version: 66.07
glider: 542
mission: 6
dive: 193
start: 1 8 113 3 55 39
data:
$ID,542
$MISSION,6
$DIVE,193
$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,-11081.261
$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
$GPS1,080113,034404,-4700.109,441.483,31,0.9,31,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-33.4
$GPS2,080113,035442,-4700.158,441.387,20,0.8,21,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.179,-0.182
$KALMAN_X,-166921.8,-51.7,-36.3,197923.1,-1352.1
$KALMAN_Y,68856.9,-109.9,-366.1,-84821.5,3900.6
$MHEAD_RNG_PITCHd_Wd,248.0,39644,-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,-146.1,0.0,0.0,0,171,0.00,0.00,-141.75,0.000,2,0.000,0.000,58,2898,3268,0,0,0,0,0,0
$GC,178,-0.61,-146.1,3.2,-2.7,18,196,6.55,1.60,-3.75,0.000,4,0.249,0.070,1637,3889,3415,0,0,0,0,0,0
$GC,281,-0.61,-146.1,24.0,-14.5,33,290,0.00,1.58,0.00,0.000,6,0.000,0.032,1637,2854,3416,0,0,0,0,0,0
$GC,365,-0.61,-146.1,35.9,-14.7,46,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2854,3417,0,0,0,0,0,0
$GC,613,-0.61,-146.1,70.7,-14.0,87,621,0.00,1.70,0.00,0.000,4,0.000,0.060,1629,3896,3416,0,0,0,0,0,0
$GC,645,-0.61,-146.1,75.1,-14.4,91,650,0.00,1.52,0.00,0.000,6,0.000,0.031,1629,2891,3416,0,0,0,0,0,0
$GC,989,-0.61,-146.1,122.0,-12.1,132,993,0.00,2.12,0.00,0.000,4,0.000,0.037,1628,1494,3417,0,0,0,0,0,0
$GC,1035,-0.61,-146.1,127.5,-11.0,134,1045,0.08,2.22,0.00,0.000,6,0.155,0.052,1643,2870,3417,0,0,0,0,0,0
$GC,1363,-0.61,-146.1,162.0,-10.7,155,1367,0.00,1.62,0.00,0.000,4,0.000,0.060,1636,3893,3418,0,0,0,0,0,0
$GC,1402,-0.61,-146.1,166.6,-11.1,157,1405,0.00,1.52,0.00,0.000,6,0.000,0.032,1636,2881,3418,0,0,0,0,0,0
$GC,1736,-0.61,-146.1,202.5,-10.8,178,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2877,3418,0,0,0,0,0,0
$GC,2046,-0.61,-146.1,235.3,-10.6,198,2050,0.00,1.65,0.00,0.000,4,0.000,0.060,1628,3912,3418,0,0,0,0,0,0
$GC,2083,-0.61,-146.1,239.5,-11.7,200,2087,0.00,1.55,0.00,0.000,6,0.000,0.031,1628,2880,3418,0,0,0,0,0,0
$GC,2411,-0.61,-146.1,278.4,-12.3,217,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2876,3418,0,0,0,0,0,0
$GC,2717,-0.61,-146.1,318.0,-13.2,232,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2875,3418,0,0,0,0,0,0
$GC,3029,-0.61,-146.1,357.7,-12.8,247,3033,0.00,1.65,0.00,0.000,4,0.000,0.061,1620,3912,3418,0,0,0,0,0,0
$GC,3064,-0.61,-146.1,362.7,-13.0,248,3068,0.08,1.55,0.00,0.000,6,0.155,0.033,1644,2890,3417,0,0,0,0,0,0
$GC,3389,-0.61,-146.1,397.2,-10.4,264,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2885,3417,0,0,0,0,0,0
$GC,3705,-0.61,-146.1,429.0,-9.9,275,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2886,3417,0,0,0,0,0,0
$GC,4012,-0.61,-146.1,457.5,-9.1,285,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2885,3416,0,0,0,0,0,0
$GC,4318,-0.61,-146.1,486.3,-9.4,295,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2885,3416,0,0,0,0,0,0
$GC,4624,-0.61,-146.1,515.0,-9.4,305,4628,0.00,2.12,0.00,0.000,4,0.000,0.040,1644,1491,3415,0,0,0,0,0,0
$GC,4662,-0.61,-146.1,518.4,-9.0,306,4666,0.00,2.20,0.00,0.000,6,0.000,0.054,1634,2884,3415,0,0,0,0,0,0
$GC,5005,-0.61,-146.1,553.9,-10.4,317,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2884,3415,0,0,0,0,0,0
$GC,5311,-0.61,-146.1,585.5,-10.3,327,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2884,3414,0,0,0,0,0,0
$GC,5619,-0.61,-146.1,615.6,-9.8,337,5623,0.00,1.60,0.00,0.000,4,0.000,0.063,1627,3892,3414,0,0,0,0,0,0
$GC,5659,-0.61,-146.1,620.2,-11.3,338,5663,0.00,1.52,0.00,0.000,6,0.000,0.034,1627,2881,3413,0,0,0,0,0,0
$GC,5996,-0.61,-146.1,654.5,-10.5,349,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3413,0,0,0,0,0,0
$GC,6304,-0.61,-146.1,686.2,-10.5,359,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3413,0,0,0,0,0,0
$GC,6609,-0.61,-146.1,717.6,-10.2,369,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3413,0,0,0,0,0,0
$GC,6915,-0.61,-146.1,747.9,-9.7,379,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2877,3412,0,0,0,0,0,0
$GC,7222,-0.61,-146.1,776.9,-9.5,389,7225,0.00,2.10,0.00,0.000,4,0.000,0.039,1627,1497,3412,0,0,0,0,0,0
$GC,7262,-0.61,-146.1,781.0,-9.2,390,7267,0.12,2.20,0.00,0.000,6,0.181,0.054,1649,2880,3412,0,0,0,0,0,0
$GC,7590,-0.61,-146.1,805.9,-7.5,401,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2881,3412,0,0,0,0,0,0
$GC,7896,-0.61,-146.1,829.1,-7.5,411,7900,0.00,1.60,0.00,0.000,4,0.000,0.063,1642,3887,3411,0,0,0,0,0,0
$GC,7933,-0.61,-146.1,832.0,-7.8,412,7937,0.00,1.52,0.00,0.000,6,0.000,0.034,1642,2875,3411,0,0,0,0,0,0
$GC,8278,-0.61,-146.1,859.2,-8.0,423,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2873,3411,0,0,0,0,0,0
$GC,8583,-0.61,-146.1,882.2,-7.5,433,8587,0.00,2.10,0.00,0.000,4,0.000,0.040,1643,1496,3410,0,0,0,0,0,0
$GC,8624,-0.61,-146.1,885.3,-7.0,434,8628,0.00,2.22,0.00,0.000,6,0.000,0.054,1632,2889,3410,0,0,0,0,0,0
$GC,8951,-0.61,-146.1,911.0,-8.1,445,8954,0.00,1.60,0.00,0.000,4,0.000,0.063,1624,3896,3410,0,0,0,0,0,0
$GC,8980,-0.61,-146.1,913.7,-8.8,445,8987,0.00,1.52,0.00,0.000,6,0.000,0.034,1624,2882,3410,0,0,0,0,0,0
$GC,9296,-0.61,-146.1,940.5,-8.5,456,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2882,3410,0,0,0,0,0,0
$GC,9602,-0.61,-146.1,966.0,-8.3,466,9606,0.00,2.10,0.00,0.000,4,0.000,0.040,1624,1496,3410,0,0,0,0,0,0
$GC,9632,-0.61,-146.1,968.6,-8.2,466,9639,0.12,2.20,0.00,0.000,6,0.180,0.054,1646,2880,3410,0,0,0,0,0,0
$GC,9947,-0.61,-146.1,990.4,-7.0,477,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2880,3410,0,0,0,0,0,0
$STATE,10096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10096,begin apogee
$GC,10106,-0.18,0.0,1001.2,7.1,482,10255,0.47,0.00,140.35,1.848,6,0.159,0.000,1788,2709,2819,0,0,0,0,1,0
$STATE,10257,end apogee,CONTROL_FINISHED_OK
$STATE,10257,begin climb
$GC,10262,0.61,146.1,1005.1,0.0,487,10430,0.77,2.58,154.38,1.794,4,0.060,0.047,2066,1308,2224,0,0,0,0,1,0
$GC,10450,0.61,146.1,975.7,22.1,493,10454,0.00,2.50,0.00,0.000,6,0.000,0.050,2066,2702,2223,0,0,0,0,0,0
$GC,10777,0.61,146.1,895.6,24.8,504,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2702,2217,0,0,0,0,0,0
$GC,11083,0.61,146.1,820.6,24.3,514,11087,0.00,2.25,0.00,0.000,4,0.000,0.046,2077,1308,2215,0,0,0,0,0,0
$GC,11135,0.61,146.1,808.1,21.9,515,11139,0.00,2.30,0.00,0.000,6,0.000,0.051,2077,2714,2212,0,0,0,0,0,0
$GC,11451,0.61,146.1,731.1,24.8,525,11455,0.00,2.25,0.00,0.000,4,0.000,0.046,2087,1307,2213,0,0,0,0,0,0
$GC,11483,0.61,146.1,723.4,24.3,526,11488,0.15,2.25,0.00,0.000,6,0.228,0.051,2054,2699,2212,0,0,0,0,0,0
$GC,11822,0.61,146.1,648.9,21.6,537,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2699,2212,0,0,0,0,0,0
$GC,12128,0.61,146.1,582.4,21.7,547,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2699,2211,0,0,0,0,0,0
$GC,12434,0.61,146.1,515.5,21.7,557,12438,0.00,2.20,0.00,0.000,4,0.000,0.044,2063,1307,2211,0,0,0,0,0,0
$GC,12466,0.61,146.1,508.8,20.9,558,12470,0.00,2.22,0.00,0.000,6,0.000,0.051,2063,2700,2209,0,0,0,0,0,0
$GC,12803,0.61,146.1,434.6,22.0,569,12807,0.00,2.20,0.00,0.000,4,0.000,0.046,2073,1307,2209,0,0,0,0,0,0
$GC,12844,0.61,146.1,425.7,20.0,570,12848,0.00,2.22,0.00,0.000,6,0.000,0.050,2074,2699,2208,0,0,0,0,0,0
$GC,13172,0.61,146.1,354.4,21.3,584,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2700,2208,0,0,0,0,0,0
$GC,13483,0.61,146.1,287.1,21.3,599,13487,0.00,2.17,0.00,0.000,4,0.000,0.045,2084,1307,2208,0,0,0,0,0,0
$GC,13518,0.61,146.1,279.2,20.0,600,13523,0.15,2.22,0.00,0.000,6,0.219,0.051,2050,2706,2207,0,0,0,0,0,0
$GC,13848,0.61,146.1,215.9,19.0,618,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2706,2207,0,0,0,0,0,0
$GC,14162,0.61,146.1,156.7,19.0,638,14166,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1304,2207,0,0,0,0,0,0
$GC,14195,0.61,146.1,150.3,18.0,640,14199,0.00,2.22,0.00,0.000,6,0.000,0.051,2058,2702,2207,0,0,0,0,0,0
$GC,14523,0.61,146.1,87.6,18.5,668,14530,0.00,2.20,0.00,0.000,4,0.000,0.044,2069,1293,2207,0,0,0,0,0,0
$GC,14546,0.61,146.1,83.1,19.4,671,14550,0.00,2.25,0.00,0.000,6,0.000,0.053,2069,2701,2206,0,0,0,0,0,0
$GC,14909,0.61,146.1,15.9,20.3,732,14918,0.00,1.90,0.00,0.000,4,0.000,0.060,2069,3894,2207,0,0,0,0,0,0
$GC,14931,0.61,146.1,11.1,21.9,734,14940,0.00,1.85,0.00,0.000,6,0.000,0.041,2078,2717,2207,0,0,0,0,0,0
$STATE,14966,end climb,SURFACE_DEPTH_REACHED
$STATE,14966,begin surface coast
$FINISH,0.6,1.026548
$STATE,14980,end surface coast,CONTROL_FINISHED_OK
$STATE,14980,begin surface
$SM_CCo,15002,181.55,0.795,1,0,478,573.99
$SM_GC,1.02,0.00,0.00,181.55,0.000,0.000,0.795,52,2906,478,-5.62,0.74,573.99
$IRIDIUM_FIX,-4641.78,359.97,070113,232313
$TT8_MAMPS,0.026964
$HUMID,56.53
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.0,37.460
$10V_AH,10.1,17.405
$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,13.900,87.450,294.725,181.550,0.000,28.685,44.660,316.864,0.000,0.000,26.994,1823.319,10487.701,610.389,2250.391,644.432,33.368,1418.630,0.000,1770.578,0.000,1.008,0.000
$DEVICE_MAMPS,248.625,70.380,1848.240,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.449,1457.606,769.308,294.217,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,53763,741
$CAP_FILE_SIZE,115028,0
$CFSIZE,259252224,217325568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,080113,081009,-4700.752,438.938,32,0.8,33,-23.5