version: 66.07
glider: 542
mission: 6
dive: 165
start: 1 2 113 22 46 11
data:
$ID,542
$MISSION,6
$DIVE,165
$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,-10965.824
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,020113,223457,-4636.610,426.917,36,1.4,36,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.7
$GPS2,020113,224518,-4636.583,426.958,19,1.2,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.200,-0.159
$KALMAN_X,-112057.3,474.9,278.9,123929.1,-3892.2
$KALMAN_Y,59690.7,-551.8,-282.9,-31633.4,3627.9
$MHEAD_RNG_PITCHd_Wd,152.1,20618,-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,-78.60,0.000,2,0.000,0.000,55,2906,3312,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.5,-3.5,10,132,6.43,1.58,-2.53,0.000,4,0.241,0.068,1640,3890,3415,0,0,0,0,0,0
$GC,263,-0.61,-146.1,30.7,-15.0,32,272,0.00,1.58,0.00,0.000,6,0.000,0.033,1640,2854,3418,0,0,0,0,0,0
$GC,517,-0.61,-146.1,61.0,-11.6,73,521,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2853,3418,0,0,0,0,0,0
$GC,875,-0.61,-146.1,106.4,-12.5,130,876,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2854,3419,0,0,0,0,0,0
$GC,1188,-0.61,-146.1,140.7,-10.5,150,1191,0.00,1.65,0.00,0.000,4,0.000,0.060,1632,3890,3419,0,0,0,0,0,0
$GC,1234,-0.61,-146.1,146.1,-11.1,152,1242,0.00,1.52,0.00,0.000,6,0.000,0.033,1632,2872,3419,0,0,0,0,0,0
$GC,1557,-0.61,-146.1,180.8,-11.1,173,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2873,3420,0,0,0,0,0,0
$GC,1870,-0.61,-146.1,216.7,-11.5,193,1873,0.00,2.08,0.00,0.000,4,0.000,0.037,1632,1507,3420,0,0,0,0,0,0
$GC,1900,-0.61,-146.1,220.6,-11.7,194,1909,0.00,2.20,0.00,0.000,6,0.000,0.054,1621,2871,3420,0,0,0,0,0,0
$GC,2226,-0.61,-146.1,260.4,-12.5,214,2230,0.10,1.60,0.00,0.000,4,0.197,0.061,1638,3900,3420,0,0,0,0,0,0
$GC,2261,-0.61,-146.1,264.9,-11.5,215,2265,0.00,1.52,0.00,0.000,6,0.000,0.033,1638,2893,3420,0,0,0,0,0,0
$GC,2587,-0.61,-146.1,299.0,-10.4,231,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2888,3420,0,0,0,0,0,0
$GC,2894,-0.61,-146.1,331.2,-10.2,246,2898,0.00,2.12,0.00,0.000,4,0.000,0.037,1638,1490,3420,0,0,0,0,0,0
$GC,2938,-0.61,-146.1,335.5,-8.9,248,2942,0.00,2.20,0.00,0.000,6,0.000,0.054,1628,2887,3420,0,0,0,0,0,0
$GC,3267,-0.61,-146.1,370.3,-10.1,264,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2888,3420,0,0,0,0,0,0
$GC,3587,-0.61,-146.1,404.6,-11.1,279,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2888,3420,0,0,0,0,0,0
$GC,3893,-0.61,-146.1,439.7,-11.7,289,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2888,3420,0,0,0,0,0,0
$GC,4200,-0.61,-146.1,475.2,-11.5,299,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2888,3420,0,0,0,0,0,0
$GC,4505,-0.61,-146.1,511.4,-11.8,309,4509,0.00,2.15,0.00,0.000,4,0.000,0.038,1628,1488,3420,0,0,0,0,0,0
$GC,4528,-0.61,-146.1,514.5,-12.5,309,4536,0.12,2.22,0.00,0.000,6,0.179,0.054,1650,2891,3420,0,0,0,0,0,0
$GC,4844,-0.61,-146.1,546.2,-10.0,320,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2891,3420,0,0,0,0,0,0
$GC,5150,-0.61,-146.1,575.5,-9.3,330,5154,0.00,2.12,0.00,0.000,4,0.000,0.037,1650,1495,3419,0,0,0,0,0,0
$GC,5187,-0.61,-146.1,578.7,-8.3,331,5191,0.00,2.20,0.00,0.000,6,0.000,0.054,1641,2883,3419,0,0,0,0,0,0
$GC,5532,-0.61,-146.1,611.8,-9.8,342,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2883,3419,0,0,0,0,0,0
$GC,5837,-0.61,-146.1,640.7,-9.4,352,5841,0.00,2.12,0.00,0.000,4,0.000,0.037,1640,1493,3419,0,0,0,0,0,0
$GC,5889,-0.61,-146.1,645.8,-9.2,353,5893,0.00,2.20,0.00,0.000,6,0.000,0.054,1630,2883,3419,0,0,0,0,0,0
$GC,6210,-0.61,-146.1,677.4,-9.9,364,6214,0.00,2.10,0.00,0.000,4,0.000,0.037,1630,1496,3419,0,0,0,0,0,0
$GC,6239,-0.61,-146.1,680.4,-9.5,364,6246,0.12,2.20,0.00,0.000,6,0.178,0.054,1652,2884,3419,0,0,0,0,0,0
$GC,6554,-0.61,-146.1,705.0,-7.8,375,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2885,3419,0,0,0,0,0,0
$GC,6861,-0.61,-146.1,728.3,-7.5,385,6865,0.00,2.12,0.00,0.000,4,0.000,0.037,1652,1487,3419,0,0,0,0,0,0
$GC,6919,-0.61,-146.1,732.8,-7.6,386,6923,0.00,2.20,0.00,0.000,6,0.000,0.055,1644,2881,3419,0,0,0,0,0,0
$GC,7236,-0.61,-146.1,758.1,-8.2,396,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2881,3419,0,0,0,0,0,0
$GC,7541,-0.61,-146.1,783.1,-8.2,406,7544,0.00,2.12,0.00,0.000,4,0.000,0.037,1644,1491,3418,0,0,0,0,0,0
$GC,7587,-0.61,-146.1,787.1,-8.1,407,7591,0.00,2.22,0.00,0.000,6,0.000,0.054,1633,2886,3418,0,0,0,0,0,0
$GC,7908,-0.61,-146.1,814.6,-8.7,418,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2887,3418,0,0,0,0,0,0
$GC,8216,-0.61,-146.1,840.9,-8.5,428,8220,0.00,2.12,0.00,0.000,4,0.000,0.037,1633,1496,3418,0,0,0,0,0,0
$GC,8268,-0.61,-146.1,845.8,-7.8,429,8272,0.00,2.17,0.00,0.000,6,0.000,0.055,1623,2881,3417,0,0,0,0,0,0
$GC,8583,-0.61,-146.1,875.0,-9.5,439,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3417,0,0,0,0,0,0
$GC,8890,-0.61,-146.1,903.5,-9.2,449,8894,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1490,3417,0,0,0,0,0,0
$GC,8925,-0.61,-146.1,906.8,-8.7,450,8930,0.15,2.22,0.00,0.000,6,0.177,0.054,1653,2887,3418,0,0,0,0,0,0
$GC,9258,-0.61,-146.1,929.9,-6.9,461,9262,0.00,2.12,0.00,0.000,4,0.000,0.037,1653,1484,3417,0,0,0,0,0,0
$GC,9290,-0.61,-146.1,932.1,-7.6,462,9294,0.00,2.22,0.00,0.000,6,0.000,0.055,1645,2881,3417,0,0,0,0,0,0
$GC,9628,-0.61,-146.1,957.9,-7.7,473,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2881,3417,0,0,0,0,0,0
$GC,9934,-0.61,-146.1,981.3,-7.6,483,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2881,3417,0,0,0,0,0,0
$STATE,10205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10205,begin apogee
$GC,10216,-0.18,0.0,1002.2,7.6,492,10366,0.47,0.00,146.95,1.230,6,0.155,0.000,1789,2709,2819,0,0,0,0,0,0
$STATE,10367,end apogee,CONTROL_FINISHED_OK
$STATE,10368,begin climb
$GC,10372,0.61,146.1,1006.2,0.0,497,10531,0.73,2.22,150.88,1.180,4,0.066,0.059,2049,3895,2218,0,0,0,0,0,0
$GC,10617,0.61,146.1,960.7,26.8,504,10621,0.00,1.98,0.00,0.000,6,0.000,0.037,2059,2705,2212,0,0,0,0,0,0
$GC,10949,0.61,146.1,878.2,24.6,515,10953,0.00,2.25,0.00,0.000,4,0.000,0.045,2070,1296,2206,0,0,0,0,0,0
$GC,11023,0.61,146.1,861.2,20.4,517,11027,0.00,2.33,0.00,0.000,6,0.000,0.051,2070,2698,2203,0,0,0,0,0,0
$GC,11350,0.61,146.1,781.2,24.4,528,11354,0.00,2.22,0.00,0.000,4,0.000,0.044,2080,1291,2203,0,0,0,0,0,0
$GC,11384,0.61,146.1,772.4,23.6,529,11389,0.12,2.30,0.00,0.000,6,0.228,0.051,2054,2702,2202,0,0,0,0,0,0
$GC,11717,0.61,146.1,697.1,22.9,540,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2702,2201,0,0,0,0,0,0
$GC,12025,0.61,146.1,627.6,22.4,550,12029,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1283,2201,0,0,0,0,0,0
$GC,12083,0.61,146.1,615.2,18.6,551,12089,0.00,2.28,0.00,0.000,6,0.000,0.052,2062,2700,2199,0,0,0,0,0,0
$GC,12398,0.61,146.1,546.3,22.2,562,12401,0.00,1.90,0.00,0.000,4,0.000,0.060,2063,3896,2199,0,0,0,0,0,0
$GC,12438,0.61,146.1,535.9,25.1,563,12442,0.00,1.88,0.00,0.000,6,0.000,0.039,2071,2693,2199,0,0,0,0,0,0
$GC,12775,0.61,146.1,457.4,23.1,574,12779,0.00,2.15,0.00,0.000,4,0.000,0.045,2081,1294,2199,0,0,0,0,0,0
$GC,12842,0.61,146.1,443.5,20.7,576,12846,0.12,2.25,0.00,0.000,6,0.227,0.053,2054,2701,2199,0,0,0,0,0,0
$GC,13161,0.61,146.1,375.6,20.8,588,13162,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2700,2199,0,0,0,0,0,0
$GC,13472,0.61,146.1,310.7,21.0,603,13476,0.00,2.20,0.00,0.000,4,0.000,0.044,2063,1290,2199,0,0,0,0,0,0
$GC,13507,0.61,146.1,302.5,20.7,604,13516,0.00,2.28,0.00,0.000,6,0.000,0.052,2063,2696,2199,0,0,0,0,0,0
$GC,13828,0.61,146.1,235.3,21.7,621,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2696,2199,0,0,0,0,0,0
$GC,14142,0.61,146.1,167.4,21.0,641,14146,0.00,2.17,0.00,0.000,4,0.000,0.044,2074,1293,2199,0,0,0,0,0,0
$GC,14200,0.61,146.1,154.8,18.7,644,14209,0.00,2.28,0.00,0.000,6,0.000,0.052,2074,2700,2198,0,0,0,0,0,0
$GC,14531,0.61,146.1,84.6,20.7,673,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2701,2198,0,0,0,0,0,0
$GC,14898,0.61,146.1,13.2,20.2,734,14907,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2701,2198,0,0,0,0,0,0
$STATE,14950,end climb,SURFACE_DEPTH_REACHED
$STATE,14950,begin surface coast
$FINISH,0.7,1.026393
$STATE,14971,end surface coast,CONTROL_FINISHED_OK
$STATE,14971,begin surface
$SM_CCo,14993,51.10,0.750,1,0,1798,250.20
$SM_GC,1.65,0.00,0.00,51.10,0.000,0.000,0.750,54,2912,1798,-5.61,0.90,250.20
$IRIDIUM_FIX,-4616.72,426.32,020113,181830
$TT8_MAMPS,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.6,32.774
$10V_AH,10.1,14.543
$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,13.925,92.500,297.825,51.100,0.000,26.827,22.969,321.916,0.000,0.000,22.136,1860.101,10412.896,444.453,2309.476,628.717,33.374,1252.938,0.000,1843.537,0.000,1.009,0.000
$DEVICE_MAMPS,240.975,68.085,1230.120,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.441,1459.073,772.585,298.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,53717,745
$CAP_FILE_SIZE,116156,0
$CFSIZE,259252224,219074560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,030113,025830,-4637.497,429.197,42,1.5,42,-23.5