version: 66.07
glider: 542
mission: 6
dive: 413
start: 2 18 113 12 10 30
data:
$ID,542
$MISSION,6
$DIVE,413
$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,-11757.757
$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,42
$R_STBD_OVSHOOT,24
$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
$GPS1,180213,115523,-4627.939,430.235,40,4.5,59,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-62.4
$GPS2,180213,120933,-4627.808,430.301,21,5.5,40,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.068,-0.246
$KALMAN_X,-232806.8,-52.9,-83.2,249804.6,1127.9
$KALMAN_Y,315423.3,-330.0,29.5,-271656.0,4372.8
$MHEAD_RNG_PITCHd_Wd,188.1,13014,-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,-63.05,0.000,2,0.000,0.000,55,2859,3123,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.4,-2.8,8,117,6.85,1.75,-7.25,0.000,4,0.255,0.076,1619,3900,3417,0,0,0,0,0,0
$GC,248,-0.60,-146.1,27.5,-13.5,30,258,0.00,1.62,0.00,0.000,6,0.000,0.031,1619,2825,3421,0,0,0,0,0,0
$GC,338,-0.60,-146.1,38.3,-10.4,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2825,3420,0,0,0,0,0,0
$GC,584,-0.60,-146.1,73.1,-13.3,84,594,0.00,1.75,0.00,0.000,4,0.000,0.057,1611,3902,3420,0,0,0,0,0,0
$GC,616,-0.60,-146.1,77.1,-13.4,88,623,0.00,1.58,0.00,0.000,6,0.000,0.030,1611,2853,3421,0,0,0,0,0,0
$GC,955,-0.60,-146.1,121.6,-11.6,127,959,0.00,2.08,0.00,0.000,4,0.000,0.034,1610,1484,3421,0,0,0,0,0,0
$GC,984,-0.60,-146.1,125.9,-12.3,128,996,0.10,2.22,0.00,0.000,6,0.144,0.050,1633,2860,3421,0,0,0,0,0,0
$GC,1312,-0.60,-146.1,160.4,-11.0,149,1316,0.00,1.67,0.00,0.000,4,0.000,0.057,1626,3897,3422,0,0,0,0,0,0
$GC,1341,-0.60,-146.1,164.5,-10.9,150,1350,0.00,1.55,0.00,0.000,6,0.000,0.029,1626,2857,3422,0,0,0,0,0,0
$GC,1665,-0.60,-146.1,196.0,-10.0,171,1668,0.00,1.65,0.00,0.000,4,0.000,0.058,1618,3903,3422,0,0,0,0,0,0
$GC,1711,-0.60,-146.1,201.0,-10.1,173,1719,0.00,1.55,0.00,0.000,6,0.000,0.030,1618,2862,3423,0,0,0,0,0,0
$GC,2033,-0.60,-146.1,231.7,-9.0,194,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3423,0,0,0,0,0,0
$GC,2361,-0.60,-146.1,262.7,-9.6,213,2365,0.00,1.67,0.00,0.000,4,0.000,0.059,1610,3892,3423,0,0,0,0,0,0
$GC,2432,-0.60,-146.1,270.6,-11.0,216,2435,0.00,1.55,0.00,0.000,6,0.000,0.031,1610,2857,3422,0,0,0,0,0,0
$GC,2767,-0.60,-146.1,309.1,-11.7,232,2771,0.00,1.70,0.00,0.000,4,0.000,0.058,1602,3897,3422,0,0,0,0,0,0
$GC,2815,-0.60,-146.1,315.2,-12.7,234,2820,0.08,1.55,0.00,0.000,6,0.151,0.031,1641,2864,3423,0,0,0,0,0,0
$GC,3155,-0.60,-146.1,346.0,-8.7,250,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3423,0,0,0,0,0,0
$GC,3463,-0.60,-146.1,371.5,-8.1,265,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3422,0,0,0,0,0,0
$GC,3770,-0.60,-146.1,395.5,-7.6,280,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3422,0,0,0,0,0,0
$GC,4077,-0.60,-146.1,418.6,-7.5,291,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3423,0,0,0,0,0,0
$GC,4383,-0.60,-146.1,441.8,-7.4,301,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3422,0,0,0,0,0,0
$GC,4689,-0.60,-146.1,464.6,-7.5,311,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3422,0,0,0,0,0,0
$GC,4996,-0.60,-146.1,487.3,-7.5,321,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2860,3421,0,0,0,0,0,0
$GC,5301,-0.60,-146.1,510.5,-7.6,331,5305,0.00,2.12,0.00,0.000,4,0.000,0.038,1641,1484,3421,0,0,0,0,0,0
$GC,5331,-0.60,-146.1,513.0,-8.5,331,5338,0.00,2.20,0.00,0.000,6,0.000,0.050,1633,2861,3421,0,0,0,0,0,0
$GC,5647,-0.60,-146.1,539.2,-8.4,342,5651,0.00,1.65,0.00,0.000,4,0.000,0.060,1625,3903,3421,0,0,0,0,0,0
$GC,5687,-0.60,-146.1,543.2,-9.8,343,5691,0.00,1.58,0.00,0.000,6,0.000,0.031,1625,2866,3421,0,0,0,0,0,0
$GC,6025,-0.60,-146.1,574.8,-9.4,354,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3421,0,0,0,0,0,0
$GC,6332,-0.60,-146.1,603.9,-9.4,364,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3420,0,0,0,0,0,0
$GC,6637,-0.60,-146.1,631.1,-8.7,374,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3420,0,0,0,0,0,0
$GC,6943,-0.60,-146.1,657.6,-8.8,384,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3420,0,0,0,0,0,0
$GC,7250,-0.60,-146.1,684.2,-8.6,394,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3420,0,0,0,0,0,0
$GC,7556,-0.60,-146.1,709.0,-7.7,404,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3420,0,0,0,0,0,0
$GC,7862,-0.60,-146.1,731.1,-7.1,414,7866,0.00,1.70,0.00,0.000,4,0.000,0.060,1617,3893,3419,0,0,0,0,0,0
$GC,7909,-0.60,-146.1,734.9,-8.1,415,7913,0.00,1.58,0.00,0.000,6,0.000,0.032,1617,2852,3419,0,0,0,0,0,0
$GC,8241,-0.60,-146.1,759.3,-7.4,426,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2848,3419,0,0,0,0,0,0
$GC,8547,-0.60,-146.1,782.8,-7.6,436,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2848,3419,0,0,0,0,0,0
$GC,8853,-0.60,-146.1,807.5,-8.2,446,8857,0.00,1.73,0.00,0.000,4,0.000,0.059,1609,3899,3419,0,0,0,0,0,0
$GC,8900,-0.60,-146.1,811.7,-9.6,447,8904,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2860,3419,0,0,0,0,0,0
$GC,9234,-0.60,-146.1,840.6,-8.8,458,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2855,3419,0,0,0,0,0,0
$GC,9538,-0.60,-146.1,868.1,-9.1,468,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2855,3418,0,0,0,0,0,0
$GC,9845,-0.60,-146.1,896.4,-9.4,478,9849,0.00,1.70,0.00,0.000,4,0.000,0.059,1602,3893,3418,0,0,0,0,0,0
$GC,9886,-0.60,-146.1,900.7,-10.4,479,9891,0.08,1.55,0.00,0.000,6,0.148,0.031,1627,2869,3418,0,0,0,0,0,0
$GC,10227,-0.60,-146.1,927.9,-7.8,490,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2865,3418,0,0,0,0,0,0
$GC,10531,-0.60,-146.1,951.4,-7.7,500,10535,0.00,2.10,0.00,0.000,4,0.000,0.037,1626,1482,3418,0,0,0,0,0,0
$GC,10566,-0.60,-146.1,954.5,-8.3,501,10570,0.00,2.22,0.00,0.000,6,0.000,0.050,1618,2865,3418,0,0,0,0,0,0
$GC,10899,-0.60,-146.1,980.0,-7.6,512,10902,0.00,1.62,0.00,0.000,4,0.000,0.059,1610,3905,3417,0,0,0,0,0,0
$GC,10936,-0.60,-146.1,982.9,-8.4,513,10939,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2863,3418,0,0,0,0,0,0
$STATE,11059,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11060,begin apogee
$GC,11070,-0.18,0.0,992.9,7.7,517,11220,0.52,0.00,146.55,1.248,6,0.153,0.000,1765,2668,2819,0,0,0,0,0,0
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11227,0.60,146.1,996.1,0.0,522,11410,0.80,0.00,163.98,1.747,6,0.090,0.000,2020,2668,2224,0,0,0,0,3,0
$GC,11705,0.60,146.1,911.9,21.0,538,11709,0.00,2.25,0.00,0.000,4,0.000,0.042,2031,1271,2222,0,0,0,0,0,0
$GC,11791,0.60,146.1,893.9,18.7,540,11795,0.00,2.28,0.00,0.000,6,0.000,0.049,2031,2668,2220,0,0,0,0,0,0
$GC,12108,0.60,146.1,826.6,21.5,550,12111,0.00,2.20,0.00,0.000,4,0.000,0.044,2041,1281,2219,0,0,0,0,0,0
$GC,12154,0.60,146.1,817.0,17.9,551,12158,0.00,2.22,0.00,0.000,6,0.000,0.050,2041,2670,2217,0,0,0,0,0,0
$GC,12475,0.60,146.1,750.3,21.5,562,12478,0.00,1.98,0.00,0.000,4,0.000,0.059,2041,3900,2217,0,0,0,0,0,0
$GC,12511,0.60,146.1,742.0,23.7,563,12515,0.00,1.88,0.00,0.000,6,0.000,0.037,2050,2679,2217,0,0,0,0,0,0
$GC,12854,0.60,146.1,669.1,20.9,574,12858,0.00,2.20,0.00,0.000,4,0.000,0.043,2061,1263,2217,0,0,0,0,0,0
$GC,12929,0.60,146.1,654.8,17.9,576,12934,0.15,2.28,0.00,0.000,6,0.204,0.050,2026,2676,2216,0,0,0,0,0,0
$GC,13256,0.60,146.1,598.4,17.0,587,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2676,2216,0,0,0,0,0,0
$GC,13562,0.60,146.1,545.8,17.2,597,13566,0.00,2.22,0.00,0.000,4,0.000,0.043,2036,1260,2216,0,0,0,0,0,0
$GC,13626,0.60,146.1,535.3,14.3,598,13633,0.00,2.28,0.00,0.000,6,0.000,0.051,2036,2674,2215,0,0,0,0,0,0
$GC,13941,0.60,146.1,479.7,17.9,609,13945,0.00,2.22,0.00,0.000,4,0.000,0.043,2046,1268,2215,0,0,0,0,0,0
$GC,13993,0.60,146.1,470.7,15.4,610,13997,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2677,2214,0,0,0,0,0,0
$GC,14309,0.60,146.1,412.2,19.1,620,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2677,2214,0,0,0,0,0,0
$GC,14627,0.60,146.1,351.4,18.4,634,14631,0.00,2.25,0.00,0.000,4,0.000,0.044,2056,1254,2214,0,0,0,0,0,0
$GC,14664,0.60,146.1,345.0,16.9,635,14671,0.12,2.28,0.00,0.000,6,0.202,0.050,2028,2670,2214,0,0,0,0,0,0
$GC,14985,0.60,146.1,292.3,16.2,651,14986,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2670,2214,0,0,0,0,0,0
$GC,15299,0.60,146.1,241.4,15.6,667,15303,0.00,2.20,0.00,0.000,4,0.000,0.043,2037,1268,2214,0,0,0,0,0,0
$GC,15357,0.60,146.1,232.2,14.3,670,15361,0.00,2.28,0.00,0.000,6,0.000,0.050,2037,2679,2213,0,0,0,0,0,0
$GC,15680,0.60,146.1,180.2,16.4,690,15684,0.00,1.95,0.00,0.000,4,0.000,0.059,2037,3904,2213,0,0,0,0,0,0
$GC,15710,0.60,146.1,174.5,18.0,691,15717,0.00,1.92,0.00,0.000,6,0.000,0.038,2046,2664,2215,0,0,0,0,0,0
$GC,16033,0.60,146.1,119.2,16.3,712,16037,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1248,2214,0,0,0,0,0,0
$GC,16153,0.60,146.1,101.8,14.1,719,16158,0.12,2.30,0.00,0.000,6,0.197,0.050,2028,2674,2212,0,0,0,0,0,0
$GC,16512,0.62,160.3,58.5,8.8,779,16527,0.00,1.98,7.28,0.868,4,0.000,0.057,2028,3891,2166,0,0,0,0,0,0
$GC,16571,0.62,160.3,53.5,10.0,787,16578,0.00,1.92,0.00,0.000,6,0.000,0.038,2036,2657,2166,0,0,0,0,0,0
$GC,16828,0.62,160.3,13.2,20.6,828,16837,0.00,2.20,0.00,0.000,4,0.000,0.045,2046,1268,2165,0,0,0,0,0,0
$STATE,16875,end climb,SURFACE_DEPTH_REACHED
$STATE,16875,begin surface coast
$FINISH,0.8,1.026372
$STATE,16889,end surface coast,CONTROL_FINISHED_OK
$STATE,16889,begin surface
$SM_CCo,16915,38.47,0.756,1,0,1880,230.09
$SM_GC,1.56,0.00,0.00,38.47,0.000,0.000,0.756,64,2875,1880,-5.52,0.42,230.09
$IRIDIUM_FIX,-4610.49,428.95,180213,070746
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.1,76.122
$10V_AH,9.9,40.954
$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,14.250,101.375,317.800,38.475,0.000,26.471,44.414,502.199,0.000,0.000,43.741,2082.895,11749.831,512.143,2625.507,823.906,33.398,1368.152,0.000,2025.849,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,76.500,1747.260,755.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.080,1635.534,857.787,329.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,60363,837
$CAP_FILE_SIZE,129891,0
$CFSIZE,259252224,202964992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,180213,165434,-4629.389,431.717,37,1.1,38,-23.5