version: 66.07
glider: 542
mission: 6
dive: 168
start: 1 3 113 11 57 10
data:
$ID,542
$MISSION,6
$DIVE,168
$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,-10979.456
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,030113,114552,-4638.421,433.683,37,0.9,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-60.0
$GPS2,030113,115617,-4638.513,433.681,19,1.0,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,0.014
$KALMAN_X,-116662.3,79.7,100.2,137633.9,-3919.9
$KALMAN_Y,62051.1,-336.9,-313.6,-37749.1,2627.1
$MHEAD_RNG_PITCHd_Wd,110.4,17705,-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,22,begin dive
$GC,26,-0.61,-146.1,0.0,0.0,0,100,0.00,0.00,-70.97,0.000,2,0.000,0.000,59,2895,3144,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.0,-3.2,9,125,6.60,1.65,-7.57,0.000,4,0.252,0.076,1637,3896,3417,0,0,0,0,0,0
$GC,400,-0.61,-146.1,47.8,-12.7,56,409,0.00,1.58,0.00,0.000,6,0.000,0.031,1637,2863,3420,0,0,0,0,0,0
$GC,648,-0.61,-146.1,82.4,-13.3,97,653,0.00,1.67,0.00,0.000,4,0.000,0.059,1629,3894,3420,0,0,0,0,0,0
$GC,747,-0.61,-146.1,95.6,-12.7,114,756,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2863,3420,0,0,0,0,0,0
$GC,1087,-0.61,-146.1,137.9,-12.6,139,1091,0.00,1.65,0.00,0.000,4,0.000,0.058,1621,3887,3421,0,0,0,0,0,0
$GC,1168,-0.61,-146.1,149.2,-13.4,143,1176,0.08,1.50,0.00,0.000,6,0.167,0.032,1644,2890,3421,0,0,0,0,0,0
$GC,1495,-0.61,-146.1,183.4,-10.7,164,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2889,3421,0,0,0,0,0,0
$GC,1818,-0.61,-146.1,216.7,-10.6,185,1822,0.00,2.10,0.00,0.000,4,0.000,0.037,1644,1493,3422,0,0,0,0,0,0
$GC,1865,-0.61,-146.1,221.8,-9.6,187,1872,0.00,2.20,0.00,0.000,6,0.000,0.052,1635,2882,3422,0,0,0,0,0,0
$GC,2202,-0.61,-146.1,258.5,-11.1,208,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2883,3422,0,0,0,0,0,0
$GC,2513,-0.61,-146.1,292.2,-10.8,223,2517,0.00,1.60,0.00,0.000,4,0.000,0.060,1627,3893,3422,0,0,0,0,0,0
$GC,2563,-0.61,-146.1,297.9,-11.9,225,2567,0.00,1.52,0.00,0.000,6,0.000,0.033,1626,2876,3421,0,0,0,0,0,0
$GC,2900,-0.61,-146.1,335.3,-10.9,241,2904,0.00,2.05,0.00,0.000,4,0.000,0.037,1626,1500,3422,0,0,0,0,0,0
$GC,2924,-0.61,-146.1,338.3,-11.0,242,2929,0.12,2.20,0.00,0.000,6,0.185,0.052,1649,2887,3422,0,0,0,0,0,0
$GC,3249,-0.61,-146.1,368.6,-9.4,258,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2887,3422,0,0,0,0,0,0
$GC,3560,-0.61,-146.1,397.6,-9.2,273,3564,0.00,2.12,0.00,0.000,4,0.000,0.037,1648,1491,3422,0,0,0,0,0,0
$GC,3607,-0.61,-146.1,402.3,-9.3,275,3611,0.00,2.22,0.00,0.000,6,0.000,0.053,1639,2890,3422,0,0,0,0,0,0
$GC,3934,-0.61,-146.1,434.1,-10.1,286,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2890,3422,0,0,0,0,0,0
$GC,4240,-0.61,-146.1,465.8,-10.4,296,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2890,3422,0,0,0,0,0,0
$GC,4548,-0.61,-146.1,498.0,-10.3,306,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2890,3421,0,0,0,0,0,0
$GC,4852,-0.61,-146.1,529.2,-10.1,316,4856,0.00,2.10,0.00,0.000,4,0.000,0.037,1639,1500,3421,0,0,0,0,0,0
$GC,4883,-0.61,-146.1,532.2,-10.0,317,4887,0.00,2.20,0.00,0.000,6,0.000,0.053,1629,2888,3421,0,0,0,0,0,0
$GC,5221,-0.61,-146.1,568.3,-10.9,328,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2888,3421,0,0,0,0,0,0
$GC,5529,-0.61,-146.1,600.4,-10.3,338,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2888,3421,0,0,0,0,0,0
$GC,5833,-0.61,-146.1,631.8,-10.4,348,5837,0.00,2.12,0.00,0.000,4,0.000,0.037,1629,1497,3421,0,0,0,0,0,0
$GC,5868,-0.61,-146.1,635.9,-10.4,349,5873,0.12,2.20,0.00,0.000,6,0.183,0.053,1651,2883,3421,0,0,0,0,0,0
$GC,6201,-0.61,-146.1,664.4,-8.5,360,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2884,3421,0,0,0,0,0,0
$GC,6507,-0.61,-146.1,688.8,-7.7,370,6511,0.00,2.10,0.00,0.000,4,0.000,0.037,1651,1492,3420,0,0,0,0,0,0
$GC,6542,-0.61,-146.1,691.8,-7.7,371,6546,0.00,2.22,0.00,0.000,6,0.000,0.054,1642,2889,3420,0,0,0,0,0,0
$GC,6875,-0.61,-146.1,718.8,-8.1,382,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2889,3420,0,0,0,0,0,0
$GC,7181,-0.61,-146.1,743.1,-7.8,392,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2889,3419,0,0,0,0,0,0
$GC,7487,-0.61,-146.1,767.6,-8.0,402,7491,0.00,2.12,0.00,0.000,4,0.000,0.037,1642,1499,3419,0,0,0,0,0,0
$GC,7553,-0.61,-146.1,772.5,-7.3,404,7557,0.00,2.20,0.00,0.000,6,0.000,0.055,1632,2881,3419,0,0,0,0,0,0
$GC,7890,-0.61,-146.1,801.3,-8.5,415,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2881,3419,0,0,0,0,0,0
$GC,8197,-0.61,-146.1,827.2,-8.6,425,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2881,3419,0,0,0,0,0,0
$GC,8503,-0.61,-146.1,852.7,-8.3,435,8507,0.00,2.10,0.00,0.000,4,0.000,0.037,1632,1497,3419,0,0,0,0,0,0
$GC,8560,-0.61,-146.1,857.7,-7.8,436,8564,0.00,2.20,0.00,0.000,6,0.000,0.054,1622,2881,3419,0,0,0,0,0,0
$GC,8877,-0.61,-146.1,886.9,-9.5,446,8879,0.10,0.00,0.00,0.000,6,0.200,0.000,1645,2881,3419,0,0,0,0,0,0
$GC,9182,-0.61,-146.1,911.8,-8.0,456,9186,0.00,2.12,0.00,0.000,4,0.000,0.037,1646,1486,3419,0,0,0,0,0,0
$GC,9215,-0.61,-146.1,914.3,-8.9,457,9219,0.00,2.22,0.00,0.000,6,0.000,0.054,1636,2885,3419,0,0,0,0,0,0
$GC,9553,-0.61,-146.1,942.5,-8.3,468,9557,0.00,1.60,0.00,0.000,4,0.000,0.063,1628,3896,3418,0,0,0,0,0,0
$GC,9594,-0.61,-146.1,946.2,-8.6,469,9598,0.00,1.52,0.00,0.000,6,0.000,0.034,1629,2881,3418,0,0,0,0,0,0
$GC,9933,-0.61,-146.1,976.1,-9.1,480,9937,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1489,3418,0,0,0,0,0,0
$GC,9965,-0.61,-146.1,979.1,-9.5,481,9969,0.12,2.22,0.00,0.000,6,0.180,0.054,1651,2888,3419,0,0,0,0,0,0
$STATE,10243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10243,begin apogee
$GC,10253,-0.18,0.0,1000.1,7.5,490,10404,0.45,0.00,147.18,1.236,6,0.148,0.000,1790,2715,2819,0,0,0,0,0,0
$STATE,10406,end apogee,CONTROL_FINISHED_OK
$STATE,10406,begin climb
$GC,10411,0.61,146.1,1004.7,0.0,495,10572,0.73,2.17,149.00,1.796,4,0.061,0.058,2055,3890,2225,0,0,0,0,1,0
$GC,10615,0.61,146.1,969.9,26.7,501,10619,0.00,2.03,0.00,0.000,6,0.000,0.036,2064,2705,2225,0,0,0,0,0,0
$GC,10941,0.61,146.1,888.5,25.2,512,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2699,2219,0,0,0,0,0,0
$GC,11247,0.61,146.1,813.4,24.2,522,11251,0.00,2.25,0.00,0.000,4,0.000,0.044,2074,1284,2218,0,0,0,0,0,0
$GC,11293,0.61,146.1,802.1,22.4,523,11297,0.00,2.33,0.00,0.000,6,0.000,0.051,2075,2703,2215,0,0,0,0,0,0
$GC,11614,0.61,146.1,720.7,25.7,534,11618,0.00,2.25,0.00,0.000,4,0.000,0.043,2085,1292,2215,0,0,0,0,0,0
$GC,11638,0.61,146.1,714.4,24.9,534,11645,0.15,2.28,0.00,0.000,6,0.226,0.051,2052,2699,2213,0,0,0,0,0,0
$GC,11953,0.61,146.1,641.6,23.1,545,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2699,2213,0,0,0,0,0,0
$GC,12259,0.61,146.1,572.7,22.3,555,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2699,2213,0,0,0,0,0,0
$GC,12565,0.61,146.1,505.8,21.6,565,12569,0.00,2.20,0.00,0.000,4,0.000,0.043,2061,1293,2212,0,0,0,0,0,0
$GC,12611,0.61,146.1,495.9,19.6,566,12615,0.00,2.25,0.00,0.000,6,0.000,0.051,2061,2702,2211,0,0,0,0,0,0
$GC,12943,0.61,146.1,424.9,21.7,577,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2702,2211,0,0,0,0,0,0
$GC,13251,0.61,146.1,360.5,20.7,590,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2703,2211,0,0,0,0,0,0
$GC,13563,0.61,146.1,296.6,20.7,605,13567,0.00,2.20,0.00,0.000,4,0.000,0.043,2071,1289,2211,0,0,0,0,0,0
$GC,13598,0.61,146.1,288.7,20.3,606,13602,0.00,2.25,0.00,0.000,6,0.000,0.051,2072,2707,2211,0,0,0,0,0,0
$GC,13923,0.61,146.1,220.6,21.0,624,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2707,2211,0,0,0,0,0,0
$GC,14237,0.61,146.1,155.7,20.3,644,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2707,2211,0,0,0,0,0,0
$GC,14549,0.61,146.1,90.6,19.3,668,14556,0.00,2.17,0.00,0.000,4,0.000,0.041,2082,1292,2211,0,0,0,0,0,0
$GC,14575,0.61,146.1,85.6,18.8,672,14585,0.10,2.25,0.00,0.000,6,0.210,0.052,2055,2693,2210,0,0,0,0,0,0
$GC,14945,0.61,146.1,22.8,17.9,733,14954,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1286,2210,0,0,0,0,0,0
$GC,15027,0.61,146.1,8.8,15.5,745,15036,0.00,2.28,0.00,0.000,6,0.000,0.051,2064,2704,2209,0,0,0,0,0,0
$STATE,15061,end climb,SURFACE_DEPTH_REACHED
$STATE,15062,begin surface coast
$FINISH,0.6,1.018406
$STATE,15081,end surface coast,CONTROL_FINISHED_OK
$STATE,15082,begin surface
$SM_CCo,15104,50.90,0.779,1,0,1798,250.20
$SM_GC,1.39,0.00,0.00,50.90,0.000,0.000,0.779,55,2918,1798,-5.61,1.07,250.20
$IRIDIUM_FIX,-4622.97,433.06,030113,070707
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,33.254
$10V_AH,10.1,14.845
$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,13.975,90.650,296.175,50.900,0.000,26.788,21.893,326.638,0.000,0.000,21.792,1868.320,10537.292,441.439,2297.803,628.232,33.371,1238.964,0.000,1831.202,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,75.735,1796.220,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.827,1488.667,789.060,305.629,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,53688,753
$CAP_FILE_SIZE,114945,0
$CFSIZE,259252224,218890240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030113,161104,-4637.869,435.484,26,0.8,26,-23.5