version: 66.07
glider: 542
mission: 6
dive: 28
start: 12 14 112 6 0 47
data:
$ID,542
$MISSION,6
$DIVE,28
$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,-10360.435
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,141212,054904,-4653.078,359.599,45,0.9,50,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-30.2
$GPS2,141212,055949,-4653.041,359.703,20,0.8,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.240,0.167
$KALMAN_X,-13136.2,326.2,-6.7,-9056.3,-4791.4
$KALMAN_Y,15411.9,503.6,-84.6,-19116.8,-3269.7
$MHEAD_RNG_PITCHd_Wd,78.5,42673,-15.1,-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,-190.7,0.0,0.0,0,163,0.00,0.00,-133.75,0.000,2,0.000,0.000,60,2940,3076,0,0,0,0,0,0
$GC,169,-0.65,-194.7,3.1,-6.0,17,196,6.57,2.30,-13.73,0.000,4,0.251,0.057,1655,1517,3615,0,0,0,0,0,0
$GC,314,-0.65,-194.7,20.9,-14.3,38,324,0.00,2.33,0.00,0.000,6,0.000,0.058,1645,2914,3617,0,0,0,0,0,0
$GC,405,-0.65,-194.7,36.1,-15.5,51,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2914,3616,0,0,0,0,0,0
$GC,650,-0.65,-194.7,74.2,-15.1,92,657,0.00,2.17,0.00,0.000,4,0.000,0.042,1645,1522,3616,0,0,0,0,0,0
$GC,677,-0.65,-194.7,78.1,-14.6,96,686,0.00,2.30,0.00,0.000,6,0.000,0.057,1634,2921,3616,0,0,0,0,0,0
$GC,1018,-0.65,-194.7,121.1,-12.4,135,1021,0.00,1.58,0.00,0.000,4,0.000,0.064,1627,3901,3617,0,0,0,0,0,0
$GC,1073,-0.65,-194.7,128.3,-12.6,138,1077,0.08,1.52,0.00,0.000,6,0.161,0.039,1650,2916,3617,0,0,0,0,0,0
$GC,1412,-0.65,-194.7,164.3,-10.8,159,1416,0.00,2.12,0.00,0.000,4,0.000,0.044,1651,1528,3617,0,0,0,0,0,0
$GC,1479,-0.65,-194.7,171.3,-9.1,163,1483,0.00,2.25,0.00,0.000,6,0.000,0.058,1641,2932,3618,0,0,0,0,0,0
$GC,1812,-0.65,-194.7,208.5,-11.2,184,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2932,3618,0,0,0,0,0,0
$GC,2124,-0.65,-194.7,244.5,-11.5,204,2128,0.00,2.15,0.00,0.000,4,0.000,0.044,1641,1525,3618,0,0,0,0,0,0
$GC,2181,-0.65,-194.7,250.2,-9.7,207,2185,0.00,2.25,0.00,0.000,6,0.000,0.057,1631,2922,3618,0,0,0,0,0,0
$GC,2507,-0.65,-194.7,290.0,-12.8,223,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2922,3617,0,0,0,0,0,0
$GC,2814,-0.65,-194.7,329.4,-12.6,238,2818,0.00,2.17,0.00,0.000,4,0.000,0.044,1631,1520,3617,0,0,0,0,0,0
$GC,2843,-0.65,-194.7,333.4,-12.2,239,2848,0.15,2.25,0.00,0.000,6,0.179,0.058,1660,2923,3617,0,0,0,0,0,0
$GC,3170,-0.65,-194.7,364.1,-9.5,255,3174,0.00,2.15,0.00,0.000,4,0.000,0.044,1660,1527,3618,0,0,0,0,0,0
$GC,3205,-0.65,-194.7,367.8,-9.1,256,3209,0.00,2.25,0.00,0.000,6,0.000,0.059,1652,2932,3617,0,0,0,0,0,0
$GC,3530,-0.65,-194.7,399.8,-9.7,272,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2932,3617,0,0,0,0,0,0
$GC,3856,-0.65,-194.7,432.5,-10.0,283,3860,0.00,2.17,0.00,0.000,4,0.000,0.044,1652,1523,3617,0,0,0,0,0,0
$GC,3908,-0.65,-194.7,437.5,-9.2,284,3912,0.00,2.25,0.00,0.000,6,0.000,0.059,1642,2925,3617,0,0,0,0,0,0
$GC,4223,-0.65,-194.7,470.5,-10.6,294,4227,0.00,2.15,0.00,0.000,4,0.000,0.044,1642,1528,3617,0,0,0,0,0,0
$GC,4247,-0.65,-194.7,473.4,-10.8,294,4254,0.00,2.22,0.00,0.000,6,0.000,0.058,1633,2922,3617,0,0,0,0,0,0
$GC,4562,-0.65,-194.7,507.6,-10.9,305,4566,0.00,2.17,0.00,0.000,4,0.000,0.044,1633,1525,3617,0,0,0,0,0,0
$GC,4586,-0.65,-194.7,510.5,-11.3,305,4591,0.12,2.25,0.00,0.000,6,0.188,0.059,1655,2931,3617,0,0,0,0,0,0
$GC,4901,-0.65,-194.7,537.5,-8.4,315,4905,0.00,2.17,0.00,0.000,4,0.000,0.044,1655,1522,3617,0,0,0,0,0,0
$GC,4926,-0.65,-194.7,539.8,-8.9,315,4933,0.00,2.25,0.00,0.000,6,0.000,0.060,1647,2932,3616,0,0,0,0,0,0
$GC,5243,-0.65,-194.7,567.7,-9.1,326,5247,0.00,2.15,0.00,0.000,4,0.000,0.044,1646,1523,3616,0,0,0,0,0,0
$GC,5289,-0.65,-194.7,572.2,-8.5,327,5293,0.00,2.25,0.00,0.000,6,0.000,0.060,1636,2929,3617,0,0,0,0,0,0
$GC,5610,-0.65,-194.7,603.5,-9.9,338,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2929,3617,0,0,0,0,0,0
$GC,5916,-0.65,-194.7,634.6,-10.2,348,5920,0.00,2.15,0.00,0.000,4,0.000,0.044,1636,1521,3616,0,0,0,0,0,0
$GC,5945,-0.65,-194.7,637.9,-10.2,348,5953,0.12,2.22,0.00,0.000,6,0.183,0.059,1658,2923,3616,0,0,0,0,0,0
$GC,6262,-0.65,-194.7,663.2,-7.9,359,6266,0.00,2.15,0.00,0.000,4,0.000,0.044,1658,1525,3616,0,0,0,0,0,0
$GC,6294,-0.65,-194.7,665.8,-8.2,360,6298,0.00,2.25,0.00,0.000,6,0.000,0.060,1651,2934,3616,0,0,0,0,0,0
$GC,6632,-0.65,-194.7,693.6,-8.3,371,6636,0.00,2.17,0.00,0.000,4,0.000,0.044,1652,1522,3616,0,0,0,0,0,0
$GC,6667,-0.65,-194.7,696.8,-8.7,372,6671,0.00,2.25,0.00,0.000,6,0.000,0.060,1642,2930,3616,0,0,0,0,0,0
$GC,6999,-0.65,-194.7,727.6,-9.6,383,7003,0.00,2.17,0.00,0.000,4,0.000,0.045,1642,1519,3615,0,0,0,0,0,0
$GC,7034,-0.65,-194.7,731.0,-8.7,384,7039,0.00,2.25,0.00,0.000,6,0.000,0.060,1633,2924,3615,0,0,0,0,0,0
$GC,7366,-0.65,-194.7,765.0,-10.5,395,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2925,3615,0,0,0,0,0,0
$GC,7674,-0.65,-194.7,797.4,-10.6,405,7678,0.00,2.15,0.00,0.000,4,0.000,0.044,1633,1527,3616,0,0,0,0,0,0
$GC,7715,-0.65,-194.7,801.9,-9.8,406,7720,0.12,2.25,0.00,0.000,6,0.186,0.060,1656,2932,3615,0,0,0,0,0,0
$GC,8042,-0.65,-194.7,828.5,-8.1,417,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2933,3615,0,0,0,0,0,0
$GC,8348,-0.65,-194.7,853.9,-8.2,427,8352,0.00,2.17,0.00,0.000,4,0.000,0.045,1656,1519,3615,0,0,0,0,0,0
$GC,8389,-0.65,-194.7,857.4,-8.6,428,8394,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2930,3615,0,0,0,0,0,0
$GC,8729,-0.65,-194.7,886.4,-8.6,439,8733,0.00,2.15,0.00,0.000,4,0.000,0.045,1649,1520,3615,0,0,0,0,0,0
$GC,8753,-0.65,-194.7,889.0,-9.6,439,8760,0.00,2.25,0.00,0.000,6,0.000,0.060,1639,2934,3615,0,0,0,0,0,0
$GC,9068,-0.65,-194.7,917.3,-9.0,450,9072,0.00,2.17,0.00,0.000,4,0.000,0.045,1639,1520,3615,0,0,0,0,0,0
$GC,9093,-0.65,-194.7,919.7,-9.5,450,9097,0.10,2.25,0.00,0.000,6,0.193,0.060,1655,2927,3615,0,0,0,0,0,0
$GC,9408,-0.65,-194.7,943.5,-7.5,460,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2927,3615,0,0,0,0,0,0
$GC,9714,-0.65,-194.7,965.6,-7.1,470,9718,0.00,2.15,0.00,0.000,4,0.000,0.044,1655,1522,3615,0,0,0,0,0,0
$GC,9744,-0.65,-194.7,967.9,-7.4,470,9751,0.00,2.22,0.00,0.000,6,0.000,0.060,1648,2922,3615,0,0,0,0,0,0
$GC,10060,-0.65,-194.7,990.9,-7.4,481,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2922,3615,0,0,0,0,0,0
$STATE,10208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10208,begin apogee
$GC,10218,-0.19,0.0,1002.0,7.3,486,10421,0.52,0.00,196.68,1.186,6,0.153,0.000,1809,2742,2813,0,0,0,0,0,0
$STATE,10423,end apogee,CONTROL_FINISHED_OK
$STATE,10423,begin climb
$GC,10428,0.65,194.7,1008.5,0.0,493,10635,0.77,2.50,198.00,1.119,4,0.071,0.053,2092,1339,2016,0,0,0,0,0,0
$GC,10850,0.65,194.7,911.7,25.2,505,10857,0.00,2.38,0.00,0.000,6,0.000,0.057,2093,2732,1999,0,0,0,0,0,0
$GC,11165,0.65,194.7,818.8,29.8,516,11169,0.00,2.30,0.00,0.000,4,0.000,0.054,2104,1337,1997,0,0,0,0,0,0
$GC,11213,0.65,194.7,805.2,27.4,517,11217,0.00,2.35,0.00,0.000,6,0.000,0.057,2104,2739,1997,0,0,0,0,0,0
$GC,11539,0.65,194.7,706.2,30.2,528,11543,0.00,2.30,0.00,0.000,4,0.000,0.054,2114,1333,1996,0,0,0,0,0,0
$GC,11572,0.65,194.7,697.0,30.2,529,11577,0.15,2.30,0.00,0.000,6,0.262,0.057,2085,2739,1996,0,0,0,0,0,0
$GC,11911,0.65,194.7,601.5,28.5,540,11915,0.00,2.28,0.00,0.000,4,0.000,0.053,2093,1336,1995,0,0,0,0,0,0
$GC,11976,0.65,194.7,584.4,26.0,542,11980,0.00,2.28,0.00,0.000,6,0.000,0.058,2094,2735,1995,0,0,0,0,0,0
$GC,12319,0.65,194.7,486.6,29.0,553,12323,0.00,2.25,0.00,0.000,4,0.000,0.054,2104,1328,1995,0,0,0,0,0,0
$GC,12360,0.65,194.7,474.9,26.0,554,12364,0.00,2.28,0.00,0.000,6,0.000,0.057,2104,2734,1995,0,0,0,0,0,0
$GC,12686,0.65,194.7,381.2,29.5,566,12690,0.00,2.25,0.00,0.000,4,0.000,0.054,2114,1336,1995,0,0,0,0,0,0
$GC,12735,0.65,194.7,367.9,27.2,568,12740,0.15,2.28,0.00,0.000,6,0.264,0.058,2084,2734,1995,0,0,0,0,0,0
$GC,13065,0.65,194.7,280.7,26.2,584,13069,0.00,2.22,0.00,0.000,4,0.000,0.053,2093,1335,1995,0,0,0,0,0,0
$GC,13123,0.65,194.7,266.0,23.7,586,13127,0.00,2.25,0.00,0.000,6,0.000,0.058,2093,2736,1995,0,0,0,0,0,0
$GC,13445,0.65,194.7,179.7,27.6,605,13449,0.00,2.22,0.00,0.000,4,0.000,0.054,2104,1336,1994,0,0,0,0,0,0
$GC,13499,0.65,194.7,165.0,24.8,608,13504,0.00,2.25,0.00,0.000,6,0.000,0.058,2104,2742,1995,0,0,0,0,0,0
$GC,13829,0.65,194.7,76.6,27.2,638,13835,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2742,1994,0,0,0,0,0,0
$STATE,14118,end climb,SURFACE_DEPTH_REACHED
$STATE,14118,begin surface coast
$FINISH,0.3,1.020237
$STATE,14132,end surface coast,CONTROL_FINISHED_OK
$STATE,14132,begin surface
$SM_CCo,14155,164.52,0.754,1,0,518,564.18
$SM_GC,0.79,0.00,0.00,164.52,0.000,0.000,0.754,58,2952,518,-5.66,0.82,564.18
$IRIDIUM_FIX,-4638.64,331.24,141212,010130
$TT8_MAMPS,0.026964
$HUMID,56.14
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,23.1,7.216
$10V_AH,10.1,2.913
$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,14.550,128.750,394.675,164.525,0.000,28.681,47.116,339.882,0.000,0.000,24.426,1749.727,9576.416,688.095,2286.703,659.285,33.356,1545.228,0.000,1812.565,0.000,1.008,0.000
$DEVICE_MAMPS,263.925,65.790,1185.750,753.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.533,1371.688,726.338,275.004,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,50470,688
$CAP_FILE_SIZE,122334,0
$CFSIZE,259252224,226160640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,141212,100104,-4651.581,359.991,45,1.0,45,-23.3