version: 66.07
glider: 542
mission: 6
dive: 158
start: 1 1 113 16 7 58
data:
$ID,542
$MISSION,6
$DIVE,158
$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,-10938.933
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,010113,155652,-4629.710,412.486,38,0.9,38,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.0
$GPS2,010113,160705,-4629.707,412.594,14,1.2,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.227,-0.117
$KALMAN_X,-101983.1,306.7,573.9,95521.8,-5470.8
$KALMAN_Y,50012.3,-291.1,101.4,-9871.1,2490.6
$MHEAD_RNG_PITCHd_Wd,140.7,34942,-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,-146.1,0.0,0.0,0,107,0.00,0.00,-78.75,0.000,2,0.000,0.000,53,2898,3302,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.4,-3.0,10,132,6.53,1.60,-2.75,0.000,4,0.248,0.069,1637,3895,3415,0,0,0,0,0,0
$GC,408,-0.61,-146.1,52.8,-13.7,57,415,0.00,1.58,0.00,0.000,6,0.000,0.032,1637,2856,3418,0,0,0,0,0,0
$GC,649,-0.61,-146.1,87.7,-14.8,98,655,0.00,1.67,0.00,0.000,4,0.000,0.058,1629,3890,3418,0,0,0,0,0,0
$GC,794,-0.61,-146.1,107.4,-12.2,116,797,0.00,1.52,0.00,0.000,6,0.000,0.032,1629,2880,3419,0,0,0,0,0,0
$GC,1122,-0.61,-146.1,149.4,-11.8,137,1126,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3913,3420,0,0,0,0,0,0
$GC,1162,-0.61,-146.1,154.2,-13.2,139,1165,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2885,3420,0,0,0,0,0,0
$GC,1494,-0.61,-146.1,196.0,-12.1,160,1496,0.10,0.00,0.00,0.000,6,0.208,0.000,1644,2880,3420,0,0,0,0,0,0
$GC,1808,-0.61,-146.1,228.2,-10.0,180,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2880,3420,0,0,0,0,0,0
$GC,2131,-0.61,-146.1,261.2,-10.3,199,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2880,3420,0,0,0,0,0,0
$GC,2437,-0.61,-146.1,293.8,-10.6,214,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2880,3421,0,0,0,0,0,0
$GC,2749,-0.61,-146.1,325.8,-10.0,229,2753,0.00,2.12,0.00,0.000,4,0.000,0.039,1645,1499,3420,0,0,0,0,0,0
$GC,2784,-0.61,-146.1,329.7,-9.6,230,2788,0.00,2.20,0.00,0.000,6,0.000,0.053,1635,2882,3420,0,0,0,0,0,0
$GC,3104,-0.61,-146.1,362.0,-10.3,245,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2883,3420,0,0,0,0,0,0
$GC,3412,-0.61,-146.1,394.1,-10.6,260,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2883,3420,0,0,0,0,0,0
$GC,3719,-0.61,-146.1,426.3,-10.5,271,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2883,3420,0,0,0,0,0,0
$GC,4025,-0.61,-146.1,458.3,-10.5,281,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2882,3420,0,0,0,0,0,0
$GC,4331,-0.61,-146.1,489.0,-9.9,291,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2883,3420,0,0,0,0,0,0
$GC,4637,-0.61,-146.1,520.4,-10.4,301,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2883,3420,0,0,0,0,0,0
$GC,4943,-0.61,-146.1,552.6,-10.6,311,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2883,3420,0,0,0,0,0,0
$GC,5250,-0.61,-146.1,586.1,-11.2,321,5253,0.00,2.12,0.00,0.000,4,0.000,0.038,1635,1495,3420,0,0,0,0,0,0
$GC,5284,-0.61,-146.1,590.2,-10.6,322,5288,0.00,2.20,0.00,0.000,6,0.000,0.054,1626,2881,3419,0,0,0,0,0,0
$GC,5616,-0.61,-146.1,628.7,-11.8,333,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2883,3419,0,0,0,0,0,0
$GC,5924,-0.61,-146.1,664.4,-11.7,343,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2882,3419,0,0,0,0,0,0
$GC,6229,-0.61,-146.1,698.1,-10.6,353,6232,0.00,2.12,0.00,0.000,4,0.000,0.038,1625,1494,3419,0,0,0,0,0,0
$GC,6260,-0.61,-146.1,701.3,-10.3,354,6265,0.12,2.20,0.00,0.000,6,0.189,0.054,1647,2881,3419,0,0,0,0,0,0
$GC,6598,-0.61,-146.1,729.8,-8.1,365,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2881,3419,0,0,0,0,0,0
$GC,6905,-0.61,-146.1,752.8,-7.3,375,6909,0.00,2.12,0.00,0.000,4,0.000,0.038,1647,1491,3418,0,0,0,0,0,0
$GC,6940,-0.61,-146.1,755.4,-6.9,376,6944,0.00,2.22,0.00,0.000,6,0.000,0.054,1638,2890,3418,0,0,0,0,0,0
$GC,7272,-0.61,-146.1,780.4,-7.7,387,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2890,3418,0,0,0,0,0,0
$GC,7578,-0.61,-146.1,803.9,-7.7,397,7582,0.00,2.12,0.00,0.000,4,0.000,0.037,1637,1493,3418,0,0,0,0,0,0
$GC,7631,-0.61,-146.1,808.1,-7.8,398,7635,0.00,2.22,0.00,0.000,6,0.000,0.055,1628,2890,3418,0,0,0,0,0,0
$GC,7952,-0.61,-146.1,835.3,-8.8,409,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2891,3418,0,0,0,0,0,0
$GC,8258,-0.61,-146.1,862.4,-8.9,419,8262,0.00,2.12,0.00,0.000,4,0.000,0.037,1628,1498,3418,0,0,0,0,0,0
$GC,8290,-0.61,-146.1,865.1,-8.7,420,8295,0.12,2.20,0.00,0.000,6,0.184,0.054,1650,2885,3418,0,0,0,0,0,0
$GC,8629,-0.61,-146.1,889.1,-7.0,431,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2885,3418,0,0,0,0,0,0
$GC,8937,-0.61,-146.1,910.2,-6.9,441,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2885,3418,0,0,0,0,0,0
$GC,9241,-0.61,-146.1,931.5,-6.8,451,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2886,3418,0,0,0,0,0,0
$GC,9550,-0.61,-146.1,951.7,-6.6,461,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2885,3417,0,0,0,0,0,0
$GC,9854,-0.61,-146.1,971.1,-6.2,471,9857,0.00,2.12,0.00,0.000,4,0.000,0.039,1650,1497,3417,0,0,0,0,0,0
$GC,9889,-0.61,-146.1,973.5,-6.6,472,9893,0.00,2.20,0.00,0.000,6,0.000,0.055,1642,2880,3417,0,0,0,0,0,0
$GC,10221,-0.61,-146.1,994.7,-6.6,483,10224,0.00,1.62,0.00,0.000,4,0.000,0.063,1634,3891,3417,0,0,0,0,0,0
$GC,10258,-0.61,-146.1,997.5,-7.9,484,10262,0.00,1.52,0.00,0.000,6,0.000,0.034,1634,2877,3417,0,0,0,0,0,0
$STATE,10290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10290,begin apogee
$GC,10301,-0.18,0.0,1000.3,7.7,485,10452,0.50,0.00,147.70,1.233,6,0.158,0.000,1784,2698,2819,0,0,0,0,0,0
$STATE,10454,end apogee,CONTROL_FINISHED_OK
$STATE,10454,begin climb
$GC,10458,0.61,146.1,1002.2,0.0,490,10623,0.80,0.00,148.52,1.795,6,0.084,0.000,2051,2697,2225,0,0,0,0,1,0
$GC,10939,0.61,146.1,897.3,24.5,506,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2698,2220,0,0,0,0,0,0
$GC,11246,0.61,146.1,822.7,24.2,516,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2698,2217,0,0,0,0,0,0
$GC,11552,0.61,146.1,749.6,23.3,526,11556,0.00,2.17,0.00,0.000,4,0.000,0.044,2061,1311,2216,0,0,0,0,0,0
$GC,11598,0.61,146.1,738.8,21.7,527,11602,0.00,2.25,0.00,0.000,6,0.000,0.051,2061,2697,2214,0,0,0,0,0,0
$GC,11919,0.61,146.1,663.6,23.1,538,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2697,2215,0,0,0,0,0,0
$GC,12225,0.61,146.1,591.9,23.4,548,12229,0.00,2.17,0.00,0.000,4,0.000,0.044,2072,1307,2214,0,0,0,0,0,0
$GC,12296,0.61,146.1,576.4,21.1,550,12300,0.00,2.25,0.00,0.000,6,0.000,0.052,2071,2706,2212,0,0,0,0,0,0
$GC,12634,0.61,146.1,498.8,22.9,561,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2706,2212,0,0,0,0,0,0
$GC,12940,0.61,146.1,429.2,22.6,571,12943,0.00,2.17,0.00,0.000,4,0.000,0.045,2080,1308,2212,0,0,0,0,0,0
$GC,12991,0.61,146.1,417.8,20.1,572,12996,0.12,2.25,0.00,0.000,6,0.228,0.053,2053,2709,2211,0,0,0,0,0,0
$GC,13319,0.61,146.1,349.4,20.9,586,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2709,2212,0,0,0,0,0,0
$GC,13632,0.61,146.1,284.5,21.3,601,13636,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1303,2211,0,0,0,0,0,0
$GC,13677,0.61,146.1,275.0,20.7,603,13682,0.00,2.25,0.00,0.000,6,0.000,0.052,2062,2712,2211,0,0,0,0,0,0
$GC,14006,0.61,146.1,204.4,21.2,622,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2712,2211,0,0,0,0,0,0
$GC,14316,0.61,146.1,139.0,20.0,642,14320,0.00,2.17,0.00,0.000,4,0.000,0.044,2072,1309,2211,0,0,0,0,0,0
$GC,14369,0.61,146.1,129.5,17.7,645,14373,0.00,2.22,0.00,0.000,6,0.000,0.052,2072,2705,2211,0,0,0,0,0,0
$GC,14710,0.61,146.1,60.6,18.0,687,14716,0.00,1.90,0.00,0.000,4,0.000,0.060,2072,3894,2211,0,0,0,0,0,0
$GC,14741,0.61,146.1,54.6,20.6,691,14748,0.12,1.83,0.00,0.000,6,0.256,0.039,2056,2701,2211,0,0,0,0,0,0
$GC,14998,0.61,146.1,6.8,17.8,732,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2700,2211,0,0,0,0,0,0
$STATE,15014,end climb,SURFACE_DEPTH_REACHED
$STATE,15014,begin surface coast
$FINISH,0.5,1.026429
$STATE,15034,end surface coast,CONTROL_FINISHED_OK
$STATE,15034,begin surface
$SM_CCo,15057,51.40,0.782,1,0,1797,250.20
$SM_GC,1.16,0.00,0.00,51.40,0.000,0.000,0.782,58,2887,1797,-5.60,0.20,250.20
$IRIDIUM_FIX,-4610.49,413.38,010113,111154
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.8,31.673
$10V_AH,10.1,13.842
$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,13.850,69.425,296.225,51.400,0.000,28.107,41.357,314.843,0.000,0.000,16.799,1827.875,10653.072,436.824,2190.320,605.476,33.366,1178.587,0.000,1737.415,0.000,1.009,0.000
$DEVICE_MAMPS,255.510,71.145,1794.690,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.669,1443.646,746.144,274.491,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353996
$DATA_FILE_SIZE,53820,737
$CAP_FILE_SIZE,108616,0
$CFSIZE,259252224,219508736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010113,202107,-4630.302,414.619,28,1.0,28,-23.4