version: 66.07
glider: 542
mission: 6
dive: 180
start: 1 5 113 17 44 4
data:
$ID,542
$MISSION,6
$DIVE,180
$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,-11023.823
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,050113,173223,-4634.896,436.724,42,1.1,42,-23.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-52.7
$GPS2,050113,174311,-4634.892,436.814,16,1.2,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.066,-0.247
$KALMAN_X,-156715.9,1405.5,517.5,179880.8,-7704.7
$KALMAN_Y,52347.5,975.6,413.0,-23402.7,-2281.7
$MHEAD_RNG_PITCHd_Wd,188.6,46674,-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,-70.93,0.000,2,0.000,0.000,63,2884,3177,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.3,-3.5,9,125,6.70,1.70,-6.25,0.000,4,0.258,0.073,1635,3904,3418,0,0,0,0,0,0
$GC,375,-0.61,-146.1,46.4,-13.6,51,381,0.00,1.60,0.00,0.000,6,0.000,0.031,1635,2857,3419,0,0,0,0,0,0
$GC,618,-0.61,-146.1,80.3,-12.3,92,624,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2856,3420,0,0,0,0,0,0
$GC,968,-0.61,-146.1,121.0,-12.1,133,971,0.00,1.67,0.00,0.000,4,0.000,0.057,1628,3909,3422,0,0,0,0,0,0
$GC,1170,-0.61,-146.1,146.5,-11.5,144,1179,0.00,1.55,0.00,0.000,6,0.000,0.031,1627,2873,3422,0,0,0,0,0,0
$GC,1494,-0.61,-146.1,184.4,-12.4,165,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,1806,-0.61,-146.1,221.8,-11.9,185,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,2116,-0.61,-146.1,259.2,-12.1,204,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3423,0,0,0,0,0,0
$GC,2427,-0.61,-146.1,296.5,-11.9,219,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,2735,-0.61,-146.1,331.7,-11.2,234,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3423,0,0,0,0,0,0
$GC,3046,-0.61,-146.1,366.2,-11.0,249,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,3353,-0.61,-146.1,400.9,-11.2,264,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3423,0,0,0,0,0,0
$GC,3659,-0.61,-146.1,434.2,-10.8,274,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3423,0,0,0,0,0,0
$GC,3966,-0.61,-146.1,469.5,-11.8,284,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,4272,-0.61,-146.1,505.2,-11.4,294,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,4578,-0.61,-146.1,538.5,-10.5,304,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,4885,-0.61,-146.1,570.8,-10.5,314,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3422,0,0,0,0,0,0
$GC,5191,-0.61,-146.1,601.1,-9.7,324,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3421,0,0,0,0,0,0
$GC,5497,-0.61,-146.1,631.0,-9.7,334,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3421,0,0,0,0,0,0
$GC,5803,-0.61,-146.1,660.2,-9.4,344,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2873,3421,0,0,0,0,0,0
$GC,6110,-0.61,-146.1,689.2,-9.4,354,6114,0.00,2.05,0.00,0.000,4,0.000,0.038,1627,1509,3421,0,0,0,0,0,0
$GC,6151,-0.61,-146.1,693.4,-9.3,355,6155,0.12,2.17,0.00,0.000,6,0.180,0.054,1649,2886,3421,0,0,0,0,0,0
$GC,6490,-0.61,-146.1,719.5,-7.6,366,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2887,3421,0,0,0,0,0,0
$GC,6796,-0.61,-146.1,743.7,-8.0,376,6800,0.00,2.10,0.00,0.000,4,0.000,0.037,1650,1502,3421,0,0,0,0,0,0
$GC,6831,-0.61,-146.1,746.8,-8.3,377,6835,0.00,2.20,0.00,0.000,6,0.000,0.054,1640,2884,3420,0,0,0,0,0,0
$GC,7164,-0.61,-146.1,775.3,-8.7,388,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2884,3420,0,0,0,0,0,0
$GC,7471,-0.61,-146.1,801.6,-8.5,398,7475,0.00,2.08,0.00,0.000,4,0.000,0.037,1640,1510,3420,0,0,0,0,0,0
$GC,7503,-0.61,-146.1,804.3,-8.9,399,7507,0.00,2.17,0.00,0.000,6,0.000,0.054,1629,2885,3420,0,0,0,0,0,0
$GC,7848,-0.61,-146.1,834.0,-8.4,410,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2886,3420,0,0,0,0,0,0
$GC,8152,-0.61,-146.1,858.7,-8.0,420,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2886,3419,0,0,0,0,0,0
$GC,8459,-0.61,-146.1,883.9,-8.3,430,8462,0.00,2.08,0.00,0.000,4,0.000,0.037,1630,1511,3419,0,0,0,0,0,0
$GC,8524,-0.61,-146.1,889.1,-7.2,432,8529,0.12,2.17,0.00,0.000,6,0.181,0.054,1651,2891,3419,0,0,0,0,0,0
$GC,8863,-0.61,-146.1,912.9,-7.2,443,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2891,3419,0,0,0,0,0,0
$GC,9169,-0.61,-146.1,935.3,-7.4,453,9173,0.00,2.10,0.00,0.000,4,0.000,0.038,1652,1505,3419,0,0,0,0,0,0
$GC,9201,-0.61,-146.1,937.7,-7.9,454,9205,0.00,2.20,0.00,0.000,6,0.000,0.054,1643,2887,3419,0,0,0,0,0,0
$GC,9539,-0.61,-146.1,964.5,-8.0,465,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2887,3419,0,0,0,0,0,0
$GC,9845,-0.61,-146.1,987.5,-7.2,475,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2887,3419,0,0,0,0,0,0
$STATE,10024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10024,begin apogee
$GC,10035,-0.18,0.0,1000.5,7.0,481,10184,0.47,0.00,146.25,1.242,6,0.155,0.000,1785,2715,2819,0,0,0,0,0,0
$STATE,10186,end apogee,CONTROL_FINISHED_OK
$STATE,10186,begin climb
$GC,10191,0.61,146.1,1002.9,0.0,486,10362,0.73,2.25,150.75,1.773,4,0.069,0.059,2045,3894,2225,0,0,0,0,2,0
$GC,10387,0.61,146.1,968.7,25.7,492,10391,0.00,2.03,0.00,0.000,6,0.000,0.036,2054,2705,2225,0,0,0,0,0,0
$GC,10724,0.61,146.1,886.0,24.6,503,10728,0.00,2.25,0.00,0.000,4,0.000,0.044,2065,1295,2219,0,0,0,0,0,0
$GC,10760,0.61,146.1,877.2,24.5,504,10764,0.00,2.35,0.00,0.000,6,0.000,0.051,2065,2705,2217,0,0,0,0,0,0
$GC,11092,0.61,146.1,796.5,24.8,515,11096,0.00,2.25,0.00,0.000,4,0.000,0.044,2076,1293,2216,0,0,0,0,0,0
$GC,11132,0.61,146.1,786.4,23.4,516,11136,0.00,2.28,0.00,0.000,6,0.000,0.051,2076,2701,2214,0,0,0,0,0,0
$GC,11459,0.61,146.1,706.7,24.4,527,11463,0.00,2.22,0.00,0.000,4,0.000,0.044,2086,1292,2214,0,0,0,0,0,0
$GC,11505,0.61,146.1,695.8,21.8,528,11509,0.15,2.28,0.00,0.000,6,0.223,0.050,2053,2700,2213,0,0,0,0,0,0
$GC,11826,0.61,146.1,626.5,21.6,539,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2701,2213,0,0,0,0,0,0
$GC,12134,0.61,146.1,562.4,20.9,549,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2701,2213,0,0,0,0,0,0
$GC,12439,0.61,146.1,498.6,21.0,559,12443,0.00,2.22,0.00,0.000,4,0.000,0.043,2062,1287,2212,0,0,0,0,0,0
$GC,12490,0.61,146.1,487.8,19.4,560,12494,0.00,2.25,0.00,0.000,6,0.000,0.052,2062,2705,2211,0,0,0,0,0,0
$GC,12811,0.61,146.1,421.0,20.7,571,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2705,2211,0,0,0,0,0,0
$GC,13119,0.61,146.1,357.0,20.2,584,13123,0.00,2.22,0.00,0.000,4,0.000,0.044,2073,1287,2211,0,0,0,0,0,0
$GC,13148,0.61,146.1,350.9,18.9,585,13153,0.00,2.28,0.00,0.000,6,0.000,0.050,2073,2711,2210,0,0,0,0,0,0
$GC,13467,0.61,146.1,283.8,21.0,600,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2712,2211,0,0,0,0,0,0
$GC,13790,0.61,146.1,215.1,20.9,618,13794,0.00,2.22,0.00,0.000,4,0.000,0.046,2083,1293,2210,0,0,0,0,0,0
$GC,13877,0.61,146.1,197.0,19.0,623,13881,0.12,2.22,0.00,0.000,6,0.222,0.052,2055,2700,2210,0,0,0,0,0,0
$GC,14205,0.61,146.1,133.1,19.6,643,14209,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1291,2210,0,0,0,0,0,0
$GC,14246,0.61,146.1,123.6,18.5,645,14252,0.00,2.25,0.00,0.000,6,0.000,0.052,2065,2705,2210,0,0,0,0,0,0
$GC,14585,0.61,146.1,57.5,19.5,690,14594,0.00,1.90,0.00,0.000,4,0.000,0.059,2064,3898,2210,0,0,0,0,0,0
$GC,14746,0.61,146.1,26.9,16.6,715,14755,0.00,1.88,0.00,0.000,6,0.000,0.037,2074,2687,2210,0,0,0,0,0,0
$GC,14834,0.61,146.1,7.6,18.0,728,14844,0.00,2.17,0.00,0.000,4,0.000,0.047,2084,1308,2210,0,0,0,0,0,0
$GC,14857,0.61,146.1,3.1,18.3,730,14867,0.10,2.25,0.00,0.000,6,0.106,0.051,2048,2709,2207,0,0,0,0,0,0
$STATE,14875,end climb,SURFACE_DEPTH_REACHED
$STATE,14875,begin surface coast
$FINISH,0.6,1.026213
$STATE,14895,end surface coast,CONTROL_FINISHED_OK
$STATE,14895,begin surface
$SM_CCo,14917,50.55,0.781,1,0,1798,250.20
$SM_GC,1.63,0.00,0.00,50.55,0.000,0.000,0.781,61,2901,1798,-5.59,0.59,250.20
$IRIDIUM_FIX,-4616.72,532.36,050113,121236
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.0,35.206
$10V_AH,10.1,16.080
$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,13.850,72.350,297.000,50.550,0.000,25.168,21.082,359.869,0.000,0.000,18.907,1812.704,10500.851,433.736,2243.921,614.984,33.364,1196.633,0.000,1756.325,0.000,1.009,0.000
$DEVICE_MAMPS,257.805,73.440,1772.505,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.851,1431.466,742.776,287.201,0.000,0.000,0.000,0.000,0.000,0.000
$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,53820,735
$CAP_FILE_SIZE,109372,0
$CFSIZE,259252224,218128384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050113,215504,-4637.230,435.854,40,0.9,40,-23.5