version: 66.07
glider: 542
mission: 6
dive: 163
start: 1 2 113 14 2 58
data:
$ID,542
$MISSION,6
$DIVE,163
$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,-10959.469
$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,42
$R_STBD_OVSHOOT,27
$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
$GPS1,020113,135134,-4634.349,422.683,30,0.8,30,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-54.3
$GPS2,020113,140205,-4634.306,422.676,16,0.9,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.196,-0.164
$KALMAN_X,-109253.8,323.6,343.9,115789.7,-3971.7
$KALMAN_Y,57124.4,-172.1,-213.3,-25300.6,3540.4
$MHEAD_RNG_PITCHd_Wd,153.3,23481,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-71.05,0.000,2,0.000,0.000,57,2889,3161,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.6,-4.3,9,125,6.72,1.70,-6.53,0.000,4,0.259,0.079,1638,3908,3418,0,0,0,0,0,0
$GC,401,-0.61,-146.1,50.4,-14.0,56,411,0.00,1.60,0.00,0.000,6,0.000,0.034,1638,2869,3421,0,0,0,0,0,0
$GC,647,-0.61,-146.1,84.0,-12.7,97,651,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2868,3422,0,0,0,0,0,0
$GC,991,-0.61,-146.1,126.0,-11.8,132,992,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2868,3422,0,0,0,0,0,0
$GC,1299,-0.61,-146.1,161.7,-11.7,152,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2868,3423,0,0,0,0,0,0
$GC,1612,-0.61,-146.1,199.1,-12.1,172,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2868,3423,0,0,0,0,0,0
$GC,1926,-0.61,-146.1,236.7,-11.7,192,1929,0.00,1.65,0.00,0.000,4,0.000,0.064,1630,3899,3423,0,0,0,0,0,0
$GC,1972,-0.61,-146.1,242.9,-12.7,194,1981,0.00,1.55,0.00,0.000,6,0.000,0.034,1631,2875,3423,0,0,0,0,0,0
$GC,2293,-0.61,-146.1,280.4,-11.9,211,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2875,3423,0,0,0,0,0,0
$GC,2600,-0.61,-146.1,316.2,-11.4,226,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2875,3423,0,0,0,0,0,0
$GC,2912,-0.61,-146.1,350.8,-11.3,241,2915,0.00,2.10,0.00,0.000,4,0.000,0.038,1630,1490,3423,0,0,0,0,0,0
$GC,2942,-0.61,-146.1,354.5,-11.0,242,2947,0.12,2.22,0.00,0.000,6,0.178,0.056,1652,2881,3423,0,0,0,0,0,0
$GC,3263,-0.61,-146.1,385.0,-9.7,257,3267,0.00,2.10,0.00,0.000,4,0.000,0.037,1652,1495,3422,0,0,0,0,0,0
$GC,3298,-0.61,-146.1,389.0,-9.5,258,3307,0.00,2.25,0.00,0.000,6,0.000,0.057,1643,2882,3423,0,0,0,0,0,0
$GC,3625,-0.61,-146.1,423.4,-10.9,271,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2883,3423,0,0,0,0,0,0
$GC,3931,-0.61,-146.1,457.5,-11.3,281,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2883,3423,0,0,0,0,0,0
$GC,4237,-0.61,-146.1,491.6,-11.1,291,4241,0.00,2.12,0.00,0.000,4,0.000,0.038,1643,1491,3423,0,0,0,0,0,0
$GC,4278,-0.61,-146.1,496.1,-10.1,292,4282,0.00,2.22,0.00,0.000,6,0.000,0.057,1633,2887,3423,0,0,0,0,0,0
$GC,4617,-0.61,-146.1,534.6,-11.6,303,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2887,3423,0,0,0,0,0,0
$GC,4921,-0.61,-146.1,567.9,-10.6,313,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2887,3423,0,0,0,0,0,0
$GC,5228,-0.61,-146.1,598.7,-9.9,323,5232,0.00,2.12,0.00,0.000,4,0.000,0.038,1633,1497,3423,0,0,0,0,0,0
$GC,5280,-0.61,-146.1,603.9,-9.7,324,5284,0.00,2.22,0.00,0.000,6,0.000,0.056,1623,2890,3422,0,0,0,0,0,0
$GC,5595,-0.61,-146.1,636.2,-10.3,334,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2890,3422,0,0,0,0,0,0
$GC,5901,-0.61,-146.1,668.8,-10.9,344,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,3422,0,0,0,0,0,0
$GC,6209,-0.61,-146.1,702.1,-10.7,354,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2890,3422,0,0,0,0,0,0
$GC,6513,-0.61,-146.1,733.3,-10.1,364,6517,0.00,2.15,0.00,0.000,4,0.000,0.038,1623,1486,3422,0,0,0,0,0,0
$GC,6560,-0.61,-146.1,738.1,-9.3,365,6565,0.15,2.25,0.00,0.000,6,0.177,0.057,1653,2891,3422,0,0,0,0,0,0
$GC,6882,-0.61,-146.1,762.9,-7.9,376,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2891,3422,0,0,0,0,0,0
$GC,7189,-0.61,-146.1,786.7,-7.9,386,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2891,3422,0,0,0,0,0,0
$GC,7494,-0.61,-146.1,810.6,-7.8,396,7498,0.00,2.15,0.00,0.000,4,0.000,0.038,1653,1487,3422,0,0,0,0,0,0
$GC,7541,-0.61,-146.1,814.5,-7.4,397,7545,0.00,2.25,0.00,0.000,6,0.000,0.058,1644,2890,3422,0,0,0,0,0,0
$GC,7862,-0.61,-146.1,841.3,-8.5,408,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2890,3422,0,0,0,0,0,0
$GC,8170,-0.61,-146.1,867.6,-8.5,418,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2890,3422,0,0,0,0,0,0
$GC,8474,-0.61,-146.1,893.6,-8.3,428,8478,0.00,2.12,0.00,0.000,4,0.000,0.037,1644,1497,3422,0,0,0,0,0,0
$GC,8515,-0.61,-146.1,897.3,-9.1,429,8519,0.00,2.20,0.00,0.000,6,0.000,0.057,1634,2887,3421,0,0,0,0,0,0
$GC,8842,-0.61,-146.1,924.6,-8.4,440,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2887,3421,0,0,0,0,0,0
$GC,9149,-0.61,-146.1,948.3,-7.6,450,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2887,3421,0,0,0,0,0,0
$GC,9454,-0.61,-146.1,971.7,-7.8,460,9458,0.00,2.12,0.00,0.000,4,0.000,0.038,1634,1487,3421,0,0,0,0,0,0
$GC,9495,-0.61,-146.1,975.1,-7.9,461,9499,0.00,2.20,0.00,0.000,6,0.000,0.057,1624,2881,3421,0,0,0,0,0,0
$STATE,9816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9817,begin apogee
$GC,9828,-0.18,0.0,1002.3,8.6,472,9979,0.55,0.00,147.77,1.239,6,0.159,0.000,1788,2714,2819,0,0,0,0,0,0
$STATE,9980,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9985,0.61,146.1,1005.2,0.0,477,10144,0.77,0.00,149.75,1.794,6,0.078,0.000,2051,2714,2224,0,0,0,0,1,0
$GC,10430,0.61,146.1,911.6,24.4,492,10434,0.00,2.30,0.00,0.000,4,0.000,0.044,2062,1294,2220,0,0,0,0,0,0
$GC,10462,0.61,146.1,904.1,24.0,493,10466,0.00,2.38,0.00,0.000,6,0.000,0.054,2062,2699,2217,0,0,0,0,0,0
$GC,10800,0.61,146.1,821.0,24.4,504,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2700,2217,0,0,0,0,0,0
$GC,11106,0.61,146.1,747.0,24.0,514,11110,0.00,2.20,0.00,0.000,4,0.000,0.044,2073,1299,2216,0,0,0,0,0,0
$GC,11158,0.61,146.1,734.7,21.3,515,11162,0.00,2.30,0.00,0.000,6,0.000,0.053,2073,2709,2214,0,0,0,0,0,0
$GC,11474,0.61,146.1,657.5,24.6,525,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2709,2214,0,0,0,0,0,0
$GC,11779,0.61,146.1,583.4,23.9,535,11783,0.00,2.20,0.00,0.000,4,0.000,0.044,2083,1299,2214,0,0,0,0,0,0
$GC,11831,0.61,146.1,571.2,21.3,536,11836,0.12,2.25,0.00,0.000,6,0.229,0.053,2055,2700,2212,0,0,0,0,0,0
$GC,12152,0.61,146.1,500.8,21.7,547,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2701,2212,0,0,0,0,0,0
$GC,12458,0.61,146.1,434.1,21.7,557,12462,0.00,2.17,0.00,0.000,4,0.000,0.044,2065,1293,2213,0,0,0,0,0,0
$GC,12510,0.61,146.1,423.2,19.0,558,12514,0.00,2.28,0.00,0.000,6,0.000,0.053,2065,2708,2211,0,0,0,0,0,0
$GC,12829,0.61,146.1,354.5,21.5,571,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2708,2211,0,0,0,0,0,0
$GC,13137,0.61,146.1,286.7,21.8,586,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2708,2211,0,0,0,0,0,0
$GC,13449,0.61,146.1,219.7,21.0,603,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2708,2211,0,0,0,0,0,0
$GC,13762,0.61,146.1,155.0,21.0,623,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2708,2211,0,0,0,0,0,0
$GC,14075,0.61,146.1,90.4,20.3,647,14080,0.00,2.20,0.00,0.000,4,0.000,0.044,2076,1293,2211,0,0,0,0,0,0
$GC,14147,0.61,146.1,77.2,16.0,659,14152,0.00,2.25,0.00,0.000,6,0.000,0.054,2075,2702,2210,0,0,0,0,0,0
$GC,14514,0.61,146.1,4.5,21.7,720,14523,0.00,1.90,0.00,0.000,4,0.000,0.060,2075,3891,2210,0,0,0,0,0,0
$STATE,14530,end climb,SURFACE_DEPTH_REACHED
$STATE,14531,begin surface coast
$FINISH,0.6,1.014369
$STATE,14552,end surface coast,CONTROL_FINISHED_OK
$STATE,14552,begin surface
$SM_CCo,14575,51.38,0.777,1,0,1797,250.20
$SM_GC,1.34,0.00,0.00,51.38,0.000,0.000,0.777,54,2886,1797,-5.61,0.17,250.20
$IRIDIUM_FIX,-4619.84,413.84,020113,090906
$TT8_MAMPS,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.9,32.479
$10V_AH,10.1,14.339
$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,14.200,67.575,297.525,51.375,0.000,28.536,23.961,332.842,0.000,0.000,19.586,1778.431,10292.984,462.864,2128.309,587.170,33.369,1143.637,0.000,1667.235,0.000,1.008,0.000
$DEVICE_MAMPS,258.570,78.795,1793.925,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.777,1424.845,752.717,286.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,53751,725
$CAP_FILE_SIZE,101671,0
$CFSIZE,259252224,219213824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020113,180804,-4635.370,424.501,27,1.0,27,-23.4