version: 66.07
glider: 542
mission: 6
dive: 29
start: 12 14 112 10 18 38
data:
$ID,542
$MISSION,6
$DIVE,29
$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,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,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,-10363.451
$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,37
$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
$GPS1,141212,100104,-4651.581,359.991,45,1.0,45,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-30.3
$GPS2,141212,101736,-4651.580,400.263,23,1.8,23,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.042,0.292
$KALMAN_X,-17496.0,587.5,56.8,-4321.0,-6598.2
$KALMAN_Y,14518.3,461.1,435.9,-15995.1,-3546.6
$MHEAD_RNG_PITCHd_Wd,31.5,39967,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.64,-194.7,0.0,0.0,0,179,0.00,0.00,-149.57,0.000,2,0.000,0.000,56,2954,3440,0,0,0,0,0,0
$GC,186,-0.64,-194.7,3.5,-4.8,19,204,6.62,2.25,-3.97,0.000,4,0.254,0.052,1664,1510,3615,0,0,0,0,0,0
$GC,351,-0.64,-194.7,36.5,-14.3,44,360,0.00,2.33,0.00,0.000,6,0.000,0.057,1654,2912,3616,0,0,0,0,0,0
$GC,604,-0.64,-194.7,67.0,-10.9,85,608,0.00,2.17,0.00,0.000,4,0.000,0.042,1654,1519,3616,0,0,0,0,0,0
$GC,644,-0.64,-194.7,72.0,-10.6,91,649,0.00,2.30,0.00,0.000,6,0.000,0.056,1644,2933,3616,0,0,0,0,0,0
$GC,984,-0.64,-194.7,114.2,-12.2,138,986,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2933,3616,0,0,0,0,0,0
$GC,1297,-0.64,-194.7,151.5,-11.4,158,1301,0.00,2.20,0.00,0.000,4,0.000,0.042,1644,1519,3617,0,0,0,0,0,0
$GC,1348,-0.64,-194.7,156.3,-9.3,161,1352,0.00,2.28,0.00,0.000,6,0.000,0.057,1633,2931,3617,0,0,0,0,0,0
$GC,1676,-0.64,-194.7,192.5,-11.2,182,1680,0.00,1.55,0.00,0.000,4,0.000,0.063,1626,3899,3617,0,0,0,0,0,0
$GC,1698,-0.64,-194.7,195.1,-12.0,183,1702,0.10,1.52,0.00,0.000,6,0.155,0.038,1673,2908,3617,0,0,0,0,0,0
$GC,2037,-0.64,-194.7,221.2,-7.3,204,2041,0.00,2.10,0.00,0.000,4,0.000,0.044,1673,1526,3617,0,0,0,0,0,0
$GC,2106,-0.64,-194.7,227.2,-7.5,208,2110,0.00,2.25,0.00,0.000,6,0.000,0.057,1665,2926,3617,0,0,0,0,0,0
$GC,2443,-0.64,-194.7,255.8,-8.7,228,2447,0.00,2.15,0.00,0.000,4,0.000,0.042,1664,1521,3617,0,0,0,0,0,0
$GC,2468,-0.64,-194.7,258.3,-9.2,229,2472,0.00,2.25,0.00,0.000,6,0.000,0.057,1654,2924,3617,0,0,0,0,0,0
$GC,2794,-0.64,-194.7,288.5,-9.5,245,2798,0.00,2.12,0.00,0.000,4,0.000,0.043,1654,1527,3617,0,0,0,0,0,0
$GC,2824,-0.64,-194.7,291.8,-9.3,246,2828,0.00,2.25,0.00,0.000,6,0.000,0.057,1645,2932,3617,0,0,0,0,0,0
$GC,3144,-0.64,-194.7,324.1,-10.5,261,3148,0.00,2.17,0.00,0.000,4,0.000,0.043,1645,1524,3617,0,0,0,0,0,0
$GC,3180,-0.64,-194.7,328.0,-9.6,262,3188,0.00,2.25,0.00,0.000,6,0.000,0.057,1635,2915,3617,0,0,0,0,0,0
$GC,3498,-0.64,-194.7,362.9,-11.0,278,3502,0.00,2.15,0.00,0.000,4,0.000,0.043,1635,1524,3617,0,0,0,0,0,0
$GC,3545,-0.64,-194.7,368.2,-9.9,280,3550,0.12,2.22,0.00,0.000,6,0.185,0.057,1657,2921,3617,0,0,0,0,0,0
$GC,3876,-0.64,-194.7,397.8,-8.8,296,3880,0.00,2.12,0.00,0.000,4,0.000,0.044,1657,1525,3616,0,0,0,0,0,0
$GC,3912,-0.64,-194.7,401.0,-8.4,297,3919,0.00,2.22,0.00,0.000,6,0.000,0.057,1649,2922,3616,0,0,0,0,0,0
$GC,4227,-0.64,-194.7,429.1,-8.9,308,4231,0.00,2.12,0.00,0.000,4,0.000,0.043,1650,1527,3616,0,0,0,0,0,0
$GC,4259,-0.64,-194.7,431.9,-8.8,309,4263,0.00,2.22,0.00,0.000,6,0.000,0.058,1639,2923,3616,0,0,0,0,0,0
$GC,4596,-0.64,-194.7,465.7,-10.2,320,4600,0.00,2.12,0.00,0.000,4,0.000,0.044,1639,1528,3616,0,0,0,0,0,0
$GC,4615,-0.64,-194.7,467.9,-10.2,320,4620,0.12,2.22,0.00,0.000,6,0.186,0.057,1661,2925,3616,0,0,0,0,0,0
$GC,4930,-0.64,-194.7,494.3,-8.4,330,4934,0.00,2.15,0.00,0.000,4,0.000,0.044,1661,1525,3616,0,0,0,0,0,0
$GC,4967,-0.64,-194.7,497.3,-7.8,331,4972,0.00,2.22,0.00,0.000,6,0.000,0.059,1652,2926,3616,0,0,0,0,0,0
$GC,5312,-0.64,-194.7,528.0,-9.0,342,5316,0.00,2.12,0.00,0.000,4,0.000,0.043,1652,1528,3615,0,0,0,0,0,0
$GC,5331,-0.64,-194.7,530.1,-9.0,342,5335,0.00,2.22,0.00,0.000,6,0.000,0.058,1642,2922,3615,0,0,0,0,0,0
$GC,5646,-0.64,-194.7,560.1,-9.7,352,5650,0.00,2.17,0.00,0.000,4,0.000,0.044,1642,1525,3615,0,0,0,0,0,0
$GC,5687,-0.64,-194.7,564.3,-9.0,353,5692,0.10,2.25,0.00,0.000,6,0.190,0.059,1657,2934,3615,0,0,0,0,0,0
$GC,6015,-0.64,-194.7,591.6,-8.6,364,6019,0.00,2.17,0.00,0.000,4,0.000,0.044,1657,1520,3615,0,0,0,0,0,0
$GC,6061,-0.64,-194.7,595.6,-8.4,365,6065,0.00,2.25,0.00,0.000,6,0.000,0.060,1648,2926,3615,0,0,0,0,0,0
$GC,6382,-0.64,-194.7,624.2,-8.8,376,6386,0.00,2.15,0.00,0.000,4,0.000,0.044,1648,1525,3615,0,0,0,0,0,0
$GC,6429,-0.64,-194.7,628.4,-8.3,377,6433,0.00,2.25,0.00,0.000,6,0.000,0.060,1638,2935,3615,0,0,0,0,0,0
$GC,6749,-0.64,-194.7,658.4,-9.4,388,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2935,3614,0,0,0,0,0,0
$GC,7059,-0.64,-194.7,686.8,-9.3,398,7063,0.00,2.15,0.00,0.000,4,0.000,0.044,1638,1523,3614,0,0,0,0,0,0
$GC,7116,-0.64,-194.7,692.3,-8.2,399,7124,0.12,2.22,0.00,0.000,6,0.184,0.059,1659,2923,3614,0,0,0,0,0,0
$GC,7432,-0.64,-194.7,714.8,-7.3,410,7436,0.00,2.17,0.00,0.000,4,0.000,0.044,1659,1522,3614,0,0,0,0,0,0
$GC,7478,-0.64,-194.7,718.4,-6.6,411,7482,0.00,2.25,0.00,0.000,6,0.000,0.060,1651,2929,3614,0,0,0,0,0,0
$GC,7799,-0.64,-194.7,742.6,-7.7,422,7803,0.00,2.12,0.00,0.000,4,0.000,0.044,1651,1528,3614,0,0,0,0,0,0
$GC,7831,-0.64,-194.7,745.1,-7.9,423,7835,0.00,2.22,0.00,0.000,6,0.000,0.059,1642,2924,3614,0,0,0,0,0,0
$GC,8169,-0.64,-194.7,772.7,-8.3,434,8173,0.00,2.12,0.00,0.000,4,0.000,0.044,1642,1525,3614,0,0,0,0,0,0
$GC,8201,-0.64,-194.7,775.3,-7.9,435,8206,0.10,2.22,0.00,0.000,6,0.190,0.059,1657,2923,3614,0,0,0,0,0,0
$GC,8541,-0.64,-194.7,799.2,-7.1,446,8545,0.00,2.17,0.00,0.000,4,0.000,0.046,1657,1523,3614,0,0,0,0,0,0
$GC,8576,-0.64,-194.7,802.0,-7.6,447,8580,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2932,3614,0,0,0,0,0,0
$GC,8908,-0.64,-194.7,827.6,-8.0,458,8912,0.00,2.15,0.00,0.000,4,0.000,0.044,1650,1528,3613,0,0,0,0,0,0
$GC,8940,-0.64,-194.7,830.0,-7.9,459,8944,0.00,2.22,0.00,0.000,6,0.000,0.060,1641,2922,3613,0,0,0,0,0,0
$GC,9278,-0.64,-194.7,858.3,-8.4,470,9282,0.00,2.15,0.00,0.000,4,0.000,0.044,1641,1525,3613,0,0,0,0,0,0
$GC,9313,-0.64,-194.7,861.4,-7.9,471,9318,0.10,2.22,0.00,0.000,6,0.189,0.060,1656,2922,3613,0,0,0,0,0,0
$GC,9646,-0.64,-194.7,882.6,-6.4,482,9650,0.00,2.15,0.00,0.000,4,0.000,0.044,1656,1522,3613,0,0,0,0,0,0
$GC,9687,-0.64,-194.7,885.3,-6.5,483,9691,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2928,3613,0,0,0,0,0,0
$GC,10015,-0.64,-194.7,907.7,-7.2,494,10019,0.00,2.12,0.00,0.000,4,0.000,0.044,1649,1526,3613,0,0,0,0,0,0
$GC,10046,-0.64,-194.7,910.1,-6.9,495,10050,0.00,2.22,0.00,0.000,6,0.000,0.060,1641,2923,3613,0,0,0,0,0,0
$GC,10384,-0.64,-194.7,936.1,-7.7,506,10388,0.00,2.12,0.00,0.000,4,0.000,0.044,1641,1524,3613,0,0,0,0,0,0
$GC,10416,-0.64,-194.7,938.4,-7.6,507,10421,0.10,2.22,0.00,0.000,6,0.190,0.060,1656,2924,3613,0,0,0,0,0,0
$STATE,10474,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10474,begin apogee
$GC,10485,-0.19,0.0,942.4,6.0,509,10687,0.47,0.00,195.35,1.144,6,0.152,0.000,1803,2741,2814,0,0,0,0,0,0
$STATE,10689,end apogee,CONTROL_FINISHED_OK
$STATE,10689,begin climb
$GC,10694,0.64,194.7,947.3,0.0,516,10893,0.77,2.53,186.15,1.766,4,0.067,0.051,2091,1337,2028,0,0,0,0,1,0
$GC,11155,0.64,194.7,838.6,25.2,530,11159,0.00,2.40,0.00,0.000,6,0.000,0.057,2091,2739,2021,0,0,0,0,0,0
$GC,11501,0.64,194.7,736.4,29.9,541,11505,0.00,2.33,0.00,0.000,4,0.000,0.053,2102,1332,2018,0,0,0,0,0,0
$GC,11566,0.64,194.7,717.8,25.8,543,11570,0.00,2.35,0.00,0.000,6,0.000,0.057,2102,2736,2018,0,0,0,0,0,0
$GC,11904,0.64,194.7,620.9,28.5,554,11908,0.00,2.28,0.00,0.000,4,0.000,0.054,2113,1337,2018,0,0,0,0,0,0
$GC,11961,0.64,194.7,604.9,24.5,555,11966,0.15,2.33,0.00,0.000,6,0.251,0.057,2082,2738,2018,0,0,0,0,0,0
$GC,12278,0.64,194.7,522.9,26.1,565,12282,0.00,2.25,0.00,0.000,4,0.000,0.054,2090,1331,2018,0,0,0,0,0,0
$GC,12318,0.64,194.7,511.9,24.2,566,12322,0.00,2.28,0.00,0.000,6,0.000,0.057,2091,2734,2017,0,0,0,0,0,0
$GC,12644,0.64,194.7,423.9,27.2,577,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2734,2017,0,0,0,0,0,0
$GC,12965,0.64,194.7,338.0,27.0,591,12969,0.00,2.22,0.00,0.000,4,0.000,0.054,2101,1337,2017,0,0,0,0,0,0
$GC,13015,0.64,194.7,325.2,23.6,593,13020,0.00,2.25,0.00,0.000,6,0.000,0.058,2101,2734,2016,0,0,0,0,0,0
$GC,13337,0.64,194.7,237.3,27.6,609,13341,0.00,2.25,0.00,0.000,4,0.000,0.055,2112,1329,2017,0,0,0,0,0,0
$GC,13386,0.64,194.7,224.0,25.6,612,13391,0.15,2.28,0.00,0.000,6,0.249,0.058,2080,2743,2016,0,0,0,0,0,0
$GC,13719,0.64,194.7,141.7,25.5,633,13723,0.00,2.22,0.00,0.000,4,0.000,0.052,2089,1333,2016,0,0,0,0,0,0
$GC,13788,0.64,194.7,125.1,21.8,637,13792,0.00,2.28,0.00,0.000,6,0.000,0.057,2088,2741,2016,0,0,0,0,0,0
$GC,14134,0.64,194.7,42.4,22.0,685,14141,0.00,2.25,0.00,0.000,4,0.000,0.054,2100,1333,2016,0,0,0,0,0,0
$GC,14165,0.64,194.7,35.9,20.8,689,14172,0.00,2.28,0.00,0.000,6,0.000,0.058,2099,2740,2016,0,0,0,0,0,0
$STATE,14303,end climb,SURFACE_DEPTH_REACHED
$STATE,14303,begin surface coast
$FINISH,0.3,1.002974
$STATE,14314,end surface coast,CONTROL_FINISHED_OK
$STATE,14315,begin surface
$SM_CCo,14337,162.07,0.791,1,0,519,564.18
$SM_GC,0.83,0.00,0.00,162.07,0.000,0.000,0.791,64,2946,519,-5.64,0.65,564.18
$IRIDIUM_FIX,-4635.50,402.45,141212,101016
$TT8_MAMPS,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.1,7.442
$10V_AH,10.2,3.020
$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,14.725,154.650,381.500,162.075,0.000,78.472,204.007,359.253,0.000,0.000,26.466,1843.196,9623.795,686.292,2647.566,691.312,33.347,1597.733,0.000,1938.277,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,66.555,1765.620,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.718,1411.983,759.251,275.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,53705,712
$CAP_FILE_SIZE,135792,0
$CFSIZE,259252224,226078720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,141212,142135,-4649.979,359.385,24,1.2,25,-23.3