version: 66.07
glider: 542
mission: 6
dive: 35
start: 12 15 112 11 54 3
data:
$ID,542
$MISSION,6
$DIVE,35
$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,52816
$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,-10385.812
$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,43
$R_STBD_OVSHOOT,30
$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
$GPS1,151212,114234,-4642.086,359.383,44,1.0,44,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-24.7
$GPS2,151212,115305,-4642.113,359.457,18,1.3,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.295,0.012
$KALMAN_X,-32533.9,416.7,206.6,9711.2,-6017.7
$KALMAN_Y,4514.7,724.3,641.8,11059.5,-4353.6
$MHEAD_RNG_PITCHd_Wd,111.0,22444,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-194.7,0.0,0.0,0,179,0.00,0.00,-149.75,0.000,2,0.000,0.000,59,2946,3438,0,0,0,0,0,0
$GC,185,-0.64,-194.7,3.6,-3.9,19,204,6.65,2.25,-4.10,0.000,4,0.255,0.052,1666,1506,3615,0,0,0,0,0,0
$GC,276,-0.64,-194.7,23.6,-11.5,32,285,0.00,2.35,0.00,0.000,6,0.000,0.056,1656,2918,3616,0,0,0,0,0,0
$GC,362,-0.64,-194.7,33.1,-11.2,45,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2918,3616,0,0,0,0,0,0
$GC,608,-0.64,-194.7,64.7,-13.2,86,617,0.00,2.20,0.00,0.000,4,0.000,0.041,1656,1515,3616,0,0,0,0,0,0
$GC,647,-0.64,-194.7,69.0,-12.8,91,652,0.00,2.30,0.00,0.000,6,0.000,0.057,1646,2925,3616,0,0,0,0,0,0
$GC,996,-0.64,-194.7,114.3,-12.5,139,999,0.00,1.58,0.00,0.000,4,0.000,0.063,1638,3905,3616,0,0,0,0,0,0
$GC,1059,-0.64,-194.7,122.9,-12.1,142,1068,0.00,1.52,0.00,0.000,6,0.000,0.037,1638,2912,3617,0,0,0,0,0,0
$GC,1382,-0.64,-194.7,162.5,-12.5,163,1386,0.00,2.10,0.00,0.000,4,0.000,0.041,1638,1526,3617,0,0,0,0,0,0
$GC,1440,-0.64,-194.7,169.9,-10.8,166,1449,0.08,2.28,0.00,0.000,6,0.159,0.057,1652,2921,3617,0,0,0,0,0,0
$GC,1767,-0.64,-194.7,202.5,-9.9,187,1771,0.00,2.15,0.00,0.000,4,0.000,0.041,1653,1523,3617,0,0,0,0,0,0
$GC,1807,-0.64,-194.7,206.7,-9.3,189,1811,0.00,2.25,0.00,0.000,6,0.000,0.057,1644,2927,3617,0,0,0,0,0,0
$GC,2135,-0.64,-194.7,241.2,-10.8,210,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2927,3617,0,0,0,0,0,0
$GC,2456,-0.64,-194.7,275.9,-11.0,227,2460,0.00,2.15,0.00,0.000,4,0.000,0.041,1643,1526,3617,0,0,0,0,0,0
$GC,2491,-0.64,-194.7,280.0,-10.5,228,2500,0.00,2.28,0.00,0.000,6,0.000,0.057,1634,2928,3617,0,0,0,0,0,0
$GC,2809,-0.64,-194.7,316.7,-11.8,244,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2928,3617,0,0,0,0,0,0
$GC,3121,-0.64,-194.7,353.0,-11.7,259,3125,0.00,2.15,0.00,0.000,4,0.000,0.041,1634,1527,3617,0,0,0,0,0,0
$GC,3165,-0.64,-194.7,358.1,-10.9,261,3170,0.12,2.25,0.00,0.000,6,0.179,0.057,1656,2933,3617,0,0,0,0,0,0
$GC,3502,-0.64,-194.7,389.7,-9.5,277,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2934,3617,0,0,0,0,0,0
$GC,3803,-0.64,-194.7,418.4,-9.2,289,3807,0.00,2.12,0.00,0.000,4,0.000,0.042,1656,1528,3617,0,0,0,0,0,0
$GC,3850,-0.64,-194.7,422.7,-8.3,290,3854,0.00,2.25,0.00,0.000,6,0.000,0.058,1648,2933,3617,0,0,0,0,0,0
$GC,4171,-0.64,-194.7,450.7,-8.7,301,4175,0.00,2.12,0.00,0.000,4,0.000,0.041,1648,1527,3617,0,0,0,0,0,0
$GC,4206,-0.64,-194.7,453.9,-8.3,302,4210,0.00,2.22,0.00,0.000,6,0.000,0.057,1638,2922,3617,0,0,0,0,0,0
$GC,4539,-0.64,-194.7,483.2,-9.0,313,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2923,3617,0,0,0,0,0,0
$GC,4844,-0.64,-194.7,511.2,-9.2,323,4848,0.00,2.15,0.00,0.000,4,0.000,0.042,1638,1525,3617,0,0,0,0,0,0
$GC,4874,-0.64,-194.7,513.9,-9.3,323,4881,0.12,2.22,0.00,0.000,6,0.181,0.058,1661,2924,3617,0,0,0,0,0,0
$GC,5190,-0.64,-194.7,537.1,-7.4,334,5194,0.00,2.15,0.00,0.000,4,0.000,0.043,1661,1521,3617,0,0,0,0,0,0
$GC,5225,-0.64,-194.7,539.9,-7.2,335,5229,0.00,2.25,0.00,0.000,6,0.000,0.059,1652,2930,3617,0,0,0,0,0,0
$GC,5557,-0.64,-194.7,566.2,-8.0,346,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2930,3617,0,0,0,0,0,0
$GC,5865,-0.64,-194.7,588.5,-7.1,356,5869,0.00,2.12,0.00,0.000,4,0.000,0.042,1653,1525,3617,0,0,0,0,0,0
$GC,5899,-0.64,-194.7,590.8,-7.3,357,5903,0.00,2.22,0.00,0.000,6,0.000,0.059,1644,2922,3617,0,0,0,0,0,0
$GC,6237,-0.64,-194.7,616.1,-7.6,368,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2922,3616,0,0,0,0,0,0
$GC,6543,-0.64,-194.7,640.2,-8.0,378,6547,0.00,2.12,0.00,0.000,4,0.000,0.043,1644,1525,3616,0,0,0,0,0,0
$GC,6596,-0.64,-194.7,644.4,-7.4,379,6600,0.00,2.22,0.00,0.000,6,0.000,0.059,1634,2922,3616,0,0,0,0,0,0
$GC,6918,-0.64,-194.7,675.0,-10.1,390,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2922,3616,0,0,0,0,0,0
$GC,7223,-0.64,-194.7,706.6,-9.9,400,7227,0.00,2.15,0.00,0.000,4,0.000,0.043,1634,1527,3615,0,0,0,0,0,0
$GC,7255,-0.64,-194.7,709.5,-9.0,401,7259,0.12,2.22,0.00,0.000,6,0.178,0.059,1657,2924,3616,0,0,0,0,0,0
$GC,7593,-0.64,-194.7,734.3,-7.4,412,7597,0.00,2.12,0.00,0.000,4,0.000,0.044,1657,1525,3615,0,0,0,0,0,0
$GC,7631,-0.64,-194.7,737.0,-6.9,413,7635,0.00,2.22,0.00,0.000,6,0.000,0.060,1650,2924,3616,0,0,0,0,0,0
$GC,7975,-0.64,-194.7,762.4,-7.5,424,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2925,3615,0,0,0,0,0,0
$GC,8280,-0.64,-194.7,785.6,-7.5,434,8284,0.00,2.15,0.00,0.000,4,0.000,0.042,1650,1519,3615,0,0,0,0,0,0
$GC,8327,-0.64,-194.7,789.3,-7.5,435,8331,0.00,2.25,0.00,0.000,6,0.000,0.060,1641,2925,3615,0,0,0,0,0,0
$GC,8648,-0.64,-194.7,816.2,-8.5,446,8652,0.00,2.12,0.00,0.000,4,0.000,0.043,1641,1521,3615,0,0,0,0,0,0
$GC,8689,-0.64,-194.7,819.8,-8.1,447,8694,0.10,2.25,0.00,0.000,6,0.190,0.060,1656,2929,3615,0,0,0,0,0,0
$GC,9016,-0.64,-194.7,843.4,-7.3,458,9020,0.00,2.15,0.00,0.000,4,0.000,0.044,1656,1522,3615,0,0,0,0,0,0
$GC,9057,-0.64,-194.7,846.6,-7.0,459,9061,0.00,2.25,0.00,0.000,6,0.000,0.060,1650,2928,3615,0,0,0,0,0,0
$GC,9384,-0.64,-194.7,871.0,-7.5,470,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2928,3615,0,0,0,0,0,0
$GC,9691,-0.64,-194.7,893.8,-7.5,480,9695,0.00,2.15,0.00,0.000,4,0.000,0.042,1650,1520,3615,0,0,0,0,0,0
$GC,9749,-0.64,-194.7,898.6,-7.9,481,9756,0.00,2.25,0.00,0.000,6,0.000,0.060,1641,2933,3615,0,0,0,0,0,0
$GC,10065,-0.64,-194.7,923.9,-8.1,492,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2933,3615,0,0,0,0,0,0
$GC,10371,-0.64,-194.7,949.2,-8.3,502,10375,0.00,2.15,0.00,0.000,4,0.000,0.043,1641,1519,3615,0,0,0,0,0,0
$GC,10443,-0.64,-194.7,954.5,-7.6,504,10447,0.00,2.12,0.00,0.000,3,0.000,0.060,1633,2855,3615,0,0,0,0,0,0
$STATE,10449,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10449,begin apogee
$GC,10460,-0.19,0.0,955.4,7.7,504,10659,0.52,0.00,195.55,1.175,6,0.163,0.000,1797,2738,2819,0,0,0,0,0,0
$STATE,10660,end apogee,CONTROL_FINISHED_OK
$STATE,10661,begin climb
$GC,10665,0.64,194.7,962.6,0.0,510,10872,0.80,2.50,197.10,1.114,4,0.065,0.050,2095,1342,2015,0,0,0,0,0,0
$GC,11121,0.64,194.7,856.5,25.4,523,11128,0.00,2.38,0.00,0.000,6,0.000,0.056,2095,2739,2000,0,0,0,0,0,0
$GC,11436,0.64,194.7,763.8,29.8,534,11440,0.00,2.33,0.00,0.000,4,0.000,0.052,2105,1332,1998,0,0,0,0,0,0
$GC,11471,0.64,194.7,752.9,28.9,535,11475,0.00,2.35,0.00,0.000,6,0.000,0.057,2105,2737,1998,0,0,0,0,0,0
$GC,11803,0.64,194.7,650.3,31.4,546,11807,0.00,2.30,0.00,0.000,4,0.000,0.054,2116,1332,1998,0,0,0,0,0,0
$GC,11849,0.64,194.7,635.7,28.4,547,11854,0.15,2.33,0.00,0.000,6,0.245,0.056,2084,2739,1998,0,0,0,0,0,0
$GC,12171,0.64,194.7,546.6,27.8,558,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2739,1997,0,0,0,0,0,0
$GC,12478,0.64,194.7,465.1,26.5,568,12482,0.00,2.28,0.00,0.000,4,0.000,0.053,2094,1327,1997,0,0,0,0,0,0
$GC,12570,0.64,194.7,442.1,22.4,570,12577,0.00,2.30,0.00,0.000,6,0.000,0.057,2094,2743,1997,0,0,0,0,0,0
$GC,12888,0.64,194.7,359.2,26.9,583,12892,0.00,2.25,0.00,0.000,4,0.000,0.054,2105,1334,1997,0,0,0,0,0,0
$GC,12946,0.64,194.7,343.7,23.1,585,12950,0.00,2.28,0.00,0.000,6,0.000,0.057,2104,2733,1997,0,0,0,0,0,0
$GC,13265,0.64,194.7,258.0,27.7,600,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2733,1996,0,0,0,0,0,0
$GC,13587,0.64,194.7,170.8,26.9,620,13591,0.00,2.20,0.00,0.000,4,0.000,0.054,2115,1336,1996,0,0,0,0,0,0
$GC,13639,0.64,194.7,156.6,24.0,623,13644,0.15,2.28,0.00,0.000,6,0.236,0.058,2081,2741,1997,0,0,0,0,0,0
$GC,13969,0.64,194.7,76.0,24.9,653,13974,0.00,2.22,0.00,0.000,4,0.000,0.051,2091,1338,1996,0,0,0,0,0,0
$GC,14002,0.64,194.7,67.5,25.3,658,14009,0.00,2.25,0.00,0.000,6,0.000,0.057,2090,2739,1996,0,0,0,0,0,0
$STATE,14274,end climb,SURFACE_DEPTH_REACHED
$STATE,14275,begin surface coast
$FINISH,0.3,1.026031
$STATE,14288,end surface coast,CONTROL_FINISHED_OK
$STATE,14288,begin surface
$SM_CCo,14311,160.73,0.767,1,0,516,564.18
$SM_GC,0.61,0.00,0.00,160.73,0.000,0.000,0.767,60,2955,516,-5.66,0.90,564.18
$IRIDIUM_FIX,-4626.10,355.74,151212,070710
$TT8_MAMPS,0.026964
$HUMID,56.14
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.00
$XPDR_PINGS,1
$24V_AH,23.1,8.685
$10V_AH,10.1,3.647
$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,14.450,119.275,392.650,160.725,0.000,26.820,30.624,345.954,0.250,0.000,20.722,1784.271,9666.312,680.450,2311.427,656.150,33.355,1552.682,0.000,1849.568,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,72.675,1175.040,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.094,1389.573,732.940,290.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,50385,705
$CAP_FILE_SIZE,123254,0
$CFSIZE,259252224,225693696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,151212,155634,-4640.990,401.544,27,1.2,27,-23.3