version: 66.07
glider: 542
mission: 6
dive: 159
start: 1 1 113 20 32 13
data:
$ID,542
$MISSION,6
$DIVE,159
$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,-10945.579
$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,45
$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
$GPS1,010113,202107,-4630.302,414.619,28,1.0,28,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.8
$GPS2,010113,203117,-4630.284,414.620,16,0.9,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.194,-0.167
$KALMAN_X,-103976.2,822.5,85.1,100064.6,-4843.0
$KALMAN_Y,51670.2,-242.5,-286.3,-12260.8,3522.0
$MHEAD_RNG_PITCHd_Wd,154.1,32359,-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,-78.62,0.000,2,0.000,0.000,57,2889,3283,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.3,-3.0,10,132,6.57,2.22,-3.35,0.000,4,0.252,0.048,1652,1483,3417,0,0,0,0,0,0
$GC,298,-0.61,-146.1,31.6,-11.2,38,307,0.00,2.28,0.00,0.000,6,0.000,0.052,1643,2877,3420,0,0,0,0,0,0
$GC,551,-0.61,-146.1,63.5,-12.5,79,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3420,0,0,0,0,0,0
$GC,910,-0.61,-146.1,111.3,-12.0,130,911,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3421,0,0,0,0,0,0
$GC,1221,-0.61,-146.1,148.7,-12.2,150,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3422,0,0,0,0,0,0
$GC,1533,-0.61,-146.1,183.8,-10.6,170,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3422,0,0,0,0,0,0
$GC,1847,-0.61,-146.1,217.8,-10.8,190,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3423,0,0,0,0,0,0
$GC,2158,-0.61,-146.1,251.0,-10.4,210,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3422,0,0,0,0,0,0
$GC,2470,-0.61,-146.1,283.3,-10.4,225,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3422,0,0,0,0,0,0
$GC,2777,-0.61,-146.1,315.1,-10.3,240,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3423,0,0,0,0,0,0
$GC,3088,-0.61,-146.1,347.1,-10.2,255,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3422,0,0,0,0,0,0
$GC,3396,-0.61,-146.1,379.4,-10.6,270,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2877,3422,0,0,0,0,0,0
$GC,3724,-0.61,-146.1,413.0,-10.0,284,3728,0.00,1.60,0.00,0.000,4,0.000,0.060,1635,3891,3422,0,0,0,0,0,0
$GC,3760,-0.61,-146.1,416.7,-10.5,285,3764,0.00,1.55,0.00,0.000,6,0.000,0.034,1635,2858,3422,0,0,0,0,0,0
$GC,4104,-0.61,-146.1,449.5,-9.3,296,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3422,0,0,0,0,0,0
$GC,4411,-0.61,-146.1,478.5,-9.6,306,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3421,0,0,0,0,0,0
$GC,4716,-0.61,-146.1,508.7,-10.0,316,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3420,0,0,0,0,0,0
$GC,5022,-0.61,-146.1,539.2,-9.9,326,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2853,3421,0,0,0,0,0,0
$GC,5328,-0.61,-146.1,571.3,-10.9,336,5332,0.00,1.62,0.00,0.000,4,0.000,0.061,1627,3896,3420,0,0,0,0,0,0
$GC,5364,-0.61,-146.1,575.4,-11.3,337,5368,0.00,1.52,0.00,0.000,6,0.000,0.034,1627,2881,3420,0,0,0,0,0,0
$GC,5707,-0.61,-146.1,613.6,-11.1,348,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3420,0,0,0,0,0,0
$GC,6013,-0.61,-146.1,647.1,-10.9,358,6017,0.00,2.10,0.00,0.000,4,0.000,0.038,1627,1490,3420,0,0,0,0,0,0
$GC,6054,-0.61,-146.1,651.5,-9.9,359,6058,0.12,2.20,0.00,0.000,6,0.187,0.054,1648,2891,3419,0,0,0,0,0,0
$GC,6381,-0.61,-146.1,678.7,-8.3,370,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2891,3419,0,0,0,0,0,0
$GC,6689,-0.61,-146.1,703.7,-8.3,380,6693,0.00,2.12,0.00,0.000,4,0.000,0.038,1648,1488,3419,0,0,0,0,0,0
$GC,6735,-0.61,-146.1,707.8,-7.8,381,6739,0.00,2.20,0.00,0.000,6,0.000,0.054,1639,2885,3419,0,0,0,0,0,0
$GC,7056,-0.61,-146.1,736.1,-9.0,392,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2885,3419,0,0,0,0,0,0
$GC,7362,-0.61,-146.1,762.8,-8.7,402,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2885,3419,0,0,0,0,0,0
$GC,7670,-0.61,-146.1,790.2,-9.0,412,7674,0.00,2.12,0.00,0.000,4,0.000,0.037,1639,1494,3419,0,0,0,0,0,0
$GC,7705,-0.61,-146.1,794.0,-8.8,413,7709,0.00,2.20,0.00,0.000,6,0.000,0.055,1629,2891,3419,0,0,0,0,0,0
$GC,8037,-0.61,-146.1,826.5,-9.8,424,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2892,3418,0,0,0,0,0,0
$GC,8345,-0.61,-146.1,855.6,-9.4,434,8349,0.00,2.12,0.00,0.000,4,0.000,0.037,1628,1498,3419,0,0,0,0,0,0
$GC,8386,-0.61,-146.1,859.7,-9.1,435,8391,0.12,2.17,0.00,0.000,6,0.182,0.054,1650,2881,3418,0,0,0,0,0,0
$GC,8713,-0.61,-146.1,883.8,-7.3,446,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2881,3418,0,0,0,0,0,0
$GC,9020,-0.61,-146.1,905.6,-7.1,456,9024,0.00,2.10,0.00,0.000,4,0.000,0.038,1650,1495,3418,0,0,0,0,0,0
$GC,9061,-0.61,-146.1,908.8,-7.1,457,9065,0.00,2.20,0.00,0.000,6,0.000,0.056,1642,2883,3418,0,0,0,0,0,0
$GC,9399,-0.61,-146.1,933.4,-7.3,468,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2884,3418,0,0,0,0,0,0
$GC,9705,-0.61,-146.1,955.9,-7.4,478,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2884,3418,0,0,0,0,0,0
$GC,10013,-0.61,-146.1,979.3,-7.6,488,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2884,3417,0,0,0,0,0,0
$STATE,10282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10282,begin apogee
$GC,10292,-0.18,0.0,1001.1,7.9,497,10443,0.47,0.00,147.75,1.239,6,0.156,0.000,1785,2710,2819,0,0,0,0,0,0
$STATE,10445,end apogee,CONTROL_FINISHED_OK
$STATE,10445,begin climb
$GC,10450,0.61,146.1,1004.6,0.0,502,10611,0.80,2.22,148.52,1.797,4,0.083,0.060,2052,3893,2226,0,0,0,0,1,0
$GC,10637,0.61,146.1,974.0,25.6,508,10641,0.00,2.03,0.00,0.000,6,0.000,0.037,2061,2718,2226,0,0,0,0,0,0
$GC,10963,0.61,146.1,895.4,23.9,519,10967,0.00,2.30,0.00,0.000,4,0.000,0.044,2072,1282,2219,0,0,0,0,0,0
$GC,10998,0.61,146.1,887.0,22.3,520,11002,0.00,2.38,0.00,0.000,6,0.000,0.051,2072,2700,2217,0,0,0,0,0,0
$GC,11330,0.61,146.1,805.1,24.8,531,11334,0.00,2.25,0.00,0.000,4,0.000,0.044,2082,1283,2216,0,0,0,0,0,0
$GC,11377,0.61,146.1,793.6,24.4,532,11381,0.12,2.33,0.00,0.000,6,0.226,0.054,2056,2701,2215,0,0,0,0,0,0
$GC,11698,0.61,146.1,717.9,23.5,543,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2701,2214,0,0,0,0,0,0
$GC,12006,0.61,146.1,647.6,22.9,553,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2701,2214,0,0,0,0,0,0
$GC,12311,0.61,146.1,578.9,22.2,563,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2701,2213,0,0,0,0,0,0
$GC,12617,0.61,146.1,511.6,22.2,573,12621,0.00,2.20,0.00,0.000,4,0.000,0.044,2065,1289,2212,0,0,0,0,0,0
$GC,12668,0.61,146.1,500.7,18.4,574,12673,0.00,2.28,0.00,0.000,6,0.000,0.053,2065,2702,2211,0,0,0,0,0,0
$GC,12984,0.61,146.1,431.5,22.2,584,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2703,2212,0,0,0,0,0,0
$GC,13304,0.61,146.1,361.0,21.7,597,13307,0.00,2.22,0.00,0.000,4,0.000,0.044,2076,1279,2211,0,0,0,0,0,0
$GC,13338,0.61,146.1,352.7,21.8,598,13342,0.00,2.28,0.00,0.000,6,0.000,0.054,2076,2704,2211,0,0,0,0,0,0
$GC,13662,0.61,146.1,283.2,21.2,614,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2704,2211,0,0,0,0,0,0
$GC,13983,0.61,146.1,215.0,20.9,632,13987,0.00,2.22,0.00,0.000,4,0.000,0.045,2086,1281,2211,0,0,0,0,0,0
$GC,14041,0.61,146.1,203.4,17.3,635,14046,0.15,2.28,0.00,0.000,6,0.220,0.054,2052,2701,2210,0,0,0,0,0,0
$GC,14368,0.61,146.1,143.2,19.3,655,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2211,0,0,0,0,0,0
$GC,14703,0.61,146.1,78.9,18.4,688,14710,0.00,1.88,0.00,0.000,4,0.000,0.060,2052,3896,2211,0,0,0,0,0,0
$GC,14749,0.61,146.1,69.6,21.0,695,14754,0.00,1.83,0.00,0.000,6,0.000,0.039,2059,2693,2211,0,0,0,0,0,0
$STATE,15092,end climb,SURFACE_DEPTH_REACHED
$STATE,15092,begin surface coast
$FINISH,0.5,1.026427
$STATE,15116,end surface coast,CONTROL_FINISHED_OK
$STATE,15116,begin surface
$SM_CCo,15138,51.30,0.785,1,0,1797,250.20
$SM_GC,1.43,0.00,0.00,51.30,0.000,0.000,0.785,67,2900,1797,-5.58,0.57,250.20
$IRIDIUM_FIX,-4613.60,413.38,010113,161609
$TT8_MAMPS,0.026964
$HUMID,58.74
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.8,31.833
$10V_AH,10.1,13.943
$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,13.700,63.600,296.275,51.300,0.000,27.666,47.744,308.186,0.000,0.000,22.415,1853.607,10692.407,419.995,2241.039,587.865,33.362,1160.801,0.000,1773.874,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,61.200,1796.985,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.442,1494.706,792.396,300.395,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,53798,755
$CAP_FILE_SIZE,105659,0
$CFSIZE,259252224,219455488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020113,004654,-4631.553,416.483,39,0.8,39,-23.4