version: 66.07
glider: 542
mission: 6
dive: 183
start: 1 6 113 6 54 10
data:
$ID,542
$MISSION,6
$DIVE,183
$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,-11040.62
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,060113,064258,-4642.029,435.718,66,0.8,66,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-55.5
$GPS2,060113,065317,-4642.162,435.774,16,0.8,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.219,-0.132
$KALMAN_X,-160381.1,308.3,453.9,183389.7,-4535.7
$KALMAN_Y,56595.1,-467.4,-117.5,-39125.3,2142.6
$MHEAD_RNG_PITCHd_Wd,144.5,33465,-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,-70.97,0.000,2,0.000,0.000,63,2893,3155,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.4,-3.8,9,125,6.60,2.28,-6.93,0.000,4,0.252,0.052,1647,1480,3418,0,0,0,0,0,0
$GC,303,-0.61,-146.1,31.9,-14.9,39,310,0.00,2.28,0.00,0.000,6,0.000,0.053,1637,2881,3421,0,0,0,0,0,0
$GC,549,-0.61,-146.1,69.8,-15.1,80,556,0.00,1.62,0.00,0.000,4,0.000,0.059,1629,3897,3421,0,0,0,0,0,0
$GC,585,-0.61,-146.1,74.4,-14.2,85,590,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2860,3421,0,0,0,0,0,0
$GC,930,-0.61,-146.1,120.6,-13.0,127,934,0.00,2.05,0.00,0.000,4,0.000,0.036,1629,1497,3421,0,0,0,0,0,0
$GC,1007,-0.61,-146.1,130.6,-11.1,131,1015,0.12,2.22,0.00,0.000,6,0.184,0.053,1650,2891,3421,0,0,0,0,0,0
$GC,1334,-0.61,-146.1,165.8,-11.0,152,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2891,3421,0,0,0,0,0,0
$GC,1657,-0.61,-146.1,200.9,-10.3,173,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2891,3422,0,0,0,0,0,0
$GC,1970,-0.61,-146.1,232.9,-10.1,193,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2891,3422,0,0,0,0,0,0
$GC,2286,-0.61,-146.1,263.8,-9.4,211,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2891,3422,0,0,0,0,0,0
$GC,2594,-0.61,-146.1,292.6,-9.3,226,2598,0.00,2.12,0.00,0.000,4,0.000,0.036,1650,1499,3422,0,0,0,0,0,0
$GC,2638,-0.61,-146.1,296.5,-8.7,228,2642,0.00,2.20,0.00,0.000,6,0.000,0.053,1641,2884,3422,0,0,0,0,0,0
$GC,2967,-0.61,-146.1,330.1,-10.4,244,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,3279,-0.61,-146.1,362.4,-10.7,259,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,3586,-0.61,-146.1,395.8,-11.0,274,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,3903,-0.61,-146.1,429.9,-10.8,285,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,4210,-0.61,-146.1,461.3,-9.8,295,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,4515,-0.61,-146.1,491.4,-9.7,305,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,4822,-0.61,-146.1,520.6,-9.7,315,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2884,3422,0,0,0,0,0,0
$GC,5127,-0.61,-146.1,551.0,-10.0,325,5131,0.00,2.12,0.00,0.000,4,0.000,0.037,1641,1497,3422,0,0,0,0,0,0
$GC,5159,-0.61,-146.1,554.2,-10.6,326,5163,0.00,2.20,0.00,0.000,6,0.000,0.053,1630,2881,3422,0,0,0,0,0,0
$GC,5496,-0.61,-146.1,590.6,-11.0,337,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2882,3421,0,0,0,0,0,0
$GC,5804,-0.61,-146.1,624.4,-10.8,347,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2882,3421,0,0,0,0,0,0
$GC,6109,-0.61,-146.1,655.9,-10.1,357,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2882,3421,0,0,0,0,0,0
$GC,6415,-0.61,-146.1,685.4,-9.7,367,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2882,3421,0,0,0,0,0,0
$GC,6721,-0.61,-146.1,715.4,-10.0,377,6725,0.00,2.12,0.00,0.000,4,0.000,0.037,1630,1493,3421,0,0,0,0,0,0
$GC,6762,-0.61,-146.1,719.5,-9.3,378,6767,0.12,2.22,0.00,0.000,6,0.177,0.054,1652,2890,3421,0,0,0,0,0,0
$GC,7089,-0.61,-146.1,745.5,-8.0,389,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2891,3420,0,0,0,0,0,0
$GC,7397,-0.61,-146.1,770.2,-7.9,399,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2891,3420,0,0,0,0,0,0
$GC,7702,-0.61,-146.1,794.0,-7.7,409,7706,0.00,2.12,0.00,0.000,4,0.000,0.037,1652,1497,3420,0,0,0,0,0,0
$GC,7742,-0.61,-146.1,797.3,-7.8,410,7746,0.00,2.20,0.00,0.000,6,0.000,0.054,1643,2880,3420,0,0,0,0,0,0
$GC,8069,-0.61,-146.1,823.4,-7.9,421,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2881,3420,0,0,0,0,0,0
$GC,8377,-0.61,-146.1,846.8,-7.6,431,8381,0.00,2.12,0.00,0.000,4,0.000,0.037,1643,1490,3420,0,0,0,0,0,0
$GC,8418,-0.61,-146.1,850.1,-7.7,432,8422,0.00,2.22,0.00,0.000,6,0.000,0.054,1633,2885,3420,0,0,0,0,0,0
$GC,8745,-0.61,-146.1,876.0,-8.1,443,8749,0.00,2.10,0.00,0.000,4,0.000,0.037,1633,1497,3420,0,0,0,0,0,0
$GC,8780,-0.61,-146.1,879.1,-8.1,444,8784,0.00,2.20,0.00,0.000,6,0.000,0.054,1623,2882,3420,0,0,0,0,0,0
$GC,9112,-0.61,-146.1,907.1,-8.5,455,9114,0.10,0.00,0.00,0.000,6,0.200,0.000,1646,2882,3420,0,0,0,0,0,0
$GC,9419,-0.61,-146.1,927.5,-6.4,465,9423,0.00,2.10,0.00,0.000,4,0.000,0.037,1646,1497,3419,0,0,0,0,0,0
$GC,9456,-0.61,-146.1,929.9,-6.6,466,9460,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2881,3420,0,0,0,0,0,0
$GC,9801,-0.61,-146.1,954.8,-7.3,477,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3419,0,0,0,0,0,0
$GC,10106,-0.61,-146.1,977.9,-7.7,487,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2882,3419,0,0,0,0,0,0
$STATE,10409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10409,begin apogee
$GC,10420,-0.18,0.0,1002.2,8.1,497,10571,0.50,0.00,142.62,1.853,6,0.158,0.000,1786,2708,2819,0,0,0,0,1,0
$STATE,10573,end apogee,CONTROL_FINISHED_OK
$STATE,10573,begin climb
$GC,10578,0.61,146.1,1006.4,0.0,502,10745,0.75,2.17,154.95,1.801,4,0.064,0.057,2048,3890,2226,0,0,0,0,1,0
$GC,10798,0.61,146.1,970.3,26.0,508,10805,0.00,1.98,0.00,0.000,6,0.000,0.035,2057,2716,2224,0,0,0,0,0,0
$GC,11114,0.61,146.1,895.0,23.5,519,11118,0.00,2.28,0.00,0.000,4,0.000,0.044,2068,1292,2219,0,0,0,0,0,0
$GC,11177,0.61,146.1,880.4,22.1,520,11184,0.00,2.33,0.00,0.000,6,0.000,0.050,2068,2699,2216,0,0,0,0,0,0
$GC,11492,0.61,146.1,804.9,24.4,531,11496,0.00,2.25,0.00,0.000,4,0.000,0.044,2078,1286,2215,0,0,0,0,0,0
$GC,11533,0.61,146.1,794.8,23.4,532,11537,0.00,2.30,0.00,0.000,6,0.000,0.050,2078,2701,2214,0,0,0,0,0,0
$GC,11859,0.61,146.1,713.5,25.2,543,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2701,2213,0,0,0,0,0,0
$GC,12165,0.61,146.1,638.7,24.4,553,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2702,2213,0,0,0,0,0,0
$GC,12472,0.61,146.1,565.4,24.1,563,12476,0.00,2.22,0.00,0.000,4,0.000,0.043,2089,1290,2212,0,0,0,0,0,0
$GC,12503,0.61,146.1,558.0,23.6,564,12508,0.15,2.28,0.00,0.000,6,0.227,0.051,2055,2707,2211,0,0,0,0,0,0
$GC,12842,0.61,146.1,484.1,21.9,575,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2707,2211,0,0,0,0,0,0
$GC,13150,0.61,146.1,418.7,21.1,585,13154,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1292,2211,0,0,0,0,0,0
$GC,13185,0.61,146.1,410.7,19.5,586,13189,0.00,2.25,0.00,0.000,6,0.000,0.050,2064,2699,2210,0,0,0,0,0,0
$GC,13511,0.61,146.1,342.1,20.8,601,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2700,2211,0,0,0,0,0,0
$GC,13819,0.61,146.1,277.5,20.7,616,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2700,2210,0,0,0,0,0,0
$GC,14135,0.61,146.1,210.8,21.1,634,14136,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2700,2210,0,0,0,0,0,0
$GC,14447,0.61,146.1,147.1,19.8,654,14451,0.00,2.17,0.00,0.000,4,0.000,0.044,2075,1289,2210,0,0,0,0,0,0
$GC,14513,0.61,146.1,135.1,17.4,658,14517,0.00,2.25,0.00,0.000,6,0.000,0.050,2075,2704,2209,0,0,0,0,0,0
$GC,14848,0.61,146.1,72.4,16.0,696,14857,0.00,1.90,0.00,0.000,4,0.000,0.059,2075,3897,2210,0,0,0,0,0,0
$GC,14888,0.61,146.1,65.0,18.2,702,14898,0.10,1.88,0.00,0.000,6,0.234,0.038,2058,2690,2210,0,0,0,0,0,0
$STATE,15211,end climb,SURFACE_DEPTH_REACHED
$STATE,15211,begin surface coast
$FINISH,0.6,1.025865
$STATE,15235,end surface coast,CONTROL_FINISHED_OK
$STATE,15235,begin surface
$SM_CCo,15258,50.35,0.785,1,0,1796,250.20
$SM_GC,1.78,0.00,0.00,50.35,0.000,0.000,0.785,51,2913,1796,-5.62,0.93,250.20
$IRIDIUM_FIX,-4622.97,436.19,060113,020245
$TT8_MAMPS,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.9,35.708
$10V_AH,10.1,16.384
$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,13.875,73.350,297.575,50.350,0.000,27.947,26.661,318.419,0.000,0.000,19.637,1866.647,10737.260,435.593,2254.927,623.896,33.372,1194.228,0.000,1795.442,0.000,1.009,0.000
$DEVICE_MAMPS,252.450,58.905,1852.830,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.938,1506.510,792.335,290.557,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,53658,758
$CAP_FILE_SIZE,109812,0
$CFSIZE,259252224,217952256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,060113,111052,-4643.173,438.249,41,1.0,41,-23.5