version: 66.07
glider: 542
mission: 6
dive: 38
start: 12 16 112 0 41 9
data:
$ID,542
$MISSION,6
$DIVE,38
$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,-10395.094
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,161212,002504,-4637.521,400.835,24,1.8,25,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-34.8
$GPS2,161212,004007,-4637.495,400.926,17,0.7,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.082,0.283
$KALMAN_X,-39418.4,998.3,296.0,17764.5,-5831.8
$KALMAN_Y,3362.1,-428.2,191.4,22408.6,-2383.2
$MHEAD_RNG_PITCHd_Wd,39.4,13930,-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,-194.7,0.0,0.0,0,178,0.00,0.00,-149.60,0.000,2,0.000,0.000,51,2953,3460,0,0,0,0,0,0
$GC,185,-0.64,-194.7,3.8,-4.5,19,204,6.60,2.28,-3.38,0.000,4,0.250,0.054,1667,1505,3615,0,0,0,0,0,0
$GC,246,-0.64,-194.7,22.6,-18.3,27,255,0.00,2.33,0.00,0.000,6,0.000,0.057,1658,2897,3616,0,0,0,0,0,0
$GC,331,-0.64,-194.7,33.4,-14.2,40,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2898,3616,0,0,0,0,0,0
$GC,582,-0.64,-194.7,63.3,-11.5,81,589,0.00,2.20,0.00,0.000,4,0.000,0.041,1657,1510,3616,0,0,0,0,0,0
$GC,623,-0.64,-194.7,68.1,-11.7,87,630,0.00,2.35,0.00,0.000,6,0.000,0.057,1648,2935,3616,0,0,0,0,0,0
$GC,977,-0.64,-194.7,112.2,-12.3,137,981,0.00,2.20,0.00,0.000,4,0.000,0.040,1648,1510,3616,0,0,0,0,0,0
$GC,1026,-0.64,-194.7,117.7,-9.9,140,1030,0.00,2.30,0.00,0.000,6,0.000,0.057,1637,2933,3616,0,0,0,0,0,0
$GC,1355,-0.64,-194.7,156.5,-12.2,161,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2934,3616,0,0,0,0,0,0
$GC,1668,-0.64,-194.7,194.6,-12.0,181,1672,0.00,2.20,0.00,0.000,4,0.000,0.041,1637,1511,3616,0,0,0,0,0,0
$GC,1708,-0.64,-194.7,199.7,-10.3,183,1716,0.12,2.28,0.00,0.000,6,0.179,0.057,1658,2929,3617,0,0,0,0,0,0
$GC,2034,-0.64,-194.7,230.0,-9.5,204,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,1658,2929,3616,0,0,0,0,0,0
$GC,2349,-0.64,-194.7,258.3,-8.5,223,2353,0.00,2.20,0.00,0.000,4,0.000,0.041,1659,1501,3617,0,0,0,0,0,0
$GC,2390,-0.64,-194.7,262.1,-8.0,224,2399,0.00,2.33,0.00,0.000,6,0.000,0.058,1650,2928,3616,0,0,0,0,0,0
$GC,2709,-0.64,-194.7,289.0,-8.7,240,2713,0.00,2.17,0.00,0.000,4,0.000,0.041,1650,1505,3616,0,0,0,0,0,0
$GC,2733,-0.64,-194.7,291.5,-9.1,241,2738,0.00,2.30,0.00,0.000,6,0.000,0.058,1640,2937,3616,0,0,0,0,0,0
$GC,3060,-0.64,-194.7,321.8,-9.6,257,3064,0.00,2.17,0.00,0.000,4,0.000,0.041,1639,1510,3616,0,0,0,0,0,0
$GC,3090,-0.64,-194.7,325.1,-10.0,258,3095,0.12,2.28,0.00,0.000,6,0.181,0.059,1661,2928,3616,0,0,0,0,0,0
$GC,3411,-0.64,-194.7,350.7,-8.5,273,3415,0.00,2.20,0.00,0.000,4,0.000,0.041,1661,1500,3616,0,0,0,0,0,0
$GC,3456,-0.64,-194.7,354.7,-8.2,275,3460,0.00,2.30,0.00,0.000,6,0.000,0.059,1652,2931,3616,0,0,0,0,0,0
$GC,3787,-0.64,-194.7,386.9,-9.7,291,3791,0.00,1.55,0.00,0.000,4,0.000,0.067,1645,3903,3615,0,0,0,0,0,0
$GC,3806,-0.64,-194.7,389.1,-9.9,291,3813,0.00,1.55,0.00,0.000,6,0.000,0.039,1645,2890,3615,0,0,0,0,0,0
$GC,4132,-0.64,-194.7,422.5,-10.1,304,4136,0.00,2.05,0.00,0.000,4,0.000,0.042,1645,1522,3615,0,0,0,0,0,0
$GC,4184,-0.64,-194.7,427.5,-8.7,305,4188,0.00,2.25,0.00,0.000,6,0.000,0.060,1635,2932,3615,0,0,0,0,0,0
$GC,4505,-0.64,-194.7,460.2,-10.3,316,4509,0.00,2.15,0.00,0.000,4,0.000,0.041,1635,1524,3614,0,0,0,0,0,0
$GC,4523,-0.64,-194.7,462.4,-10.6,316,4527,0.12,2.25,0.00,0.000,6,0.184,0.058,1657,2929,3615,0,0,0,0,0,0
$GC,4844,-0.64,-194.7,490.8,-9.0,327,4848,0.00,2.15,0.00,0.000,4,0.000,0.041,1657,1522,3614,0,0,0,0,0,0
$GC,4880,-0.64,-194.7,494.3,-9.2,328,4884,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2923,3614,0,0,0,0,0,0
$GC,5212,-0.64,-194.7,526.4,-10.1,339,5215,0.00,2.15,0.00,0.000,4,0.000,0.042,1650,1520,3614,0,0,0,0,0,0
$GC,5243,-0.64,-194.7,529.6,-10.2,340,5247,0.00,2.25,0.00,0.000,6,0.000,0.060,1640,2924,3613,0,0,0,0,0,0
$GC,5580,-0.64,-194.7,567.8,-11.2,351,5584,0.00,1.55,0.00,0.000,4,0.000,0.068,1632,3897,3613,0,0,0,0,0,0
$GC,5603,-0.64,-194.7,570.6,-11.5,351,5607,0.00,1.48,0.00,0.000,6,0.000,0.039,1632,2935,3613,0,0,0,0,0,0
$GC,5924,-0.64,-194.7,606.2,-11.0,362,5928,0.10,2.15,0.00,0.000,4,0.199,0.043,1656,1522,3613,0,0,0,0,0,0
$GC,5965,-0.64,-194.7,610.0,-7.5,363,5969,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2923,3613,0,0,0,0,0,0
$GC,6292,-0.64,-194.7,637.3,-8.6,374,6296,0.00,2.12,0.00,0.000,4,0.000,0.041,1649,1519,3612,0,0,0,0,0,0
$GC,6327,-0.64,-194.7,640.3,-7.9,375,6331,0.00,2.25,0.00,0.000,6,0.000,0.060,1639,2922,3612,0,0,0,0,0,0
$GC,6659,-0.64,-194.7,670.3,-9.3,386,6663,0.00,2.15,0.00,0.000,4,0.000,0.042,1639,1519,3612,0,0,0,0,0,0
$GC,6706,-0.64,-194.7,674.8,-8.9,387,6711,0.12,2.25,0.00,0.000,6,0.187,0.060,1662,2922,3612,0,0,0,0,0,0
$GC,7028,-0.64,-194.7,698.8,-7.5,398,7032,0.00,2.12,0.00,0.000,4,0.000,0.042,1662,1517,3612,0,0,0,0,0,0
$GC,7063,-0.64,-194.7,701.8,-7.4,399,7067,0.00,2.25,0.00,0.000,6,0.000,0.061,1653,2933,3611,0,0,0,0,0,0
$GC,7395,-0.64,-194.7,727.8,-7.7,410,7399,0.00,2.12,0.00,0.000,4,0.000,0.041,1653,1524,3611,0,0,0,0,0,0
$GC,7431,-0.64,-194.7,730.8,-7.8,411,7435,0.00,2.25,0.00,0.000,6,0.000,0.060,1645,2928,3611,0,0,0,0,0,0
$GC,7763,-0.64,-194.7,758.7,-8.7,422,7767,0.00,2.12,0.00,0.000,4,0.000,0.041,1645,1521,3611,0,0,0,0,0,0
$GC,7787,-0.64,-194.7,761.0,-8.4,422,7794,0.00,2.25,0.00,0.000,6,0.000,0.060,1635,2932,3611,0,0,0,0,0,0
$GC,8102,-0.64,-194.7,789.8,-9.3,433,8106,0.00,2.15,0.00,0.000,4,0.000,0.041,1635,1523,3611,0,0,0,0,0,0
$GC,8154,-0.64,-194.7,794.7,-8.6,434,8159,0.12,2.25,0.00,0.000,6,0.187,0.060,1658,2927,3611,0,0,0,0,0,0
$GC,8470,-0.64,-194.7,816.6,-6.7,444,8474,0.00,2.15,0.00,0.000,4,0.000,0.043,1659,1519,3610,0,0,0,0,0,0
$GC,8511,-0.64,-194.7,819.6,-7.1,445,8515,0.00,2.25,0.00,0.000,6,0.000,0.061,1652,2934,3611,0,0,0,0,0,0
$GC,8837,-0.64,-194.7,842.9,-7.1,456,8841,0.00,2.12,0.00,0.000,4,0.000,0.041,1652,1524,3610,0,0,0,0,0,0
$GC,8862,-0.64,-194.7,844.7,-7.0,456,8868,0.00,2.25,0.00,0.000,6,0.000,0.060,1644,2934,3610,0,0,0,0,0,0
$GC,9179,-0.64,-194.7,868.0,-7.7,467,9183,0.00,2.15,0.00,0.000,4,0.000,0.041,1644,1522,3610,0,0,0,0,0,0
$GC,9231,-0.64,-194.7,871.9,-7.0,468,9235,0.00,2.25,0.00,0.000,6,0.000,0.061,1636,2924,3610,0,0,0,0,0,0
$GC,9547,-0.64,-194.7,895.5,-7.6,478,9551,0.00,2.15,0.00,0.000,4,0.000,0.041,1636,1518,3610,0,0,0,0,0,0
$GC,9593,-0.64,-194.7,899.3,-6.9,479,9598,0.12,2.25,0.00,0.000,6,0.184,0.060,1659,2922,3610,0,0,0,0,0,0
$GC,9915,-0.64,-194.7,917.3,-5.5,490,9919,0.00,2.15,0.00,0.000,4,0.000,0.042,1659,1514,3610,0,0,0,0,0,0
$GC,9951,-0.64,-194.7,919.3,-5.4,491,9955,0.00,2.28,0.00,0.000,6,0.000,0.060,1652,2932,3610,0,0,0,0,0,0
$GC,10283,-0.64,-194.7,938.4,-5.6,502,10287,0.00,2.12,0.00,0.000,4,0.000,0.041,1652,1522,3609,0,0,0,0,0,0
$GC,10307,-0.64,-194.7,939.9,-5.6,502,10313,0.00,2.25,0.00,0.000,6,0.000,0.060,1644,2934,3609,0,0,0,0,0,0
$STATE,10464,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10464,begin apogee
$GC,10475,-0.19,0.0,950.1,6.5,508,10677,0.52,0.00,194.30,1.193,6,0.158,0.000,1803,2734,2814,0,0,0,0,0,0
$STATE,10679,end apogee,CONTROL_FINISHED_OK
$STATE,10679,begin climb
$GC,10684,0.64,194.7,955.1,0.0,515,10891,0.77,2.47,198.75,1.129,4,0.066,0.051,2090,1348,2016,0,0,0,0,0,0
$GC,10979,0.64,194.7,891.0,26.5,524,10983,0.00,2.42,0.00,0.000,6,0.000,0.057,2091,2734,2002,0,0,0,0,0,0
$GC,11316,0.64,194.7,790.4,30.3,535,11321,0.00,2.30,0.00,0.000,4,0.000,0.051,2102,1333,1999,0,0,0,0,0,0
$GC,11368,0.64,194.7,775.3,27.0,536,11372,0.00,2.38,0.00,0.000,6,0.000,0.057,2101,2744,1998,0,0,0,0,0,0
$GC,11689,0.64,194.7,679.8,30.2,547,11693,0.00,2.30,0.00,0.000,4,0.000,0.052,2111,1338,1998,0,0,0,0,0,0
$GC,11746,0.64,194.7,663.4,24.9,548,11751,0.15,2.33,0.00,0.000,6,0.236,0.057,2080,2738,1998,0,0,0,0,0,0
$GC,12061,0.64,194.7,577.6,28.0,558,12065,0.00,2.28,0.00,0.000,4,0.000,0.053,2089,1339,1997,0,0,0,0,0,0
$GC,12085,0.64,194.7,570.7,26.4,558,12089,0.00,2.30,0.00,0.000,6,0.000,0.056,2089,2736,1997,0,0,0,0,0,0
$GC,12400,0.64,194.7,485.2,26.8,568,12404,0.00,2.25,0.00,0.000,4,0.000,0.053,2099,1331,1997,0,0,0,0,0,0
$GC,12441,0.64,194.7,474.1,25.8,569,12445,0.00,2.30,0.00,0.000,6,0.000,0.058,2099,2735,1997,0,0,0,0,0,0
$GC,12757,0.64,194.7,387.7,27.5,580,12761,0.00,2.25,0.00,0.000,4,0.000,0.053,2109,1330,1996,0,0,0,0,0,0
$GC,12779,0.64,194.7,382.3,26.5,581,12784,0.12,2.30,0.00,0.000,6,0.246,0.057,2083,2743,1996,0,0,0,0,0,0
$GC,13111,0.64,194.7,295.2,26.6,597,13115,0.00,2.25,0.00,0.000,4,0.000,0.053,2093,1339,1996,0,0,0,0,0,0
$GC,13131,0.64,194.7,289.3,26.6,598,13136,0.00,2.25,0.00,0.000,6,0.000,0.057,2090,2739,1996,0,0,0,0,0,0
$GC,13452,0.64,194.7,202.4,27.3,616,13456,0.00,2.22,0.00,0.000,4,0.000,0.052,2100,1335,1996,0,0,0,0,0,0
$GC,13522,0.64,194.7,184.5,23.3,620,13526,0.00,2.28,0.00,0.000,6,0.000,0.057,2100,2737,1996,0,0,0,0,0,0
$GC,13845,0.64,194.7,100.5,26.6,640,13849,0.00,2.25,0.00,0.000,4,0.000,0.054,2110,1329,1996,0,0,0,0,0,0
$GC,13910,0.64,194.7,83.8,21.7,650,13917,0.12,2.28,0.00,0.000,6,0.239,0.057,2084,2744,1996,0,0,0,0,0,0
$STATE,14256,end climb,SURFACE_DEPTH_REACHED
$STATE,14256,begin surface coast
$FINISH,0.4,1.026505
$STATE,14276,end surface coast,CONTROL_FINISHED_OK
$STATE,14276,begin surface
$SM_CCo,14298,156.60,0.793,1,0,517,564.18
$SM_GC,0.79,0.00,0.00,156.60,0.000,0.000,0.793,58,2943,517,-5.66,0.57,564.18
$IRIDIUM_FIX,-4619.84,401.34,161212,000018
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,23.0,9.326
$10V_AH,10.1,3.957
$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,14.750,158.775,393.050,156.600,0.000,55.269,42.284,499.083,0.000,0.000,20.601,1815.514,9594.587,696.550,2501.156,750.437,33.364,1598.261,0.000,1880.001,0.000,1.010,0.000
$DEVICE_MAMPS,250.155,73.440,1192.635,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.614,1413.666,759.375,290.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354196
$DATA_FILE_SIZE,50416,710
$CAP_FILE_SIZE,136191,0
$CFSIZE,259252224,225488896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,161212,044336,-4635.222,400.875,40,1.0,40,-23.3