version: 66.07
glider: 542
mission: 6
dive: 157
start: 1 1 113 11 52 6
data:
$ID,542
$MISSION,6
$DIVE,157
$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,-10935.489
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,010113,114023,-4628.882,410.170,64,0.9,64,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.3
$GPS2,010113,115113,-4629.006,410.264,18,1.5,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.211,-0.144
$KALMAN_X,-100807.5,349.0,491.3,91437.7,-6614.2
$KALMAN_Y,48770.5,-261.5,-326.4,-6929.3,3154.8
$MHEAD_RNG_PITCHd_Wd,147.7,37952,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.08,0.000,2,0.000,0.000,55,2896,2957,0,0,0,0,0,0
$GC,98,-0.61,-146.1,3.1,-4.6,8,125,6.53,2.22,-13.38,0.000,4,0.249,0.049,1644,1475,3417,0,0,0,0,0,0
$GC,137,-0.61,-146.1,8.8,-11.8,12,147,0.00,2.30,0.00,0.000,6,0.000,0.050,1635,2878,3418,0,0,0,0,0,0
$GC,226,-0.61,-146.1,20.9,-14.4,25,234,0.00,2.22,0.00,0.000,4,0.000,0.038,1634,1477,3418,0,0,0,0,0,0
$GC,431,-0.61,-146.1,46.9,-10.3,58,440,0.00,2.30,0.00,0.000,6,0.000,0.053,1624,2886,3419,0,0,0,0,0,0
$GC,675,-0.61,-146.1,80.9,-13.7,99,681,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2885,3419,0,0,0,0,0,0
$GC,1019,-0.61,-146.1,129.8,-14.6,136,1023,0.00,2.17,0.00,0.000,4,0.000,0.037,1625,1468,3420,0,0,0,0,0,0
$GC,1083,-0.61,-146.1,139.3,-13.9,139,1091,0.12,2.25,0.00,0.000,6,0.184,0.050,1645,2883,3421,0,0,0,0,0,0
$GC,1408,-0.61,-146.1,178.7,-11.9,160,1412,0.00,1.60,0.00,0.000,4,0.000,0.060,1638,3891,3420,0,0,0,0,0,0
$GC,1449,-0.61,-146.1,184.3,-12.2,162,1452,0.00,1.58,0.00,0.000,6,0.000,0.031,1638,2846,3421,0,0,0,0,0,0
$GC,1778,-0.61,-146.1,223.9,-12.1,183,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2840,3421,0,0,0,0,0,0
$GC,2092,-0.61,-146.1,260.3,-11.3,202,2096,0.00,1.67,0.00,0.000,4,0.000,0.060,1630,3896,3421,0,0,0,0,0,0
$GC,2150,-0.61,-146.1,267.4,-11.7,204,2154,0.00,1.52,0.00,0.000,6,0.000,0.032,1630,2884,3421,0,0,0,0,0,0
$GC,2474,-0.61,-146.1,305.6,-11.8,220,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3421,0,0,0,0,0,0
$GC,2785,-0.61,-146.1,340.9,-11.2,235,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3421,0,0,0,0,0,0
$GC,3093,-0.61,-146.1,375.1,-10.8,250,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3421,0,0,0,0,0,0
$GC,3402,-0.61,-146.1,408.6,-11.0,264,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2879,3421,0,0,0,0,0,0
$GC,3707,-0.61,-146.1,443.3,-11.4,274,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3420,0,0,0,0,0,0
$GC,4014,-0.61,-146.1,477.9,-11.2,284,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3420,0,0,0,0,0,0
$GC,4320,-0.61,-146.1,510.9,-10.8,294,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3420,0,0,0,0,0,0
$GC,4626,-0.61,-146.1,542.5,-10.0,304,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2880,3420,0,0,0,0,0,0
$GC,4932,-0.61,-146.1,574.0,-10.4,314,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2880,3420,0,0,0,0,0,0
$GC,5239,-0.61,-146.1,606.1,-10.3,324,5242,0.00,2.12,0.00,0.000,4,0.000,0.039,1630,1497,3419,0,0,0,0,0,0
$GC,5279,-0.61,-146.1,610.4,-9.7,325,5283,0.12,2.20,0.00,0.000,6,0.183,0.054,1652,2880,3419,0,0,0,0,0,0
$GC,5612,-0.61,-146.1,638.1,-8.3,336,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2881,3419,0,0,0,0,0,0
$GC,5920,-0.61,-146.1,662.8,-8.0,346,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2881,3419,0,0,0,0,0,0
$GC,6224,-0.61,-146.1,686.6,-7.8,356,6228,0.00,2.10,0.00,0.000,4,0.000,0.038,1652,1495,3418,0,0,0,0,0,0
$GC,6265,-0.61,-146.1,690.1,-8.0,357,6269,0.00,2.20,0.00,0.000,6,0.000,0.054,1643,2880,3418,0,0,0,0,0,0
$GC,6592,-0.61,-146.1,717.6,-8.5,368,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2880,3418,0,0,0,0,0,0
$GC,6898,-0.61,-146.1,743.5,-8.5,378,6902,0.00,2.12,0.00,0.000,4,0.000,0.038,1644,1494,3418,0,0,0,0,0,0
$GC,6955,-0.61,-146.1,748.5,-7.6,379,6962,0.00,2.20,0.00,0.000,6,0.000,0.054,1634,2885,3418,0,0,0,0,0,0
$GC,7271,-0.61,-146.1,777.1,-9.3,390,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2885,3418,0,0,0,0,0,0
$GC,7577,-0.61,-146.1,806.5,-9.6,400,7581,0.00,2.12,0.00,0.000,4,0.000,0.038,1634,1489,3418,0,0,0,0,0,0
$GC,7617,-0.61,-146.1,810.4,-9.1,401,7621,0.00,2.20,0.00,0.000,6,0.000,0.054,1624,2882,3417,0,0,0,0,0,0
$GC,7956,-0.61,-146.1,843.1,-9.6,412,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2883,3417,0,0,0,0,0,0
$GC,8261,-0.61,-146.1,872.7,-9.5,422,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2882,3417,0,0,0,0,0,0
$GC,8569,-0.61,-146.1,900.9,-9.1,432,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2883,3417,0,0,0,0,0,0
$GC,8874,-0.61,-146.1,928.7,-9.2,442,8878,0.00,2.10,0.00,0.000,4,0.000,0.038,1624,1493,3417,0,0,0,0,0,0
$GC,8915,-0.61,-146.1,932.7,-9.5,443,8919,0.12,2.20,0.00,0.000,6,0.184,0.054,1646,2879,3416,0,0,0,0,0,0
$GC,9242,-0.61,-146.1,956.8,-7.3,454,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2880,3416,0,0,0,0,0,0
$GC,9549,-0.61,-146.1,978.9,-7.1,464,9553,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1489,3416,0,0,0,0,0,0
$GC,9590,-0.61,-146.1,982.0,-6.5,465,9594,0.00,2.22,0.00,0.000,6,0.000,0.054,1636,2890,3416,0,0,0,0,0,0
$STATE,9819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9820,begin apogee
$GC,9831,-0.18,0.0,1000.5,8.1,473,9981,0.50,0.00,147.32,1.238,6,0.155,0.000,1788,2702,2819,0,0,0,0,0,0
$STATE,9983,end apogee,CONTROL_FINISHED_OK
$STATE,9983,begin climb
$GC,9988,0.61,146.1,1004.3,0.0,478,10149,0.75,2.25,148.57,1.804,4,0.063,0.058,2056,3893,2225,0,0,0,0,1,0
$GC,10175,0.61,146.1,973.2,25.1,484,10178,0.00,2.05,0.00,0.000,6,0.000,0.037,2065,2713,2225,0,0,0,0,0,0
$GC,10501,0.61,146.1,893.0,24.9,495,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2707,2218,0,0,0,0,0,0
$GC,10808,0.61,146.1,817.0,24.6,505,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2707,2217,0,0,0,0,0,0
$GC,11113,0.61,146.1,742.3,24.3,515,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2706,2216,0,0,0,0,0,0
$GC,11419,0.61,146.1,668.9,23.9,525,11423,0.00,2.22,0.00,0.000,4,0.000,0.044,2075,1283,2215,0,0,0,0,0,0
$GC,11465,0.61,146.1,657.5,23.7,526,11470,0.00,2.30,0.00,0.000,6,0.000,0.051,2075,2706,2213,0,0,0,0,0,0
$GC,11786,0.61,146.1,579.0,24.3,537,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2707,2213,0,0,0,0,0,0
$GC,12092,0.61,146.1,505.2,24.1,547,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2706,2213,0,0,0,0,0,0
$GC,12399,0.61,146.1,430.9,24.2,557,12403,0.00,2.22,0.00,0.000,4,0.000,0.045,2086,1283,2212,0,0,0,0,0,0
$GC,12439,0.61,146.1,421.2,21.7,558,12444,0.15,2.28,0.00,0.000,6,0.223,0.053,2052,2701,2211,0,0,0,0,0,0
$GC,12758,0.61,146.1,353.2,21.1,572,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2211,0,0,0,0,0,0
$GC,13069,0.61,146.1,286.9,21.2,587,13073,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1279,2211,0,0,0,0,0,0
$GC,13099,0.61,146.1,280.2,20.4,588,13103,0.00,2.28,0.00,0.000,6,0.000,0.051,2061,2702,2211,0,0,0,0,0,0
$GC,13431,0.61,146.1,210.1,21.2,607,13435,0.00,2.22,0.00,0.000,4,0.000,0.044,2072,1281,2211,0,0,0,0,0,0
$GC,13455,0.61,146.1,204.8,18.6,608,13459,0.00,2.28,0.00,0.000,6,0.000,0.052,2072,2706,2210,0,0,0,0,0,0
$GC,13778,0.61,146.1,138.8,20.4,628,13782,0.00,1.88,0.00,0.000,4,0.000,0.060,2072,3894,2211,0,0,0,0,0,0
$GC,13849,0.61,146.1,123.9,20.2,632,13854,0.12,1.85,0.00,0.000,6,0.253,0.039,2056,2691,2210,0,0,0,0,0,0
$GC,14191,0.61,146.1,62.2,19.4,675,14197,0.00,2.17,0.00,0.000,4,0.000,0.044,2064,1296,2210,0,0,0,0,0,0
$GC,14213,0.61,146.1,57.5,19.3,678,14222,0.00,2.25,0.00,0.000,6,0.000,0.051,2064,2694,2210,0,0,0,0,0,0
$GC,14471,0.61,146.1,9.2,17.6,719,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2694,2209,0,0,0,0,0,0
$STATE,14500,end climb,SURFACE_DEPTH_REACHED
$STATE,14500,begin surface coast
$FINISH,0.6,1.014699
$STATE,14521,end surface coast,CONTROL_FINISHED_OK
$STATE,14521,begin surface
$SM_CCo,14544,51.35,0.776,1,0,1797,250.20
$SM_GC,1.42,0.00,0.00,51.35,0.000,0.000,0.776,55,2898,1797,-5.61,0.51,250.20
$IRIDIUM_FIX,-4610.49,407.14,010113,070719
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.8,31.514
$10V_AH,10.1,13.744
$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,13.825,76.825,295.900,51.350,0.000,28.099,21.004,348.901,0.000,0.000,20.012,1790.167,10193.864,431.378,2189.551,631.928,33.367,1180.979,0.000,1719.728,0.000,1.010,0.000
$DEVICE_MAMPS,253.215,71.145,1803.870,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.177,1421.646,749.468,291.837,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353976
$DATA_FILE_SIZE,53875,726
$CAP_FILE_SIZE,107858,0
$CFSIZE,259252224,219566080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010113,155652,-4629.710,412.486,38,0.9,38,-23.4