version: 66.07
glider: 542
mission: 6
dive: 34
start: 12 15 112 7 41 2
data:
$ID,542
$MISSION,6
$DIVE,34
$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,-10382.647
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,151212,072135,-4643.586,358.134,40,0.9,40,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-31.2
$GPS2,151212,074000,-4643.738,358.223,19,1.0,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.256,0.146
$KALMAN_X,-29097.1,225.5,381.0,4708.8,-5269.8
$KALMAN_Y,4494.3,1146.6,-137.6,8452.0,-4611.3
$MHEAD_RNG_PITCHd_Wd,83.6,25544,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-194.7,0.0,0.0,0,170,0.00,0.00,-141.40,0.000,2,0.000,0.000,64,2951,3306,0,0,0,0,0,0
$GC,177,-0.64,-194.7,3.1,-2.9,18,203,6.55,2.35,-7.43,0.000,4,0.251,0.057,1664,1504,3617,0,0,0,0,0,0
$GC,228,-0.64,-194.7,16.5,-22.8,24,237,0.00,2.33,0.00,0.000,6,0.000,0.056,1655,2901,3617,0,0,0,0,0,0
$GC,315,-0.64,-194.7,27.3,-12.9,37,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2901,3617,0,0,0,0,0,0
$GC,398,-0.64,-194.7,37.5,-11.9,50,407,0.00,2.22,0.00,0.000,4,0.000,0.041,1655,1510,3618,0,0,0,0,0,0
$GC,425,-0.64,-194.7,40.2,-11.4,53,432,0.00,2.33,0.00,0.000,6,0.000,0.056,1644,2936,3617,0,0,0,0,0,0
$GC,672,-0.64,-194.7,72.5,-12.4,94,678,0.00,2.22,0.00,0.000,4,0.000,0.041,1644,1513,3617,0,0,0,0,0,0
$GC,755,-0.64,-194.7,81.7,-9.4,108,765,0.08,2.30,0.00,0.000,6,0.161,0.056,1657,2916,3617,0,0,0,0,0,0
$GC,1112,-0.64,-194.7,115.1,-9.7,151,1116,0.00,2.17,0.00,0.000,4,0.000,0.041,1657,1514,3618,0,0,0,0,0,0
$GC,1142,-0.64,-194.7,118.5,-10.0,152,1151,0.00,2.30,0.00,0.000,6,0.000,0.056,1649,2922,3618,0,0,0,0,0,0
$GC,1465,-0.64,-194.7,153.0,-10.8,173,1469,0.00,2.20,0.00,0.000,4,0.000,0.041,1648,1506,3618,0,0,0,0,0,0
$GC,1506,-0.64,-194.7,157.6,-9.7,175,1512,0.00,2.28,0.00,0.000,6,0.000,0.056,1638,2923,3618,0,0,0,0,0,0
$GC,1827,-0.64,-194.7,193.9,-11.5,196,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2923,3618,0,0,0,0,0,0
$GC,2141,-0.64,-194.7,228.9,-10.7,216,2145,0.00,2.22,0.00,0.000,4,0.000,0.041,1638,1504,3618,0,0,0,0,0,0
$GC,2176,-0.64,-194.7,233.0,-9.5,218,2181,0.12,2.28,0.00,0.000,6,0.179,0.057,1660,2934,3618,0,0,0,0,0,0
$GC,2519,-0.64,-194.7,261.0,-8.1,237,2522,0.00,2.17,0.00,0.000,4,0.000,0.041,1660,1514,3618,0,0,0,0,0,0
$GC,2559,-0.64,-194.7,264.8,-7.4,238,2568,0.00,2.28,0.00,0.000,6,0.000,0.057,1652,2916,3618,0,0,0,0,0,0
$GC,2878,-0.64,-194.7,293.7,-9.6,254,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2916,3617,0,0,0,0,0,0
$GC,3189,-0.64,-194.7,323.6,-9.4,269,3193,0.00,2.17,0.00,0.000,4,0.000,0.042,1652,1504,3618,0,0,0,0,0,0
$GC,3225,-0.64,-194.7,327.2,-9.2,270,3229,0.00,2.28,0.00,0.000,6,0.000,0.057,1641,2928,3618,0,0,0,0,0,0
$GC,3549,-0.64,-194.7,359.2,-10.0,286,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2928,3617,0,0,0,0,0,0
$GC,3860,-0.64,-194.7,390.7,-10.3,301,3864,0.00,2.17,0.00,0.000,4,0.000,0.041,1642,1506,3617,0,0,0,0,0,0
$GC,3900,-0.64,-194.7,395.2,-9.3,302,3910,0.05,2.30,0.00,0.000,6,0.167,0.058,1649,2926,3617,0,0,0,0,0,0
$GC,4218,-0.64,-194.7,425.6,-9.7,314,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2926,3617,0,0,0,0,0,0
$GC,4523,-0.64,-194.7,454.9,-9.6,324,4527,0.00,2.17,0.00,0.000,4,0.000,0.042,1649,1513,3617,0,0,0,0,0,0
$GC,4564,-0.64,-194.7,459.0,-9.2,325,4568,0.00,2.25,0.00,0.000,6,0.000,0.057,1640,2922,3617,0,0,0,0,0,0
$GC,4890,-0.64,-194.7,491.9,-10.3,336,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,3617,0,0,0,0,0,0
$GC,5198,-0.64,-194.7,523.0,-10.1,346,5202,0.00,2.17,0.00,0.000,4,0.000,0.043,1640,1510,3616,0,0,0,0,0,0
$GC,5222,-0.64,-194.7,525.7,-10.0,346,5229,0.10,2.25,0.00,0.000,6,0.188,0.058,1656,2923,3616,0,0,0,0,0,0
$GC,5537,-0.64,-194.7,551.8,-8.5,357,5541,0.00,2.20,0.00,0.000,4,0.000,0.044,1656,1508,3616,0,0,0,0,0,0
$GC,5575,-0.64,-194.7,554.7,-7.4,358,5579,0.00,2.25,0.00,0.000,6,0.000,0.059,1648,2928,3616,0,0,0,0,0,0
$GC,5920,-0.64,-194.7,584.4,-8.8,369,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2928,3615,0,0,0,0,0,0
$GC,6224,-0.64,-194.7,610.7,-8.6,379,6228,0.00,2.15,0.00,0.000,4,0.000,0.042,1648,1513,3615,0,0,0,0,0,0
$GC,6276,-0.64,-194.7,615.3,-7.9,380,6280,0.00,2.25,0.00,0.000,6,0.000,0.059,1638,2926,3615,0,0,0,0,0,0
$GC,6597,-0.64,-194.7,646.6,-10.1,391,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2926,3615,0,0,0,0,0,0
$GC,6904,-0.64,-194.7,676.9,-9.8,401,6907,0.00,2.17,0.00,0.000,4,0.000,0.043,1638,1510,3615,0,0,0,0,0,0
$GC,6945,-0.64,-194.7,680.9,-8.6,402,6949,0.12,2.28,0.00,0.000,6,0.181,0.059,1661,2934,3614,0,0,0,0,0,0
$GC,7272,-0.64,-194.7,704.1,-6.8,413,7276,0.00,2.20,0.00,0.000,4,0.000,0.044,1661,1506,3614,0,0,0,0,0,0
$GC,7303,-0.64,-194.7,706.1,-6.6,414,7308,0.00,2.28,0.00,0.000,6,0.000,0.059,1652,2931,3614,0,0,0,0,0,0
$GC,7642,-0.64,-194.7,729.9,-6.8,425,7645,0.00,2.17,0.00,0.000,4,0.000,0.042,1652,1511,3614,0,0,0,0,0,0
$GC,7677,-0.64,-194.7,732.6,-7.1,426,7681,0.00,2.25,0.00,0.000,6,0.000,0.059,1643,2922,3614,0,0,0,0,0,0
$GC,8009,-0.64,-194.7,757.4,-7.9,437,8013,0.00,2.17,0.00,0.000,4,0.000,0.044,1643,1507,3614,0,0,0,0,0,0
$GC,8044,-0.64,-194.7,760.4,-7.9,438,8048,0.00,2.28,0.00,0.000,6,0.000,0.059,1634,2931,3614,0,0,0,0,0,0
$GC,8377,-0.64,-194.7,789.5,-9.1,449,8381,0.00,2.17,0.00,0.000,4,0.000,0.042,1634,1511,3613,0,0,0,0,0,0
$GC,8423,-0.64,-194.7,793.8,-8.5,450,8428,0.12,2.25,0.00,0.000,6,0.179,0.060,1657,2922,3614,0,0,0,0,0,0
$GC,8745,-0.64,-194.7,816.0,-6.9,461,8749,0.00,2.17,0.00,0.000,4,0.000,0.044,1657,1509,3613,0,0,0,0,0,0
$GC,8776,-0.64,-194.7,818.2,-6.9,462,8780,0.00,2.25,0.00,0.000,6,0.000,0.060,1650,2922,3614,0,0,0,0,0,0
$GC,9114,-0.64,-194.7,843.9,-7.6,473,9118,0.00,2.20,0.00,0.000,4,0.000,0.043,1650,1503,3613,0,0,0,0,0,0
$GC,9152,-0.64,-194.7,846.8,-7.3,474,9156,0.00,2.25,0.00,0.000,6,0.000,0.059,1640,2922,3613,0,0,0,0,0,0
$GC,9497,-0.64,-194.7,874.9,-8.2,485,9501,0.00,2.17,0.00,0.000,4,0.000,0.043,1640,1505,3613,0,0,0,0,0,0
$GC,9538,-0.64,-194.7,878.6,-8.1,486,9543,0.12,2.28,0.00,0.000,6,0.181,0.059,1663,2928,3613,0,0,0,0,0,0
$GC,9865,-0.64,-194.7,898.5,-6.1,497,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2929,3613,0,0,0,0,0,0
$GC,10171,-0.64,-194.7,917.6,-6.4,507,10175,0.00,2.17,0.00,0.000,4,0.000,0.044,1663,1507,3613,0,0,0,0,0,0
$GC,10224,-0.64,-194.7,921.3,-7.3,508,10228,0.00,2.28,0.00,0.000,6,0.000,0.060,1654,2931,3613,0,0,0,0,0,0
$STATE,10448,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10449,begin apogee
$GC,10459,-0.19,0.0,936.6,6.9,516,10662,0.47,0.00,195.68,1.182,6,0.133,0.000,1806,2715,2812,0,0,0,0,0,0
$STATE,10663,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10668,0.64,194.7,945.9,0.0,523,10876,0.75,2.45,197.55,1.114,4,0.065,0.050,2086,1342,2016,0,0,0,0,0,0
$GC,11017,0.64,194.7,872.4,22.9,533,11022,0.00,2.40,0.00,0.000,6,0.000,0.056,2086,2731,2002,0,0,0,0,0,0
$GC,11332,0.64,194.7,784.0,28.5,543,11337,0.00,2.33,0.00,0.000,4,0.000,0.053,2096,1335,1999,0,0,0,0,0,0
$GC,11408,0.64,194.7,763.9,24.7,545,11412,0.00,2.33,0.00,0.000,6,0.000,0.056,2096,2734,1998,0,0,0,0,0,0
$GC,11735,0.64,194.7,668.7,30.2,556,11739,0.00,2.28,0.00,0.000,4,0.000,0.053,2107,1332,1998,0,0,0,0,0,0
$GC,11758,0.64,194.7,661.1,28.4,556,11765,0.00,2.33,0.00,0.000,6,0.000,0.056,2107,2742,1998,0,0,0,0,0,0
$GC,12074,0.64,194.7,565.8,30.5,567,12078,0.00,2.28,0.00,0.000,4,0.000,0.053,2117,1333,1998,0,0,0,0,0,0
$GC,12126,0.64,194.7,550.5,27.7,568,12130,0.15,2.28,0.00,0.000,6,0.239,0.056,2084,2734,1998,0,0,0,0,0,0
$GC,12449,0.64,194.7,462.7,27.2,579,12453,0.00,2.22,0.00,0.000,4,0.000,0.054,2093,1335,1997,0,0,0,0,0,0
$GC,12472,0.64,194.7,455.3,28.0,579,12479,0.00,2.28,0.00,0.000,6,0.000,0.057,2094,2734,1998,0,0,0,0,0,0
$GC,12800,0.64,194.7,366.4,27.3,592,12804,0.00,2.22,0.00,0.000,4,0.000,0.054,2104,1336,1997,0,0,0,0,0,0
$GC,12823,0.64,194.7,360.5,27.2,593,12827,0.00,2.25,0.00,0.000,6,0.000,0.057,2104,2734,1998,0,0,0,0,0,0
$GC,13154,0.64,194.7,266.7,28.5,609,13158,0.00,2.25,0.00,0.000,4,0.000,0.054,2114,1328,1997,0,0,0,0,0,0
$GC,13207,0.64,194.7,251.3,27.6,611,13211,0.15,2.30,0.00,0.000,6,0.236,0.057,2082,2744,1998,0,0,0,0,0,0
$GC,13534,0.64,194.7,169.1,24.7,631,13538,0.00,2.25,0.00,0.000,4,0.000,0.052,2091,1329,1997,0,0,0,0,0,0
$GC,13589,0.64,194.7,155.3,21.8,634,13594,0.00,2.28,0.00,0.000,6,0.000,0.055,2091,2740,1997,0,0,0,0,0,0
$GC,13921,0.64,194.7,71.4,25.9,666,13930,0.00,2.25,0.00,0.000,4,0.000,0.053,2101,1342,1997,0,0,0,0,0,0
$GC,13953,0.64,194.7,65.5,20.0,670,13960,0.00,2.25,0.00,0.000,6,0.000,0.057,2101,2741,1997,0,0,0,0,0,0
$STATE,14202,end climb,SURFACE_DEPTH_REACHED
$STATE,14202,begin surface coast
$FINISH,0.3,1.025723
$STATE,14215,end surface coast,CONTROL_FINISHED_OK
$STATE,14216,begin surface
$SM_CCo,14238,157.35,0.787,1,0,518,564.18
$SM_GC,0.79,0.00,0.00,157.35,0.000,0.000,0.787,61,2944,518,-5.65,0.59,564.18
$IRIDIUM_FIX,-4626.10,358.65,151212,070750
$TT8_MAMPS,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,23.1,8.500
$10V_AH,10.1,3.545
$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,14.425,140.100,393.225,157.350,0.000,75.588,168.362,492.080,0.000,0.000,26.031,1791.339,9662.395,701.525,2616.308,728.815,33.360,1586.195,0.000,1851.195,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,69.615,1181.925,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.932,1409.277,759.204,287.680,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,50418,713
$CAP_FILE_SIZE,130220,0
$CFSIZE,259252224,225755136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,151212,114234,-4642.086,359.383,44,1.0,44,-23.3