version: 66.07
glider: 542
mission: 6
dive: 186
start: 1 6 113 20 9 58
data:
$ID,542
$MISSION,6
$DIVE,186
$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,-11050.454
$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,63
$R_STBD_OVSHOOT,58
$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
$GPS1,060113,195804,-4646.048,442.910,37,1.0,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-52.4
$GPS2,060113,200905,-4646.071,442.949,18,0.9,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.153,-0.204
$KALMAN_X,-163227.1,499.7,285.3,195316.4,-3654.4
$KALMAN_Y,58715.2,64.9,-89.0,-49051.2,1521.1
$MHEAD_RNG_PITCHd_Wd,166.6,26063,-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,-146.1,0.0,0.0,0,107,0.00,0.00,-78.57,0.000,2,0.000,0.000,58,2915,3288,0,0,0,0,0,0
$GC,114,-0.61,-146.1,3.2,-2.8,10,132,6.65,1.52,-3.28,0.000,4,0.253,0.070,1638,3869,3414,0,0,0,0,0,0
$GC,368,-0.61,-146.1,42.0,-12.5,50,377,0.00,1.50,0.00,0.000,6,0.000,0.034,1638,2884,3417,0,0,0,0,0,0
$GC,617,-0.61,-146.1,73.8,-13.3,91,621,0.00,2.12,0.00,0.000,4,0.000,0.036,1638,1494,3417,0,0,0,0,0,0
$GC,671,-0.61,-146.1,81.1,-12.2,100,678,0.00,2.17,0.00,0.000,6,0.000,0.053,1628,2851,3416,0,0,0,0,0,0
$GC,1018,-0.61,-146.1,124.0,-12.2,139,1022,0.00,1.65,0.00,0.000,4,0.000,0.059,1620,3892,3418,0,0,0,0,0,0
$GC,1098,-0.61,-146.1,134.4,-12.2,143,1106,0.08,1.52,0.00,0.000,6,0.163,0.031,1643,2877,3417,0,0,0,0,0,0
$GC,1425,-0.61,-146.1,166.5,-9.9,164,1429,0.00,1.65,0.00,0.000,4,0.000,0.060,1636,3913,3419,0,0,0,0,0,0
$GC,1483,-0.61,-146.1,172.9,-9.6,167,1487,0.00,1.55,0.00,0.000,6,0.000,0.031,1636,2885,3419,0,0,0,0,0,0
$GC,1810,-0.61,-146.1,206.8,-11.0,188,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3419,0,0,0,0,0,0
$GC,2122,-0.61,-146.1,242.4,-11.1,208,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3419,0,0,0,0,0,0
$GC,2450,-0.61,-146.1,278.2,-11.1,225,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3419,0,0,0,0,0,0
$GC,2757,-0.61,-146.1,313.0,-11.4,240,2761,0.00,1.62,0.00,0.000,4,0.000,0.061,1628,3916,3419,0,0,0,0,0,0
$GC,2837,-0.61,-146.1,323.1,-12.2,243,2841,0.00,1.58,0.00,0.000,6,0.000,0.032,1628,2871,3419,0,0,0,0,0,0
$GC,3163,-0.61,-146.1,361.4,-11.7,259,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3419,0,0,0,0,0,0
$GC,3471,-0.61,-146.1,396.7,-11.4,274,3474,0.00,1.62,0.00,0.000,4,0.000,0.061,1620,3903,3419,0,0,0,0,0,0
$GC,3506,-0.61,-146.1,401.4,-12.6,275,3509,0.00,1.55,0.00,0.000,6,0.000,0.032,1620,2874,3419,0,0,0,0,0,0
$GC,3826,-0.61,-146.1,439.2,-12.1,286,3828,0.12,0.00,0.00,0.000,6,0.190,0.000,1651,2870,3418,0,0,0,0,0,0
$GC,4132,-0.61,-146.1,468.7,-9.5,296,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3419,0,0,0,0,0,0
$GC,4438,-0.61,-146.1,498.8,-10.0,306,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3419,0,0,0,0,0,0
$GC,4746,-0.61,-146.1,529.1,-9.8,316,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3419,0,0,0,0,0,0
$GC,5051,-0.61,-146.1,557.5,-9.0,326,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3418,0,0,0,0,0,0
$GC,5357,-0.61,-146.1,583.7,-8.2,336,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3418,0,0,0,0,0,0
$GC,5664,-0.61,-146.1,607.6,-7.6,346,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3418,0,0,0,0,0,0
$GC,5970,-0.61,-146.1,631.1,-7.9,356,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3417,0,0,0,0,0,0
$GC,6278,-0.61,-146.1,655.9,-8.0,366,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3417,0,0,0,0,0,0
$GC,6582,-0.61,-146.1,680.4,-8.2,376,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3417,0,0,0,0,0,0
$GC,6889,-0.61,-146.1,706.4,-8.7,386,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3417,0,0,0,0,0,0
$GC,7195,-0.61,-146.1,733.4,-8.7,396,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3417,0,0,0,0,0,0
$GC,7501,-0.61,-146.1,759.8,-8.7,406,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3416,0,0,0,0,0,0
$GC,7807,-0.61,-146.1,784.6,-7.8,416,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3416,0,0,0,0,0,0
$GC,8113,-0.61,-146.1,806.4,-6.9,426,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3415,0,0,0,0,0,0
$GC,8420,-0.61,-146.1,826.5,-6.7,436,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3415,0,0,0,0,0,0
$GC,8726,-0.61,-146.1,846.7,-6.5,446,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3415,0,0,0,0,0,0
$GC,9032,-0.61,-146.1,867.4,-6.6,456,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3415,0,0,0,0,0,0
$GC,9338,-0.61,-146.1,888.4,-7.1,466,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2870,3415,0,0,0,0,0,0
$GC,9644,-0.61,-146.1,911.7,-7.9,476,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2869,3414,0,0,0,0,0,0
$GC,9951,-0.61,-146.1,936.8,-8.3,486,9954,0.00,2.08,0.00,0.000,4,0.000,0.038,1651,1502,3414,0,0,0,0,0,0
$GC,9988,-0.61,-146.1,939.8,-8.2,487,9992,0.00,2.20,0.00,0.000,6,0.000,0.056,1643,2890,3414,0,0,0,0,0,0
$GC,10326,-0.61,-146.1,968.9,-8.7,498,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2890,3414,0,0,0,0,0,0
$GC,10633,-0.61,-146.1,993.0,-7.3,508,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2890,3414,0,0,0,0,0,0
$STATE,10749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10749,begin apogee
$GC,10760,-0.18,0.0,1001.6,7.0,512,10908,0.47,0.00,144.60,1.239,6,0.158,0.000,1784,2719,2819,0,0,0,0,0,0
$STATE,10910,end apogee,CONTROL_FINISHED_OK
$STATE,10910,begin climb
$GC,10915,0.61,146.1,1003.6,0.0,517,11077,0.77,2.53,149.45,1.786,4,0.087,0.042,2058,1304,2225,0,0,0,0,1,0
$GC,11130,0.61,146.1,966.5,21.0,523,11134,0.00,2.45,0.00,0.000,6,0.000,0.051,2058,2695,2221,0,0,0,0,0,0
$GC,11445,0.61,146.1,888.3,24.2,533,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2696,2217,0,0,0,0,0,0
$GC,11753,0.61,146.1,817.2,22.6,543,11757,0.00,2.25,0.00,0.000,4,0.000,0.043,2069,1294,2216,0,0,0,0,0,0
$GC,11810,0.61,146.1,803.8,19.9,544,11817,0.00,2.30,0.00,0.000,6,0.000,0.054,2069,2704,2214,0,0,0,0,0,0
$GC,12125,0.61,146.1,730.1,23.6,555,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2704,2213,0,0,0,0,0,0
$GC,12432,0.61,146.1,658.7,22.9,565,12436,0.00,2.20,0.00,0.000,4,0.000,0.044,2079,1300,2213,0,0,0,0,0,0
$GC,12472,0.61,146.1,649.1,23.2,566,12477,0.12,2.25,0.00,0.000,6,0.225,0.053,2053,2706,2211,0,0,0,0,0,0
$GC,12812,0.61,146.1,577.0,21.2,577,12813,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2706,2211,0,0,0,0,0,0
$GC,13116,0.61,146.1,512.1,21.1,587,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2706,2211,0,0,0,0,0,0
$GC,13424,0.61,146.1,445.7,21.8,597,13428,0.00,2.20,0.00,0.000,4,0.000,0.043,2062,1292,2211,0,0,0,0,0,0
$GC,13465,0.61,146.1,436.4,19.3,598,13469,0.00,2.25,0.00,0.000,6,0.000,0.052,2062,2708,2210,0,0,0,0,0,0
$GC,13785,0.61,146.1,365.3,22.8,611,13789,0.00,2.22,0.00,0.000,4,0.000,0.044,2072,1294,2210,0,0,0,0,0,0
$GC,13829,0.61,146.1,355.5,20.9,613,13833,0.00,2.25,0.00,0.000,6,0.000,0.053,2072,2703,2210,0,0,0,0,0,0
$GC,14167,0.61,146.1,279.7,22.1,629,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2704,2210,0,0,0,0,0,0
$GC,14483,0.61,146.1,211.0,21.4,647,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2704,2210,0,0,0,0,0,0
$GC,14795,0.61,146.1,146.3,20.7,667,14799,0.00,2.17,0.00,0.000,4,0.000,0.044,2083,1300,2210,0,0,0,0,0,0
$GC,14858,0.61,146.1,133.1,19.6,670,14868,0.10,2.28,0.00,0.000,6,0.208,0.053,2055,2708,2210,0,0,0,0,0,0
$GC,15196,0.61,146.1,71.7,17.2,709,15201,0.00,2.20,0.00,0.000,4,0.000,0.043,2064,1292,2210,0,0,0,0,0,0
$GC,15257,0.61,146.1,62.1,15.1,719,15262,0.00,2.25,0.00,0.000,6,0.000,0.053,2065,2703,2209,0,0,0,0,0,0
$STATE,15597,end climb,SURFACE_DEPTH_REACHED
$STATE,15597,begin surface coast
$FINISH,0.6,1.013449
$STATE,15623,end surface coast,CONTROL_FINISHED_OK
$STATE,15623,begin surface
$SM_CCo,15645,50.47,0.778,1,0,1798,250.20
$SM_GC,1.55,0.00,0.00,50.47,0.000,0.000,0.778,59,2885,1798,-5.60,0.14,250.20
$IRIDIUM_FIX,-4629.23,436.69,060113,151528
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.0,36.189
$10V_AH,10.1,16.689
$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,13.725,56.675,294.050,50.475,0.000,28.494,44.680,338.695,0.000,0.000,20.760,1893.153,11120.233,413.794,2304.809,617.484,33.364,1169.112,0.000,1801.518,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,79.560,1786.275,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.516,1525.226,798.988,318.910,0.000,0.000,0.000,0.000,0.000,0.000
$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,57249,779
$CAP_FILE_SIZE,107106,0
$CFSIZE,259252224,217767936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,070113,003304,-4648.107,444.898,38,0.9,38,-23.5