version: 66.07
glider: 542
mission: 6
dive: 196
start: 1 8 113 17 30 9
data:
$ID,542
$MISSION,6
$DIVE,196
$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,-11096.946
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,080113,171834,-4701.981,434.249,29,1.1,29,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-33.0
$GPS2,080113,172913,-4701.943,434.278,16,1.8,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.255,-0.019
$KALMAN_X,-165621.6,453.0,-243.4,187325.8,-411.1
$KALMAN_Y,77647.3,-171.1,-495.2,-96723.3,5814.9
$MHEAD_RNG_PITCHd_Wd,289.3,30876,-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,-146.1,0.0,0.0,0,164,0.00,0.00,-134.25,0.000,2,0.000,0.000,53,2889,3139,0,0,0,0,0,0
$GC,171,-0.61,-146.1,3.3,-2.9,17,197,6.70,2.25,-7.53,0.000,4,0.256,0.050,1647,1470,3417,0,0,0,0,0,0
$GC,277,-0.61,-146.1,17.7,-8.7,32,286,0.00,2.33,0.00,0.000,6,0.000,0.054,1637,2881,3418,0,0,0,0,0,0
$GC,366,-0.61,-146.1,31.1,-15.6,45,373,0.00,1.65,0.00,0.000,4,0.000,0.060,1629,3903,3418,0,0,0,0,0,0
$GC,397,-0.61,-146.1,35.7,-14.7,49,404,0.00,1.60,0.00,0.000,6,0.000,0.031,1629,2845,3419,0,0,0,0,0,0
$GC,640,-0.61,-146.1,71.1,-13.5,90,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2844,3419,0,0,0,0,0,0
$GC,988,-0.61,-146.1,117.2,-13.6,136,991,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3906,3420,0,0,0,0,0,0
$GC,1093,-0.61,-146.1,131.1,-13.2,142,1097,0.08,1.55,0.00,0.000,6,0.170,0.032,1658,2885,3419,0,0,0,0,0,0
$GC,1432,-0.61,-146.1,162.3,-8.9,163,1436,0.00,1.65,0.00,0.000,4,0.000,0.061,1651,3896,3420,0,0,0,0,0,0
$GC,1486,-0.61,-146.1,168.3,-9.7,166,1490,0.00,1.55,0.00,0.000,6,0.000,0.032,1652,2872,3420,0,0,0,0,0,0
$GC,1820,-0.61,-146.1,201.2,-9.7,187,1824,0.00,1.67,0.00,0.000,4,0.000,0.061,1644,3901,3420,0,0,0,0,0,0
$GC,1878,-0.61,-146.1,207.8,-10.7,190,1882,0.00,1.55,0.00,0.000,6,0.000,0.032,1644,2878,3420,0,0,0,0,0,0
$GC,2207,-0.61,-146.1,241.3,-10.5,211,2210,0.00,1.65,0.00,0.000,4,0.000,0.061,1636,3910,3420,0,0,0,0,0,0
$GC,2236,-0.61,-146.1,245.0,-11.2,212,2245,0.00,1.58,0.00,0.000,6,0.000,0.032,1636,2864,3420,0,0,0,0,0,0
$GC,2562,-0.61,-146.1,282.9,-12.3,229,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2863,3420,0,0,0,0,0,0
$GC,2869,-0.61,-146.1,319.8,-11.9,244,2873,0.00,1.65,0.00,0.000,4,0.000,0.060,1628,3900,3420,0,0,0,0,0,0
$GC,2909,-0.61,-146.1,325.1,-13.0,245,2916,0.00,1.55,0.00,0.000,6,0.000,0.032,1628,2873,3420,0,0,0,0,0,0
$GC,3229,-0.61,-146.1,363.6,-12.3,261,3233,0.00,1.65,0.00,0.000,4,0.000,0.061,1620,3894,3419,0,0,0,0,0,0
$GC,3259,-0.61,-146.1,367.9,-13.0,262,3263,0.08,1.52,0.00,0.000,6,0.163,0.033,1643,2887,3419,0,0,0,0,0,0
$GC,3598,-0.61,-146.1,405.3,-11.0,278,3602,0.00,1.65,0.00,0.000,4,0.000,0.062,1637,3903,3419,0,0,0,0,0,0
$GC,3639,-0.61,-146.1,410.1,-11.7,279,3643,0.00,1.55,0.00,0.000,6,0.000,0.033,1637,2877,3419,0,0,0,0,0,0
$GC,3977,-0.61,-146.1,447.3,-10.8,290,3980,0.00,1.65,0.00,0.000,4,0.000,0.062,1629,3894,3419,0,0,0,0,0,0
$GC,4006,-0.61,-146.1,450.9,-12.2,290,4012,0.00,1.52,0.00,0.000,6,0.000,0.033,1629,2881,3419,0,0,0,0,0,0
$GC,4321,-0.61,-146.1,485.4,-11.0,301,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2880,3419,0,0,0,0,0,0
$GC,4629,-0.61,-146.1,517.3,-9.9,311,4633,0.00,1.67,0.00,0.000,4,0.000,0.063,1621,3899,3419,0,0,0,0,0,0
$GC,4652,-0.61,-146.1,520.2,-10.8,311,4656,0.08,1.55,0.00,0.000,6,0.165,0.033,1644,2879,3419,0,0,0,0,0,0
$GC,4973,-0.61,-146.1,546.9,-8.3,322,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2874,3419,0,0,0,0,0,0
$GC,5280,-0.61,-146.1,573.5,-8.9,332,5284,0.00,1.65,0.00,0.000,4,0.000,0.063,1637,3893,3418,0,0,0,0,0,0
$GC,5332,-0.61,-146.1,578.7,-10.1,333,5335,0.00,1.52,0.00,0.000,6,0.000,0.034,1637,2880,3418,0,0,0,0,0,0
$GC,5659,-0.61,-146.1,610.3,-10.0,344,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2876,3417,0,0,0,0,0,0
$GC,5964,-0.61,-146.1,640.6,-9.8,354,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2876,3417,0,0,0,0,0,0
$GC,6271,-0.61,-146.1,669.9,-9.3,364,6274,0.00,1.65,0.00,0.000,4,0.000,0.063,1629,3910,3417,0,0,0,0,0,0
$GC,6300,-0.61,-146.1,673.0,-9.9,364,6306,0.00,1.58,0.00,0.000,6,0.000,0.034,1630,2865,3417,0,0,0,0,0,0
$GC,6615,-0.61,-146.1,701.6,-8.9,375,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2865,3416,0,0,0,0,0,0
$GC,6923,-0.61,-146.1,726.7,-8.1,385,6927,0.00,1.65,0.00,0.000,4,0.000,0.062,1621,3898,3416,0,0,0,0,0,0
$GC,6963,-0.61,-146.1,730.6,-9.2,386,6967,0.00,1.52,0.00,0.000,6,0.000,0.034,1621,2895,3416,0,0,0,0,0,0
$GC,7301,-0.61,-146.1,760.3,-9.1,397,7303,0.10,0.00,0.00,0.000,6,0.205,0.000,1644,2891,3415,0,0,0,0,0,0
$GC,7607,-0.61,-146.1,783.6,-7.5,407,7611,0.00,1.62,0.00,0.000,4,0.000,0.063,1638,3894,3416,0,0,0,0,0,0
$GC,7631,-0.61,-146.1,785.6,-7.8,407,7635,0.00,1.55,0.00,0.000,6,0.000,0.034,1637,2872,3415,0,0,0,0,0,0
$GC,7952,-0.61,-146.1,810.6,-7.8,418,7953,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2867,3415,0,0,0,0,0,0
$GC,8259,-0.61,-146.1,835.0,-8.0,428,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2867,3415,0,0,0,0,0,0
$GC,8564,-0.61,-146.1,858.8,-7.7,438,8568,0.00,1.65,0.00,0.000,4,0.000,0.063,1630,3903,3415,0,0,0,0,0,0
$GC,8605,-0.61,-146.1,862.5,-8.7,439,8608,0.00,1.55,0.00,0.000,6,0.000,0.034,1630,2879,3415,0,0,0,0,0,0
$GC,8943,-0.61,-146.1,891.1,-8.5,450,8946,0.00,1.65,0.00,0.000,4,0.000,0.063,1622,3893,3415,0,0,0,0,0,0
$GC,8972,-0.61,-146.1,894.0,-9.5,450,8978,0.00,1.52,0.00,0.000,6,0.000,0.034,1622,2881,3414,0,0,0,0,0,0
$GC,9287,-0.61,-146.1,922.3,-9.1,461,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2881,3415,0,0,0,0,0,0
$GC,9593,-0.61,-146.1,951.4,-9.6,471,9597,0.00,1.65,0.00,0.000,4,0.000,0.063,1615,3898,3414,0,0,0,0,0,0
$GC,9622,-0.61,-146.1,954.5,-9.9,471,9630,0.10,1.55,0.00,0.000,6,0.166,0.034,1646,2875,3414,0,0,0,0,0,0
$GC,9938,-0.61,-146.1,977.7,-7.1,482,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2874,3414,0,0,0,0,0,0
$GC,10244,-0.61,-146.1,999.2,-6.9,492,10248,0.00,1.65,0.00,0.000,4,0.000,0.063,1639,3894,3413,0,0,0,0,0,0
$STATE,10252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10252,begin apogee
$GC,10264,-0.18,0.0,1000.4,6.9,492,10414,0.47,0.00,146.60,1.236,6,0.159,0.000,1785,2693,2819,0,0,0,0,0,0
$STATE,10416,end apogee,CONTROL_FINISHED_OK
$STATE,10416,begin climb
$GC,10421,0.61,146.1,1003.8,0.0,497,10583,0.73,2.53,149.02,1.786,4,0.067,0.048,2057,1308,2225,0,0,0,0,1,0
$GC,10603,0.61,146.1,975.2,22.2,502,10610,0.00,2.47,0.00,0.000,6,0.000,0.050,2057,2698,2224,0,0,0,0,0,0
$GC,10918,0.61,146.1,899.6,24.0,513,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2698,2216,0,0,0,0,0,0
$GC,11225,0.61,146.1,827.1,23.6,523,11229,0.00,2.25,0.00,0.000,4,0.000,0.047,2067,1305,2215,0,0,0,0,0,0
$GC,11262,0.61,146.1,818.8,22.7,524,11266,0.00,2.28,0.00,0.000,6,0.000,0.051,2068,2708,2214,0,0,0,0,0,0
$GC,11607,0.61,146.1,738.0,23.2,535,11611,0.00,2.25,0.00,0.000,4,0.000,0.047,2078,1307,2213,0,0,0,0,0,0
$GC,11630,0.61,146.1,731.8,22.6,535,11637,0.00,2.25,0.00,0.000,6,0.000,0.050,2078,2703,2212,0,0,0,0,0,0
$GC,11946,0.61,146.1,657.5,24.0,546,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2703,2212,0,0,0,0,0,0
$GC,12252,0.61,146.1,584.7,23.6,556,12256,0.00,2.22,0.00,0.000,4,0.000,0.047,2088,1306,2212,0,0,0,0,0,0
$GC,12271,0.61,146.1,580.0,23.7,556,12276,0.15,2.25,0.00,0.000,6,0.227,0.050,2054,2707,2211,0,0,0,0,0,0
$GC,12587,0.61,146.1,509.0,22.6,566,12591,0.00,2.22,0.00,0.000,4,0.000,0.047,2064,1300,2211,0,0,0,0,0,0
$GC,12616,0.61,146.1,502.1,22.3,566,12623,0.00,2.25,0.00,0.000,6,0.000,0.051,2064,2711,2210,0,0,0,0,0,0
$GC,12931,0.61,146.1,431.6,22.4,577,12935,0.00,2.20,0.00,0.000,4,0.000,0.047,2074,1310,2211,0,0,0,0,0,0
$GC,12966,0.61,146.1,423.6,22.6,578,12970,0.00,2.22,0.00,0.000,6,0.000,0.050,2074,2701,2210,0,0,0,0,0,0
$GC,13290,0.61,146.1,351.5,22.5,592,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2701,2210,0,0,0,0,0,0
$GC,13601,0.61,146.1,283.7,22.2,607,13605,0.00,2.20,0.00,0.000,4,0.000,0.047,2084,1308,2210,0,0,0,0,0,0
$GC,13623,0.61,146.1,278.6,22.4,608,13627,0.15,2.20,0.00,0.000,6,0.223,0.050,2051,2704,2210,0,0,0,0,0,0
$GC,13961,0.61,146.1,212.7,20.0,627,13967,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2704,2210,0,0,0,0,0,0
$GC,14282,0.61,146.1,148.4,20.2,648,14286,0.00,2.20,0.00,0.000,4,0.000,0.045,2060,1306,2210,0,0,0,0,0,0
$GC,14306,0.61,146.1,143.4,20.2,649,14313,0.00,2.22,0.00,0.000,6,0.000,0.050,2060,2710,2209,0,0,0,0,0,0
$GC,14641,0.61,146.1,76.6,19.3,682,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2710,2209,0,0,0,0,0,0
$GC,15008,0.61,146.1,7.1,17.0,743,15016,0.00,1.88,0.00,0.000,4,0.000,0.055,2059,3896,2209,0,0,0,0,0,0
$STATE,15031,end climb,SURFACE_DEPTH_REACHED
$STATE,15031,begin surface coast
$FINISH,0.6,1.026496
$STATE,15044,end surface coast,CONTROL_FINISHED_OK
$STATE,15044,begin surface
$SM_CCo,15068,183.68,0.776,1,0,479,573.99
$SM_GC,1.16,0.00,0.00,183.68,0.000,0.000,0.776,55,2906,479,-5.61,0.74,573.99
$IRIDIUM_FIX,-4641.78,444.25,080113,121243
$TT8_MAMPS,0.026964
$HUMID,57.00
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.0,38.034
$10V_AH,10.0,17.729
$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,14.025,102.325,295.625,183.675,0.000,32.284,21.198,341.880,0.000,0.000,22.162,1849.577,10403.790,631.066,2332.155,667.123,33.371,1483.513,0.000,1849.369,0.000,1.009,0.000
$DEVICE_MAMPS,255.510,83.385,1786.275,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.335,1492.991,795.624,299.478,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,53826,748
$CAP_FILE_SIZE,121525,0
$CFSIZE,259252224,217128960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080113,214552,-4701.092,432.125,39,0.9,39,-23.4