version: 66.07
glider: 542
mission: 6
dive: 424
start: 2 20 113 18 10 32
data:
$ID,542
$MISSION,6
$DIVE,424
$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,-11792.639
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,200213,175628,-4639.285,435.290,38,0.8,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-62.1
$GPS2,200213,180935,-4639.123,435.577,13,1.8,13,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.009,-0.255
$KALMAN_X,-229926.8,-367.4,51.6,253800.9,119.5
$KALMAN_Y,349691.6,-630.8,-319.0,-326214.0,5963.5
$MHEAD_RNG_PITCHd_Wd,205.6,39066,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.20,0.000,2,0.000,0.000,49,2887,3100,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-3.2,8,125,6.80,1.65,-8.35,0.000,4,0.251,0.076,1620,3886,3418,0,0,0,0,0,0
$GC,239,-0.60,-146.1,25.4,-13.2,28,248,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2829,3419,0,0,0,0,0,0
$GC,325,-0.60,-146.1,37.9,-13.7,41,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2829,3419,0,0,0,0,0,0
$GC,572,-0.60,-146.1,70.2,-13.1,82,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2829,3419,0,0,0,0,0,0
$GC,929,-0.60,-146.1,116.1,-12.7,129,932,0.00,1.70,0.00,0.000,4,0.000,0.058,1611,3890,3420,0,0,0,0,0,0
$GC,1026,-0.60,-146.1,129.1,-13.4,134,1035,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2856,3420,0,0,0,0,0,0
$GC,1350,-0.60,-146.1,165.1,-11.2,155,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2856,3421,0,0,0,0,0,0
$GC,1662,-0.60,-146.1,198.7,-10.5,175,1665,0.00,1.65,0.00,0.000,4,0.000,0.059,1604,3887,3422,0,0,0,0,0,0
$GC,1737,-0.60,-146.1,207.7,-12.0,179,1741,0.08,1.52,0.00,0.000,6,0.158,0.031,1627,2874,3422,0,0,0,0,0,0
$GC,2070,-0.60,-146.1,237.4,-9.0,200,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2870,3422,0,0,0,0,0,0
$GC,2390,-0.60,-146.1,268.5,-10.0,218,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2870,3422,0,0,0,0,0,0
$GC,2701,-0.60,-146.1,299.4,-9.8,233,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2870,3422,0,0,0,0,0,0
$GC,3008,-0.60,-146.1,330.7,-10.2,248,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2870,3422,0,0,0,0,0,0
$GC,3320,-0.60,-146.1,362.7,-10.5,263,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2870,3422,0,0,0,0,0,0
$GC,3627,-0.60,-146.1,395.5,-10.5,278,3630,0.00,1.65,0.00,0.000,4,0.000,0.061,1621,3893,3422,0,0,0,0,0,0
$GC,3669,-0.60,-146.1,400.2,-11.5,279,3675,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2849,3422,0,0,0,0,0,0
$GC,3984,-0.60,-146.1,434.7,-11.0,290,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2849,3422,0,0,0,0,0,0
$GC,4290,-0.60,-146.1,467.7,-10.6,300,4294,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3887,3422,0,0,0,0,0,0
$GC,4336,-0.60,-146.1,473.2,-11.7,301,4339,0.00,1.55,0.00,0.000,6,0.000,0.033,1612,2866,3422,0,0,0,0,0,0
$GC,4668,-0.60,-146.1,507.9,-10.2,312,4671,0.00,1.65,0.00,0.000,4,0.000,0.061,1604,3886,3422,0,0,0,0,0,0
$GC,4719,-0.60,-146.1,513.5,-10.9,313,4724,0.08,1.55,0.00,0.000,6,0.155,0.033,1628,2862,3421,0,0,0,0,0,0
$GC,5047,-0.60,-146.1,540.3,-7.7,324,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2857,3421,0,0,0,0,0,0
$GC,5353,-0.60,-146.1,562.0,-6.9,334,5357,0.00,1.67,0.00,0.000,4,0.000,0.062,1621,3893,3421,0,0,0,0,0,0
$GC,5399,-0.60,-146.1,565.8,-8.3,335,5403,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2857,3421,0,0,0,0,0,0
$GC,5731,-0.60,-146.1,590.4,-7.6,346,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2853,3421,0,0,0,0,0,0
$GC,6040,-0.60,-146.1,614.7,-8.2,356,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2852,3420,0,0,0,0,0,0
$GC,6344,-0.60,-146.1,639.3,-8.1,366,6347,0.00,1.67,0.00,0.000,4,0.000,0.061,1613,3889,3420,0,0,0,0,0,0
$GC,6406,-0.60,-146.1,645.2,-9.8,367,6413,0.00,1.58,0.00,0.000,6,0.000,0.033,1613,2847,3420,0,0,0,0,0,0
$GC,6722,-0.60,-146.1,671.8,-8.5,378,6726,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3884,3420,0,0,0,0,0,0
$GC,6762,-0.60,-146.1,676.0,-9.6,379,6766,0.00,1.55,0.00,0.000,6,0.000,0.032,1606,2863,3420,0,0,0,0,0,0
$GC,7100,-0.60,-146.1,707.1,-9.3,390,7102,0.10,0.00,0.00,0.000,6,0.187,0.000,1630,2859,3420,0,0,0,0,0,0
$GC,7407,-0.60,-146.1,730.8,-7.7,400,7410,0.00,1.67,0.00,0.000,4,0.000,0.062,1623,3893,3420,0,0,0,0,0,0
$GC,7447,-0.60,-146.1,734.5,-8.2,401,7451,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2856,3419,0,0,0,0,0,0
$GC,7785,-0.60,-146.1,763.2,-8.6,412,7789,0.00,2.10,0.00,0.000,4,0.000,0.037,1623,1473,3419,0,0,0,0,0,0
$GC,7809,-0.60,-146.1,765.3,-8.5,412,7816,0.00,2.22,0.00,0.000,6,0.000,0.052,1613,2855,3419,0,0,0,0,0,0
$GC,8124,-0.60,-146.1,795.3,-9.7,423,8128,0.00,1.65,0.00,0.000,4,0.000,0.061,1605,3895,3419,0,0,0,0,0,0
$GC,8176,-0.60,-146.1,801.1,-11.1,424,8180,0.08,1.58,0.00,0.000,6,0.149,0.033,1638,2859,3418,0,0,0,0,0,0
$GC,8503,-0.60,-146.1,827.2,-7.9,435,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2855,3418,0,0,0,0,0,0
$GC,8810,-0.60,-146.1,848.6,-6.8,445,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2855,3419,0,0,0,0,0,0
$GC,9115,-0.60,-146.1,867.4,-5.9,455,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2855,3418,0,0,0,0,0,0
$GC,9422,-0.60,-146.1,884.5,-5.6,465,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2855,3418,0,0,0,0,0,0
$GC,9727,-0.60,-146.1,901.1,-5.5,475,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2855,3418,0,0,0,0,0,0
$GC,10034,-0.60,-146.1,917.6,-5.3,485,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2855,3418,0,0,0,0,0,0
$GC,10340,-0.60,-146.1,934.8,-5.8,495,10344,0.00,2.10,0.00,0.000,4,0.000,0.039,1638,1480,3417,0,0,0,0,0,0
$GC,10370,-0.60,-146.1,937.0,-6.7,495,10377,0.00,2.22,0.00,0.000,6,0.000,0.053,1630,2859,3417,0,0,0,0,0,0
$GC,10686,-0.60,-146.1,956.9,-6.3,506,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3417,0,0,0,0,0,0
$GC,10992,-0.60,-146.1,977.4,-6.9,516,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2860,3417,0,0,0,0,0,0
$STATE,11048,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11048,begin apogee
$GC,11059,-0.18,0.0,981.7,7.1,518,11210,0.45,0.00,147.98,1.237,6,0.144,0.000,1767,2670,2819,0,0,0,0,0,0
$STATE,11212,end apogee,CONTROL_FINISHED_OK
$STATE,11212,begin climb
$GC,11217,0.60,146.1,986.6,0.0,523,11407,0.77,2.55,162.98,1.760,4,0.090,0.044,2030,1286,2225,0,0,0,0,3,0
$GC,11455,0.60,146.1,957.5,15.7,530,11459,0.00,2.42,0.00,0.000,6,0.000,0.050,2030,2664,2223,0,0,0,0,0,0
$GC,11782,0.60,146.1,895.7,19.1,541,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2664,2220,0,0,0,0,0,0
$GC,12088,0.60,146.1,837.3,19.2,551,12092,0.00,2.20,0.00,0.000,4,0.000,0.044,2041,1278,2218,0,0,0,0,0,0
$GC,12139,0.60,146.1,827.5,16.8,552,12144,0.00,2.28,0.00,0.000,6,0.000,0.051,2040,2680,2216,0,0,0,0,0,0
$GC,12455,0.60,146.1,765.7,20.0,562,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2680,2216,0,0,0,0,0,0
$GC,12761,0.60,146.1,704.2,19.8,572,12765,0.00,2.22,0.00,0.000,4,0.000,0.044,2051,1271,2216,0,0,0,0,0,0
$GC,12841,0.60,146.1,689.5,16.6,574,12845,0.00,2.25,0.00,0.000,6,0.000,0.051,2051,2678,2214,0,0,0,0,0,0
$GC,13167,0.60,146.1,622.6,21.0,585,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2678,2214,0,0,0,0,0,0
$GC,13475,0.60,146.1,559.4,20.4,595,13479,0.00,2.22,0.00,0.000,4,0.000,0.043,2062,1271,2214,0,0,0,0,0,0
$GC,13544,0.60,146.1,545.5,18.7,597,13549,0.15,2.22,0.00,0.000,6,0.197,0.050,2026,2670,2212,0,0,0,0,0,0
$GC,13877,0.60,146.1,485.6,18.0,608,13881,0.00,2.20,0.00,0.000,4,0.000,0.043,2035,1276,2213,0,0,0,0,0,0
$GC,13923,0.60,146.1,477.6,15.4,609,13927,0.00,2.25,0.00,0.000,6,0.000,0.050,2035,2670,2212,0,0,0,0,0,0
$GC,14244,0.60,146.1,419.8,18.0,620,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2671,2212,0,0,0,0,0,0
$GC,14553,0.60,146.1,364.7,18.0,633,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2671,2212,0,0,0,0,0,0
$GC,14861,0.60,146.1,310.3,17.3,648,14865,0.00,2.20,0.00,0.000,4,0.000,0.042,2045,1272,2212,0,0,0,0,0,0
$GC,14931,0.60,146.1,299.6,15.4,651,14935,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2670,2211,0,0,0,0,0,0
$GC,15252,0.60,146.1,242.4,17.9,667,15256,0.00,2.17,0.00,0.000,4,0.000,0.042,2055,1274,2212,0,0,0,0,0,0
$GC,15291,0.60,146.1,235.6,17.3,669,15296,0.12,2.22,0.00,0.000,6,0.200,0.050,2027,2669,2211,0,0,0,0,0,0
$GC,15625,0.60,146.1,182.7,15.1,690,15629,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1271,2211,0,0,0,0,0,0
$GC,15676,0.60,146.1,174.6,14.4,693,15680,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2679,2211,0,0,0,0,0,0
$GC,16005,0.60,146.1,125.1,15.3,714,16006,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2680,2211,0,0,0,0,0,0
$GC,16327,0.60,146.1,79.3,11.6,752,16334,0.00,2.20,0.00,0.000,4,0.000,0.043,2046,1274,2211,0,0,0,0,0,0
$GC,16495,0.60,146.1,59.8,11.9,780,16504,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2669,2211,0,0,0,0,0,0
$GC,16751,0.60,146.1,23.4,15.4,821,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2669,2210,0,0,0,0,0,0
$GC,16839,0.60,146.1,10.4,13.9,834,16847,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2669,2211,0,0,0,0,0,0
$STATE,16886,end climb,SURFACE_DEPTH_REACHED
$STATE,16886,begin surface coast
$FINISH,0.9,1.013644
$STATE,16906,end surface coast,CONTROL_FINISHED_OK
$STATE,16906,begin surface
$SM_CCo,16929,44.08,0.759,1,0,1881,230.09
$SM_GC,2.22,0.00,0.00,44.08,0.000,0.000,0.759,51,2881,1881,-5.56,0.57,230.09
$IRIDIUM_FIX,-4622.97,436.19,200213,131316
$TT8_MAMPS,0.026215
$HUMID,59.17
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.0,78.155
$10V_AH,9.9,42.225
$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,14.050,85.350,310.950,44.075,0.000,27.252,24.503,486.813,0.000,0.000,16.045,2086.151,11788.449,466.105,2608.726,801.782,33.402,1360.364,0.000,2062.402,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,76.500,1760.265,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.203,1642.397,867.814,332.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354124
$DATA_FILE_SIZE,60497,844
$CAP_FILE_SIZE,128196,0
$CFSIZE,259252224,202223616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,200213,225458,-4640.156,435.619,40,0.8,40,-23.5