version: 66.07
glider: 542
mission: 6
dive: 11
start: 12 11 112 18 2 17
data:
$ID,542
$MISSION,6
$DIVE,11
$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,-10286.353
$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,22
$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
$GPS1,111212,175022,-4658.108,402.034,36,0.8,36,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-29.9
$GPS2,111212,180119,-4658.125,402.090,17,1.7,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.068,-0.287
$KALMAN_X,-1323.3,-162.1,-308.2,-17053.4,-380.3
$KALMAN_Y,16919.4,-1184.9,-576.9,-27827.6,7018.3
$MHEAD_RNG_PITCHd_Wd,190.0,4363,-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,-194.7,0.0,0.0,0,167,0.00,0.00,-134.23,0.000,2,0.000,0.000,58,2935,3163,0,0,0,0,0,0
$GC,173,-0.64,-194.7,3.2,-5.6,17,199,6.57,1.62,-11.25,0.000,4,0.251,0.093,1651,3892,3614,0,0,0,0,0,0
$GC,365,-0.64,-194.7,31.5,-11.7,46,375,0.00,1.58,0.00,0.000,6,0.000,0.049,1651,2922,3615,0,0,0,0,0,0
$GC,617,-0.64,-194.7,61.7,-12.4,87,623,0.00,2.30,0.00,0.000,4,0.000,0.061,1650,1518,3615,0,0,0,0,0,0
$GC,691,-0.64,-194.7,69.9,-10.4,99,698,0.00,2.38,0.00,0.000,6,0.000,0.074,1641,2912,3615,0,0,0,0,0,0
$GC,1048,-0.64,-194.7,114.3,-12.4,148,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2912,3615,0,0,0,0,0,0
$GC,1362,-0.64,-194.7,153.2,-12.7,168,1366,0.00,2.22,0.00,0.000,4,0.000,0.062,1641,1523,3615,0,0,0,0,0,0
$GC,1413,-0.64,-194.7,159.0,-10.6,171,1418,0.12,2.33,0.00,0.000,6,0.177,0.073,1663,2926,3615,0,0,0,0,0,0
$GC,1746,-0.64,-194.7,191.2,-9.4,192,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2926,3615,0,0,0,0,0,0
$GC,2070,-0.64,-194.7,220.6,-8.8,213,2074,0.00,2.25,0.00,0.000,4,0.000,0.063,1663,1522,3615,0,0,0,0,0,0
$GC,2117,-0.64,-194.7,225.0,-7.9,215,2124,0.00,2.30,0.00,0.000,6,0.000,0.070,1654,2923,3615,0,0,0,0,0,0
$GC,2454,-0.64,-194.7,257.0,-9.9,236,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2923,3615,0,0,0,0,0,0
$GC,2765,-0.64,-194.7,286.9,-9.5,251,2769,0.00,2.28,0.00,0.000,4,0.000,0.065,1654,1522,3615,0,0,0,0,0,0
$GC,2817,-0.64,-194.7,292.0,-8.4,253,2821,0.00,2.30,0.00,0.000,6,0.000,0.070,1645,2924,3615,0,0,0,0,0,0
$GC,3143,-0.64,-194.7,323.3,-9.8,269,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2924,3615,0,0,0,0,0,0
$GC,3451,-0.64,-194.7,353.9,-9.9,284,3455,0.00,2.25,0.00,0.000,4,0.000,0.063,1645,1524,3615,0,0,0,0,0,0
$GC,3499,-0.64,-194.7,358.6,-8.6,286,3504,0.00,2.28,0.00,0.000,6,0.000,0.070,1636,2930,3615,0,0,0,0,0,0
$GC,3829,-0.64,-194.7,393.5,-10.6,302,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2931,3615,0,0,0,0,0,0
$GC,4137,-0.64,-194.7,426.0,-10.5,313,4142,0.00,2.25,0.00,0.000,4,0.000,0.064,1635,1519,3615,0,0,0,0,0,0
$GC,4190,-0.64,-194.7,431.7,-9.9,314,4194,0.12,2.30,0.00,0.000,6,0.182,0.069,1658,2928,3615,0,0,0,0,0,0
$GC,4505,-0.64,-194.7,459.5,-9.0,324,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,1658,2928,3615,0,0,0,0,0,0
$GC,4811,-0.64,-194.7,485.6,-8.3,334,4815,0.00,2.25,0.00,0.000,4,0.000,0.066,1658,1520,3615,0,0,0,0,0,0
$GC,4852,-0.64,-194.7,489.3,-8.0,335,4856,0.00,2.28,0.00,0.000,6,0.000,0.069,1651,2922,3615,0,0,0,0,0,0
$GC,5191,-0.64,-194.7,518.2,-8.6,346,5195,0.00,2.22,0.00,0.000,4,0.000,0.064,1651,1523,3615,0,0,0,0,0,0
$GC,5227,-0.64,-194.7,521.5,-7.8,347,5231,0.00,2.28,0.00,0.000,6,0.000,0.068,1641,2922,3614,0,0,0,0,0,0
$GC,5559,-0.64,-194.7,550.7,-9.1,358,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2922,3614,0,0,0,0,0,0
$GC,5865,-0.64,-194.7,578.6,-9.2,368,5869,0.00,2.25,0.00,0.000,4,0.000,0.067,1641,1520,3614,0,0,0,0,0,0
$GC,5903,-0.64,-194.7,581.9,-8.4,369,5907,0.10,2.28,0.00,0.000,6,0.191,0.067,1657,2926,3614,0,0,0,0,0,0
$GC,6247,-0.64,-194.7,609.1,-8.0,380,6251,0.00,2.25,0.00,0.000,4,0.000,0.067,1657,1517,3614,0,0,0,0,0,0
$GC,6279,-0.64,-194.7,611.6,-7.5,381,6283,0.00,2.30,0.00,0.000,6,0.000,0.067,1650,2934,3614,0,0,0,0,0,0
$GC,6617,-0.64,-194.7,641.0,-8.8,392,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2934,3614,0,0,0,0,0,0
$GC,6923,-0.64,-194.7,667.9,-8.7,402,6927,0.00,2.25,0.00,0.000,4,0.000,0.064,1650,1519,3613,0,0,0,0,0,0
$GC,6971,-0.64,-194.7,672.1,-8.8,403,6975,0.00,2.28,0.00,0.000,6,0.000,0.068,1641,2922,3613,0,0,0,0,0,0
$GC,7298,-0.64,-194.7,701.6,-9.1,414,7302,0.00,2.22,0.00,0.000,4,0.000,0.064,1641,1519,3613,0,0,0,0,0,0
$GC,7333,-0.64,-194.7,705.0,-8.8,415,7338,0.10,2.28,0.00,0.000,6,0.190,0.067,1657,2934,3613,0,0,0,0,0,0
$GC,7666,-0.64,-194.7,730.2,-7.6,426,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2934,3613,0,0,0,0,0,0
$GC,7972,-0.64,-194.7,752.2,-7.1,436,7976,0.00,2.25,0.00,0.000,4,0.000,0.065,1657,1516,3613,0,0,0,0,0,0
$GC,8024,-0.64,-194.7,755.9,-6.6,437,8028,0.00,2.28,0.00,0.000,6,0.000,0.069,1650,2929,3613,0,0,0,0,0,0
$GC,8347,-0.64,-194.7,779.0,-7.3,448,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2929,3613,0,0,0,0,0,0
$GC,8651,-0.64,-194.7,801.4,-7.5,458,8656,0.00,2.22,0.00,0.000,4,0.000,0.062,1650,1519,3613,0,0,0,0,0,0
$GC,8703,-0.64,-194.7,805.4,-7.5,459,8707,0.00,2.28,0.00,0.000,6,0.000,0.069,1642,2922,3613,0,0,0,0,0,0
$GC,9024,-0.64,-194.7,830.0,-7.9,470,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2922,3612,0,0,0,0,0,0
$GC,9330,-0.64,-194.7,854.2,-7.8,480,9334,0.00,2.20,0.00,0.000,4,0.000,0.061,1642,1522,3612,0,0,0,0,0,0
$GC,9377,-0.64,-194.7,857.9,-7.5,481,9381,0.00,2.28,0.00,0.000,6,0.000,0.070,1633,2922,3612,0,0,0,0,0,0
$GC,9698,-0.64,-194.7,883.3,-8.1,492,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2922,3612,0,0,0,0,0,0
$GC,10006,-0.64,-194.7,908.2,-8.3,502,10010,0.00,2.22,0.00,0.000,4,0.000,0.063,1633,1516,3612,0,0,0,0,0,0
$GC,10046,-0.64,-194.7,911.8,-7.2,503,10051,0.12,2.28,0.00,0.000,6,0.183,0.069,1658,2929,3612,0,0,0,0,0,0
$GC,10374,-0.64,-194.7,931.4,-6.0,514,10378,0.00,2.25,0.00,0.000,4,0.000,0.063,1658,1518,3611,0,0,0,0,0,0
$GC,10405,-0.64,-194.7,933.4,-6.2,515,10410,0.00,2.28,0.00,0.000,6,0.000,0.069,1652,2922,3612,0,0,0,0,0,0
$STATE,10463,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10463,begin apogee
$GC,10474,-0.19,0.0,937.3,6.6,517,10668,0.50,0.00,186.25,1.720,6,0.146,0.000,1808,2718,2819,0,0,0,0,1,0
$STATE,10670,end apogee,CONTROL_FINISHED_OK
$STATE,10670,begin climb
$GC,10675,0.64,194.7,943.9,0.0,523,10879,0.80,2.20,191.32,1.768,4,0.080,0.070,2081,3897,2027,0,0,0,0,1,0
$GC,10914,0.64,194.7,901.4,29.7,530,10918,0.00,2.08,0.00,0.000,6,0.000,0.059,2090,2738,2026,0,0,0,0,0,0
$GC,11235,0.64,194.7,812.6,27.3,541,11239,0.00,2.45,0.00,0.000,4,0.000,0.074,2101,1318,2021,0,0,0,0,0,0
$GC,11304,0.64,194.7,794.5,25.2,543,11308,0.00,2.45,0.00,0.000,6,0.000,0.066,2101,2734,2019,0,0,0,0,0,0
$GC,11636,0.64,194.7,704.9,26.4,554,11640,0.00,2.42,0.00,0.000,4,0.000,0.074,2111,1323,2018,0,0,0,0,0,0
$GC,11682,0.64,194.7,692.7,22.5,555,11687,0.15,2.40,0.00,0.000,6,0.257,0.066,2081,2737,2018,0,0,0,0,0,0
$GC,12003,0.64,194.7,614.9,24.1,566,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2737,2017,0,0,0,0,0,0
$GC,12310,0.64,194.7,538.6,24.9,576,12313,0.00,2.38,0.00,0.000,4,0.000,0.070,2091,1316,2017,0,0,0,0,0,0
$GC,12361,0.64,194.7,526.1,21.4,577,12365,0.00,2.38,0.00,0.000,6,0.000,0.065,2091,2741,2017,0,0,0,0,0,0
$GC,12684,0.64,194.7,445.2,25.8,588,12688,0.00,2.38,0.00,0.000,4,0.000,0.072,2102,1316,2017,0,0,0,0,0,0
$GC,12729,0.64,194.7,433.1,21.8,589,12734,0.00,2.35,0.00,0.000,6,0.000,0.066,2102,2746,2016,0,0,0,0,0,0
$GC,13054,0.64,194.7,349.0,26.3,603,13058,0.00,2.35,0.00,0.000,4,0.000,0.071,2112,1320,2016,0,0,0,0,0,0
$GC,13089,0.64,194.7,338.9,25.0,604,13094,0.15,2.33,0.00,0.000,6,0.256,0.065,2081,2733,2016,0,0,0,0,0,0
$GC,13409,0.64,194.7,261.9,24.0,619,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2733,2017,0,0,0,0,0,0
$GC,13719,0.64,194.7,186.4,24.4,638,13723,0.00,2.33,0.00,0.000,4,0.000,0.069,2091,1319,2016,0,0,0,0,0,0
$GC,13807,0.64,194.7,166.6,21.1,643,13811,0.00,2.33,0.00,0.000,6,0.000,0.065,2091,2735,2016,0,0,0,0,0,0
$GC,14137,0.64,194.7,89.8,24.2,667,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2735,2016,0,0,0,0,0,0
$GC,14502,0.64,194.7,3.9,25.6,728,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2735,2015,0,0,0,0,0,0
$STATE,14518,end climb,SURFACE_DEPTH_REACHED
$STATE,14518,begin surface coast
$FINISH,0.2,1.013640
$STATE,14538,end surface coast,CONTROL_FINISHED_OK
$STATE,14538,begin surface
$SM_CCo,14561,164.35,0.772,1,0,517,564.18
$SM_GC,0.83,0.00,0.00,164.35,0.000,0.000,0.772,59,2936,517,-5.66,0.37,564.18
$IRIDIUM_FIX,-4638.64,406.04,111212,131359
$TT8_MAMPS,0.026964
$HUMID,55.86
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.3,3.923
$10V_AH,10.2,1.440
$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,14.275,113.725,377.575,164.350,0.000,25.598,45.406,351.047,0.000,0.000,19.985,1846.331,9855.785,668.888,2349.640,658.282,33.343,1520.136,0.000,1874.021,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,93.330,1767.915,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.827,1465.709,798.875,306.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,53893,733
$CAP_FILE_SIZE,122145,0
$CFSIZE,259252224,227053568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,111212,220923,-4700.224,402.410,47,1.0,48,-23.3