version: 66.07
glider: 542
mission: 6
dive: 164
start: 1 2 113 18 19 16
data:
$ID,542
$MISSION,6
$DIVE,164
$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,-10962.961
$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,30
$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
$GPS1,020113,180804,-4635.370,424.501,27,1.0,27,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-53.2
$GPS2,020113,181823,-4635.354,424.541,15,0.9,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.206,-0.152
$KALMAN_X,-110769.8,423.6,136.5,119775.9,-3862.6
$KALMAN_Y,58570.5,-296.6,-155.8,-28622.1,3463.8
$MHEAD_RNG_PITCHd_Wd,149.8,22062,-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,-146.1,0.0,0.0,0,99,0.00,0.00,-70.93,0.000,2,0.000,0.000,50,2885,3128,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.2,-3.8,9,125,6.70,1.70,-7.62,0.000,4,0.256,0.076,1635,3903,3417,0,0,0,0,0,0
$GC,256,-0.61,-146.1,28.1,-12.2,31,265,0.00,1.62,0.00,0.000,6,0.000,0.033,1635,2846,3420,0,0,0,0,0,0
$GC,341,-0.61,-146.1,41.6,-15.3,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2845,3420,0,0,0,0,0,0
$GC,589,-0.61,-146.1,77.7,-13.8,85,593,0.00,1.70,0.00,0.000,4,0.000,0.061,1627,3903,3421,0,0,0,0,0,0
$GC,637,-0.61,-146.1,85.2,-14.9,93,643,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2867,3421,0,0,0,0,0,0
$GC,969,-0.61,-146.1,128.8,-12.9,126,973,0.00,2.08,0.00,0.000,4,0.000,0.037,1627,1500,3421,0,0,0,0,0,0
$GC,999,-0.61,-146.1,132.7,-12.5,127,1006,0.12,2.22,0.00,0.000,6,0.177,0.054,1649,2890,3421,0,0,0,0,0,0
$GC,1324,-0.61,-146.1,167.5,-11.0,148,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3421,0,0,0,0,0,0
$GC,1634,-0.61,-146.1,198.9,-9.9,168,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3421,0,0,0,0,0,0
$GC,1945,-0.61,-146.1,230.1,-9.6,188,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3422,0,0,0,0,0,0
$GC,2269,-0.61,-146.1,260.0,-9.1,207,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3422,0,0,0,0,0,0
$GC,2578,-0.61,-146.1,287.1,-8.7,222,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3422,0,0,0,0,0,0
$GC,2888,-0.61,-146.1,314.6,-9.4,237,2892,0.00,2.12,0.00,0.000,4,0.000,0.037,1649,1496,3422,0,0,0,0,0,0
$GC,2938,-0.61,-146.1,319.3,-8.9,239,2942,0.00,2.22,0.00,0.000,6,0.000,0.055,1640,2891,3422,0,0,0,0,0,0
$GC,3270,-0.61,-146.1,353.8,-10.6,255,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2891,3422,0,0,0,0,0,0
$GC,3577,-0.61,-146.1,386.2,-10.5,270,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2891,3422,0,0,0,0,0,0
$GC,3905,-0.61,-146.1,419.7,-10.2,283,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2891,3422,0,0,0,0,0,0
$GC,4211,-0.61,-146.1,450.6,-10.0,293,4215,0.00,2.12,0.00,0.000,4,0.000,0.038,1640,1499,3422,0,0,0,0,0,0
$GC,4241,-0.61,-146.1,453.9,-11.0,293,4248,0.00,2.20,0.00,0.000,6,0.000,0.054,1629,2886,3422,0,0,0,0,0,0
$GC,4556,-0.61,-146.1,488.0,-10.7,304,4560,0.00,1.60,0.00,0.000,4,0.000,0.062,1621,3896,3421,0,0,0,0,0,0
$GC,4586,-0.61,-146.1,491.4,-11.0,304,4594,0.08,1.52,0.00,0.000,6,0.161,0.034,1645,2886,3421,0,0,0,0,0,0
$GC,4902,-0.61,-146.1,520.2,-8.9,315,4906,0.00,2.12,0.00,0.000,4,0.000,0.038,1645,1486,3421,0,0,0,0,0,0
$GC,4938,-0.61,-146.1,523.5,-8.8,316,4942,0.00,2.22,0.00,0.000,6,0.000,0.055,1635,2883,3421,0,0,0,0,0,0
$GC,5270,-0.61,-146.1,554.6,-9.6,327,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2884,3421,0,0,0,0,0,0
$GC,5576,-0.61,-146.1,584.3,-9.7,337,5580,0.00,2.12,0.00,0.000,4,0.000,0.038,1635,1486,3421,0,0,0,0,0,0
$GC,5617,-0.61,-146.1,588.2,-8.5,338,5621,0.00,2.22,0.00,0.000,6,0.000,0.055,1625,2883,3420,0,0,0,0,0,0
$GC,5956,-0.61,-146.1,623.3,-10.5,349,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2882,3420,0,0,0,0,0,0
$GC,6261,-0.61,-146.1,655.6,-10.7,359,6265,0.00,2.12,0.00,0.000,4,0.000,0.038,1625,1492,3420,0,0,0,0,0,0
$GC,6301,-0.61,-146.1,660.1,-10.2,360,6306,0.12,2.22,0.00,0.000,6,0.186,0.055,1646,2887,3420,0,0,0,0,0,0
$GC,6629,-0.61,-146.1,687.9,-8.5,371,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2887,3420,0,0,0,0,0,0
$GC,6937,-0.61,-146.1,713.9,-8.5,381,6941,0.00,2.15,0.00,0.000,4,0.000,0.037,1647,1484,3419,0,0,0,0,0,0
$GC,6972,-0.61,-146.1,717.4,-8.5,382,6976,0.00,2.22,0.00,0.000,6,0.000,0.055,1637,2881,3419,0,0,0,0,0,0
$GC,7305,-0.61,-146.1,746.6,-8.9,393,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3419,0,0,0,0,0,0
$GC,7611,-0.61,-146.1,772.6,-8.4,403,7615,0.00,2.12,0.00,0.000,4,0.000,0.037,1637,1486,3419,0,0,0,0,0,0
$GC,7669,-0.61,-146.1,777.4,-8.1,404,7673,0.00,2.22,0.00,0.000,6,0.000,0.055,1626,2881,3419,0,0,0,0,0,0
$GC,7985,-0.61,-146.1,806.1,-9.3,414,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2882,3419,0,0,0,0,0,0
$GC,8291,-0.61,-146.1,834.1,-9.1,424,8295,0.00,2.12,0.00,0.000,4,0.000,0.037,1626,1490,3419,0,0,0,0,0,0
$GC,8343,-0.61,-146.1,839.0,-8.8,425,8348,0.12,2.20,0.00,0.000,6,0.183,0.055,1649,2885,3418,0,0,0,0,0,0
$GC,8665,-0.61,-146.1,862.6,-7.3,436,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2885,3418,0,0,0,0,0,0
$GC,8971,-0.61,-146.1,884.2,-7.0,446,8975,0.00,2.12,0.00,0.000,4,0.000,0.038,1648,1485,3419,0,0,0,0,0,0
$GC,9011,-0.61,-146.1,887.3,-7.3,447,9015,0.00,2.22,0.00,0.000,6,0.000,0.056,1640,2880,3419,0,0,0,0,0,0
$GC,9338,-0.61,-146.1,912.0,-7.9,458,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2881,3418,0,0,0,0,0,0
$GC,9644,-0.61,-146.1,935.9,-7.7,468,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2881,3419,0,0,0,0,0,0
$GC,9950,-0.61,-146.1,959.0,-7.5,478,9954,0.00,2.12,0.00,0.000,4,0.000,0.037,1640,1490,3418,0,0,0,0,0,0
$GC,9991,-0.61,-146.1,962.3,-7.3,479,9995,0.00,2.22,0.00,0.000,6,0.000,0.056,1629,2883,3418,0,0,0,0,0,0
$GC,10318,-0.61,-146.1,989.6,-8.8,490,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3418,0,0,0,0,0,0
$STATE,10435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10435,begin apogee
$GC,10446,-0.18,0.0,1000.5,8.9,494,10596,0.52,0.00,147.25,1.238,6,0.161,0.000,1786,2698,2819,0,0,0,0,0,0
$STATE,10598,end apogee,CONTROL_FINISHED_OK
$STATE,10598,begin climb
$GC,10603,0.61,146.1,1004.7,0.0,499,10762,0.77,0.00,150.15,1.791,6,0.084,0.000,2052,2697,2223,0,0,0,0,1,0
$GC,11064,0.61,146.1,908.4,24.2,514,11068,0.00,2.28,0.00,0.000,4,0.000,0.045,2062,1294,2219,0,0,0,0,0,0
$GC,11099,0.61,146.1,899.8,24.1,515,11103,0.00,2.38,0.00,0.000,6,0.000,0.052,2062,2705,2217,0,0,0,0,0,0
$GC,11431,0.61,146.1,818.4,24.8,526,11435,0.00,2.28,0.00,0.000,4,0.000,0.045,2073,1298,2216,0,0,0,0,0,0
$GC,11483,0.61,146.1,805.8,21.4,527,11487,0.00,2.30,0.00,0.000,6,0.000,0.052,2073,2706,2214,0,0,0,0,0,0
$GC,11804,0.61,146.1,725.2,25.5,538,11808,0.00,2.22,0.00,0.000,4,0.000,0.044,2083,1300,2214,0,0,0,0,0,0
$GC,11844,0.61,146.1,715.0,23.3,539,11849,0.15,2.28,0.00,0.000,6,0.226,0.053,2050,2705,2212,0,0,0,0,0,0
$GC,12184,0.61,146.1,638.4,22.9,550,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2706,2213,0,0,0,0,0,0
$GC,12489,0.61,146.1,567.1,23.4,560,12493,0.00,2.22,0.00,0.000,4,0.000,0.045,2059,1297,2213,0,0,0,0,0,0
$GC,12558,0.61,146.1,551.8,20.8,562,12562,0.00,2.28,0.00,0.000,6,0.000,0.053,2059,2709,2211,0,0,0,0,0,0
$GC,12890,0.61,146.1,474.9,23.1,573,12894,0.00,2.20,0.00,0.000,4,0.000,0.045,2070,1303,2211,0,0,0,0,0,0
$GC,12925,0.61,146.1,466.7,22.1,574,12929,0.00,2.25,0.00,0.000,6,0.000,0.052,2070,2705,2211,0,0,0,0,0,0
$GC,13249,0.61,146.1,393.2,22.9,585,13253,0.00,2.20,0.00,0.000,4,0.000,0.046,2080,1295,2211,0,0,0,0,0,0
$GC,13295,0.61,146.1,382.1,21.0,587,13300,0.12,2.25,0.00,0.000,6,0.221,0.054,2051,2699,2211,0,0,0,0,0,0
$GC,13623,0.61,146.1,313.0,21.2,603,13624,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2699,2211,0,0,0,0,0,0
$GC,13929,0.61,146.1,247.9,21.2,618,13933,0.00,2.17,0.00,0.000,4,0.000,0.044,2062,1294,2211,0,0,0,0,0,0
$GC,13980,0.61,146.1,238.2,18.9,621,13984,0.00,2.25,0.00,0.000,6,0.000,0.052,2062,2706,2210,0,0,0,0,0,0
$GC,14314,0.61,146.1,168.5,21.2,642,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2706,2210,0,0,0,0,0,0
$GC,14625,0.61,146.1,105.0,19.4,662,14629,0.00,2.20,0.00,0.000,4,0.000,0.044,2072,1296,2210,0,0,0,0,0,0
$GC,14662,0.61,146.1,97.6,18.8,664,14669,0.00,2.25,0.00,0.000,6,0.000,0.052,2072,2708,2210,0,0,0,0,0,0
$GC,15024,0.61,146.1,27.9,23.3,725,15035,0.00,2.22,0.00,0.000,4,0.000,0.044,2082,1297,2210,0,0,0,0,0,0
$GC,15072,0.61,146.1,17.3,20.4,731,15081,0.10,2.25,0.00,0.000,6,0.207,0.053,2055,2695,2210,0,0,0,0,0,0
$STATE,15155,end climb,SURFACE_DEPTH_REACHED
$STATE,15155,begin surface coast
$FINISH,0.5,1.026440
$STATE,15179,end surface coast,CONTROL_FINISHED_OK
$STATE,15179,begin surface
$SM_CCo,15201,51.15,0.770,1,0,1799,250.20
$SM_GC,1.51,0.00,0.00,51.15,0.000,0.000,0.770,59,2905,1799,-5.60,0.71,250.20
$IRIDIUM_FIX,-4619.84,423.44,020113,131306
$TT8_MAMPS,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.9,32.640
$10V_AH,10.1,14.441
$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,14.150,98.550,297.400,51.150,0.000,34.217,51.179,310.987,0.000,0.000,21.757,1873.291,10603.057,476.003,2272.866,639.259,33.366,1243.954,0.000,1797.920,0.000,1.009,0.000
$DEVICE_MAMPS,256.275,76.500,1790.865,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.612,1478.010,775.752,280.007,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,53774,747
$CAP_FILE_SIZE,116628,0
$CFSIZE,259252224,219136000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020113,223457,-4636.610,426.917,36,1.4,36,-23.5