version: 66.07
glider: 542
mission: 6
dive: 7
start: 12 11 112 0 44 29
data:
$ID,542
$MISSION,6
$DIVE,7
$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,52846
$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,-10274.199
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,111212,002734,-4652.349,411.690,30,1.2,31,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-24.8
$GPS2,111212,004331,-4652.337,411.859,15,1.0,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.145,-0.257
$KALMAN_X,2540.3,35.2,-39.2,-9017.8,1093.6
$KALMAN_Y,4751.1,30.4,110.8,-6864.0,3434.8
$MHEAD_RNG_PITCHd_Wd,232.7,20634,-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,25,begin dive
$GC,30,-0.64,-194.7,0.0,0.0,0,182,0.00,0.00,-149.45,0.000,2,0.000,0.000,62,2935,3406,0,0,0,0,0,0
$GC,189,-0.64,-194.7,3.4,-4.3,19,207,6.45,1.62,-4.55,0.000,4,0.245,0.101,1648,3907,3614,0,0,0,0,0,0
$GC,325,-0.64,-194.7,30.7,-12.2,39,332,0.00,1.62,0.00,0.000,6,0.000,0.058,1648,2932,3615,0,0,0,0,0,0
$GC,571,-0.64,-194.7,62.4,-14.0,80,578,0.00,2.33,0.00,0.000,4,0.000,0.073,1648,1513,3615,0,0,0,0,0,0
$GC,627,-0.64,-194.7,68.7,-9.7,89,632,0.00,2.42,0.00,0.000,6,0.000,0.086,1637,2928,3615,0,0,0,0,0,0
$GC,969,-0.64,-194.7,111.7,-11.7,138,973,0.00,2.35,0.00,0.000,4,0.000,0.074,1637,1514,3615,0,0,0,0,0,0
$GC,1021,-0.64,-194.7,118.2,-10.9,141,1026,0.12,2.38,0.00,0.000,6,0.180,0.081,1659,2927,3615,0,0,0,0,0,0
$GC,1349,-0.64,-194.7,148.4,-9.1,161,1353,0.00,2.33,0.00,0.000,4,0.000,0.074,1659,1509,3616,0,0,0,0,0,0
$GC,1406,-0.64,-194.7,153.9,-7.7,164,1415,0.00,2.40,0.00,0.000,6,0.000,0.081,1651,2915,3616,0,0,0,0,0,0
$GC,1730,-0.64,-194.7,185.5,-10.7,185,1734,0.00,2.33,0.00,0.000,4,0.000,0.076,1651,1510,3616,0,0,0,0,0,0
$GC,1764,-0.64,-194.7,189.0,-10.4,187,1769,0.00,2.38,0.00,0.000,6,0.000,0.082,1641,2925,3616,0,0,0,0,0,0
$GC,2091,-0.64,-194.7,226.2,-11.0,208,2095,0.00,2.33,0.00,0.000,4,0.000,0.078,1641,1516,3615,0,0,0,0,0,0
$GC,2121,-0.64,-194.7,229.5,-10.5,209,2128,0.10,2.38,0.00,0.000,6,0.188,0.085,1657,2929,3615,0,0,0,0,0,0
$GC,2452,-0.64,-194.7,258.2,-8.8,229,2456,0.00,2.33,0.00,0.000,4,0.000,0.080,1656,1516,3616,0,0,0,0,0,0
$GC,2493,-0.64,-194.7,262.4,-8.1,230,2502,0.00,2.40,0.00,0.000,6,0.000,0.086,1649,2919,3616,0,0,0,0,0,0
$GC,2812,-0.64,-194.7,292.5,-9.8,246,2816,0.00,2.33,0.00,0.000,4,0.000,0.078,1649,1511,3615,0,0,0,0,0,0
$GC,2848,-0.64,-194.7,296.2,-9.3,247,2855,0.00,2.38,0.00,0.000,6,0.000,0.085,1641,2926,3616,0,0,0,0,0,0
$GC,3170,-0.64,-194.7,328.9,-10.3,263,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2927,3616,0,0,0,0,0,0
$GC,3475,-0.64,-194.7,360.2,-10.2,278,3479,0.00,2.33,0.00,0.000,4,0.000,0.078,1641,1516,3616,0,0,0,0,0,0
$GC,3533,-0.64,-194.7,365.9,-9.3,280,3542,0.00,2.40,0.00,0.000,6,0.000,0.088,1633,2922,3616,0,0,0,0,0,0
$GC,3852,-0.64,-194.7,399.3,-10.9,296,3856,0.10,2.35,0.00,0.000,4,0.203,0.078,1656,1509,3615,0,0,0,0,0,0
$GC,3884,-0.64,-194.7,402.5,-9.0,298,3888,0.00,2.38,0.00,0.000,6,0.000,0.085,1649,2927,3616,0,0,0,0,0,0
$GC,4228,-0.64,-194.7,434.4,-9.4,309,4232,0.00,2.33,0.00,0.000,4,0.000,0.077,1649,1514,3616,0,0,0,0,0,0
$GC,4259,-0.64,-194.7,437.3,-8.9,310,4263,0.00,2.38,0.00,0.000,6,0.000,0.088,1641,2923,3616,0,0,0,0,0,0
$GC,4597,-0.64,-194.7,469.8,-9.7,321,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2924,3616,0,0,0,0,0,0
$GC,4905,-0.64,-194.7,499.1,-9.7,331,4909,0.00,2.33,0.00,0.000,4,0.000,0.079,1641,1511,3616,0,0,0,0,0,0
$GC,4946,-0.64,-194.7,503.5,-9.6,332,4951,0.10,2.38,0.00,0.000,6,0.191,0.088,1657,2922,3615,0,0,0,0,0,0
$GC,5273,-0.64,-194.7,530.9,-8.4,343,5277,0.00,2.35,0.00,0.000,4,0.000,0.080,1657,1512,3616,0,0,0,0,0,0
$GC,5309,-0.64,-194.7,534.1,-8.4,344,5313,0.00,2.38,0.00,0.000,6,0.000,0.089,1650,2922,3616,0,0,0,0,0,0
$GC,5641,-0.64,-194.7,563.4,-8.8,355,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2922,3616,0,0,0,0,0,0
$GC,5949,-0.64,-194.7,590.1,-8.6,365,5953,0.00,2.33,0.00,0.000,4,0.000,0.080,1650,1512,3615,0,0,0,0,0,0
$GC,6013,-0.64,-194.7,595.3,-7.7,367,6018,0.00,2.38,0.00,0.000,6,0.000,0.089,1641,2922,3615,0,0,0,0,0,0
$GC,6351,-0.64,-194.7,624.6,-8.6,378,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2922,3615,0,0,0,0,0,0
$GC,6658,-0.64,-194.7,650.3,-8.3,388,6662,0.00,2.33,0.00,0.000,4,0.000,0.079,1641,1510,3615,0,0,0,0,0,0
$GC,6716,-0.64,-194.7,655.2,-7.6,389,6723,0.10,2.38,0.00,0.000,6,0.193,0.089,1657,2925,3615,0,0,0,0,0,0
$GC,7031,-0.64,-194.7,677.5,-7.1,400,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2925,3615,0,0,0,0,0,0
$GC,7337,-0.64,-194.7,698.1,-6.6,410,7341,0.00,2.33,0.00,0.000,4,0.000,0.080,1657,1506,3615,0,0,0,0,0,0
$GC,7384,-0.64,-194.7,701.3,-6.3,411,7388,0.00,2.40,0.00,0.000,6,0.000,0.090,1650,2926,3615,0,0,0,0,0,0
$GC,7711,-0.64,-194.7,724.0,-7.2,422,7715,0.00,2.33,0.00,0.000,4,0.000,0.078,1650,1509,3615,0,0,0,0,0,0
$GC,7746,-0.64,-194.7,726.8,-7.5,423,7750,0.00,2.38,0.00,0.000,6,0.000,0.087,1642,2925,3615,0,0,0,0,0,0
$GC,8079,-0.64,-194.7,753.5,-8.2,434,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2926,3615,0,0,0,0,0,0
$GC,8386,-0.64,-194.7,779.6,-8.8,444,8390,0.00,2.28,0.00,0.000,4,0.000,0.076,1642,1517,3615,0,0,0,0,0,0
$GC,8452,-0.64,-194.7,785.5,-8.7,446,8456,0.00,2.35,0.00,0.000,6,0.000,0.086,1633,2924,3614,0,0,0,0,0,0
$GC,8790,-0.64,-194.7,816.4,-9.0,457,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2924,3615,0,0,0,0,0,0
$GC,9096,-0.64,-194.7,843.5,-8.9,467,9100,0.00,2.33,0.00,0.000,4,0.000,0.084,1634,1518,3614,0,0,0,0,0,0
$GC,9137,-0.64,-194.7,847.2,-8.8,468,9142,0.12,2.38,0.00,0.000,6,0.185,0.089,1657,2929,3614,0,0,0,0,0,0
$GC,9465,-0.64,-194.7,869.0,-6.5,479,9469,0.00,2.35,0.00,0.000,4,0.000,0.083,1657,1506,3615,0,0,0,0,0,0
$GC,9496,-0.64,-194.7,871.0,-6.5,480,9500,0.00,2.38,0.00,0.000,6,0.000,0.086,1653,2930,3614,0,0,0,0,0,0
$GC,9834,-0.64,-194.7,893.4,-6.7,491,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2930,3614,0,0,0,0,0,0
$GC,10140,-0.64,-194.7,914.5,-6.8,501,10145,0.00,2.33,0.00,0.000,4,0.000,0.080,1652,1514,3615,0,0,0,0,0,0
$GC,10193,-0.64,-194.7,918.0,-6.4,502,10197,0.00,2.35,0.00,0.000,6,0.000,0.086,1645,2925,3614,0,0,0,0,0,0
$STATE,10474,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10474,begin apogee
$GC,10485,-0.19,0.0,937.3,6.8,511,10691,0.52,0.00,203.12,1.152,6,0.148,0.000,1808,2722,2819,0,0,0,0,0,0
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10698,0.64,194.7,943.2,0.0,518,10895,0.77,2.28,182.30,1.710,4,0.095,0.084,2064,3899,2028,0,0,0,0,1,0
$GC,11117,0.64,194.7,849.1,27.3,530,11124,0.00,2.00,0.00,0.000,6,0.000,0.068,2073,2731,2028,0,0,0,0,0,0
$GC,11433,0.64,194.7,768.9,25.4,541,11437,0.00,2.42,0.00,0.000,4,0.000,0.088,2083,1329,2026,0,0,0,0,0,0
$GC,11473,0.64,194.7,758.6,23.7,542,11478,0.00,2.45,0.00,0.000,6,0.000,0.080,2083,2733,2026,0,0,0,0,0,0
$GC,11800,0.64,194.7,678.1,24.5,553,11804,0.00,2.40,0.00,0.000,4,0.000,0.082,2094,1326,2026,0,0,0,0,0,0
$GC,11831,0.64,194.7,670.3,24.3,554,11836,0.00,2.42,0.00,0.000,6,0.000,0.080,2094,2739,2025,0,0,0,0,0,0
$GC,12169,0.64,194.7,583.6,25.9,565,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2739,2025,0,0,0,0,0,0
$GC,12475,0.64,194.7,502.4,26.5,575,12480,0.00,2.38,0.00,0.000,4,0.000,0.079,2105,1327,2025,0,0,0,0,0,0
$GC,12540,0.64,194.7,486.3,23.5,577,12544,0.00,2.38,0.00,0.000,6,0.000,0.078,2105,2734,2024,0,0,0,0,0,0
$GC,12884,0.64,194.7,394.7,26.5,588,12888,0.00,2.40,0.00,0.000,4,0.000,0.081,2115,1318,2025,0,0,0,0,0,0
$GC,12908,0.64,194.7,387.6,26.2,589,12913,0.15,2.38,0.00,0.000,6,0.248,0.076,2083,2734,2025,0,0,0,0,0,0
$GC,13235,0.64,194.7,308.7,24.7,605,13239,0.00,2.38,0.00,0.000,4,0.000,0.084,2092,1325,2025,0,0,0,0,0,0
$GC,13280,0.64,194.7,298.4,21.7,607,13284,0.00,2.40,0.00,0.000,6,0.000,0.082,2092,2745,2024,0,0,0,0,0,0
$GC,13612,0.64,194.7,217.0,24.5,625,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2745,2025,0,0,0,0,0,0
$GC,13925,0.64,194.7,138.7,24.6,645,13929,0.00,2.38,0.00,0.000,4,0.000,0.083,2103,1318,2025,0,0,0,0,0,0
$GC,13966,0.64,194.7,128.2,23.0,647,13970,0.00,2.40,0.00,0.000,6,0.000,0.082,2103,2743,2025,0,0,0,0,0,0
$GC,14313,0.64,194.7,48.0,21.2,693,14320,0.00,2.38,0.00,0.000,4,0.000,0.086,2113,1326,2024,0,0,0,0,0,0
$GC,14408,0.64,194.7,27.1,19.3,708,14418,0.10,2.40,0.00,0.000,6,0.236,0.083,2088,2735,2024,0,0,0,0,0,0
$GC,14498,0.64,194.7,8.8,21.3,721,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2735,2024,0,0,0,0,0,0
$STATE,14520,end climb,SURFACE_DEPTH_REACHED
$STATE,14520,begin surface coast
$FINISH,0.1,1.013917
$STATE,14534,end surface coast,CONTROL_FINISHED_OK
$STATE,14534,begin surface
$SM_CCo,14556,171.65,0.780,1,0,516,564.18
$SM_GC,0.40,0.00,0.00,171.65,0.000,0.000,0.780,65,2937,516,-5.64,0.40,564.18
$IRIDIUM_FIX,-4635.50,411.86,111212,000049
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.17971
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,22.7,3.023
$10V_AH,10.2,1.020
$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,14.275,135.925,385.425,171.650,0.000,53.393,96.185,493.912,0.000,0.000,19.325,1832.927,9845.869,708.575,2585.555,707.621,33.364,1598.496,0.000,1905.395,0.000,1.010,0.000
$DEVICE_MAMPS,247.860,109.395,1709.775,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.803,1438.340,769.171,289.347,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,53752,726
$CAP_FILE_SIZE,130701,0
$CFSIZE,259252224,227311616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,111212,045129,-4653.631,408.899,39,1.2,40,-23.3