version: 66.07
glider: 542
mission: 6
dive: 166
start: 1 3 113 3 10 18
data:
$ID,542
$MISSION,6
$DIVE,166
$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,-10969.311
$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,38
$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
$GPS1,030113,025830,-4637.497,429.197,42,1.5,42,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-55.4
$GPS2,030113,030925,-4637.435,429.282,15,0.9,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.212,-0.144
$KALMAN_X,-113120.9,453.8,278.1,127957.1,-3792.9
$KALMAN_Y,61135.9,-501.2,-125.0,-34867.2,3736.4
$MHEAD_RNG_PITCHd_Wd,147.7,19398,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-71.00,0.000,2,0.000,0.000,52,2913,3167,0,0,0,0,0,0
$GC,107,-0.61,-146.1,3.3,-3.1,9,126,6.65,1.62,-6.50,0.000,4,0.253,0.083,1636,3885,3417,0,0,0,0,0,0
$GC,340,-0.61,-146.1,39.8,-13.3,45,346,0.00,1.58,0.00,0.000,6,0.000,0.033,1636,2851,3421,0,0,0,0,0,0
$GC,584,-0.61,-146.1,74.0,-13.9,86,591,0.00,1.67,0.00,0.000,4,0.000,0.059,1628,3880,3421,0,0,0,0,0,0
$GC,657,-0.61,-146.1,84.2,-13.4,98,664,0.00,1.52,0.00,0.000,6,0.000,0.033,1628,2874,3421,0,0,0,0,0,0
$GC,992,-0.61,-146.1,125.7,-12.0,133,993,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2873,3421,0,0,0,0,0,0
$GC,1303,-0.61,-146.1,161.9,-11.6,153,1307,0.00,2.08,0.00,0.000,4,0.000,0.037,1628,1502,3422,0,0,0,0,0,0
$GC,1332,-0.61,-146.1,165.7,-11.6,154,1342,0.08,2.20,0.00,0.000,6,0.164,0.052,1642,2867,3422,0,0,0,0,0,0
$GC,1659,-0.61,-146.1,200.4,-11.3,175,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2867,3422,0,0,0,0,0,0
$GC,1981,-0.61,-146.1,236.2,-10.8,196,1985,0.00,1.62,0.00,0.000,4,0.000,0.060,1635,3919,3422,0,0,0,0,0,0
$GC,2018,-0.61,-146.1,240.6,-11.7,198,2022,0.00,1.55,0.00,0.000,6,0.000,0.032,1635,2891,3422,0,0,0,0,0,0
$GC,2350,-0.61,-146.1,278.6,-11.6,215,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3423,0,0,0,0,0,0
$GC,2657,-0.61,-146.1,314.3,-11.8,230,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,2968,-0.61,-146.1,351.0,-11.9,245,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3422,0,0,0,0,0,0
$GC,3276,-0.61,-146.1,386.7,-11.1,260,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,3583,-0.61,-146.1,422.2,-11.7,272,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3422,0,0,0,0,0,0
$GC,3891,-0.61,-146.1,458.1,-11.6,282,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,4195,-0.61,-146.1,492.3,-11.0,292,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,4504,-0.61,-146.1,524.4,-10.5,302,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,4808,-0.61,-146.1,556.0,-10.3,312,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,5114,-0.61,-146.1,586.8,-9.8,322,5118,0.00,2.10,0.00,0.000,4,0.000,0.039,1635,1500,3421,0,0,0,0,0,0
$GC,5166,-0.61,-146.1,591.9,-8.9,323,5170,0.00,2.20,0.00,0.000,6,0.000,0.054,1625,2883,3421,0,0,0,0,0,0
$GC,5482,-0.61,-146.1,624.4,-10.3,333,5486,0.00,1.60,0.00,0.000,4,0.000,0.063,1617,3893,3421,0,0,0,0,0,0
$GC,5519,-0.61,-146.1,628.3,-10.1,334,5523,0.10,1.52,0.00,0.000,6,0.164,0.034,1648,2883,3421,0,0,0,0,0,0
$GC,5863,-0.61,-146.1,653.9,-7.1,345,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2878,3421,0,0,0,0,0,0
$GC,6171,-0.61,-146.1,676.6,-7.5,355,6175,0.00,2.08,0.00,0.000,4,0.000,0.038,1648,1495,3421,0,0,0,0,0,0
$GC,6245,-0.61,-146.1,682.3,-6.5,357,6249,0.00,2.20,0.00,0.000,6,0.000,0.055,1639,2887,3420,0,0,0,0,0,0
$GC,6578,-0.61,-146.1,708.8,-8.1,368,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2887,3420,0,0,0,0,0,0
$GC,6883,-0.61,-146.1,733.9,-8.2,378,6887,0.00,2.12,0.00,0.000,4,0.000,0.037,1639,1496,3420,0,0,0,0,0,0
$GC,6941,-0.61,-146.1,738.9,-7.6,379,6948,0.00,2.20,0.00,0.000,6,0.000,0.054,1628,2883,3420,0,0,0,0,0,0
$GC,7257,-0.61,-146.1,766.8,-8.9,390,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3420,0,0,0,0,0,0
$GC,7563,-0.61,-146.1,794.1,-8.9,400,7567,0.00,2.12,0.00,0.000,4,0.000,0.038,1628,1488,3419,0,0,0,0,0,0
$GC,7604,-0.61,-146.1,797.8,-8.7,401,7608,0.12,2.20,0.00,0.000,6,0.186,0.054,1649,2880,3420,0,0,0,0,0,0
$GC,7944,-0.61,-146.1,822.0,-7.2,412,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2881,3420,0,0,0,0,0,0
$GC,8248,-0.61,-146.1,843.4,-6.9,422,8252,0.00,2.12,0.00,0.000,4,0.000,0.037,1649,1490,3419,0,0,0,0,0,0
$GC,8295,-0.61,-146.1,846.7,-6.9,423,8299,0.00,2.22,0.00,0.000,6,0.000,0.055,1641,2885,3419,0,0,0,0,0,0
$GC,8616,-0.61,-146.1,870.0,-7.3,434,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2886,3419,0,0,0,0,0,0
$GC,8924,-0.61,-146.1,892.5,-7.4,444,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2886,3419,0,0,0,0,0,0
$GC,9228,-0.61,-146.1,915.4,-7.5,454,9232,0.00,2.12,0.00,0.000,4,0.000,0.037,1641,1486,3419,0,0,0,0,0,0
$GC,9275,-0.61,-146.1,918.9,-7.5,455,9279,0.00,2.22,0.00,0.000,6,0.000,0.054,1630,2883,3418,0,0,0,0,0,0
$GC,9596,-0.61,-146.1,945.3,-8.6,466,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2884,3418,0,0,0,0,0,0
$GC,9904,-0.61,-146.1,973.2,-9.2,476,9908,0.00,2.10,0.00,0.000,4,0.000,0.037,1630,1494,3418,0,0,0,0,0,0
$GC,9936,-0.61,-146.1,976.2,-9.3,477,9940,0.12,2.20,0.00,0.000,6,0.181,0.054,1652,2882,3418,0,0,0,0,0,0
$STATE,10276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10276,begin apogee
$GC,10286,-0.18,0.0,1002.2,7.6,488,10437,0.45,0.00,147.25,1.223,6,0.153,0.000,1789,2710,2819,0,0,0,0,0,0
$STATE,10439,end apogee,CONTROL_FINISHED_OK
$STATE,10439,begin climb
$GC,10444,0.61,146.1,1006.9,0.0,493,10601,0.75,0.00,149.20,1.793,6,0.063,0.000,2056,2710,2224,0,0,0,0,1,0
$GC,10887,0.61,146.1,916.7,23.9,508,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2710,2220,0,0,0,0,0,0
$GC,11194,0.61,146.1,842.8,24.4,518,11198,0.00,2.22,0.00,0.000,4,0.000,0.044,2066,1304,2218,0,0,0,0,0,0
$GC,11231,0.61,146.1,834.1,23.6,519,11235,0.00,2.28,0.00,0.000,6,0.000,0.052,2066,2699,2217,0,0,0,0,0,0
$GC,11576,0.61,146.1,750.2,24.1,530,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2699,2217,0,0,0,0,0,0
$GC,11880,0.61,146.1,677.0,23.3,540,11884,0.00,2.20,0.00,0.000,4,0.000,0.043,2076,1293,2216,0,0,0,0,0,0
$GC,11932,0.61,146.1,665.0,21.3,541,11936,0.00,2.28,0.00,0.000,6,0.000,0.052,2077,2708,2213,0,0,0,0,0,0
$GC,12253,0.61,146.1,589.4,23.9,552,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2708,2214,0,0,0,0,0,0
$GC,12559,0.61,146.1,518.7,22.9,562,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2708,2213,0,0,0,0,0,0
$GC,12866,0.61,146.1,448.3,23.2,572,12870,0.00,2.20,0.00,0.000,4,0.000,0.044,2087,1295,2213,0,0,0,0,0,0
$GC,12912,0.61,146.1,437.5,22.0,573,12916,0.15,2.25,0.00,0.000,6,0.224,0.052,2053,2709,2212,0,0,0,0,0,0
$GC,13235,0.61,146.1,369.8,21.1,586,13237,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2709,2212,0,0,0,0,0,0
$GC,13547,0.61,146.1,306.0,21.1,601,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2709,2212,0,0,0,0,0,0
$GC,13867,0.61,146.1,240.4,20.4,617,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2709,2212,0,0,0,0,0,0
$GC,14179,0.61,146.1,179.3,19.3,637,14183,0.00,2.17,0.00,0.000,4,0.000,0.044,2062,1303,2212,0,0,0,0,0,0
$GC,14234,0.61,146.1,169.2,17.8,640,14238,0.00,2.22,0.00,0.000,6,0.000,0.051,2062,2700,2211,0,0,0,0,0,0
$GC,14562,0.61,146.1,104.8,19.7,661,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2700,2211,0,0,0,0,0,0
$GC,14906,0.61,146.1,37.8,20.1,717,14913,0.00,2.17,0.00,0.000,4,0.000,0.043,2072,1303,2211,0,0,0,0,0,0
$GC,14942,0.61,146.1,30.0,20.0,722,14951,0.00,2.25,0.00,0.000,6,0.000,0.052,2072,2697,2211,0,0,0,0,0,0
$GC,15031,0.61,146.1,13.9,17.9,735,15039,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2698,2210,0,0,0,0,0,0
$STATE,15089,end climb,SURFACE_DEPTH_REACHED
$STATE,15089,begin surface coast
$FINISH,0.8,1.026425
$STATE,15103,end surface coast,CONTROL_FINISHED_OK
$STATE,15103,begin surface
$SM_CCo,15126,51.08,0.773,1,0,1799,250.20
$SM_GC,1.67,0.00,0.00,51.08,0.000,0.000,0.773,53,2910,1799,-5.62,0.85,250.20
$IRIDIUM_FIX,-4616.72,426.32,020113,181830
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.9,32.935
$10V_AH,10.1,14.643
$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,13.850,70.000,296.450,51.075,0.000,31.272,47.088,334.986,0.000,0.000,19.115,1840.422,10674.627,470.896,2218.497,618.110,33.371,1186.583,0.000,1731.036,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,82.620,1793.160,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.744,1460.752,759.284,286.054,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353888
$DATA_FILE_SIZE,53835,746
$CAP_FILE_SIZE,107392,0
$CFSIZE,259252224,219017216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030113,072451,-4638.586,431.513,29,1.5,44,-23.5