version: 66.07
glider: 542
mission: 6
dive: 414
start: 2 18 113 17 10 3
data:
$ID,542
$MISSION,6
$DIVE,414
$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,-11760.872
$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,34
$R_STBD_OVSHOOT,33
$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
$GPS1,180213,165434,-4629.389,431.717,37,1.1,38,-23.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-49.6
$GPS2,180213,170906,-4629.177,431.988,18,1.3,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.003,-0.256
$KALMAN_X,-231663.4,-604.5,20.5,251260.3,2038.1
$KALMAN_Y,318315.8,-225.7,-356.5,-276798.2,5115.4
$MHEAD_RNG_PITCHd_Wd,204.2,10327,-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,-146.1,0.0,0.0,0,84,0.00,0.00,-55.08,0.000,2,0.000,0.000,61,2875,2907,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.4,7,116,6.80,0.00,-14.80,0.000,6,0.252,0.000,1630,2876,3416,0,0,0,0,0,0
$GC,195,-0.60,-146.1,16.0,-10.7,22,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2875,3419,0,0,0,0,0,0
$GC,282,-0.60,-146.1,25.2,-13.0,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2875,3419,0,0,0,0,0,0
$GC,368,-0.60,-146.1,33.4,-7.5,48,377,0.00,1.62,0.00,0.000,4,0.000,0.059,1623,3884,3419,0,0,0,0,0,0
$GC,412,-0.60,-146.1,36.9,-9.0,54,421,0.00,1.60,0.00,0.000,6,0.000,0.030,1623,2819,3419,0,0,0,0,0,0
$GC,666,-0.60,-146.1,60.9,-13.3,95,670,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2819,3419,0,0,0,0,0,0
$GC,1024,-0.60,-146.1,105.7,-12.3,151,1027,0.00,1.73,0.00,0.000,4,0.000,0.057,1615,3897,3419,0,0,0,0,0,0
$GC,1132,-0.60,-146.1,119.1,-12.6,157,1135,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2863,3420,0,0,0,0,0,0
$GC,1466,-0.60,-146.1,157.6,-11.9,178,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2859,3421,0,0,0,0,0,0
$GC,1776,-0.60,-146.1,194.8,-10.8,198,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2859,3422,0,0,0,0,0,0
$GC,2091,-0.60,-146.1,231.0,-11.6,218,2094,0.00,1.65,0.00,0.000,4,0.000,0.057,1607,3893,3422,0,0,0,0,0,0
$GC,2149,-0.60,-146.1,238.6,-12.2,221,2153,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2860,3422,0,0,0,0,0,0
$GC,2486,-0.60,-146.1,278.4,-11.7,239,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2856,3422,0,0,0,0,0,0
$GC,2794,-0.60,-146.1,313.7,-11.3,254,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2856,3422,0,0,0,0,0,0
$GC,3105,-0.60,-146.1,348.5,-11.3,269,3108,0.00,1.67,0.00,0.000,4,0.000,0.059,1599,3887,3422,0,0,0,0,0,0
$GC,3155,-0.60,-146.1,354.3,-11.2,271,3159,0.08,1.55,0.00,0.000,6,0.156,0.031,1637,2856,3422,0,0,0,0,0,0
$GC,3493,-0.60,-146.1,382.4,-7.6,287,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3422,0,0,0,0,0,0
$GC,3809,-0.60,-146.1,407.5,-8.0,301,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3422,0,0,0,0,0,0
$GC,4115,-0.60,-146.1,431.8,-7.9,311,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3422,0,0,0,0,0,0
$GC,4422,-0.60,-146.1,456.8,-8.1,321,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2852,3421,0,0,0,0,0,0
$GC,4728,-0.60,-146.1,482.4,-8.4,331,4731,0.00,1.67,0.00,0.000,4,0.000,0.061,1631,3889,3421,0,0,0,0,0,0
$GC,4765,-0.60,-146.1,485.5,-8.7,332,4768,0.00,1.55,0.00,0.000,6,0.000,0.032,1631,2867,3421,0,0,0,0,0,0
$GC,5108,-0.60,-146.1,515.9,-9.1,343,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3421,0,0,0,0,0,0
$GC,5415,-0.60,-146.1,543.0,-8.8,353,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2862,3421,0,0,0,0,0,0
$GC,5720,-0.60,-146.1,568.0,-7.9,363,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2862,3420,0,0,0,0,0,0
$GC,6027,-0.60,-146.1,592.7,-8.0,373,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3420,0,0,0,0,0,0
$GC,6333,-0.60,-146.1,615.8,-7.5,383,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3420,0,0,0,0,0,0
$GC,6639,-0.60,-146.1,637.1,-7.0,393,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3419,0,0,0,0,0,0
$GC,6946,-0.60,-146.1,657.7,-6.6,403,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3419,0,0,0,0,0,0
$GC,7251,-0.60,-146.1,678.7,-6.9,413,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3419,0,0,0,0,0,0
$GC,7557,-0.60,-146.1,700.2,-7.1,423,7561,0.00,1.70,0.00,0.000,4,0.000,0.060,1623,3893,3419,0,0,0,0,0,0
$GC,7595,-0.60,-146.1,702.8,-7.1,424,7599,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2851,3418,0,0,0,0,0,0
$GC,7940,-0.60,-146.1,730.0,-7.8,435,7944,0.00,2.10,0.00,0.000,4,0.000,0.037,1623,1481,3418,0,0,0,0,0,0
$GC,7973,-0.60,-146.1,732.7,-8.0,436,7978,0.00,2.22,0.00,0.000,6,0.000,0.051,1612,2862,3418,0,0,0,0,0,0
$GC,8312,-0.60,-146.1,762.8,-9.0,447,8316,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3903,3417,0,0,0,0,0,0
$GC,8358,-0.60,-146.1,767.7,-9.9,448,8362,0.08,1.58,0.00,0.000,6,0.151,0.031,1637,2862,3417,0,0,0,0,0,0
$GC,8690,-0.60,-146.1,791.4,-6.9,459,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2857,3417,0,0,0,0,0,0
$GC,8997,-0.60,-146.1,812.6,-7.1,469,9001,0.00,2.10,0.00,0.000,4,0.000,0.036,1637,1476,3417,0,0,0,0,0,0
$GC,9029,-0.60,-146.1,815.0,-7.0,470,9033,0.00,2.25,0.00,0.000,6,0.000,0.051,1629,2871,3417,0,0,0,0,0,0
$GC,9367,-0.60,-146.1,839.4,-7.2,481,9371,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3913,3417,0,0,0,0,0,0
$GC,9414,-0.60,-146.1,843.1,-7.5,482,9417,0.00,1.60,0.00,0.000,6,0.000,0.031,1621,2851,3417,0,0,0,0,0,0
$GC,9745,-0.60,-146.1,868.8,-7.9,493,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3417,0,0,0,0,0,0
$GC,10052,-0.60,-146.1,892.1,-7.7,503,10056,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3900,3417,0,0,0,0,0,0
$GC,10099,-0.60,-146.1,896.2,-8.7,504,10102,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2854,3417,0,0,0,0,0,0
$GC,10431,-0.60,-146.1,924.0,-8.5,515,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2849,3417,0,0,0,0,0,0
$GC,10739,-0.60,-146.1,949.1,-8.2,525,10743,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3901,3416,0,0,0,0,0,0
$GC,10785,-0.60,-146.1,953.6,-10.4,526,10788,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2863,3416,0,0,0,0,0,0
$STATE,11052,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11052,begin apogee
$GC,11063,-0.18,0.0,977.2,9.0,535,11220,0.55,0.00,149.27,1.820,6,0.157,0.000,1767,2675,2820,0,0,0,0,1,0
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11228,0.60,146.1,982.7,0.0,540,11408,0.80,0.00,166.85,1.759,6,0.089,0.000,2018,2674,2225,0,0,0,0,2,0
$GC,11694,0.60,146.1,911.2,18.7,556,11698,0.00,2.22,0.00,0.000,4,0.000,0.041,2029,1290,2220,0,0,0,0,0,0
$GC,11752,0.60,146.1,901.4,15.4,557,11759,0.00,2.28,0.00,0.000,6,0.000,0.049,2029,2674,2216,0,0,0,0,0,0
$GC,12068,0.60,146.1,843.8,18.4,568,12072,0.00,1.98,0.00,0.000,4,0.000,0.057,2029,3894,2215,0,0,0,0,0,0
$GC,12097,0.60,146.1,837.6,19.6,568,12104,0.00,1.88,0.00,0.000,6,0.000,0.035,2038,2684,2215,0,0,0,0,0,0
$GC,12413,0.60,146.1,777.3,18.9,579,12417,0.00,2.22,0.00,0.000,4,0.000,0.042,2049,1257,2214,0,0,0,0,0,0
$GC,12478,0.60,146.1,766.0,16.5,581,12482,0.00,2.28,0.00,0.000,6,0.000,0.050,2049,2676,2213,0,0,0,0,0,0
$GC,12823,0.60,146.1,699.5,19.6,592,12827,0.00,2.22,0.00,0.000,4,0.000,0.042,2059,1268,2213,0,0,0,0,0,0
$GC,12858,0.60,146.1,692.2,18.0,593,12863,0.12,2.22,0.00,0.000,6,0.207,0.049,2031,2670,2212,0,0,0,0,0,0
$GC,13191,0.60,146.1,632.4,18.2,604,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2212,0,0,0,0,0,0
$GC,13497,0.60,146.1,575.3,18.6,614,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2212,0,0,0,0,0,0
$GC,13804,0.60,146.1,519.6,18.1,624,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2212,0,0,0,0,0,0
$GC,14110,0.60,146.1,465.2,17.6,634,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2211,0,0,0,0,0,0
$GC,14416,0.60,146.1,413.4,16.2,644,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2211,0,0,0,0,0,0
$GC,14735,0.60,146.1,361.4,16.1,658,14736,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2211,0,0,0,0,0,0
$GC,15046,0.60,146.1,311.0,16.3,673,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2210,0,0,0,0,0,0
$GC,15353,0.60,146.1,260.0,16.0,688,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2670,2210,0,0,0,0,0,0
$GC,15673,0.60,146.1,212.6,14.7,707,15677,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1269,2210,0,0,0,0,0,0
$GC,15706,0.60,146.1,207.8,13.6,709,15710,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2671,2209,0,0,0,0,0,0
$GC,16039,0.60,146.1,156.3,16.1,730,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2672,2209,0,0,0,0,0,0
$GC,16352,0.60,146.1,106.9,17.7,750,16356,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1270,2209,0,0,0,0,0,0
$GC,16570,0.60,146.1,73.7,12.0,781,16575,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2679,2206,0,0,0,0,0,0
$GC,16936,0.60,146.1,18.8,18.3,842,16945,0.00,2.28,0.00,0.000,4,0.000,0.047,2060,1270,2207,0,0,0,0,0,0
$GC,17024,0.62,156.5,5.5,9.0,855,17034,0.10,2.28,2.78,0.487,6,0.180,0.051,2033,2665,2179,0,0,0,0,0,0
$STATE,17054,end climb,SURFACE_DEPTH_REACHED
$STATE,17054,begin surface coast
$FINISH,0.7,1.014132
$STATE,17096,end surface coast,CONTROL_FINISHED_OK
$STATE,17100,begin surface
$SM_CCo,17122,39.83,0.766,1,0,1879,230.09
$SM_GC,1.48,0.00,0.00,39.83,0.000,0.000,0.766,57,2891,1879,-5.54,0.85,230.09
$IRIDIUM_FIX,-4613.60,432.32,180213,111104
$TT8_MAMPS,0.026215
$HUMID,59.05
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.1,76.326
$10V_AH,9.9,41.072
$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,13.850,72.425,318.900,39.825,0.000,27.789,43.942,541.280,0.000,0.000,20.583,2135.625,11941.751,480.479,2679.201,788.887,33.396,1314.981,0.000,2053.189,0.000,1.010,0.000
$DEVICE_MAMPS,251.685,61.200,1819.935,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.849,1706.392,920.732,379.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354140
$DATA_FILE_SIZE,63765,865
$CAP_FILE_SIZE,124315,0
$CFSIZE,259252224,202895360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,180213,215734,-4630.385,432.336,34,0.8,35,-23.5