version: 66.07
glider: 542
mission: 6
dive: 435
start: 2 23 113 0 51 32
data:
$ID,542
$MISSION,6
$DIVE,435
$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,-11827.669
$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,52
$R_STBD_OVSHOOT,39
$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
$GPS1,230213,003704,-4655.423,437.265,39,1.1,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-59.2
$GPS2,230213,005035,-4655.324,437.255,23,1.1,23,-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,-237280.2,-13.4,-90.1,263068.7,-1045.7
$KALMAN_Y,376025.8,-143.9,-152.1,-383223.2,3860.0
$MHEAD_RNG_PITCHd_Wd,186.6,9328,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.20,0.000,2,0.000,0.000,55,2883,2746,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.1,-3.9,6,125,6.72,1.65,-24.25,0.000,4,0.246,0.080,1622,3877,3416,0,0,0,0,0,0
$GC,274,-0.60,-146.1,28.3,-13.9,34,283,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2843,3419,0,0,0,0,0,0
$GC,361,-0.60,-146.1,40.5,-13.2,47,367,0.00,1.67,0.00,0.000,4,0.000,0.057,1614,3884,3419,0,0,0,0,0,0
$GC,392,-0.60,-146.1,44.4,-12.5,51,399,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2849,3419,0,0,0,0,0,0
$GC,636,-0.60,-146.1,73.7,-12.2,92,643,0.00,1.67,0.00,0.000,4,0.000,0.057,1606,3880,3419,0,0,0,0,0,0
$GC,662,-0.60,-146.1,77.0,-12.4,96,671,0.00,1.52,0.00,0.000,6,0.000,0.031,1606,2867,3419,0,0,0,0,0,0
$GC,1005,-0.60,-146.1,119.4,-11.8,137,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2867,3420,0,0,0,0,0,0
$GC,1318,-0.60,-146.1,156.5,-11.7,157,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2867,3420,0,0,0,0,0,0
$GC,1634,-0.60,-146.1,193.2,-11.4,177,1638,0.00,1.65,0.00,0.000,4,0.000,0.058,1598,3880,3420,0,0,0,0,0,0
$GC,1743,-0.60,-146.1,208.2,-14.0,183,1747,0.08,1.55,0.00,0.000,6,0.156,0.031,1637,2854,3420,0,0,0,0,0,0
$GC,2076,-0.60,-146.1,240.6,-9.7,204,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2851,3420,0,0,0,0,0,0
$GC,2408,-0.60,-146.1,271.6,-9.4,222,2412,0.00,1.67,0.00,0.000,4,0.000,0.060,1630,3877,3420,0,0,0,0,0,0
$GC,2488,-0.60,-146.1,280.3,-10.3,225,2492,0.00,1.55,0.00,0.000,6,0.000,0.032,1631,2854,3420,0,0,0,0,0,0
$GC,2815,-0.60,-146.1,310.8,-9.2,241,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2850,3420,0,0,0,0,0,0
$GC,3122,-0.60,-146.1,339.0,-8.8,256,3126,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3890,3420,0,0,0,0,0,0
$GC,3195,-0.60,-146.1,345.9,-9.8,259,3198,0.00,1.55,0.00,0.000,6,0.000,0.033,1623,2866,3420,0,0,0,0,0,0
$GC,3533,-0.60,-146.1,375.5,-8.8,275,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2861,3420,0,0,0,0,0,0
$GC,3849,-0.60,-146.1,403.7,-9.0,290,3853,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3884,3420,0,0,0,0,0,0
$GC,3906,-0.60,-146.1,409.7,-10.6,291,3910,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2862,3420,0,0,0,0,0,0
$GC,4227,-0.60,-146.1,441.7,-10.2,302,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2856,3420,0,0,0,0,0,0
$GC,4535,-0.60,-146.1,473.2,-10.3,312,4538,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3894,3420,0,0,0,0,0,0
$GC,4608,-0.60,-146.1,481.7,-11.2,314,4613,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2855,3419,0,0,0,0,0,0
$GC,4948,-0.60,-146.1,518.5,-10.7,325,4951,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3889,3419,0,0,0,0,0,0
$GC,4993,-0.60,-146.1,523.9,-11.2,326,4997,0.08,1.58,0.00,0.000,6,0.153,0.032,1632,2853,3419,0,0,0,0,0,0
$GC,5326,-0.60,-146.1,551.4,-7.9,337,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2850,3419,0,0,0,0,0,0
$GC,5631,-0.60,-146.1,575.7,-7.9,347,5635,0.00,1.70,0.00,0.000,4,0.000,0.061,1626,3883,3419,0,0,0,0,0,0
$GC,5702,-0.60,-146.1,581.8,-8.1,349,5706,0.00,1.55,0.00,0.000,6,0.000,0.033,1626,2866,3419,0,0,0,0,0,0
$GC,6046,-0.60,-146.1,609.5,-8.0,360,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2860,3419,0,0,0,0,0,0
$GC,6352,-0.60,-146.1,632.5,-7.4,370,6355,0.00,1.70,0.00,0.000,4,0.000,0.063,1617,3893,3419,0,0,0,0,0,0
$GC,6415,-0.60,-146.1,637.7,-8.2,371,6422,0.00,1.58,0.00,0.000,6,0.000,0.032,1618,2853,3419,0,0,0,0,0,0
$GC,6731,-0.60,-146.1,662.0,-7.6,382,6735,0.00,1.67,0.00,0.000,4,0.000,0.061,1610,3889,3419,0,0,0,0,0,0
$GC,6771,-0.60,-146.1,665.6,-8.5,383,6775,0.00,1.55,0.00,0.000,6,0.000,0.032,1610,2867,3419,0,0,0,0,0,0
$GC,7109,-0.60,-146.1,693.4,-8.3,394,7113,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3880,3419,0,0,0,0,0,0
$GC,7167,-0.60,-146.1,698.9,-9.3,395,7171,0.08,1.55,0.00,0.000,6,0.151,0.032,1642,2860,3419,0,0,0,0,0,0
$GC,7490,-0.60,-146.1,719.2,-6.3,406,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2857,3419,0,0,0,0,0,0
$GC,7795,-0.60,-146.1,740.2,-6.9,416,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2857,3419,0,0,0,0,0,0
$GC,8101,-0.60,-146.1,760.0,-6.3,426,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2858,3418,0,0,0,0,0,0
$GC,8407,-0.60,-146.1,779.9,-6.5,436,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2858,3419,0,0,0,0,0,0
$GC,8713,-0.60,-146.1,799.3,-6.3,446,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2858,3419,0,0,0,0,0,0
$GC,9020,-0.60,-146.1,818.4,-6.3,456,9024,0.00,2.12,0.00,0.000,4,0.000,0.040,1642,1480,3419,0,0,0,0,0,0
$GC,9050,-0.60,-146.1,820.5,-6.6,456,9057,0.00,2.22,0.00,0.000,6,0.000,0.053,1634,2857,3418,0,0,0,0,0,0
$GC,9365,-0.60,-146.1,841.6,-6.8,467,9369,0.00,1.65,0.00,0.000,4,0.000,0.062,1626,3894,3418,0,0,0,0,0,0
$GC,9423,-0.60,-146.1,846.3,-8.3,468,9427,0.00,1.58,0.00,0.000,6,0.000,0.032,1626,2863,3418,0,0,0,0,0,0
$GC,9744,-0.60,-146.1,871.8,-8.1,479,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2859,3418,0,0,0,0,0,0
$GC,10052,-0.60,-146.1,897.9,-8.6,489,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2859,3418,0,0,0,0,0,0
$GC,10357,-0.60,-146.1,922.5,-7.8,499,10361,0.00,1.70,0.00,0.000,4,0.000,0.063,1619,3903,3418,0,0,0,0,0,0
$GC,10409,-0.60,-146.1,927.2,-9.4,500,10413,0.00,1.60,0.00,0.000,6,0.000,0.032,1619,2857,3418,0,0,0,0,0,0
$GC,10738,-0.60,-146.1,953.5,-7.9,511,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2852,3418,0,0,0,0,0,0
$GC,11042,-0.60,-146.1,976.2,-7.3,521,11045,0.00,1.70,0.00,0.000,4,0.000,0.061,1610,3897,3418,0,0,0,0,0,0
$STATE,11049,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11049,begin apogee
$GC,11062,-0.18,0.0,977.2,7.2,521,11213,0.50,0.00,148.00,1.232,6,0.152,0.000,1764,2673,2818,0,0,0,0,0,0
$STATE,11215,end apogee,CONTROL_FINISHED_OK
$STATE,11215,begin climb
$GC,11220,0.60,146.1,981.0,0.0,526,11410,0.77,2.50,163.68,1.730,4,0.091,0.045,2026,1287,2226,0,0,0,0,3,0
$GC,11483,0.60,146.1,943.5,19.2,534,11487,0.00,2.42,0.00,0.000,6,0.000,0.050,2026,2671,2221,0,0,0,0,0,0
$GC,11821,0.60,146.1,872.0,21.4,545,11825,0.00,2.22,0.00,0.000,4,0.000,0.046,2036,1283,2218,0,0,0,0,0,0
$GC,11888,0.60,146.1,859.3,17.9,547,11892,0.00,2.28,0.00,0.000,6,0.000,0.050,2036,2677,2216,0,0,0,0,0,0
$GC,12226,0.60,146.1,788.3,20.6,558,12230,0.00,2.22,0.00,0.000,4,0.000,0.045,2046,1282,2216,0,0,0,0,0,0
$GC,12290,0.60,146.1,775.9,18.2,560,12294,0.00,2.22,0.00,0.000,6,0.000,0.050,2046,2673,2215,0,0,0,0,0,0
$GC,12636,0.60,146.1,703.3,21.5,571,12640,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1273,2215,0,0,0,0,0,0
$GC,12701,0.60,146.1,689.7,18.6,573,12705,0.12,2.25,0.00,0.000,6,0.206,0.050,2028,2671,2214,0,0,0,0,0,0
$GC,13040,0.60,146.1,625.9,18.3,584,13043,0.00,2.20,0.00,0.000,4,0.000,0.045,2038,1278,2214,0,0,0,0,0,0
$GC,13080,0.60,146.1,618.6,16.7,585,13084,0.00,2.22,0.00,0.000,6,0.000,0.051,2038,2671,2214,0,0,0,0,0,0
$GC,13419,0.60,146.1,558.8,17.9,596,13423,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1281,2214,0,0,0,0,0,0
$GC,13522,0.60,146.1,541.4,15.3,599,13526,0.00,2.22,0.00,0.000,6,0.000,0.051,2048,2673,2213,0,0,0,0,0,0
$GC,13854,0.60,146.1,483.0,17.5,610,13858,0.00,2.20,0.00,0.000,4,0.000,0.045,2058,1276,2213,0,0,0,0,0,0
$GC,13905,0.60,146.1,474.1,15.2,611,13910,0.12,2.22,0.00,0.000,6,0.200,0.050,2029,2671,2213,0,0,0,0,0,0
$GC,14227,0.60,146.1,422.2,16.1,622,14231,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1280,2213,0,0,0,0,0,0
$GC,14285,0.60,146.1,413.1,14.0,623,14289,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2674,2213,0,0,0,0,0,0
$GC,14615,0.60,146.1,357.1,17.8,637,14619,0.00,2.20,0.00,0.000,4,0.000,0.045,2048,1273,2213,0,0,0,0,0,0
$GC,14660,0.60,146.1,349.5,16.0,639,14664,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2674,2213,0,0,0,0,0,0
$GC,14997,0.60,146.1,288.1,18.0,655,15001,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1273,2213,0,0,0,0,0,0
$GC,15066,0.60,146.1,276.0,15.3,658,15071,0.12,2.25,0.00,0.000,6,0.197,0.051,2029,2678,2212,0,0,0,0,0,0
$GC,15387,0.60,146.1,225.0,15.2,676,15388,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2678,2212,0,0,0,0,0,0
$GC,15700,0.60,146.1,176.5,15.6,696,15704,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1272,2212,0,0,0,0,0,0
$GC,15848,0.60,146.1,155.3,13.6,704,15856,0.00,2.28,0.00,0.000,6,0.000,0.051,2039,2665,2212,0,0,0,0,0,0
$GC,16172,0.60,146.1,106.1,14.1,725,16176,0.00,2.17,0.00,0.000,4,0.000,0.044,2049,1278,2212,0,0,0,0,0,0
$GC,16218,0.60,146.1,99.6,12.1,727,16225,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2680,2212,0,0,0,0,0,0
$GC,16574,0.60,146.1,48.3,14.6,788,16583,0.00,2.25,0.00,0.000,4,0.000,0.044,2059,1281,2212,0,0,0,0,0,0
$GC,16640,0.60,146.1,38.2,15.8,798,16650,0.10,2.25,0.00,0.000,6,0.176,0.050,2030,2662,2212,0,0,0,0,0,0
$GC,16903,0.62,162.7,4.6,8.7,839,16920,0.00,2.03,8.25,0.731,4,0.000,0.060,2030,3900,2154,0,0,0,0,0,0
$STATE,16928,end climb,SURFACE_DEPTH_REACHED
$STATE,16928,begin surface coast
$FINISH,0.9,1.025983
$STATE,16960,end surface coast,CONTROL_FINISHED_OK
$STATE,16961,begin surface
$SM_CCo,16984,37.08,0.750,1,0,1879,230.09
$SM_GC,1.89,0.00,0.00,37.08,0.000,0.000,0.750,57,2880,1879,-5.54,0.57,230.09
$IRIDIUM_FIX,-4635.50,440.59,220213,191904
$TT8_MAMPS,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.0,80.202
$10V_AH,9.9,43.517
$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,14.100,118.525,319.925,37.075,0.000,24.770,30.287,493.469,0.000,0.000,26.428,2153.570,11546.721,467.610,2828.728,826.516,33.395,1455.891,0.000,2251.256,0.000,1.009,0.000
$DEVICE_MAMPS,246.330,79.560,1730.430,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.114,1685.429,910.718,351.128,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354120
$DATA_FILE_SIZE,60455,847
$CAP_FILE_SIZE,140454,0
$CFSIZE,259252224,201449472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,230213,053634,-4657.491,437.004,26,0.9,27,-23.5