version: 66.07
glider: 542
mission: 6
dive: 167
start: 1 3 113 7 36 1
data:
$ID,542
$MISSION,6
$DIVE,167
$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,-10976.014
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,030113,072451,-4638.586,431.513,29,1.5,44,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-57.7
$GPS2,030113,073505,-4638.583,431.503,17,1.1,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.013
$KALMAN_X,-114343.1,356.2,93.6,132276.8,-3298.4
$KALMAN_Y,61862.9,-322.0,-325.7,-37693.1,3391.2
$MHEAD_RNG_PITCHd_Wd,116.5,19235,-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,-71.03,0.000,2,0.000,0.000,52,2911,3151,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.1,-3.3,9,125,6.57,1.62,-7.43,0.000,4,0.249,0.076,1639,3896,3418,0,0,0,0,0,0
$GC,400,-0.61,-146.1,48.5,-13.8,56,409,0.00,1.58,0.00,0.000,6,0.000,0.033,1639,2863,3421,0,0,0,0,0,0
$GC,649,-0.61,-146.1,78.1,-11.8,97,654,0.00,1.65,0.00,0.000,4,0.000,0.060,1631,3892,3421,0,0,0,0,0,0
$GC,773,-0.61,-146.1,94.5,-12.9,118,780,0.00,1.55,0.00,0.000,6,0.000,0.031,1631,2863,3422,0,0,0,0,0,0
$GC,1102,-0.61,-146.1,134.3,-11.2,143,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3422,0,0,0,0,0,0
$GC,1415,-0.61,-146.1,171.3,-12.3,163,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3423,0,0,0,0,0,0
$GC,1727,-0.61,-146.1,211.8,-13.1,183,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3423,0,0,0,0,0,0
$GC,2040,-0.61,-146.1,249.4,-11.3,203,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2863,3423,0,0,0,0,0,0
$GC,2365,-0.61,-146.1,286.6,-11.4,219,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3423,0,0,0,0,0,0
$GC,2672,-0.61,-146.1,322.6,-11.8,234,2675,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3906,3423,0,0,0,0,0,0
$GC,2706,-0.61,-146.1,327.2,-12.4,235,2710,0.00,1.52,0.00,0.000,6,0.000,0.033,1623,2894,3423,0,0,0,0,0,0
$GC,3032,-0.61,-146.1,366.3,-12.1,251,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,3423,0,0,0,0,0,0
$GC,3349,-0.61,-146.1,404.3,-11.8,266,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,3423,0,0,0,0,0,0
$GC,3655,-0.61,-146.1,437.8,-10.7,276,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2889,3423,0,0,0,0,0,0
$GC,3962,-0.61,-146.1,469.6,-10.2,286,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,3423,0,0,0,0,0,0
$GC,4268,-0.61,-146.1,500.8,-10.1,296,4272,0.00,1.60,0.00,0.000,4,0.000,0.061,1616,3883,3423,0,0,0,0,0,0
$GC,4308,-0.61,-146.1,505.2,-10.8,297,4313,0.10,1.52,0.00,0.000,6,0.166,0.034,1647,2874,3423,0,0,0,0,0,0
$GC,4649,-0.61,-146.1,532.7,-8.0,308,4652,0.00,2.08,0.00,0.000,4,0.000,0.037,1648,1499,3422,0,0,0,0,0,0
$GC,4678,-0.61,-146.1,535.4,-8.3,308,4685,0.00,2.17,0.00,0.000,6,0.000,0.054,1638,2871,3422,0,0,0,0,0,0
$GC,4993,-0.61,-146.1,562.9,-9.0,319,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2871,3422,0,0,0,0,0,0
$GC,5299,-0.61,-146.1,591.6,-9.5,329,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2871,3422,0,0,0,0,0,0
$GC,5605,-0.61,-146.1,621.1,-9.6,339,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2871,3422,0,0,0,0,0,0
$GC,5912,-0.61,-146.1,650.0,-9.3,349,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2871,3421,0,0,0,0,0,0
$GC,6218,-0.61,-146.1,678.0,-9.2,359,6222,0.00,2.10,0.00,0.000,4,0.000,0.038,1638,1494,3421,0,0,0,0,0,0
$GC,6257,-0.61,-146.1,681.3,-8.5,360,6261,0.00,2.20,0.00,0.000,6,0.000,0.054,1628,2887,3421,0,0,0,0,0,0
$GC,6602,-0.61,-146.1,714.9,-9.8,371,6606,0.00,2.10,0.00,0.000,4,0.000,0.037,1627,1497,3420,0,0,0,0,0,0
$GC,6637,-0.61,-146.1,718.7,-9.6,372,6642,0.12,2.20,0.00,0.000,6,0.187,0.054,1649,2881,3420,0,0,0,0,0,0
$GC,6970,-0.61,-146.1,744.8,-7.8,383,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2881,3420,0,0,0,0,0,0
$GC,7276,-0.61,-146.1,768.2,-7.7,393,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2881,3420,0,0,0,0,0,0
$GC,7582,-0.61,-146.1,791.6,-7.7,403,7586,0.00,2.10,0.00,0.000,4,0.000,0.037,1649,1495,3420,0,0,0,0,0,0
$GC,7629,-0.61,-146.1,795.6,-7.9,404,7633,0.00,2.20,0.00,0.000,6,0.000,0.055,1640,2879,3420,0,0,0,0,0,0
$GC,7950,-0.61,-146.1,823.4,-9.0,415,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2880,3420,0,0,0,0,0,0
$GC,8256,-0.61,-146.1,850.1,-8.8,425,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2880,3420,0,0,0,0,0,0
$GC,8562,-0.61,-146.1,876.0,-8.4,435,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2880,3419,0,0,0,0,0,0
$GC,8868,-0.61,-146.1,902.8,-8.8,445,8872,0.00,2.12,0.00,0.000,4,0.000,0.037,1640,1497,3419,0,0,0,0,0,0
$GC,8898,-0.61,-146.1,905.5,-9.4,445,8904,0.00,2.20,0.00,0.000,6,0.000,0.054,1630,2883,3419,0,0,0,0,0,0
$GC,9213,-0.61,-146.1,933.3,-8.7,456,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2883,3419,0,0,0,0,0,0
$GC,9519,-0.61,-146.1,959.2,-8.5,466,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2884,3419,0,0,0,0,0,0
$GC,9826,-0.61,-146.1,984.7,-8.5,476,9829,0.00,2.12,0.00,0.000,4,0.000,0.037,1630,1496,3419,0,0,0,0,0,0
$GC,9858,-0.61,-146.1,987.3,-8.7,477,9863,0.12,2.20,0.00,0.000,6,0.181,0.054,1653,2878,3419,0,0,0,0,0,0
$STATE,10038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10039,begin apogee
$GC,10049,-0.18,0.0,1000.3,6.7,483,10199,0.43,0.00,146.45,1.236,6,0.151,0.000,1783,2707,2819,0,0,0,0,0,0
$STATE,10201,end apogee,CONTROL_FINISHED_OK
$STATE,10201,begin climb
$GC,10206,0.61,146.1,1003.6,0.0,488,10365,0.77,0.00,150.70,1.797,6,0.067,0.000,2053,2706,2223,0,0,0,0,1,0
$GC,10651,0.61,146.1,912.3,23.6,503,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2706,2218,0,0,0,0,0,0
$GC,10957,0.61,146.1,839.3,23.9,513,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2706,2215,0,0,0,0,0,0
$GC,11264,0.61,146.1,766.9,23.8,523,11268,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1303,2214,0,0,0,0,0,0
$GC,11321,0.61,146.1,753.4,21.4,524,11328,0.00,2.28,0.00,0.000,6,0.000,0.051,2064,2705,2212,0,0,0,0,0,0
$GC,11636,0.61,146.1,677.9,24.8,535,11638,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2706,2212,0,0,0,0,0,0
$GC,11943,0.61,146.1,602.9,25.0,545,11947,0.00,2.22,0.00,0.000,4,0.000,0.043,2074,1295,2212,0,0,0,0,0,0
$GC,11989,0.61,146.1,591.9,21.5,546,11993,0.00,2.28,0.00,0.000,6,0.000,0.052,2074,2706,2210,0,0,0,0,0,0
$GC,12310,0.61,146.1,514.3,24.6,557,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2707,2210,0,0,0,0,0,0
$GC,12618,0.61,146.1,440.9,24.0,567,12622,0.00,2.20,0.00,0.000,4,0.000,0.044,2085,1308,2211,0,0,0,0,0,0
$GC,12650,0.61,146.1,433.0,22.7,568,12655,0.15,2.25,0.00,0.000,6,0.223,0.052,2051,2711,2210,0,0,0,0,0,0
$GC,12972,0.61,146.1,365.6,20.4,581,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2711,2210,0,0,0,0,0,0
$GC,13280,0.61,146.1,303.3,20.0,596,13284,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1294,2210,0,0,0,0,0,0
$GC,13354,0.61,146.1,288.6,18.4,599,13358,0.00,2.22,0.00,0.000,6,0.000,0.052,2060,2702,2209,0,0,0,0,0,0
$GC,13674,0.61,146.1,220.6,21.5,616,13675,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2702,2209,0,0,0,0,0,0
$GC,13986,0.61,146.1,153.6,21.4,636,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2702,2209,0,0,0,0,0,0
$GC,14302,0.61,146.1,89.6,19.6,662,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2702,2209,0,0,0,0,0,0
$GC,14664,0.61,146.1,23.3,18.8,723,14673,0.00,2.20,0.00,0.000,4,0.000,0.042,2070,1306,2209,0,0,0,0,0,0
$GC,14784,0.61,146.1,3.5,15.4,741,14793,0.00,2.22,0.00,0.000,6,0.000,0.050,2070,2693,2207,0,0,0,0,0,0
$STATE,14802,end climb,SURFACE_DEPTH_REACHED
$STATE,14803,begin surface coast
$FINISH,0.6,1.026466
$STATE,14828,end surface coast,CONTROL_FINISHED_OK
$STATE,14829,begin surface
$SM_CCo,14851,50.50,0.771,1,0,1798,250.20
$SM_GC,1.77,0.00,0.00,50.50,0.000,0.000,0.771,60,2893,1798,-5.60,0.40,250.20
$IRIDIUM_FIX,-4622.97,429.93,030113,030306
$TT8_MAMPS,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.9,33.095
$10V_AH,10.1,14.742
$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,13.700,61.350,297.150,50.500,0.000,25.502,41.782,316.874,0.000,0.000,23.706,1817.181,10484.528,467.293,2169.768,571.366,33.370,1158.995,0.000,1705.759,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,75.735,1796.985,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.656,1463.829,775.859,315.018,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,53699,747
$CAP_FILE_SIZE,102924,0
$CFSIZE,259252224,218963968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030113,114552,-4638.421,433.683,37,0.9,37,-23.5