version: 66.07
glider: 542
mission: 6
dive: 169
start: 1 3 113 16 22 40
data:
$ID,542
$MISSION,6
$DIVE,169
$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,-10982.345
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,030113,161104,-4637.869,435.484,26,0.8,26,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-55.9
$GPS2,030113,162147,-4637.948,435.642,19,0.8,19,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.252,0.042
$KALMAN_X,-119355.1,-81.9,104.9,142964.1,-4250.3
$KALMAN_Y,62516.8,-481.0,-36.2,-37307.0,2019.1
$MHEAD_RNG_PITCHd_Wd,104.1,15733,-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,-70.97,0.000,2,0.000,0.000,54,2919,3153,0,0,0,0,0,0
$GC,107,-0.61,-146.1,3.1,-2.4,9,126,6.70,1.58,-6.93,0.000,4,0.256,0.077,1639,3873,3419,0,0,0,0,0,0
$GC,402,-0.61,-146.1,48.3,-13.6,56,411,0.00,1.55,0.00,0.000,6,0.000,0.033,1639,2850,3421,0,0,0,0,0,0
$GC,649,-0.61,-146.1,82.9,-14.4,97,654,0.00,1.65,0.00,0.000,4,0.000,0.060,1631,3867,3422,0,0,0,0,0,0
$GC,912,-0.61,-146.1,117.2,-12.0,127,916,0.00,1.48,0.00,0.000,6,0.000,0.032,1631,2895,3422,0,0,0,0,0,0
$GC,1240,-0.61,-146.1,155.1,-12.1,148,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3422,0,0,0,0,0,0
$GC,1551,-0.61,-146.1,193.1,-12.4,168,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3423,0,0,0,0,0,0
$GC,1863,-0.61,-146.1,231.6,-12.3,188,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3423,0,0,0,0,0,0
$GC,2185,-0.61,-146.1,270.7,-12.0,206,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3423,0,0,0,0,0,0
$GC,2496,-0.61,-146.1,306.5,-11.3,221,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3423,0,0,0,0,0,0
$GC,2803,-0.61,-146.1,341.0,-11.4,236,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3423,0,0,0,0,0,0
$GC,3115,-0.61,-146.1,375.7,-11.4,251,3119,0.00,2.10,0.00,0.000,4,0.000,0.038,1631,1495,3423,0,0,0,0,0,0
$GC,3149,-0.61,-146.1,380.2,-11.5,252,3154,0.10,2.15,0.00,0.000,6,0.190,0.054,1645,2855,3423,0,0,0,0,0,0
$GC,3473,-0.61,-146.1,413.4,-10.2,266,3476,0.00,1.65,0.00,0.000,4,0.000,0.063,1638,3913,3423,0,0,0,0,0,0
$GC,3518,-0.61,-146.1,418.5,-10.7,267,3522,0.00,1.58,0.00,0.000,6,0.000,0.034,1638,2870,3423,0,0,0,0,0,0
$GC,3850,-0.61,-146.1,453.5,-10.7,278,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2865,3423,0,0,0,0,0,0
$GC,4157,-0.61,-146.1,486.2,-10.8,288,4161,0.00,2.05,0.00,0.000,4,0.000,0.037,1638,1497,3422,0,0,0,0,0,0
$GC,4203,-0.61,-146.1,491.5,-10.8,289,4207,0.00,2.20,0.00,0.000,6,0.000,0.054,1628,2883,3423,0,0,0,0,0,0
$GC,4524,-0.61,-146.1,526.0,-10.7,300,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2883,3423,0,0,0,0,0,0
$GC,4830,-0.61,-146.1,557.8,-10.2,310,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2883,3422,0,0,0,0,0,0
$GC,5137,-0.61,-146.1,590.1,-10.7,320,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2883,3422,0,0,0,0,0,0
$GC,5443,-0.61,-146.1,623.0,-10.8,330,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2882,3422,0,0,0,0,0,0
$GC,5749,-0.61,-146.1,655.2,-10.4,340,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2883,3422,0,0,0,0,0,0
$GC,6055,-0.61,-146.1,687.2,-10.3,350,6059,0.00,2.12,0.00,0.000,4,0.000,0.038,1628,1489,3421,0,0,0,0,0,0
$GC,6092,-0.61,-146.1,690.9,-9.7,351,6097,0.12,2.20,0.00,0.000,6,0.181,0.054,1650,2888,3421,0,0,0,0,0,0
$GC,6437,-0.61,-146.1,719.1,-8.1,362,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2888,3421,0,0,0,0,0,0
$GC,6742,-0.61,-146.1,743.6,-7.9,372,6746,0.00,2.12,0.00,0.000,4,0.000,0.037,1650,1497,3421,0,0,0,0,0,0
$GC,6795,-0.61,-146.1,747.8,-7.7,373,6799,0.00,2.20,0.00,0.000,6,0.000,0.055,1641,2879,3421,0,0,0,0,0,0
$GC,7116,-0.61,-146.1,773.9,-8.3,384,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2880,3420,0,0,0,0,0,0
$GC,7422,-0.61,-146.1,799.4,-8.3,394,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2880,3420,0,0,0,0,0,0
$GC,7728,-0.61,-146.1,824.6,-8.3,404,7732,0.00,2.12,0.00,0.000,4,0.000,0.037,1641,1497,3420,0,0,0,0,0,0
$GC,7758,-0.61,-146.1,827.3,-9.0,404,7765,0.00,2.20,0.00,0.000,6,0.000,0.054,1632,2885,3420,0,0,0,0,0,0
$GC,8073,-0.61,-146.1,854.8,-9.0,415,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2885,3420,0,0,0,0,0,0
$GC,8380,-0.61,-146.1,882.0,-8.9,425,8384,0.00,2.12,0.00,0.000,4,0.000,0.037,1631,1497,3420,0,0,0,0,0,0
$GC,8417,-0.61,-146.1,885.3,-9.1,426,8422,0.10,2.20,0.00,0.000,6,0.189,0.054,1646,2888,3420,0,0,0,0,0,0
$GC,8761,-0.61,-146.1,910.6,-6.9,437,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2889,3420,0,0,0,0,0,0
$GC,9068,-0.61,-146.1,931.4,-6.6,447,9072,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1489,3420,0,0,0,0,0,0
$GC,9114,-0.61,-146.1,934.6,-6.5,448,9118,0.00,2.22,0.00,0.000,6,0.000,0.055,1637,2884,3419,0,0,0,0,0,0
$GC,9435,-0.61,-146.1,957.3,-7.2,459,9439,0.00,2.12,0.00,0.000,4,0.000,0.037,1638,1494,3419,0,0,0,0,0,0
$GC,9459,-0.61,-146.1,959.2,-7.3,459,9466,0.00,2.20,0.00,0.000,6,0.000,0.055,1628,2881,3419,0,0,0,0,0,0
$GC,9775,-0.61,-146.1,984.2,-8.3,470,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2883,3419,0,0,0,0,0,0
$STATE,9984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9984,begin apogee
$GC,9995,-0.18,0.0,1001.5,8.2,477,10145,0.52,0.00,147.07,1.244,6,0.157,0.000,1786,2709,2819,0,0,0,0,0,0
$STATE,10147,end apogee,CONTROL_FINISHED_OK
$STATE,10147,begin climb
$GC,10152,0.61,146.1,1003.9,0.0,482,10316,0.77,0.00,149.10,1.798,6,0.078,0.000,2049,2709,2225,0,0,0,0,1,0
$GC,10634,0.61,146.1,902.2,23.6,498,10638,0.00,2.28,0.00,0.000,4,0.000,0.044,2059,1310,2219,0,0,0,0,0,0
$GC,10665,0.61,146.1,894.8,23.5,499,10669,0.00,2.33,0.00,0.000,6,0.000,0.052,2059,2698,2217,0,0,0,0,0,0
$GC,11004,0.61,146.1,813.8,24.1,510,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2698,2216,0,0,0,0,0,0
$GC,11309,0.61,146.1,740.6,23.7,520,11311,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2698,2215,0,0,0,0,0,0
$GC,11615,0.61,146.1,668.7,23.1,530,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2697,2214,0,0,0,0,0,0
$GC,11923,0.61,146.1,598.3,22.7,540,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2698,2214,0,0,0,0,0,0
$GC,12228,0.61,146.1,528.9,22.7,550,12232,0.00,2.20,0.00,0.000,4,0.000,0.043,2069,1301,2213,0,0,0,0,0,0
$GC,12285,0.61,146.1,516.4,20.6,551,12292,0.00,2.25,0.00,0.000,6,0.000,0.051,2070,2708,2211,0,0,0,0,0,0
$GC,12600,0.61,146.1,445.7,23.1,562,12604,0.00,1.90,0.00,0.000,4,0.000,0.060,2070,3891,2211,0,0,0,0,0,0
$GC,12630,0.61,146.1,438.0,27.2,562,12637,0.00,1.83,0.00,0.000,6,0.000,0.038,2078,2699,2211,0,0,0,0,0,0
$GC,12957,0.61,146.1,360.9,23.3,576,12958,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2696,2212,0,0,0,0,0,0
$GC,13268,0.61,146.1,288.0,23.3,591,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2696,2212,0,0,0,0,0,0
$GC,13590,0.61,146.1,212.8,23.4,609,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2696,2211,0,0,0,0,0,0
$GC,13902,0.61,146.1,141.5,22.4,629,13906,0.00,2.15,0.00,0.000,4,0.000,0.044,2089,1294,2211,0,0,0,0,0,0
$GC,13969,0.61,146.1,127.0,21.0,633,13974,0.15,2.25,0.00,0.000,6,0.223,0.051,2054,2706,2210,0,0,0,0,0,0
$GC,14308,0.61,146.1,62.0,17.1,677,14312,0.00,1.88,0.00,0.000,4,0.000,0.060,2054,3895,2210,0,0,0,0,0,0
$GC,14362,0.61,146.1,52.3,20.3,685,14369,0.00,1.83,0.00,0.000,6,0.000,0.038,2062,2699,2210,0,0,0,0,0,0
$STATE,14607,end climb,SURFACE_DEPTH_REACHED
$STATE,14607,begin surface coast
$FINISH,0.6,1.015822
$STATE,14627,end surface coast,CONTROL_FINISHED_OK
$STATE,14627,begin surface
$SM_CCo,14649,50.65,0.779,1,0,1797,250.20
$SM_GC,1.56,0.00,0.00,50.65,0.000,0.000,0.779,59,2903,1797,-5.60,0.65,250.20
$IRIDIUM_FIX,-4619.84,435.93,030113,111121
$TT8_MAMPS,0.026215
$HUMID,58.93
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.9,33.415
$10V_AH,10.1,14.943
$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,13.800,65.400,296.175,50.650,0.000,26.965,41.689,328.635,0.000,0.000,21.739,1784.923,10329.238,432.165,2193.576,592.991,33.368,1156.259,0.000,1718.984,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,77.265,1797.750,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.314,1427.969,746.199,289.371,0.000,0.000,0.000,0.000,0.000,0.000
$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,50465,728
$CAP_FILE_SIZE,103897,0
$CFSIZE,259252224,218841088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030113,202904,-4637.462,437.046,32,0.9,32,-23.5