version: 66.07
glider: 542
mission: 6
dive: 40
start: 12 16 112 9 23 21
data:
$ID,542
$MISSION,6
$DIVE,40
$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,-10401.319
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,161212,090004,-4633.801,401.793,62,0.9,62,-23.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-22.8
$GPS2,161212,092223,-4633.749,402.171,18,1.1,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.198,0.219
$KALMAN_X,-43550.3,288.7,225.0,24275.6,-5641.6
$KALMAN_Y,1925.7,376.1,-274.9,30414.7,-83.1
$MHEAD_RNG_PITCHd_Wd,65.4,7474,-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,26,begin dive
$GC,30,-0.64,-194.7,0.0,0.0,0,183,0.00,0.00,-149.82,0.000,2,0.000,0.000,60,2965,3475,0,0,0,0,0,0
$GC,190,-0.64,-194.7,3.6,-3.9,19,208,6.45,2.30,-3.12,0.000,4,0.245,0.048,1664,1508,3615,0,0,0,0,0,0
$GC,220,-0.64,-194.7,16.5,-30.9,22,230,0.00,2.30,0.00,0.000,6,0.000,0.054,1655,2894,3617,0,0,0,0,0,0
$GC,308,-0.64,-194.7,33.2,-11.3,35,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2895,3617,0,0,0,0,0,0
$GC,555,-0.64,-194.7,64.8,-14.0,76,562,0.00,2.17,0.00,0.000,4,0.000,0.041,1655,1505,3617,0,0,0,0,0,0
$GC,636,-0.64,-194.7,73.8,-9.3,89,641,0.00,2.33,0.00,0.000,6,0.000,0.057,1644,2934,3617,0,0,0,0,0,0
$GC,986,-0.64,-194.7,113.6,-10.7,135,988,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2935,3617,0,0,0,0,0,0
$GC,1298,-0.64,-194.7,148.1,-11.2,155,1302,0.00,2.20,0.00,0.000,4,0.000,0.040,1644,1503,3617,0,0,0,0,0,0
$GC,1350,-0.64,-194.7,154.2,-10.2,158,1354,0.00,2.30,0.00,0.000,6,0.000,0.057,1633,2928,3617,0,0,0,0,0,0
$GC,1673,-0.64,-194.7,192.5,-11.9,178,1677,0.00,1.55,0.00,0.000,4,0.000,0.064,1626,3897,3617,0,0,0,0,0,0
$GC,1695,-0.64,-194.7,194.9,-11.5,179,1700,0.10,1.52,0.00,0.000,6,0.155,0.037,1658,2905,3617,0,0,0,0,0,0
$GC,2034,-0.64,-194.7,226.1,-9.0,200,2038,0.00,2.10,0.00,0.000,4,0.000,0.041,1658,1524,3617,0,0,0,0,0,0
$GC,2092,-0.64,-194.7,232.0,-8.6,203,2099,0.00,2.25,0.00,0.000,6,0.000,0.059,1649,2922,3617,0,0,0,0,0,0
$GC,2413,-0.64,-194.7,264.0,-10.2,222,2416,0.00,2.15,0.00,0.000,4,0.000,0.041,1649,1525,3617,0,0,0,0,0,0
$GC,2435,-0.64,-194.7,266.0,-10.3,223,2439,0.00,2.25,0.00,0.000,6,0.000,0.059,1639,2924,3617,0,0,0,0,0,0
$GC,2766,-0.64,-194.7,301.4,-10.5,239,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2925,3617,0,0,0,0,0,0
$GC,3073,-0.64,-194.7,335.6,-11.5,254,3077,0.00,2.12,0.00,0.000,4,0.000,0.041,1639,1524,3617,0,0,0,0,0,0
$GC,3109,-0.64,-194.7,339.9,-10.8,255,3116,0.12,2.25,0.00,0.000,6,0.182,0.059,1661,2930,3617,0,0,0,0,0,0
$GC,3429,-0.64,-194.7,369.9,-9.3,271,3433,0.00,2.15,0.00,0.000,4,0.000,0.041,1661,1520,3616,0,0,0,0,0,0
$GC,3470,-0.64,-194.7,373.8,-8.7,272,3479,0.00,2.28,0.00,0.000,6,0.000,0.060,1652,2918,3616,0,0,0,0,0,0
$GC,3809,-0.64,-194.7,406.2,-9.7,288,3813,0.00,2.15,0.00,0.000,4,0.000,0.041,1652,1519,3616,0,0,0,0,0,0
$GC,3827,-0.64,-194.7,408.2,-9.7,288,3831,0.00,2.28,0.00,0.000,6,0.000,0.060,1643,2939,3616,0,0,0,0,0,0
$GC,4144,-0.64,-194.7,440.4,-10.2,298,4148,0.00,2.17,0.00,0.000,4,0.000,0.041,1642,1521,3616,0,0,0,0,0,0
$GC,4185,-0.64,-194.7,444.6,-9.0,299,4189,0.00,2.25,0.00,0.000,6,0.000,0.059,1633,2925,3616,0,0,0,0,0,0
$GC,4511,-0.64,-194.7,479.6,-10.8,310,4515,0.00,2.15,0.00,0.000,4,0.000,0.041,1633,1522,3616,0,0,0,0,0,0
$GC,4535,-0.64,-194.7,482.5,-11.4,310,4542,0.15,2.25,0.00,0.000,6,0.179,0.059,1663,2933,3616,0,0,0,0,0,0
$GC,4852,-0.64,-194.7,507.0,-7.6,321,4856,0.00,2.15,0.00,0.000,4,0.000,0.041,1663,1519,3615,0,0,0,0,0,0
$GC,4893,-0.64,-194.7,510.5,-7.6,322,4897,0.00,2.25,0.00,0.000,6,0.000,0.060,1654,2922,3615,0,0,0,0,0,0
$GC,5220,-0.64,-194.7,539.0,-8.7,333,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2922,3615,0,0,0,0,0,0
$GC,5526,-0.64,-194.7,563.5,-8.1,343,5530,0.00,2.12,0.00,0.000,4,0.000,0.042,1654,1525,3615,0,0,0,0,0,0
$GC,5589,-0.64,-194.7,568.3,-7.4,344,5596,0.00,2.22,0.00,0.000,6,0.000,0.060,1644,2921,3615,0,0,0,0,0,0
$GC,5906,-0.64,-194.7,594.2,-8.3,355,5910,0.00,2.12,0.00,0.000,4,0.000,0.041,1645,1520,3615,0,0,0,0,0,0
$GC,5941,-0.64,-194.7,597.6,-7.9,356,5945,0.00,2.25,0.00,0.000,6,0.000,0.059,1636,2926,3615,0,0,0,0,0,0
$GC,6273,-0.64,-194.7,628.1,-9.3,367,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2927,3614,0,0,0,0,0,0
$GC,6581,-0.64,-194.7,658.2,-10.2,377,6585,0.00,2.15,0.00,0.000,4,0.000,0.041,1635,1522,3614,0,0,0,0,0,0
$GC,6616,-0.64,-194.7,662.3,-10.3,378,6621,0.12,2.25,0.00,0.000,6,0.186,0.059,1658,2931,3615,0,0,0,0,0,0
$GC,6949,-0.64,-194.7,689.8,-8.1,389,6953,0.00,2.12,0.00,0.000,4,0.000,0.041,1658,1525,3615,0,0,0,0,0,0
$GC,6990,-0.64,-194.7,693.1,-7.6,390,6994,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2932,3614,0,0,0,0,0,0
$GC,7317,-0.64,-194.7,718.4,-8.0,401,7321,0.00,2.12,0.00,0.000,4,0.000,0.041,1650,1525,3614,0,0,0,0,0,0
$GC,7363,-0.64,-194.7,722.2,-7.6,402,7367,0.00,2.25,0.00,0.000,6,0.000,0.059,1640,2933,3614,0,0,0,0,0,0
$GC,7684,-0.64,-194.7,749.8,-8.8,413,7688,0.00,2.12,0.00,0.000,4,0.000,0.041,1640,1525,3614,0,0,0,0,0,0
$GC,7708,-0.64,-194.7,752.1,-9.2,413,7715,0.12,2.22,0.00,0.000,6,0.182,0.058,1663,2924,3614,0,0,0,0,0,0
$GC,8023,-0.64,-194.7,772.9,-6.6,424,8027,0.00,2.12,0.00,0.000,4,0.000,0.042,1663,1524,3614,0,0,0,0,0,0
$GC,8070,-0.64,-194.7,776.3,-6.7,425,8074,0.00,2.25,0.00,0.000,6,0.000,0.060,1654,2932,3614,0,0,0,0,0,0
$GC,8402,-0.64,-194.7,800.8,-7.5,436,8406,0.00,2.12,0.00,0.000,4,0.000,0.041,1654,1525,3614,0,0,0,0,0,0
$GC,8443,-0.64,-194.7,804.1,-6.9,437,8447,0.00,2.22,0.00,0.000,6,0.000,0.060,1645,2926,3614,0,0,0,0,0,0
$GC,8782,-0.64,-194.7,831.2,-8.0,448,8786,0.00,2.12,0.00,0.000,4,0.000,0.041,1646,1521,3614,0,0,0,0,0,0
$GC,8818,-0.64,-194.7,834.3,-7.7,449,8822,0.00,2.25,0.00,0.000,6,0.000,0.058,1636,2931,3614,0,0,0,0,0,0
$GC,9150,-0.64,-194.7,862.2,-8.5,460,9154,0.00,2.12,0.00,0.000,4,0.000,0.041,1636,1525,3614,0,0,0,0,0,0
$GC,9197,-0.64,-194.7,866.3,-7.5,461,9201,0.12,2.22,0.00,0.000,6,0.183,0.059,1659,2922,3614,0,0,0,0,0,0
$GC,9518,-0.64,-194.7,887.1,-6.6,472,9522,0.00,2.12,0.00,0.000,4,0.000,0.043,1659,1520,3613,0,0,0,0,0,0
$GC,9565,-0.64,-194.7,890.2,-6.3,473,9569,0.00,2.25,0.00,0.000,6,0.000,0.060,1651,2929,3613,0,0,0,0,0,0
$GC,9886,-0.64,-194.7,910.6,-6.2,484,9890,0.00,2.12,0.00,0.000,4,0.000,0.042,1651,1524,3613,0,0,0,0,0,0
$GC,9921,-0.64,-194.7,912.9,-5.9,485,9925,0.00,2.25,0.00,0.000,6,0.000,0.060,1642,2931,3613,0,0,0,0,0,0
$GC,10253,-0.64,-194.7,935.8,-7.3,496,10257,0.00,2.15,0.00,0.000,4,0.000,0.042,1642,1524,3613,0,0,0,0,0,0
$GC,10305,-0.64,-194.7,939.7,-7.1,497,10310,0.00,2.22,0.00,0.000,6,0.000,0.060,1633,2922,3613,0,0,0,0,0,0
$STATE,10468,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10469,begin apogee
$GC,10479,-0.19,0.0,952.0,7.7,503,10682,0.57,0.00,194.65,1.177,6,0.164,0.000,1805,2738,2812,0,0,0,0,0,0
$STATE,10683,end apogee,CONTROL_FINISHED_OK
$STATE,10684,begin climb
$GC,10688,0.64,194.7,955.7,0.0,510,10895,0.75,2.53,197.10,1.108,4,0.066,0.050,2089,1332,2014,0,0,0,0,0,0
$GC,11144,0.64,194.7,847.6,25.5,523,11151,0.00,2.40,0.00,0.000,6,0.000,0.056,2089,2740,2000,0,0,0,0,0,0
$GC,11459,0.64,194.7,753.9,29.9,534,11463,0.00,2.33,0.00,0.000,4,0.000,0.050,2100,1330,1998,0,0,0,0,0,0
$GC,11505,0.64,194.7,740.2,27.2,535,11509,0.00,2.35,0.00,0.000,6,0.000,0.057,2100,2734,1998,0,0,0,0,0,0
$GC,11827,0.64,194.7,643.5,30.4,546,11831,0.00,2.25,0.00,0.000,4,0.000,0.053,2110,1339,1997,0,0,0,0,0,0
$GC,11868,0.64,194.7,630.7,28.1,547,11873,0.12,2.33,0.00,0.000,6,0.247,0.057,2084,2743,1997,0,0,0,0,0,0
$GC,12195,0.64,194.7,540.8,27.2,558,12199,0.00,2.25,0.00,0.000,4,0.000,0.051,2094,1338,1997,0,0,0,0,0,0
$GC,12241,0.64,194.7,528.6,23.5,559,12246,0.00,2.30,0.00,0.000,6,0.000,0.057,2093,2742,1996,0,0,0,0,0,0
$GC,12562,0.64,194.7,440.8,27.6,570,12566,0.00,2.25,0.00,0.000,4,0.000,0.053,2104,1327,1996,0,0,0,0,0,0
$GC,12586,0.64,194.7,433.8,28.3,570,12593,0.00,2.28,0.00,0.000,6,0.000,0.055,2104,2732,1996,0,0,0,0,0,0
$GC,12903,0.64,194.7,344.2,28.7,584,12907,0.00,2.22,0.00,0.000,4,0.000,0.053,2114,1333,1996,0,0,0,0,0,0
$GC,12927,0.64,194.7,336.7,27.3,585,12932,0.15,2.28,0.00,0.000,6,0.240,0.057,2082,2734,1996,0,0,0,0,0,0
$GC,13254,0.64,194.7,252.3,25.6,601,13258,0.00,2.22,0.00,0.000,4,0.000,0.052,2091,1331,1996,0,0,0,0,0,0
$GC,13317,0.64,194.7,236.1,22.9,604,13326,0.00,2.30,0.00,0.000,6,0.000,0.058,2090,2732,1995,0,0,0,0,0,0
$GC,13641,0.64,194.7,156.0,25.1,625,13645,0.00,2.22,0.00,0.000,4,0.000,0.051,2100,1326,1996,0,0,0,0,0,0
$GC,13664,0.64,194.7,149.1,25.0,626,13668,0.00,2.28,0.00,0.000,6,0.000,0.057,2100,2736,1995,0,0,0,0,0,0
$GC,13997,0.64,194.7,64.0,21.7,662,14004,0.00,2.22,0.00,0.000,4,0.000,0.052,2110,1332,1995,0,0,0,0,0,0
$GC,14034,0.64,194.7,57.0,21.3,667,14041,0.12,2.25,0.00,0.000,6,0.247,0.054,2084,2736,1995,0,0,0,0,0,0
$STATE,14256,end climb,SURFACE_DEPTH_REACHED
$STATE,14256,begin surface coast
$FINISH,0.4,1.005528
$STATE,14270,end surface coast,CONTROL_FINISHED_OK
$STATE,14270,begin surface
$SM_CCo,14293,155.35,0.773,1,0,517,564.18
$SM_GC,0.76,0.00,0.00,155.35,0.000,0.000,0.773,60,2958,517,-5.66,0.99,564.18
$IRIDIUM_FIX,-4616.72,401.12,161212,090903
$TT8_MAMPS,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,23.0,9.757
$10V_AH,10.1,4.169
$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,14.600,150.500,391.750,155.350,0.000,109.586,253.845,549.925,0.000,0.000,21.025,1798.660,9737.206,702.732,2798.199,746.917,33.365,1602.241,0.000,1870.449,0.000,1.008,0.000
$DEVICE_MAMPS,247.095,64.260,1176.570,772.650,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.412,1379.993,719.667,270.031,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,50614,705
$CAP_FILE_SIZE,135878,0
$CFSIZE,259252224,225357824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,161212,132535,-4632.115,403.223,33,1.1,33,-23.3