version: 66.07
glider: 542
mission: 6
dive: 171
start: 1 4 113 1 8 4
data:
$ID,542
$MISSION,6
$DIVE,171
$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,-10992.474
$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,42
$R_STBD_OVSHOOT,43
$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
$GPS1,040113,005652,-4636.250,437.057,52,0.9,52,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.3
$GPS2,040113,010711,-4636.251,437.035,17,0.9,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.173,0.188
$KALMAN_X,-126670.1,456.0,205.2,151401.3,-6427.8
$KALMAN_Y,60443.4,-493.9,-462.0,-31639.6,518.0
$MHEAD_RNG_PITCHd_Wd,66.2,12179,-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,-78.75,0.000,2,0.000,0.000,59,2909,3319,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.7,-3.5,10,132,6.62,1.58,-2.35,0.000,4,0.253,0.068,1639,3890,3415,0,0,0,0,0,0
$GC,145,-0.61,-146.1,13.7,-21.2,13,154,0.00,1.60,0.00,0.000,6,0.000,0.031,1640,2840,3417,0,0,0,0,0,0
$GC,232,-0.61,-146.1,29.4,-14.1,26,241,0.00,1.70,0.00,0.000,4,0.000,0.060,1631,3874,3418,0,0,0,0,0,0
$GC,509,-0.61,-146.1,67.4,-14.1,72,518,0.00,1.50,0.00,0.000,6,0.000,0.032,1631,2888,3418,0,0,0,0,0,0
$GC,860,-0.61,-146.1,112.5,-13.3,121,864,0.00,1.60,0.00,0.000,4,0.000,0.059,1624,3874,3419,0,0,0,0,0,0
$GC,1008,-0.61,-146.1,132.6,-12.6,129,1017,0.00,1.50,0.00,0.000,6,0.000,0.031,1624,2877,3419,0,0,0,0,0,0
$GC,1330,-0.61,-146.1,175.1,-13.7,150,1334,0.00,1.62,0.00,0.000,4,0.000,0.059,1616,3883,3420,0,0,0,0,0,0
$GC,1401,-0.61,-146.1,185.2,-13.6,154,1405,0.10,1.50,0.00,0.000,6,0.162,0.032,1647,2890,3420,0,0,0,0,0,0
$GC,1740,-0.61,-146.1,221.4,-10.5,175,1744,0.00,2.10,0.00,0.000,4,0.000,0.037,1648,1495,3420,0,0,0,0,0,0
$GC,1786,-0.61,-146.1,227.0,-9.7,177,1793,0.00,2.17,0.00,0.000,6,0.000,0.052,1638,2866,3420,0,0,0,0,0,0
$GC,2119,-0.61,-146.1,261.9,-10.6,197,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2866,3420,0,0,0,0,0,0
$GC,2426,-0.61,-146.1,294.3,-10.6,212,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2867,3420,0,0,0,0,0,0
$GC,2737,-0.61,-146.1,327.3,-10.7,227,2741,0.00,1.62,0.00,0.000,4,0.000,0.060,1630,3893,3420,0,0,0,0,0,0
$GC,2772,-0.61,-146.1,331.8,-11.9,228,2776,0.00,1.52,0.00,0.000,6,0.000,0.033,1630,2877,3420,0,0,0,0,0,0
$GC,3096,-0.61,-146.1,366.8,-10.7,244,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2873,3420,0,0,0,0,0,0
$GC,3407,-0.61,-146.1,399.4,-10.5,259,3411,0.00,2.08,0.00,0.000,4,0.000,0.038,1630,1494,3420,0,0,0,0,0,0
$GC,3431,-0.61,-146.1,402.6,-11.4,260,3439,0.12,2.20,0.00,0.000,6,0.181,0.053,1652,2883,3420,0,0,0,0,0,0
$GC,3747,-0.61,-146.1,430.9,-9.2,271,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2884,3420,0,0,0,0,0,0
$GC,4053,-0.61,-146.1,458.7,-9.0,281,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2884,3420,0,0,0,0,0,0
$GC,4359,-0.61,-146.1,485.9,-8.8,291,4363,0.00,2.12,0.00,0.000,4,0.000,0.039,1652,1494,3420,0,0,0,0,0,0
$GC,4389,-0.61,-146.1,488.6,-9.0,291,4396,0.00,2.20,0.00,0.000,6,0.000,0.054,1644,2879,3420,0,0,0,0,0,0
$GC,4704,-0.61,-146.1,517.4,-9.1,302,4708,0.00,2.15,0.00,0.000,4,0.000,0.038,1643,1495,3420,0,0,0,0,0,0
$GC,4723,-0.61,-146.1,519.2,-9.0,302,4726,0.00,2.20,0.00,0.000,6,0.000,0.054,1633,2885,3420,0,0,0,0,0,0
$GC,5043,-0.61,-146.1,549.6,-9.3,313,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2885,3420,0,0,0,0,0,0
$GC,5350,-0.61,-146.1,577.8,-9.4,323,5353,0.00,1.60,0.00,0.000,4,0.000,0.063,1626,3894,3420,0,0,0,0,0,0
$GC,5395,-0.61,-146.1,582.6,-10.4,324,5399,0.00,1.52,0.00,0.000,6,0.000,0.034,1625,2884,3419,0,0,0,0,0,0
$GC,5727,-0.61,-146.1,615.5,-10.1,335,5731,0.00,2.10,0.00,0.000,4,0.000,0.040,1625,1497,3419,0,0,0,0,0,0
$GC,5773,-0.61,-146.1,620.6,-10.2,336,5778,0.12,2.20,0.00,0.000,6,0.187,0.054,1646,2881,3419,0,0,0,0,0,0
$GC,6095,-0.61,-146.1,649.4,-9.3,347,6099,0.00,2.12,0.00,0.000,4,0.000,0.037,1646,1494,3419,0,0,0,0,0,0
$GC,6118,-0.61,-146.1,651.9,-9.6,347,6125,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2881,3419,0,0,0,0,0,0
$GC,6434,-0.61,-146.1,683.0,-9.8,358,6437,0.00,2.12,0.00,0.000,4,0.000,0.037,1637,1487,3419,0,0,0,0,0,0
$GC,6463,-0.61,-146.1,686.1,-10.6,358,6471,0.00,2.22,0.00,0.000,6,0.000,0.054,1626,2889,3419,0,0,0,0,0,0
$GC,6778,-0.61,-146.1,718.4,-10.3,369,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2889,3419,0,0,0,0,0,0
$GC,7084,-0.61,-146.1,749.6,-10.0,379,7088,0.00,2.12,0.00,0.000,4,0.000,0.037,1627,1496,3419,0,0,0,0,0,0
$GC,7130,-0.61,-146.1,754.2,-9.0,380,7135,0.12,2.20,0.00,0.000,6,0.184,0.054,1648,2884,3419,0,0,0,0,0,0
$GC,7465,-0.61,-146.1,779.0,-7.3,391,7468,0.00,1.60,0.00,0.000,4,0.000,0.063,1641,3893,3419,0,0,0,0,0,0
$GC,7502,-0.61,-146.1,782.2,-8.3,392,7505,0.00,1.52,0.00,0.000,6,0.000,0.034,1641,2877,3419,0,0,0,0,0,0
$GC,7845,-0.61,-146.1,809.0,-7.8,403,7849,0.00,2.10,0.00,0.000,4,0.000,0.038,1641,1487,3419,0,0,0,0,0,0
$GC,7864,-0.61,-146.1,810.9,-8.1,403,7867,0.00,2.20,0.00,0.000,6,0.000,0.055,1632,2880,3418,0,0,0,0,0,0
$GC,8184,-0.61,-146.1,838.9,-8.9,414,8188,0.00,2.15,0.00,0.000,4,0.000,0.037,1631,1488,3418,0,0,0,0,0,0
$GC,8231,-0.61,-146.1,843.2,-8.7,415,8235,0.10,2.22,0.00,0.000,6,0.187,0.055,1646,2888,3418,0,0,0,0,0,0
$GC,8564,-0.61,-146.1,869.6,-8.0,426,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2889,3418,0,0,0,0,0,0
$GC,8870,-0.61,-146.1,893.9,-7.7,436,8874,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1490,3418,0,0,0,0,0,0
$GC,8902,-0.61,-146.1,896.3,-7.9,437,8906,0.00,2.20,0.00,0.000,6,0.000,0.055,1637,2886,3418,0,0,0,0,0,0
$GC,9240,-0.61,-146.1,924.4,-8.4,448,9243,0.00,1.60,0.00,0.000,4,0.000,0.063,1629,3895,3418,0,0,0,0,0,0
$GC,9263,-0.61,-146.1,926.6,-9.2,448,9267,0.00,1.52,0.00,0.000,6,0.000,0.034,1630,2878,3418,0,0,0,0,0,0
$GC,9584,-0.61,-146.1,954.8,-8.9,459,9588,0.00,2.08,0.00,0.000,4,0.000,0.037,1630,1501,3418,0,0,0,0,0,0
$GC,9659,-0.61,-146.1,961.4,-8.8,461,9663,0.12,2.17,0.00,0.000,6,0.178,0.054,1652,2881,3418,0,0,0,0,0,0
$GC,9992,-0.61,-146.1,985.4,-7.2,472,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2883,3418,0,0,0,0,0,0
$STATE,10201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10201,begin apogee
$GC,10212,-0.18,0.0,1000.6,7.2,479,10362,0.45,0.00,146.70,1.248,6,0.150,0.000,1789,2710,2819,0,0,0,0,0,0
$STATE,10364,end apogee,CONTROL_FINISHED_OK
$STATE,10364,begin climb
$GC,10368,0.61,146.1,1004.5,0.0,484,10539,0.73,2.25,151.20,1.794,4,0.067,0.060,2050,3894,2225,0,0,0,0,2,0
$GC,10602,0.61,146.1,963.0,26.5,491,10606,0.00,1.98,0.00,0.000,6,0.000,0.037,2060,2715,2223,0,0,0,0,0,0
$GC,10939,0.61,146.1,879.9,24.8,502,10944,0.00,2.28,0.00,0.000,4,0.000,0.046,2070,1291,2219,0,0,0,0,0,0
$GC,10971,0.61,146.1,872.2,25.4,503,10975,0.00,2.35,0.00,0.000,6,0.000,0.051,2070,2704,2217,0,0,0,0,0,0
$GC,11309,0.61,146.1,788.0,24.9,514,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2705,2217,0,0,0,0,0,0
$GC,11616,0.61,146.1,713.1,24.1,524,11621,0.00,2.25,0.00,0.000,4,0.000,0.045,2080,1284,2216,0,0,0,0,0,0
$GC,11663,0.61,146.1,701.5,21.6,525,11668,0.12,2.30,0.00,0.000,6,0.226,0.052,2054,2703,2215,0,0,0,0,0,0
$GC,11984,0.61,146.1,628.6,22.8,536,11989,0.00,2.22,0.00,0.000,4,0.000,0.044,2063,1286,2215,0,0,0,0,0,0
$GC,12002,0.61,146.1,624.2,22.6,536,12006,0.00,2.25,0.00,0.000,6,0.000,0.050,2063,2700,2214,0,0,0,0,0,0
$GC,12323,0.61,146.1,551.0,22.8,547,12327,0.00,1.92,0.00,0.000,4,0.000,0.060,2063,3899,2214,0,0,0,0,0,0
$GC,12352,0.61,146.1,543.6,24.4,547,12359,0.00,1.88,0.00,0.000,6,0.000,0.039,2072,2687,2213,0,0,0,0,0,0
$GC,12667,0.61,146.1,472.0,22.6,558,12671,0.00,2.15,0.00,0.000,4,0.000,0.046,2082,1293,2213,0,0,0,0,0,0
$GC,12714,0.61,146.1,461.5,20.2,559,12719,0.12,2.25,0.00,0.000,6,0.226,0.051,2055,2699,2212,0,0,0,0,0,0
$GC,13035,0.61,146.1,396.1,20.6,570,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2699,2212,0,0,0,0,0,0
$GC,13347,0.61,146.1,333.7,20.3,585,13351,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1297,2212,0,0,0,0,0,0
$GC,13391,0.61,146.1,325.1,17.8,587,13395,0.00,2.25,0.00,0.000,6,0.000,0.052,2064,2705,2211,0,0,0,0,0,0
$GC,13723,0.61,146.1,256.3,21.1,603,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2705,2211,0,0,0,0,0,0
$GC,14045,0.61,146.1,190.2,20.2,623,14049,0.00,2.20,0.00,0.000,4,0.000,0.044,2075,1289,2212,0,0,0,0,0,0
$GC,14084,0.61,146.1,182.6,20.0,625,14088,0.00,2.25,0.00,0.000,6,0.000,0.051,2075,2700,2211,0,0,0,0,0,0
$GC,14413,0.61,146.1,114.8,19.7,646,14417,0.00,2.17,0.00,0.000,4,0.000,0.044,2085,1293,2211,0,0,0,0,0,0
$GC,14437,0.61,146.1,110.1,16.1,647,14444,0.15,2.25,0.00,0.000,6,0.220,0.051,2051,2711,2211,0,0,0,0,0,0
$GC,14784,0.61,146.1,50.1,18.5,700,14793,0.00,2.25,0.00,0.000,4,0.000,0.045,2060,1294,2211,0,0,0,0,0,0
$GC,14823,0.61,146.1,43.7,17.2,705,14830,0.00,2.25,0.00,0.000,6,0.000,0.052,2060,2706,2210,0,0,0,0,0,0
$STATE,15040,end climb,SURFACE_DEPTH_REACHED
$STATE,15040,begin surface coast
$FINISH,0.8,1.026456
$STATE,15060,end surface coast,CONTROL_FINISHED_OK
$STATE,15061,begin surface
$SM_CCo,15083,50.97,0.781,1,0,1798,250.20
$SM_GC,1.42,0.00,0.00,50.97,0.000,0.000,0.781,58,2901,1798,-5.60,0.57,250.20
$IRIDIUM_FIX,-4619.84,435.93,030113,202021
$TT8_MAMPS,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.9,33.735
$10V_AH,10.1,15.148
$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,14.325,121.325,297.900,50.975,0.000,27.723,24.770,318.111,0.000,0.000,19.795,1871.870,10405.578,468.618,2331.602,665.948,33.369,1320.135,0.000,1867.842,0.000,1.008,0.000
$DEVICE_MAMPS,253.215,68.850,1793.925,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.003,1441.594,749.488,289.273,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,53697,743
$CAP_FILE_SIZE,124937,0
$CFSIZE,259252224,218689536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,040113,052152,-4635.189,436.961,41,0.8,41,-23.5