version: 66.07
glider: 542
mission: 6
dive: 25
start: 12 13 112 17 16 46
data:
$ID,542
$MISSION,6
$DIVE,25
$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,3
$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,-10351.344
$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,36
$R_STBD_OVSHOOT,45
$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
$GPS1,131212,170128,-4658.565,400.010,39,0.8,39,-23.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-26.4
$GPS2,131212,171548,-4658.670,400.148,20,1.1,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.144,0.241
$KALMAN_X,-4316.8,13.8,96.8,-17108.0,-2882.9
$KALMAN_Y,20680.0,-152.3,-245.7,-33966.8,-1643.3
$MHEAD_RNG_PITCHd_Wd,54.1,53097,-15.9,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.64,-173.4,0.0,0.0,0,175,0.00,0.00,-141.68,0.000,2,0.000,0.000,62,2959,3294,0,0,0,0,0,0
$GC,181,-0.67,-194.7,3.5,-4.3,18,200,6.45,2.35,-7.40,0.000,4,0.246,0.057,1654,1510,3616,0,0,0,0,0,0
$GC,291,-0.67,-194.7,22.5,-10.1,34,300,0.00,2.33,0.00,0.000,6,0.000,0.060,1645,2899,3617,0,0,0,0,0,0
$GC,378,-0.67,-194.7,35.9,-15.0,47,384,0.00,1.62,0.00,0.000,4,0.000,0.060,1637,3900,3617,0,0,0,0,0,0
$GC,398,-0.67,-194.7,38.7,-13.5,49,405,0.00,1.55,0.00,0.000,6,0.000,0.039,1637,2908,3617,0,0,0,0,0,0
$GC,638,-0.67,-194.7,74.2,-13.6,90,647,0.00,2.15,0.00,0.000,4,0.000,0.044,1637,1531,3617,0,0,0,0,0,0
$GC,690,-0.67,-194.7,80.0,-9.7,98,697,0.00,2.28,0.00,0.000,6,0.000,0.060,1627,2930,3617,0,0,0,0,0,0
$GC,1028,-0.67,-194.7,127.8,-14.1,135,1032,0.00,2.20,0.00,0.000,4,0.000,0.043,1627,1524,3617,0,0,0,0,0,0
$GC,1047,-0.67,-194.7,131.1,-14.3,136,1052,0.12,2.25,0.00,0.000,6,0.191,0.058,1648,2925,3618,0,0,0,0,0,0
$GC,1372,-0.67,-194.7,169.4,-12.1,156,1376,0.00,2.17,0.00,0.000,4,0.000,0.044,1647,1523,3618,0,0,0,0,0,0
$GC,1413,-0.67,-194.7,174.8,-11.0,158,1417,0.00,2.28,0.00,0.000,6,0.000,0.059,1638,2928,3618,0,0,0,0,0,0
$GC,1736,-0.67,-194.7,213.3,-11.6,178,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2928,3617,0,0,0,0,0,0
$GC,2046,-0.67,-194.7,250.1,-11.5,198,2050,0.00,2.17,0.00,0.000,4,0.000,0.044,1638,1527,3618,0,0,0,0,0,0
$GC,2082,-0.67,-194.7,254.3,-11.2,199,2088,0.00,2.25,0.00,0.000,6,0.000,0.059,1627,2927,3618,0,0,0,0,0,0
$GC,2402,-0.67,-194.7,293.5,-12.9,215,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2928,3617,0,0,0,0,0,0
$GC,2709,-0.67,-194.7,333.2,-12.7,230,2713,0.00,2.17,0.00,0.000,4,0.000,0.044,1628,1524,3618,0,0,0,0,0,0
$GC,2733,-0.67,-194.7,336.4,-12.7,231,2738,0.12,2.25,0.00,0.000,6,0.185,0.059,1649,2928,3618,0,0,0,0,0,0
$GC,3065,-0.67,-194.7,370.1,-10.3,247,3069,0.00,2.15,0.00,0.000,4,0.000,0.044,1649,1528,3618,0,0,0,0,0,0
$GC,3094,-0.67,-194.7,373.6,-10.2,248,3098,0.00,2.22,0.00,0.000,6,0.000,0.060,1640,2926,3618,0,0,0,0,0,0
$GC,3417,-0.67,-194.7,408.9,-11.2,263,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2926,3618,0,0,0,0,0,0
$GC,3723,-0.67,-194.7,442.0,-10.6,273,3727,0.00,2.15,0.00,0.000,4,0.000,0.044,1640,1524,3617,0,0,0,0,0,0
$GC,3752,-0.67,-194.7,445.3,-10.5,273,3759,0.00,2.25,0.00,0.000,6,0.000,0.060,1629,2932,3617,0,0,0,0,0,0
$GC,4068,-0.67,-194.7,481.2,-11.6,284,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2932,3617,0,0,0,0,0,0
$GC,4374,-0.67,-194.7,515.9,-11.4,294,4378,0.00,2.15,0.00,0.000,4,0.000,0.046,1629,1525,3617,0,0,0,0,0,0
$GC,4398,-0.67,-194.7,519.0,-11.5,294,4402,0.12,2.25,0.00,0.000,6,0.187,0.060,1651,2927,3617,0,0,0,0,0,0
$GC,4713,-0.67,-194.7,548.1,-9.3,304,4717,0.00,2.15,0.00,0.000,4,0.000,0.045,1651,1521,3617,0,0,0,0,0,0
$GC,4737,-0.67,-194.7,550.6,-9.6,304,4744,0.00,2.25,0.00,0.000,6,0.000,0.060,1643,2929,3617,0,0,0,0,0,0
$GC,5053,-0.67,-194.7,581.5,-10.0,315,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2930,3616,0,0,0,0,0,0
$GC,5358,-0.67,-194.7,612.1,-10.0,325,5362,0.00,2.17,0.00,0.000,4,0.000,0.046,1643,1522,3616,0,0,0,0,0,0
$GC,5405,-0.67,-194.7,616.7,-8.8,326,5409,0.00,2.25,0.00,0.000,6,0.000,0.060,1633,2924,3616,0,0,0,0,0,0
$GC,5726,-0.67,-194.7,649.1,-10.2,337,5729,0.00,1.58,0.00,0.000,4,0.000,0.068,1625,3897,3616,0,0,0,0,0,0
$GC,5749,-0.67,-194.7,651.7,-10.3,337,5753,0.00,1.50,0.00,0.000,6,0.000,0.042,1625,2923,3616,0,0,0,0,0,0
$GC,6071,-0.67,-194.7,684.9,-10.1,348,6075,0.00,2.12,0.00,0.000,4,0.000,0.047,1625,1525,3615,0,0,0,0,0,0
$GC,6102,-0.67,-194.7,688.1,-9.9,349,6107,0.12,2.22,0.00,0.000,6,0.190,0.060,1647,2922,3615,0,0,0,0,0,0
$GC,6446,-0.67,-194.7,714.6,-7.4,360,6450,0.00,2.15,0.00,0.000,4,0.000,0.047,1647,1518,3615,0,0,0,0,0,0
$GC,6478,-0.67,-194.7,716.8,-7.0,361,6482,0.00,2.25,0.00,0.000,6,0.000,0.061,1638,2935,3615,0,0,0,0,0,0
$GC,6816,-0.67,-194.7,742.6,-7.8,372,6820,0.00,2.15,0.00,0.000,4,0.000,0.046,1638,1525,3614,0,0,0,0,0,0
$GC,6848,-0.67,-194.7,745.2,-8.2,373,6852,0.00,2.25,0.00,0.000,6,0.000,0.060,1628,2931,3615,0,0,0,0,0,0
$GC,7186,-0.67,-194.7,775.5,-9.1,384,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2932,3614,0,0,0,0,0,0
$GC,7493,-0.67,-194.7,803.3,-8.9,394,7497,0.00,2.17,0.00,0.000,4,0.000,0.047,1628,1522,3614,0,0,0,0,0,0
$GC,7540,-0.67,-194.7,807.6,-7.8,395,7544,0.12,2.22,0.00,0.000,6,0.187,0.061,1650,2924,3615,0,0,0,0,0,0
$GC,7861,-0.67,-194.7,829.0,-6.8,406,7865,0.00,2.15,0.00,0.000,4,0.000,0.047,1650,1519,3614,0,0,0,0,0,0
$GC,7886,-0.67,-194.7,830.9,-7.2,406,7893,0.00,2.25,0.00,0.000,6,0.000,0.061,1642,2928,3614,0,0,0,0,0,0
$GC,8203,-0.67,-194.7,855.0,-8.0,417,8207,0.00,2.15,0.00,0.000,4,0.000,0.046,1642,1520,3614,0,0,0,0,0,0
$GC,8244,-0.67,-194.7,858.4,-7.5,418,8248,0.00,2.22,0.00,0.000,6,0.000,0.061,1632,2922,3614,0,0,0,0,0,0
$GC,8570,-0.67,-194.7,886.7,-8.9,429,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2922,3614,0,0,0,0,0,0
$GC,8876,-0.67,-194.7,914.8,-9.3,439,8880,0.00,2.15,0.00,0.000,4,0.000,0.046,1632,1525,3614,0,0,0,0,0,0
$GC,8917,-0.67,-194.7,918.9,-8.7,440,8922,0.10,2.22,0.00,0.000,6,0.192,0.061,1647,2929,3614,0,0,0,0,0,0
$GC,9257,-0.67,-194.7,946.6,-8.3,451,9261,0.00,2.15,0.00,0.000,4,0.000,0.047,1647,1521,3613,0,0,0,0,0,0
$GC,9289,-0.67,-194.7,949.5,-9.4,452,9293,0.00,2.25,0.00,0.000,6,0.000,0.061,1639,2931,3614,0,0,0,0,0,0
$GC,9632,-0.67,-194.7,978.9,-8.5,463,9636,0.00,2.17,0.00,0.000,4,0.000,0.047,1639,1522,3613,0,0,0,0,0,0
$GC,9664,-0.67,-194.7,981.4,-8.6,464,9668,0.00,2.22,0.00,0.000,6,0.000,0.061,1630,2926,3613,0,0,0,0,0,0
$STATE,9874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9874,begin apogee
$GC,9885,-0.19,0.0,1000.9,9.2,471,10088,0.57,0.00,198.27,1.183,6,0.158,0.000,1805,2728,2817,0,0,0,0,0,0
$STATE,10090,end apogee,CONTROL_FINISHED_OK
$STATE,10090,begin climb
$GC,10094,0.67,194.7,1008.2,0.0,478,10294,0.80,2.17,186.45,1.803,4,0.067,0.063,2088,3895,2027,0,0,0,0,1,0
$GC,10454,0.67,194.7,923.6,29.9,489,10458,0.00,1.95,0.00,0.000,6,0.000,0.046,2097,2755,2025,0,0,0,0,0,0
$GC,10799,0.67,194.7,823.8,28.9,500,10803,0.00,2.35,0.00,0.000,4,0.000,0.056,2108,1322,2022,0,0,0,0,0,0
$GC,10864,0.67,194.7,806.0,25.0,502,10868,0.00,2.38,0.00,0.000,6,0.000,0.057,2108,2733,2020,0,0,0,0,0,0
$GC,11202,0.67,194.7,709.3,28.1,513,11206,0.00,2.33,0.00,0.000,4,0.000,0.056,2118,1314,2020,0,0,0,0,0,0
$GC,11249,0.67,194.7,696.0,26.7,514,11254,0.12,2.38,0.00,0.000,6,0.262,0.057,2094,2745,2020,0,0,0,0,0,0
$GC,11576,0.67,194.7,606.2,27.2,525,11580,0.00,2.30,0.00,0.000,4,0.000,0.054,2103,1315,2019,0,0,0,0,0,0
$GC,11595,0.67,194.7,600.7,27.4,525,11599,0.00,2.33,0.00,0.000,6,0.000,0.056,2103,2739,2019,0,0,0,0,0,0
$GC,11915,0.67,194.7,512.3,27.5,536,11919,0.00,2.30,0.00,0.000,4,0.000,0.056,2114,1312,2019,0,0,0,0,0,0
$GC,11944,0.67,194.7,504.0,26.5,536,11951,0.00,2.33,0.00,0.000,6,0.000,0.057,2113,2734,2019,0,0,0,0,0,0
$GC,12260,0.67,194.7,415.6,28.3,547,12264,0.00,2.28,0.00,0.000,4,0.000,0.056,2124,1320,2019,0,0,0,0,0,0
$GC,12294,0.67,194.7,405.5,27.9,548,12299,0.15,2.33,0.00,0.000,6,0.267,0.059,2094,2742,2018,0,0,0,0,0,0
$GC,12630,0.67,194.7,317.8,26.0,564,12634,0.00,2.25,0.00,0.000,4,0.000,0.055,2103,1321,2017,0,0,0,0,0,0
$GC,12673,0.67,194.7,306.9,24.9,566,12678,0.00,2.30,0.00,0.000,6,0.000,0.058,2103,2735,2018,0,0,0,0,0,0
$GC,12996,0.67,194.7,221.6,26.3,583,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2736,2018,0,0,0,0,0,0
$GC,13308,0.67,194.7,140.0,25.7,603,13312,0.00,2.22,0.00,0.000,4,0.000,0.054,2113,1318,2018,0,0,0,0,0,0
$GC,13375,0.67,194.7,124.3,23.4,607,13379,0.00,2.30,0.00,0.000,6,0.000,0.058,2113,2740,2018,0,0,0,0,0,0
$GC,13727,0.67,194.7,35.1,24.6,655,13733,0.00,2.25,0.00,0.000,4,0.000,0.054,2124,1318,2017,0,0,0,0,0,0
$GC,13794,0.67,194.7,18.7,26.1,665,13804,0.12,2.33,0.00,0.000,6,0.251,0.058,2093,2740,2017,0,0,0,0,0,0
$STATE,13841,end climb,SURFACE_DEPTH_REACHED
$STATE,13841,begin surface coast
$FINISH,0.9,1.026549
$STATE,13851,end surface coast,CONTROL_FINISHED_OK
$STATE,13851,begin surface
$SM_CCo,13873,166.27,0.787,1,0,518,564.18
$SM_GC,0.43,0.00,0.00,166.27,0.000,0.000,0.787,63,2938,518,-5.65,0.40,564.18
$IRIDIUM_FIX,-4641.78,356.82,131212,121259
$TT8_MAMPS,0.026215
$HUMID,55.90
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,22.2,6.610
$10V_AH,10.2,2.604
$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,14.450,136.250,384.725,166.275,0.000,27.219,21.350,573.790,0.000,0.000,22.856,1713.128,9401.005,691.561,2411.308,677.929,33.356,1530.219,0.000,1740.393,0.000,1.009,0.000
$DEVICE_MAMPS,266.985,74.970,1803.105,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.950,1327.642,686.749,260.311,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354304
$DATA_FILE_SIZE,50446,673
$CAP_FILE_SIZE,124735,0
$CFSIZE,259252224,226349056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,131212,211222,-4656.973,400.058,43,1.3,44,-23.3