version: 66.07
glider: 542
mission: 6
dive: 155
start: 1 1 113 3 15 23
data:
$ID,542
$MISSION,6
$DIVE,155
$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,353
$T_MISSION,368
$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,150
$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,250
$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,-10928.535
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,50
$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
$GPS1,010113,030423,-4628.905,406.457,40,1.1,40,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.0
$GPS2,010113,031430,-4628.906,406.559,17,1.1,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.249,-0.057
$KALMAN_X,-96798.5,1366.4,608.4,81605.1,-7940.2
$KALMAN_Y,46576.3,-293.0,119.7,-4968.5,2439.5
$MHEAD_RNG_PITCHd_Wd,126.3,4832,-16.5,-9.443
$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,-0.61,-146.1,0.0,0.0,0,99,0.00,0.00,-70.93,0.000,2,0.000,0.000,59,2915,3144,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.1,-2.3,9,125,6.62,1.60,-7.53,0.000,4,0.256,0.077,1635,3883,3417,0,0,0,0,0,0
$GC,401,-0.61,-146.1,47.2,-14.0,56,410,0.00,1.58,0.00,0.000,6,0.000,0.031,1635,2844,3419,0,0,0,0,0,0
$GC,649,-0.61,-146.1,82.6,-13.6,97,654,0.00,1.65,0.00,0.000,4,0.000,0.059,1627,3877,3419,0,0,0,0,0,0
$GC,911,-0.61,-146.1,116.5,-12.7,128,914,0.00,1.50,0.00,0.000,6,0.000,0.032,1627,2883,3420,0,0,0,0,0,0
$GC,1239,-0.61,-146.1,160.3,-13.5,149,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2878,3421,0,0,0,0,0,0
$GC,1552,-0.61,-146.1,200.3,-13.0,169,1555,0.00,1.60,0.00,0.000,4,0.000,0.060,1620,3870,3422,0,0,0,0,0,0
$GC,1597,-0.61,-146.1,206.8,-13.6,171,1605,0.08,1.50,0.00,0.000,6,0.169,0.032,1643,2873,3422,0,0,0,0,0,0
$GC,1919,-0.61,-146.1,243.4,-11.5,192,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2873,3422,0,0,0,0,0,0
$GC,2229,-0.61,-146.1,280.0,-11.7,208,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2873,3422,0,0,0,0,0,0
$GC,2540,-0.61,-146.1,315.8,-11.3,223,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2873,3422,0,0,0,0,0,0
$GC,2847,-0.61,-146.1,349.4,-10.7,238,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2873,3422,0,0,0,0,0,0
$GC,3159,-0.61,-146.1,380.4,-9.8,253,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2873,3422,0,0,0,0,0,0
$GC,3489,-0.61,-146.1,411.8,-9.6,267,3492,0.00,1.60,0.00,0.000,4,0.000,0.062,1636,3866,3422,0,0,0,0,0,0
$GC,3528,-0.61,-146.1,416.1,-10.0,268,3532,0.00,1.48,0.00,0.000,6,0.000,0.034,1637,2890,3422,0,0,0,0,0,0
$GC,3865,-0.61,-146.1,450.0,-10.3,279,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2885,3422,0,0,0,0,0,0
$GC,4172,-0.61,-146.1,482.1,-10.6,289,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2885,3422,0,0,0,0,0,0
$GC,4478,-0.61,-146.1,513.6,-10.2,299,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2886,3421,0,0,0,0,0,0
$GC,4784,-0.61,-146.1,544.7,-10.0,309,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2885,3421,0,0,0,0,0,0
$GC,5090,-0.61,-146.1,574.4,-9.5,319,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2885,3421,0,0,0,0,0,0
$GC,5397,-0.61,-146.1,602.4,-9.1,329,5401,0.00,2.10,0.00,0.000,4,0.000,0.039,1636,1493,3421,0,0,0,0,0,0
$GC,5427,-0.61,-146.1,605.2,-9.0,329,5434,0.00,2.17,0.00,0.000,6,0.000,0.054,1626,2868,3420,0,0,0,0,0,0
$GC,5742,-0.61,-146.1,635.0,-9.6,340,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2868,3420,0,0,0,0,0,0
$GC,6048,-0.61,-146.1,664.4,-9.8,350,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2869,3420,0,0,0,0,0,0
$GC,6354,-0.61,-146.1,694.8,-9.9,360,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2868,3420,0,0,0,0,0,0
$GC,6660,-0.61,-146.1,724.9,-9.8,370,6664,0.00,1.62,0.00,0.000,4,0.000,0.063,1618,3893,3420,0,0,0,0,0,0
$GC,6712,-0.61,-146.1,730.7,-10.5,371,6717,0.08,1.52,0.00,0.000,6,0.168,0.035,1641,2883,3419,0,0,0,0,0,0
$GC,7041,-0.61,-146.1,760.7,-9.3,382,7045,0.00,2.08,0.00,0.000,4,0.000,0.039,1641,1493,3419,0,0,0,0,0,0
$GC,7072,-0.61,-146.1,763.7,-9.2,383,7076,0.00,2.20,0.00,0.000,6,0.000,0.054,1632,2889,3419,0,0,0,0,0,0
$GC,7417,-0.61,-146.1,796.5,-9.5,394,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2890,3419,0,0,0,0,0,0
$GC,7722,-0.61,-146.1,823.3,-8.6,404,7726,0.00,1.58,0.00,0.000,4,0.000,0.063,1624,3887,3419,0,0,0,0,0,0
$GC,7751,-0.61,-146.1,826.1,-9.5,404,7758,0.00,1.52,0.00,0.000,6,0.000,0.034,1624,2873,3419,0,0,0,0,0,0
$GC,8067,-0.61,-146.1,853.6,-8.9,415,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2873,3419,0,0,0,0,0,0
$GC,8373,-0.61,-146.1,879.6,-8.4,425,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2873,3419,0,0,0,0,0,0
$GC,8679,-0.61,-146.1,905.4,-8.5,435,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2872,3418,0,0,0,0,0,0
$GC,8985,-0.61,-146.1,931.5,-8.6,445,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2872,3419,0,0,0,0,0,0
$GC,9291,-0.61,-146.1,958.5,-9.0,455,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2872,3418,0,0,0,0,0,0
$GC,9598,-0.61,-146.1,986.6,-9.2,465,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2873,3418,0,0,0,0,0,0
$STATE,9746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9746,begin apogee
$GC,9757,-0.18,0.0,1000.8,9.3,470,9908,0.55,0.00,148.32,1.229,6,0.164,0.000,1788,2700,2819,0,0,0,0,0,0
$STATE,9910,end apogee,CONTROL_FINISHED_OK
$STATE,9910,begin climb
$GC,9915,0.61,146.1,1005.0,0.0,475,10079,0.75,2.25,147.55,1.794,4,0.064,0.060,2053,3892,2224,0,0,0,0,1,0
$GC,10116,0.61,146.1,971.3,26.9,481,10122,0.00,2.03,0.00,0.000,6,0.000,0.037,2062,2713,2225,0,0,0,0,0,0
$GC,10431,0.61,146.1,894.1,24.5,492,10435,0.00,2.28,0.00,0.000,4,0.000,0.045,2073,1291,2220,0,0,0,0,0,0
$GC,10466,0.61,146.1,885.5,23.7,493,10470,0.00,2.35,0.00,0.000,6,0.000,0.051,2071,2696,2218,0,0,0,0,0,0
$GC,10798,0.61,146.1,804.7,24.6,504,10802,0.00,2.28,0.00,0.000,4,0.000,0.046,2080,1283,2217,0,0,0,0,0,0
$GC,10839,0.61,146.1,794.4,23.2,505,10844,0.12,2.33,0.00,0.000,6,0.232,0.052,2055,2703,2216,0,0,0,0,0,0
$GC,11166,0.61,146.1,717.7,23.3,516,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2703,2216,0,0,0,0,0,0
$GC,11473,0.61,146.1,645.9,23.2,526,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2703,2216,0,0,0,0,0,0
$GC,11779,0.61,146.1,575.4,22.7,536,11783,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1287,2215,0,0,0,0,0,0
$GC,11831,0.61,146.1,563.8,19.0,537,11835,0.00,2.28,0.00,0.000,6,0.000,0.053,2064,2700,2213,0,0,0,0,0,0
$GC,12153,0.61,146.1,488.9,23.5,548,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2701,2213,0,0,0,0,0,0
$GC,12458,0.61,146.1,418.4,22.9,558,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2701,2213,0,0,0,0,0,0
$GC,12777,0.61,146.1,346.2,22.2,572,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2700,2213,0,0,0,0,0,0
$GC,13088,0.61,146.1,279.0,21.9,587,13092,0.00,2.20,0.00,0.000,4,0.000,0.046,2074,1283,2213,0,0,0,0,0,0
$GC,13136,0.61,146.1,268.4,20.3,589,13141,0.00,2.28,0.00,0.000,6,0.000,0.053,2074,2706,2211,0,0,0,0,0,0
$GC,13470,0.61,146.1,196.4,21.2,609,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2706,2212,0,0,0,0,0,0
$GC,13782,0.61,146.1,130.8,20.4,629,13786,0.00,2.22,0.00,0.000,4,0.000,0.046,2084,1282,2212,0,0,0,0,0,0
$GC,13880,0.61,146.1,110.2,19.3,634,13889,0.10,2.30,0.00,0.000,6,0.210,0.054,2057,2706,2211,0,0,0,0,0,0
$GC,14231,0.61,146.1,43.3,18.3,689,14238,0.00,1.88,0.00,0.000,4,0.000,0.060,2057,3908,2212,0,0,0,0,0,0
$GC,14334,0.61,146.1,22.5,19.0,705,14343,0.00,1.90,0.00,0.000,6,0.000,0.039,2065,2687,2211,0,0,0,0,0,0
$GC,14422,0.61,146.1,6.3,16.2,718,14431,0.00,2.20,0.00,0.000,4,0.000,0.050,2075,1297,2211,0,0,0,0,0,0
$STATE,14439,end climb,SURFACE_DEPTH_REACHED
$STATE,14439,begin surface coast
$FINISH,0.6,1.018331
$STATE,14459,end surface coast,CONTROL_FINISHED_OK
$STATE,14459,begin surface
$SM_CCo,14484,51.55,0.773,1,0,1798,250.20
$SM_GC,1.46,0.00,0.00,51.55,0.000,0.000,0.773,54,2902,1798,-5.61,0.62,250.20
$IRIDIUM_FIX,-4613.60,407.14,311212,222232
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.8,31.166
$10V_AH,10.1,13.545
$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,13.725,63.050,295.875,51.550,0.000,27.954,41.352,312.685,0.000,0.000,19.978,1765.443,10194.259,441.716,2146.533,586.904,33.366,1160.103,0.000,1703.386,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,77.265,1793.925,772.650,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.837,1422.767,749.498,289.938,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,50549,723
$CAP_FILE_SIZE,102586,0
$CFSIZE,259252224,219693056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010113,071904,-4628.857,408.253,33,0.8,33,-23.4