version: 66.07
glider: 542
mission: 6
dive: 49
start: 12 17 112 19 12 17
data:
$ID,542
$MISSION,6
$DIVE,49
$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,-10429.844
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,171212,185334,-4630.085,358.383,28,1.8,28,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-23.9
$GPS2,171212,191119,-4630.194,358.512,19,0.8,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.002,-0.286
$KALMAN_X,-42525.6,-600.6,-122.1,19871.4,1831.5
$KALMAN_Y,12006.2,-588.0,-292.2,27917.0,6071.4
$MHEAD_RNG_PITCHd_Wd,202.9,1931,-15.5,-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,22,begin dive
$GC,26,-0.64,-181.4,0.0,0.0,0,171,0.00,0.00,-141.55,0.000,2,0.000,0.000,60,2935,3318,0,0,0,0,0,0
$GC,177,-0.66,-194.7,3.5,-4.5,18,196,6.50,2.30,-7.00,0.000,4,0.249,0.054,1660,1506,3615,0,0,0,0,0,0
$GC,405,-0.66,-194.7,35.6,-9.4,53,412,0.00,2.30,0.00,0.000,6,0.000,0.054,1652,2917,3618,0,0,0,0,0,0
$GC,652,-0.66,-194.7,67.9,-13.4,94,658,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2918,3617,0,0,0,0,0,0
$GC,1005,-0.66,-194.7,108.9,-10.9,146,1009,0.00,2.20,0.00,0.000,4,0.000,0.039,1652,1502,3618,0,0,0,0,0,0
$GC,1051,-0.66,-194.7,113.9,-9.8,148,1060,0.00,2.33,0.00,0.000,6,0.000,0.056,1641,2924,3618,0,0,0,0,0,0
$GC,1375,-0.66,-194.7,150.6,-11.7,169,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2924,3618,0,0,0,0,0,0
$GC,1687,-0.66,-194.7,185.7,-11.0,189,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2924,3617,0,0,0,0,0,0
$GC,2000,-0.66,-194.7,218.1,-9.9,209,2004,0.00,2.20,0.00,0.000,4,0.000,0.040,1641,1507,3618,0,0,0,0,0,0
$GC,2029,-0.66,-194.7,221.6,-10.1,210,2038,0.00,2.30,0.00,0.000,6,0.000,0.056,1630,2924,3618,0,0,0,0,0,0
$GC,2350,-0.66,-194.7,258.0,-11.8,230,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2924,3618,0,0,0,0,0,0
$GC,2661,-0.66,-194.7,295.5,-12.2,245,2665,0.00,2.17,0.00,0.000,4,0.000,0.040,1630,1500,3618,0,0,0,0,0,0
$GC,2696,-0.66,-194.7,300.3,-11.5,246,2701,0.12,2.28,0.00,0.000,6,0.181,0.056,1652,2924,3618,0,0,0,0,0,0
$GC,3016,-0.66,-194.7,332.7,-10.2,261,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2925,3618,0,0,0,0,0,0
$GC,3325,-0.66,-194.7,363.2,-9.7,276,3329,0.00,2.15,0.00,0.000,4,0.000,0.040,1652,1508,3618,0,0,0,0,0,0
$GC,3371,-0.66,-194.7,367.9,-8.2,278,3375,0.00,2.25,0.00,0.000,6,0.000,0.057,1643,2923,3618,0,0,0,0,0,0
$GC,3701,-0.66,-194.7,399.9,-10.0,294,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2924,3617,0,0,0,0,0,0
$GC,4028,-0.66,-194.7,430.7,-9.4,305,4032,0.00,2.17,0.00,0.000,4,0.000,0.040,1643,1507,3617,0,0,0,0,0,0
$GC,4068,-0.66,-194.7,434.6,-8.3,306,4072,0.00,2.28,0.00,0.000,6,0.000,0.057,1632,2932,3617,0,0,0,0,0,0
$GC,4394,-0.66,-194.7,467.2,-10.1,317,4398,0.00,2.17,0.00,0.000,4,0.000,0.041,1632,1502,3617,0,0,0,0,0,0
$GC,4426,-0.66,-194.7,470.3,-10.0,318,4431,0.12,2.28,0.00,0.000,6,0.186,0.057,1654,2928,3617,0,0,0,0,0,0
$GC,4765,-0.66,-194.7,497.3,-8.1,329,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2928,3617,0,0,0,0,0,0
$GC,5073,-0.66,-194.7,522.6,-8.6,339,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2928,3617,0,0,0,0,0,0
$GC,5377,-0.66,-194.7,549.7,-8.8,349,5381,0.00,2.15,0.00,0.000,4,0.000,0.041,1654,1508,3616,0,0,0,0,0,0
$GC,5418,-0.66,-194.7,553.3,-7.8,350,5422,0.00,2.28,0.00,0.000,6,0.000,0.058,1646,2932,3616,0,0,0,0,0,0
$GC,5744,-0.66,-194.7,580.5,-8.2,361,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2932,3616,0,0,0,0,0,0
$GC,6051,-0.66,-194.7,605.1,-8.1,371,6055,0.00,2.17,0.00,0.000,4,0.000,0.041,1646,1502,3616,0,0,0,0,0,0
$GC,6097,-0.66,-194.7,609.0,-7.8,372,6101,0.00,2.28,0.00,0.000,6,0.000,0.058,1635,2926,3615,0,0,0,0,0,0
$GC,6418,-0.66,-194.7,638.0,-9.4,383,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2926,3616,0,0,0,0,0,0
$GC,6724,-0.66,-194.7,667.2,-9.6,393,6728,0.00,2.17,0.00,0.000,4,0.000,0.041,1635,1503,3615,0,0,0,0,0,0
$GC,6765,-0.66,-194.7,671.4,-9.1,394,6770,0.12,2.25,0.00,0.000,6,0.186,0.057,1657,2927,3615,0,0,0,0,0,0
$GC,7105,-0.66,-194.7,696.7,-7.3,405,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2927,3615,0,0,0,0,0,0
$GC,7410,-0.66,-194.7,717.8,-6.7,415,7414,0.00,2.17,0.00,0.000,4,0.000,0.041,1657,1498,3615,0,0,0,0,0,0
$GC,7456,-0.66,-194.7,721.0,-6.5,416,7460,0.00,2.28,0.00,0.000,6,0.000,0.058,1650,2923,3615,0,0,0,0,0,0
$GC,7777,-0.66,-194.7,744.5,-7.6,427,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2923,3615,0,0,0,0,0,0
$GC,8085,-0.66,-194.7,767.4,-7.4,437,8089,0.00,2.17,0.00,0.000,4,0.000,0.041,1650,1505,3615,0,0,0,0,0,0
$GC,8150,-0.66,-194.7,772.3,-7.1,439,8154,0.00,2.28,0.00,0.000,6,0.000,0.058,1639,2934,3615,0,0,0,0,0,0
$GC,8488,-0.66,-194.7,800.9,-8.6,450,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2934,3615,0,0,0,0,0,0
$GC,8794,-0.66,-194.7,828.4,-9.1,460,8798,0.00,2.17,0.00,0.000,4,0.000,0.040,1639,1498,3615,0,0,0,0,0,0
$GC,8847,-0.66,-194.7,833.1,-8.2,461,8851,0.00,2.28,0.00,0.000,6,0.000,0.058,1629,2923,3615,0,0,0,0,0,0
$GC,9162,-0.66,-194.7,864.2,-10.1,471,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2923,3615,0,0,0,0,0,0
$GC,9468,-0.66,-194.7,895.0,-10.0,481,9472,0.00,2.17,0.00,0.000,4,0.000,0.041,1628,1499,3615,0,0,0,0,0,0
$GC,9531,-0.66,-194.7,901.3,-9.4,482,9539,0.12,2.28,0.00,0.000,6,0.186,0.058,1652,2930,3615,0,0,0,0,0,0
$GC,9847,-0.66,-194.7,924.3,-6.9,493,9851,0.00,2.17,0.00,0.000,4,0.000,0.041,1651,1507,3615,0,0,0,0,0,0
$GC,9882,-0.66,-194.7,927.0,-6.5,494,9886,0.00,2.28,0.00,0.000,6,0.000,0.058,1644,2934,3615,0,0,0,0,0,0
$GC,10214,-0.66,-194.7,950.2,-6.9,505,10218,0.00,2.15,0.00,0.000,4,0.000,0.041,1643,1508,3615,0,0,0,0,0,0
$GC,10238,-0.66,-194.7,952.1,-7.0,505,10247,0.00,2.25,0.00,0.000,6,0.000,0.058,1634,2925,3615,0,0,0,0,0,0
$STATE,10457,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10458,begin apogee
$GC,10468,-0.19,0.0,968.6,7.7,513,10670,0.55,0.00,194.12,1.200,6,0.159,0.000,1802,2702,2814,0,0,0,0,0,0
$STATE,10672,end apogee,CONTROL_FINISHED_OK
$STATE,10672,begin climb
$GC,10677,0.66,194.7,973.8,0.0,520,10881,0.77,2.28,190.52,1.781,4,0.064,0.060,2082,3897,2027,0,0,0,0,1,0
$GC,11109,0.66,194.7,866.3,28.5,533,11112,0.00,1.92,0.00,0.000,6,0.000,0.042,2092,2748,2022,0,0,0,0,0,0
$GC,11452,0.66,194.7,763.9,30.1,544,11456,0.00,2.33,0.00,0.000,4,0.000,0.050,2103,1318,2019,0,0,0,0,0,0
$GC,11537,0.66,194.7,739.6,26.0,546,11541,0.00,2.35,0.00,0.000,6,0.000,0.054,2103,2736,2017,0,0,0,0,0,0
$GC,11852,0.66,194.7,643.1,31.0,556,11856,0.00,2.33,0.00,0.000,4,0.000,0.051,2113,1315,2016,0,0,0,0,0,0
$GC,11893,0.66,194.7,630.4,28.2,557,11898,0.12,2.33,0.00,0.000,6,0.246,0.054,2089,2738,2016,0,0,0,0,0,0
$GC,12220,0.66,194.7,538.0,28.5,568,12224,0.00,2.30,0.00,0.000,4,0.000,0.051,2098,1316,2016,0,0,0,0,0,0
$GC,12251,0.66,194.7,529.4,26.3,569,12255,0.00,2.30,0.00,0.000,6,0.000,0.054,2098,2739,2016,0,0,0,0,0,0
$GC,12589,0.66,194.7,434.2,28.0,580,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2738,2015,0,0,0,0,0,0
$GC,12909,0.66,194.7,348.8,26.6,593,12913,0.00,2.28,0.00,0.000,4,0.000,0.050,2108,1316,2015,0,0,0,0,0,0
$GC,12968,0.66,194.7,333.0,23.9,595,12975,0.00,2.30,0.00,0.000,6,0.000,0.056,2108,2739,2015,0,0,0,0,0,0
$GC,13289,0.66,194.7,245.5,28.1,611,13293,0.00,2.28,0.00,0.000,4,0.000,0.052,2119,1314,2015,0,0,0,0,0,0
$GC,13322,0.66,194.7,236.4,27.0,613,13327,0.15,2.30,0.00,0.000,6,0.242,0.057,2086,2734,2015,0,0,0,0,0,0
$GC,13656,0.66,194.7,155.8,24.5,634,13660,0.00,2.25,0.00,0.000,4,0.000,0.050,2095,1313,2015,0,0,0,0,0,0
$GC,13706,0.66,194.7,143.2,22.4,637,13710,0.00,2.28,0.00,0.000,6,0.000,0.056,2095,2737,2015,0,0,0,0,0,0
$GC,14042,0.66,194.7,60.3,23.8,675,14049,0.00,1.88,0.00,0.000,4,0.000,0.063,2095,3901,2015,0,0,0,0,0,0
$GC,14119,0.66,194.7,40.7,26.2,687,14126,0.00,1.85,0.00,0.000,6,0.000,0.044,2104,2724,2014,0,0,0,0,0,0
$STATE,14271,end climb,SURFACE_DEPTH_REACHED
$STATE,14275,begin surface coast
$FINISH,0.5,1.026519
$STATE,14289,end surface coast,CONTROL_FINISHED_OK
$STATE,14289,begin surface
$SM_CCo,14312,161.60,0.791,1,0,518,564.18
$SM_GC,0.67,0.00,0.00,161.60,0.000,0.000,0.791,63,2932,518,-5.65,0.25,564.18
$IRIDIUM_FIX,-4613.60,354.67,171212,181845
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,21.6,11.606
$10V_AH,10.1,4.996
$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,14.175,107.525,384.650,161.600,0.000,79.778,148.026,469.033,0.000,0.000,23.391,1784.369,9829.937,669.035,2567.873,686.033,33.352,1510.409,0.000,1841.074,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,71.910,1780.920,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.985,1412.259,756.049,291.336,0.000,0.000,0.000,0.000,0.000,0.000
$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,50467,714
$CAP_FILE_SIZE,122316,0
$CFSIZE,259252224,224862208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171212,231503,-4632.401,357.894,36,1.1,40,-23.3