version: 66.07
glider: 542
mission: 6
dive: 161
start: 1 2 113 5 13 58
data:
$ID,542
$MISSION,6
$DIVE,161
$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,-10952.546
$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,58
$R_STBD_OVSHOOT,25
$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
$GPS1,020113,050234,-4632.566,418.574,29,1.5,29,-23.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-51.8
$GPS2,020113,051305,-4632.540,418.641,18,0.9,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,-0.142
$KALMAN_X,-106823.8,583.1,441.5,107880.4,-5327.1
$KALMAN_Y,53836.7,-367.9,-22.7,-18740.2,2856.0
$MHEAD_RNG_PITCHd_Wd,147.0,27633,-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,-78.90,0.000,2,0.000,0.000,58,2852,3273,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.6,-5.4,10,133,6.53,2.15,-3.25,0.000,4,0.249,0.051,1653,1493,3415,0,0,0,0,0,0
$GC,145,-0.61,-146.1,15.0,-23.9,13,154,0.00,2.28,0.00,0.000,6,0.000,0.054,1644,2874,3417,0,0,0,0,0,0
$GC,233,-0.61,-146.1,28.5,-12.8,26,242,0.00,2.20,0.00,0.000,4,0.000,0.037,1643,1488,3417,0,0,0,0,0,0
$GC,403,-0.61,-146.1,46.8,-11.1,53,410,0.00,2.25,0.00,0.000,6,0.000,0.055,1633,2882,3418,0,0,0,0,0,0
$GC,647,-0.61,-146.1,77.2,-11.8,94,654,0.00,1.62,0.00,0.000,4,0.000,0.060,1625,3897,3418,0,0,0,0,0,0
$GC,693,-0.61,-146.1,83.0,-12.3,101,697,0.00,1.55,0.00,0.000,6,0.000,0.033,1625,2881,3419,0,0,0,0,0,0
$GC,1032,-0.61,-146.1,127.4,-13.3,137,1036,0.00,2.10,0.00,0.000,4,0.000,0.037,1625,1487,3419,0,0,0,0,0,0
$GC,1073,-0.61,-146.1,133.2,-12.7,139,1080,0.12,2.22,0.00,0.000,6,0.184,0.054,1647,2881,3419,0,0,0,0,0,0
$GC,1394,-0.61,-146.1,167.0,-10.0,160,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2881,3420,0,0,0,0,0,0
$GC,1707,-0.61,-146.1,199.3,-10.9,180,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2881,3421,0,0,0,0,0,0
$GC,2021,-0.61,-146.1,231.8,-10.1,200,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2881,3420,0,0,0,0,0,0
$GC,2348,-0.61,-146.1,263.4,-9.6,219,2352,0.00,2.10,0.00,0.000,4,0.000,0.037,1647,1495,3420,0,0,0,0,0,0
$GC,2393,-0.61,-146.1,267.8,-9.7,221,2397,0.00,2.22,0.00,0.000,6,0.000,0.054,1637,2891,3421,0,0,0,0,0,0
$GC,2724,-0.61,-146.1,302.8,-10.8,237,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,3421,0,0,0,0,0,0
$GC,3032,-0.61,-146.1,336.6,-11.1,252,3035,0.00,1.60,0.00,0.000,4,0.000,0.063,1629,3897,3421,0,0,0,0,0,0
$GC,3080,-0.61,-146.1,342.2,-12.0,254,3084,0.00,1.52,0.00,0.000,6,0.000,0.034,1629,2889,3421,0,0,0,0,0,0
$GC,3415,-0.61,-146.1,380.8,-11.6,270,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3421,0,0,0,0,0,0
$GC,3723,-0.61,-146.1,416.5,-11.6,283,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3421,0,0,0,0,0,0
$GC,4029,-0.61,-146.1,450.5,-10.9,293,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3421,0,0,0,0,0,0
$GC,4335,-0.61,-146.1,482.9,-10.4,303,4339,0.00,2.10,0.00,0.000,4,0.000,0.039,1629,1490,3420,0,0,0,0,0,0
$GC,4372,-0.61,-146.1,486.4,-9.4,304,4377,0.12,2.20,0.00,0.000,6,0.183,0.056,1651,2881,3420,0,0,0,0,0,0
$GC,4717,-0.61,-146.1,514.7,-8.3,315,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2881,3420,0,0,0,0,0,0
$GC,5023,-0.61,-146.1,541.3,-8.7,325,5026,0.00,2.10,0.00,0.000,4,0.000,0.037,1651,1491,3420,0,0,0,0,0,0
$GC,5063,-0.61,-146.1,544.9,-8.1,326,5068,0.00,2.22,0.00,0.000,6,0.000,0.057,1642,2884,3420,0,0,0,0,0,0
$GC,5390,-0.61,-146.1,574.7,-9.2,337,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2884,3420,0,0,0,0,0,0
$GC,5697,-0.61,-146.1,603.8,-9.5,347,5701,0.00,2.12,0.00,0.000,4,0.000,0.038,1642,1484,3420,0,0,0,0,0,0
$GC,5733,-0.61,-146.1,607.6,-9.4,348,5737,0.00,2.22,0.00,0.000,6,0.000,0.057,1632,2881,3419,0,0,0,0,0,0
$GC,6065,-0.61,-146.1,641.4,-10.4,359,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2881,3419,0,0,0,0,0,0
$GC,6371,-0.61,-146.1,671.8,-9.9,369,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2881,3419,0,0,0,0,0,0
$GC,6678,-0.61,-146.1,700.6,-9.3,379,6682,0.00,2.10,0.00,0.000,4,0.000,0.038,1632,1491,3419,0,0,0,0,0,0
$GC,6724,-0.61,-146.1,705.0,-8.9,380,6728,0.00,2.22,0.00,0.000,6,0.000,0.057,1622,2881,3419,0,0,0,0,0,0
$GC,7045,-0.61,-146.1,735.7,-9.6,391,7047,0.10,0.00,0.00,0.000,6,0.205,0.000,1645,2882,3419,0,0,0,0,0,0
$GC,7352,-0.61,-146.1,760.4,-7.9,401,7356,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1485,3419,0,0,0,0,0,0
$GC,7376,-0.61,-146.1,762.6,-8.3,401,7380,0.00,2.22,0.00,0.000,6,0.000,0.057,1636,2880,3419,0,0,0,0,0,0
$GC,7691,-0.61,-146.1,788.6,-8.2,411,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2880,3418,0,0,0,0,0,0
$GC,7998,-0.61,-146.1,813.5,-8.0,421,8002,0.00,2.12,0.00,0.000,4,0.000,0.038,1636,1491,3419,0,0,0,0,0,0
$GC,8044,-0.61,-146.1,817.3,-7.7,422,8048,0.00,2.22,0.00,0.000,6,0.000,0.058,1627,2887,3419,0,0,0,0,0,0
$GC,8376,-0.61,-146.1,845.5,-8.9,433,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2888,3418,0,0,0,0,0,0
$GC,8683,-0.61,-146.1,872.6,-8.9,443,8687,0.00,2.12,0.00,0.000,4,0.000,0.037,1627,1492,3418,0,0,0,0,0,0
$GC,8729,-0.61,-146.1,876.9,-8.8,444,8734,0.12,2.22,0.00,0.000,6,0.184,0.057,1648,2884,3418,0,0,0,0,0,0
$GC,9051,-0.61,-146.1,901.6,-7.7,455,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3418,0,0,0,0,0,0
$GC,9359,-0.61,-146.1,925.0,-7.5,465,9363,0.00,2.15,0.00,0.000,4,0.000,0.039,1648,1483,3418,0,0,0,0,0,0
$GC,9400,-0.61,-146.1,928.5,-7.8,466,9404,0.00,2.25,0.00,0.000,6,0.000,0.059,1640,2886,3418,0,0,0,0,0,0
$GC,9727,-0.61,-146.1,954.7,-8.2,477,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2885,3418,0,0,0,0,0,0
$GC,10033,-0.61,-146.1,979.6,-8.1,487,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2885,3418,0,0,0,0,0,0
$STATE,10305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10305,begin apogee
$GC,10316,-0.18,0.0,1002.5,8.4,496,10467,0.50,0.00,147.57,1.255,6,0.156,0.000,1790,2703,2819,0,0,0,0,0,0
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10473,0.61,146.1,1007.4,0.0,501,10637,0.73,2.28,149.15,1.818,4,0.063,0.061,2056,3891,2225,0,0,0,0,1,0
$GC,10690,0.61,146.1,968.9,26.4,507,10694,0.00,2.03,0.00,0.000,6,0.000,0.037,2065,2703,2224,0,0,0,0,0,0
$GC,11011,0.61,146.1,889.3,25.1,518,11015,0.00,2.28,0.00,0.000,4,0.000,0.045,2076,1293,2219,0,0,0,0,0,0
$GC,11063,0.61,146.1,876.5,22.4,519,11067,0.00,2.35,0.00,0.000,6,0.000,0.054,2076,2705,2217,0,0,0,0,0,0
$GC,11384,0.61,146.1,794.2,26.0,530,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2705,2216,0,0,0,0,0,0
$GC,11690,0.61,146.1,715.9,25.2,540,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2705,2216,0,0,0,0,0,0
$GC,11996,0.61,146.1,639.3,24.6,550,12000,0.00,2.22,0.00,0.000,4,0.000,0.044,2086,1292,2215,0,0,0,0,0,0
$GC,12042,0.61,146.1,628.2,22.5,551,12047,0.15,2.28,0.00,0.000,6,0.223,0.054,2053,2706,2213,0,0,0,0,0,0
$GC,12377,0.61,146.1,555.2,21.8,562,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2706,2213,0,0,0,0,0,0
$GC,12681,0.61,146.1,489.4,21.1,572,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2706,2212,0,0,0,0,0,0
$GC,12989,0.61,146.1,424.9,21.1,582,12993,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1290,2212,0,0,0,0,0,0
$GC,13024,0.61,146.1,417.2,19.5,583,13028,0.00,2.28,0.00,0.000,6,0.000,0.054,2062,2703,2211,0,0,0,0,0,0
$GC,13360,0.61,146.1,345.5,21.8,598,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2704,2211,0,0,0,0,0,0
$GC,13670,0.61,146.1,279.6,20.2,613,13674,0.00,2.22,0.00,0.000,4,0.000,0.044,2073,1287,2211,0,0,0,0,0,0
$GC,13705,0.61,146.1,272.0,18.2,614,13714,0.00,2.30,0.00,0.000,6,0.000,0.054,2072,2703,2211,0,0,0,0,0,0
$GC,14036,0.61,146.1,204.0,20.3,634,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2703,2211,0,0,0,0,0,0
$GC,14351,0.61,146.1,139.9,20.5,654,14355,0.00,2.20,0.00,0.000,4,0.000,0.044,2083,1282,2211,0,0,0,0,0,0
$GC,14386,0.61,146.1,131.8,19.6,656,14391,0.12,2.28,0.00,0.000,6,0.223,0.054,2055,2701,2210,0,0,0,0,0,0
$GC,14724,0.61,146.1,66.9,20.1,696,14733,0.00,1.92,0.00,0.000,4,0.000,0.063,2055,3900,2210,0,0,0,0,0,0
$GC,14789,0.61,146.1,52.2,23.5,706,14798,0.00,1.88,0.00,0.000,6,0.000,0.040,2062,2697,2210,0,0,0,0,0,0
$STATE,15037,end climb,SURFACE_DEPTH_REACHED
$STATE,15038,begin surface coast
$FINISH,0.6,1.026421
$STATE,15051,end surface coast,CONTROL_FINISHED_OK
$STATE,15052,begin surface
$SM_CCo,15074,51.30,0.786,1,0,1796,250.20
$SM_GC,1.12,0.00,0.00,51.30,0.000,0.000,0.786,56,2904,1796,-5.60,0.65,250.20
$IRIDIUM_FIX,-4613.60,413.61,020113,000024
$TT8_MAMPS,0.026215
$HUMID,58.50
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.8,32.158
$10V_AH,10.1,14.143
$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,13.900,89.875,296.725,51.300,0.000,28.619,20.634,354.873,0.000,0.000,21.401,1856.001,10565.576,439.436,2277.763,610.677,33.369,1223.814,0.000,1789.764,0.000,1.008,0.000
$DEVICE_MAMPS,248.625,64.260,1818.405,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.465,1462.918,769.206,290.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,53874,748
$CAP_FILE_SIZE,114069,0
$CFSIZE,259252224,219328512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020113,092734,-4633.187,420.670,38,1.0,38,-23.4