version: 66.07
glider: 542
mission: 6
dive: 179
start: 1 5 113 13 7 29
data:
$ID,542
$MISSION,6
$DIVE,179
$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,-11020.332
$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,37
$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
$GPS1,050113,125604,-4632.463,437.571,31,0.8,31,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-49.4
$GPS2,050113,130636,-4632.459,437.576,15,1.4,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.055,-0.250
$KALMAN_X,-154313.8,599.6,637.4,179131.4,-8004.2
$KALMAN_Y,52140.3,770.1,-59.8,-18015.8,-612.8
$MHEAD_RNG_PITCHd_Wd,191.1,51097,-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,-70.95,0.000,2,0.000,0.000,56,2889,3149,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.1,-2.5,9,125,6.72,2.28,-7.15,0.000,4,0.259,0.051,1646,1474,3417,0,0,0,0,0,0
$GC,319,-0.61,-146.1,35.8,-10.7,42,328,0.00,2.30,0.00,0.000,6,0.000,0.051,1637,2881,3420,0,0,0,0,0,0
$GC,569,-0.61,-146.1,69.8,-14.4,83,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3421,0,0,0,0,0,0
$GC,917,-0.61,-146.1,116.5,-12.1,129,918,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3421,0,0,0,0,0,0
$GC,1229,-0.61,-146.1,152.1,-11.0,149,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3421,0,0,0,0,0,0
$GC,1542,-0.61,-146.1,183.3,-9.5,169,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3421,0,0,0,0,0,0
$GC,1854,-0.61,-146.1,215.1,-10.6,189,1858,0.00,1.60,0.00,0.000,4,0.000,0.059,1629,3894,3421,0,0,0,0,0,0
$GC,1895,-0.61,-146.1,220.1,-10.9,191,1898,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2847,3422,0,0,0,0,0,0
$GC,2232,-0.61,-146.1,256.0,-10.7,212,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2843,3422,0,0,0,0,0,0
$GC,2542,-0.61,-146.1,290.1,-10.9,227,2546,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3899,3422,0,0,0,0,0,0
$GC,2577,-0.61,-146.1,294.7,-12.8,228,2581,0.00,1.52,0.00,0.000,6,0.000,0.032,1621,2883,3422,0,0,0,0,0,0
$GC,2901,-0.61,-146.1,332.5,-12.0,244,2903,0.10,0.00,0.00,0.000,6,0.201,0.000,1644,2880,3422,0,0,0,0,0,0
$GC,3213,-0.61,-146.1,361.6,-9.2,259,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2880,3422,0,0,0,0,0,0
$GC,3520,-0.61,-146.1,389.4,-9.1,274,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2880,3422,0,0,0,0,0,0
$GC,3827,-0.61,-146.1,416.2,-8.8,286,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2880,3422,0,0,0,0,0,0
$GC,4135,-0.61,-146.1,443.6,-9.0,296,4138,0.00,2.10,0.00,0.000,4,0.000,0.038,1645,1501,3422,0,0,0,0,0,0
$GC,4181,-0.61,-146.1,448.2,-8.4,297,4185,0.00,2.17,0.00,0.000,6,0.000,0.054,1635,2881,3422,0,0,0,0,0,0
$GC,4508,-0.61,-146.1,479.2,-9.6,308,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3422,0,0,0,0,0,0
$GC,4813,-0.61,-146.1,508.2,-9.4,318,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3422,0,0,0,0,0,0
$GC,5120,-0.61,-146.1,536.8,-9.2,328,5124,0.00,1.60,0.00,0.000,4,0.000,0.061,1627,3893,3421,0,0,0,0,0,0
$GC,5161,-0.61,-146.1,540.8,-9.1,329,5164,0.00,1.52,0.00,0.000,6,0.000,0.034,1627,2881,3421,0,0,0,0,0,0
$GC,5498,-0.61,-146.1,572.7,-9.4,340,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3421,0,0,0,0,0,0
$GC,5805,-0.61,-146.1,601.8,-9.7,350,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3421,0,0,0,0,0,0
$GC,6110,-0.61,-146.1,632.0,-9.8,360,6114,0.00,2.08,0.00,0.000,4,0.000,0.037,1627,1495,3421,0,0,0,0,0,0
$GC,6143,-0.61,-146.1,635.0,-9.9,361,6148,0.12,2.20,0.00,0.000,6,0.182,0.054,1649,2881,3421,0,0,0,0,0,0
$GC,6482,-0.61,-146.1,662.3,-7.9,372,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2881,3420,0,0,0,0,0,0
$GC,6788,-0.61,-146.1,685.8,-7.5,382,6792,0.00,2.10,0.00,0.000,4,0.000,0.037,1649,1494,3421,0,0,0,0,0,0
$GC,6823,-0.61,-146.1,688.7,-7.2,383,6827,0.00,2.22,0.00,0.000,6,0.000,0.054,1640,2891,3420,0,0,0,0,0,0
$GC,7155,-0.61,-146.1,716.3,-8.7,394,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2891,3420,0,0,0,0,0,0
$GC,7462,-0.61,-146.1,743.7,-9.0,404,7466,0.00,2.12,0.00,0.000,4,0.000,0.037,1640,1497,3420,0,0,0,0,0,0
$GC,7503,-0.61,-146.1,747.6,-8.7,405,7507,0.00,2.20,0.00,0.000,6,0.000,0.054,1630,2884,3420,0,0,0,0,0,0
$GC,7841,-0.61,-146.1,778.9,-9.2,416,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3420,0,0,0,0,0,0
$GC,8147,-0.61,-146.1,804.6,-8.1,426,8150,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1497,3420,0,0,0,0,0,0
$GC,8199,-0.61,-146.1,808.8,-7.6,427,8203,0.12,2.20,0.00,0.000,6,0.181,0.054,1651,2889,3419,0,0,0,0,0,0
$GC,8520,-0.61,-146.1,829.0,-6.3,438,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2890,3419,0,0,0,0,0,0
$GC,8826,-0.61,-146.1,849.9,-7.0,448,8830,0.00,2.12,0.00,0.000,4,0.000,0.039,1652,1493,3419,0,0,0,0,0,0
$GC,8861,-0.61,-146.1,852.7,-7.2,449,8866,0.00,2.22,0.00,0.000,6,0.000,0.055,1643,2888,3419,0,0,0,0,0,0
$GC,9194,-0.61,-146.1,879.0,-8.2,460,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2888,3419,0,0,0,0,0,0
$GC,9500,-0.61,-146.1,903.8,-8.3,470,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2888,3419,0,0,0,0,0,0
$GC,9806,-0.61,-146.1,926.8,-7.2,480,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2888,3419,0,0,0,0,0,0
$GC,10113,-0.61,-146.1,948.8,-7.0,490,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2888,3419,0,0,0,0,0,0
$GC,10419,-0.61,-146.1,970.0,-7.0,500,10422,0.00,2.10,0.00,0.000,4,0.000,0.037,1642,1498,3419,0,0,0,0,0,0
$GC,10465,-0.61,-146.1,973.4,-7.3,501,10469,0.00,2.20,0.00,0.000,6,0.000,0.054,1633,2890,3419,0,0,0,0,0,0
$GC,10786,-0.61,-146.1,997.8,-7.8,512,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2891,3419,0,0,0,0,0,0
$STATE,10811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10811,begin apogee
$GC,10822,-0.18,0.0,1000.1,7.8,513,10972,0.52,0.00,146.73,1.245,6,0.158,0.000,1789,2702,2819,0,0,0,0,0,0
$STATE,10974,end apogee,CONTROL_FINISHED_OK
$STATE,10974,begin climb
$GC,10979,0.61,146.1,1003.0,0.0,518,11138,0.75,0.00,150.45,1.791,6,0.063,0.000,2059,2701,2224,0,0,0,0,1,0
$GC,11424,0.61,146.1,910.0,24.2,533,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2701,2219,0,0,0,0,0,0
$GC,11732,0.61,146.1,838.6,22.9,543,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2701,2216,0,0,0,0,0,0
$GC,12036,0.61,146.1,768.9,23.1,553,12040,0.00,2.20,0.00,0.000,4,0.000,0.044,2070,1303,2215,0,0,0,0,0,0
$GC,12105,0.61,146.1,753.7,19.4,555,12110,0.00,2.28,0.00,0.000,6,0.000,0.050,2070,2705,2213,0,0,0,0,0,0
$GC,12437,0.61,146.1,676.4,23.8,566,12441,0.00,2.20,0.00,0.000,4,0.000,0.044,2080,1308,2213,0,0,0,0,0,0
$GC,12478,0.61,146.1,666.7,22.4,567,12483,0.12,2.22,0.00,0.000,6,0.223,0.050,2053,2701,2212,0,0,0,0,0,0
$GC,12805,0.61,146.1,596.0,21.2,578,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2701,2212,0,0,0,0,0,0
$GC,13113,0.61,146.1,528.7,21.7,588,13117,0.00,2.20,0.00,0.000,4,0.000,0.043,2062,1304,2211,0,0,0,0,0,0
$GC,13178,0.61,146.1,515.3,19.8,590,13182,0.00,2.22,0.00,0.000,6,0.000,0.051,2062,2706,2210,0,0,0,0,0,0
$GC,13515,0.61,146.1,442.1,21.9,601,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2707,2211,0,0,0,0,0,0
$GC,13835,0.61,146.1,372.5,21.5,613,13839,0.00,2.17,0.00,0.000,4,0.000,0.044,2073,1305,2211,0,0,0,0,0,0
$GC,13870,0.61,146.1,364.5,21.5,614,13874,0.00,2.22,0.00,0.000,6,0.000,0.051,2073,2705,2210,0,0,0,0,0,0
$GC,14194,0.61,146.1,293.4,21.9,630,14198,0.00,2.20,0.00,0.000,4,0.000,0.045,2083,1305,2210,0,0,0,0,0,0
$GC,14257,0.61,146.1,279.9,18.6,632,14266,0.12,2.25,0.00,0.000,6,0.204,0.052,2049,2696,2210,0,0,0,0,0,0
$GC,14584,0.61,146.1,216.0,19.6,651,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2696,2210,0,0,0,0,0,0
$GC,14896,0.61,146.1,155.4,19.7,671,14897,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2697,2210,0,0,0,0,0,0
$GC,15209,0.61,146.1,96.8,18.8,693,15215,0.00,2.20,0.00,0.000,4,0.000,0.043,2058,1302,2210,0,0,0,0,0,0
$GC,15248,0.61,146.1,90.0,16.5,699,15255,0.00,2.28,0.00,0.000,6,0.000,0.053,2058,2709,2209,0,0,0,0,0,0
$GC,15615,0.61,146.1,22.8,19.8,760,15624,0.00,1.90,0.00,0.000,4,0.000,0.060,2058,3898,2209,0,0,0,0,0,0
$STATE,15705,end climb,SURFACE_DEPTH_REACHED
$STATE,15705,begin surface coast
$FINISH,0.8,1.026455
$STATE,15726,end surface coast,CONTROL_FINISHED_OK
$STATE,15726,begin surface
$SM_CCo,15749,50.58,0.778,1,0,1797,250.20
$SM_GC,1.81,0.00,0.00,50.58,0.000,0.000,0.778,65,2884,1797,-5.58,0.08,250.20
$IRIDIUM_FIX,-4613.60,438.55,050113,080833
$TT8_MAMPS,0.026215
$HUMID,58.19
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.9,35.045
$10V_AH,10.1,15.981
$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,13.975,74.650,297.175,50.575,0.000,27.117,24.638,333.727,0.000,0.000,18.056,1922.700,11138.314,452.637,2284.607,624.202,33.369,1204.646,0.000,1811.801,0.000,1.007,0.000
$DEVICE_MAMPS,258.570,61.200,1790.865,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.716,1524.445,788.895,298.711,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,57212,777
$CAP_FILE_SIZE,112141,0
$CFSIZE,259252224,218185728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,050113,173223,-4634.896,436.724,42,1.1,42,-23.5