version: 66.07
glider: 542
mission: 6
dive: 173
start: 1 4 113 10 5 34
data:
$ID,542
$MISSION,6
$DIVE,173
$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,-10999.441
$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,27
$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
$GPS1,040113,095406,-4634.062,437.314,39,0.8,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-54.6
$GPS2,040113,100441,-4634.062,437.448,18,0.9,19,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.196,0.164
$KALMAN_X,-133725.3,778.2,421.8,158427.2,-7845.1
$KALMAN_Y,55846.9,-276.3,-25.6,-23665.4,-1798.9
$MHEAD_RNG_PITCHd_Wd,73.5,8196,-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,-146.1,0.0,0.0,0,99,0.00,0.00,-70.97,0.000,2,0.000,0.000,57,2896,3147,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.1,-2.8,9,125,6.62,2.28,-7.00,0.000,4,0.254,0.050,1647,1481,3417,0,0,0,0,0,0
$GC,256,-0.61,-146.1,26.6,-11.4,31,265,0.00,2.30,0.00,0.000,6,0.000,0.051,1637,2884,3420,0,0,0,0,0,0
$GC,341,-0.61,-146.1,39.6,-15.2,44,350,0.00,1.62,0.00,0.000,4,0.000,0.059,1629,3896,3420,0,0,0,0,0,0
$GC,394,-0.61,-146.1,47.1,-15.6,51,401,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2859,3420,0,0,0,0,0,0
$GC,635,-0.61,-146.1,85.7,-16.6,92,642,0.00,2.08,0.00,0.000,4,0.000,0.037,1629,1505,3420,0,0,0,0,0,0
$GC,706,-0.61,-146.1,95.4,-12.8,103,711,0.12,2.20,0.00,0.000,6,0.184,0.051,1650,2891,3420,0,0,0,0,0,0
$GC,1045,-0.61,-146.1,131.0,-9.2,128,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2891,3421,0,0,0,0,0,0
$GC,1354,-0.61,-146.1,161.3,-9.8,148,1357,0.00,1.60,0.00,0.000,4,0.000,0.060,1643,3900,3421,0,0,0,0,0,0
$GC,1400,-0.61,-146.1,166.7,-10.9,150,1409,0.00,1.55,0.00,0.000,6,0.000,0.031,1642,2871,3422,0,0,0,0,0,0
$GC,1723,-0.61,-146.1,200.4,-10.2,171,1727,0.00,2.08,0.00,0.000,4,0.000,0.037,1643,1502,3422,0,0,0,0,0,0
$GC,1747,-0.61,-146.1,203.4,-10.7,172,1757,0.00,2.22,0.00,0.000,6,0.000,0.052,1632,2884,3422,0,0,0,0,0,0
$GC,2070,-0.61,-146.1,239.5,-11.4,193,2073,0.00,1.60,0.00,0.000,4,0.000,0.060,1625,3895,3422,0,0,0,0,0,0
$GC,2124,-0.61,-146.1,246.0,-12.1,196,2127,0.00,1.52,0.00,0.000,6,0.000,0.032,1625,2881,3422,0,0,0,0,0,0
$GC,2448,-0.61,-146.1,283.5,-11.7,212,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2877,3422,0,0,0,0,0,0
$GC,2759,-0.61,-146.1,319.1,-11.3,227,2763,0.00,2.08,0.00,0.000,4,0.000,0.037,1625,1500,3422,0,0,0,0,0,0
$GC,2785,-0.61,-146.1,322.3,-11.9,228,2789,0.12,2.20,0.00,0.000,6,0.185,0.051,1646,2887,3422,0,0,0,0,0,0
$GC,3115,-0.61,-146.1,354.4,-9.6,244,3119,0.00,1.60,0.00,0.000,4,0.000,0.060,1639,3899,3422,0,0,0,0,0,0
$GC,3144,-0.61,-146.1,357.0,-10.5,245,3147,0.00,1.52,0.00,0.000,6,0.000,0.032,1639,2883,3422,0,0,0,0,0,0
$GC,3481,-0.61,-146.1,392.9,-10.6,261,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2878,3422,0,0,0,0,0,0
$GC,3806,-0.61,-146.1,427.6,-10.5,273,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2878,3422,0,0,0,0,0,0
$GC,4112,-0.61,-146.1,458.4,-10.1,283,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2878,3422,0,0,0,0,0,0
$GC,4418,-0.61,-146.1,488.6,-9.6,293,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2878,3422,0,0,0,0,0,0
$GC,4724,-0.61,-146.1,517.9,-9.5,303,4728,0.00,2.08,0.00,0.000,4,0.000,0.039,1639,1496,3421,0,0,0,0,0,0
$GC,4759,-0.61,-146.1,521.2,-8.7,304,4763,0.00,2.20,0.00,0.000,6,0.000,0.054,1628,2883,3421,0,0,0,0,0,0
$GC,5092,-0.61,-146.1,553.4,-9.6,315,5095,0.00,1.60,0.00,0.000,4,0.000,0.061,1620,3894,3421,0,0,0,0,0,0
$GC,5148,-0.61,-146.1,559.5,-10.4,316,5152,0.00,1.52,0.00,0.000,6,0.000,0.033,1620,2880,3421,0,0,0,0,0,0
$GC,5469,-0.61,-146.1,591.0,-9.9,327,5473,0.12,2.12,0.00,0.000,4,0.197,0.038,1652,1487,3421,0,0,0,0,0,0
$GC,5501,-0.61,-146.1,593.8,-7.9,328,5505,0.00,2.20,0.00,0.000,6,0.000,0.053,1642,2887,3421,0,0,0,0,0,0
$GC,5839,-0.61,-146.1,621.6,-8.2,339,5843,0.00,2.12,0.00,0.000,4,0.000,0.037,1642,1489,3421,0,0,0,0,0,0
$GC,5871,-0.61,-146.1,624.2,-8.8,340,5875,0.00,2.20,0.00,0.000,6,0.000,0.053,1632,2889,3421,0,0,0,0,0,0
$GC,6209,-0.61,-146.1,654.8,-9.1,351,6213,0.00,2.15,0.00,0.000,4,0.000,0.037,1632,1487,3421,0,0,0,0,0,0
$GC,6240,-0.61,-146.1,657.6,-8.7,352,6245,0.10,2.20,0.00,0.000,6,0.188,0.053,1645,2887,3420,0,0,0,0,0,0
$GC,6579,-0.61,-146.1,685.4,-8.3,363,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2887,3420,0,0,0,0,0,0
$GC,6885,-0.61,-146.1,710.8,-8.4,373,6889,0.00,2.12,0.00,0.000,4,0.000,0.037,1646,1496,3420,0,0,0,0,0,0
$GC,6917,-0.61,-146.1,713.5,-8.4,374,6921,0.00,2.17,0.00,0.000,6,0.000,0.054,1637,2881,3420,0,0,0,0,0,0
$GC,7254,-0.61,-146.1,745.5,-9.8,385,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3419,0,0,0,0,0,0
$GC,7560,-0.61,-146.1,775.9,-10.0,395,7564,0.00,2.12,0.00,0.000,4,0.000,0.037,1636,1489,3419,0,0,0,0,0,0
$GC,7597,-0.61,-146.1,779.6,-10.4,396,7601,0.00,2.20,0.00,0.000,6,0.000,0.054,1626,2881,3419,0,0,0,0,0,0
$GC,7940,-0.61,-146.1,815.1,-10.5,407,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2881,3419,0,0,0,0,0,0
$GC,8247,-0.61,-146.1,847.0,-10.4,417,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2881,3419,0,0,0,0,0,0
$GC,8554,-0.61,-146.1,877.7,-9.8,427,8558,0.00,2.10,0.00,0.000,4,0.000,0.037,1626,1494,3419,0,0,0,0,0,0
$GC,8578,-0.61,-146.1,880.2,-9.5,427,8585,0.12,2.20,0.00,0.000,6,0.184,0.054,1648,2881,3419,0,0,0,0,0,0
$GC,8893,-0.61,-146.1,905.3,-8.0,438,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2881,3419,0,0,0,0,0,0
$GC,9199,-0.61,-146.1,928.7,-7.5,448,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2881,3419,0,0,0,0,0,0
$GC,9506,-0.61,-146.1,951.0,-7.3,458,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2881,3419,0,0,0,0,0,0
$GC,9812,-0.61,-146.1,972.8,-7.1,468,9816,0.00,2.12,0.00,0.000,4,0.000,0.038,1648,1495,3419,0,0,0,0,0,0
$GC,9853,-0.61,-146.1,976.0,-7.3,469,9857,0.00,2.22,0.00,0.000,6,0.000,0.055,1639,2889,3418,0,0,0,0,0,0
$STATE,10175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10175,begin apogee
$GC,10185,-0.18,0.0,1000.1,7.4,480,10336,0.50,0.00,147.02,1.245,6,0.158,0.000,1788,2699,2819,0,0,0,0,0,0
$STATE,10337,end apogee,CONTROL_FINISHED_OK
$STATE,10338,begin climb
$GC,10343,0.61,146.1,1003.3,0.0,485,10504,0.73,2.25,149.85,1.800,4,0.065,0.060,2053,3896,2226,0,0,0,0,1,0
$GC,10517,0.61,146.1,974.8,22.2,490,10521,0.00,2.08,0.00,0.000,6,0.000,0.037,2062,2711,2226,0,0,0,0,0,0
$GC,10832,0.61,146.1,895.8,25.0,500,10836,0.00,2.30,0.00,0.000,4,0.000,0.047,2073,1288,2220,0,0,0,0,0,0
$GC,10873,0.61,146.1,885.3,24.0,501,10877,0.00,2.35,0.00,0.000,6,0.000,0.051,2072,2697,2218,0,0,0,0,0,0
$GC,11212,0.61,146.1,801.9,25.1,512,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2697,2217,0,0,0,0,0,0
$GC,11517,0.61,146.1,726.0,24.7,522,11521,0.00,2.25,0.00,0.000,4,0.000,0.045,2081,1285,2217,0,0,0,0,0,0
$GC,11574,0.61,146.1,712.0,23.5,523,11582,0.12,2.30,0.00,0.000,6,0.226,0.052,2054,2706,2215,0,0,0,0,0,0
$GC,11889,0.61,146.1,641.0,22.6,534,11893,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1291,2215,0,0,0,0,0,0
$GC,11913,0.61,146.1,635.4,21.1,534,11917,0.00,2.28,0.00,0.000,6,0.000,0.050,2064,2703,2214,0,0,0,0,0,0
$GC,12228,0.61,146.1,566.1,22.2,544,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2703,2214,0,0,0,0,0,0
$GC,12534,0.61,146.1,496.3,22.7,554,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2703,2214,0,0,0,0,0,0
$GC,12841,0.61,146.1,433.6,18.4,564,12845,0.00,2.25,0.00,0.000,4,0.000,0.050,2074,1293,2213,0,0,0,0,0,0
$GC,12926,0.61,146.1,417.7,17.6,566,12931,0.00,2.28,0.00,0.000,6,0.000,0.052,2074,2709,2213,0,0,0,0,0,0
$GC,13254,0.61,146.1,351.1,20.6,580,13258,0.00,2.25,0.00,0.000,4,0.000,0.047,2085,1285,2213,0,0,0,0,0,0
$GC,13363,0.61,146.1,329.8,18.7,584,13372,0.12,2.30,0.00,0.000,6,0.212,0.053,2051,2704,2212,0,0,0,0,0,0
$GC,13681,0.61,146.1,272.1,17.9,600,13685,0.00,2.22,0.00,0.000,4,0.000,0.046,2060,1291,2212,0,0,0,0,0,0
$GC,13717,0.61,146.1,265.6,16.8,601,13724,0.00,2.25,0.00,0.000,6,0.000,0.051,2061,2706,2212,0,0,0,0,0,0
$GC,14045,0.61,146.1,203.4,18.6,621,14049,0.00,2.22,0.00,0.000,4,0.000,0.045,2071,1286,2212,0,0,0,0,0,0
$GC,14099,0.61,146.1,193.6,16.1,624,14103,0.00,2.28,0.00,0.000,6,0.000,0.052,2071,2709,2211,0,0,0,0,0,0
$GC,14428,0.61,146.1,130.4,19.8,645,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2710,2212,0,0,0,0,0,0
$GC,14757,0.61,146.1,61.5,19.0,685,14761,0.00,1.88,0.00,0.000,4,0.000,0.060,2071,3901,2212,0,0,0,0,0,0
$GC,14823,0.61,146.1,48.7,18.7,695,14830,0.12,1.88,0.00,0.000,6,0.246,0.038,2054,2674,2212,0,0,0,0,0,0
$GC,15081,0.61,146.1,3.1,18.9,736,15089,0.00,2.15,0.00,0.000,4,0.000,0.046,2063,1308,2211,0,0,0,0,0,0
$STATE,15098,end climb,SURFACE_DEPTH_REACHED
$STATE,15098,begin surface coast
$FINISH,0.7,1.026183
$STATE,15118,end surface coast,CONTROL_FINISHED_OK
$STATE,15118,begin surface
$SM_CCo,15142,51.17,0.785,1,0,1796,250.20
$SM_GC,1.49,0.00,0.00,51.17,0.000,0.000,0.785,63,2891,1796,-5.58,0.31,250.20
$IRIDIUM_FIX,-4619.84,435.93,030113,202021
$TT8_MAMPS,0.026215
$HUMID,58.70
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.9,34.059
$10V_AH,10.1,15.356
$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,14.200,112.500,296.875,51.175,0.000,33.138,20.305,332.605,0.000,0.000,21.728,1860.470,10531.164,490.388,2285.212,650.964,33.365,1273.889,0.000,1810.792,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,61.200,1800.045,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.678,1484.624,782.180,286.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,53631,741
$CAP_FILE_SIZE,118306,0
$CFSIZE,259252224,218566656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,040113,142006,-4632.886,437.631,26,1.3,26,-23.5