version: 66.07
glider: 542
mission: 6
dive: 6
start: 12 10 112 20 21 17
data:
$ID,542
$MISSION,6
$DIVE,6
$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,333
$T_MISSION,348
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52846
$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,563.99261
$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,-10271.264
$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,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$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
$GPS1,101212,201216,-4652.072,414.880,20,1.1,20,-23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-33.5
$GPS2,101212,202019,-4652.114,414.965,23,1.0,23,-23.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.231,-0.184
$KALMAN_X,1444.4,361.6,58.9,-4415.0,1014.6
$KALMAN_Y,1273.6,279.0,50.4,-3162.9,907.1
$MHEAD_RNG_PITCHd_Wd,254.8,23886,-14.9,-10.010
$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,-0.64,-194.7,0.0,0.0,0,186,0.00,0.00,-157.45,0.000,2,0.000,0.000,62,2942,3609,0,0,0,0,0,0
$GC,197,-0.64,-194.7,3.8,-5.8,20,207,6.50,1.65,0.00,0.000,4,0.252,0.077,1647,3911,3610,0,0,0,0,0,0
$GC,220,-0.64,-194.7,17.1,-31.3,22,229,0.00,1.62,0.00,0.000,6,0.000,0.055,1647,2924,3610,0,0,0,0,0,0
$GC,308,-0.64,-194.7,34.8,-14.3,35,315,0.00,2.35,0.00,0.000,4,0.000,0.075,1646,1509,3610,0,0,0,0,0,0
$GC,351,-0.64,-194.7,40.7,-12.4,41,358,0.00,2.45,0.00,0.000,6,0.000,0.088,1637,2925,3610,0,0,0,0,0,0
$GC,597,-0.64,-194.7,71.5,-11.7,82,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2925,3610,0,0,0,0,0,0
$GC,947,-0.64,-194.7,112.6,-10.9,130,951,0.00,2.33,0.00,0.000,4,0.000,0.072,1637,1514,3611,0,0,0,0,0,0
$GC,984,-0.64,-194.7,116.9,-11.2,132,989,0.12,2.40,0.00,0.000,6,0.179,0.082,1659,2933,3611,0,0,0,0,0,0
$GC,1319,-0.64,-194.7,149.1,-9.9,153,1323,0.00,2.33,0.00,0.000,4,0.000,0.070,1659,1513,3611,0,0,0,0,0,0
$GC,1367,-0.64,-194.7,154.1,-8.3,156,1372,0.00,2.38,0.00,0.000,6,0.000,0.081,1651,2929,3611,0,0,0,0,0,0
$GC,1697,-0.64,-194.7,185.8,-9.8,177,1701,0.00,2.33,0.00,0.000,4,0.000,0.073,1651,1509,3610,0,0,0,0,0,0
$GC,1732,-0.64,-194.7,189.7,-9.8,179,1737,0.00,2.38,0.00,0.000,6,0.000,0.080,1641,2926,3611,0,0,0,0,0,0
$GC,2056,-0.64,-194.7,222.9,-10.3,199,2060,0.00,2.30,0.00,0.000,4,0.000,0.071,1641,1517,3611,0,0,0,0,0,0
$GC,2108,-0.64,-194.7,228.7,-9.4,202,2113,0.10,2.38,0.00,0.000,6,0.190,0.083,1656,2931,3611,0,0,0,0,0,0
$GC,2440,-0.64,-194.7,259.4,-9.9,221,2444,0.00,2.30,0.00,0.000,4,0.000,0.073,1656,1511,3611,0,0,0,0,0,0
$GC,2491,-0.64,-194.7,264.5,-9.2,223,2495,0.00,2.38,0.00,0.000,6,0.000,0.083,1648,2926,3611,0,0,0,0,0,0
$GC,2822,-0.64,-194.7,299.5,-10.8,239,2827,0.00,2.30,0.00,0.000,4,0.000,0.073,1648,1517,3611,0,0,0,0,0,0
$GC,2857,-0.64,-194.7,303.6,-10.4,240,2867,0.00,2.40,0.00,0.000,6,0.000,0.086,1637,2926,3611,0,0,0,0,0,0
$GC,3176,-0.64,-194.7,339.5,-11.4,256,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2927,3610,0,0,0,0,0,0
$GC,3487,-0.64,-194.7,374.0,-11.2,271,3491,0.00,2.30,0.00,0.000,4,0.000,0.074,1637,1517,3611,0,0,0,0,0,0
$GC,3545,-0.64,-194.7,380.3,-10.2,273,3553,0.12,2.38,0.00,0.000,6,0.181,0.087,1660,2931,3611,0,0,0,0,0,0
$GC,3873,-0.64,-194.7,407.6,-8.0,288,3877,0.00,2.30,0.00,0.000,4,0.000,0.073,1660,1515,3610,0,0,0,0,0,0
$GC,3926,-0.64,-194.7,411.9,-7.8,289,3930,0.00,2.38,0.00,0.000,6,0.000,0.086,1652,2931,3611,0,0,0,0,0,0
$GC,4241,-0.64,-194.7,438.5,-8.6,299,4245,0.00,2.33,0.00,0.000,4,0.000,0.076,1652,1509,3611,0,0,0,0,0,0
$GC,4282,-0.64,-194.7,442.3,-7.9,300,4286,0.00,2.38,0.00,0.000,6,0.000,0.086,1644,2924,3611,0,0,0,0,0,0
$GC,4609,-0.64,-194.7,474.1,-9.9,311,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2924,3611,0,0,0,0,0,0
$GC,4916,-0.64,-194.7,506.8,-10.8,321,4920,0.00,2.30,0.00,0.000,4,0.000,0.076,1644,1517,3611,0,0,0,0,0,0
$GC,4981,-0.64,-194.7,513.9,-10.2,323,4986,0.00,2.38,0.00,0.000,6,0.000,0.090,1634,2925,3611,0,0,0,0,0,0
$GC,5319,-0.64,-194.7,552.1,-11.0,334,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2926,3611,0,0,0,0,0,0
$GC,5625,-0.64,-194.7,585.2,-10.8,344,5629,0.00,2.33,0.00,0.000,4,0.000,0.081,1634,1514,3610,0,0,0,0,0,0
$GC,5683,-0.64,-194.7,591.3,-9.3,345,5691,0.12,2.38,0.00,0.000,6,0.184,0.091,1656,2926,3610,0,0,0,0,0,0
$GC,6000,-0.64,-194.7,617.3,-8.1,356,6004,0.00,2.33,0.00,0.000,4,0.000,0.081,1657,1514,3610,0,0,0,0,0,0
$GC,6047,-0.64,-194.7,621.3,-7.9,357,6051,0.00,2.40,0.00,0.000,6,0.000,0.090,1648,2931,3610,0,0,0,0,0,0
$GC,6368,-0.64,-194.7,648.9,-8.8,368,6372,0.00,2.33,0.00,0.000,4,0.000,0.079,1649,1514,3609,0,0,0,0,0,0
$GC,6409,-0.64,-194.7,652.8,-8.6,369,6413,0.00,2.38,0.00,0.000,6,0.000,0.088,1639,2928,3610,0,0,0,0,0,0
$GC,6736,-0.64,-194.7,683.9,-9.6,380,6740,0.00,2.33,0.00,0.000,4,0.000,0.079,1639,1511,3609,0,0,0,0,0,0
$GC,6768,-0.64,-194.7,687.0,-9.8,381,6773,0.12,2.38,0.00,0.000,6,0.183,0.087,1662,2925,3609,0,0,0,0,0,0
$GC,7107,-0.64,-194.7,713.0,-7.5,392,7111,0.00,2.33,0.00,0.000,4,0.000,0.083,1662,1515,3609,0,0,0,0,0,0
$GC,7142,-0.64,-194.7,716.0,-8.1,393,7146,0.00,2.38,0.00,0.000,6,0.000,0.090,1654,2923,3609,0,0,0,0,0,0
$GC,7476,-0.64,-194.7,743.0,-8.3,404,7480,0.00,2.33,0.00,0.000,4,0.000,0.081,1654,1510,3609,0,0,0,0,0,0
$GC,7528,-0.64,-194.7,747.5,-8.3,405,7532,0.00,2.40,0.00,0.000,6,0.000,0.091,1645,2930,3609,0,0,0,0,0,0
$GC,7849,-0.64,-194.7,774.9,-8.4,416,7853,0.00,2.30,0.00,0.000,4,0.000,0.080,1645,1513,3608,0,0,0,0,0,0
$GC,7890,-0.64,-194.7,778.4,-7.7,417,7894,0.00,2.38,0.00,0.000,6,0.000,0.090,1636,2933,3609,0,0,0,0,0,0
$GC,8230,-0.64,-194.7,807.0,-8.5,428,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2932,3608,0,0,0,0,0,0
$GC,8535,-0.64,-194.7,832.0,-8.0,438,8539,0.00,2.35,0.00,0.000,4,0.000,0.084,1635,1512,3608,0,0,0,0,0,0
$GC,8609,-0.64,-194.7,838.1,-7.5,440,8614,0.12,2.38,0.00,0.000,6,0.181,0.090,1659,2923,3609,0,0,0,0,0,0
$GC,8937,-0.64,-194.7,857.7,-5.9,451,8941,0.00,2.33,0.00,0.000,4,0.000,0.081,1660,1512,3608,0,0,0,0,0,0
$GC,8970,-0.64,-194.7,859.6,-6.5,452,8974,0.00,2.38,0.00,0.000,6,0.000,0.090,1652,2922,3608,0,0,0,0,0,0
$GC,9308,-0.64,-194.7,882.5,-6.8,463,9312,0.00,2.33,0.00,0.000,4,0.000,0.081,1652,1510,3608,0,0,0,0,0,0
$GC,9340,-0.64,-194.7,884.6,-6.7,464,9344,0.00,2.38,0.00,0.000,6,0.000,0.090,1652,2924,3608,0,0,0,0,0,0
$GC,9678,-0.64,-194.7,907.8,-6.9,475,9682,0.00,2.30,0.00,0.000,4,0.000,0.080,1652,1517,3607,0,0,0,0,0,0
$GC,9707,-0.64,-194.7,910.0,-7.7,475,9714,0.00,2.38,0.00,0.000,6,0.000,0.090,1652,2931,3608,0,0,0,0,0,0
$GC,10023,-0.64,-194.7,930.5,-6.5,486,10027,0.00,2.30,0.00,0.000,4,0.000,0.081,1652,1517,3608,0,0,0,0,0,0
$GC,10064,-0.64,-194.7,933.3,-6.2,487,10068,0.00,2.38,0.00,0.000,6,0.000,0.091,1645,2923,3608,0,0,0,0,0,0
$GC,10390,-0.64,-194.7,956.0,-6.9,498,10394,0.00,2.33,0.00,0.000,4,0.000,0.081,1644,1512,3607,0,0,0,0,0,0
$GC,10431,-0.64,-194.7,959.0,-5.7,499,10436,0.00,2.38,0.00,0.000,6,0.000,0.089,1635,2924,3608,0,0,0,0,0,0
$STATE,10447,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10447,begin apogee
$GC,10458,-0.19,0.0,960.1,6.1,500,10652,0.55,0.00,186.23,1.792,6,0.157,0.000,1803,2723,2819,0,0,0,0,1,0
$STATE,10654,end apogee,CONTROL_FINISHED_OK
$STATE,10654,begin climb
$GC,10659,0.64,194.7,965.9,0.0,506,10863,0.82,2.65,190.68,1.797,4,0.094,0.090,2085,1330,2028,0,0,0,0,1,0
$GC,10943,0.64,194.7,911.3,23.8,514,10950,0.00,2.58,0.00,0.000,6,0.000,0.087,2086,2733,2024,0,0,1,0,0,0
$GC,11258,0.64,194.7,824.1,27.7,525,11262,0.00,2.45,0.00,0.000,4,0.000,0.084,2096,1323,2021,0,0,0,0,0,0
$GC,11293,0.64,194.7,814.1,25.5,526,11297,0.00,2.50,0.00,0.000,6,0.000,0.085,2096,2734,2019,0,0,0,0,0,0
$GC,11625,0.64,194.7,723.9,27.4,537,11629,0.00,2.42,0.00,0.000,4,0.000,0.085,2107,1325,2019,0,0,0,0,0,0
$GC,11657,0.64,194.7,715.6,26.0,538,11661,0.00,2.45,0.00,0.000,6,0.000,0.082,2107,2736,2018,0,0,0,0,0,0
$GC,11994,0.64,194.7,623.8,26.9,549,11998,0.00,2.40,0.00,0.000,4,0.000,0.082,2118,1323,2018,0,0,0,0,0,0
$GC,12023,0.64,194.7,615.6,26.6,549,12031,0.15,2.45,0.00,0.000,6,0.246,0.084,2084,2746,2018,0,0,0,0,0,0
$GC,12338,0.64,194.7,536.7,25.2,560,12343,0.00,2.42,0.00,0.000,4,0.000,0.082,2094,1317,2017,0,0,0,0,0,0
$GC,12373,0.64,194.7,527.9,24.4,561,12378,0.00,2.45,0.00,0.000,6,0.000,0.085,2094,2741,2017,0,0,0,0,0,0
$GC,12705,0.64,194.7,443.0,25.9,572,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2741,2016,0,0,0,0,0,0
$GC,13013,0.64,194.7,365.3,25.2,584,13017,0.00,2.40,0.00,0.000,4,0.000,0.082,2105,1317,2016,0,0,0,0,0,0
$GC,13081,0.64,194.7,349.9,21.7,587,13086,0.00,2.42,0.00,0.000,6,0.000,0.085,2105,2737,2016,0,0,0,0,0,0
$GC,13413,0.64,194.7,263.6,26.2,603,13414,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2737,2016,0,0,0,0,0,0
$GC,13724,0.64,194.7,182.0,25.9,622,13728,0.00,2.38,0.00,0.000,4,0.000,0.083,2115,1322,2016,0,0,0,0,0,0
$GC,13760,0.64,194.7,172.5,24.5,624,13764,0.15,2.40,0.00,0.000,6,0.239,0.084,2082,2734,2016,0,0,0,0,0,0
$GC,14085,0.64,194.7,99.4,21.9,644,14092,0.00,2.35,0.00,0.000,4,0.000,0.083,2091,1319,2016,0,0,0,0,0,0
$GC,14141,0.64,194.7,86.5,19.8,653,14145,0.00,2.40,0.00,0.000,6,0.000,0.083,2092,2738,2016,0,0,0,0,0,0
$STATE,14490,end climb,SURFACE_DEPTH_REACHED
$STATE,14490,begin surface coast
$FINISH,0.1,1.026589
$STATE,14508,end surface coast,CONTROL_FINISHED_OK
$STATE,14508,begin surface
$SM_CCo,14530,163.35,0.785,1,0,516,564.18
$SM_GC,0.42,0.00,0.00,163.35,0.000,0.000,0.785,63,2933,516,-5.65,0.28,564.18
$IRIDIUM_FIX,-4635.50,412.09,101212,202028
$TT8_MAMPS,0.024717
$HUMID,58.58
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.5,2.794
$10V_AH,10.2,0.912
$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,14.350,155.875,376.900,163.350,0.000,0.000,0.000,0.000,0.000,0.000,26.050,1819.678,9773.991,701.585,1976.774,516.625,33.367,1594.594,0.000,1873.424,0.000,1.007,0.000
$DEVICE_MAMPS,252.450,98.685,1796.985,784.890,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.608,1393.222,726.179,266.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354336
$DATA_FILE_SIZE,50449,714
$CAP_FILE_SIZE,140993,0
$CFSIZE,259252224,227368960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,1
$GPS,111212,002734,-4652.349,411.690,30,1.2,31,-23.3