version: 66.07
glider: 542
mission: 6
dive: 203
start: 1 10 113 1 11 37
data:
$ID,542
$MISSION,6
$DIVE,203
$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,-11133.294
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,100113,005958,-4700.285,417.963,43,0.7,43,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-50.4
$GPS2,100113,011041,-4700.287,417.960,17,0.8,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.093,-0.238
$KALMAN_X,-154046.0,-242.6,-306.8,155839.2,4010.2
$KALMAN_Y,92618.8,-613.3,-165.1,-108511.7,4938.3
$MHEAD_RNG_PITCHd_Wd,224.8,10067,-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,-146.1,0.0,0.0,0,147,0.00,0.00,-118.28,0.000,2,0.000,0.000,58,2903,2846,0,0,0,0,0,0
$GC,154,-0.61,-146.1,3.0,-3.5,15,187,6.68,0.00,-21.85,0.000,6,0.254,0.000,1645,2903,3416,0,0,0,0,0,0
$GC,267,-0.61,-146.1,14.1,-13.5,31,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2903,3417,0,0,0,0,0,0
$GC,354,-0.61,-146.1,26.7,-15.1,44,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2903,3417,0,0,0,0,0,0
$GC,443,-0.61,-146.1,38.3,-13.3,57,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2903,3417,0,0,0,0,0,0
$GC,685,-0.61,-146.1,70.2,-13.5,98,692,0.00,2.20,0.00,0.000,4,0.000,0.037,1645,1480,3418,0,0,0,0,0,0
$GC,731,-0.61,-146.1,75.7,-11.7,105,738,0.00,2.25,0.00,0.000,6,0.000,0.051,1635,2866,3417,0,0,0,0,0,0
$GC,1083,-0.61,-146.1,119.2,-12.2,148,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2866,3418,0,0,0,0,0,0
$GC,1396,-0.61,-146.1,154.8,-11.6,168,1399,0.00,1.62,0.00,0.000,4,0.000,0.059,1628,3893,3419,0,0,0,0,0,0
$GC,1434,-0.61,-146.1,159.3,-12.7,170,1437,0.00,1.55,0.00,0.000,6,0.000,0.032,1627,2859,3419,0,0,0,0,0,0
$GC,1768,-0.61,-146.1,200.2,-12.3,191,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2855,3419,0,0,0,0,0,0
$GC,2080,-0.61,-146.1,237.9,-12.0,211,2084,0.00,1.65,0.00,0.000,4,0.000,0.059,1619,3897,3419,0,0,0,0,0,0
$GC,2153,-0.61,-146.1,247.2,-12.5,215,2157,0.08,1.52,0.00,0.000,6,0.164,0.032,1642,2887,3419,0,0,0,0,0,0
$GC,2480,-0.61,-146.1,283.5,-11.0,231,2484,0.00,2.12,0.00,0.000,4,0.000,0.038,1642,1490,3419,0,0,0,0,0,0
$GC,2524,-0.61,-146.1,288.2,-10.2,233,2528,0.00,2.22,0.00,0.000,6,0.000,0.052,1633,2888,3419,0,0,0,0,0,0
$GC,2856,-0.61,-146.1,323.7,-10.5,249,2860,0.00,1.60,0.00,0.000,4,0.000,0.060,1625,3900,3419,0,0,0,0,0,0
$GC,2906,-0.61,-146.1,329.4,-11.1,251,2910,0.00,1.55,0.00,0.000,6,0.000,0.033,1625,2870,3419,0,0,0,0,0,0
$GC,3244,-0.61,-146.1,368.2,-11.7,267,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2866,3419,0,0,0,0,0,0
$GC,3571,-0.61,-146.1,407.5,-12.0,282,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2866,3419,0,0,0,0,0,0
$GC,3877,-0.61,-146.1,443.3,-11.4,292,3881,0.00,1.65,0.00,0.000,4,0.000,0.060,1617,3890,3418,0,0,0,0,0,0
$GC,3923,-0.61,-146.1,449.1,-12.2,293,3928,0.08,1.52,0.00,0.000,6,0.165,0.033,1641,2878,3418,0,0,0,0,0,0
$GC,4256,-0.61,-146.1,482.9,-10.4,304,4260,0.00,1.65,0.00,0.000,4,0.000,0.061,1635,3894,3418,0,0,0,0,0,0
$GC,4293,-0.61,-146.1,486.8,-11.2,305,4296,0.00,1.52,0.00,0.000,6,0.000,0.033,1635,2880,3418,0,0,0,0,0,0
$GC,4636,-0.61,-146.1,521.9,-9.9,316,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2876,3418,0,0,0,0,0,0
$GC,4942,-0.61,-146.1,551.1,-9.4,326,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2876,3418,0,0,0,0,0,0
$GC,5250,-0.61,-146.1,578.6,-9.0,336,5254,0.00,2.10,0.00,0.000,4,0.000,0.039,1635,1497,3417,0,0,0,0,0,0
$GC,5281,-0.61,-146.1,581.6,-8.8,337,5285,0.00,2.20,0.00,0.000,6,0.000,0.053,1624,2888,3417,0,0,0,0,0,0
$GC,5626,-0.61,-146.1,616.2,-10.5,348,5630,0.00,1.60,0.00,0.000,4,0.000,0.061,1616,3897,3417,0,0,0,0,0,0
$GC,5689,-0.61,-146.1,623.6,-10.8,349,5696,0.08,1.55,0.00,0.000,6,0.164,0.033,1641,2867,3417,0,0,0,0,0,0
$GC,6004,-0.61,-146.1,652.8,-9.3,360,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2868,3416,0,0,0,0,0,0
$GC,6311,-0.61,-146.1,681.4,-9.3,370,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2867,3416,0,0,0,0,0,0
$GC,6617,-0.61,-146.1,709.0,-8.9,380,6621,0.00,2.10,0.00,0.000,4,0.000,0.040,1640,1494,3416,0,0,0,0,0,0
$GC,6657,-0.61,-146.1,712.8,-8.8,381,6661,0.00,2.22,0.00,0.000,6,0.000,0.054,1631,2890,3416,0,0,0,0,0,0
$GC,6984,-0.61,-146.1,743.4,-9.5,392,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2891,3415,0,0,0,0,0,0
$GC,7290,-0.61,-146.1,772.9,-9.7,402,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3415,0,0,0,0,0,0
$GC,7596,-0.61,-146.1,801.1,-9.0,412,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2891,3415,0,0,0,0,0,0
$GC,7902,-0.61,-146.1,829.0,-9.0,422,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3415,0,0,0,0,0,0
$GC,8209,-0.61,-146.1,855.4,-8.4,432,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3415,0,0,0,0,0,0
$GC,8515,-0.61,-146.1,880.8,-8.2,442,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2890,3415,0,0,0,0,0,0
$GC,8821,-0.61,-146.1,906.1,-8.2,452,8825,0.00,2.12,0.00,0.000,4,0.000,0.040,1631,1498,3415,0,0,0,0,0,0
$GC,8856,-0.61,-146.1,909.1,-8.2,453,8860,0.00,2.22,0.00,0.000,6,0.000,0.054,1621,2891,3414,0,0,0,0,0,0
$GC,9189,-0.61,-146.1,938.8,-9.1,464,9190,0.10,0.00,0.00,0.000,6,0.211,0.000,1644,2892,3414,0,0,0,0,0,0
$GC,9495,-0.61,-146.1,962.4,-7.5,474,9499,0.00,2.12,0.00,0.000,4,0.000,0.039,1645,1502,3414,0,0,0,0,0,0
$GC,9532,-0.61,-146.1,965.3,-7.3,475,9536,0.00,2.20,0.00,0.000,6,0.000,0.054,1635,2892,3414,0,0,0,0,0,0
$GC,9877,-0.61,-146.1,990.4,-7.1,486,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2893,3414,0,0,0,0,0,0
$STATE,10024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10024,begin apogee
$GC,10035,-0.18,0.0,1001.1,7.1,491,10185,0.50,0.00,146.93,1.227,6,0.155,0.000,1786,2703,2819,0,0,0,0,0,0
$STATE,10187,end apogee,CONTROL_FINISHED_OK
$STATE,10187,begin climb
$GC,10192,0.61,146.1,1003.4,0.0,496,10350,0.77,0.00,149.52,1.791,6,0.066,0.000,2059,2704,2223,0,0,0,0,1,0
$GC,10636,0.61,146.1,909.1,24.5,511,10640,0.00,2.28,0.00,0.000,4,0.000,0.046,2070,1305,2217,0,0,0,0,0,0
$GC,10693,0.61,146.1,895.2,23.2,512,10700,0.00,2.33,0.00,0.000,6,0.000,0.050,2070,2704,2216,0,0,0,0,0,0
$GC,11009,0.61,146.1,817.2,24.7,523,11013,0.00,2.25,0.00,0.000,4,0.000,0.044,2080,1311,2215,0,0,0,0,0,0
$GC,11044,0.61,146.1,808.5,23.6,524,11048,0.12,2.28,0.00,0.000,6,0.223,0.051,2054,2703,2213,0,0,0,0,0,0
$GC,11376,0.61,146.1,734.2,22.3,535,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2704,2213,0,0,0,0,0,0
$GC,11682,0.61,146.1,668.0,21.6,545,11686,0.00,2.22,0.00,0.000,4,0.000,0.045,2063,1303,2213,0,0,0,0,0,0
$GC,11757,0.61,146.1,652.0,19.8,547,11761,0.00,2.25,0.00,0.000,6,0.000,0.052,2063,2700,2211,0,0,0,0,0,0
$GC,12089,0.61,146.1,577.3,22.6,558,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2701,2211,0,0,0,0,0,0
$GC,12395,0.61,146.1,508.3,22.1,568,12399,0.00,2.20,0.00,0.000,4,0.000,0.044,2073,1309,2211,0,0,0,0,0,0
$GC,12441,0.61,146.1,498.1,19.9,569,12445,0.00,2.22,0.00,0.000,6,0.000,0.050,2073,2700,2210,0,0,0,0,0,0
$GC,12762,0.61,146.1,423.8,23.5,580,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2701,2211,0,0,0,0,0,0
$GC,13072,0.61,146.1,354.9,22.1,593,13076,0.00,2.20,0.00,0.000,4,0.000,0.046,2083,1297,2210,0,0,0,0,0,0
$GC,13117,0.61,146.1,345.5,20.7,595,13121,0.15,2.22,0.00,0.000,6,0.217,0.050,2049,2701,2210,0,0,0,0,0,0
$GC,13455,0.61,146.1,278.5,20.0,611,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2701,2210,0,0,0,0,0,0
$GC,13776,0.61,146.1,217.3,19.0,629,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2701,2210,0,0,0,0,0,0
$GC,14089,0.61,146.1,158.2,18.3,649,14093,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1294,2210,0,0,0,0,0,0
$GC,14175,0.61,146.1,142.3,17.0,654,14179,0.00,2.25,0.00,0.000,6,0.000,0.050,2058,2707,2209,0,0,0,0,0,0
$GC,14507,0.61,146.1,77.9,19.8,686,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2707,2209,0,0,0,0,0,0
$GC,14874,0.61,146.1,9.8,19.4,747,14883,0.00,2.22,0.00,0.000,4,0.000,0.044,2069,1297,2209,0,0,0,0,0,0
$STATE,14909,end climb,SURFACE_DEPTH_REACHED
$STATE,14909,begin surface coast
$FINISH,0.8,1.026442
$STATE,14923,end surface coast,CONTROL_FINISHED_OK
$STATE,14923,begin surface
$SM_CCo,14947,182.15,0.792,1,0,479,573.99
$SM_GC,1.43,0.00,0.00,182.15,0.000,0.000,0.792,54,2882,479,-5.61,0.06,573.99
$IRIDIUM_FIX,-4648.08,422.47,090113,151555
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,39.402
$10V_AH,10.1,18.473
$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,14.000,77.050,296.450,182.150,0.000,32.608,41.445,324.042,0.000,0.000,23.756,1849.367,10353.447,633.348,2311.048,618.444,33.372,1417.484,0.000,1826.342,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,61.200,1790.865,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.386,1496.804,809.044,320.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,53725,754
$CAP_FILE_SIZE,111803,0
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