version: 66.07
glider: 542
mission: 6
dive: 160
start: 1 2 113 0 58 22
data:
$ID,542
$MISSION,6
$DIVE,160
$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,-10949.071
$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,37
$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
$GPS1,020113,004654,-4631.553,416.483,39,0.8,39,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-51.9
$GPS2,020113,005729,-4631.574,416.535,18,1.0,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.204,-0.154
$KALMAN_X,-105930.0,943.0,501.9,103906.4,-6042.3
$KALMAN_Y,52573.7,-237.6,-237.6,-15599.7,3099.4
$MHEAD_RNG_PITCHd_Wd,150.5,30056,-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,-78.68,0.000,2,0.000,0.000,65,2901,3272,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.2,-2.9,10,132,6.40,2.22,-3.78,0.000,4,0.243,0.047,1646,1470,3418,0,0,0,0,0,0
$GC,169,-0.61,-146.1,15.6,-18.6,17,177,0.00,2.30,0.00,0.000,6,0.000,0.050,1637,2873,3419,0,0,0,0,0,0
$GC,256,-0.61,-146.1,28.4,-14.7,30,265,0.00,2.22,0.00,0.000,4,0.000,0.037,1637,1475,3419,0,0,0,0,0,0
$GC,444,-0.61,-146.1,52.0,-12.2,60,453,0.00,2.30,0.00,0.000,6,0.000,0.054,1626,2883,3420,0,0,0,0,0,0
$GC,684,-0.61,-146.1,85.9,-13.0,101,688,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3420,0,0,0,0,0,0
$GC,1029,-0.61,-146.1,131.9,-13.1,134,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2882,3422,0,0,0,0,0,0
$GC,1352,-0.61,-146.1,174.2,-12.9,155,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2883,3423,0,0,0,0,0,0
$GC,1668,-0.61,-146.1,212.3,-11.7,175,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3423,0,0,0,0,0,0
$GC,1989,-0.61,-146.1,248.6,-11.3,196,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3423,0,0,0,0,0,0
$GC,2314,-0.61,-146.1,285.5,-11.4,212,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3423,0,0,0,0,0,0
$GC,2625,-0.61,-146.1,321.4,-11.6,227,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3423,0,0,0,0,0,0
$GC,2933,-0.61,-146.1,357.0,-11.5,242,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3423,0,0,0,0,0,0
$GC,3244,-0.61,-146.1,391.8,-11.3,257,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3423,0,0,0,0,0,0
$GC,3569,-0.61,-146.1,429.3,-11.7,269,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2883,3422,0,0,0,0,0,0
$GC,3876,-0.61,-146.1,466.4,-12.1,279,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2882,3423,0,0,0,0,0,0
$GC,4182,-0.61,-146.1,503.7,-12.2,289,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3422,0,0,0,0,0,0
$GC,4488,-0.61,-146.1,540.5,-12.0,299,4492,0.00,1.60,0.00,0.000,4,0.000,0.062,1619,3894,3422,0,0,0,0,0,0
$GC,4525,-0.61,-146.1,544.8,-12.0,300,4529,0.08,1.55,0.00,0.000,6,0.164,0.035,1643,2864,3421,0,0,0,0,0,0
$GC,4868,-0.61,-146.1,579.9,-10.1,311,4872,0.00,2.05,0.00,0.000,4,0.000,0.039,1643,1494,3421,0,0,0,0,0,0
$GC,4914,-0.61,-146.1,584.5,-9.0,312,4918,0.00,2.20,0.00,0.000,6,0.000,0.054,1634,2888,3421,0,0,0,0,0,0
$GC,5241,-0.61,-146.1,617.4,-10.1,323,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,3422,0,0,0,0,0,0
$GC,5549,-0.61,-146.1,647.6,-9.6,333,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,3421,0,0,0,0,0,0
$GC,5853,-0.61,-146.1,676.4,-9.2,343,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,3421,0,0,0,0,0,0
$GC,6161,-0.61,-146.1,704.7,-9.2,353,6165,0.00,2.12,0.00,0.000,4,0.000,0.038,1634,1486,3420,0,0,0,0,0,0
$GC,6197,-0.61,-146.1,708.3,-8.6,354,6201,0.00,2.22,0.00,0.000,6,0.000,0.054,1623,2887,3420,0,0,0,0,0,0
$GC,6529,-0.61,-146.1,740.7,-10.0,365,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2887,3420,0,0,0,0,0,0
$GC,6835,-0.61,-146.1,770.3,-9.7,375,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2887,3420,0,0,0,0,0,0
$GC,7141,-0.61,-146.1,799.9,-9.8,385,7145,0.00,2.12,0.00,0.000,4,0.000,0.038,1623,1495,3420,0,0,0,0,0,0
$GC,7199,-0.61,-146.1,805.5,-8.9,386,7207,0.12,2.20,0.00,0.000,6,0.186,0.054,1645,2884,3420,0,0,0,0,0,0
$GC,7515,-0.61,-146.1,829.1,-7.4,397,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2884,3420,0,0,0,0,0,0
$GC,7821,-0.61,-146.1,851.5,-7.4,407,7825,0.00,2.12,0.00,0.000,4,0.000,0.039,1645,1490,3420,0,0,0,0,0,0
$GC,7851,-0.61,-146.1,853.9,-7.7,407,7857,0.00,2.22,0.00,0.000,6,0.000,0.056,1636,2890,3420,0,0,0,0,0,0
$GC,8166,-0.61,-146.1,878.6,-8.0,418,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2889,3419,0,0,0,0,0,0
$GC,8473,-0.61,-146.1,903.3,-8.1,428,8477,0.00,2.12,0.00,0.000,4,0.000,0.038,1636,1489,3420,0,0,0,0,0,0
$GC,8525,-0.61,-146.1,907.7,-7.9,429,8529,0.00,2.20,0.00,0.000,6,0.000,0.056,1627,2884,3420,0,0,0,0,0,0
$GC,8848,-0.61,-146.1,936.5,-9.1,440,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2884,3419,0,0,0,0,0,0
$GC,9153,-0.61,-146.1,964.4,-9.0,450,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2884,3419,0,0,0,0,0,0
$GC,9460,-0.61,-146.1,992.1,-9.1,460,9464,0.00,2.12,0.00,0.000,4,0.000,0.038,1626,1494,3419,0,0,0,0,0,0
$GC,9484,-0.61,-146.1,994.6,-8.8,460,9493,0.12,2.20,0.00,0.000,6,0.183,0.055,1649,2881,3419,0,0,0,0,0,0
$STATE,9551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9551,begin apogee
$GC,9562,-0.18,0.0,1000.1,8.0,463,9713,0.45,0.00,147.68,1.248,6,0.148,0.000,1787,2710,2819,0,0,0,0,0,0
$STATE,9715,end apogee,CONTROL_FINISHED_OK
$STATE,9715,begin climb
$GC,9720,0.61,146.1,1004.5,0.0,468,9885,0.75,2.20,148.57,1.808,4,0.067,0.060,2053,3890,2225,0,0,0,0,1,0
$GC,9928,0.61,146.1,968.6,26.9,474,9931,0.00,2.03,0.00,0.000,6,0.000,0.037,2062,2710,2225,0,0,0,0,0,0
$GC,10265,0.61,146.1,887.4,24.1,485,10269,0.00,2.28,0.00,0.000,4,0.000,0.044,2074,1290,2219,0,0,0,0,0,0
$GC,10317,0.61,146.1,875.0,23.3,486,10321,0.00,2.35,0.00,0.000,6,0.000,0.053,2072,2695,2217,0,0,0,0,0,0
$GC,10639,0.61,146.1,796.1,25.0,497,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2696,2216,0,0,0,0,0,0
$GC,10944,0.61,146.1,721.4,24.1,507,10948,0.00,2.22,0.00,0.000,4,0.000,0.044,2081,1287,2216,0,0,0,0,0,0
$GC,11013,0.61,146.1,705.5,21.3,509,11018,0.12,2.30,0.00,0.000,6,0.230,0.054,2055,2703,2213,0,0,0,0,0,0
$GC,11346,0.61,146.1,634.2,21.3,520,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2703,2213,0,0,0,0,0,0
$GC,11653,0.61,146.1,569.1,21.1,530,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2703,2213,0,0,0,0,0,0
$GC,11958,0.61,146.1,504.6,21.1,540,11962,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1291,2212,0,0,0,0,0,0
$GC,11990,0.61,146.1,498.2,20.6,541,11994,0.00,2.28,0.00,0.000,6,0.000,0.054,2065,2705,2211,0,0,0,0,0,0
$GC,12327,0.61,146.1,425.8,21.2,552,12331,0.00,1.90,0.00,0.000,4,0.000,0.061,2064,3902,2212,0,0,0,0,0,0
$GC,12364,0.61,146.1,417.3,23.4,553,12368,0.00,1.88,0.00,0.000,6,0.000,0.039,2073,2691,2212,0,0,0,0,0,0
$GC,12690,0.61,146.1,345.2,22.1,567,12694,0.00,2.15,0.00,0.000,4,0.000,0.044,2084,1293,2212,0,0,0,0,0,0
$GC,12754,0.61,146.1,331.2,19.8,569,12761,0.15,2.25,0.00,0.000,6,0.221,0.054,2050,2700,2211,0,0,0,0,0,0
$GC,13075,0.61,146.1,268.9,19.6,585,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2700,2211,0,0,0,0,0,0
$GC,13395,0.61,146.1,206.1,19.3,604,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2701,2211,0,0,0,0,0,0
$GC,13706,0.61,146.1,145.7,19.2,624,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2700,2211,0,0,0,0,0,0
$GC,14029,0.61,146.1,87.7,17.2,652,14036,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1290,2211,0,0,0,0,0,0
$GC,14091,0.61,146.1,76.5,16.0,662,14098,0.00,2.25,0.00,0.000,6,0.000,0.054,2059,2704,2210,0,0,0,0,0,0
$GC,14461,0.61,146.1,7.5,22.0,723,14470,0.00,1.92,0.00,0.000,4,0.000,0.063,2058,3900,2210,0,0,0,0,0,0
$STATE,14481,end climb,SURFACE_DEPTH_REACHED
$STATE,14481,begin surface coast
$FINISH,0.4,1.021939
$STATE,14495,end surface coast,CONTROL_FINISHED_OK
$STATE,14495,begin surface
$SM_CCo,14519,51.30,0.791,1,0,1797,250.20
$SM_GC,1.81,0.00,0.00,51.30,0.000,0.000,0.791,60,2852,1797,-5.60,-0.79,250.20
$IRIDIUM_FIX,-4610.49,413.38,010113,202026
$TT8_MAMPS,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.8,31.994
$10V_AH,10.1,14.042
$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,13.625,72.400,296.250,51.300,0.000,27.404,42.681,321.621,0.000,0.000,21.690,1781.711,10167.456,458.644,2183.979,605.820,33.364,1195.347,0.000,1712.021,0.000,1.008,0.000
$DEVICE_MAMPS,243.270,63.495,1808.460,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.436,1422.312,752.726,289.299,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,53818,727
$CAP_FILE_SIZE,105370,0
$CFSIZE,259252224,219394048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020113,050234,-4632.566,418.574,29,1.5,29,-23.4