version: 66.07
glider: 542
mission: 6
dive: 174
start: 1 4 113 14 34 28
data:
$ID,542
$MISSION,6
$DIVE,174
$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,-11002.918
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,040113,142006,-4632.886,437.631,26,1.3,26,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-54.4
$GPS2,040113,143335,-4632.826,437.622,13,1.9,14,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.240,-0.089
$KALMAN_X,-137197.7,684.7,353.9,162282.5,-7882.5
$KALMAN_Y,53800.6,580.9,10.3,-20228.4,-2957.4
$MHEAD_RNG_PITCHd_Wd,133.9,6049,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.61,-146.1,0.0,0.0,0,103,0.00,0.00,-70.95,0.000,2,0.000,0.000,61,2891,3183,0,0,0,0,0,0
$GC,110,-0.61,-146.1,3.2,-3.2,9,129,6.57,1.65,-5.90,0.000,4,0.251,0.074,1640,3896,3418,0,0,0,0,0,0
$GC,403,-0.61,-146.1,50.2,-12.8,56,412,0.00,1.58,0.00,0.000,6,0.000,0.032,1640,2859,3420,0,0,0,0,0,0
$GC,649,-0.61,-146.1,80.0,-11.9,97,654,0.00,1.65,0.00,0.000,4,0.000,0.058,1632,3892,3420,0,0,0,0,0,0
$GC,756,-0.61,-146.1,93.3,-12.1,115,761,0.00,1.52,0.00,0.000,6,0.000,0.031,1632,2877,3421,0,0,0,0,0,0
$GC,1096,-0.61,-146.1,137.5,-13.1,142,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2876,3422,0,0,0,0,0,0
$GC,1405,-0.61,-146.1,175.4,-11.9,162,1408,0.00,2.08,0.00,0.000,4,0.000,0.036,1632,1507,3422,0,0,0,0,0,0
$GC,1428,-0.61,-146.1,178.6,-12.4,163,1432,0.00,2.17,0.00,0.000,6,0.000,0.050,1622,2880,3423,0,0,0,0,0,0
$GC,1752,-0.61,-146.1,218.0,-11.8,183,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2880,3423,0,0,0,0,0,0
$GC,2074,-0.61,-146.1,255.4,-11.6,203,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2880,3423,0,0,0,0,0,0
$GC,2381,-0.61,-146.1,292.1,-12.1,218,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2880,3423,0,0,0,0,0,0
$GC,2693,-0.61,-146.1,329.3,-11.9,233,2697,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3892,3423,0,0,0,0,0,0
$GC,2724,-0.61,-146.1,333.6,-13.2,234,2728,0.10,1.50,0.00,0.000,6,0.162,0.033,1645,2894,3423,0,0,0,0,0,0
$GC,3053,-0.61,-146.1,367.4,-10.0,250,3057,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1491,3423,0,0,0,0,0,0
$GC,3101,-0.61,-146.1,371.8,-8.2,252,3105,0.00,2.20,0.00,0.000,6,0.000,0.052,1636,2884,3423,0,0,0,0,0,0
$GC,3419,-0.61,-146.1,404.2,-10.3,267,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2884,3423,0,0,0,0,0,0
$GC,3727,-0.61,-146.1,437.0,-10.7,277,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2884,3423,0,0,0,0,0,0
$GC,4032,-0.61,-146.1,469.9,-10.8,287,4036,0.00,2.12,0.00,0.000,4,0.000,0.037,1636,1498,3423,0,0,0,0,0,0
$GC,4067,-0.61,-146.1,473.8,-10.3,288,4071,0.00,2.20,0.00,0.000,6,0.000,0.052,1626,2884,3423,0,0,0,0,0,0
$GC,4399,-0.61,-146.1,510.5,-11.1,299,4402,0.00,1.60,0.00,0.000,4,0.000,0.060,1618,3896,3422,0,0,0,0,0,0
$GC,4439,-0.61,-146.1,515.4,-11.5,300,4443,0.08,1.52,0.00,0.000,6,0.161,0.033,1642,2881,3423,0,0,0,0,0,0
$GC,4777,-0.61,-146.1,545.8,-8.7,311,4781,0.00,2.08,0.00,0.000,4,0.000,0.037,1643,1495,3423,0,0,0,0,0,0
$GC,4816,-0.61,-146.1,548.9,-8.3,312,4820,0.00,2.20,0.00,0.000,6,0.000,0.053,1633,2889,3422,0,0,0,0,0,0
$GC,5161,-0.61,-146.1,580.8,-9.3,323,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2890,3422,0,0,0,0,0,0
$GC,5466,-0.61,-146.1,609.5,-9.1,333,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2890,3422,0,0,0,0,0,0
$GC,5773,-0.61,-146.1,636.7,-8.8,343,5777,0.00,2.15,0.00,0.000,4,0.000,0.038,1633,1490,3422,0,0,0,0,0,0
$GC,5805,-0.61,-146.1,639.6,-9.0,344,5809,0.00,2.20,0.00,0.000,6,0.000,0.053,1623,2880,3422,0,0,0,0,0,0
$GC,6150,-0.61,-146.1,672.0,-9.5,355,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3421,0,0,0,0,0,0
$GC,6454,-0.61,-146.1,700.9,-9.6,365,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3421,0,0,0,0,0,0
$GC,6761,-0.61,-146.1,730.8,-9.9,375,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3420,0,0,0,0,0,0
$GC,7067,-0.61,-146.1,761.2,-9.8,385,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3420,0,0,0,0,0,0
$GC,7373,-0.61,-146.1,790.9,-9.8,395,7377,0.00,2.12,0.00,0.000,4,0.000,0.038,1623,1494,3420,0,0,0,0,0,0
$GC,7405,-0.61,-146.1,793.8,-9.5,396,7409,0.15,2.20,0.00,0.000,6,0.179,0.053,1652,2881,3420,0,0,0,0,0,0
$GC,7744,-0.61,-146.1,818.9,-7.2,407,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2881,3420,0,0,0,0,0,0
$GC,8049,-0.61,-146.1,840.5,-7.1,417,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2881,3420,0,0,0,0,0,0
$GC,8356,-0.61,-146.1,862.0,-7.0,427,8360,0.00,2.10,0.00,0.000,4,0.000,0.038,1652,1496,3419,0,0,0,0,0,0
$GC,8408,-0.61,-146.1,865.8,-7.1,428,8412,0.00,2.22,0.00,0.000,6,0.000,0.055,1645,2890,3419,0,0,0,0,0,0
$GC,8724,-0.61,-146.1,887.7,-7.1,438,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2890,3419,0,0,0,0,0,0
$GC,9030,-0.61,-146.1,909.1,-6.8,448,9034,0.00,2.12,0.00,0.000,4,0.000,0.038,1645,1494,3419,0,0,0,0,0,0
$GC,9067,-0.61,-146.1,911.9,-7.1,449,9071,0.00,2.20,0.00,0.000,6,0.000,0.054,1635,2885,3419,0,0,0,0,0,0
$GC,9414,-0.61,-146.1,937.5,-7.5,460,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3419,0,0,0,0,0,0
$GC,9717,-0.61,-146.1,960.1,-7.2,470,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3419,0,0,0,0,0,0
$GC,10025,-0.61,-146.1,981.2,-6.8,480,10029,0.00,2.12,0.00,0.000,4,0.000,0.038,1635,1497,3418,0,0,0,0,0,0
$GC,10057,-0.61,-146.1,983.5,-7.2,481,10061,0.00,2.20,0.00,0.000,6,0.000,0.054,1625,2886,3418,0,0,0,0,0,0
$STATE,10303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10303,begin apogee
$GC,10314,-0.18,0.0,1002.0,7.3,489,10464,0.52,0.00,146.50,1.248,6,0.155,0.000,1782,2696,2819,0,0,0,0,0,0
$STATE,10466,end apogee,CONTROL_FINISHED_OK
$STATE,10466,begin climb
$GC,10471,0.61,146.1,1003.2,0.0,494,10630,0.80,0.00,150.77,1.799,6,0.084,0.000,2048,2695,2224,0,0,0,0,1,0
$GC,10918,0.61,146.1,908.2,24.3,509,10922,0.00,2.25,0.00,0.000,4,0.000,0.045,2059,1308,2219,0,0,0,0,0,0
$GC,10964,0.61,146.1,896.6,21.7,510,10968,0.00,2.33,0.00,0.000,6,0.000,0.050,2059,2696,2217,0,0,0,0,0,0
$GC,11285,0.61,146.1,818.8,24.0,521,11289,0.00,2.25,0.00,0.000,4,0.000,0.046,2069,1299,2217,0,0,0,0,0,0
$GC,11326,0.61,146.1,808.9,23.0,522,11330,0.00,2.30,0.00,0.000,6,0.000,0.051,2069,2701,2215,0,0,0,0,0,0
$GC,11652,0.61,146.1,730.7,23.8,533,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2702,2214,0,0,0,0,0,0
$GC,11960,0.61,146.1,659.1,23.2,543,11961,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2702,2214,0,0,0,0,0,0
$GC,12265,0.61,146.1,587.4,23.7,553,12269,0.00,2.20,0.00,0.000,4,0.000,0.045,2080,1300,2213,0,0,0,0,0,0
$GC,12322,0.61,146.1,574.2,21.4,554,12331,0.12,2.25,0.00,0.000,6,0.226,0.053,2053,2702,2212,0,0,0,0,0,0
$GC,12637,0.61,146.1,506.5,21.3,565,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2702,2212,0,0,0,0,0,0
$GC,12944,0.61,146.1,443.3,20.4,575,12948,0.00,2.17,0.00,0.000,4,0.000,0.044,2062,1309,2212,0,0,0,0,0,0
$GC,13008,0.61,146.1,431.0,17.6,577,13012,0.00,2.22,0.00,0.000,6,0.000,0.051,2061,2706,2211,0,0,0,0,0,0
$GC,13333,0.61,146.1,364.4,20.4,590,13337,0.00,2.17,0.00,0.000,4,0.000,0.045,2072,1309,2211,0,0,0,0,0,0
$GC,13414,0.61,146.1,348.1,20.0,593,13421,0.00,2.22,0.00,0.000,6,0.000,0.053,2072,2705,2210,0,0,0,0,0,0
$GC,13734,0.61,146.1,280.6,21.0,609,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2705,2211,0,0,0,0,0,0
$GC,14055,0.61,146.1,213.2,21.0,627,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2705,2210,0,0,0,0,0,0
$GC,14368,0.61,146.1,147.6,20.9,647,14369,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2705,2210,0,0,0,0,0,0
$GC,14690,0.61,146.1,80.2,21.9,677,14695,0.00,2.20,0.00,0.000,4,0.000,0.044,2082,1293,2210,0,0,0,0,0,0
$GC,14791,0.61,146.1,59.5,19.6,694,14800,0.10,2.28,0.00,0.000,6,0.201,0.053,2054,2703,2210,0,0,0,0,0,0
$GC,15050,0.61,146.1,13.1,19.7,735,15059,0.00,1.90,0.00,0.000,4,0.000,0.060,2054,3891,2210,0,0,0,0,0,0
$STATE,15097,end climb,SURFACE_DEPTH_REACHED
$STATE,15097,begin surface coast
$FINISH,1.3,1.026442
$STATE,15105,end surface coast,CONTROL_FINISHED_OK
$STATE,15105,begin surface
$SM_CCo,15128,50.80,0.780,1,0,1796,250.20
$SM_GC,1.44,0.00,0.00,50.80,0.000,0.000,0.780,59,2861,1796,-5.60,-0.54,250.20
$IRIDIUM_FIX,-4613.60,438.80,040113,141438
$TT8_MAMPS,0.026215
$HUMID,57.75
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.9,34.225
$10V_AH,10.1,15.456
$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,13.825,82.075,297.275,50.800,0.000,62.330,126.148,321.153,0.000,0.000,16.658,1848.384,10710.585,468.008,2325.439,626.521,33.368,1197.446,0.000,1745.168,0.000,1.009,0.000
$DEVICE_MAMPS,250.920,74.205,1799.280,780.300,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.580,1442.586,746.010,287.729,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,53719,743
$CAP_FILE_SIZE,110403,0
$CFSIZE,259252224,218513408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,040113,184858,-4633.411,439.473,39,0.8,39,-23.5