version: 66.07
glider: 542
mission: 6
dive: 204
start: 1 10 113 5 36 55
data:
$ID,542
$MISSION,6
$DIVE,204
$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,-11139.973
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,100113,052522,-4702.012,415.644,41,0.9,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-48.2
$GPS2,100113,053559,-4702.038,415.644,17,0.9,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.254,-0.033
$KALMAN_X,-154908.1,-162.6,-790.9,154202.2,3042.1
$KALMAN_Y,94319.7,-504.5,-390.5,-113338.6,5067.4
$MHEAD_RNG_PITCHd_Wd,286.0,8066,-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,-118.15,0.000,2,0.000,0.000,53,2884,2841,0,0,0,0,0,0
$GC,154,-0.61,-146.1,3.0,-3.5,15,188,6.65,2.25,-22.17,0.000,4,0.251,0.050,1645,1485,3417,0,0,0,0,0,0
$GC,423,-0.61,-146.1,30.1,-10.5,56,432,0.00,2.28,0.00,0.000,6,0.000,0.052,1635,2878,3419,0,0,0,0,0,0
$GC,678,-0.61,-146.1,64.1,-13.7,97,682,0.00,1.62,0.00,0.000,4,0.000,0.058,1627,3897,3419,0,0,0,0,0,0
$GC,720,-0.61,-146.1,70.9,-14.9,104,727,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2852,3419,0,0,0,0,0,0
$GC,1068,-0.61,-146.1,116.1,-12.8,150,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2853,3419,0,0,0,0,0,0
$GC,1380,-0.61,-146.1,156.5,-12.8,170,1384,0.00,1.67,0.00,0.000,4,0.000,0.059,1620,3906,3420,0,0,0,0,0,0
$GC,1436,-0.61,-146.1,163.6,-13.5,173,1440,0.08,1.52,0.00,0.000,6,0.167,0.032,1643,2899,3421,0,0,0,0,0,0
$GC,1772,-0.61,-146.1,200.6,-10.4,194,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2895,3421,0,0,0,0,0,0
$GC,2081,-0.61,-146.1,231.1,-9.5,214,2085,0.00,2.12,0.00,0.000,4,0.000,0.038,1643,1495,3421,0,0,0,0,0,0
$GC,2105,-0.61,-146.1,233.8,-10.1,215,2109,0.00,2.22,0.00,0.000,6,0.000,0.051,1634,2892,3421,0,0,0,0,0,0
$GC,2438,-0.61,-146.1,268.8,-10.7,233,2442,0.00,1.58,0.00,0.000,4,0.000,0.060,1626,3889,3421,0,0,0,0,0,0
$GC,2509,-0.61,-146.1,277.3,-11.7,236,2512,0.00,1.52,0.00,0.000,6,0.000,0.033,1626,2875,3421,0,0,0,0,0,0
$GC,2843,-0.61,-146.1,317.0,-12.2,252,2847,0.00,2.08,0.00,0.000,4,0.000,0.037,1626,1497,3420,0,0,0,0,0,0
$GC,2862,-0.61,-146.1,319.6,-12.4,252,2871,0.08,2.22,0.00,0.000,6,0.168,0.052,1640,2881,3421,0,0,0,0,0,0
$GC,3180,-0.61,-146.1,353.7,-10.9,268,3183,0.00,1.60,0.00,0.000,4,0.000,0.060,1633,3891,3420,0,0,0,0,0,0
$GC,3214,-0.61,-146.1,357.9,-11.6,269,3218,0.00,1.52,0.00,0.000,6,0.000,0.033,1633,2878,3420,0,0,0,0,0,0
$GC,3540,-0.61,-146.1,393.6,-11.0,285,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2874,3421,0,0,0,0,0,0
$GC,3845,-0.61,-146.1,426.9,-10.8,296,3849,0.00,1.65,0.00,0.000,4,0.000,0.062,1625,3893,3420,0,0,0,0,0,0
$GC,3882,-0.61,-146.1,431.1,-11.7,297,3886,0.00,1.52,0.00,0.000,6,0.000,0.034,1625,2883,3420,0,0,0,0,0,0
$GC,4227,-0.61,-146.1,468.3,-10.8,308,4231,0.00,2.08,0.00,0.000,4,0.000,0.038,1625,1497,3420,0,0,0,0,0,0
$GC,4250,-0.61,-146.1,471.2,-10.4,308,4258,0.12,2.20,0.00,0.000,6,0.184,0.052,1646,2885,3420,0,0,0,0,0,0
$GC,4566,-0.61,-146.1,499.0,-8.9,319,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2885,3420,0,0,0,0,0,0
$GC,4872,-0.61,-146.1,526.5,-9.0,329,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2885,3420,0,0,0,0,0,0
$GC,5178,-0.61,-146.1,554.1,-9.0,339,5182,0.00,2.12,0.00,0.000,4,0.000,0.037,1647,1497,3419,0,0,0,0,0,0
$GC,5202,-0.61,-146.1,556.4,-8.9,339,5206,0.00,2.20,0.00,0.000,6,0.000,0.053,1638,2880,3419,0,0,0,0,0,0
$GC,5518,-0.61,-146.1,586.9,-10.1,349,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2881,3419,0,0,0,0,0,0
$GC,5824,-0.61,-146.1,616.9,-9.7,359,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2881,3419,0,0,0,0,0,0
$GC,6130,-0.61,-146.1,645.8,-9.4,369,6134,0.00,2.12,0.00,0.000,4,0.000,0.037,1638,1487,3418,0,0,0,0,0,0
$GC,6177,-0.61,-146.1,650.2,-9.2,370,6181,0.00,2.22,0.00,0.000,6,0.000,0.054,1628,2882,3418,0,0,0,0,0,0
$GC,6498,-0.61,-146.1,680.8,-9.4,381,6501,0.00,1.60,0.00,0.000,4,0.000,0.062,1621,3892,3418,0,0,0,0,0,0
$GC,6560,-0.61,-146.1,687.2,-10.2,382,6568,0.08,1.52,0.00,0.000,6,0.162,0.034,1644,2877,3418,0,0,0,0,0,0
$GC,6876,-0.61,-146.1,711.6,-7.5,393,6880,0.00,2.10,0.00,0.000,4,0.000,0.038,1644,1497,3418,0,0,0,0,0,0
$GC,6908,-0.61,-146.1,714.0,-7.6,394,6912,0.00,2.20,0.00,0.000,6,0.000,0.054,1635,2880,3417,0,0,0,0,0,0
$GC,7246,-0.61,-146.1,742.9,-8.8,405,7249,0.00,1.60,0.00,0.000,4,0.000,0.062,1627,3888,3418,0,0,0,0,0,0
$GC,7283,-0.61,-146.1,746.2,-9.2,406,7287,0.00,1.52,0.00,0.000,6,0.000,0.034,1627,2877,3417,0,0,0,0,0,0
$GC,7626,-0.61,-146.1,778.6,-9.4,417,7630,0.00,2.08,0.00,0.000,4,0.000,0.038,1627,1499,3418,0,0,0,0,0,0
$GC,7644,-0.61,-146.1,780.5,-9.7,417,7649,0.12,2.17,0.00,0.000,6,0.180,0.053,1649,2881,3418,0,0,0,0,0,0
$GC,7966,-0.61,-146.1,805.2,-7.5,428,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2881,3418,0,0,0,0,0,0
$GC,8272,-0.61,-146.1,826.8,-7.0,438,8276,0.00,2.10,0.00,0.000,4,0.000,0.037,1650,1497,3418,0,0,0,0,0,0
$GC,8318,-0.61,-146.1,830.1,-6.7,439,8322,0.00,2.20,0.00,0.000,6,0.000,0.054,1641,2885,3418,0,0,0,0,0,0
$GC,8651,-0.61,-146.1,854.1,-7.2,450,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2886,3418,0,0,0,0,0,0
$GC,8957,-0.61,-146.1,876.5,-7.4,460,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2886,3418,0,0,0,0,0,0
$GC,9263,-0.61,-146.1,898.9,-7.3,470,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2886,3418,0,0,0,0,0,0
$GC,9569,-0.61,-146.1,921.3,-7.4,480,9573,0.00,2.15,0.00,0.000,4,0.000,0.038,1641,1488,3418,0,0,0,0,0,0
$GC,9604,-0.61,-146.1,924.3,-7.5,481,9608,0.00,2.22,0.00,0.000,6,0.000,0.054,1631,2880,3417,0,0,0,0,0,0
$GC,9937,-0.61,-146.1,951.9,-8.5,492,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2881,3417,0,0,0,0,0,0
$GC,10243,-0.61,-146.1,977.8,-8.6,502,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2881,3417,0,0,0,0,0,0
$STATE,10514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10514,begin apogee
$GC,10525,-0.18,0.0,1000.6,8.1,511,10676,0.52,0.00,147.60,1.243,6,0.159,0.000,1787,2706,2819,0,0,0,0,0,0
$STATE,10677,end apogee,CONTROL_FINISHED_OK
$STATE,10677,begin climb
$GC,10682,0.61,146.1,1004.4,0.0,516,10844,0.77,2.53,148.65,1.795,4,0.071,0.047,2065,1312,2225,0,0,0,0,1,0
$GC,10892,0.61,146.1,968.9,22.9,523,10896,0.00,2.42,0.00,0.000,6,0.000,0.049,2065,2695,2223,0,0,0,0,0,0
$GC,11224,0.61,146.1,887.1,24.9,534,11228,0.00,2.25,0.00,0.000,4,0.000,0.045,2075,1314,2216,0,0,0,0,0,0
$GC,11254,0.61,146.1,879.2,25.7,534,11261,0.00,2.30,0.00,0.000,6,0.000,0.051,2075,2702,2216,0,0,0,0,0,0
$GC,11569,0.61,146.1,800.3,25.1,545,11573,0.00,2.25,0.00,0.000,4,0.000,0.045,2086,1309,2215,0,0,0,0,0,0
$GC,11587,0.61,146.1,795.4,24.8,545,11592,0.15,2.28,0.00,0.000,6,0.227,0.051,2053,2703,2214,0,0,0,0,0,0
$GC,11903,0.61,146.1,722.8,23.0,555,11907,0.00,2.22,0.00,0.000,4,0.000,0.045,2062,1310,2214,0,0,0,0,0,0
$GC,11921,0.61,146.1,717.9,23.2,555,11926,0.00,2.25,0.00,0.000,6,0.000,0.050,2062,2702,2213,0,0,0,0,0,0
$GC,12237,0.61,146.1,642.2,24.6,565,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2702,2213,0,0,0,0,0,0
$GC,12543,0.61,146.1,571.2,23.0,575,12547,0.00,2.22,0.00,0.000,4,0.000,0.045,2072,1297,2213,0,0,0,0,0,0
$GC,12589,0.61,146.1,560.9,20.5,576,12593,0.00,2.28,0.00,0.000,6,0.000,0.051,2072,2709,2212,0,0,0,0,0,0
$GC,12910,0.61,146.1,487.0,22.7,587,12914,0.00,2.20,0.00,0.000,4,0.000,0.046,2082,1310,2212,0,0,0,0,0,0
$GC,12967,0.61,146.1,474.2,19.8,588,12975,0.12,2.22,0.00,0.000,6,0.224,0.052,2055,2701,2211,0,0,0,0,0,0
$GC,13282,0.61,146.1,409.6,20.6,599,13286,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1307,2211,0,0,0,0,0,0
$GC,13306,0.61,146.1,404.4,20.4,599,13315,0.00,2.22,0.00,0.000,6,0.000,0.050,2064,2703,2211,0,0,0,0,0,0
$GC,13637,0.61,146.1,334.5,21.8,615,13641,0.00,2.20,0.00,0.000,4,0.000,0.045,2074,1308,2211,0,0,0,0,0,0
$GC,13657,0.61,146.1,329.7,21.9,616,13661,0.00,2.22,0.00,0.000,6,0.000,0.050,2074,2704,2211,0,0,0,0,0,0
$GC,13986,0.61,146.1,257.4,22.0,632,13990,0.00,2.17,0.00,0.000,4,0.000,0.046,2085,1311,2211,0,0,0,0,0,0
$GC,14016,0.61,146.1,250.4,21.6,633,14021,0.15,2.22,0.00,0.000,6,0.220,0.052,2051,2700,2210,0,0,0,0,0,0
$GC,14345,0.61,146.1,189.9,17.8,653,14349,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1300,2210,0,0,0,0,0,0
$GC,14363,0.61,146.1,185.0,17.6,654,14367,0.00,2.25,0.00,0.000,6,0.000,0.053,2059,2706,2210,0,0,0,0,0,0
$GC,14692,0.61,146.1,121.0,20.2,675,14696,0.00,2.20,0.00,0.000,4,0.000,0.045,2070,1307,2210,0,0,0,0,0,0
$GC,14721,0.61,146.1,114.6,18.1,676,14730,0.00,2.28,0.00,0.000,6,0.000,0.054,2070,2705,2210,0,0,0,0,0,0
$GC,15073,0.61,146.1,48.3,19.3,727,15079,0.00,1.90,0.00,0.000,4,0.000,0.062,2070,3903,2210,0,0,0,0,0,0
$GC,15119,0.61,146.1,38.2,20.7,734,15129,0.10,1.85,0.00,0.000,6,0.228,0.038,2053,2717,2210,0,0,0,0,0,0
$STATE,15308,end climb,SURFACE_DEPTH_REACHED
$STATE,15308,begin surface coast
$FINISH,0.8,1.013903
$STATE,15328,end surface coast,CONTROL_FINISHED_OK
$STATE,15328,begin surface
$SM_CCo,15350,182.15,0.792,1,0,479,573.99
$SM_GC,1.51,0.00,0.00,182.15,0.000,0.000,0.792,56,2906,479,-5.61,0.74,573.99
$IRIDIUM_FIX,-4644.93,403.34,100113,010137
$TT8_MAMPS,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.0,39.592
$10V_AH,10.1,18.581
$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,14.300,119.300,296.250,182.150,0.000,28.052,44.512,320.717,0.000,0.000,23.382,1908.965,10559.263,621.748,2394.540,680.271,33.372,1482.750,0.000,1910.071,0.000,1.008,0.000
$DEVICE_MAMPS,250.920,67.320,1794.690,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.418,1542.600,835.457,331.057,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,53673,767
$CAP_FILE_SIZE,125492,0
$CFSIZE,259252224,216600576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100113,095722,-4701.453,413.391,41,0.9,41,-23.3