version: 66.07
glider: 542
mission: 6
dive: 194
start: 1 8 113 8 21 50
data:
$ID,542
$MISSION,6
$DIVE,194
$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,-11087.94
$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,29
$R_STBD_OVSHOOT,46
$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
$GPS1,080113,081009,-4700.752,438.938,32,0.8,33,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-36.0
$GPS2,080113,082053,-4700.787,438.977,22,1.0,22,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.200,-0.159
$KALMAN_X,-166651.5,143.8,364.6,193992.9,-1197.3
$KALMAN_Y,71128.1,-224.2,93.6,-88606.3,3579.3
$MHEAD_RNG_PITCHd_Wd,255.1,36629,-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,-146.1,0.0,0.0,0,171,0.00,0.00,-141.90,0.000,2,0.000,0.000,52,2907,3286,0,0,0,0,0,0
$GC,177,-0.61,-146.1,3.6,-3.0,18,196,6.65,2.28,-3.17,0.000,4,0.252,0.047,1656,1470,3417,0,0,0,0,0,0
$GC,431,-0.61,-146.1,36.0,-11.1,57,438,0.00,2.25,0.00,0.000,6,0.000,0.052,1647,2862,3420,0,0,0,0,0,0
$GC,676,-0.61,-146.1,67.9,-13.2,98,682,0.00,1.65,0.00,0.000,4,0.000,0.060,1639,3893,3420,0,0,0,0,0,0
$GC,781,-0.61,-146.1,81.1,-12.4,116,788,0.00,1.58,0.00,0.000,6,0.000,0.031,1639,2839,3420,0,0,0,0,0,0
$GC,1125,-0.61,-146.1,120.2,-11.9,156,1129,0.00,1.70,0.00,0.000,4,0.000,0.059,1631,3904,3421,0,0,0,0,0,0
$GC,1163,-0.61,-146.1,125.1,-13.3,158,1166,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2895,3421,0,0,0,0,0,0
$GC,1497,-0.61,-146.1,165.3,-12.0,179,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3421,0,0,0,0,0,0
$GC,1809,-0.61,-146.1,200.8,-11.0,199,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2891,3421,0,0,0,0,0,0
$GC,2122,-0.61,-146.1,233.5,-10.1,219,2126,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3895,3421,0,0,0,0,0,0
$GC,2162,-0.61,-146.1,237.6,-10.4,221,2166,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2867,3421,0,0,0,0,0,0
$GC,2482,-0.61,-146.1,272.2,-10.9,238,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2863,3421,0,0,0,0,0,0
$GC,2794,-0.61,-146.1,307.6,-11.7,253,2797,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3903,3421,0,0,0,0,0,0
$GC,2864,-0.61,-146.1,316.5,-12.3,256,2868,0.08,1.55,0.00,0.000,6,0.166,0.032,1653,2875,3421,0,0,0,0,0,0
$GC,3200,-0.61,-146.1,347.8,-9.3,272,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2872,3421,0,0,0,0,0,0
$GC,3510,-0.61,-146.1,376.9,-9.5,287,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2872,3421,0,0,0,0,0,0
$GC,3838,-0.61,-146.1,407.1,-9.0,302,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2872,3421,0,0,0,0,0,0
$GC,4146,-0.61,-146.1,433.8,-8.6,312,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2872,3421,0,0,0,0,0,0
$GC,4450,-0.61,-146.1,460.2,-8.6,322,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2872,3420,0,0,0,0,0,0
$GC,4757,-0.61,-146.1,486.8,-8.8,332,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2872,3420,0,0,0,0,0,0
$GC,5063,-0.61,-146.1,514.7,-9.1,342,5067,0.00,2.08,0.00,0.000,4,0.000,0.039,1653,1500,3420,0,0,0,0,0,0
$GC,5093,-0.61,-146.1,517.5,-9.3,342,5099,0.00,2.20,0.00,0.000,6,0.000,0.054,1645,2887,3420,0,0,0,0,0,0
$GC,5408,-0.61,-146.1,546.7,-9.3,353,5412,0.00,1.60,0.00,0.000,4,0.000,0.063,1637,3896,3420,0,0,0,0,0,0
$GC,5439,-0.61,-146.1,549.8,-9.7,353,5446,0.00,1.52,0.00,0.000,6,0.000,0.034,1637,2883,3420,0,0,0,0,0,0
$GC,5754,-0.61,-146.1,579.7,-9.3,364,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3420,0,0,0,0,0,0
$GC,6060,-0.61,-146.1,607.9,-9.2,374,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3420,0,0,0,0,0,0
$GC,6367,-0.61,-146.1,635.7,-9.0,384,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3419,0,0,0,0,0,0
$GC,6673,-0.61,-146.1,661.6,-8.3,394,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2882,3419,0,0,0,0,0,0
$GC,6979,-0.61,-146.1,687.9,-8.8,404,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3419,0,0,0,0,0,0
$GC,7285,-0.61,-146.1,715.9,-9.3,414,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2882,3418,0,0,0,0,0,0
$GC,7592,-0.61,-146.1,745.5,-9.8,424,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3419,0,0,0,0,0,0
$GC,7897,-0.61,-146.1,775.8,-10.0,434,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3418,0,0,0,0,0,0
$GC,8204,-0.61,-146.1,806.2,-9.9,444,8208,0.00,2.10,0.00,0.000,4,0.000,0.040,1637,1498,3418,0,0,0,0,0,0
$GC,8227,-0.61,-146.1,808.7,-10.2,444,8231,0.00,2.20,0.00,0.000,6,0.000,0.054,1627,2881,3418,0,0,0,0,0,0
$GC,8543,-0.61,-146.1,840.9,-10.2,454,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2881,3418,0,0,0,0,0,0
$GC,8849,-0.61,-146.1,870.2,-9.3,464,8853,0.00,1.60,0.00,0.000,4,0.000,0.062,1619,3890,3418,0,0,0,0,0,0
$GC,8886,-0.61,-146.1,873.8,-9.8,465,8891,0.08,1.52,0.00,0.000,6,0.159,0.034,1643,2878,3418,0,0,0,0,0,0
$GC,9232,-0.61,-146.1,901.9,-8.1,476,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2874,3418,0,0,0,0,0,0
$GC,9536,-0.61,-146.1,926.9,-8.1,486,9540,0.00,2.10,0.00,0.000,4,0.000,0.039,1644,1495,3418,0,0,0,0,0,0
$GC,9560,-0.61,-146.1,929.1,-8.3,486,9567,0.00,2.20,0.00,0.000,6,0.000,0.054,1635,2880,3418,0,0,0,0,0,0
$GC,9876,-0.61,-146.1,955.9,-8.7,497,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3417,0,0,0,0,0,0
$GC,10182,-0.61,-146.1,982.2,-8.6,507,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3418,0,0,0,0,0,0
$STATE,10391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10392,begin apogee
$GC,10403,-0.18,0.0,1000.2,8.4,514,10553,0.50,0.00,147.65,1.239,6,0.159,0.000,1783,2709,2819,0,0,0,0,0,0
$STATE,10555,end apogee,CONTROL_FINISHED_OK
$STATE,10556,begin climb
$GC,10560,0.61,146.1,1003.9,0.0,519,10722,0.77,2.50,148.85,1.797,4,0.077,0.045,2057,1315,2225,0,0,0,0,1,0
$GC,10753,0.61,146.1,973.1,22.9,525,10758,0.00,2.47,0.00,0.000,6,0.000,0.050,2057,2704,2224,0,0,0,0,0,0
$GC,11068,0.61,146.1,898.1,24.0,535,11073,0.00,2.28,0.00,0.000,4,0.000,0.045,2068,1303,2218,0,0,0,0,0,0
$GC,11115,0.61,146.1,887.1,22.2,536,11119,0.00,2.33,0.00,0.000,6,0.000,0.052,2067,2701,2216,0,0,0,0,0,0
$GC,11436,0.61,146.1,811.5,23.6,547,11440,0.00,2.22,0.00,0.000,4,0.000,0.045,2077,1306,2215,0,0,0,0,0,0
$GC,11454,0.61,146.1,806.9,23.8,547,11458,0.00,2.28,0.00,0.000,6,0.000,0.051,2077,2706,2215,0,0,0,0,0,0
$GC,11775,0.61,146.1,729.7,24.0,558,11779,0.00,2.22,0.00,0.000,4,0.000,0.045,2088,1307,2214,0,0,0,0,0,0
$GC,11804,0.61,146.1,722.3,22.4,558,11811,0.15,2.25,0.00,0.000,6,0.223,0.051,2054,2701,2214,0,0,0,0,0,0
$GC,12119,0.61,146.1,654.6,21.3,569,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2701,2214,0,0,0,0,0,0
$GC,12425,0.61,146.1,590.1,21.0,579,12430,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1304,2213,0,0,0,0,0,0
$GC,12449,0.61,146.1,584.8,20.4,579,12453,0.00,2.25,0.00,0.000,6,0.000,0.050,2064,2706,2212,0,0,0,0,0,0
$GC,12764,0.61,146.1,517.5,21.6,589,12768,0.00,2.20,0.00,0.000,4,0.000,0.044,2074,1306,2212,0,0,0,0,0,0
$GC,12788,0.61,146.1,512.0,20.6,589,12795,0.00,2.22,0.00,0.000,6,0.000,0.051,2074,2700,2212,0,0,0,0,0,0
$GC,13103,0.61,146.1,442.3,22.2,600,13107,0.00,2.17,0.00,0.000,4,0.000,0.045,2084,1308,2212,0,0,0,0,0,0
$GC,13127,0.61,146.1,436.5,22.6,600,13131,0.15,2.25,0.00,0.000,6,0.223,0.051,2051,2711,2212,0,0,0,0,0,0
$GC,13443,0.61,146.1,370.9,21.2,612,13447,0.00,2.22,0.00,0.000,4,0.000,0.045,2059,1299,2212,0,0,0,0,0,0
$GC,13478,0.61,146.1,363.6,19.5,613,13482,0.00,2.25,0.00,0.000,6,0.000,0.051,2059,2704,2211,0,0,0,0,0,0
$GC,13797,0.61,146.1,296.4,21.1,628,13801,0.00,2.17,0.00,0.000,4,0.000,0.045,2070,1307,2211,0,0,0,0,0,0
$GC,13826,0.61,146.1,290.0,19.4,629,13830,0.00,2.22,0.00,0.000,6,0.000,0.052,2070,2701,2211,0,0,0,0,0,0
$GC,14153,0.61,146.1,217.9,22.3,647,14157,0.00,2.17,0.00,0.000,4,0.000,0.045,2080,1307,2211,0,0,0,0,0,0
$GC,14192,0.61,146.1,209.4,20.1,649,14197,0.12,2.22,0.00,0.000,6,0.221,0.052,2053,2701,2210,0,0,0,0,0,0
$GC,14525,0.61,146.1,143.6,19.6,670,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2700,2210,0,0,0,0,0,0
$GC,14859,0.61,146.1,81.6,18.2,701,14864,0.00,2.17,0.00,0.000,4,0.000,0.045,2062,1295,2210,0,0,0,0,0,0
$GC,15079,0.61,146.1,45.2,15.1,738,15088,0.00,2.28,0.00,0.000,6,0.000,0.052,2062,2706,2209,0,0,0,0,0,0
$STATE,15309,end climb,SURFACE_DEPTH_REACHED
$STATE,15310,begin surface coast
$FINISH,0.6,1.026456
$STATE,15329,end surface coast,CONTROL_FINISHED_OK
$STATE,15329,begin surface
$SM_CCo,15352,181.82,0.793,1,0,478,573.99
$SM_GC,1.11,0.00,0.00,181.82,0.000,0.000,0.793,57,2910,478,-5.60,0.88,573.99
$IRIDIUM_FIX,-4641.78,359.97,070113,232313
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.0,37.649
$10V_AH,10.1,17.512
$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,13.850,86.575,296.500,181.825,0.000,31.302,25.256,337.280,0.000,0.000,27.679,1885.098,10710.708,610.587,2329.135,636.900,33.373,1411.406,0.000,1837.831,0.000,1.010,0.000
$DEVICE_MAMPS,252.450,67.320,1796.985,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.558,1548.339,841.924,337.697,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,57255,778
$CAP_FILE_SIZE,113669,0
$CFSIZE,259252224,217268224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080113,124204,-4700.738,436.599,28,1.0,28,-23.5