version: 66.07
glider: 542
mission: 6
dive: 46
start: 12 17 112 6 55 26
data:
$ID,542
$MISSION,6
$DIVE,46
$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,-10420.264
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,171212,063834,-4628.761,405.009,32,1.5,32,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-28.4
$GPS2,171212,065424,-4628.763,405.292,17,1.7,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,-0.135
$KALMAN_X,-47092.5,693.1,519.1,31050.3,-1674.0
$KALMAN_Y,935.5,819.1,103.9,39824.0,414.8
$MHEAD_RNG_PITCHd_Wd,265.0,7124,-15.6,-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,-178.9,0.0,0.0,0,170,0.00,0.00,-141.60,0.000,2,0.000,0.000,60,2942,3277,0,0,0,0,0,0
$GC,177,-0.66,-194.7,3.5,-5.2,18,203,6.43,1.60,-8.35,0.000,4,0.245,0.083,1641,3899,3617,0,0,0,0,0,0
$GC,246,-0.66,-194.7,18.4,-15.9,27,255,0.00,1.55,0.00,0.000,6,0.000,0.041,1640,2921,3617,0,0,0,0,0,0
$GC,331,-0.66,-194.7,31.7,-16.2,40,340,0.00,2.20,0.00,0.000,4,0.000,0.044,1641,1525,3618,0,0,0,0,0,0
$GC,369,-0.66,-194.7,37.4,-16.0,45,376,0.00,2.30,0.00,0.000,6,0.000,0.060,1630,2918,3618,0,0,0,0,0,0
$GC,614,-0.66,-194.7,72.7,-13.1,86,622,0.00,2.17,0.00,0.000,4,0.000,0.040,1630,1522,3618,0,0,0,0,0,0
$GC,651,-0.66,-194.7,77.0,-12.2,91,657,0.12,2.30,0.00,0.000,6,0.183,0.058,1651,2933,3618,0,0,0,0,0,0
$GC,1000,-0.66,-194.7,115.1,-10.9,135,1004,0.00,2.17,0.00,0.000,4,0.000,0.040,1651,1522,3618,0,0,0,0,0,0
$GC,1040,-0.66,-194.7,119.0,-10.0,137,1044,0.00,2.28,0.00,0.000,6,0.000,0.057,1642,2923,3618,0,0,0,0,0,0
$GC,1368,-0.66,-194.7,157.2,-11.8,158,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2923,3618,0,0,0,0,0,0
$GC,1679,-0.66,-194.7,194.3,-12.2,178,1683,0.00,2.20,0.00,0.000,4,0.000,0.040,1642,1518,3618,0,0,0,0,0,0
$GC,1714,-0.66,-194.7,198.7,-11.2,180,1719,0.00,2.28,0.00,0.000,6,0.000,0.058,1632,2926,3619,0,0,0,0,0,0
$GC,2037,-0.66,-194.7,237.9,-12.5,200,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2926,3618,0,0,0,0,0,0
$GC,2354,-0.66,-194.7,277.3,-12.1,217,2357,0.00,2.17,0.00,0.000,4,0.000,0.041,1631,1516,3618,0,0,0,0,0,0
$GC,2400,-0.66,-194.7,282.4,-10.8,219,2404,0.12,2.25,0.00,0.000,6,0.181,0.059,1653,2927,3619,0,0,0,0,0,0
$GC,2732,-0.66,-194.7,312.8,-8.6,235,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2927,3618,0,0,0,0,0,0
$GC,3040,-0.66,-194.7,340.0,-8.9,250,3044,0.00,2.17,0.00,0.000,4,0.000,0.041,1653,1513,3618,0,0,0,0,0,0
$GC,3083,-0.66,-194.7,343.6,-8.1,252,3087,0.00,2.28,0.00,0.000,6,0.000,0.060,1645,2926,3618,0,0,0,0,0,0
$GC,3412,-0.66,-194.7,375.4,-9.8,268,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2926,3618,0,0,0,0,0,0
$GC,3742,-0.66,-194.7,405.9,-8.9,283,3745,0.00,2.15,0.00,0.000,4,0.000,0.041,1645,1521,3618,0,0,0,0,0,0
$GC,3777,-0.66,-194.7,409.1,-8.2,284,3781,0.00,2.25,0.00,0.000,6,0.000,0.059,1635,2923,3618,0,0,0,0,0,0
$GC,4109,-0.66,-194.7,438.7,-9.8,295,4113,0.00,2.17,0.00,0.000,4,0.000,0.041,1635,1520,3618,0,0,0,0,0,0
$GC,4140,-0.66,-194.7,441.8,-9.8,296,4145,0.12,2.25,0.00,0.000,6,0.183,0.060,1657,2923,3618,0,0,0,0,0,0
$GC,4479,-0.66,-194.7,467.9,-8.0,307,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2923,3618,0,0,0,0,0,0
$GC,4785,-0.66,-194.7,493.7,-8.6,317,4789,0.00,2.17,0.00,0.000,4,0.000,0.042,1658,1518,3617,0,0,0,0,0,0
$GC,4832,-0.66,-194.7,498.0,-8.8,318,4836,0.00,2.28,0.00,0.000,6,0.000,0.060,1649,2933,3617,0,0,0,0,0,0
$GC,5153,-0.66,-194.7,529.4,-9.9,329,5157,0.00,2.17,0.00,0.000,4,0.000,0.041,1649,1515,3617,0,0,0,0,0,0
$GC,5177,-0.66,-194.7,532.1,-10.2,329,5184,0.00,2.25,0.00,0.000,6,0.000,0.059,1640,2923,3616,0,0,0,0,0,0
$GC,5492,-0.66,-194.7,565.2,-10.7,340,5496,0.00,2.17,0.00,0.000,4,0.000,0.041,1639,1515,3616,0,0,0,0,0,0
$GC,5515,-0.66,-194.7,568.0,-11.1,340,5520,0.00,2.28,0.00,0.000,6,0.000,0.060,1630,2933,3616,0,0,0,0,0,0
$GC,5831,-0.66,-194.7,602.8,-11.0,350,5835,0.00,2.17,0.00,0.000,4,0.000,0.041,1630,1515,3615,0,0,0,0,0,0
$GC,5854,-0.66,-194.7,605.7,-11.1,350,5862,0.12,2.25,0.00,0.000,6,0.182,0.060,1652,2925,3616,0,0,0,0,0,0
$GC,6170,-0.66,-194.7,631.6,-8.0,361,6174,0.00,2.15,0.00,0.000,4,0.000,0.041,1652,1516,3616,0,0,0,0,0,0
$GC,6194,-0.66,-194.7,633.7,-8.1,361,6198,0.00,2.25,0.00,0.000,6,0.000,0.060,1645,2922,3615,0,0,0,0,0,0
$GC,6509,-0.66,-194.7,660.4,-8.7,371,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2922,3615,0,0,0,0,0,0
$GC,6815,-0.66,-194.7,686.5,-8.4,381,6819,0.00,2.15,0.00,0.000,4,0.000,0.041,1645,1514,3615,0,0,0,0,0,0
$GC,6845,-0.66,-194.7,689.3,-9.1,381,6852,0.00,2.25,0.00,0.000,6,0.000,0.060,1636,2924,3615,0,0,0,0,0,0
$GC,7161,-0.66,-194.7,718.1,-9.4,392,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2924,3615,0,0,0,0,0,0
$GC,7467,-0.66,-194.7,746.7,-9.2,402,7471,0.00,2.15,0.00,0.000,4,0.000,0.041,1635,1514,3614,0,0,0,0,0,0
$GC,7513,-0.66,-194.7,751.1,-8.5,403,7517,0.00,2.25,0.00,0.000,6,0.000,0.060,1626,2922,3614,0,0,0,0,0,0
$GC,7847,-0.66,-194.7,784.8,-10.5,414,7849,0.10,0.00,0.00,0.000,6,0.207,0.000,1650,2922,3614,0,0,0,0,0,0
$GC,8152,-0.66,-194.7,811.0,-8.4,424,8156,0.00,2.15,0.00,0.000,4,0.000,0.041,1650,1513,3614,0,0,0,0,0,0
$GC,8193,-0.66,-194.7,814.7,-8.1,425,8197,0.00,2.28,0.00,0.000,6,0.000,0.060,1642,2933,3614,0,0,0,0,0,0
$GC,8519,-0.66,-194.7,842.7,-8.5,436,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2933,3614,0,0,0,0,0,0
$GC,8826,-0.66,-194.7,867.8,-8.0,446,8830,0.00,2.15,0.00,0.000,4,0.000,0.041,1642,1516,3614,0,0,0,0,0,0
$GC,8872,-0.66,-194.7,871.5,-7.3,447,8876,0.00,2.25,0.00,0.000,6,0.000,0.060,1633,2927,3613,0,0,0,0,0,0
$GC,9204,-0.66,-194.7,897.9,-7.8,458,9208,0.00,2.15,0.00,0.000,4,0.000,0.041,1633,1512,3614,0,0,0,0,0,0
$GC,9241,-0.66,-194.7,900.8,-7.7,459,9246,0.12,2.25,0.00,0.000,6,0.182,0.060,1656,2925,3613,0,0,0,0,0,0
$GC,9586,-0.66,-194.7,920.9,-5.7,470,9590,0.00,2.15,0.00,0.000,4,0.000,0.042,1656,1518,3613,0,0,0,0,0,0
$GC,9610,-0.66,-194.7,922.5,-6.3,470,9617,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2929,3613,0,0,0,0,0,0
$GC,9925,-0.66,-194.7,941.7,-6.3,481,9929,0.00,2.15,0.00,0.000,4,0.000,0.041,1652,1515,3613,0,0,0,0,0,0
$GC,9963,-0.66,-194.7,944.1,-6.6,482,9967,0.00,2.22,0.00,0.000,6,0.000,0.060,1644,2922,3613,0,0,0,0,0,0
$GC,10308,-0.66,-194.7,967.8,-6.9,493,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2923,3613,0,0,0,0,0,0
$STATE,10454,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10454,begin apogee
$GC,10465,-0.19,0.0,978.8,7.2,498,10669,0.52,0.00,194.05,1.199,6,0.156,0.000,1804,2734,2812,0,0,0,0,0,0
$STATE,10671,end apogee,CONTROL_FINISHED_OK
$STATE,10671,begin climb
$GC,10675,0.66,194.7,984.1,0.0,505,10880,0.77,2.28,190.95,1.799,4,0.066,0.063,2084,3900,2026,0,0,0,0,1,0
$GC,11050,0.66,194.7,889.4,31.7,516,11054,0.00,1.95,0.00,0.000,6,0.000,0.042,2094,2750,2023,0,0,0,0,0,0
$GC,11377,0.66,194.7,789.2,30.4,527,11382,0.00,2.33,0.00,0.000,4,0.000,0.050,2105,1323,2019,0,0,0,0,0,0
$GC,11435,0.66,194.7,771.4,27.2,528,11442,0.00,2.38,0.00,0.000,6,0.000,0.056,2104,2734,2017,0,0,0,0,0,0
$GC,11750,0.66,194.7,674.5,31.1,539,11754,0.00,2.33,0.00,0.000,4,0.000,0.052,2115,1314,2017,0,0,0,0,0,0
$GC,11802,0.66,194.7,658.2,27.4,540,11807,0.12,2.38,0.00,0.000,6,0.256,0.056,2091,2743,2016,0,0,0,0,0,0
$GC,12117,0.66,194.7,567.7,28.6,550,12121,0.00,2.30,0.00,0.000,4,0.000,0.051,2100,1320,2016,0,0,0,0,0,0
$GC,12182,0.66,194.7,550.0,26.3,552,12186,0.00,2.33,0.00,0.000,6,0.000,0.057,2100,2745,2016,0,0,0,0,0,0
$GC,12527,0.66,194.7,453.2,27.7,563,12531,0.00,2.30,0.00,0.000,4,0.000,0.051,2111,1316,2016,0,0,0,0,0,0
$GC,12578,0.66,194.7,438.5,25.0,564,12583,0.00,2.33,0.00,0.000,6,0.000,0.057,2110,2736,2015,0,0,0,0,0,0
$GC,12908,0.66,194.7,345.6,28.6,577,12912,0.00,2.25,0.00,0.000,4,0.000,0.051,2120,1319,2015,0,0,0,0,0,0
$GC,12937,0.66,194.7,336.0,27.5,578,12942,0.15,2.30,0.00,0.000,6,0.249,0.056,2088,2734,2015,0,0,0,0,0,0
$GC,13258,0.66,194.7,252.5,25.7,593,13262,0.00,2.28,0.00,0.000,4,0.000,0.051,2098,1312,2015,0,0,0,0,0,0
$GC,13279,0.66,194.7,246.7,26.1,594,13283,0.00,2.30,0.00,0.000,6,0.000,0.056,2097,2739,2015,0,0,0,0,0,0
$GC,13608,0.66,194.7,161.8,25.2,615,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2739,2015,0,0,0,0,0,0
$GC,13931,0.66,194.7,82.5,25.5,643,13936,0.00,2.25,0.00,0.000,4,0.000,0.050,2108,1313,2015,0,0,0,0,0,0
$GC,14106,0.66,194.7,42.5,22.8,672,14114,0.00,2.33,0.00,0.000,6,0.000,0.057,2108,2737,2014,0,0,0,0,0,0
$STATE,14271,end climb,SURFACE_DEPTH_REACHED
$STATE,14271,begin surface coast
$FINISH,0.8,1.026490
$STATE,14280,end surface coast,CONTROL_FINISHED_OK
$STATE,14280,begin surface
$SM_CCo,14303,161.55,0.783,1,0,517,564.18
$SM_GC,0.83,0.00,0.00,161.55,0.000,0.000,0.783,65,2933,517,-5.64,0.28,564.18
$IRIDIUM_FIX,-4613.60,357.79,171212,060654
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.50
$XPDR_PINGS,1
$24V_AH,21.6,10.921
$10V_AH,10.1,4.701
$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,14.175,128.850,385.000,161.550,0.000,64.062,74.295,514.371,0.250,0.000,19.918,1761.891,9793.360,687.061,2470.534,705.425,33.356,1541.686,0.000,1794.169,0.000,1.011,0.000
$DEVICE_MAMPS,255.510,82.620,1799.280,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.319,1372.568,726.208,262.614,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,50629,699
$CAP_FILE_SIZE,126314,0
$CFSIZE,259252224,225030144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171212,105803,-4628.565,402.488,36,1.1,40,-23.3