version: 66.07
glider: 542
mission: 6
dive: 205
start: 1 10 113 10 11 40
data:
$ID,542
$MISSION,6
$DIVE,205
$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,-11142.299
$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,40
$R_STBD_OVSHOOT,33
$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
$GPS1,100113,095722,-4701.453,413.391,41,0.9,41,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-46.5
$GPS2,100113,101048,-4701.543,413.412,19,1.2,19,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.240,-0.079
$KALMAN_X,-153662.0,-428.4,709.1,148868.3,752.0
$KALMAN_Y,95622.0,-482.0,-351.0,-113786.0,4520.8
$MHEAD_RNG_PITCHd_Wd,275.0,5171,-16.8,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.62,-143.2,0.0,0.0,0,167,0.00,0.00,-133.95,0.000,2,0.000,0.000,56,2906,3219,0,0,0,0,0,0
$GC,174,-0.62,-146.1,3.1,-2.4,17,193,6.62,2.22,-5.32,0.000,4,0.253,0.047,1651,1478,3416,0,0,0,0,0,0
$GC,443,-0.62,-146.1,37.2,-10.0,59,450,0.00,2.28,0.00,0.000,6,0.000,0.054,1642,2884,3419,0,0,0,0,0,0
$GC,691,-0.62,-146.1,68.8,-13.5,100,698,0.00,1.62,0.00,0.000,4,0.000,0.059,1634,3901,3418,0,0,0,0,0,0
$GC,719,-0.62,-146.1,72.9,-13.4,104,726,0.00,1.58,0.00,0.000,6,0.000,0.031,1634,2855,3419,0,0,0,0,0,0
$GC,1073,-0.62,-146.1,118.1,-13.0,149,1076,0.00,1.67,0.00,0.000,4,0.000,0.059,1626,3906,3419,0,0,0,0,0,0
$GC,1145,-0.62,-146.1,127.5,-12.7,153,1149,0.00,1.55,0.00,0.000,6,0.000,0.031,1626,2876,3419,0,0,0,0,0,0
$GC,1477,-0.62,-146.1,171.1,-12.5,174,1481,0.00,2.08,0.00,0.000,4,0.000,0.036,1626,1505,3419,0,0,0,0,0,0
$GC,1502,-0.62,-146.1,173.6,-12.9,175,1507,0.12,2.20,0.00,0.000,6,0.185,0.051,1647,2887,3419,0,0,0,0,0,0
$GC,1836,-0.62,-146.1,209.0,-9.9,196,1839,0.00,1.60,0.00,0.000,4,0.000,0.060,1641,3893,3420,0,0,0,0,0,0
$GC,1892,-0.62,-146.1,215.2,-10.4,199,1895,0.00,1.52,0.00,0.000,6,0.000,0.032,1641,2881,3420,0,0,0,0,0,0
$GC,2224,-0.62,-146.1,248.9,-10.1,220,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2877,3420,0,0,0,0,0,0
$GC,2549,-0.62,-146.1,281.1,-9.7,236,2553,0.00,2.10,0.00,0.000,4,0.000,0.037,1641,1496,3420,0,0,0,0,0,0
$GC,2573,-0.62,-146.1,283.7,-9.9,237,2577,0.00,2.20,0.00,0.000,6,0.000,0.052,1630,2880,3420,0,0,0,0,0,0
$GC,2899,-0.62,-146.1,316.9,-10.5,253,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2881,3419,0,0,0,0,0,0
$GC,3206,-0.62,-146.1,348.9,-10.5,268,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2881,3419,0,0,0,0,0,0
$GC,3518,-0.62,-146.1,382.7,-11.1,283,3521,0.00,1.60,0.00,0.000,4,0.000,0.061,1623,3889,3419,0,0,0,0,0,0
$GC,3553,-0.62,-146.1,387.2,-12.0,284,3556,0.00,1.52,0.00,0.000,6,0.000,0.033,1623,2877,3419,0,0,0,0,0,0
$GC,3884,-0.62,-146.1,428.0,-12.4,297,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2873,3419,0,0,0,0,0,0
$GC,4191,-0.62,-146.1,465.4,-12.0,307,4194,0.00,1.65,0.00,0.000,4,0.000,0.062,1615,3908,3419,0,0,0,0,0,0
$GC,4214,-0.62,-146.1,468.6,-12.8,307,4219,0.10,1.55,0.00,0.000,6,0.166,0.033,1646,2886,3419,0,0,0,0,0,0
$GC,4536,-0.62,-146.1,499.5,-9.2,318,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3418,0,0,0,0,0,0
$GC,4842,-0.62,-146.1,527.1,-9.0,328,4846,0.00,2.12,0.00,0.000,4,0.000,0.039,1645,1490,3417,0,0,0,0,0,0
$GC,4877,-0.62,-146.1,530.4,-8.6,329,4881,0.00,2.22,0.00,0.000,6,0.000,0.054,1637,2884,3417,0,0,0,0,0,0
$GC,5209,-0.62,-146.1,561.3,-9.5,340,5213,0.00,1.60,0.00,0.000,4,0.000,0.063,1628,3890,3417,0,0,0,0,0,0
$GC,5232,-0.62,-146.1,563.8,-9.8,340,5236,0.00,1.52,0.00,0.000,6,0.000,0.034,1629,2879,3417,0,0,0,0,0,0
$GC,5553,-0.62,-146.1,596.2,-10.4,351,5557,0.00,1.65,0.00,0.000,4,0.000,0.063,1621,3909,3417,0,0,0,0,0,0
$GC,5582,-0.62,-146.1,599.7,-11.4,351,5589,0.00,1.55,0.00,0.000,6,0.000,0.034,1621,2878,3417,0,0,0,0,0,0
$GC,5897,-0.62,-146.1,634.3,-11.2,362,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2878,3417,0,0,0,0,0,0
$GC,6204,-0.62,-146.1,667.9,-10.8,372,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2878,3417,0,0,0,0,0,0
$GC,6509,-0.62,-146.1,700.2,-10.4,382,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2878,3416,0,0,0,0,0,0
$GC,6816,-0.62,-146.1,730.7,-9.9,392,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2878,3416,0,0,0,0,0,0
$GC,7122,-0.62,-146.1,760.7,-9.6,402,7126,0.00,2.10,0.00,0.000,4,0.000,0.039,1620,1500,3415,0,0,0,0,0,0
$GC,7146,-0.62,-146.1,763.2,-9.5,402,7153,0.15,2.20,0.00,0.000,6,0.178,0.054,1650,2883,3415,0,0,0,0,0,0
$GC,7461,-0.62,-146.1,784.0,-6.6,413,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2884,3415,0,0,0,0,0,0
$GC,7768,-0.62,-146.1,804.3,-6.6,423,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2884,3415,0,0,0,0,0,0
$GC,8074,-0.62,-146.1,825.9,-7.2,433,8078,0.00,2.10,0.00,0.000,4,0.000,0.038,1650,1502,3415,0,0,0,0,0,0
$GC,8114,-0.62,-146.1,829.3,-7.3,434,8119,0.00,2.17,0.00,0.000,6,0.000,0.054,1641,2878,3415,0,0,0,0,0,0
$GC,8454,-0.62,-146.1,856.9,-8.5,445,8458,0.00,1.62,0.00,0.000,4,0.000,0.063,1634,3897,3415,0,0,0,0,0,0
$GC,8483,-0.62,-146.1,859.8,-9.1,445,8490,0.00,1.52,0.00,0.000,6,0.000,0.034,1633,2884,3415,0,0,0,0,0,0
$GC,8799,-0.62,-146.1,886.5,-8.4,456,8803,0.00,2.10,0.00,0.000,4,0.000,0.038,1633,1493,3415,0,0,0,0,0,0
$GC,8832,-0.62,-146.1,889.2,-7.9,457,8836,0.00,2.22,0.00,0.000,6,0.000,0.054,1623,2888,3414,0,0,0,0,0,0
$GC,9170,-0.62,-146.1,918.0,-8.6,468,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2888,3414,0,0,0,0,0,0
$GC,9476,-0.62,-146.1,944.1,-8.4,478,9480,0.00,2.15,0.00,0.000,4,0.000,0.037,1623,1493,3414,0,0,0,0,0,0
$GC,9500,-0.62,-146.1,946.2,-8.1,478,9508,0.12,2.22,0.00,0.000,6,0.184,0.054,1645,2889,3414,0,0,0,0,0,0
$GC,9816,-0.62,-146.1,967.4,-6.6,489,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2889,3414,0,0,0,0,0,0
$GC,10122,-0.62,-146.1,986.4,-6.0,499,10126,0.00,2.15,0.00,0.000,4,0.000,0.038,1645,1493,3414,0,0,0,0,0,0
$GC,10163,-0.62,-146.1,988.9,-5.8,500,10167,0.00,2.22,0.00,0.000,6,0.000,0.054,1637,2883,3414,0,0,0,0,0,0
$STATE,10334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10334,begin apogee
$GC,10344,-0.18,0.0,1000.4,6.7,506,10495,0.50,0.00,146.98,1.242,6,0.155,0.000,1787,2713,2819,0,0,0,0,0,0
$STATE,10496,end apogee,CONTROL_FINISHED_OK
$STATE,10496,begin climb
$GC,10501,0.62,146.1,1002.8,0.0,511,10663,0.73,2.55,148.82,1.791,4,0.066,0.047,2061,1304,2225,0,0,0,0,1,0
$GC,10732,0.62,146.1,962.0,22.1,518,10736,0.00,2.45,0.00,0.000,6,0.000,0.050,2061,2702,2220,0,0,0,0,0,0
$GC,11064,0.62,146.1,878.2,25.0,529,11069,0.00,2.28,0.00,0.000,4,0.000,0.046,2071,1306,2216,0,0,0,0,0,0
$GC,11099,0.62,146.1,868.8,24.8,530,11104,0.00,2.33,0.00,0.000,6,0.000,0.051,2071,2706,2214,0,0,0,0,0,0
$GC,11432,0.62,146.1,785.6,25.3,541,11436,0.00,2.25,0.00,0.000,4,0.000,0.045,2081,1304,2214,0,0,0,0,0,0
$GC,11463,0.62,146.1,777.6,25.4,542,11468,0.12,2.28,0.00,0.000,6,0.226,0.052,2055,2700,2212,0,0,0,0,0,0
$GC,11803,0.62,146.1,698.0,23.3,553,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2701,2213,0,0,0,0,0,0
$GC,12108,0.62,146.1,627.3,22.8,563,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2701,2212,0,0,0,0,0,0
$GC,12414,0.62,146.1,558.3,22.6,573,12415,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2700,2212,0,0,0,0,0,0
$GC,12722,0.62,146.1,490.1,22.0,583,12726,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1293,2211,0,0,0,0,0,0
$GC,12739,0.62,146.1,485.5,22.3,583,12744,0.00,2.28,0.00,0.000,6,0.000,0.050,2064,2711,2210,0,0,0,0,0,0
$GC,13055,0.62,146.1,414.0,23.2,593,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2712,2210,0,0,0,0,0,0
$GC,13375,0.62,146.1,343.5,21.9,607,13379,0.00,2.22,0.00,0.000,4,0.000,0.046,2075,1294,2210,0,0,0,0,0,0
$GC,13404,0.62,146.1,336.4,20.9,608,13409,0.00,2.25,0.00,0.000,6,0.000,0.051,2076,2699,2210,0,0,0,0,0,0
$GC,13728,0.62,146.1,265.6,21.7,624,13732,0.00,2.20,0.00,0.000,4,0.000,0.045,2085,1303,2210,0,0,0,0,0,0
$GC,13750,0.62,146.1,261.2,22.0,625,13755,0.12,2.25,0.00,0.000,6,0.226,0.052,2057,2707,2210,0,0,0,0,0,0
$GC,14085,0.62,146.1,196.7,18.8,645,14089,0.00,2.20,0.00,0.000,4,0.000,0.045,2067,1296,2210,0,0,0,0,0,0
$GC,14133,0.62,146.1,186.2,18.4,648,14137,0.00,2.25,0.00,0.000,6,0.000,0.052,2066,2700,2209,0,0,0,0,0,0
$GC,14462,0.62,146.1,121.1,19.7,669,14466,0.00,2.20,0.00,0.000,4,0.000,0.046,2077,1296,2209,0,0,0,0,0,0
$GC,14530,0.62,146.1,107.7,19.9,673,14534,0.00,2.25,0.00,0.000,6,0.000,0.054,2077,2698,2209,0,0,0,0,0,0
$GC,14883,0.62,146.1,37.0,22.1,729,14889,0.00,2.20,0.00,0.000,4,0.000,0.044,2087,1297,2209,0,0,0,0,0,0
$GC,14925,0.62,146.1,28.3,19.0,735,14935,0.10,2.28,0.00,0.000,6,0.204,0.053,2059,2703,2208,0,0,0,0,0,0
$GC,15014,0.62,146.1,11.5,19.0,748,15022,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2703,2208,0,0,0,0,0,0
$STATE,15054,end climb,SURFACE_DEPTH_REACHED
$STATE,15054,begin surface coast
$FINISH,0.8,1.013176
$STATE,15074,end surface coast,CONTROL_FINISHED_OK
$STATE,15074,begin surface
$SM_CCo,15097,182.25,0.782,1,0,479,573.99
$SM_GC,1.33,0.00,0.00,182.25,0.000,0.000,0.782,54,2898,479,-5.61,0.51,573.99
$IRIDIUM_FIX,-4644.93,415.93,100113,101056
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.0,39.785
$10V_AH,10.1,18.689
$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,14.150,105.850,295.800,182.250,0.000,50.759,52.900,370.710,0.000,0.000,21.361,1874.192,10480.745,613.311,2450.543,655.058,33.363,1441.555,0.000,1852.690,0.000,1.010,0.000
$DEVICE_MAMPS,253.215,65.025,1790.865,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,501.441,1509.758,812.348,322.286,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,53744,757
$CAP_FILE_SIZE,122387,0
$CFSIZE,259252224,216539136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100113,142752,-4700.980,410.980,39,0.9,39,-23.3