version: 66.07
glider: 542
mission: 6
dive: 12
start: 12 11 112 22 22 27
data:
$ID,542
$MISSION,6
$DIVE,12
$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,-10289.367
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,111212,220923,-4700.224,402.410,47,1.0,48,-23.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-36.9
$GPS2,111212,222129,-4700.239,402.495,14,1.6,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.042,-0.286
$KALMAN_X,-3027.2,103.8,249.0,-15665.5,-2317.4
$KALMAN_Y,18166.7,-1117.3,-393.5,-33227.7,6131.3
$MHEAD_RNG_PITCHd_Wd,211.7,3182,-15.3,-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,-186.4,0.0,0.0,0,175,0.00,0.00,-141.77,0.000,2,0.000,0.000,59,2938,3314,0,0,0,0,0,0
$GC,181,-0.65,-194.7,3.3,-5.3,18,200,6.47,1.65,-6.95,0.000,4,0.246,0.095,1644,3900,3616,0,0,0,0,0,0
$GC,340,-0.65,-194.7,32.4,-12.7,42,349,0.00,1.60,0.00,0.000,6,0.000,0.047,1644,2913,3617,0,0,0,0,0,0
$GC,592,-0.65,-194.7,64.3,-12.8,83,596,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2912,3617,0,0,0,0,0,0
$GC,949,-0.65,-194.7,107.3,-11.5,138,953,0.00,2.22,0.00,0.000,4,0.000,0.061,1644,1524,3617,0,0,0,0,0,0
$GC,1020,-0.65,-194.7,114.7,-9.6,142,1024,0.00,2.35,0.00,0.000,6,0.000,0.074,1634,2928,3617,0,0,0,0,0,0
$GC,1349,-0.65,-194.7,154.4,-12.0,163,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2928,3617,0,0,0,0,0,0
$GC,1662,-0.65,-194.7,191.0,-11.5,183,1666,0.00,2.28,0.00,0.000,4,0.000,0.062,1633,1519,3618,0,0,0,0,0,0
$GC,1708,-0.65,-194.7,196.8,-11.0,185,1716,0.12,2.33,0.00,0.000,6,0.182,0.071,1656,2929,3617,0,0,0,0,0,0
$GC,2035,-0.65,-194.7,227.3,-9.9,206,2039,0.00,2.25,0.00,0.000,4,0.000,0.062,1656,1519,3618,0,0,0,0,0,0
$GC,2071,-0.65,-194.7,231.6,-9.9,208,2075,0.00,2.33,0.00,0.000,6,0.000,0.072,1648,2922,3618,0,0,0,0,0,0
$GC,2396,-0.65,-194.7,265.4,-10.4,226,2400,0.00,2.22,0.00,0.000,4,0.000,0.061,1648,1524,3618,0,0,0,0,0,0
$GC,2426,-0.65,-194.7,268.7,-10.4,227,2430,0.00,2.33,0.00,0.000,6,0.000,0.072,1637,2934,3618,0,0,0,0,0,0
$GC,2744,-0.65,-194.7,303.8,-11.2,242,2748,0.00,2.25,0.00,0.000,4,0.000,0.061,1637,1520,3618,0,0,0,0,0,0
$GC,2774,-0.65,-194.7,307.4,-10.6,243,2779,0.12,2.30,0.00,0.000,6,0.183,0.070,1660,2924,3618,0,0,0,0,0,0
$GC,3093,-0.65,-194.7,335.8,-9.0,258,3097,0.00,2.22,0.00,0.000,4,0.000,0.061,1660,1522,3618,0,0,0,0,0,0
$GC,3123,-0.65,-194.7,338.8,-8.6,259,3127,0.00,2.30,0.00,0.000,6,0.000,0.070,1653,2924,3618,0,0,0,0,0,0
$GC,3442,-0.65,-194.7,368.6,-9.4,274,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2925,3618,0,0,0,0,0,0
$GC,3753,-0.65,-194.7,397.0,-9.2,289,3757,0.00,2.25,0.00,0.000,4,0.000,0.060,1652,1517,3618,0,0,0,0,0,0
$GC,3804,-0.65,-194.7,401.5,-8.3,291,3808,0.00,2.30,0.00,0.000,6,0.000,0.068,1643,2923,3618,0,0,0,0,0,0
$GC,4130,-0.65,-194.7,434.2,-9.9,302,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2924,3618,0,0,0,0,0,0
$GC,4437,-0.65,-194.7,463.9,-9.7,312,4440,0.00,2.25,0.00,0.000,4,0.000,0.062,1643,1518,3618,0,0,0,0,0,0
$GC,4489,-0.65,-194.7,468.9,-8.7,313,4493,0.00,2.30,0.00,0.000,6,0.000,0.069,1633,2926,3618,0,0,0,0,0,0
$GC,4810,-0.65,-194.7,501.6,-10.5,324,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2927,3618,0,0,0,0,0,0
$GC,5116,-0.65,-194.7,534.3,-10.5,334,5120,0.00,2.22,0.00,0.000,4,0.000,0.062,1634,1521,3618,0,0,0,0,0,0
$GC,5156,-0.65,-194.7,538.8,-10.0,335,5161,0.12,2.28,0.00,0.000,6,0.186,0.067,1656,2925,3618,0,0,0,0,0,0
$GC,5484,-0.65,-194.7,565.6,-8.3,346,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2925,3618,0,0,0,0,0,0
$GC,5792,-0.65,-194.7,590.2,-8.0,356,5796,0.00,2.22,0.00,0.000,4,0.000,0.060,1656,1516,3618,0,0,0,0,0,0
$GC,5838,-0.65,-194.7,594.1,-7.6,357,5842,0.00,2.30,0.00,0.000,6,0.000,0.067,1648,2929,3617,0,0,0,0,0,0
$GC,6159,-0.65,-194.7,621.5,-8.4,368,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2930,3618,0,0,0,0,0,0
$GC,6465,-0.65,-194.7,646.0,-7.9,378,6469,0.00,2.22,0.00,0.000,4,0.000,0.060,1649,1519,3618,0,0,0,0,0,0
$GC,6502,-0.65,-194.7,648.9,-7.5,379,6506,0.00,2.28,0.00,0.000,6,0.000,0.068,1640,2934,3617,0,0,0,0,0,0
$GC,6846,-0.65,-194.7,677.9,-8.8,390,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2934,3617,0,0,0,0,0,0
$GC,7152,-0.65,-194.7,704.5,-8.7,400,7156,0.00,2.22,0.00,0.000,4,0.000,0.059,1640,1519,3617,0,0,0,0,0,0
$GC,7219,-0.65,-194.7,709.7,-7.3,402,7223,0.00,2.28,0.00,0.000,6,0.000,0.067,1630,2922,3617,0,0,0,0,0,0
$GC,7557,-0.65,-194.7,739.8,-8.9,413,7559,0.10,0.00,0.00,0.000,6,0.205,0.000,1653,2922,3617,0,0,0,0,0,0
$GC,7863,-0.65,-194.7,761.4,-7.0,423,7867,0.00,2.20,0.00,0.000,4,0.000,0.057,1653,1519,3617,0,0,0,0,0,0
$GC,7921,-0.65,-194.7,765.6,-7.4,424,7925,0.00,2.28,0.00,0.000,6,0.000,0.067,1646,2924,3617,0,0,0,0,0,0
$GC,8238,-0.65,-194.7,790.8,-8.1,434,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2924,3617,0,0,0,0,0,0
$GC,8543,-0.65,-194.7,815.4,-8.0,444,8547,0.00,2.20,0.00,0.000,4,0.000,0.058,1646,1521,3617,0,0,0,0,0,0
$GC,8595,-0.65,-194.7,819.8,-8.2,445,8599,0.00,2.28,0.00,0.000,6,0.000,0.067,1636,2928,3617,0,0,0,0,0,0
$GC,8916,-0.65,-194.7,847.2,-8.6,456,8919,0.00,2.22,0.00,0.000,4,0.000,0.059,1636,1520,3617,0,0,0,0,0,0
$GC,8945,-0.65,-194.7,849.8,-8.5,456,8953,0.12,2.28,0.00,0.000,6,0.184,0.067,1659,2931,3617,0,0,0,0,0,0
$GC,9261,-0.65,-194.7,870.0,-6.4,467,9265,0.00,2.22,0.00,0.000,4,0.000,0.060,1659,1512,3617,0,0,0,0,0,0
$GC,9296,-0.65,-194.7,872.4,-6.5,468,9300,0.00,2.30,0.00,0.000,6,0.000,0.068,1652,2931,3617,0,0,0,0,0,0
$GC,9628,-0.65,-194.7,895.5,-7.1,479,9632,0.00,2.20,0.00,0.000,4,0.000,0.057,1652,1522,3617,0,0,0,0,0,0
$GC,9660,-0.65,-194.7,897.7,-7.5,480,9664,0.00,2.28,0.00,0.000,6,0.000,0.069,1648,2927,3617,0,0,0,0,0,0
$GC,9998,-0.65,-194.7,923.7,-7.8,491,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2926,3617,0,0,0,0,0,0
$GC,10304,-0.65,-194.7,947.7,-7.7,501,10308,0.00,2.20,0.00,0.000,4,0.000,0.058,1648,1522,3617,0,0,0,0,0,0
$GC,10350,-0.65,-194.7,951.4,-7.4,502,10354,0.00,2.28,0.00,0.000,6,0.000,0.069,1639,2923,3617,0,0,0,0,0,0
$STATE,10452,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10452,begin apogee
$GC,10463,-0.19,0.0,959.5,7.9,506,10668,0.52,0.00,201.73,1.161,6,0.153,0.000,1801,2721,2820,0,0,0,0,0,0
$STATE,10670,end apogee,CONTROL_FINISHED_OK
$STATE,10670,begin climb
$GC,10674,0.65,194.7,967.1,0.0,513,10871,0.80,2.20,183.52,1.721,4,0.080,0.073,2079,3901,2027,0,0,0,0,1,0
$GC,11108,0.65,194.7,866.3,29.3,526,11112,0.00,1.95,0.00,0.000,6,0.000,0.055,2088,2743,2028,0,0,0,0,0,0
$GC,11446,0.65,194.7,773.4,27.2,537,11450,0.00,2.38,0.00,0.000,4,0.000,0.072,2099,1329,2025,0,0,0,0,0,0
$GC,11559,0.65,194.7,744.6,23.4,540,11563,0.00,2.38,0.00,0.000,6,0.000,0.065,2099,2733,2025,0,0,0,0,0,0
$GC,11885,0.65,194.7,657.1,26.9,551,11890,0.00,2.35,0.00,0.000,4,0.000,0.070,2110,1325,2024,0,0,0,0,0,0
$GC,11932,0.65,194.7,644.5,24.5,552,11936,0.00,2.38,0.00,0.000,6,0.000,0.065,2110,2743,2024,0,0,0,0,0,0
$GC,12252,0.65,194.7,558.2,26.9,563,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2743,2024,0,0,0,0,0,0
$GC,12560,0.65,194.7,476.7,26.7,573,12564,0.00,2.35,0.00,0.000,4,0.000,0.069,2120,1321,2024,0,0,0,0,0,0
$GC,12625,0.65,194.7,459.8,24.3,575,12630,0.17,2.35,0.00,0.000,6,0.254,0.065,2083,2740,2024,0,0,0,0,0,0
$GC,12956,0.65,194.7,379.4,25.2,587,12960,0.00,2.30,0.00,0.000,4,0.000,0.066,2092,1324,2024,0,0,0,0,0,0
$GC,12986,0.65,194.7,371.3,23.8,588,12990,0.00,2.33,0.00,0.000,6,0.000,0.064,2092,2735,2024,0,0,0,0,0,0
$GC,13309,0.65,194.7,289.4,25.5,604,13313,0.00,2.33,0.00,0.000,4,0.000,0.067,2103,1323,2024,0,0,0,0,0,0
$GC,13339,0.65,194.7,281.5,25.8,605,13343,0.00,2.33,0.00,0.000,6,0.000,0.065,2103,2743,2024,0,0,0,0,0,0
$GC,13666,0.65,194.7,196.3,26.3,624,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2743,2023,0,0,0,0,0,0
$GC,13977,0.65,194.7,116.3,24.7,644,13981,0.00,2.30,0.00,0.000,4,0.000,0.067,2113,1324,2024,0,0,0,0,0,0
$GC,14012,0.65,194.7,107.2,23.1,646,14017,0.12,2.33,0.00,0.000,6,0.264,0.065,2088,2744,2024,0,0,0,0,0,0
$GC,14365,0.65,194.7,29.0,23.0,702,14374,0.00,2.33,0.00,0.000,4,0.000,0.063,2097,1323,2023,0,0,0,0,0,0
$GC,14453,0.65,194.7,10.0,22.3,715,14461,0.00,2.35,0.00,0.000,6,0.000,0.067,2097,2740,2022,0,0,0,0,0,0
$STATE,14481,end climb,SURFACE_DEPTH_REACHED
$STATE,14481,begin surface coast
$FINISH,0.3,1.014725
$STATE,14495,end surface coast,CONTROL_FINISHED_OK
$STATE,14495,begin surface
$SM_CCo,14518,172.75,0.782,1,0,518,564.18
$SM_GC,0.76,0.00,0.00,172.75,0.000,0.000,0.782,62,2925,518,-5.65,0.06,564.18
$IRIDIUM_FIX,-4641.78,359.97,111212,171747
$TT8_MAMPS,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.5,4.146
$10V_AH,10.2,1.545
$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,14.250,122.200,385.250,172.750,0.000,27.507,42.588,440.040,0.000,0.000,17.399,1825.145,9807.564,674.796,2458.607,647.362,33.348,1549.461,0.000,1893.752,0.000,1.011,0.000
$DEVICE_MAMPS,263.925,94.860,1721.250,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.831,1421.319,759.263,293.251,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354348
$DATA_FILE_SIZE,50431,721
$CAP_FILE_SIZE,124894,0
$CFSIZE,259252224,226992128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,121212,022834,-4701.722,401.593,23,1.0,24,-23.3