version: 66.07
glider: 542
mission: 6
dive: 407
start: 2 17 113 6 37 27
data:
$ID,542
$MISSION,6
$DIVE,407
$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,-11739.154
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,170213,062322,-4629.886,406.898,39,0.9,39,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-69.9
$GPS2,170213,063630,-4629.848,407.091,15,0.9,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.249,0.059
$KALMAN_X,-233742.2,-77.4,-611.3,221932.2,5855.0
$KALMAN_Y,300210.3,175.3,35.9,-260740.0,-1335.0
$MHEAD_RNG_PITCHd_Wd,99.9,41954,-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,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,92,0.00,0.00,-62.88,0.000,2,0.000,0.000,54,2885,3124,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-2.1,8,117,6.72,1.67,-7.65,0.000,4,0.248,0.074,1620,3894,3418,0,0,0,0,0,0
$GC,399,-0.60,-146.1,47.4,-13.0,55,405,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2840,3420,0,0,0,0,0,0
$GC,641,-0.60,-146.1,78.9,-12.0,96,651,0.00,2.10,0.00,0.000,4,0.000,0.034,1620,1477,3421,0,0,0,0,0,0
$GC,674,-0.60,-146.1,82.5,-12.2,100,681,0.00,2.20,0.00,0.000,6,0.000,0.049,1609,2861,3421,0,0,0,0,0,0
$GC,1022,-0.60,-146.1,125.1,-12.5,137,1025,0.00,1.65,0.00,0.000,4,0.000,0.057,1601,3913,3422,0,0,0,0,0,0
$GC,1095,-0.60,-146.1,134.7,-13.1,141,1099,0.08,1.58,0.00,0.000,6,0.156,0.030,1634,2858,3422,0,0,0,0,0,0
$GC,1433,-0.60,-146.1,171.5,-11.1,162,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2853,3422,0,0,0,0,0,0
$GC,1757,-0.60,-146.1,205.8,-10.1,183,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2853,3422,0,0,0,0,0,0
$GC,2069,-0.60,-146.1,234.3,-8.7,203,2073,0.00,1.70,0.00,0.000,4,0.000,0.060,1627,3896,3423,0,0,0,0,0,0
$GC,2109,-0.60,-146.1,237.7,-8.2,205,2113,0.00,1.55,0.00,0.000,6,0.000,0.031,1627,2867,3423,0,0,0,0,0,0
$GC,2442,-0.60,-146.1,268.4,-9.2,223,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2861,3423,0,0,0,0,0,0
$GC,2749,-0.60,-146.1,297.4,-9.3,238,2752,0.00,1.67,0.00,0.000,4,0.000,0.060,1619,3903,3423,0,0,0,0,0,0
$GC,2824,-0.60,-146.1,305.2,-10.0,241,2827,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2854,3423,0,0,0,0,0,0
$GC,3155,-0.60,-146.1,337.9,-10.0,257,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2849,3422,0,0,0,0,0,0
$GC,3462,-0.60,-146.1,369.5,-10.1,272,3466,0.00,1.67,0.00,0.000,4,0.000,0.060,1610,3892,3423,0,0,0,0,0,0
$GC,3519,-0.60,-146.1,376.1,-10.8,274,3523,0.00,1.55,0.00,0.000,6,0.000,0.031,1610,2865,3423,0,0,0,0,0,0
$GC,3852,-0.60,-146.1,411.2,-10.5,289,3856,0.00,1.70,0.00,0.000,4,0.000,0.060,1602,3901,3423,0,0,0,0,0,0
$GC,3898,-0.60,-146.1,416.5,-11.3,290,3902,0.08,1.58,0.00,0.000,6,0.155,0.031,1635,2858,3422,0,0,0,0,0,0
$GC,4231,-0.60,-146.1,443.3,-8.0,301,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3422,0,0,0,0,0,0
$GC,4537,-0.60,-146.1,466.2,-7.3,311,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2853,3422,0,0,0,0,0,0
$GC,4843,-0.60,-146.1,489.1,-7.6,321,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3422,0,0,0,0,0,0
$GC,5149,-0.60,-146.1,511.5,-7.4,331,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3422,0,0,0,0,0,0
$GC,5455,-0.60,-146.1,535.0,-7.9,341,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3421,0,0,0,0,0,0
$GC,5761,-0.60,-146.1,561.0,-8.7,351,5765,0.00,1.70,0.00,0.000,4,0.000,0.061,1629,3903,3421,0,0,0,0,0,0
$GC,5808,-0.60,-146.1,565.7,-9.6,352,5811,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2866,3421,0,0,0,0,0,0
$GC,6139,-0.60,-146.1,598.2,-9.7,363,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2861,3421,0,0,0,0,0,0
$GC,6447,-0.60,-146.1,627.0,-9.3,373,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2860,3421,0,0,0,0,0,0
$GC,6752,-0.60,-146.1,653.9,-8.7,383,6756,0.00,1.70,0.00,0.000,4,0.000,0.061,1621,3897,3420,0,0,0,0,0,0
$GC,6782,-0.60,-146.1,656.7,-9.2,383,6788,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2849,3420,0,0,0,0,0,0
$GC,7097,-0.60,-146.1,683.3,-8.3,394,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3420,0,0,0,0,0,0
$GC,7404,-0.60,-146.1,707.9,-7.9,404,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2849,3420,0,0,0,0,0,0
$GC,7710,-0.60,-146.1,731.4,-7.9,414,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2849,3420,0,0,0,0,0,0
$GC,8016,-0.60,-146.1,755.6,-8.1,424,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3420,0,0,0,0,0,0
$GC,8322,-0.60,-146.1,781.2,-8.5,434,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2848,3419,0,0,0,0,0,0
$GC,8629,-0.60,-146.1,806.5,-8.1,444,8633,0.00,2.08,0.00,0.000,4,0.000,0.037,1620,1486,3419,0,0,0,0,0,0
$GC,8653,-0.60,-146.1,808.7,-8.2,444,8657,0.00,2.22,0.00,0.000,6,0.000,0.053,1610,2866,3418,0,0,0,0,0,0
$GC,8968,-0.60,-146.1,836.6,-9.0,454,8972,0.00,1.65,0.00,0.000,4,0.000,0.060,1602,3907,3419,0,0,0,0,0,0
$GC,9005,-0.60,-146.1,840.2,-10.0,455,9010,0.08,1.58,0.00,0.000,6,0.152,0.031,1634,2866,3418,0,0,0,0,0,0
$GC,9349,-0.60,-146.1,865.7,-7.4,466,9353,0.00,2.12,0.00,0.000,4,0.000,0.037,1634,1480,3418,0,0,0,0,0,0
$GC,9373,-0.60,-146.1,867.7,-7.7,466,9380,0.00,2.22,0.00,0.000,6,0.000,0.052,1626,2865,3418,0,0,0,0,0,0
$GC,9690,-0.60,-146.1,891.7,-7.6,477,9693,0.00,1.65,0.00,0.000,4,0.000,0.061,1618,3904,3418,0,0,0,0,0,0
$GC,9730,-0.60,-146.1,895.3,-8.4,478,9733,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2862,3418,0,0,0,0,0,0
$GC,10068,-0.60,-146.1,921.6,-7.5,489,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2856,3418,0,0,0,0,0,0
$GC,10376,-0.60,-146.1,943.8,-7.0,499,10380,0.00,2.10,0.00,0.000,4,0.000,0.037,1618,1475,3418,0,0,0,0,0,0
$GC,10407,-0.60,-146.1,946.2,-7.7,500,10411,0.00,2.22,0.00,0.000,6,0.000,0.052,1608,2862,3418,0,0,0,0,0,0
$GC,10752,-0.60,-146.1,972.0,-7.7,511,10755,0.00,1.65,0.00,0.000,4,0.000,0.061,1600,3902,3418,0,0,0,0,0,0
$GC,10826,-0.60,-146.1,978.3,-8.4,513,10830,0.10,1.58,0.00,0.000,6,0.151,0.032,1631,2860,3418,0,0,0,0,0,0
$STATE,11067,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11068,begin apogee
$GC,11079,-0.18,0.0,992.9,5.8,521,11228,0.45,0.00,146.35,1.249,6,0.148,0.000,1768,2666,2819,0,0,0,0,0,0
$STATE,11230,end apogee,CONTROL_FINISHED_OK
$STATE,11230,begin climb
$GC,11235,0.60,146.1,995.6,0.0,526,11405,0.75,0.00,160.52,1.805,6,0.089,0.000,2015,2666,2224,0,0,0,0,1,0
$GC,11697,0.60,146.1,918.7,19.3,541,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2666,2220,0,0,0,0,0,0
$GC,12003,0.60,146.1,860.0,19.0,551,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2666,2220,0,0,0,0,0,0
$GC,12309,0.60,146.1,803.5,18.4,561,12313,0.00,2.15,0.00,0.000,4,0.000,0.043,2026,1290,2218,0,0,0,0,0,0
$GC,12374,0.60,146.1,792.6,16.4,563,12378,0.00,2.22,0.00,0.000,6,0.000,0.050,2026,2670,2216,0,0,0,0,0,0
$GC,12712,0.60,146.1,731.1,18.4,574,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2670,2216,0,0,0,0,0,0
$GC,13018,0.60,146.1,674.2,18.2,584,13022,0.00,2.17,0.00,0.000,4,0.000,0.044,2036,1279,2216,0,0,0,0,0,0
$GC,13049,0.60,146.1,668.5,18.2,585,13053,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2677,2214,0,0,0,0,0,0
$GC,13387,0.60,146.1,603.8,19.5,596,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2677,2214,0,0,0,0,0,0
$GC,13693,0.60,146.1,546.6,18.5,606,13697,0.00,2.17,0.00,0.000,4,0.000,0.043,2046,1284,2214,0,0,0,0,0,0
$GC,13739,0.60,146.1,538.5,15.4,607,13743,0.00,2.22,0.00,0.000,6,0.000,0.051,2046,2670,2213,0,0,0,0,0,0
$GC,14071,0.60,146.1,479.3,17.7,618,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2213,0,0,0,0,0,0
$GC,14377,0.60,146.1,425.7,17.4,628,14378,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2213,0,0,0,0,0,0
$GC,14697,0.60,146.1,368.4,17.9,641,14698,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2213,0,0,0,0,0,0
$GC,15005,0.60,146.1,310.0,19.0,656,15009,0.00,2.17,0.00,0.000,4,0.000,0.043,2056,1281,2213,0,0,0,0,0,0
$GC,15048,0.60,146.1,302.1,18.8,658,15053,0.12,2.22,0.00,0.000,6,0.207,0.049,2027,2672,2212,0,0,0,0,0,0
$GC,15374,0.60,146.1,247.0,16.5,674,15378,0.00,2.20,0.00,0.000,4,0.000,0.043,2037,1273,2213,0,0,0,0,0,0
$GC,15411,0.60,146.1,241.0,15.4,676,15415,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2671,2212,0,0,0,0,0,0
$GC,15740,0.60,146.1,187.1,15.7,697,15743,0.00,1.95,0.00,0.000,4,0.000,0.058,2037,3896,2212,0,0,0,0,0,0
$GC,15781,0.60,146.1,179.5,18.2,699,15785,0.00,1.90,0.00,0.000,6,0.000,0.038,2046,2687,2213,0,0,0,0,0,0
$GC,16107,0.60,146.1,125.5,15.9,720,16111,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1257,2213,0,0,0,0,0,0
$GC,16139,0.60,146.1,120.5,14.4,722,16144,0.12,2.28,0.00,0.000,6,0.197,0.050,2028,2670,2212,0,0,0,0,0,0
$GC,16478,0.60,146.1,75.8,11.9,764,16484,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2212,0,0,0,0,0,0
$GC,16846,0.60,146.1,26.8,13.4,825,16854,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2670,2211,0,0,0,0,0,0
$GC,16933,0.60,146.1,14.9,13.2,838,16941,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2212,0,0,0,0,0,0
$GC,17020,0.60,146.1,3.5,13.0,851,17028,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2212,0,0,0,0,0,0
$STATE,17036,end climb,SURFACE_DEPTH_REACHED
$STATE,17036,begin surface coast
$FINISH,1.0,1.023776
$STATE,17062,end surface coast,CONTROL_FINISHED_OK
$STATE,17062,begin surface
$SM_CCo,17084,42.33,0.777,1,0,1880,230.09
$SM_GC,2.46,0.00,0.00,42.33,0.000,0.000,0.777,52,2888,1880,-5.55,0.79,230.09
$IRIDIUM_FIX,-4616.72,407.37,170213,010154
$TT8_MAMPS,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,21.0,75.061
$10V_AH,10.0,40.258
$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,13.875,83.950,306.875,42.325,0.000,27.960,20.903,490.221,0.000,0.000,17.873,2112.297,11937.013,465.813,2595.974,794.455,33.372,1317.806,0.000,2049.595,0.000,1.011,0.000
$DEVICE_MAMPS,247.860,74.205,1805.400,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.158,1677.200,890.808,346.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354072
$DATA_FILE_SIZE,60388,857
$CAP_FILE_SIZE,126991,0
$CFSIZE,259252224,203370496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,170213,112427,-4628.454,410.267,36,1.4,40,-23.4