,-0.60,-146.1,455.6,-9.9,287,4080,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3903,3421,0,0,0,0,0,0
$GC,4122,-0.60,-146.1,460.8,-11.1,288,4126,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2859,3421,0,0,0,0,0,0
$GC,4454,-0.60,-146.1,495.3,-10.5,299,4457,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3895,3421,0,0,0,0,0,0
$GC,4534,-0.60,-146.1,504.5,-11.6,301,4538,0.08,1.58,0.00,0.000,6,0.154,0.032,1637,2855,3421,0,0,0,0,0,0
$GC,4866,-0.60,-146.1,533.4,-8.7,312,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3421,0,0,0,0,0,0
$GC,5172,-0.60,-146.1,560.6,-8.8,322,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3421,0,0,0,0,0,0
$GC,5479,-0.60,-146.1,586.7,-8.4,332,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3421,0,0,0,0,0,0
$GC,5785,-0.60,-146.1,611.6,-8.1,342,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3421,0,0,0,0,0,0
$GC,6091,-0.60,-146.1,634.5,-7.3,352,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3420,0,0,0,0,0,0
$GC,6398,-0.60,-146.1,656.6,-7.2,362,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3420,0,0,0,0,0,0
$GC,6704,-0.60,-146.1,678.3,-7.0,372,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3420,0,0,0,0,0,0
$GC,7010,-0.60,-146.1,699.7,-7.0,382,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3420,0,0,0,0,0,0
$GC,7316,-0.60,-146.1,720.8,-6.9,392,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3420,0,0,0,0,0,0
$GC,7622,-0.60,-146.1,741.6,-6.8,402,7626,0.00,1.70,0.00,0.000,4,0.000,0.062,1630,3884,3420,0,0,0,0,0,0
$GC,7659,-0.60,-146.1,744.5,-7.7,403,7663,0.00,1.55,0.00,0.000,6,0.000,0.034,1630,2867,3420,0,0,0,0,0,0
$GC,8004,-0.60,-146.1,770.3,-7.6,414,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3420,0,0,0,0,0,0
$GC,8309,-0.60,-146.1,793.7,-7.8,424,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3420,0,0,0,0,0,0
$GC,8617,-0.60,-146.1,817.4,-7.8,434,8621,0.00,2.15,0.00,0.000,4,0.000,0.038,1630,1470,3419,0,0,0,0,0,0
$GC,8648,-0.60,-146.1,820.0,-8.2,435,8652,0.00,2.25,0.00,0.000,6,0.000,0.053,1620,2867,3419,0,0,0,0,0,0
$GC,8994,-0.60,-146.1,847.1,-7.7,446,8997,0.00,1.65,0.00,0.000,4,0.000,0.060,1612,3906,3419,0,0,0,0,0,0
$GC,9040,-0.60,-146.1,851.2,-8.3,447,9044,0.00,1.60,0.00,0.000,6,0.000,0.032,1612,2852,3418,0,0,0,0,0,0
$GC,9372,-0.60,-146.1,877.0,-8.0,458,9376,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3899,3418,0,0,0,0,0,0
$GC,9418,-0.60,-146.1,881.2,-9.3,459,9423,0.08,1.58,0.00,0.000,6,0.152,0.032,1637,2856,3418,0,0,0,0,0,0
$GC,9751,-0.60,-146.1,901.7,-6.2,470,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3418,0,0,0,0,0,0
$GC,10060,-0.60,-146.1,922.3,-6.8,480,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3418,0,0,0,0,0,0
$GC,10364,-0.60,-146.1,945.5,-7.7,490,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3418,0,0,0,0,0,0
$GC,10672,-0.60,-146.1,968.6,-7.4,500,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3418,0,0,0,0,0,0
$GC,10978,-0.60,-146.1,991.5,-7.6,510,10982,0.00,2.10,0.00,0.000,4,0.000,0.037,1637,1484,3418,0,0,0,0,0,0
$GC,11010,-0.60,-146.1,994.2,-8.1,511,11014,0.00,2.22,0.00,0.000,6,0.000,0.053,1629,2863,3417,0,0,0,0,0,0
$STATE,11067,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11067,begin apogee
$GC,11078,-0.18,0.0,999.0,8.0,513,11228,0.47,0.00,146.35,1.250,6,0.151,0.000,1770,2685,2819,0,0,0,0,0,0
$STATE,11229,end apogee,CONTROL_FINISHED_OK
$STATE,11230,begin climb
$GC,11235,0.60,146.1,1004.4,0.0,518,11416,0.77,2.58,161.62,1.812,4,0.087,0.041,2031,1283,2226,0,0,0,0,2,0
$GC,11478,0.60,146.1,972.2,17.7,526,11483,0.00,2.42,0.00,0.000,6,0.000,0.049,2030,2662,2222,0,0,0,0,0,0
$GC,11816,0.60,146.1,901.5,21.4,537,11820,0.00,2.22,0.00,0.000,4,0.000,0.042,2040,1283,2218,0,0,0,0,0,0
$GC,11863,0.60,146.1,892.0,17.9,538,11867,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2673,2216,0,0,0,0,0,0
$GC,12184,0.60,146.1,822.6,22.1,549,12188,0.00,2.22,0.00,0.000,4,0.000,0.042,2051,1272,2216,0,0,0,0,0,0
$GC,12215,0.60,146.1,815.8,22.4,550,12219,0.00,2.28,0.00,0.000,6,0.000,0.050,2051,2680,2216,0,0,0,0,0,0
$GC,12553,0.60,146.1,740.9,21.8,561,12557,0.00,2.22,0.00,0.000,4,0.000,0.043,2061,1273,2216,0,0,0,0,0,0
$GC,12610,0.60,146.1,729.0,19.0,562,12618,0.15,2.25,0.00,0.000,6,0.213,0.049,2027,2673,2214,0,0,0,0,0,0
$GC,12926,0.60,146.1,668.7,19.2,573,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2673,2214,0,0,0,0,0,0
$GC,13232,0.60,146.1,609.8,19.2,583,13236,0.00,2.20,0.00,0.000,4,0.000,0.042,2036,1278,2214,0,0,0,0,0,0
$GC,13301,0.60,146.1,596.9,19.4,585,13305,0.00,2.22,0.00,0.000,6,0.000,0.051,2036,2668,2213,0,0,0,0,0,0
$GC,13640,0.60,146.1,529.5,20.3,596,13644,0.00,2.20,0.00,0.000,4,0.000,0.043,2046,1275,2213,0,0,0,0,0,0
$GC,13681,0.60,146.1,521.0,17.7,597,13685,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2675,2212,0,0,0,0,0,0
$GC,14007,0.60,146.1,454.7,20.9,608,14009,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2675,2213,0,0,0,0,0,0
$GC,14327,0.60,146.1,391.3,19.7,619,14331,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1281,2213,0,0,0,0,0,0
$GC,14379,0.60,146.1,381.0,16.9,621,14384,0.12,2.25,0.00,0.000,6,0.208,0.050,2028,2680,2212,0,0,0,0,0,0
$GC,14698,0.60,146.1,325.4,17.2,636,14702,0.00,2.22,0.00,0.000,4,0.000,0.042,2038,1271,2212,0,0,0,0,0,0
$GC,14744,0.60,146.1,317.6,15.5,638,14748,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2671,2212,0,0,0,0,0,0
$GC,15068,0.60,146.1,262.2,17.1,654,15072,0.00,2.20,0.00,0.000,4,0.000,0.042,2048,1277,2212,0,0,0,0,0,0
$GC,15120,0.60,146.1,253.6,15.0,656,15124,0.00,2.22,0.00,0.000,6,0.000,0.050,2048,2670,2211,0,0,0,0,0,0
$GC,15455,0.60,146.1,198.3,16.2,677,15456,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2670,2212,0,0,0,0,0,0
$GC,15766,0.60,146.1,147.9,15.6,697,15770,0.00,2.17,0.00,0.000,4,0.000,0.041,2058,1278,2212,0,0,0,0,0,0
$GC,15865,0.60,146.1,133.4,14.8,702,15874,0.10,2.28,0.00,0.000,6,0.186,0.050,2030,2674,2211,0,0,0,0,0,0
$GC,16202,0.60,146.1,84.7,16.3,733,16206,0.00,1.95,0.00,0.000,4,0.000,0.058,2030,3900,2211,0,0,0,0,0,0
$GC,16257,0.60,146.1,76.0,14.1,742,16264,0.00,1.88,0.00,0.000,6,0.000,0.037,2038,2671,2212,0,0,0,0,0,0
$GC,16621,0.60,146.1,26.7,13.9,803,16630,0.00,2.17,0.00,0.000,4,0.000,0.041,2049,1278,2211,0,0,0,0,0,0
$GC,16720,0.60,146.1,11.4,15.6,818,16729,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2664,2210,0,0,0,0,0,0
$STATE,16769,end climb,SURFACE_DEPTH_REACHED
$STATE,16769,begin surface coast
$FINISH,0.7,1.014454
$STATE,16789,end surface coast,CONTROL_FINISHED_OK
$STATE,16789,begin surface
$SM_CCo,16812,42.62,0.786,1,0,1879,230.09
$SM_GC,1.97,0.00,0.00,42.62,0.000,0.000,0.786,55,2884,1879,-5.55,0.65,230.09
$IRIDIUM_FIX,-4641.78,428.28,120213,191934
$TT8_MAMPS,0.026964
$HUMID,58.93
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.1,71.278
$10V_AH,10.0,37.806
$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,14.500,101.525,307.975,42.625,0.000,28.362,20.747,489.381,0.000,0.000,17.841,2080.094,11702.206,453.939,2606.935,791.560,33.397,1359.429,0.000,2055.746,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,74.205,1812.285,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.878,1609.381,834.738,320.623,0.000,0.000,0.000,0.000,0.000,0.000
$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,60385,828
$CAP_FILE_SIZE,131956,0
$CFSIZE,259252224,204877824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,130213,050028,-4659.644,423.442,36,0.8,37,-23.4