version: 66.07
glider: 542
mission: 6
dive: 27
start: 12 14 112 1 44 23
data:
$ID,542
$MISSION,6
$DIVE,27
$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,-10357.345
$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,43
$R_STBD_OVSHOOT,23
$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
$GPS1,141212,012758,-4654.960,400.193,35,1.2,36,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-29.0
$GPS2,141212,014325,-4654.882,400.430,22,1.4,22,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.123,0.268
$KALMAN_X,-8941.3,-342.0,-81.0,-11594.7,-2459.9
$KALMAN_Y,16478.5,471.1,578.4,-24219.8,-4653.9
$MHEAD_RNG_PITCHd_Wd,47.9,46086,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.64,-194.7,0.0,0.0,0,182,0.00,0.00,-149.48,0.000,2,0.000,0.000,57,2930,3419,0,0,0,0,0,0
$GC,189,-0.64,-194.7,3.6,-4.5,19,208,6.53,2.28,-4.57,0.000,4,0.249,0.065,1661,1518,3615,0,0,0,0,0,0
$GC,268,-0.64,-194.7,21.4,-14.0,30,277,0.00,2.33,0.00,0.000,6,0.000,0.055,1651,2919,3616,0,0,0,0,0,0
$GC,356,-0.64,-194.7,33.9,-11.5,43,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2919,3616,0,0,0,0,0,0
$GC,600,-0.64,-194.7,63.3,-12.7,84,611,0.00,2.22,0.00,0.000,4,0.000,0.046,1651,1526,3617,0,0,0,0,0,0
$GC,667,-0.64,-194.7,70.9,-12.1,94,674,0.00,2.25,0.00,0.000,6,0.000,0.055,1641,2924,3616,0,0,0,0,0,0
$GC,1025,-0.64,-194.7,106.2,-9.6,149,1029,0.00,2.20,0.00,0.000,4,0.000,0.044,1641,1522,3617,0,0,0,0,0,0
$GC,1083,-0.64,-194.7,112.0,-8.7,152,1092,0.08,2.30,0.00,0.000,6,0.159,0.057,1654,2927,3617,0,0,0,0,0,0
$GC,1412,-0.64,-194.7,143.9,-10.3,173,1416,0.00,2.20,0.00,0.000,4,0.000,0.044,1654,1520,3617,0,0,0,0,0,0
$GC,1460,-0.64,-194.7,149.4,-9.8,176,1465,0.00,2.25,0.00,0.000,6,0.000,0.058,1645,2928,3617,0,0,0,0,0,0
$GC,1790,-0.64,-194.7,184.8,-11.1,197,1794,0.00,2.20,0.00,0.000,4,0.000,0.043,1645,1517,3618,0,0,0,0,0,0
$GC,1813,-0.64,-194.7,188.1,-11.8,198,1822,0.00,2.28,0.00,0.000,6,0.000,0.057,1635,2915,3617,0,0,0,0,0,0
$GC,2137,-0.64,-194.7,227.8,-12.9,219,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2915,3618,0,0,0,0,0,0
$GC,2453,-0.64,-194.7,269.0,-13.1,237,2457,0.00,2.15,0.00,0.000,4,0.000,0.044,1635,1519,3618,0,0,0,0,0,0
$GC,2477,-0.64,-194.7,272.8,-13.7,238,2481,0.12,2.25,0.00,0.000,6,0.182,0.057,1658,2923,3618,0,0,0,0,0,0
$GC,2802,-0.64,-194.7,305.4,-9.8,254,2806,0.00,2.17,0.00,0.000,4,0.000,0.044,1658,1519,3618,0,0,0,0,0,0
$GC,2837,-0.64,-194.7,309.0,-9.1,255,2844,0.00,2.25,0.00,0.000,6,0.000,0.058,1649,2926,3618,0,0,0,0,0,0
$GC,3158,-0.64,-194.7,340.7,-9.9,271,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2926,3618,0,0,0,0,0,0
$GC,3465,-0.64,-194.7,370.2,-9.3,286,3469,0.00,2.15,0.00,0.000,4,0.000,0.044,1649,1522,3618,0,0,0,0,0,0
$GC,3502,-0.64,-194.7,373.7,-8.9,287,3509,0.00,2.25,0.00,0.000,6,0.000,0.058,1639,2932,3617,0,0,0,0,0,0
$GC,3840,-0.64,-194.7,407.4,-10.2,303,3844,0.00,2.17,0.00,0.000,4,0.000,0.044,1639,1524,3617,0,0,0,0,0,0
$GC,3858,-0.64,-194.7,409.5,-10.3,303,3863,0.12,2.25,0.00,0.000,6,0.190,0.057,1660,2932,3617,0,0,0,0,0,0
$GC,4175,-0.64,-194.7,436.4,-8.8,313,4179,0.00,2.17,0.00,0.000,4,0.000,0.044,1659,1521,3617,0,0,0,0,0,0
$GC,4216,-0.64,-194.7,440.4,-8.8,314,4220,0.00,2.25,0.00,0.000,6,0.000,0.059,1651,2928,3617,0,0,0,0,0,0
$GC,4543,-0.64,-194.7,470.2,-9.1,325,4547,0.00,2.15,0.00,0.000,4,0.000,0.044,1651,1520,3616,0,0,0,0,0,0
$GC,4567,-0.64,-194.7,472.7,-9.3,325,4573,0.00,2.25,0.00,0.000,6,0.000,0.059,1642,2932,3616,0,0,0,0,0,0
$GC,4882,-0.64,-194.7,502.1,-9.5,336,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2932,3616,0,0,0,0,0,0
$GC,5189,-0.64,-194.7,531.0,-9.1,346,5193,0.00,2.17,0.00,0.000,4,0.000,0.045,1641,1522,3616,0,0,0,0,0,0
$GC,5224,-0.64,-194.7,534.3,-8.3,347,5228,0.10,2.25,0.00,0.000,6,0.192,0.059,1656,2929,3616,0,0,0,0,0,0
$GC,5557,-0.64,-194.7,559.4,-7.6,358,5561,0.00,2.17,0.00,0.000,4,0.000,0.045,1656,1520,3615,0,0,0,0,0,0
$GC,5588,-0.64,-194.7,561.8,-7.0,359,5592,0.00,2.25,0.00,0.000,6,0.000,0.060,1648,2927,3615,0,0,0,0,0,0
$GC,5926,-0.64,-194.7,591.1,-8.8,370,5930,0.00,1.52,0.00,0.000,4,0.000,0.067,1641,3889,3615,0,0,0,0,0,0
$GC,5944,-0.64,-194.7,593.0,-9.3,370,5948,0.00,1.50,0.00,0.000,6,0.000,0.042,1640,2912,3615,0,0,0,0,0,0
$GC,6271,-0.64,-194.7,622.6,-9.1,381,6275,0.00,2.10,0.00,0.000,4,0.000,0.046,1640,1526,3614,0,0,0,0,0,0
$GC,6317,-0.64,-194.7,626.9,-8.2,382,6322,0.12,2.25,0.00,0.000,6,0.183,0.060,1662,2930,3615,0,0,0,0,0,0
$GC,6639,-0.64,-194.7,648.8,-6.8,393,6643,0.00,2.15,0.00,0.000,4,0.000,0.045,1662,1520,3614,0,0,0,0,0,0
$GC,6671,-0.64,-194.7,650.9,-6.7,394,6675,0.00,2.25,0.00,0.000,6,0.000,0.060,1653,2925,3615,0,0,0,0,0,0
$GC,7009,-0.64,-194.7,676.6,-7.8,405,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2925,3614,0,0,0,0,0,0
$GC,7317,-0.64,-194.7,701.7,-8.3,415,7321,0.00,2.12,0.00,0.000,4,0.000,0.045,1653,1526,3614,0,0,0,0,0,0
$GC,7382,-0.64,-194.7,707.2,-8.2,417,7386,0.00,2.25,0.00,0.000,6,0.000,0.061,1644,2932,3614,0,0,0,0,0,0
$GC,7720,-0.64,-194.7,738.2,-9.5,428,7724,0.00,2.15,0.00,0.000,4,0.000,0.045,1644,1525,3614,0,0,0,0,0,0
$GC,7744,-0.64,-194.7,740.6,-9.5,428,7748,0.00,2.25,0.00,0.000,6,0.000,0.060,1634,2932,3613,0,0,0,0,0,0
$GC,8059,-0.64,-194.7,771.7,-10.2,438,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2931,3613,0,0,0,0,0,0
$GC,8365,-0.64,-194.7,802.9,-10.0,448,8369,0.00,2.15,0.00,0.000,4,0.000,0.045,1634,1525,3613,0,0,0,0,0,0
$GC,8418,-0.64,-194.7,807.9,-8.5,449,8423,0.12,2.25,0.00,0.000,6,0.184,0.060,1656,2931,3613,0,0,0,0,0,0
$GC,8741,-0.64,-194.7,831.9,-7.2,460,8745,0.00,2.17,0.00,0.000,4,0.000,0.046,1656,1518,3613,0,0,0,0,0,0
$GC,8777,-0.64,-194.7,834.8,-6.9,461,8781,0.00,2.25,0.00,0.000,6,0.000,0.061,1649,2922,3613,0,0,0,0,0,0
$GC,9109,-0.64,-194.7,859.6,-7.4,472,9113,0.00,2.17,0.00,0.000,4,0.000,0.045,1649,1524,3613,0,0,0,0,0,0
$GC,9150,-0.64,-194.7,862.9,-7.0,473,9154,0.00,2.25,0.00,0.000,6,0.000,0.061,1639,2930,3613,0,0,0,0,0,0
$GC,9477,-0.64,-194.7,887.1,-7.0,484,9481,0.00,2.15,0.00,0.000,4,0.000,0.045,1639,1519,3612,0,0,0,0,0,0
$GC,9512,-0.64,-194.7,889.8,-6.2,485,9517,0.12,2.25,0.00,0.000,6,0.184,0.060,1661,2924,3612,0,0,0,0,0,0
$GC,9845,-0.64,-194.7,906.4,-4.9,496,9849,0.00,2.15,0.00,0.000,4,0.000,0.047,1661,1517,3612,0,0,0,0,0,0
$GC,9877,-0.64,-194.7,908.1,-5.8,497,9881,0.00,2.25,0.00,0.000,6,0.000,0.061,1652,2923,3613,0,0,0,0,0,0
$GC,10214,-0.64,-194.7,929.4,-6.5,508,10218,0.00,2.15,0.00,0.000,4,0.000,0.045,1653,1522,3612,0,0,0,0,0,0
$GC,10252,-0.64,-194.7,931.9,-7.0,509,10256,0.00,2.22,0.00,0.000,6,0.000,0.061,1644,2922,3612,0,0,0,0,0,0
$STATE,10468,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10468,begin apogee
$GC,10479,-0.19,0.0,948.1,7.4,516,10681,0.52,0.00,196.90,1.171,6,0.158,0.000,1803,2740,2814,0,0,0,0,0,0
$STATE,10683,end apogee,CONTROL_FINISHED_OK
$STATE,10683,begin climb
$GC,10688,0.64,194.7,954.2,0.0,523,10896,0.77,2.47,199.77,1.099,4,0.069,0.054,2090,1335,2018,0,0,0,0,0,0
$GC,11156,0.64,194.7,848.0,25.4,537,11160,0.00,2.38,0.00,0.000,6,0.000,0.057,2090,2733,1999,0,0,0,0,0,0
$GC,11489,0.64,194.7,754.4,28.3,548,11493,0.00,2.30,0.00,0.000,4,0.000,0.054,2101,1337,1998,0,0,0,0,0,0
$GC,11554,0.64,194.7,736.9,24.1,550,11559,0.00,2.33,0.00,0.000,6,0.000,0.057,2101,2736,1997,0,0,0,0,0,0
$GC,11892,0.64,194.7,641.1,28.3,561,11896,0.00,2.28,0.00,0.000,4,0.000,0.055,2111,1335,1997,0,0,0,0,0,0
$GC,11916,0.64,194.7,633.8,28.3,561,11920,0.15,2.33,0.00,0.000,6,0.264,0.057,2082,2745,1997,0,0,0,0,0,0
$GC,12231,0.64,194.7,551.0,26.5,571,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2746,1996,0,0,0,0,0,0
$GC,12537,0.64,194.7,472.4,25.9,581,12541,0.00,2.28,0.00,0.000,4,0.000,0.054,2091,1332,1996,0,0,0,0,0,0
$GC,12617,0.64,194.7,453.3,22.2,583,12621,0.00,2.30,0.00,0.000,6,0.000,0.057,2091,2743,1996,0,0,0,0,0,0
$GC,12936,0.64,194.7,372.3,26.0,595,12940,0.00,2.25,0.00,0.000,4,0.000,0.054,2101,1335,1996,0,0,0,0,0,0
$GC,12994,0.64,194.7,357.3,22.8,597,12998,0.00,2.28,0.00,0.000,6,0.000,0.057,2101,2734,1996,0,0,0,0,0,0
$GC,13312,0.64,194.7,274.0,26.9,612,13313,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2735,1996,0,0,0,0,0,0
$GC,13637,0.64,194.7,187.3,27.1,631,13642,0.00,2.22,0.00,0.000,4,0.000,0.055,2112,1325,1996,0,0,0,0,0,0
$GC,13695,0.64,194.7,171.4,22.9,634,13704,0.10,2.30,0.00,0.000,6,0.252,0.059,2087,2730,1996,0,0,0,0,0,0
$GC,14022,0.64,194.7,91.6,28.7,657,14029,0.00,2.25,0.00,0.000,4,0.000,0.053,2096,1330,1995,0,0,0,0,0,0
$GC,14039,0.64,194.7,85.6,28.8,659,14044,0.00,2.28,0.00,0.000,6,0.000,0.057,2096,2746,1995,0,0,0,0,0,0
$STATE,14380,end climb,SURFACE_DEPTH_REACHED
$STATE,14380,begin surface coast
$FINISH,0.2,1.026552
$STATE,14398,end surface coast,CONTROL_FINISHED_OK
$STATE,14398,begin surface
$SM_CCo,14420,157.60,0.773,1,0,518,564.18
$SM_GC,0.76,0.00,0.00,157.60,0.000,0.000,0.773,61,2937,518,-5.65,0.40,564.18
$IRIDIUM_FIX,-4635.50,418.37,141212,010120
$TT8_MAMPS,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,23.2,7.029
$10V_AH,10.1,2.812
$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,14.500,137.575,396.675,157.600,0.000,59.462,72.347,482.236,0.000,0.000,24.694,1822.026,9713.117,690.036,2551.487,723.740,33.353,1592.420,0.000,1900.124,0.000,1.007,0.000
$DEVICE_MAMPS,263.925,69.615,1171.215,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.643,1407.522,749.585,295.955,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,53708,719
$CAP_FILE_SIZE,131187,0
$CFSIZE,259252224,226209792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,141212,054904,-4653.078,359.599,45,0.9,50,-23.3