version: 66.07
glider: 542
mission: 6
dive: 31
start: 12 14 112 18 48 46
data:
$ID,542
$MISSION,6
$DIVE,31
$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,-10369.654
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,141212,183635,-4648.342,358.238,39,1.0,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-34.9
$GPS2,141212,184748,-4648.288,358.239,15,1.5,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.066,0.287
$KALMAN_X,-21913.1,833.7,274.4,-2952.9,-6229.6
$KALMAN_Y,10215.0,-96.8,-100.3,-4492.7,-3152.3
$MHEAD_RNG_PITCHd_Wd,36.2,33944,-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,-194.7,0.0,0.0,0,167,0.00,0.00,-133.93,0.000,2,0.000,0.000,60,2948,3163,0,0,0,0,0,0
$GC,173,-0.64,-194.7,3.2,-4.3,17,200,6.43,2.25,-11.38,0.000,4,0.242,0.057,1657,1519,3615,0,0,0,0,0,0
$GC,266,-0.64,-194.7,17.8,-10.2,30,275,0.00,2.33,0.00,0.000,6,0.000,0.057,1648,2918,3616,0,0,0,0,0,0
$GC,354,-0.64,-194.7,29.5,-15.2,43,363,0.00,1.60,0.00,0.000,4,0.000,0.063,1640,3897,3615,0,0,0,0,0,0
$GC,389,-0.64,-194.7,35.7,-17.5,47,395,0.00,1.52,0.00,0.000,6,0.000,0.038,1640,2924,3615,0,0,0,0,0,0
$GC,635,-0.64,-194.7,70.5,-12.9,88,641,0.00,2.20,0.00,0.000,4,0.000,0.043,1640,1521,3615,0,0,0,0,0,0
$GC,713,-0.64,-194.7,79.9,-10.9,101,719,0.12,2.28,0.00,0.000,6,0.178,0.057,1661,2925,3615,0,0,0,0,0,0
$GC,1058,-0.64,-194.7,115.6,-9.8,143,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,1661,2925,3616,0,0,0,0,0,0
$GC,1370,-0.64,-194.7,147.1,-10.2,163,1374,0.00,2.17,0.00,0.000,4,0.000,0.041,1661,1519,3616,0,0,0,0,0,0
$GC,1425,-0.64,-194.7,152.6,-9.0,166,1429,0.00,2.25,0.00,0.000,6,0.000,0.057,1652,2928,3616,0,0,0,0,0,0
$GC,1754,-0.64,-194.7,187.8,-10.9,187,1758,0.00,2.15,0.00,0.000,4,0.000,0.041,1652,1525,3616,0,0,0,0,0,0
$GC,1793,-0.64,-194.7,192.2,-11.6,189,1797,0.00,2.25,0.00,0.000,6,0.000,0.057,1642,2924,3616,0,0,0,0,0,0
$GC,2122,-0.64,-194.7,232.8,-12.1,210,2126,0.00,2.17,0.00,0.000,4,0.000,0.042,1642,1519,3616,0,0,0,0,0,0
$GC,2162,-0.64,-194.7,238.0,-11.1,212,2172,0.08,2.28,0.00,0.000,6,0.161,0.057,1656,2917,3616,0,0,0,0,0,0
$GC,2483,-0.64,-194.7,269.6,-9.6,230,2486,0.00,2.12,0.00,0.000,4,0.000,0.042,1656,1525,3616,0,0,0,0,0,0
$GC,2512,-0.64,-194.7,272.8,-10.2,231,2516,0.00,2.25,0.00,0.000,6,0.000,0.057,1647,2931,3616,0,0,0,0,0,0
$GC,2831,-0.64,-194.7,305.6,-10.6,246,2835,0.00,2.17,0.00,0.000,4,0.000,0.043,1647,1520,3616,0,0,0,0,0,0
$GC,2874,-0.64,-194.7,310.0,-10.2,248,2878,0.00,2.25,0.00,0.000,6,0.000,0.057,1636,2926,3616,0,0,0,0,0,0
$GC,3203,-0.64,-194.7,346.6,-11.2,264,3207,0.00,2.15,0.00,0.000,4,0.000,0.043,1636,1524,3616,0,0,0,0,0,0
$GC,3221,-0.64,-194.7,348.8,-11.3,264,3231,0.10,2.25,0.00,0.000,6,0.162,0.057,1657,2917,3616,0,0,0,0,0,0
$GC,3540,-0.64,-194.7,377.7,-9.4,280,3544,0.00,2.12,0.00,0.000,4,0.000,0.043,1657,1525,3616,0,0,0,0,0,0
$GC,3570,-0.64,-194.7,380.6,-9.3,281,3574,0.00,2.25,0.00,0.000,6,0.000,0.057,1649,2934,3616,0,0,0,0,0,0
$GC,3892,-0.64,-194.7,412.5,-10.1,295,3896,0.00,2.15,0.00,0.000,4,0.000,0.043,1649,1524,3616,0,0,0,0,0,0
$GC,3924,-0.64,-194.7,415.5,-9.8,296,3928,0.00,2.25,0.00,0.000,6,0.000,0.057,1639,2932,3616,0,0,0,0,0,0
$GC,4261,-0.64,-194.7,450.6,-10.4,307,4265,0.00,2.17,0.00,0.000,4,0.000,0.043,1639,1519,3616,0,0,0,0,0,0
$GC,4291,-0.64,-194.7,454.0,-11.0,307,4300,0.12,2.25,0.00,0.000,6,0.183,0.058,1661,2931,3616,0,0,0,0,0,0
$GC,4606,-0.64,-194.7,479.5,-8.0,318,4610,0.00,2.17,0.00,0.000,4,0.000,0.043,1661,1519,3616,0,0,0,0,0,0
$GC,4653,-0.64,-194.7,483.2,-7.3,319,4657,0.00,2.25,0.00,0.000,6,0.000,0.059,1652,2925,3616,0,0,0,0,0,0
$GC,4974,-0.64,-194.7,510.0,-8.4,330,4977,0.00,2.15,0.00,0.000,4,0.000,0.043,1652,1525,3616,0,0,0,0,0,0
$GC,5009,-0.64,-194.7,513.2,-8.3,331,5013,0.00,2.25,0.00,0.000,6,0.000,0.058,1642,2933,3616,0,0,0,0,0,0
$GC,5341,-0.64,-194.7,543.4,-9.4,342,5345,0.00,2.17,0.00,0.000,4,0.000,0.044,1642,1519,3615,0,0,0,0,0,0
$GC,5387,-0.64,-194.7,547.7,-8.3,343,5392,0.10,2.22,0.00,0.000,6,0.192,0.058,1657,2928,3616,0,0,0,0,0,0
$GC,5710,-0.64,-194.7,573.3,-8.0,354,5713,0.00,2.15,0.00,0.000,4,0.000,0.043,1657,1527,3615,0,0,0,0,0,0
$GC,5756,-0.64,-194.7,577.2,-7.2,355,5760,0.00,2.22,0.00,0.000,6,0.000,0.059,1649,2921,3615,0,0,0,0,0,0
$GC,6077,-0.64,-194.7,606.7,-9.6,366,6081,0.00,2.15,0.00,0.000,4,0.000,0.044,1649,1522,3615,0,0,0,0,0,0
$GC,6112,-0.64,-194.7,610.4,-9.9,367,6116,0.00,2.25,0.00,0.000,6,0.000,0.058,1638,2933,3615,0,0,0,0,0,0
$GC,6444,-0.64,-194.7,643.8,-9.7,378,6448,0.00,2.17,0.00,0.000,4,0.000,0.044,1638,1519,3615,0,0,0,0,0,0
$GC,6485,-0.64,-194.7,648.0,-9.3,379,6490,0.12,2.25,0.00,0.000,6,0.181,0.059,1661,2926,3615,0,0,0,0,0,0
$GC,6813,-0.64,-194.7,674.6,-8.1,390,6817,0.00,2.12,0.00,0.000,4,0.000,0.044,1661,1526,3615,0,0,0,0,0,0
$GC,6844,-0.64,-194.7,677.2,-8.0,391,6848,0.00,2.22,0.00,0.000,6,0.000,0.058,1652,2924,3615,0,0,0,0,0,0
$GC,7182,-0.64,-194.7,708.0,-9.1,402,7186,0.00,2.15,0.00,0.000,4,0.000,0.044,1652,1525,3615,0,0,0,0,0,0
$GC,7217,-0.64,-194.7,711.3,-9.6,403,7221,0.00,2.22,0.00,0.000,6,0.000,0.058,1643,2923,3615,0,0,0,0,0,0
$GC,7549,-0.64,-194.7,741.6,-8.8,414,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2924,3615,0,0,0,0,0,0
$GC,7857,-0.64,-194.7,767.4,-8.3,424,7861,0.00,2.12,0.00,0.000,4,0.000,0.044,1643,1523,3614,0,0,0,0,0,0
$GC,7922,-0.64,-194.7,772.7,-6.9,426,7926,0.00,2.25,0.00,0.000,6,0.000,0.060,1633,2934,3614,0,0,0,0,0,0
$GC,8260,-0.64,-194.7,804.5,-9.8,437,8264,0.00,2.15,0.00,0.000,4,0.000,0.044,1634,1522,3614,0,0,0,0,0,0
$GC,8307,-0.64,-194.7,809.4,-9.5,438,8311,0.12,2.22,0.00,0.000,6,0.183,0.059,1656,2920,3614,0,0,0,0,0,0
$GC,8641,-0.64,-194.7,835.1,-7.8,449,8645,0.00,2.12,0.00,0.000,4,0.000,0.044,1657,1522,3614,0,0,0,0,0,0
$GC,8673,-0.64,-194.7,837.8,-8.2,450,8677,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2935,3614,0,0,0,0,0,0
$GC,9016,-0.64,-194.7,866.4,-8.5,461,9020,0.00,2.17,0.00,0.000,4,0.000,0.044,1649,1519,3614,0,0,0,0,0,0
$GC,9068,-0.64,-194.7,870.8,-7.9,462,9072,0.00,2.22,0.00,0.000,6,0.000,0.060,1641,2924,3614,0,0,0,0,0,0
$GC,9384,-0.64,-194.7,898.4,-8.9,472,9388,0.00,2.15,0.00,0.000,4,0.000,0.044,1641,1522,3613,0,0,0,0,0,0
$GC,9416,-0.64,-194.7,901.2,-8.0,473,9421,0.10,2.25,0.00,0.000,6,0.187,0.059,1657,2935,3613,0,0,0,0,0,0
$GC,9755,-0.64,-194.7,924.9,-6.8,484,9759,0.00,2.17,0.00,0.000,4,0.000,0.044,1656,1516,3613,0,0,0,0,0,0
$GC,9812,-0.64,-194.7,928.9,-6.0,485,9819,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2927,3613,0,0,0,0,0,0
$GC,10128,-0.64,-194.7,950.9,-7.1,496,10132,0.00,2.15,0.00,0.000,4,0.000,0.044,1649,1518,3613,0,0,0,0,0,0
$GC,10158,-0.64,-194.7,953.4,-7.9,496,10164,0.00,2.25,0.00,0.000,6,0.000,0.060,1640,2932,3613,0,0,0,0,0,0
$STATE,10468,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10468,begin apogee
$GC,10479,-0.19,0.0,977.6,7.9,507,10682,0.55,0.00,197.07,1.192,6,0.158,0.000,1807,2732,2813,0,0,0,0,0,0
$STATE,10683,end apogee,CONTROL_FINISHED_OK
$STATE,10683,begin climb
$GC,10688,0.64,194.7,983.6,0.0,514,10896,0.75,2.45,199.10,1.121,4,0.070,0.052,2082,1342,2017,0,0,0,0,0,0
$GC,10987,0.64,194.7,917.1,25.7,523,10991,0.00,2.42,0.00,0.000,6,0.000,0.056,2082,2734,2002,0,0,0,0,0,0
$GC,11314,0.64,194.7,819.9,30.1,534,11318,0.00,2.30,0.00,0.000,4,0.000,0.052,2093,1333,1998,0,0,0,0,0,0
$GC,11360,0.64,194.7,805.7,28.3,535,11364,0.00,2.35,0.00,0.000,6,0.000,0.057,2093,2742,1998,0,0,0,0,0,0
$GC,11681,0.64,194.7,710.7,29.7,546,11685,0.00,2.30,0.00,0.000,4,0.000,0.053,2103,1340,1998,0,0,0,0,0,0
$GC,11704,0.64,194.7,703.2,28.4,546,11711,0.00,2.30,0.00,0.000,6,0.000,0.057,2103,2734,1997,0,0,0,0,0,0
$GC,12020,0.64,194.7,610.0,30.1,557,12024,0.00,2.25,0.00,0.000,4,0.000,0.054,2113,1333,1997,0,0,0,0,0,0
$GC,12060,0.64,194.7,598.0,26.8,558,12065,0.15,2.30,0.00,0.000,6,0.248,0.057,2082,2734,1997,0,0,0,0,0,0
$GC,12388,0.64,194.7,509.2,27.0,569,12392,0.00,2.22,0.00,0.000,4,0.000,0.052,2092,1336,1996,0,0,0,0,0,0
$GC,12411,0.64,194.7,502.4,25.9,569,12418,0.00,2.28,0.00,0.000,6,0.000,0.057,2092,2736,1996,0,0,0,0,0,0
$GC,12726,0.64,194.7,417.2,27.4,580,12730,0.00,2.25,0.00,0.000,4,0.000,0.054,2101,1333,1996,0,0,0,0,0,0
$GC,12763,0.64,194.7,407.3,25.3,581,12767,0.00,2.28,0.00,0.000,6,0.000,0.058,2102,2732,1996,0,0,0,0,0,0
$GC,13089,0.64,194.7,315.6,28.0,596,13093,0.00,2.25,0.00,0.000,4,0.000,0.054,2112,1333,1996,0,0,0,0,0,0
$GC,13111,0.64,194.7,310.0,27.4,597,13116,0.15,2.25,0.00,0.000,6,0.245,0.057,2079,2735,1996,0,0,0,0,0,0
$GC,13438,0.64,194.7,224.6,26.2,614,13442,0.00,2.20,0.00,0.000,4,0.000,0.053,2089,1339,1996,0,0,0,0,0,0
$GC,13474,0.64,194.7,215.2,23.7,616,13478,0.00,2.28,0.00,0.000,6,0.000,0.057,2089,2743,1995,0,0,0,0,0,0
$GC,13796,0.64,194.7,131.8,25.8,636,13801,0.00,2.22,0.00,0.000,4,0.000,0.053,2099,1332,1995,0,0,0,0,0,0
$GC,13828,0.64,194.7,123.4,25.1,638,13832,0.00,2.28,0.00,0.000,6,0.000,0.057,2099,2740,1995,0,0,0,0,0,0
$GC,14176,0.64,194.7,31.4,27.8,688,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2740,1996,0,0,0,0,0,0
$STATE,14283,end climb,SURFACE_DEPTH_REACHED
$STATE,14283,begin surface coast
$FINISH,0.5,1.005624
$STATE,14297,end surface coast,CONTROL_FINISHED_OK
$STATE,14297,begin surface
$SM_CCo,14319,157.35,0.779,1,0,516,564.18
$SM_GC,1.02,0.00,0.00,157.35,0.000,0.000,0.779,61,2942,516,-5.65,0.54,564.18
$IRIDIUM_FIX,-4632.36,359.31,141212,141407
$TT8_MAMPS,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,23.1,7.854
$10V_AH,10.1,3.230
$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,14.475,159.525,396.175,157.350,0.000,27.938,41.147,370.928,0.000,0.000,17.986,1809.488,9560.167,700.268,2370.939,704.472,33.359,1607.408,0.000,1880.918,0.000,1.009,0.000
$DEVICE_MAMPS,247.860,69.615,1191.870,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.585,1406.536,749.457,275.945,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,50447,707
$CAP_FILE_SIZE,134024,0
$CFSIZE,259252224,225947648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,141212,225134,-4646.615,357.511,39,1.4,39,-23.3