version: 66.07
glider: 542
mission: 6
dive: 427
start: 2 21 113 9 8 16
data:
$ID,542
$MISSION,6
$DIVE,427
$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,-11802.239
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,210213,085405,-4642.900,434.203,26,0.9,27,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-58.6
$GPS2,210213,090719,-4642.836,434.498,17,1.7,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,-0.245
$KALMAN_X,-231737.1,-61.5,326.3,253660.2,-1556.5
$KALMAN_Y,358409.4,-381.4,-377.1,-341998.5,5144.3
$MHEAD_RNG_PITCHd_Wd,186.7,32538,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,93,0.00,0.00,-62.97,0.000,2,0.000,0.000,59,2876,3111,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-2.8,8,125,6.65,1.67,-8.27,0.000,4,0.243,0.074,1619,3897,3418,0,0,0,0,0,0
$GC,304,-0.60,-146.1,33.0,-11.0,39,311,0.00,1.62,0.00,0.000,6,0.000,0.031,1619,2827,3420,0,0,0,0,0,0
$GC,550,-0.60,-146.1,65.8,-14.0,80,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2827,3420,0,0,0,0,0,0
$GC,901,-0.60,-146.1,107.8,-11.7,133,905,0.00,1.73,0.00,0.000,4,0.000,0.058,1611,3903,3420,0,0,0,0,0,0
$GC,1081,-0.60,-146.1,129.2,-11.9,143,1084,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2856,3421,0,0,0,0,0,0
$GC,1413,-0.60,-146.1,169.0,-11.5,164,1416,0.00,1.67,0.00,0.000,4,0.000,0.058,1603,3898,3422,0,0,0,0,0,0
$GC,1471,-0.60,-146.1,176.6,-12.7,167,1475,0.08,1.58,0.00,0.000,6,0.151,0.031,1636,2858,3422,0,0,0,0,0,0
$GC,1802,-0.60,-146.1,208.0,-9.9,188,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2852,3422,0,0,0,0,0,0
$GC,2111,-0.60,-146.1,237.9,-9.4,208,2115,0.00,1.70,0.00,0.000,4,0.000,0.060,1629,3896,3422,0,0,0,0,0,0
$GC,2157,-0.60,-146.1,242.6,-9.7,210,2166,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2848,3422,0,0,0,0,0,0
$GC,2492,-0.60,-146.1,273.8,-9.3,228,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2848,3422,0,0,0,0,0,0
$GC,2804,-0.60,-146.1,302.9,-9.4,243,2807,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3892,3423,0,0,0,0,0,0
$GC,2855,-0.60,-146.1,308.0,-10.8,245,2858,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2866,3422,0,0,0,0,0,0
$GC,3191,-0.60,-146.1,341.1,-9.8,261,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2860,3422,0,0,0,0,0,0
$GC,3499,-0.60,-146.1,370.8,-9.5,276,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2860,3422,0,0,0,0,0,0
$GC,3811,-0.60,-146.1,400.1,-9.3,291,3814,0.00,1.73,0.00,0.000,4,0.000,0.060,1614,3910,3422,0,0,0,0,0,0
$GC,3862,-0.60,-146.1,405.7,-10.0,292,3866,0.00,1.60,0.00,0.000,6,0.000,0.032,1613,2855,3422,0,0,0,0,0,0
$GC,4188,-0.60,-146.1,437.3,-9.5,303,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2849,3422,0,0,0,0,0,0
$GC,4498,-0.60,-146.1,466.1,-9.4,313,4502,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3903,3421,0,0,0,0,0,0
$GC,4544,-0.60,-146.1,471.3,-10.4,314,4547,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2865,3422,0,0,0,0,0,0
$GC,4876,-0.60,-146.1,504.6,-10.0,325,4880,0.10,1.70,0.00,0.000,4,0.188,0.060,1623,3897,3422,0,0,0,0,0,0
$GC,4917,-0.60,-146.1,508.8,-8.8,326,4921,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2865,3422,0,0,0,0,0,0
$GC,5255,-0.60,-146.1,537.6,-8.6,337,5258,0.00,1.70,0.00,0.000,4,0.000,0.061,1615,3894,3421,0,0,0,0,0,0
$GC,5292,-0.60,-146.1,541.1,-9.5,338,5295,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2856,3421,0,0,0,0,0,0
$GC,5635,-0.60,-146.1,573.6,-9.4,349,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3421,0,0,0,0,0,0
$GC,5941,-0.60,-146.1,604.0,-9.9,359,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3421,0,0,0,0,0,0
$GC,6247,-0.60,-146.1,635.2,-10.4,369,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3421,0,0,0,0,0,0
$GC,6553,-0.60,-146.1,666.1,-9.8,379,6557,0.00,1.70,0.00,0.000,4,0.000,0.061,1607,3902,3420,0,0,0,0,0,0
$GC,6593,-0.60,-146.1,670.6,-10.4,380,6597,0.00,1.60,0.00,0.000,6,0.000,0.033,1607,2855,3420,0,0,0,0,0,0
$GC,6931,-0.60,-146.1,703.2,-9.3,391,6935,0.00,1.70,0.00,0.000,4,0.000,0.061,1599,3900,3421,0,0,0,0,0,0
$GC,6977,-0.60,-146.1,708.1,-10.2,392,6981,0.08,1.60,0.00,0.000,6,0.157,0.032,1632,2854,3420,0,0,0,0,0,0
$GC,7309,-0.60,-146.1,731.2,-6.6,403,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3420,0,0,0,0,0,0
$GC,7616,-0.60,-146.1,750.3,-6.2,413,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3420,0,0,0,0,0,0
$GC,7922,-0.60,-146.1,767.5,-5.4,423,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3419,0,0,0,0,0,0
$GC,8228,-0.60,-146.1,784.6,-5.7,433,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3419,0,0,0,0,0,0
$GC,8535,-0.60,-146.1,802.1,-5.6,443,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3419,0,0,0,0,0,0
$GC,8840,-0.60,-146.1,820.6,-6.2,453,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3419,0,0,0,0,0,0
$GC,9147,-0.60,-146.1,841.3,-6.6,463,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2850,3419,0,0,0,0,0,0
$GC,9453,-0.60,-146.1,862.2,-6.9,473,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3418,0,0,0,0,0,0
$GC,9760,-0.60,-146.1,883.6,-7.0,483,9764,0.00,1.73,0.00,0.000,4,0.000,0.062,1626,3893,3418,0,0,0,0,0,0
$GC,9800,-0.60,-146.1,886.7,-7.5,484,9804,0.00,1.58,0.00,0.000,6,0.000,0.033,1626,2859,3418,0,0,0,0,0,0
$GC,10140,-0.60,-146.1,909.9,-6.7,495,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2854,3418,0,0,0,0,0,0
$GC,10445,-0.60,-146.1,930.2,-6.6,505,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2855,3418,0,0,0,0,0,0
$GC,10751,-0.60,-146.1,952.0,-7.2,515,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2855,3418,0,0,0,0,0,0
$STATE,11052,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11052,begin apogee
$GC,11064,-0.18,0.0,974.3,7.3,525,11215,0.47,0.00,148.27,1.230,6,0.145,0.000,1769,2666,2819,0,0,0,0,0,0
$STATE,11217,end apogee,CONTROL_FINISHED_OK
$STATE,11217,begin climb
$GC,11222,0.60,146.1,978.9,0.0,530,11411,0.75,2.53,162.68,1.717,4,0.086,0.044,2027,1286,2226,0,0,0,0,3,0
$GC,11465,0.60,146.1,948.1,15.8,537,11470,0.00,2.45,0.00,0.000,6,0.000,0.050,2027,2670,2223,0,0,0,0,0,0
$GC,11788,0.60,146.1,886.3,19.9,548,11792,0.00,2.28,0.00,0.000,4,0.000,0.044,2037,1281,2219,0,0,0,0,0,0
$GC,11846,0.60,146.1,875.3,17.2,549,11853,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2674,2217,0,0,0,0,0,0
$GC,12161,0.60,146.1,812.9,20.1,560,12165,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1273,2217,0,0,0,0,0,0
$GC,12196,0.60,146.1,806.0,18.1,561,12200,0.00,2.28,0.00,0.000,6,0.000,0.051,2047,2672,2216,0,0,0,0,0,0
$GC,12529,0.60,146.1,741.3,19.5,572,12533,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1278,2216,0,0,0,0,0,0
$GC,12594,0.60,146.1,729.5,17.5,574,12598,0.12,2.25,0.00,0.000,6,0.215,0.052,2030,2679,2215,0,0,0,0,0,0
$GC,12938,0.60,146.1,667.7,18.0,585,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2679,2215,0,0,0,0,0,0
$GC,13244,0.60,146.1,614.7,17.1,595,13248,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1275,2215,0,0,0,0,0,0
$GC,13295,0.60,146.1,605.9,15.5,596,13299,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2677,2214,0,0,0,0,0,0
$GC,13616,0.60,146.1,547.7,18.5,607,13620,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1271,2214,0,0,0,0,0,0
$GC,13668,0.60,146.1,538.6,15.5,608,13672,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2680,2214,0,0,0,0,0,0
$GC,13991,0.60,146.1,479.7,18.1,619,13995,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1279,2213,0,0,0,0,0,0
$GC,14032,0.60,146.1,472.0,16.3,620,14036,0.12,2.25,0.00,0.000,6,0.207,0.051,2031,2673,2213,0,0,0,0,0,0
$GC,14359,0.60,146.1,416.9,17.1,631,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2213,0,0,0,0,0,0
$GC,14667,0.60,146.1,364.5,17.2,644,14671,0.00,2.20,0.00,0.000,4,0.000,0.043,2040,1272,2213,0,0,0,0,0,0
$GC,14740,0.60,146.1,353.1,15.7,647,14744,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2670,2213,0,0,0,0,0,0
$GC,15072,0.60,146.1,294.9,17.2,663,15076,0.00,2.20,0.00,0.000,4,0.000,0.042,2050,1281,2213,0,0,0,0,0,0
$GC,15118,0.60,146.1,286.8,15.7,665,15122,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2673,2213,0,0,0,0,0,0
$GC,15451,0.60,146.1,230.4,17.5,683,15455,0.00,2.20,0.00,0.000,4,0.000,0.043,2060,1271,2213,0,0,0,0,0,0
$GC,15492,0.60,146.1,222.8,16.3,685,15497,0.12,2.28,0.00,0.000,6,0.203,0.051,2030,2677,2213,0,0,0,0,0,0
$GC,15821,0.60,146.1,174.6,14.8,705,15825,0.00,2.22,0.00,0.000,4,0.000,0.042,2040,1271,2213,0,0,0,0,0,0
$GC,15873,0.60,146.1,165.7,12.6,708,15877,0.00,2.28,0.00,0.000,6,0.000,0.050,2040,2679,2212,0,0,0,0,0,0
$GC,16197,0.60,146.1,117.2,14.7,728,16198,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2679,2212,0,0,0,0,0,0
$GC,16528,0.60,146.1,66.8,13.5,772,16535,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1280,2212,0,0,0,0,0,0
$GC,16685,0.60,146.1,47.8,11.7,797,16692,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2678,2212,0,0,0,0,0,0
$GC,16941,0.60,146.1,8.4,15.5,838,16950,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2679,2212,0,0,0,0,0,0
$STATE,16975,end climb,SURFACE_DEPTH_REACHED
$STATE,16976,begin surface coast
$FINISH,1.0,1.009515
$STATE,16995,end surface coast,CONTROL_FINISHED_OK
$STATE,16995,begin surface
$SM_CCo,17018,43.28,0.768,1,0,1879,230.09
$SM_GC,2.35,0.00,0.00,43.28,0.000,0.000,0.768,61,2881,1879,-5.53,0.59,230.09
$IRIDIUM_FIX,-4622.97,433.06,210213,030337
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.0,78.699
$10V_AH,9.9,42.579
$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,13.975,94.150,310.950,43.275,0.000,27.852,21.557,490.285,0.000,0.000,20.401,2113.800,11811.359,448.412,2666.613,805.111,33.398,1352.108,0.000,2112.232,0.000,1.008,0.000
$DEVICE_MAMPS,243.270,74.205,1716.660,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.127,1656.880,870.987,334.596,0.000,0.000,0.000,0.000,0.000,0.000
$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,60495,846
$CAP_FILE_SIZE,129988,0
$CFSIZE,259252224,202014720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,210213,135405,-4644.279,435.439,33,0.8,34,-23.5