version: 66.07
glider: 542
mission: 6
dive: 185
start: 1 6 113 15 45 16
data:
$ID,542
$MISSION,6
$DIVE,185
$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,-11046.984
$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,38
$R_STBD_OVSHOOT,27
$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
$GPS1,060113,153358,-4644.814,440.452,94,0.9,94,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-55.9
$GPS2,060113,154423,-4644.759,440.490,20,0.9,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.201,-0.160
$KALMAN_X,-162652.6,767.7,344.4,191304.7,-4292.1
$KALMAN_Y,57758.6,97.9,-71.7,-45712.5,1505.5
$MHEAD_RNG_PITCHd_Wd,152.0,28233,-16.4,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-71.00,0.000,2,0.000,0.000,55,2881,3139,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.0,-2.5,9,125,6.62,1.73,-7.43,0.000,4,0.252,0.080,1637,3907,3417,0,0,0,0,0,0
$GC,349,-0.61,-146.1,40.9,-15.9,47,356,0.00,1.60,0.00,0.000,6,0.000,0.031,1637,2848,3421,0,0,0,0,0,0
$GC,593,-0.61,-146.1,77.3,-12.4,88,600,0.00,1.70,0.00,0.000,4,0.000,0.058,1628,3895,3421,0,0,0,0,0,0
$GC,652,-0.61,-146.1,84.9,-13.6,97,657,0.00,1.52,0.00,0.000,6,0.000,0.031,1628,2890,3421,0,0,0,0,0,0
$GC,986,-0.61,-146.1,130.5,-13.2,130,987,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3421,0,0,0,0,0,0
$GC,1294,-0.61,-146.1,170.2,-12.3,150,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3422,0,0,0,0,0,0
$GC,1607,-0.61,-146.1,208.3,-12.0,170,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3422,0,0,0,0,0,0
$GC,1919,-0.61,-146.1,244.5,-11.9,190,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3422,0,0,0,0,0,0
$GC,2235,-0.61,-146.1,282.7,-12.3,206,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3422,0,0,0,0,0,0
$GC,2546,-0.61,-146.1,319.3,-11.6,221,2549,0.00,1.62,0.00,0.000,4,0.000,0.060,1620,3921,3422,0,0,0,0,0,0
$GC,2586,-0.61,-146.1,324.6,-11.6,222,2595,0.08,1.58,0.00,0.000,6,0.160,0.033,1644,2877,3422,0,0,0,0,0,0
$GC,2905,-0.61,-146.1,354.7,-9.2,238,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2877,3422,0,0,0,0,0,0
$GC,3216,-0.61,-146.1,382.4,-8.8,253,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2877,3422,0,0,0,0,0,0
$GC,3543,-0.61,-146.1,411.8,-9.4,267,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2877,3422,0,0,0,0,0,0
$GC,3849,-0.61,-146.1,440.1,-9.3,277,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2876,3422,0,0,0,0,0,0
$GC,4156,-0.61,-146.1,471.0,-10.4,287,4160,0.00,2.08,0.00,0.000,4,0.000,0.037,1644,1493,3422,0,0,0,0,0,0
$GC,4187,-0.61,-146.1,474.3,-10.2,288,4191,0.00,2.20,0.00,0.000,6,0.000,0.054,1635,2888,3422,0,0,0,0,0,0
$GC,4532,-0.61,-146.1,510.8,-10.7,299,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2888,3422,0,0,0,0,0,0
$GC,4837,-0.61,-146.1,541.6,-9.8,309,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,3422,0,0,0,0,0,0
$GC,5143,-0.61,-146.1,570.5,-9.5,319,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2889,3421,0,0,0,0,0,0
$GC,5449,-0.61,-146.1,600.1,-9.7,329,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2888,3421,0,0,0,0,0,0
$GC,5757,-0.61,-146.1,629.9,-9.8,339,5761,0.00,2.15,0.00,0.000,4,0.000,0.038,1635,1489,3421,0,0,0,0,0,0
$GC,5798,-0.61,-146.1,634.3,-9.2,340,5802,0.00,2.22,0.00,0.000,6,0.000,0.054,1624,2885,3420,0,0,0,0,0,0
$GC,6124,-0.61,-146.1,668.0,-10.3,351,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2885,3420,0,0,0,0,0,0
$GC,6430,-0.61,-146.1,698.3,-9.8,361,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2885,3420,0,0,0,0,0,0
$GC,6737,-0.61,-146.1,727.2,-9.3,371,6741,0.00,2.12,0.00,0.000,4,0.000,0.037,1624,1498,3420,0,0,0,0,0,0
$GC,6768,-0.61,-146.1,730.1,-8.7,372,6773,0.12,2.20,0.00,0.000,6,0.177,0.054,1646,2881,3420,0,0,0,0,0,0
$GC,7107,-0.61,-146.1,755.0,-7.4,383,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3419,0,0,0,0,0,0
$GC,7415,-0.61,-146.1,778.6,-7.9,393,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3420,0,0,0,0,0,0
$GC,7719,-0.61,-146.1,803.6,-8.4,403,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3419,0,0,0,0,0,0
$GC,8026,-0.61,-146.1,829.7,-8.4,413,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3419,0,0,0,0,0,0
$GC,8332,-0.61,-146.1,854.8,-8.2,423,8336,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1486,3418,0,0,0,0,0,0
$GC,8372,-0.61,-146.1,858.3,-8.0,424,8377,0.00,2.20,0.00,0.000,6,0.000,0.055,1637,2881,3417,0,0,0,0,0,0
$GC,8699,-0.61,-146.1,886.0,-8.7,435,8703,0.00,2.10,0.00,0.000,4,0.000,0.037,1637,1497,3418,0,0,0,0,0,0
$GC,8731,-0.61,-146.1,888.7,-9.2,436,8735,0.00,2.20,0.00,0.000,6,0.000,0.055,1627,2891,3417,0,0,0,0,0,0
$GC,9069,-0.61,-146.1,918.8,-8.8,447,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2891,3417,0,0,0,0,0,0
$GC,9377,-0.61,-146.1,944.0,-8.1,457,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2891,3417,0,0,0,0,0,0
$GC,9681,-0.61,-146.1,969.5,-8.3,467,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2891,3417,0,0,0,0,0,0
$GC,9989,-0.61,-146.1,997.4,-9.2,477,9993,0.00,2.15,0.00,0.000,4,0.000,0.038,1627,1492,3417,0,0,0,0,0,0
$STATE,10008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10008,begin apogee
$GC,10021,-0.18,0.0,1000.1,10.2,477,10169,0.55,0.00,145.52,1.243,6,0.163,0.000,1785,2708,2819,0,0,0,0,0,0
$STATE,10171,end apogee,CONTROL_FINISHED_OK
$STATE,10171,begin climb
$GC,10176,0.61,146.1,1004.6,0.0,482,10336,0.75,0.00,150.90,1.788,6,0.085,0.000,2040,2708,2224,0,0,0,0,1,0
$GC,10646,0.61,146.1,917.0,22.0,498,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2708,2218,0,0,0,0,0,0
$GC,10948,0.61,146.1,849.5,22.2,508,10952,0.00,2.22,0.00,0.000,4,0.000,0.044,2051,1316,2216,0,0,0,0,0,0
$GC,11005,0.61,146.1,836.8,20.2,509,11009,0.00,2.28,0.00,0.000,6,0.000,0.051,2051,2706,2214,0,0,0,0,0,0
$GC,11322,0.61,146.1,762.5,23.9,519,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2706,2213,0,0,0,0,0,0
$GC,11626,0.61,146.1,690.7,23.2,529,11630,0.00,2.17,0.00,0.000,4,0.000,0.043,2062,1317,2213,0,0,0,0,0,0
$GC,11683,0.61,146.1,678.1,19.6,530,11690,0.00,2.22,0.00,0.000,6,0.000,0.051,2061,2699,2211,0,0,0,0,0,0
$GC,11999,0.61,146.1,609.0,21.6,541,12003,0.00,2.17,0.00,0.000,4,0.000,0.042,2072,1313,2211,0,0,0,0,0,0
$GC,12045,0.61,146.1,599.3,19.7,542,12049,0.00,2.22,0.00,0.000,6,0.000,0.051,2072,2699,2211,0,0,0,0,0,0
$GC,12377,0.61,146.1,527.4,21.8,553,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2699,2210,0,0,0,0,0,0
$GC,12683,0.61,146.1,460.9,21.9,563,12687,0.00,2.17,0.00,0.000,4,0.000,0.044,2082,1317,2211,0,0,0,0,0,0
$GC,12724,0.61,146.1,451.7,20.9,564,12728,0.12,2.22,0.00,0.000,6,0.224,0.052,2054,2705,2210,0,0,0,0,0,0
$GC,13051,0.61,146.1,385.5,20.4,576,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2704,2210,0,0,0,0,0,0
$GC,13363,0.61,146.1,323.5,20.3,591,13367,0.00,2.15,0.00,0.000,4,0.000,0.043,2063,1317,2210,0,0,0,0,0,0
$GC,13398,0.61,146.1,315.8,20.7,592,13402,0.00,2.20,0.00,0.000,6,0.000,0.052,2064,2699,2210,0,0,0,0,0,0
$GC,13722,0.61,146.1,248.2,21.4,608,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2699,2210,0,0,0,0,0,0
$GC,14034,0.61,146.1,181.9,20.9,628,14035,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2699,2210,0,0,0,0,0,0
$GC,14346,0.61,146.1,118.7,19.7,648,14347,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2699,2210,0,0,0,0,0,0
$GC,14677,0.61,146.1,56.5,18.7,694,14686,0.00,2.17,0.00,0.000,4,0.000,0.042,2074,1311,2210,0,0,0,0,0,0
$GC,14822,0.61,146.1,32.2,17.1,717,14828,0.00,2.22,0.00,0.000,6,0.000,0.050,2074,2710,2209,0,0,0,0,0,0
$STATE,14986,end climb,SURFACE_DEPTH_REACHED
$STATE,14987,begin surface coast
$FINISH,0.6,1.026449
$STATE,15006,end surface coast,CONTROL_FINISHED_OK
$STATE,15006,begin surface
$SM_CCo,15028,50.58,0.776,1,0,1799,250.20
$SM_GC,1.40,0.00,0.00,50.58,0.000,0.000,0.776,58,2915,1799,-5.60,0.99,250.20
$IRIDIUM_FIX,-4626.10,442.69,060113,111132
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,36.030
$10V_AH,10.1,16.586
$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,13.650,62.175,296.425,50.575,0.000,26.325,19.037,328.893,0.000,0.000,21.878,1822.657,10650.824,460.102,2157.875,604.432,33.366,1143.962,0.000,1701.066,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,79.560,1787.805,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.187,1470.980,775.843,292.918,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,53762,746
$CAP_FILE_SIZE,102781,0
$CFSIZE,259252224,217833472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060113,195804,-4646.048,442.910,37,1.0,37,-23.5