version: 66.07
glider: 542
mission: 6
dive: 36
start: 12 15 112 16 8 4
data:
$ID,542
$MISSION,6
$DIVE,36
$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,-10388.911
$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,42
$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
$GPS1,151212,155634,-4640.990,401.544,27,1.2,27,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-29.4
$GPS2,151212,160706,-4641.052,401.545,13,0.9,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.058,0.289
$KALMAN_X,-35866.6,722.9,170.5,15411.9,-6497.1
$KALMAN_Y,6708.5,382.7,930.2,10875.8,-2387.4
$MHEAD_RNG_PITCHd_Wd,34.6,20562,-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,-194.7,0.0,0.0,0,171,0.00,0.00,-141.95,0.000,2,0.000,0.000,59,2957,3248,0,0,0,0,0,0
$GC,178,-0.64,-194.7,3.1,-4.7,18,196,6.62,0.00,-9.10,0.000,6,0.253,0.000,1654,2957,3615,0,0,0,0,0,0
$GC,274,-0.64,-194.7,22.3,-14.0,32,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2957,3617,0,0,0,0,0,0
$GC,362,-0.64,-194.7,33.9,-12.7,45,368,0.00,2.22,0.00,0.000,4,0.000,0.040,1654,1519,3617,0,0,0,0,0,0
$GC,392,-0.64,-194.7,38.2,-13.2,49,399,0.00,2.28,0.00,0.000,6,0.000,0.056,1644,2909,3617,0,0,0,0,0,0
$GC,637,-0.64,-194.7,72.1,-14.8,90,646,0.00,2.20,0.00,0.000,4,0.000,0.041,1645,1520,3617,0,0,0,0,0,0
$GC,677,-0.64,-194.7,77.6,-12.4,96,686,0.00,2.30,0.00,0.000,6,0.000,0.057,1634,2917,3617,0,0,0,0,0,0
$GC,1022,-0.64,-194.7,123.5,-13.6,136,1026,0.00,1.58,0.00,0.000,4,0.000,0.063,1626,3900,3618,0,0,0,0,0,0
$GC,1046,-0.64,-194.7,127.2,-13.5,137,1050,0.10,1.52,0.00,0.000,6,0.156,0.037,1673,2911,3618,0,0,0,0,0,0
$GC,1379,-0.64,-194.7,157.5,-9.2,158,1383,0.00,2.12,0.00,0.000,4,0.000,0.041,1673,1520,3618,0,0,0,0,0,0
$GC,1430,-0.64,-194.7,162.3,-8.4,161,1434,0.00,2.25,0.00,0.000,6,0.000,0.057,1665,2931,3618,0,0,0,0,0,0
$GC,1761,-0.64,-194.7,195.0,-9.8,182,1765,0.00,2.15,0.00,0.000,4,0.000,0.041,1666,1526,3618,0,0,0,0,0,0
$GC,1791,-0.64,-194.7,198.4,-8.9,183,1798,0.00,2.25,0.00,0.000,6,0.000,0.057,1656,2930,3618,0,0,0,0,0,0
$GC,2112,-0.64,-194.7,232.2,-10.9,204,2116,0.00,2.15,0.00,0.000,4,0.000,0.041,1656,1525,3619,0,0,0,0,0,0
$GC,2134,-0.64,-194.7,234.3,-10.6,205,2138,0.00,2.25,0.00,0.000,6,0.000,0.057,1646,2930,3618,0,0,0,0,0,0
$GC,2467,-0.64,-194.7,270.1,-10.5,223,2471,0.00,2.12,0.00,0.000,4,0.000,0.041,1646,1526,3619,0,0,0,0,0,0
$GC,2502,-0.64,-194.7,274.2,-10.3,224,2506,0.00,2.22,0.00,0.000,6,0.000,0.057,1636,2922,3618,0,0,0,0,0,0
$GC,2826,-0.64,-194.7,312.5,-12.2,240,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2922,3618,0,0,0,0,0,0
$GC,3137,-0.64,-194.7,351.2,-12.1,255,3141,0.00,2.12,0.00,0.000,4,0.000,0.041,1636,1527,3618,0,0,0,0,0,0
$GC,3172,-0.64,-194.7,355.8,-11.2,256,3176,0.12,2.22,0.00,0.000,6,0.178,0.058,1659,2926,3618,0,0,0,0,0,0
$GC,3497,-0.64,-194.7,386.8,-9.3,272,3501,0.00,2.12,0.00,0.000,4,0.000,0.041,1658,1524,3617,0,0,0,0,0,0
$GC,3527,-0.64,-194.7,389.7,-8.8,273,3531,0.00,2.25,0.00,0.000,6,0.000,0.058,1650,2930,3618,0,0,0,0,0,0
$GC,3854,-0.64,-194.7,419.6,-9.0,285,3858,0.00,2.12,0.00,0.000,4,0.000,0.041,1650,1526,3618,0,0,0,0,0,0
$GC,3878,-0.64,-194.7,422.0,-9.1,285,3885,0.00,2.22,0.00,0.000,6,0.000,0.057,1641,2922,3617,0,0,0,0,0,0
$GC,4193,-0.64,-194.7,451.2,-9.3,296,4197,0.00,2.17,0.00,0.000,4,0.000,0.042,1641,1522,3617,0,0,0,0,0,0
$GC,4228,-0.64,-194.7,454.6,-8.4,297,4233,0.10,2.25,0.00,0.000,6,0.187,0.058,1656,2928,3617,0,0,0,0,0,0
$GC,4561,-0.64,-194.7,478.8,-7.1,308,4565,0.00,2.15,0.00,0.000,4,0.000,0.041,1657,1522,3616,0,0,0,0,0,0
$GC,4602,-0.64,-194.7,481.9,-7.1,309,4606,0.00,2.22,0.00,0.000,6,0.000,0.059,1649,2925,3616,0,0,0,0,0,0
$GC,4929,-0.64,-194.7,508.3,-8.6,320,4933,0.00,2.12,0.00,0.000,4,0.000,0.041,1649,1521,3615,0,0,0,0,0,0
$GC,4953,-0.64,-194.7,510.9,-9.7,320,4960,0.00,2.25,0.00,0.000,6,0.000,0.058,1639,2933,3616,0,0,0,0,0,0
$GC,5268,-0.64,-194.7,541.9,-10.0,331,5272,0.00,2.12,0.00,0.000,4,0.000,0.041,1639,1526,3615,0,0,0,0,0,0
$GC,5292,-0.64,-194.7,544.7,-11.0,331,5299,0.12,2.22,0.00,0.000,6,0.176,0.059,1664,2923,3615,0,0,0,0,0,0
$GC,5607,-0.64,-194.7,569.2,-7.8,342,5611,0.00,2.12,0.00,0.000,4,0.000,0.042,1664,1527,3615,0,0,0,0,0,0
$GC,5645,-0.64,-194.7,572.0,-7.6,343,5649,0.00,2.22,0.00,0.000,6,0.000,0.059,1655,2931,3615,0,0,0,0,0,0
$GC,5990,-0.64,-194.7,601.5,-8.9,354,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2932,3614,0,0,0,0,0,0
$GC,6294,-0.64,-194.7,628.0,-8.5,364,6298,0.00,2.12,0.00,0.000,4,0.000,0.041,1655,1523,3614,0,0,0,0,0,0
$GC,6352,-0.64,-194.7,632.8,-7.7,365,6359,0.00,2.25,0.00,0.000,6,0.000,0.059,1646,2936,3614,0,0,0,0,0,0
$GC,6667,-0.64,-194.7,658.8,-8.2,376,6671,0.00,2.15,0.00,0.000,4,0.000,0.042,1646,1522,3614,0,0,0,0,0,0
$GC,6705,-0.64,-194.7,661.8,-8.1,377,6709,0.00,2.22,0.00,0.000,6,0.000,0.059,1636,2922,3614,0,0,0,0,0,0
$GC,7050,-0.64,-194.7,693.9,-9.2,388,7054,0.00,2.12,0.00,0.000,4,0.000,0.042,1636,1526,3614,0,0,0,0,0,0
$GC,7085,-0.64,-194.7,697.5,-9.0,389,7090,0.12,2.25,0.00,0.000,6,0.177,0.059,1660,2934,3614,0,0,0,0,0,0
$GC,7418,-0.64,-194.7,721.4,-7.0,400,7422,0.00,2.15,0.00,0.000,4,0.000,0.042,1660,1525,3614,0,0,0,0,0,0
$GC,7465,-0.64,-194.7,724.8,-6.7,401,7469,0.00,2.25,0.00,0.000,6,0.000,0.060,1653,2932,3614,0,0,0,0,0,0
$GC,7786,-0.64,-194.7,748.0,-7.2,412,7790,0.00,2.15,0.00,0.000,4,0.000,0.042,1652,1523,3614,0,0,0,0,0,0
$GC,7821,-0.64,-194.7,750.7,-6.7,413,7825,0.00,2.25,0.00,0.000,6,0.000,0.060,1643,2931,3613,0,0,0,0,0,0
$GC,8153,-0.64,-194.7,777.2,-8.4,424,8157,0.00,2.12,0.00,0.000,4,0.000,0.041,1644,1522,3613,0,0,0,0,0,0
$GC,8185,-0.64,-194.7,779.9,-8.6,425,8189,0.00,2.25,0.00,0.000,6,0.000,0.059,1635,2934,3613,0,0,0,0,0,0
$GC,8523,-0.64,-194.7,813.0,-10.2,436,8527,0.00,2.12,0.00,0.000,4,0.000,0.041,1635,1524,3613,0,0,0,0,0,0
$GC,8540,-0.64,-194.7,815.1,-10.5,436,8545,0.12,2.22,0.00,0.000,6,0.176,0.058,1658,2922,3613,0,0,0,0,0,0
$GC,8858,-0.64,-194.7,840.4,-7.8,446,8861,0.00,2.12,0.00,0.000,4,0.000,0.043,1658,1526,3613,0,0,0,0,0,0
$GC,8904,-0.64,-194.7,844.3,-7.9,447,8908,0.00,2.22,0.00,0.000,6,0.000,0.060,1651,2922,3613,0,0,0,0,0,0
$GC,9225,-0.64,-194.7,868.4,-7.3,458,9229,0.00,2.10,0.00,0.000,4,0.000,0.041,1651,1526,3613,0,0,0,0,0,0
$GC,9256,-0.64,-194.7,870.7,-7.4,459,9260,0.00,2.20,0.00,0.000,6,0.000,0.059,1642,2922,3612,0,0,0,0,0,0
$GC,9594,-0.64,-194.7,894.8,-7.1,470,9598,0.00,2.10,0.00,0.000,4,0.000,0.042,1642,1527,3612,0,0,0,0,0,0
$GC,9630,-0.64,-194.7,897.6,-7.4,471,9634,0.00,2.22,0.00,0.000,6,0.000,0.059,1633,2922,3612,0,0,0,0,0,0
$GC,9962,-0.64,-194.7,923.4,-8.0,482,9966,0.00,2.12,0.00,0.000,4,0.000,0.042,1633,1527,3612,0,0,0,0,0,0
$GC,9997,-0.64,-194.7,926.3,-7.9,483,10002,0.12,2.22,0.00,0.000,6,0.174,0.059,1658,2922,3612,0,0,0,0,0,0
$GC,10330,-0.64,-194.7,946.5,-5.8,494,10334,0.00,2.12,0.00,0.000,4,0.000,0.043,1658,1526,3612,0,0,0,0,0,0
$GC,10365,-0.64,-194.7,948.9,-6.5,495,10369,0.00,2.22,0.00,0.000,6,0.000,0.060,1651,2922,3612,0,0,0,0,0,0
$STATE,10448,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10448,begin apogee
$GC,10458,-0.19,0.0,954.0,6.1,498,10661,0.50,0.00,194.50,1.170,6,0.154,0.000,1804,2739,2812,0,0,0,0,0,0
$STATE,10663,end apogee,CONTROL_FINISHED_OK
$STATE,10663,begin climb
$GC,10667,0.64,194.7,959.4,0.0,505,10874,0.77,2.50,196.73,1.105,4,0.067,0.050,2092,1340,2015,0,0,0,0,0,0
$GC,10982,0.64,194.7,889.5,25.4,514,10987,0.00,2.40,0.00,0.000,6,0.000,0.055,2092,2731,2002,0,0,0,0,0,0
$GC,11297,0.64,194.7,797.0,29.7,524,11302,0.00,2.33,0.00,0.000,4,0.000,0.052,2103,1332,1999,0,0,0,0,0,0
$GC,11329,0.64,194.7,787.5,31.0,525,11333,0.00,2.35,0.00,0.000,6,0.000,0.056,2103,2745,1999,0,0,0,0,0,0
$GC,11667,0.64,194.7,684.9,30.5,536,11671,0.00,2.30,0.00,0.000,4,0.000,0.052,2113,1339,1998,0,0,0,0,0,0
$GC,11733,0.64,194.7,666.4,26.6,538,11738,0.15,2.30,0.00,0.000,6,0.242,0.057,2082,2740,1998,0,0,0,0,0,0
$GC,12072,0.64,194.7,572.6,27.3,549,12076,0.00,2.25,0.00,0.000,4,0.000,0.051,2091,1339,1997,0,0,0,0,0,0
$GC,12112,0.64,194.7,561.2,25.2,550,12116,0.00,2.28,0.00,0.000,6,0.000,0.057,2091,2736,1997,0,0,0,0,0,0
$GC,12438,0.64,194.7,471.9,27.3,561,12442,0.00,2.28,0.00,0.000,4,0.000,0.053,2100,1327,1997,0,0,0,0,0,0
$GC,12479,0.64,194.7,460.7,24.7,562,12483,0.00,2.30,0.00,0.000,6,0.000,0.057,2100,2733,1997,0,0,0,0,0,0
$GC,12796,0.64,194.7,374.7,27.8,574,12800,0.00,2.22,0.00,0.000,4,0.000,0.054,2111,1329,1997,0,0,0,0,0,0
$GC,12831,0.64,194.7,365.0,26.6,575,12839,0.12,2.28,0.00,0.000,6,0.246,0.057,2085,2734,1997,0,0,0,0,0,0
$GC,13153,0.64,194.7,284.5,26.1,591,13157,0.00,2.22,0.00,0.000,4,0.000,0.052,2094,1325,1997,0,0,0,0,0,0
$GC,13205,0.64,194.7,270.3,22.7,593,13209,0.00,2.28,0.00,0.000,6,0.000,0.057,2094,2743,1996,0,0,0,0,0,0
$GC,13532,0.64,194.7,184.2,26.6,612,13536,0.00,2.25,0.00,0.000,4,0.000,0.052,2104,1332,1997,0,0,0,0,0,0
$GC,13556,0.64,194.7,176.9,26.7,613,13563,0.00,2.28,0.00,0.000,6,0.000,0.056,2105,2745,1996,0,0,0,0,0,0
$GC,13883,0.64,194.7,89.2,27.9,638,13889,0.00,2.25,0.00,0.000,4,0.000,0.053,2115,1330,1996,0,0,0,0,0,0
$GC,13918,0.64,194.7,79.9,25.2,643,13924,0.15,2.28,0.00,0.000,6,0.235,0.057,2081,2745,1996,0,0,0,0,0,0
$STATE,14247,end climb,SURFACE_DEPTH_REACHED
$STATE,14248,begin surface coast
$FINISH,0.2,1.022132
$STATE,14265,end surface coast,CONTROL_FINISHED_OK
$STATE,14265,begin surface
$SM_CCo,14288,155.62,0.776,1,0,517,564.18
$SM_GC,0.70,0.00,0.00,155.62,0.000,0.000,0.776,62,2942,517,-5.65,0.51,564.18
$IRIDIUM_FIX,-4626.10,402.00,151212,111151
$TT8_MAMPS,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,23.1,8.869
$10V_AH,10.1,3.749
$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,14.675,158.800,391.225,155.625,0.000,25.141,52.401,337.040,0.000,0.000,16.682,1805.387,9543.687,698.813,2321.990,702.448,33.360,1598.349,0.000,1855.263,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,73.440,1169.685,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.790,1389.566,729.612,275.662,0.000,0.000,0.000,0.000,0.000,0.000
$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,50529,700
$CAP_FILE_SIZE,133520,0
$CFSIZE,259252224,225624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,151212,201022,-4639.318,400.930,25,1.0,42,-23.3