version: 66.07
glider: 542
mission: 6
dive: 189
start: 1 7 113 9 34 26
data:
$ID,542
$MISSION,6
$DIVE,189
$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,-11064.12
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,070113,091704,-4652.519,445.431,41,1.0,41,-23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-56.8
$GPS2,070113,093329,-4652.374,445.581,15,1.1,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.027,-0.254
$KALMAN_X,-164639.5,253.6,150.1,200453.4,-1996.9
$KALMAN_Y,61917.1,-94.1,-82.4,-63771.4,2550.8
$MHEAD_RNG_PITCHd_Wd,197.3,15785,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-63.12,0.000,2,0.000,0.000,61,2888,2946,0,0,0,0,0,0
$GC,98,-0.61,-146.1,3.0,-3.7,8,125,6.47,1.70,-14.62,0.000,4,0.244,0.081,1639,3904,3418,0,0,0,0,0,0
$GC,198,-0.61,-146.1,15.6,-12.8,22,207,0.00,1.60,0.00,0.000,6,0.000,0.031,1639,2863,3419,0,0,0,0,0,0
$GC,286,-0.61,-146.1,27.8,-12.4,35,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2862,3420,0,0,0,0,0,0
$GC,370,-0.61,-146.1,38.7,-12.9,48,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2862,3420,0,0,0,0,0,0
$GC,615,-0.61,-146.1,73.4,-14.9,89,619,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2862,3420,0,0,0,0,0,0
$GC,953,-0.61,-146.1,118.4,-12.9,132,954,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2862,3421,0,0,0,0,0,0
$GC,1264,-0.61,-146.1,156.2,-12.0,152,1268,0.00,1.67,0.00,0.000,4,0.000,0.064,1631,3892,3422,0,0,0,0,0,0
$GC,1305,-0.61,-146.1,161.5,-12.7,154,1308,0.00,1.52,0.00,0.000,6,0.000,0.033,1631,2888,3422,0,0,0,0,0,0
$GC,1635,-0.61,-146.1,200.8,-12.4,175,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2884,3422,0,0,0,0,0,0
$GC,1945,-0.61,-146.1,238.0,-11.9,195,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2884,3422,0,0,0,0,0,0
$GC,2259,-0.61,-146.1,275.2,-11.8,212,2263,0.00,1.65,0.00,0.000,4,0.000,0.066,1623,3896,3422,0,0,0,0,0,0
$GC,2311,-0.61,-146.1,281.9,-12.2,214,2314,0.00,1.55,0.00,0.000,6,0.000,0.033,1623,2875,3422,0,0,0,0,0,0
$GC,2640,-0.61,-146.1,322.8,-12.6,230,2643,0.00,1.65,0.00,0.000,4,0.000,0.065,1615,3901,3422,0,0,0,0,0,0
$GC,2680,-0.61,-146.1,328.5,-13.7,231,2688,0.10,1.55,0.00,0.000,6,0.155,0.034,1647,2879,3421,0,0,0,0,0,0
$GC,3001,-0.61,-146.1,362.2,-10.5,247,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2878,3422,0,0,0,0,0,0
$GC,3308,-0.61,-146.1,396.5,-11.0,262,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2878,3421,0,0,0,0,0,0
$GC,3625,-0.61,-146.1,428.9,-9.8,273,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2878,3421,0,0,0,0,0,0
$GC,3933,-0.61,-146.1,458.1,-9.5,283,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2878,3422,0,0,0,0,0,0
$GC,4238,-0.61,-146.1,487.5,-9.8,293,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2878,3422,0,0,0,0,0,0
$GC,4545,-0.61,-146.1,517.5,-9.8,303,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2878,3421,0,0,0,0,0,0
$GC,4852,-0.61,-146.1,546.0,-9.2,313,4856,0.00,2.12,0.00,0.000,4,0.000,0.039,1647,1484,3421,0,0,0,0,0,0
$GC,4887,-0.61,-146.1,549.6,-8.5,314,4891,0.00,2.22,0.00,0.000,6,0.000,0.058,1638,2884,3421,0,0,0,0,0,0
$GC,5220,-0.61,-146.1,579.8,-9.1,325,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2885,3421,0,0,0,0,0,0
$GC,5527,-0.61,-146.1,607.2,-8.8,335,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2884,3421,0,0,0,0,0,0
$GC,5832,-0.61,-146.1,632.9,-8.4,345,5835,0.00,1.62,0.00,0.000,4,0.000,0.067,1630,3898,3421,0,0,0,0,0,0
$GC,5884,-0.61,-146.1,637.8,-9.0,346,5888,0.00,1.55,0.00,0.000,6,0.000,0.034,1630,2882,3420,0,0,0,0,0,0
$GC,6210,-0.61,-146.1,668.7,-9.6,357,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2877,3420,0,0,0,0,0,0
$GC,6516,-0.61,-146.1,697.6,-9.2,367,6520,0.00,2.10,0.00,0.000,4,0.000,0.039,1630,1486,3420,0,0,0,0,0,0
$GC,6552,-0.61,-146.1,700.8,-8.5,368,6557,0.12,2.22,0.00,0.000,6,0.177,0.057,1652,2887,3420,0,0,0,0,0,0
$GC,6885,-0.61,-146.1,723.5,-6.7,379,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2887,3420,0,0,0,0,0,0
$GC,7193,-0.61,-146.1,744.3,-6.8,389,7197,0.00,2.12,0.00,0.000,4,0.000,0.038,1652,1492,3419,0,0,0,0,0,0
$GC,7225,-0.61,-146.1,746.5,-7.2,390,7229,0.00,2.22,0.00,0.000,6,0.000,0.057,1644,2887,3419,0,0,0,0,0,0
$GC,7570,-0.61,-146.1,772.2,-7.8,401,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2887,3419,0,0,0,0,0,0
$GC,7876,-0.61,-146.1,797.8,-8.5,411,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2888,3419,0,0,0,0,0,0
$GC,8180,-0.61,-146.1,825.0,-9.1,421,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2888,3419,0,0,0,0,0,0
$GC,8487,-0.61,-146.1,853.5,-9.3,431,8491,0.00,2.15,0.00,0.000,4,0.000,0.040,1643,1489,3418,0,0,0,0,0,0
$GC,8524,-0.61,-146.1,857.1,-9.2,432,8528,0.00,2.22,0.00,0.000,6,0.000,0.057,1634,2887,3419,0,0,0,0,0,0
$GC,8869,-0.61,-146.1,888.7,-8.9,443,8873,0.00,1.60,0.00,0.000,4,0.000,0.066,1626,3892,3419,0,0,0,0,0,0
$GC,8898,-0.61,-146.1,891.7,-9.2,443,8905,0.00,1.55,0.00,0.000,6,0.000,0.035,1626,2866,3418,0,0,0,0,0,0
$GC,9214,-0.61,-146.1,920.2,-9.1,454,9218,0.00,2.10,0.00,0.000,4,0.000,0.041,1626,1492,3418,0,0,0,0,0,0
$GC,9238,-0.61,-146.1,922.7,-10.4,454,9245,0.12,2.22,0.00,0.000,6,0.179,0.057,1648,2884,3419,0,0,0,0,0,0
$GC,9553,-0.61,-146.1,946.7,-7.6,465,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2884,3418,0,0,0,0,0,0
$GC,9860,-0.61,-146.1,969.9,-7.7,475,9864,0.00,2.12,0.00,0.000,4,0.000,0.040,1648,1495,3418,0,0,0,0,0,0
$GC,9897,-0.61,-146.1,972.6,-8.5,476,9901,0.00,2.20,0.00,0.000,6,0.000,0.057,1639,2883,3419,0,0,0,0,0,0
$STATE,10237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10238,begin apogee
$GC,10248,-0.18,0.0,1000.5,8.0,487,10397,0.50,0.00,145.48,1.240,6,0.155,0.000,1789,2716,2820,0,0,0,0,0,0
$STATE,10399,end apogee,CONTROL_FINISHED_OK
$STATE,10399,begin climb
$GC,10404,0.61,146.1,1004.2,0.0,492,10568,0.75,0.00,151.15,1.798,6,0.063,0.000,2058,2716,2224,0,0,0,0,1,0
$GC,10876,0.61,146.1,905.6,23.8,508,10880,0.00,2.33,0.00,0.000,4,0.000,0.047,2069,1295,2217,0,0,0,0,0,0
$GC,10943,0.61,146.1,891.2,22.2,510,10947,0.00,2.35,0.00,0.000,6,0.000,0.054,2069,2702,2214,0,0,0,0,0,0
$GC,11288,0.61,146.1,806.5,24.6,521,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2703,2214,0,0,0,0,0,0
$GC,11592,0.61,146.1,732.2,24.3,531,11597,0.00,2.25,0.00,0.000,4,0.000,0.046,2079,1299,2214,0,0,0,0,0,0
$GC,11624,0.61,146.1,724.9,23.7,532,11629,0.12,2.28,0.00,0.000,6,0.224,0.054,2053,2701,2213,0,0,0,0,0,0
$GC,11962,0.61,146.1,649.6,21.8,543,11966,0.00,2.22,0.00,0.000,4,0.000,0.046,2062,1304,2213,0,0,0,0,0,0
$GC,11997,0.61,146.1,641.6,22.2,544,12001,0.00,2.28,0.00,0.000,6,0.000,0.053,2062,2710,2212,0,0,0,0,0,0
$GC,12330,0.61,146.1,567.3,22.6,555,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2710,2212,0,0,0,0,0,0
$GC,12636,0.61,146.1,501.6,20.7,565,12640,0.00,2.22,0.00,0.000,4,0.000,0.046,2072,1304,2212,0,0,0,0,0,0
$GC,12669,0.61,146.1,495.2,19.1,566,12673,0.00,2.22,0.00,0.000,6,0.000,0.053,2072,2701,2211,0,0,0,0,0,0
$GC,13006,0.61,146.1,421.3,22.4,577,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2701,2211,0,0,0,0,0,0
$GC,13315,0.61,146.1,352.2,22.6,590,13319,0.00,2.22,0.00,0.000,4,0.000,0.046,2082,1291,2211,0,0,0,0,0,0
$GC,13344,0.61,146.1,345.2,21.3,591,13349,0.12,2.25,0.00,0.000,6,0.224,0.054,2055,2703,2210,0,0,0,0,0,0
$GC,13663,0.61,146.1,280.0,20.1,606,13664,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2703,2210,0,0,0,0,0,0
$GC,13984,0.61,146.1,215.7,19.9,624,13988,0.00,2.20,0.00,0.000,4,0.000,0.045,2065,1297,2210,0,0,0,0,0,0
$GC,14055,0.61,146.1,203.0,17.8,628,14059,0.00,2.25,0.00,0.000,6,0.000,0.054,2065,2701,2209,0,0,0,0,0,0
$GC,14384,0.61,146.1,137.1,20.3,649,14388,0.00,2.20,0.00,0.000,4,0.000,0.044,2075,1297,2209,0,0,0,0,0,0
$GC,14436,0.61,146.1,126.4,17.5,652,14440,0.00,2.22,0.00,0.000,6,0.000,0.053,2075,2701,2208,0,0,0,0,0,0
$GC,14772,0.61,146.1,58.9,20.2,696,14781,0.00,2.20,0.00,0.000,4,0.000,0.042,2085,1310,2209,0,0,0,0,0,0
$GC,14920,0.61,146.1,30.1,20.4,720,14930,0.10,2.25,0.00,0.000,6,0.197,0.056,2057,2696,2208,0,0,0,0,0,0
$STATE,15066,end climb,SURFACE_DEPTH_REACHED
$STATE,15066,begin surface coast
$FINISH,0.7,1.013267
$STATE,15086,end surface coast,CONTROL_FINISHED_OK
$STATE,15086,begin surface
$SM_CCo,15108,50.42,0.784,1,0,1796,250.20
$SM_GC,1.55,0.00,0.00,50.42,0.000,0.000,0.784,58,2895,1796,-5.60,0.42,250.20
$IRIDIUM_FIX,-4635.50,446.86,070113,090942
$TT8_MAMPS,0.026215
$HUMID,58.19
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,36.680
$10V_AH,10.1,16.989
$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,13.950,81.775,296.625,50.425,0.000,78.004,63.293,450.063,0.000,0.000,18.326,1858.721,10709.773,479.462,2462.198,630.835,33.367,1222.626,0.000,1757.147,0.000,1.007,0.000
$DEVICE_MAMPS,244.035,81.090,1797.750,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.959,1458.296,756.152,295.639,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,53854,745
$CAP_FILE_SIZE,115582,0
$CFSIZE,259252224,217583616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,070113,134834,-4654.713,445.612,36,0.9,36,-23.5