version: 66.07
glider: 542
mission: 6
dive: 9
start: 12 11 112 9 22 52
data:
$ID,542
$MISSION,6
$DIVE,9
$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,-10280.212
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,111212,091035,-4654.511,405.979,40,0.8,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-35.4
$GPS2,111212,092154,-4654.469,406.022,16,0.9,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.092,-0.280
$KALMAN_X,1654.8,-646.6,6.8,-14882.2,690.2
$KALMAN_Y,10685.1,187.4,-7.0,-16779.7,4047.6
$MHEAD_RNG_PITCHd_Wd,221.5,12758,-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,-194.7,0.0,0.0,0,175,0.00,0.00,-141.75,0.000,2,0.000,0.000,64,2938,3324,0,0,0,0,0,0
$GC,181,-0.64,-194.7,3.6,-6.3,18,200,6.53,1.65,-6.45,0.000,4,0.249,0.095,1648,3897,3615,0,0,0,0,0,0
$GC,267,-0.64,-194.7,23.4,-10.9,30,276,0.00,1.60,0.00,0.000,6,0.000,0.051,1648,2924,3616,0,0,0,0,0,0
$GC,354,-0.64,-194.7,34.1,-11.7,43,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2924,3616,0,0,0,0,0,0
$GC,602,-0.64,-194.7,65.4,-11.5,84,611,0.00,2.33,0.00,0.000,4,0.000,0.069,1648,1518,3616,0,0,0,0,0,0
$GC,667,-0.64,-194.7,72.1,-9.9,94,674,0.00,2.38,0.00,0.000,6,0.000,0.079,1637,2924,3616,0,0,0,0,0,0
$GC,1024,-0.64,-194.7,114.0,-10.5,141,1028,0.00,2.30,0.00,0.000,4,0.000,0.066,1637,1518,3616,0,0,0,0,0,0
$GC,1078,-0.64,-194.7,120.2,-10.5,144,1083,0.12,2.38,0.00,0.000,6,0.184,0.076,1659,2933,3616,0,0,0,0,0,0
$GC,1412,-0.64,-194.7,154.5,-10.7,165,1416,0.00,2.30,0.00,0.000,4,0.000,0.069,1659,1520,3616,0,0,0,0,0,0
$GC,1451,-0.64,-194.7,158.9,-10.0,167,1456,0.00,2.33,0.00,0.000,6,0.000,0.073,1650,2926,3616,0,0,0,0,0,0
$GC,1780,-0.64,-194.7,194.0,-11.0,188,1784,0.00,2.30,0.00,0.000,4,0.000,0.068,1650,1518,3616,0,0,0,0,0,0
$GC,1812,-0.64,-194.7,197.6,-10.6,190,1816,0.00,2.33,0.00,0.000,6,0.000,0.072,1641,2923,3617,0,0,0,0,0,0
$GC,2141,-0.64,-194.7,234.3,-11.1,211,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2923,3616,0,0,0,0,0,0
$GC,2462,-0.64,-194.7,268.4,-10.4,229,2466,0.00,2.30,0.00,0.000,4,0.000,0.071,1641,1520,3616,0,0,0,0,0,0
$GC,2520,-0.64,-194.7,274.4,-9.6,231,2527,0.10,2.33,0.00,0.000,6,0.195,0.073,1656,2932,3616,0,0,0,0,0,0
$GC,2840,-0.64,-194.7,302.2,-9.0,247,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2931,3617,0,0,0,0,0,0
$GC,3147,-0.64,-194.7,330.7,-9.3,262,3152,0.00,2.30,0.00,0.000,4,0.000,0.073,1656,1514,3616,0,0,0,0,0,0
$GC,3201,-0.64,-194.7,335.6,-8.6,264,3205,0.00,2.33,0.00,0.000,6,0.000,0.071,1648,2931,3616,0,0,0,0,0,0
$GC,3522,-0.64,-194.7,366.8,-9.9,279,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2931,3617,0,0,0,0,0,0
$GC,3829,-0.64,-194.7,398.0,-10.3,294,3833,0.00,2.28,0.00,0.000,4,0.000,0.072,1648,1522,3616,0,0,0,0,0,0
$GC,3875,-0.64,-194.7,402.9,-9.5,296,3880,0.00,2.30,0.00,0.000,6,0.000,0.072,1638,2923,3616,0,0,0,0,0,0
$GC,4196,-0.64,-194.7,438.3,-11.3,307,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2924,3616,0,0,0,0,0,0
$GC,4503,-0.64,-194.7,471.0,-10.4,317,4507,0.00,2.30,0.00,0.000,4,0.000,0.073,1638,1524,3616,0,0,0,0,0,0
$GC,4543,-0.64,-194.7,475.1,-9.0,318,4548,0.12,2.30,0.00,0.000,6,0.190,0.072,1661,2932,3616,0,0,0,0,0,0
$GC,4883,-0.64,-194.7,502.0,-7.9,329,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1661,2932,3616,0,0,0,0,0,0
$GC,5188,-0.64,-194.7,527.0,-8.4,339,5192,0.00,2.28,0.00,0.000,4,0.000,0.072,1661,1517,3615,0,0,0,0,0,0
$GC,5235,-0.64,-194.7,531.0,-7.6,340,5239,0.00,2.30,0.00,0.000,6,0.000,0.071,1652,2922,3616,0,0,0,0,0,0
$GC,5556,-0.64,-194.7,558.9,-8.8,351,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2922,3616,0,0,0,0,0,0
$GC,5862,-0.64,-194.7,585.5,-8.6,361,5867,0.00,2.28,0.00,0.000,4,0.000,0.071,1652,1519,3616,0,0,0,0,0,0
$GC,5898,-0.64,-194.7,588.6,-8.1,362,5902,0.00,2.30,0.00,0.000,6,0.000,0.071,1644,2926,3616,0,0,0,0,0,0
$GC,6230,-0.64,-194.7,618.3,-9.0,373,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2926,3616,0,0,0,0,0,0
$GC,6536,-0.64,-194.7,644.2,-8.1,383,6540,0.00,2.28,0.00,0.000,4,0.000,0.073,1644,1521,3615,0,0,0,0,0,0
$GC,6589,-0.64,-194.7,648.3,-7.2,384,6593,0.00,2.30,0.00,0.000,6,0.000,0.072,1635,2928,3615,0,0,0,0,0,0
$GC,6911,-0.64,-194.7,676.6,-9.2,395,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2928,3615,0,0,0,0,0,0
$GC,7217,-0.64,-194.7,706.6,-10.1,405,7221,0.00,2.30,0.00,0.000,4,0.000,0.073,1635,1514,3615,0,0,0,0,0,0
$GC,7258,-0.64,-194.7,710.6,-9.0,406,7263,0.12,2.30,0.00,0.000,6,0.187,0.071,1657,2922,3615,0,0,0,0,0,0
$GC,7585,-0.64,-194.7,736.0,-7.9,417,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2922,3615,0,0,0,0,0,0
$GC,7893,-0.64,-194.7,759.5,-7.6,427,7897,0.00,2.28,0.00,0.000,4,0.000,0.072,1657,1515,3615,0,0,0,0,0,0
$GC,7940,-0.64,-194.7,763.5,-7.9,428,7944,0.00,2.30,0.00,0.000,6,0.000,0.071,1650,2925,3615,0,0,0,0,0,0
$GC,8261,-0.64,-194.7,792.1,-9.4,439,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2925,3615,0,0,0,0,0,0
$GC,8567,-0.64,-194.7,819.2,-8.6,449,8571,0.00,2.28,0.00,0.000,4,0.000,0.070,1650,1513,3615,0,0,0,0,0,0
$GC,8619,-0.64,-194.7,824.0,-8.3,450,8624,0.00,2.30,0.00,0.000,6,0.000,0.070,1641,2927,3615,0,0,0,0,0,0
$GC,8941,-0.64,-194.7,850.6,-8.0,461,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2926,3614,0,0,0,0,0,0
$GC,9247,-0.64,-194.7,874.6,-8.1,471,9251,0.00,2.28,0.00,0.000,4,0.000,0.067,1641,1512,3615,0,0,0,0,0,0
$GC,9293,-0.64,-194.7,878.4,-8.2,472,9298,0.10,2.30,0.00,0.000,6,0.194,0.070,1657,2926,3615,0,0,0,0,0,0
$GC,9615,-0.64,-194.7,901.6,-7.6,483,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2925,3615,0,0,0,0,0,0
$GC,9923,-0.64,-194.7,925.3,-7.7,493,9927,0.00,2.28,0.00,0.000,4,0.000,0.069,1657,1512,3615,0,0,0,0,0,0
$GC,9988,-0.64,-194.7,930.4,-8.3,495,9992,0.00,2.30,0.00,0.000,6,0.000,0.070,1651,2928,3615,0,0,0,0,0,0
$GC,10326,-0.64,-194.7,956.4,-7.6,506,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2928,3615,0,0,0,0,0,0
$STATE,10474,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10474,begin apogee
$GC,10485,-0.19,0.0,967.5,7.4,511,10691,0.50,0.00,203.18,1.159,6,0.151,0.000,1805,2729,2819,0,0,0,0,0,0
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10698,0.64,194.7,975.2,0.0,518,10895,0.80,2.20,182.25,1.724,4,0.088,0.073,2073,3893,2029,0,0,0,0,1,0
$GC,11151,0.64,194.7,866.2,29.1,531,11157,0.00,1.95,0.00,0.000,6,0.000,0.060,2082,2738,2029,0,0,0,0,0,0
$GC,11466,0.64,194.7,780.5,26.8,542,11467,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2736,2028,0,0,0,0,0,0
$GC,11772,0.64,194.7,698.2,26.6,552,11776,0.00,2.38,0.00,0.000,4,0.000,0.080,2093,1329,2027,0,0,0,0,0,0
$GC,11841,0.64,194.7,680.5,24.3,554,11845,0.00,2.38,0.00,0.000,6,0.000,0.068,2093,2737,2026,0,0,0,0,0,0
$GC,12173,0.64,194.7,591.6,26.4,565,12177,0.00,2.38,0.00,0.000,4,0.000,0.076,2104,1322,2026,0,0,0,0,0,0
$GC,12219,0.64,194.7,579.5,24.2,566,12224,0.00,2.38,0.00,0.000,6,0.000,0.067,2103,2744,2025,0,0,0,0,0,0
$GC,12540,0.64,194.7,495.8,26.2,577,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2745,2025,0,0,0,0,0,0
$GC,12848,0.64,194.7,416.6,25.8,587,12852,0.00,2.38,0.00,0.000,4,0.000,0.076,2114,1320,2025,0,0,0,0,0,0
$GC,12906,0.64,194.7,401.4,23.3,588,12913,0.15,2.35,0.00,0.000,6,0.250,0.067,2082,2740,2025,0,0,0,0,0,0
$GC,13224,0.64,194.7,325.0,24.3,604,13228,0.00,2.35,0.00,0.000,4,0.000,0.074,2092,1318,2025,0,0,0,0,0,0
$GC,13254,0.64,194.7,317.3,23.5,605,13258,0.00,2.35,0.00,0.000,6,0.000,0.067,2092,2741,2025,0,0,0,0,0,0
$GC,13580,0.64,194.7,235.0,25.8,621,13584,0.00,2.35,0.00,0.000,4,0.000,0.076,2102,1322,2025,0,0,0,0,0,0
$GC,13637,0.64,194.7,219.8,24.9,624,13646,0.00,2.35,0.00,0.000,6,0.000,0.067,2103,2731,2025,0,0,0,0,0,0
$GC,13961,0.64,194.7,138.5,24.7,645,13965,0.00,2.33,0.00,0.000,4,0.000,0.075,2113,1325,2025,0,0,0,0,0,0
$GC,13984,0.64,194.7,132.1,23.0,646,13994,0.10,2.35,0.00,0.000,6,0.236,0.067,2087,2735,2025,0,0,0,0,0,0
$GC,14327,0.64,194.7,56.8,21.0,689,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2736,2025,0,0,0,0,0,0
$STATE,14560,end climb,SURFACE_DEPTH_REACHED
$STATE,14560,begin surface coast
$FINISH,0.1,1.026545
$STATE,14574,end surface coast,CONTROL_FINISHED_OK
$STATE,14574,begin surface
$SM_CCo,14597,170.20,0.783,1,0,518,564.18
$SM_GC,0.80,0.00,0.00,170.20,0.000,0.000,0.783,64,2936,518,-5.65,0.37,564.18
$IRIDIUM_FIX,-4635.50,408.95,111212,040440
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.6,3.461
$10V_AH,10.2,1.230
$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,14.125,110.025,385.425,170.200,0.000,25.962,48.465,372.136,0.000,0.000,18.929,1818.759,9907.987,685.686,2364.076,664.360,33.352,1542.065,0.000,1872.087,0.000,1.008,0.000
$DEVICE_MAMPS,250.155,94.860,1723.545,783.360,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.618,1444.274,765.782,293.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,53779,729
$CAP_FILE_SIZE,121530,0
$CFSIZE,259252224,227188736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,111212,133028,-4655.957,403.755,37,0.9,37,-23.3