version: 66.07
glider: 542
mission: 6
dive: 184
start: 1 6 113 11 22 28
data:
$ID,542
$MISSION,6
$DIVE,184
$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,-11044.087
$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,47
$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
$GPS1,060113,111052,-4643.173,438.249,41,1.0,41,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-54.4
$GPS2,060113,112135,-4643.185,438.473,14,1.2,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,-0.187
$KALMAN_X,-161384.1,569.7,233.7,187785.3,-3572.9
$KALMAN_Y,57110.8,-210.4,-88.6,-41822.2,1968.2
$MHEAD_RNG_PITCHd_Wd,160.4,31201,-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,-70.95,0.000,2,0.000,0.000,50,2913,3142,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.3,-3.2,9,125,6.62,1.60,-7.25,0.000,4,0.252,0.080,1638,3877,3419,0,0,0,0,0,0
$GC,391,-0.61,-146.1,44.9,-13.7,54,400,0.00,1.55,0.00,0.000,6,0.000,0.031,1638,2857,3421,0,0,0,0,0,0
$GC,639,-0.61,-146.1,82.0,-14.6,95,644,0.00,1.65,0.00,0.000,4,0.000,0.059,1630,3889,3422,0,0,0,0,0,0
$GC,760,-0.61,-146.1,97.9,-14.0,115,765,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2877,3421,0,0,0,0,0,0
$GC,1089,-0.61,-146.1,140.8,-12.1,137,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2873,3422,0,0,0,0,0,0
$GC,1402,-0.61,-146.1,178.3,-12.3,157,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2873,3422,0,0,0,0,0,0
$GC,1716,-0.61,-146.1,217.5,-12.7,177,1719,0.00,2.08,0.00,0.000,4,0.000,0.036,1630,1505,3422,0,0,0,0,0,0
$GC,1754,-0.61,-146.1,222.3,-12.1,179,1759,0.12,2.15,0.00,0.000,6,0.176,0.052,1653,2868,3422,0,0,0,0,0,0
$GC,2089,-0.61,-146.1,256.6,-10.2,199,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2868,3422,0,0,0,0,0,0
$GC,2391,-0.61,-146.1,286.2,-9.2,214,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2868,3422,0,0,0,0,0,0
$GC,2702,-0.61,-146.1,315.0,-9.4,229,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2868,3422,0,0,0,0,0,0
$GC,3010,-0.61,-146.1,344.0,-9.7,244,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2868,3422,0,0,0,0,0,0
$GC,3320,-0.61,-146.1,374.0,-9.6,259,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2868,3422,0,0,0,0,0,0
$GC,3639,-0.61,-146.1,403.7,-9.1,274,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2868,3422,0,0,0,0,0,0
$GC,3944,-0.61,-146.1,431.2,-8.8,284,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2868,3422,0,0,0,0,0,0
$GC,4252,-0.61,-146.1,458.6,-9.1,294,4256,0.00,2.10,0.00,0.000,4,0.000,0.037,1653,1497,3422,0,0,0,0,0,0
$GC,4284,-0.61,-146.1,461.7,-9.0,295,4288,0.00,2.20,0.00,0.000,6,0.000,0.054,1644,2888,3422,0,0,0,0,0,0
$GC,4629,-0.61,-146.1,494.3,-9.6,306,4633,0.00,2.12,0.00,0.000,4,0.000,0.036,1643,1500,3422,0,0,0,0,0,0
$GC,4664,-0.61,-146.1,497.9,-9.0,307,4668,0.00,2.20,0.00,0.000,6,0.000,0.054,1633,2884,3422,0,0,0,0,0,0
$GC,4996,-0.61,-146.1,532.5,-10.8,318,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2884,3422,0,0,0,0,0,0
$GC,5302,-0.61,-146.1,563.7,-10.0,328,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2884,3422,0,0,0,0,0,0
$GC,5609,-0.61,-146.1,593.1,-9.5,338,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2884,3422,0,0,0,0,0,0
$GC,5915,-0.61,-146.1,622.3,-9.6,348,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2884,3422,0,0,0,0,0,0
$GC,6222,-0.61,-146.1,650.8,-9.3,358,6226,0.00,2.12,0.00,0.000,4,0.000,0.037,1633,1498,3422,0,0,0,0,0,0
$GC,6262,-0.61,-146.1,654.7,-8.6,359,6266,0.00,2.17,0.00,0.000,6,0.000,0.054,1623,2881,3422,0,0,0,0,0,0
$GC,6589,-0.61,-146.1,687.2,-10.3,370,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3421,0,0,0,0,0,0
$GC,6895,-0.61,-146.1,720.2,-10.9,380,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3421,0,0,0,0,0,0
$GC,7201,-0.61,-146.1,754.0,-11.0,390,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3421,0,0,0,0,0,0
$GC,7507,-0.61,-146.1,787.2,-10.7,400,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3421,0,0,0,0,0,0
$GC,7814,-0.61,-146.1,818.4,-10.1,410,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3421,0,0,0,0,0,0
$GC,8120,-0.61,-146.1,847.8,-9.4,420,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3421,0,0,0,0,0,0
$GC,8426,-0.61,-146.1,876.2,-9.2,430,8430,0.00,2.10,0.00,0.000,4,0.000,0.037,1623,1496,3420,0,0,0,0,0,0
$GC,8458,-0.61,-146.1,879.1,-9.3,431,8463,0.12,2.17,0.00,0.000,6,0.180,0.054,1645,2881,3420,0,0,0,0,0,0
$GC,8797,-0.61,-146.1,904.5,-7.4,442,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2882,3420,0,0,0,0,0,0
$GC,9103,-0.61,-146.1,927.7,-7.8,452,9107,0.00,2.10,0.00,0.000,4,0.000,0.037,1645,1500,3420,0,0,0,0,0,0
$GC,9156,-0.61,-146.1,931.8,-7.7,453,9160,0.00,2.20,0.00,0.000,6,0.000,0.054,1636,2881,3420,0,0,0,0,0,0
$GC,9477,-0.61,-146.1,959.2,-8.7,464,9481,0.00,1.60,0.00,0.000,4,0.000,0.062,1628,3893,3419,0,0,0,0,0,0
$GC,9517,-0.61,-146.1,963.2,-9.1,465,9521,0.00,1.52,0.00,0.000,6,0.000,0.034,1628,2876,3419,0,0,0,0,0,0
$GC,9855,-0.61,-146.1,993.7,-9.2,476,9859,0.00,2.08,0.00,0.000,4,0.000,0.037,1628,1499,3420,0,0,0,0,0,0
$GC,9896,-0.61,-146.1,997.7,-8.8,477,9901,0.12,2.20,0.00,0.000,6,0.178,0.054,1650,2882,3419,0,0,0,0,0,0
$STATE,9943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9943,begin apogee
$GC,9954,-0.18,0.0,1001.6,7.9,479,10102,0.45,0.00,145.75,1.248,6,0.153,0.000,1787,2708,2820,0,0,0,0,0,0
$STATE,10104,end apogee,CONTROL_FINISHED_OK
$STATE,10104,begin climb
$GC,10109,0.61,146.1,1005.4,0.0,484,10270,0.75,0.00,151.57,1.800,6,0.063,0.000,2055,2708,2223,0,0,0,0,1,0
$GC,10556,0.61,146.1,914.9,23.2,499,10560,0.00,2.25,0.00,0.000,4,0.000,0.044,2065,1313,2218,0,0,0,0,0,0
$GC,10608,0.61,146.1,902.9,20.7,500,10612,0.00,2.33,0.00,0.000,6,0.000,0.050,2065,2701,2216,0,0,0,0,0,0
$GC,10925,0.61,146.1,828.5,23.5,510,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2701,2215,0,0,0,0,0,0
$GC,11229,0.61,146.1,756.5,23.7,520,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2701,2214,0,0,0,0,0,0
$GC,11536,0.61,146.1,684.4,23.3,530,11540,0.00,2.22,0.00,0.000,4,0.000,0.044,2076,1297,2213,0,0,0,0,0,0
$GC,11604,0.61,146.1,669.0,21.5,532,11609,0.00,2.25,0.00,0.000,6,0.000,0.052,2076,2702,2211,0,0,0,0,0,0
$GC,11944,0.61,146.1,591.4,22.6,543,11948,0.00,2.20,0.00,0.000,4,0.000,0.044,2085,1310,2211,0,0,0,0,0,0
$GC,11975,0.61,146.1,584.0,22.0,544,11980,0.15,2.22,0.00,0.000,6,0.226,0.051,2053,2703,2211,0,0,0,0,0,0
$GC,12321,0.61,146.1,512.1,20.9,555,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2704,2211,0,0,0,0,0,0
$GC,12625,0.61,146.1,448.8,20.6,565,12629,0.00,2.17,0.00,0.000,4,0.000,0.043,2061,1303,2211,0,0,0,0,0,0
$GC,12660,0.61,146.1,441.6,18.1,566,12664,0.00,2.22,0.00,0.000,6,0.000,0.051,2062,2707,2210,0,0,0,0,0,0
$GC,12995,0.61,146.1,372.0,21.2,579,12999,0.00,2.20,0.00,0.000,4,0.000,0.044,2072,1299,2210,0,0,0,0,0,0
$GC,13030,0.61,146.1,364.2,20.1,580,13034,0.00,2.22,0.00,0.000,6,0.000,0.051,2072,2699,2209,0,0,0,0,0,0
$GC,13354,0.61,146.1,292.6,22.5,596,13358,0.00,2.17,0.00,0.000,4,0.000,0.043,2082,1294,2210,0,0,0,0,0,0
$GC,13395,0.61,146.1,283.2,21.2,597,13404,0.12,2.25,0.00,0.000,6,0.228,0.051,2055,2707,2209,0,0,0,0,0,0
$GC,13725,0.61,146.1,214.4,20.5,616,13726,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2707,2209,0,0,0,0,0,0
$GC,14038,0.61,146.1,152.4,19.8,636,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2707,2209,0,0,0,0,0,0
$GC,14353,0.61,146.1,90.0,18.8,662,14360,0.00,2.17,0.00,0.000,4,0.000,0.044,2064,1309,2209,0,0,0,0,0,0
$GC,14460,0.61,146.1,72.5,15.5,680,14466,0.00,2.22,0.00,0.000,6,0.000,0.054,2064,2702,2208,0,0,0,0,0,0
$GC,14833,0.61,146.1,4.7,20.6,741,14841,0.00,1.90,0.00,0.000,4,0.000,0.057,2064,3894,2207,0,0,0,0,0,0
$STATE,14850,end climb,SURFACE_DEPTH_REACHED
$STATE,14850,begin surface coast
$FINISH,0.6,1.026469
$STATE,14869,end surface coast,CONTROL_FINISHED_OK
$STATE,14869,begin surface
$SM_CCo,14893,50.22,0.780,1,0,1796,250.20
$SM_GC,1.79,0.00,0.00,50.22,0.000,0.000,0.780,58,2880,1796,-5.60,0.00,250.20
$IRIDIUM_FIX,-4622.97,436.19,060113,060636
$TT8_MAMPS,0.026215
$HUMID,58.70
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.0,35.870
$10V_AH,10.1,16.485
$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,14.150,74.300,297.325,50.225,0.000,32.028,24.958,341.152,0.000,0.000,17.375,1838.414,10442.907,464.834,2222.637,609.317,33.367,1172.935,0.000,1749.209,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,80.325,1800.045,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.393,1490.777,798.944,304.917,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,53830,746
$CAP_FILE_SIZE,106878,0
$CFSIZE,259252224,217890816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060113,153358,-4644.814,440.452,94,0.9,94,-23.5