version: 66.07
glider: 542
mission: 6
dive: 162
start: 1 2 113 9 38 52
data:
$ID,542
$MISSION,6
$DIVE,162
$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,-10956.02
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,020113,092734,-4633.187,420.670,38,1.0,38,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-39.5
$GPS2,020113,093759,-4633.122,420.758,15,1.5,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.182,-0.180
$KALMAN_X,-107826.8,324.0,153.4,112117.8,-3789.3
$KALMAN_Y,55781.2,-295.8,-196.2,-21665.1,3819.2
$MHEAD_RNG_PITCHd_Wd,158.0,25202,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,92,0.00,0.00,-63.08,0.000,2,0.000,0.000,54,2905,2934,0,0,0,0,0,0
$GC,99,-0.61,-146.1,3.1,-4.3,8,126,6.70,1.65,-15.25,0.000,4,0.258,0.079,1638,3897,3417,0,0,0,0,0,0
$GC,199,-0.61,-146.1,18.1,-14.5,22,208,0.00,1.60,0.00,0.000,6,0.000,0.035,1638,2862,3419,0,0,0,0,0,0
$GC,286,-0.61,-146.1,34.2,-16.3,35,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2862,3420,0,0,0,0,0,0
$GC,534,-0.61,-146.1,71.0,-14.3,76,541,0.00,1.67,0.00,0.000,4,0.000,0.063,1630,3884,3420,0,0,0,0,0,0
$GC,569,-0.61,-146.1,75.7,-12.9,81,575,0.00,1.52,0.00,0.000,6,0.000,0.032,1631,2874,3420,0,0,0,0,0,0
$GC,916,-0.61,-146.1,120.6,-12.6,123,920,0.00,1.65,0.00,0.000,4,0.000,0.062,1623,3886,3421,0,0,0,0,0,0
$GC,1025,-0.61,-146.1,134.3,-12.9,129,1029,0.00,1.52,0.00,0.000,6,0.000,0.033,1623,2878,3421,0,0,0,0,0,0
$GC,1359,-0.61,-146.1,177.3,-12.7,150,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2874,3422,0,0,0,0,0,0
$GC,1670,-0.61,-146.1,216.7,-12.4,170,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2874,3422,0,0,0,0,0,0
$GC,1992,-0.61,-146.1,255.5,-11.7,190,1996,0.00,2.10,0.00,0.000,4,0.000,0.037,1623,1492,3422,0,0,0,0,0,0
$GC,2022,-0.61,-146.1,259.2,-11.9,191,2026,0.15,2.20,0.00,0.000,6,0.178,0.054,1652,2875,3422,0,0,0,0,0,0
$GC,2348,-0.61,-146.1,290.5,-10.2,207,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2876,3422,0,0,0,0,0,0
$GC,2656,-0.61,-146.1,321.9,-9.9,222,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2875,3422,0,0,0,0,0,0
$GC,2967,-0.61,-146.1,352.9,-10.0,237,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2875,3422,0,0,0,0,0,0
$GC,3275,-0.61,-146.1,382.8,-9.5,252,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2875,3422,0,0,0,0,0,0
$GC,3583,-0.61,-146.1,411.4,-9.2,265,3586,0.00,2.12,0.00,0.000,4,0.000,0.038,1652,1489,3422,0,0,0,0,0,0
$GC,3606,-0.61,-146.1,413.8,-9.5,265,3613,0.00,2.22,0.00,0.000,6,0.000,0.056,1643,2885,3422,0,0,0,0,0,0
$GC,3921,-0.61,-146.1,443.6,-9.7,276,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2885,3422,0,0,0,0,0,0
$GC,4227,-0.61,-146.1,472.8,-9.5,286,4231,0.00,2.12,0.00,0.000,4,0.000,0.037,1643,1499,3422,0,0,0,0,0,0
$GC,4274,-0.61,-146.1,477.3,-9.3,287,4278,0.00,2.20,0.00,0.000,6,0.000,0.055,1633,2890,3422,0,0,0,0,0,0
$GC,4595,-0.61,-146.1,509.2,-10.1,298,4598,0.00,1.60,0.00,0.000,4,0.000,0.064,1625,3895,3422,0,0,0,0,0,0
$GC,4625,-0.61,-146.1,512.6,-10.9,298,4632,0.00,1.52,0.00,0.000,6,0.000,0.034,1625,2884,3422,0,0,0,0,0,0
$GC,4940,-0.61,-146.1,546.3,-10.9,309,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2884,3422,0,0,0,0,0,0
$GC,5246,-0.61,-146.1,580.2,-11.0,319,5250,0.00,2.10,0.00,0.000,4,0.000,0.038,1626,1487,3421,0,0,0,0,0,0
$GC,5278,-0.61,-146.1,583.7,-11.0,320,5283,0.12,2.20,0.00,0.000,6,0.186,0.056,1647,2881,3421,0,0,0,0,0,0
$GC,5616,-0.61,-146.1,614.3,-8.8,331,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2883,3421,0,0,0,0,0,0
$GC,5924,-0.61,-146.1,641.4,-8.9,341,5928,0.00,2.10,0.00,0.000,4,0.000,0.037,1647,1496,3421,0,0,0,0,0,0
$GC,5971,-0.61,-146.1,645.8,-9.2,342,5975,0.00,2.22,0.00,0.000,6,0.000,0.057,1639,2887,3421,0,0,0,0,0,0
$GC,6291,-0.61,-146.1,676.3,-9.6,353,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2887,3421,0,0,0,0,0,0
$GC,6598,-0.61,-146.1,704.9,-9.0,363,6602,0.00,2.12,0.00,0.000,4,0.000,0.037,1639,1488,3421,0,0,0,0,0,0
$GC,6628,-0.61,-146.1,707.9,-9.4,363,6635,0.00,2.22,0.00,0.000,6,0.000,0.056,1629,2887,3421,0,0,0,0,0,0
$GC,6943,-0.61,-146.1,737.1,-9.2,374,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2887,3421,0,0,0,0,0,0
$GC,7250,-0.61,-146.1,763.8,-8.6,384,7254,0.00,2.12,0.00,0.000,4,0.000,0.038,1629,1490,3421,0,0,0,0,0,0
$GC,7279,-0.61,-146.1,766.6,-8.5,384,7287,0.12,2.22,0.00,0.000,6,0.181,0.057,1650,2888,3421,0,0,0,0,0,0
$GC,7595,-0.61,-146.1,788.0,-6.8,395,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2888,3421,0,0,0,0,0,0
$GC,7901,-0.61,-146.1,808.6,-6.7,405,7905,0.00,2.12,0.00,0.000,4,0.000,0.037,1650,1489,3421,0,0,0,0,0,0
$GC,7948,-0.61,-146.1,811.8,-6.4,406,7952,0.00,2.20,0.00,0.000,6,0.000,0.057,1643,2882,3420,0,0,0,0,0,0
$GC,8282,-0.61,-146.1,836.2,-7.6,417,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2883,3420,0,0,0,0,0,0
$GC,8586,-0.61,-146.1,860.5,-8.0,427,8590,0.00,2.12,0.00,0.000,4,0.000,0.037,1642,1489,3420,0,0,0,0,0,0
$GC,8622,-0.61,-146.1,863.5,-8.2,428,8626,0.00,2.20,0.00,0.000,6,0.000,0.057,1633,2881,3420,0,0,0,0,0,0
$GC,8954,-0.61,-146.1,892.3,-8.8,439,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2881,3420,0,0,0,0,0,0
$GC,9262,-0.61,-146.1,917.5,-8.1,449,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2881,3420,0,0,0,0,0,0
$GC,9567,-0.61,-146.1,943.2,-8.6,459,9570,0.00,2.12,0.00,0.000,4,0.000,0.037,1633,1489,3420,0,0,0,0,0,0
$GC,9598,-0.61,-146.1,946.0,-8.6,460,9602,0.00,2.20,0.00,0.000,6,0.000,0.057,1624,2882,3419,0,0,0,0,0,0
$GC,9936,-0.61,-146.1,976.2,-8.8,471,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2883,3419,0,0,0,0,0,0
$STATE,10239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10239,begin apogee
$GC,10250,-0.18,0.0,1001.9,8.3,481,10401,0.55,0.00,147.95,1.247,6,0.160,0.000,1788,2715,2819,0,0,0,0,0,0
$STATE,10403,end apogee,CONTROL_FINISHED_OK
$STATE,10403,begin climb
$GC,10408,0.61,146.1,1004.4,0.0,486,10569,0.75,2.25,148.55,1.804,4,0.081,0.062,2047,3906,2225,0,0,0,0,1,0
$GC,10632,0.61,146.1,962.7,27.3,492,10639,0.00,2.03,0.00,0.000,6,0.000,0.037,2056,2711,2224,0,0,0,0,0,0
$GC,10947,0.61,146.1,884.0,23.9,503,10952,0.00,2.30,0.00,0.000,4,0.000,0.045,2067,1289,2219,0,0,0,0,0,0
$GC,10971,0.61,146.1,878.0,23.1,503,10978,0.00,2.35,0.00,0.000,6,0.000,0.054,2067,2695,2218,0,0,0,0,0,0
$GC,11286,0.61,146.1,803.4,23.6,514,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2695,2217,0,0,0,0,0,0
$GC,11593,0.61,146.1,732.4,23.2,524,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2695,2216,0,0,0,0,0,0
$GC,11899,0.61,146.1,661.2,23.1,534,11903,0.00,2.20,0.00,0.000,4,0.000,0.044,2077,1290,2215,0,0,0,0,0,0
$GC,11930,0.61,146.1,653.8,23.3,535,11935,0.00,2.30,0.00,0.000,6,0.000,0.054,2078,2709,2214,0,0,0,0,0,0
$GC,12268,0.61,146.1,571.2,24.5,546,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2709,2214,0,0,0,0,0,0
$GC,12574,0.61,146.1,498.0,23.6,556,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2709,2214,0,0,0,0,0,0
$GC,12880,0.61,146.1,427.2,22.9,566,12884,0.00,2.22,0.00,0.000,4,0.000,0.045,2088,1287,2213,0,0,0,0,0,0
$GC,12927,0.61,146.1,416.6,20.9,567,12931,0.15,2.28,0.00,0.000,6,0.223,0.054,2054,2700,2212,0,0,0,0,0,0
$GC,13261,0.61,146.1,347.5,21.2,582,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2701,2212,0,0,0,0,0,0
$GC,13572,0.61,146.1,283.8,20.4,597,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2701,2212,0,0,0,0,0,0
$GC,13882,0.61,146.1,220.3,20.5,614,13883,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2701,2212,0,0,0,0,0,0
$GC,14193,0.61,146.1,156.6,20.0,634,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2701,2212,0,0,0,0,0,0
$GC,14506,0.61,146.1,94.1,19.9,656,14513,0.00,2.20,0.00,0.000,4,0.000,0.044,2063,1287,2211,0,0,0,0,0,0
$GC,14545,0.61,146.1,87.1,17.4,662,14552,0.00,2.25,0.00,0.000,6,0.000,0.054,2063,2701,2211,0,0,0,0,0,0
$GC,14910,0.61,146.1,20.2,16.6,723,14919,0.00,1.92,0.00,0.000,4,0.000,0.063,2063,3899,2211,0,0,0,0,0,0
$GC,14969,0.61,146.1,7.8,22.5,731,14978,0.00,1.88,0.00,0.000,6,0.000,0.039,2073,2691,2211,0,0,0,0,0,0
$STATE,14992,end climb,SURFACE_DEPTH_REACHED
$STATE,14992,begin surface coast
$FINISH,0.4,1.026447
$STATE,15006,end surface coast,CONTROL_FINISHED_OK
$STATE,15006,begin surface
$SM_CCo,15028,51.42,0.778,1,0,1797,250.20
$SM_GC,1.28,0.00,0.00,51.42,0.000,0.000,0.778,59,2887,1797,-5.59,0.20,250.20
$IRIDIUM_FIX,-4616.72,416.73,020113,050551
$TT8_MAMPS,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.9,32.319
$10V_AH,10.1,14.242
$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,13.925,82.775,296.500,51.425,0.000,27.726,20.718,337.275,0.000,0.000,18.200,1817.594,10609.019,449.599,2196.346,623.247,33.370,1208.753,0.000,1730.320,0.000,1.009,0.000
$DEVICE_MAMPS,257.805,78.795,1803.870,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.024,1435.710,739.441,273.980,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353992
$DATA_FILE_SIZE,53818,736
$CAP_FILE_SIZE,112070,0
$CFSIZE,259252224,219262976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020113,135134,-4634.349,422.683,30,0.8,30,-23.4