version: 66.07
glider: 542
mission: 6
dive: 192
start: 1 7 113 23 18 57
data:
$ID,542
$MISSION,6
$DIVE,192
$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,573.99261
$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,-11074.013
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,070113,225558,-4658.242,442.888,39,0.8,39,-23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-34.2
$GPS2,070113,231805,-4658.068,443.042,16,1.3,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.036,-0.253
$KALMAN_X,-165923.7,133.9,106.2,198689.4,-1462.7
$KALMAN_Y,67100.0,-155.9,51.8,-79581.6,3299.6
$MHEAD_RNG_PITCHd_Wd,211.5,5250,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,172,0.00,0.00,-141.82,0.000,2,0.000,0.000,57,2895,3309,0,0,0,0,0,0
$GC,178,-0.61,-146.1,3.4,-3.1,18,197,6.57,1.60,-2.67,0.000,4,0.250,0.067,1635,3892,3416,0,0,0,0,0,0
$GC,282,-0.61,-146.1,23.8,-13.4,33,290,0.00,1.58,0.00,0.000,6,0.000,0.032,1635,2862,3418,0,0,0,0,0,0
$GC,367,-0.61,-146.1,37.0,-16.4,46,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2862,3418,0,0,0,0,0,0
$GC,616,-0.61,-146.1,70.5,-13.4,87,621,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2862,3418,0,0,0,0,0,0
$GC,971,-0.61,-146.1,113.5,-12.5,136,975,0.00,2.08,0.00,0.000,4,0.000,0.037,1635,1491,3418,0,0,0,0,0,0
$GC,1006,-0.61,-146.1,118.3,-12.2,138,1010,0.00,2.22,0.00,0.000,6,0.000,0.053,1625,2880,3418,0,0,0,0,0,0
$GC,1329,-0.61,-146.1,159.3,-12.6,158,1333,0.00,1.65,0.00,0.000,4,0.000,0.061,1617,3899,3418,0,0,0,0,0,0
$GC,1404,-0.61,-146.1,170.2,-13.6,162,1408,0.08,1.55,0.00,0.000,6,0.164,0.031,1641,2874,3418,0,0,0,0,0,0
$GC,1737,-0.61,-146.1,206.8,-10.7,183,1741,0.00,1.65,0.00,0.000,4,0.000,0.061,1634,3890,3418,0,0,0,0,0,0
$GC,1776,-0.61,-146.1,211.6,-10.9,185,1780,0.00,1.52,0.00,0.000,6,0.000,0.033,1634,2877,3419,0,0,0,0,0,0
$GC,2110,-0.61,-146.1,251.4,-11.9,206,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2873,3419,0,0,0,0,0,0
$GC,2422,-0.61,-146.1,287.6,-11.3,221,2426,0.00,1.65,0.00,0.000,4,0.000,0.062,1626,3892,3419,0,0,0,0,0,0
$GC,2472,-0.61,-146.1,293.7,-12.3,223,2475,0.00,1.52,0.00,0.000,6,0.000,0.034,1626,2879,3418,0,0,0,0,0,0
$GC,2809,-0.61,-146.1,332.1,-11.1,239,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2874,3418,0,0,0,0,0,0
$GC,3116,-0.61,-146.1,365.3,-10.9,254,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2874,3418,0,0,0,0,0,0
$GC,3428,-0.61,-146.1,399.1,-11.0,269,3431,0.00,1.65,0.00,0.000,4,0.000,0.061,1618,3910,3418,0,0,0,0,0,0
$GC,3464,-0.61,-146.1,403.7,-12.0,271,3468,0.08,1.55,0.00,0.000,6,0.154,0.033,1657,2884,3417,0,0,0,0,0,0
$GC,3808,-0.61,-146.1,433.5,-8.6,282,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2880,3417,0,0,0,0,0,0
$GC,4116,-0.61,-146.1,459.3,-8.4,292,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,1657,2880,3417,0,0,0,0,0,0
$GC,4421,-0.61,-146.1,483.8,-7.8,302,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,1658,2880,3416,0,0,0,0,0,0
$GC,4728,-0.61,-146.1,507.5,-8.1,312,4732,0.00,2.12,0.00,0.000,4,0.000,0.040,1658,1489,3416,0,0,0,0,0,0
$GC,4774,-0.61,-146.1,511.3,-7.4,313,4778,0.00,2.22,0.00,0.000,6,0.000,0.054,1649,2884,3415,0,0,0,0,0,0
$GC,5096,-0.61,-146.1,536.6,-7.8,324,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3415,0,0,0,0,0,0
$GC,5402,-0.61,-146.1,560.8,-8.0,334,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3414,0,0,0,0,0,0
$GC,5708,-0.61,-146.1,586.2,-8.3,344,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3414,0,0,0,0,0,0
$GC,6014,-0.61,-146.1,610.0,-7.7,354,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3414,0,0,0,0,0,0
$GC,6320,-0.61,-146.1,633.2,-7.5,364,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3414,0,0,0,0,0,0
$GC,6626,-0.61,-146.1,657.1,-8.0,374,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3413,0,0,0,0,0,0
$GC,6933,-0.61,-146.1,681.7,-8.1,384,6937,0.00,2.12,0.00,0.000,4,0.000,0.039,1649,1489,3413,0,0,0,0,0,0
$GC,6968,-0.61,-146.1,684.7,-8.1,385,6972,0.00,2.22,0.00,0.000,6,0.000,0.054,1639,2885,3413,0,0,0,0,0,0
$GC,7300,-0.61,-146.1,715.2,-9.4,396,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2886,3412,0,0,0,0,0,0
$GC,7606,-0.61,-146.1,744.0,-9.3,406,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2886,3413,0,0,0,0,0,0
$GC,7913,-0.61,-146.1,771.6,-9.0,416,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2885,3412,0,0,0,0,0,0
$GC,8219,-0.61,-146.1,799.0,-8.8,426,8223,0.00,2.12,0.00,0.000,4,0.000,0.039,1639,1497,3412,0,0,0,0,0,0
$GC,8260,-0.61,-146.1,802.8,-7.8,427,8264,0.00,2.20,0.00,0.000,6,0.000,0.054,1628,2886,3412,0,0,0,0,0,0
$GC,8599,-0.61,-146.1,834.7,-9.6,438,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2886,3412,0,0,0,0,0,0
$GC,8904,-0.61,-146.1,863.3,-9.2,448,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2886,3412,0,0,0,0,0,0
$GC,9211,-0.61,-146.1,888.8,-8.3,458,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2886,3412,0,0,0,0,0,0
$GC,9516,-0.61,-146.1,913.1,-8.0,468,9520,0.00,2.12,0.00,0.000,4,0.000,0.038,1629,1491,3412,0,0,0,0,0,0
$GC,9574,-0.61,-146.1,917.8,-8.0,469,9581,0.12,2.22,0.00,0.000,6,0.180,0.055,1651,2890,3411,0,0,0,0,0,0
$GC,9890,-0.61,-146.1,938.8,-6.8,480,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2890,3411,0,0,0,0,0,0
$GC,10196,-0.61,-146.1,960.2,-7.1,490,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2890,3411,0,0,0,0,0,0
$GC,10502,-0.61,-146.1,981.8,-7.0,500,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2890,3411,0,0,0,0,0,0
$STATE,10803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10803,begin apogee
$GC,10815,-0.18,0.0,1001.8,6.2,510,10963,0.45,0.00,145.48,1.228,6,0.158,0.000,1786,2704,2819,0,0,0,0,0,0
$STATE,10965,end apogee,CONTROL_FINISHED_OK
$STATE,10965,begin climb
$GC,10970,0.61,146.1,1003.7,0.0,515,11128,0.77,0.00,149.35,1.791,6,0.080,0.000,2048,2704,2223,0,0,0,0,1,0
$GC,11415,0.61,146.1,912.0,23.3,530,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2704,2219,0,0,0,0,0,0
$GC,11722,0.61,146.1,841.4,23.3,540,11726,0.00,2.25,0.00,0.000,4,0.000,0.045,2057,1292,2217,0,0,0,0,0,0
$GC,11787,0.61,146.1,827.3,19.1,542,11792,0.00,2.30,0.00,0.000,6,0.000,0.051,2057,2697,2214,0,0,0,0,0,0
$GC,12125,0.61,146.1,750.5,23.3,553,12129,0.00,2.22,0.00,0.000,4,0.000,0.044,2068,1295,2215,0,0,0,0,0,0
$GC,12177,0.61,146.1,738.5,21.8,554,12182,0.00,2.30,0.00,0.000,6,0.000,0.051,2068,2712,2213,0,0,0,0,0,0
$GC,12499,0.61,146.1,663.0,23.9,565,12503,0.00,2.25,0.00,0.000,4,0.000,0.046,2078,1296,2213,0,0,0,0,0,0
$GC,12522,0.61,146.1,656.8,24.3,565,12529,0.00,2.25,0.00,0.000,6,0.000,0.050,2078,2700,2212,0,0,0,0,0,0
$GC,12838,0.61,146.1,580.2,24.7,576,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2700,2213,0,0,0,0,0,0
$GC,13144,0.61,146.1,502.6,25.0,586,13148,0.00,2.20,0.00,0.000,4,0.000,0.046,2089,1299,2213,0,0,0,0,0,0
$GC,13195,0.61,146.1,490.0,22.1,587,13200,0.15,2.25,0.00,0.000,6,0.225,0.052,2055,2699,2212,0,0,0,0,0,0
$GC,13510,0.61,146.1,420.7,21.8,597,13512,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2700,2212,0,0,0,0,0,0
$GC,13818,0.61,146.1,354.8,21.2,610,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2700,2212,0,0,0,0,0,0
$GC,14130,0.61,146.1,291.4,20.3,625,14134,0.00,2.17,0.00,0.000,4,0.000,0.044,2064,1300,2211,0,0,0,0,0,0
$GC,14182,0.61,146.1,280.4,19.3,627,14186,0.00,2.25,0.00,0.000,6,0.000,0.051,2064,2706,2210,0,0,0,0,0,0
$GC,14512,0.61,146.1,212.8,19.9,646,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2707,2210,0,0,0,0,0,0
$GC,14825,0.61,146.1,149.1,19.8,666,14829,0.00,2.22,0.00,0.000,4,0.000,0.045,2074,1291,2210,0,0,0,0,0,0
$GC,14861,0.61,146.1,141.8,18.8,668,14865,0.00,2.25,0.00,0.000,6,0.000,0.051,2075,2699,2210,0,0,0,0,0,0
$GC,15194,0.61,146.1,75.6,19.8,702,15203,0.00,2.20,0.00,0.000,4,0.000,0.045,2085,1310,2210,0,0,0,0,0,0
$GC,15324,0.61,146.1,52.9,18.6,723,15331,0.15,2.22,0.00,0.000,6,0.215,0.052,2050,2705,2209,0,0,0,0,0,0
$GC,15582,0.61,146.1,4.9,18.3,764,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2705,2209,0,0,0,0,0,0
$STATE,15598,end climb,SURFACE_DEPTH_REACHED
$STATE,15598,begin surface coast
$FINISH,0.6,1.018075
$STATE,15618,end surface coast,CONTROL_FINISHED_OK
$STATE,15618,begin surface
$SM_CCo,15641,182.02,0.789,1,0,477,573.99
$SM_GC,1.01,0.00,0.00,182.02,0.000,0.000,0.789,60,2896,477,-5.60,0.45,573.99
$IRIDIUM_FIX,-4641.78,441.10,070113,232308
$TT8_MAMPS,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.0,37.246
$10V_AH,10.1,17.303
$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,13.775,69.500,294.825,182.025,0.000,81.944,125.697,719.893,0.000,0.000,19.943,1877.546,11181.307,627.025,2758.918,697.420,33.370,1400.197,0.000,1782.465,0.000,1.010,0.000
$DEVICE_MAMPS,250.155,68.085,1790.865,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.226,1502.400,776.006,302.473,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353872
$DATA_FILE_SIZE,53808,769
$CAP_FILE_SIZE,120205,0
$CFSIZE,259252224,217391104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080113,034404,-4700.109,441.483,31,0.9,31,-23.5