version: 66.07
glider: 542
mission: 6
dive: 10
start: 12 11 112 13 42 33
data:
$ID,542
$MISSION,6
$DIVE,10
$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,-10283.276
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,111212,133028,-4655.957,403.755,37,0.9,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-47.0
$GPS2,111212,134135,-4655.984,403.772,17,1.1,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.032,-0.293
$KALMAN_X,407.6,-425.2,-144.5,-16558.2,23.3
$KALMAN_Y,14119.3,-556.9,-28.5,-22251.7,4901.9
$MHEAD_RNG_PITCHd_Wd,209.5,8833,-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,-141.93,0.000,2,0.000,0.000,64,2938,3380,0,0,0,0,0,0
$GC,181,-0.64,-194.7,3.6,-4.0,18,200,6.50,1.58,-5.25,0.000,4,0.248,0.089,1647,3904,3616,0,0,0,0,0,0
$GC,326,-0.64,-194.7,30.4,-11.5,39,333,0.00,1.60,0.00,0.000,6,0.000,0.047,1647,2922,3617,0,0,0,0,0,0
$GC,575,-0.64,-194.7,61.5,-12.2,80,582,0.00,2.28,0.00,0.000,4,0.000,0.063,1647,1516,3618,0,0,0,0,0,0
$GC,654,-0.64,-194.7,70.2,-10.9,93,660,0.00,2.40,0.00,0.000,6,0.000,0.076,1636,2922,3618,0,0,0,0,0,0
$GC,1006,-0.64,-194.7,113.8,-12.1,141,1009,0.00,1.62,0.00,0.000,4,0.000,0.080,1629,3904,3617,0,0,0,0,0,0
$GC,1036,-0.64,-194.7,118.0,-12.7,142,1045,0.08,1.58,0.00,0.000,6,0.160,0.047,1653,2921,3618,0,0,0,0,0,0
$GC,1363,-0.64,-194.7,149.1,-9.6,163,1367,0.00,2.25,0.00,0.000,4,0.000,0.065,1653,1519,3618,0,0,0,0,0,0
$GC,1421,-0.64,-194.7,154.8,-8.2,166,1425,0.00,2.35,0.00,0.000,6,0.000,0.073,1645,2933,3618,0,0,0,0,0,0
$GC,1743,-0.64,-194.7,187.5,-10.5,186,1747,0.00,2.28,0.00,0.000,4,0.000,0.065,1644,1519,3618,0,0,0,0,0,0
$GC,1778,-0.64,-194.7,191.3,-9.7,188,1782,0.00,2.33,0.00,0.000,6,0.000,0.070,1634,2930,3618,0,0,0,0,0,0
$GC,2101,-0.64,-194.7,228.0,-12.1,208,2105,0.00,2.28,0.00,0.000,4,0.000,0.067,1635,1519,3618,0,0,0,0,0,0
$GC,2142,-0.64,-194.7,233.3,-10.9,210,2152,0.10,2.33,0.00,0.000,6,0.161,0.070,1657,2915,3618,0,0,0,0,0,0
$GC,2478,-0.64,-194.7,266.9,-9.9,229,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2915,3618,0,0,0,0,0,0
$GC,2782,-0.64,-194.7,298.2,-10.0,244,2786,0.00,2.25,0.00,0.000,4,0.000,0.067,1658,1514,3618,0,0,0,0,0,0
$GC,2835,-0.64,-194.7,303.3,-8.6,246,2839,0.00,2.33,0.00,0.000,6,0.000,0.070,1649,2932,3618,0,0,0,0,0,0
$GC,3159,-0.64,-194.7,333.9,-9.2,262,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2932,3618,0,0,0,0,0,0
$GC,3470,-0.64,-194.7,361.4,-8.8,277,3474,0.00,2.28,0.00,0.000,4,0.000,0.067,1649,1516,3617,0,0,0,0,0,0
$GC,3522,-0.64,-194.7,366.3,-7.9,279,3527,0.00,2.30,0.00,0.000,6,0.000,0.070,1640,2922,3618,0,0,0,0,0,0
$GC,3848,-0.64,-194.7,398.8,-10.4,295,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2922,3617,0,0,0,0,0,0
$GC,4173,-0.64,-194.7,433.4,-10.5,306,4177,0.00,2.25,0.00,0.000,4,0.000,0.067,1640,1516,3618,0,0,0,0,0,0
$GC,4231,-0.64,-194.7,439.2,-9.4,307,4240,0.12,2.30,0.00,0.000,6,0.187,0.068,1662,2931,3618,0,0,0,0,0,0
$GC,4546,-0.64,-194.7,464.8,-8.1,318,4550,0.00,2.28,0.00,0.000,4,0.000,0.068,1662,1519,3617,0,0,0,0,0,0
$GC,4576,-0.64,-194.7,467.4,-8.3,318,4583,0.00,2.28,0.00,0.000,6,0.000,0.069,1653,2922,3617,0,0,0,0,0,0
$GC,4891,-0.64,-194.7,494.6,-8.6,329,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2922,3617,0,0,0,0,0,0
$GC,5198,-0.64,-194.7,520.2,-8.4,339,5201,0.00,2.25,0.00,0.000,4,0.000,0.069,1653,1524,3617,0,0,0,0,0,0
$GC,5245,-0.64,-194.7,524.2,-8.0,340,5249,0.00,2.28,0.00,0.000,6,0.000,0.070,1645,2922,3616,0,0,0,0,0,0
$GC,5572,-0.64,-194.7,553.5,-9.0,351,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2922,3616,0,0,0,0,0,0
$GC,5878,-0.64,-194.7,579.8,-8.4,361,5882,0.00,2.25,0.00,0.000,4,0.000,0.069,1645,1520,3616,0,0,0,0,0,0
$GC,5919,-0.64,-194.7,583.5,-8.1,362,5923,0.00,2.28,0.00,0.000,6,0.000,0.068,1635,2922,3616,0,0,0,0,0,0
$GC,6258,-0.64,-194.7,613.3,-9.0,373,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2922,3616,0,0,0,0,0,0
$GC,6563,-0.64,-194.7,641.2,-9.1,383,6567,0.00,2.25,0.00,0.000,4,0.000,0.071,1636,1520,3616,0,0,0,0,0,0
$GC,6621,-0.64,-194.7,646.2,-7.9,384,6628,0.12,2.28,0.00,0.000,6,0.188,0.069,1659,2927,3615,0,0,0,0,0,0
$GC,6936,-0.64,-194.7,671.2,-8.4,395,6940,0.00,2.28,0.00,0.000,4,0.000,0.071,1659,1518,3616,0,0,0,0,0,0
$GC,6973,-0.64,-194.7,674.4,-8.5,396,6977,0.00,2.30,0.00,0.000,6,0.000,0.070,1651,2932,3615,0,0,0,0,0,0
$GC,7317,-0.64,-194.7,706.3,-9.5,407,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2933,3616,0,0,0,0,0,0
$GC,7623,-0.64,-194.7,734.0,-8.9,417,7627,0.00,2.28,0.00,0.000,4,0.000,0.070,1651,1518,3615,0,0,0,0,0,0
$GC,7671,-0.64,-194.7,738.3,-8.0,418,7675,0.00,2.30,0.00,0.000,6,0.000,0.070,1642,2929,3615,0,0,0,0,0,0
$GC,7998,-0.64,-194.7,767.3,-8.8,429,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2930,3615,0,0,0,0,0,0
$GC,8304,-0.64,-194.7,793.2,-8.1,439,8308,0.00,2.28,0.00,0.000,4,0.000,0.068,1642,1518,3615,0,0,0,0,0,0
$GC,8350,-0.64,-194.7,796.7,-7.2,440,8354,0.00,2.30,0.00,0.000,6,0.000,0.071,1633,2928,3614,0,0,0,0,0,0
$GC,8671,-0.64,-194.7,822.5,-8.2,451,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2928,3614,0,0,0,0,0,0
$GC,8978,-0.64,-194.7,848.1,-8.4,461,8982,0.00,2.28,0.00,0.000,4,0.000,0.069,1633,1517,3614,0,0,0,0,0,0
$GC,9013,-0.64,-194.7,851.4,-8.2,462,9018,0.12,2.30,0.00,0.000,6,0.184,0.072,1656,2926,3614,0,0,0,0,0,0
$GC,9346,-0.64,-194.7,873.7,-6.9,473,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2927,3615,0,0,0,0,0,0
$GC,9654,-0.64,-194.7,894.8,-6.9,483,9658,0.00,2.25,0.00,0.000,4,0.000,0.068,1656,1516,3614,0,0,0,0,0,0
$GC,9712,-0.64,-194.7,898.9,-6.2,484,9719,0.00,2.30,0.00,0.000,6,0.000,0.072,1649,2928,3614,0,0,0,0,0,0
$GC,10027,-0.64,-194.7,921.4,-7.2,495,10031,0.00,2.25,0.00,0.000,4,0.000,0.067,1649,1515,3614,0,0,0,0,0,0
$GC,10068,-0.64,-194.7,924.5,-6.9,496,10072,0.00,2.30,0.00,0.000,6,0.000,0.072,1641,2923,3614,0,0,0,0,0,0
$GC,10395,-0.64,-194.7,948.6,-7.3,507,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2923,3614,0,0,0,0,0,0
$STATE,10451,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10451,begin apogee
$GC,10462,-0.19,0.0,953.1,7.4,509,10668,0.52,0.00,202.60,1.154,6,0.153,0.000,1802,2721,2819,0,0,0,0,0,0
$STATE,10670,end apogee,CONTROL_FINISHED_OK
$STATE,10670,begin climb
$GC,10675,0.64,194.7,959.7,0.0,516,10871,0.80,2.22,182.35,1.714,4,0.080,0.074,2078,3894,2028,0,0,0,0,1,0
$GC,11055,0.64,194.7,870.0,29.3,527,11058,0.00,1.98,0.00,0.000,6,0.000,0.060,2087,2738,2030,0,0,0,0,0,0
$GC,11375,0.64,194.7,782.6,27.1,538,11379,0.00,2.40,0.00,0.000,4,0.000,0.078,2098,1328,2027,0,0,0,0,0,0
$GC,11410,0.64,194.7,772.6,26.1,539,11414,0.00,2.40,0.00,0.000,6,0.000,0.069,2098,2732,2026,0,0,0,0,0,0
$GC,11742,0.64,194.7,681.2,27.8,550,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2732,2025,0,0,0,0,0,0
$GC,12049,0.64,194.7,598.0,26.9,560,12053,0.00,2.35,0.00,0.000,4,0.000,0.074,2108,1329,2025,0,0,0,0,0,0
$GC,12106,0.64,194.7,582.7,23.7,561,12114,0.12,2.35,0.00,0.000,6,0.248,0.068,2084,2736,2025,0,0,0,0,0,0
$GC,12421,0.64,194.7,504.9,24.4,572,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2736,2025,0,0,0,0,0,0
$GC,12728,0.64,194.7,432.3,23.1,582,12732,0.00,2.33,0.00,0.000,4,0.000,0.070,2093,1326,2025,0,0,0,0,0,0
$GC,12768,0.64,194.7,422.7,22.1,583,12772,0.00,2.35,0.00,0.000,6,0.000,0.067,2093,2743,2025,0,0,0,0,0,0
$GC,13089,0.64,194.7,346.5,23.8,597,13093,0.00,2.35,0.00,0.000,4,0.000,0.073,2104,1326,2025,0,0,0,0,0,0
$GC,13124,0.64,194.7,337.2,23.1,598,13133,0.00,2.35,0.00,0.000,6,0.000,0.067,2104,2730,2025,0,0,0,0,0,0
$GC,13442,0.64,194.7,257.2,25.2,614,13446,0.00,2.33,0.00,0.000,4,0.000,0.073,2114,1324,2025,0,0,0,0,0,0
$GC,13472,0.64,194.7,249.3,24.8,615,13477,0.15,2.33,0.00,0.000,6,0.245,0.067,2082,2737,2024,0,0,0,0,0,0
$GC,13801,0.64,194.7,175.3,23.2,635,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2737,2025,0,0,0,0,0,0
$GC,14122,0.64,194.7,99.6,22.9,656,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2737,2025,0,0,0,0,0,0
$GC,14486,0.64,194.7,17.4,22.5,717,14495,0.00,2.33,0.00,0.000,4,0.000,0.068,2091,1322,2024,0,0,0,0,0,0
$GC,14551,0.64,194.7,4.1,21.1,726,14560,0.00,2.35,0.00,0.000,6,0.000,0.067,2092,2743,2024,0,0,0,0,0,0
$STATE,14567,end climb,SURFACE_DEPTH_REACHED
$STATE,14567,begin surface coast
$FINISH,0.4,1.026551
$STATE,14588,end surface coast,CONTROL_FINISHED_OK
$STATE,14588,begin surface
$SM_CCo,14610,170.10,0.766,1,0,517,564.18
$SM_GC,0.60,0.00,0.00,170.10,0.000,0.000,0.766,58,2933,517,-5.66,0.25,564.18
$IRIDIUM_FIX,-4635.50,405.81,111212,090907
$TT8_MAMPS,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.6,3.677
$10V_AH,10.2,1.335
$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,14.125,117.100,384.950,170.100,0.000,25.885,50.042,357.902,0.000,0.000,20.509,1824.054,9902.086,697.390,2357.779,663.031,33.346,1563.918,0.000,1868.974,0.000,1.010,0.000
$DEVICE_MAMPS,247.860,88.740,1714.365,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.491,1450.413,779.020,297.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,53674,731
$CAP_FILE_SIZE,123269,0
$CFSIZE,259252224,227115008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,111212,175022,-4658.108,402.034,36,0.8,36,-23.3