version: 66.07
glider: 542
mission: 6
dive: 245
start: 1 16 113 21 8 8
data:
$ID,542
$MISSION,6
$DIVE,245
$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,353
$T_MISSION,368
$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,150
$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,573.99261
$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,-11284.946
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,33
$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
$GPS1,160113,205628,-4633.994,405.711,41,1.0,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-28.7
$GPS2,160113,210712,-4633.954,405.721,22,1.0,22,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,0.084
$KALMAN_X,-180563.0,1111.0,171.8,165002.7,-7075.2
$KALMAN_Y,93092.8,-55.3,-316.7,-60638.5,2944.0
$MHEAD_RNG_PITCHd_Wd,94.0,9130,-16.5,-9.443
$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,27,-0.61,-146.1,0.0,0.0,0,163,0.00,0.00,-133.95,0.000,2,0.000,0.000,54,2898,3170,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.2,-2.8,17,189,6.50,2.28,-6.57,0.000,4,0.241,0.047,1646,1471,3419,0,0,0,0,0,0
$GC,201,-0.61,-146.1,10.5,-14.8,20,211,0.00,2.30,0.00,0.000,6,0.000,0.049,1637,2875,3419,0,0,0,0,0,0
$GC,290,-0.61,-146.1,22.1,-13.0,33,299,0.00,1.65,0.00,0.000,4,0.000,0.057,1629,3897,3420,0,0,0,0,0,0
$GC,574,-0.61,-146.1,60.0,-12.5,79,581,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2856,3420,0,0,0,0,0,0
$GC,811,-0.61,-146.1,88.2,-11.9,120,820,0.00,1.67,0.00,0.000,4,0.000,0.057,1621,3889,3420,0,0,0,0,0,0
$GC,1017,-0.61,-146.1,114.9,-12.7,141,1024,0.08,1.52,0.00,0.000,6,0.161,0.031,1644,2875,3420,0,0,0,0,0,0
$GC,1343,-0.61,-146.1,147.3,-9.3,162,1347,0.00,2.08,0.00,0.000,4,0.000,0.036,1643,1498,3421,0,0,0,0,0,0
$GC,1412,-0.61,-146.1,154.2,-8.6,166,1417,0.00,2.20,0.00,0.000,6,0.000,0.050,1635,2888,3421,0,0,0,0,0,0
$GC,1736,-0.61,-146.1,186.9,-10.0,186,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2889,3421,0,0,0,0,0,0
$GC,2046,-0.61,-146.1,216.8,-9.6,206,2050,0.00,2.12,0.00,0.000,4,0.000,0.035,1634,1495,3421,0,0,0,0,0,0
$GC,2105,-0.61,-146.1,222.6,-8.8,209,2112,0.00,2.20,0.00,0.000,6,0.000,0.051,1624,2881,3420,0,0,0,0,0,0
$GC,2428,-0.61,-146.1,258.4,-11.7,229,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2881,3421,0,0,0,0,0,0
$GC,2736,-0.61,-146.1,294.9,-12.0,244,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2881,3421,0,0,0,0,0,0
$GC,3047,-0.61,-146.1,332.1,-12.1,259,3051,0.00,2.10,0.00,0.000,4,0.000,0.036,1624,1502,3421,0,0,0,0,0,0
$GC,3097,-0.61,-146.1,337.8,-10.6,261,3102,0.12,2.20,0.00,0.000,6,0.183,0.051,1646,2883,3421,0,0,0,0,0,0
$GC,3434,-0.61,-146.1,367.9,-8.1,277,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2883,3421,0,0,0,0,0,0
$GC,3737,-0.61,-146.1,392.3,-8.0,292,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2882,3421,0,0,0,0,0,0
$GC,4054,-0.61,-146.1,418.8,-8.5,304,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2883,3420,0,0,0,0,0,0
$GC,4361,-0.61,-146.1,445.8,-8.9,314,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2883,3420,0,0,0,0,0,0
$GC,4667,-0.61,-146.1,473.1,-8.9,324,4671,0.00,2.10,0.00,0.000,4,0.000,0.037,1645,1501,3419,0,0,0,0,0,0
$GC,4699,-0.61,-146.1,475.8,-8.8,325,4703,0.00,2.20,0.00,0.000,6,0.000,0.052,1636,2878,3420,0,0,0,0,0,0
$GC,5037,-0.61,-146.1,508.4,-9.8,336,5040,0.00,1.60,0.00,0.000,4,0.000,0.060,1629,3885,3420,0,0,0,0,0,0
$GC,5067,-0.61,-146.1,511.6,-10.6,336,5074,0.00,1.50,0.00,0.000,6,0.000,0.032,1628,2884,3419,0,0,0,0,0,0
$GC,5382,-0.61,-146.1,542.3,-9.5,347,5386,0.00,2.10,0.00,0.000,4,0.000,0.037,1628,1503,3419,0,0,0,0,0,0
$GC,5406,-0.61,-146.1,544.7,-9.6,347,5411,0.12,2.20,0.00,0.000,6,0.181,0.051,1650,2882,3420,0,0,0,0,0,0
$GC,5722,-0.61,-146.1,571.3,-8.7,357,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2881,3419,0,0,0,0,0,0
$GC,6027,-0.61,-146.1,596.0,-7.6,367,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2880,3419,0,0,0,0,0,0
$GC,6334,-0.61,-146.1,617.7,-6.9,377,6338,0.00,2.10,0.00,0.000,4,0.000,0.036,1650,1498,3419,0,0,0,0,0,0
$GC,6366,-0.61,-146.1,619.8,-6.6,378,6370,0.00,2.22,0.00,0.000,6,0.000,0.052,1641,2888,3419,0,0,0,0,0,0
$GC,6704,-0.61,-146.1,645.2,-7.9,389,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2889,3419,0,0,0,0,0,0
$GC,7010,-0.61,-146.1,671.0,-8.5,399,7014,0.00,2.12,0.00,0.000,4,0.000,0.036,1641,1501,3419,0,0,0,0,0,0
$GC,7034,-0.61,-146.1,673.5,-9.5,399,7038,0.00,2.22,0.00,0.000,6,0.000,0.052,1632,2891,3419,0,0,0,0,0,0
$GC,7351,-0.61,-146.1,702.5,-9.2,409,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2891,3419,0,0,0,0,0,0
$GC,7656,-0.61,-146.1,729.4,-8.5,419,7660,0.00,2.12,0.00,0.000,4,0.000,0.037,1632,1503,3419,0,0,0,0,0,0
$GC,7697,-0.61,-146.1,733.0,-7.5,420,7701,0.00,2.20,0.00,0.000,6,0.000,0.052,1622,2885,3419,0,0,0,0,0,0
$GC,8037,-0.61,-146.1,761.3,-8.5,431,8041,0.10,1.62,0.00,0.000,4,0.202,0.061,1638,3904,3418,0,0,0,0,0,0
$GC,8089,-0.61,-146.1,765.7,-7.3,432,8093,0.00,1.55,0.00,0.000,6,0.000,0.032,1638,2877,3418,0,0,0,0,0,0
$GC,8416,-0.61,-146.1,788.9,-7.2,443,8420,0.00,2.08,0.00,0.000,4,0.000,0.037,1638,1497,3418,0,0,0,0,0,0
$GC,8456,-0.61,-146.1,792.3,-7.3,444,8460,0.00,2.22,0.00,0.000,6,0.000,0.052,1629,2884,3418,0,0,0,0,0,0
$GC,8783,-0.61,-146.1,817.6,-7.6,455,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3418,0,0,0,0,0,0
$GC,9090,-0.61,-146.1,839.8,-7.4,465,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3418,0,0,0,0,0,0
$GC,9395,-0.61,-146.1,862.7,-7.5,475,9399,0.00,2.12,0.00,0.000,4,0.000,0.036,1629,1500,3418,0,0,0,0,0,0
$GC,9427,-0.61,-146.1,865.4,-7.8,476,9432,0.12,2.22,0.00,0.000,6,0.177,0.053,1651,2888,3418,0,0,0,0,0,0
$GC,9766,-0.61,-146.1,887.2,-6.8,487,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2889,3418,0,0,0,0,0,0
$GC,10072,-0.61,-146.1,908.2,-7.0,497,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2889,3418,0,0,0,0,0,0
$GC,10379,-0.61,-146.1,930.5,-7.3,507,10383,0.00,2.12,0.00,0.000,4,0.000,0.036,1651,1498,3418,0,0,0,0,0,0
$GC,10418,-0.61,-146.1,933.2,-6.8,508,10422,0.00,2.20,0.00,0.000,6,0.000,0.053,1643,2881,3417,0,0,0,0,0,0
$GC,10763,-0.61,-146.1,958.3,-7.0,519,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2882,3417,0,0,0,0,0,0
$STATE,11062,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11063,begin apogee
$GC,11074,-0.18,0.0,977.8,6.1,529,11225,0.47,0.00,148.43,1.233,6,0.144,0.000,1787,2707,2820,0,0,0,0,0,0
$STATE,11227,end apogee,CONTROL_FINISHED_OK
$STATE,11227,begin climb
$GC,11232,0.61,146.1,980.1,0.0,534,11399,0.73,2.17,150.80,1.789,4,0.064,0.057,2050,3893,2225,0,0,0,0,1,0
$GC,11413,0.61,146.1,949.5,24.9,539,11420,0.00,2.03,0.00,0.000,6,0.000,0.034,2059,2710,2225,0,0,0,0,0,0
$GC,11730,0.61,146.1,868.1,25.7,550,11734,0.00,2.30,0.00,0.000,4,0.000,0.043,2070,1284,2219,0,0,0,0,0,0
$GC,11776,0.61,146.1,856.2,22.4,551,11780,0.00,2.35,0.00,0.000,6,0.000,0.050,2070,2706,2216,0,0,0,0,0,0
$GC,12097,0.61,146.1,776.6,24.7,562,12101,0.00,2.25,0.00,0.000,4,0.000,0.042,2080,1286,2215,0,0,0,0,0,0
$GC,12138,0.61,146.1,766.8,21.4,563,12143,0.12,2.30,0.00,0.000,6,0.218,0.050,2054,2710,2214,0,0,0,0,0,0
$GC,12465,0.61,146.1,694.8,21.8,574,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2709,2214,0,0,0,0,0,0
$GC,12773,0.61,146.1,628.5,21.4,584,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2709,2213,0,0,0,0,0,0
$GC,13077,0.61,146.1,560.2,22.7,594,13081,0.00,2.25,0.00,0.000,4,0.000,0.042,2063,1287,2213,0,0,0,0,0,0
$GC,13129,0.61,146.1,549.0,18.7,595,13133,0.00,2.28,0.00,0.000,6,0.000,0.050,2063,2706,2211,0,0,0,0,0,0
$GC,13450,0.61,146.1,477.2,22.4,606,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2706,2211,0,0,0,0,0,0
$GC,13756,0.61,146.1,409.7,21.1,616,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2706,2211,0,0,0,0,0,0
$GC,14065,0.61,146.1,344.3,21.0,630,14066,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2706,2211,0,0,0,0,0,0
$GC,14377,0.61,146.1,278.7,21.0,645,14381,0.00,2.22,0.00,0.000,4,0.000,0.041,2074,1292,2211,0,0,0,0,0,0
$GC,14401,0.61,146.1,272.9,20.6,646,14405,0.00,2.25,0.00,0.000,6,0.000,0.050,2074,2706,2210,0,0,0,0,0,0
$GC,14724,0.61,146.1,205.8,21.1,665,14727,0.00,1.88,0.00,0.000,4,0.000,0.059,2074,3904,2210,0,0,0,0,0,0
$GC,14764,0.61,146.1,197.4,23.0,667,14768,0.15,1.88,0.00,0.000,6,0.235,0.038,2050,2695,2210,0,0,0,0,0,0
$GC,15104,0.61,146.1,130.0,20.3,688,15108,0.00,2.17,0.00,0.000,4,0.000,0.042,2059,1292,2210,0,0,0,0,0,0
$GC,15140,0.61,146.1,121.6,19.1,690,15144,0.00,2.25,0.00,0.000,6,0.000,0.050,2059,2702,2210,0,0,0,0,0,0
$GC,15482,0.61,146.1,58.2,18.2,736,15491,0.00,2.22,0.00,0.000,4,0.000,0.041,2070,1297,2210,0,0,0,0,0,0
$GC,15604,0.61,146.1,38.1,16.3,755,15610,0.00,2.25,0.00,0.000,6,0.000,0.050,2070,2704,2209,0,0,0,0,0,0
$STATE,15793,end climb,SURFACE_DEPTH_REACHED
$STATE,15793,begin surface coast
$FINISH,0.7,1.014565
$STATE,15813,end surface coast,CONTROL_FINISHED_OK
$STATE,15813,begin surface
$SM_CCo,15835,184.15,0.795,1,0,477,573.99
$SM_GC,1.12,0.00,0.00,184.15,0.000,0.000,0.795,53,2917,477,-5.61,1.05,573.99
$IRIDIUM_FIX,-4619.84,404.69,160113,161621
$TT8_MAMPS,0.026215
$HUMID,56.89
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,46.886
$10V_AH,10.1,22.445
$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,13.900,100.325,299.225,184.150,0.000,24.544,22.096,343.451,0.000,0.000,28.172,1947.960,11006.740,640.137,2380.069,680.439,33.365,1467.693,0.000,1899.650,0.000,1.009,0.000
$DEVICE_MAMPS,240.975,61.200,1789.335,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.409,1555.044,825.304,315.698,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,57145,788
$CAP_FILE_SIZE,121448,0
$CFSIZE,259252224,214224896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,170113,013635,-4632.127,407.702,34,1.4,34,-23.4