version: 66.07
glider: 542
mission: 6
dive: 200
start: 1 9 113 11 33 1
data:
$ID,542
$MISSION,6
$DIVE,200
$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,-11114.389
$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,44
$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
$GPS1,090113,112152,-4700.396,425.245,38,1.0,38,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-34.0
$GPS2,090113,113205,-4700.346,425.247,16,1.1,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.112,-0.230
$KALMAN_X,-158326.0,3.9,237.4,168558.5,2110.7
$KALMAN_Y,86117.5,-301.5,-236.4,-102355.2,4875.9
$MHEAD_RNG_PITCHd_Wd,229.4,19269,-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,-141.73,0.000,2,0.000,0.000,60,2898,3359,0,0,0,0,0,0
$GC,177,-0.61,-146.1,3.8,-3.2,18,188,6.65,0.00,-1.33,0.000,6,0.254,0.000,1645,2898,3417,0,0,0,0,0,0
$GC,267,-0.61,-146.1,26.0,-17.2,31,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2898,3419,0,0,0,0,0,0
$GC,351,-0.61,-146.1,38.3,-13.9,44,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2898,3420,0,0,0,0,0,0
$GC,598,-0.61,-146.1,70.4,-12.5,85,602,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2898,3420,0,0,0,0,0,0
$GC,954,-0.61,-146.1,111.6,-11.9,136,957,0.00,2.20,0.00,0.000,4,0.000,0.037,1645,1476,3421,0,0,0,0,0,0
$GC,1004,-0.61,-146.1,117.3,-10.8,139,1008,0.00,2.22,0.00,0.000,6,0.000,0.051,1636,2865,3421,0,0,0,0,0,0
$GC,1331,-0.61,-146.1,157.7,-12.5,160,1335,0.00,1.62,0.00,0.000,4,0.000,0.059,1628,3890,3421,0,0,0,0,0,0
$GC,1389,-0.61,-146.1,165.5,-13.1,163,1393,0.00,1.58,0.00,0.000,6,0.000,0.032,1628,2846,3421,0,0,0,0,0,0
$GC,1716,-0.61,-146.1,205.5,-11.9,184,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2841,3421,0,0,0,0,0,0
$GC,2030,-0.61,-146.1,242.6,-11.8,204,2033,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3896,3421,0,0,0,0,0,0
$GC,2110,-0.61,-146.1,253.7,-12.5,208,2115,0.08,1.52,0.00,0.000,6,0.164,0.032,1642,2888,3421,0,0,0,0,0,0
$GC,2435,-0.61,-146.1,289.3,-10.8,224,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2884,3421,0,0,0,0,0,0
$GC,2746,-0.61,-146.1,323.0,-11.0,239,2750,0.00,1.62,0.00,0.000,4,0.000,0.060,1636,3892,3421,0,0,0,0,0,0
$GC,2820,-0.61,-146.1,332.1,-11.2,242,2825,0.00,1.52,0.00,0.000,6,0.000,0.033,1636,2878,3421,0,0,0,0,0,0
$GC,3150,-0.61,-146.1,368.1,-10.9,258,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2874,3421,0,0,0,0,0,0
$GC,3461,-0.61,-146.1,399.7,-10.0,273,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2874,3421,0,0,0,0,0,0
$GC,3786,-0.61,-146.1,432.3,-9.8,284,3790,0.00,1.65,0.00,0.000,4,0.000,0.061,1628,3911,3421,0,0,0,0,0,0
$GC,3838,-0.61,-146.1,437.9,-10.9,285,3841,0.00,1.55,0.00,0.000,6,0.000,0.033,1628,2885,3421,0,0,0,0,0,0
$GC,4163,-0.61,-146.1,471.5,-10.5,296,4167,0.00,1.65,0.00,0.000,4,0.000,0.061,1620,3888,3420,0,0,0,0,0,0
$GC,4200,-0.61,-146.1,475.7,-11.5,297,4204,0.08,1.52,0.00,0.000,6,0.161,0.033,1644,2879,3420,0,0,0,0,0,0
$GC,4544,-0.61,-146.1,508.5,-9.3,308,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2874,3420,0,0,0,0,0,0
$GC,4850,-0.61,-146.1,535.6,-8.8,318,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2874,3420,0,0,0,0,0,0
$GC,5156,-0.61,-146.1,562.4,-8.8,328,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2874,3420,0,0,0,0,0,0
$GC,5463,-0.61,-146.1,589.3,-8.9,338,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2874,3419,0,0,0,0,0,0
$GC,5769,-0.61,-146.1,616.6,-9.0,348,5773,0.00,1.65,0.00,0.000,4,0.000,0.062,1637,3894,3419,0,0,0,0,0,0
$GC,5805,-0.61,-146.1,620.1,-9.8,349,5809,0.00,1.52,0.00,0.000,6,0.000,0.034,1637,2883,3419,0,0,0,0,0,0
$GC,6150,-0.61,-146.1,653.5,-9.9,360,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2878,3419,0,0,0,0,0,0
$GC,6455,-0.61,-146.1,684.4,-10.0,370,6458,0.00,1.65,0.00,0.000,4,0.000,0.062,1629,3913,3418,0,0,0,0,0,0
$GC,6491,-0.61,-146.1,688.1,-10.5,371,6494,0.00,1.58,0.00,0.000,6,0.000,0.034,1629,2874,3418,0,0,0,0,0,0
$GC,6834,-0.61,-146.1,723.0,-10.1,382,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2870,3418,0,0,0,0,0,0
$GC,7140,-0.61,-146.1,751.7,-9.2,392,7144,0.00,2.10,0.00,0.000,4,0.000,0.038,1629,1492,3418,0,0,0,0,0,0
$GC,7172,-0.61,-146.1,754.6,-9.6,393,7176,0.12,2.22,0.00,0.000,6,0.180,0.054,1651,2891,3417,0,0,0,0,0,0
$GC,7511,-0.61,-146.1,778.9,-7.1,404,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2891,3417,0,0,0,0,0,0
$GC,7817,-0.61,-146.1,800.2,-6.8,414,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2891,3418,0,0,0,0,0,0
$GC,8123,-0.61,-146.1,821.0,-6.7,424,8127,0.00,2.12,0.00,0.000,4,0.000,0.038,1651,1498,3417,0,0,0,0,0,0
$GC,8155,-0.61,-146.1,823.2,-7.4,425,8159,0.00,2.20,0.00,0.000,6,0.000,0.054,1643,2882,3417,0,0,0,0,0,0
$GC,8493,-0.61,-146.1,849.6,-8.0,436,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2881,3417,0,0,0,0,0,0
$GC,8799,-0.61,-146.1,873.9,-7.9,446,8803,0.00,1.60,0.00,0.000,4,0.000,0.062,1635,3889,3417,0,0,0,0,0,0
$GC,8840,-0.61,-146.1,877.6,-8.2,447,8844,0.00,1.52,0.00,0.000,6,0.000,0.034,1635,2876,3417,0,0,0,0,0,0
$GC,9180,-0.61,-146.1,905.6,-8.4,458,9181,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2874,3417,0,0,0,0,0,0
$GC,9484,-0.61,-146.1,930.7,-8.0,468,9488,0.00,2.10,0.00,0.000,4,0.000,0.038,1635,1495,3417,0,0,0,0,0,0
$GC,9508,-0.61,-146.1,932.9,-8.4,468,9515,0.00,2.20,0.00,0.000,6,0.000,0.053,1625,2882,3416,0,0,0,0,0,0
$GC,9824,-0.61,-146.1,959.8,-8.5,479,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2882,3417,0,0,0,0,0,0
$GC,10130,-0.61,-146.1,986.8,-8.9,489,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2882,3417,0,0,0,0,0,0
$STATE,10279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10279,begin apogee
$GC,10290,-0.18,0.0,1000.2,8.7,494,10441,0.55,0.00,148.05,1.230,6,0.162,0.000,1788,2709,2819,0,0,0,0,0,0
$STATE,10443,end apogee,CONTROL_FINISHED_OK
$STATE,10443,begin climb
$GC,10448,0.61,146.1,1004.6,0.0,499,10611,0.75,0.00,149.80,1.792,6,0.063,0.000,2056,2709,2224,0,0,0,0,1,0
$GC,10919,0.61,146.1,908.3,23.3,515,10923,0.00,2.30,0.00,0.000,4,0.000,0.047,2067,1302,2217,0,0,0,0,0,0
$GC,10960,0.61,146.1,898.8,21.1,516,10964,0.00,2.33,0.00,0.000,6,0.000,0.050,2067,2696,2216,0,0,0,0,0,0
$GC,11286,0.61,146.1,823.3,23.1,527,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2698,2215,0,0,0,0,0,0
$GC,11595,0.61,146.1,752.9,22.7,537,11599,0.00,2.22,0.00,0.000,4,0.000,0.045,2077,1304,2215,0,0,0,0,0,0
$GC,11646,0.61,146.1,740.7,21.0,538,11651,0.00,2.28,0.00,0.000,6,0.000,0.050,2077,2708,2213,0,0,0,0,0,0
$GC,11962,0.61,146.1,666.7,24.0,548,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2708,2213,0,0,0,0,0,0
$GC,12268,0.61,146.1,593.9,23.8,558,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2708,2213,0,0,0,0,0,0
$GC,12574,0.61,146.1,521.2,23.5,568,12578,0.00,2.22,0.00,0.000,4,0.000,0.045,2087,1299,2213,0,0,0,0,0,0
$GC,12665,0.61,146.1,500.8,20.0,570,12673,0.15,2.25,0.00,0.000,6,0.217,0.051,2053,2706,2211,0,0,0,0,0,0
$GC,12982,0.61,146.1,434.2,21.3,581,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2706,2211,0,0,0,0,0,0
$GC,13290,0.61,146.1,371.1,20.5,593,13294,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1303,2211,0,0,0,0,0,0
$GC,13315,0.61,146.1,365.4,20.3,594,13319,0.00,2.22,0.00,0.000,6,0.000,0.050,2062,2700,2211,0,0,0,0,0,0
$GC,13645,0.61,146.1,295.9,21.3,610,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2701,2211,0,0,0,0,0,0
$GC,13968,0.61,146.1,228.5,20.7,627,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2701,2211,0,0,0,0,0,0
$GC,14280,0.61,146.1,164.7,19.4,647,14284,0.00,2.17,0.00,0.000,4,0.000,0.044,2072,1302,2211,0,0,0,0,0,0
$GC,14347,0.61,146.1,152.7,16.5,651,14351,0.00,2.22,0.00,0.000,6,0.000,0.050,2072,2711,2210,0,0,0,0,0,0
$GC,14676,0.61,146.1,88.2,19.0,678,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2711,2210,0,0,0,0,0,0
$GC,15041,0.61,146.1,19.4,18.7,739,15050,0.00,2.22,0.00,0.000,4,0.000,0.044,2082,1309,2210,0,0,0,0,0,0
$STATE,15119,end climb,SURFACE_DEPTH_REACHED
$STATE,15119,begin surface coast
$FINISH,0.9,1.026528
$STATE,15138,end surface coast,CONTROL_FINISHED_OK
$STATE,15139,begin surface
$SM_CCo,15163,182.95,0.797,1,0,477,573.99
$SM_GC,1.41,0.00,0.00,182.95,0.000,0.000,0.797,51,2890,477,-5.62,0.28,573.99
$IRIDIUM_FIX,-4644.93,428.52,090113,060640
$TT8_MAMPS,0.026215
$HUMID,56.41
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.0,38.833
$10V_AH,10.1,18.152
$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,13.800,70.275,297.850,182.950,0.000,26.110,24.412,313.583,0.000,0.000,22.662,1845.860,10602.877,638.560,2244.291,621.405,33.375,1409.759,0.000,1791.949,0.000,1.009,0.000
$DEVICE_MAMPS,253.980,61.965,1792.395,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.100,1469.072,772.403,301.726,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,53745,754
$CAP_FILE_SIZE,109940,0
$CFSIZE,259252224,216879104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,090113,155022,-4701.671,422.898,41,0.7,41,-23.4