version: 66.07
glider: 542
mission: 6
dive: 206
start: 1 10 113 14 39 7
data:
$ID,542
$MISSION,6
$DIVE,206
$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,-11148.426
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,100113,142752,-4700.980,410.980,39,0.9,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-43.2
$GPS2,100113,143811,-4701.008,411.026,20,1.0,20,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.236,-0.098
$KALMAN_X,-150748.6,-103.9,-395.9,143703.0,4255.4
$KALMAN_Y,97733.1,-381.9,-25.9,-115340.7,4172.3
$MHEAD_RNG_PITCHd_Wd,270.6,2273,-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,-146.1,0.0,0.0,0,163,0.00,0.00,-134.10,0.000,2,0.000,0.000,54,2899,3199,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.0,-2.5,17,189,6.65,2.30,-5.82,0.000,4,0.252,0.052,1648,1470,3416,0,0,0,0,0,0
$GC,466,-0.61,-146.1,40.8,-11.0,64,475,0.00,2.30,0.00,0.000,6,0.000,0.054,1639,2872,3419,0,0,0,0,0,0
$GC,714,-0.61,-146.1,73.5,-13.7,105,720,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2873,3419,0,0,0,0,0,0
$GC,1060,-0.61,-146.1,117.1,-11.9,149,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2872,3420,0,0,0,0,0,0
$GC,1372,-0.61,-146.1,153.4,-11.5,169,1376,0.00,2.15,0.00,0.000,4,0.000,0.037,1639,1484,3420,0,0,0,0,0,0
$GC,1408,-0.61,-146.1,157.7,-10.6,171,1412,0.00,2.25,0.00,0.000,6,0.000,0.052,1628,2890,3420,0,0,0,0,0,0
$GC,1734,-0.61,-146.1,197.7,-12.6,192,1738,0.00,1.60,0.00,0.000,4,0.000,0.061,1620,3896,3420,0,0,0,0,0,0
$GC,1758,-0.61,-146.1,201.2,-13.5,193,1761,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2850,3420,0,0,0,0,0,0
$GC,2084,-0.61,-146.1,245.3,-13.4,214,2089,0.12,1.70,0.00,0.000,4,0.193,0.060,1644,3902,3420,0,0,0,0,0,0
$GC,2126,-0.61,-146.1,250.7,-11.1,216,2135,0.00,1.52,0.00,0.000,6,0.000,0.032,1644,2888,3420,0,0,0,0,0,0
$GC,2444,-0.61,-146.1,283.8,-10.3,232,2448,0.00,2.12,0.00,0.000,4,0.000,0.037,1644,1493,3420,0,0,0,0,0,0
$GC,2466,-0.61,-146.1,285.8,-10.1,233,2470,0.00,2.22,0.00,0.000,6,0.000,0.052,1634,2889,3420,0,0,0,0,0,0
$GC,2797,-0.61,-146.1,322.5,-11.0,249,2801,0.00,1.60,0.00,0.000,4,0.000,0.061,1626,3900,3420,0,0,0,0,0,0
$GC,2832,-0.61,-146.1,326.7,-10.9,250,2836,0.00,1.52,0.00,0.000,6,0.000,0.032,1626,2888,3420,0,0,0,0,0,0
$GC,3156,-0.61,-146.1,362.2,-11.0,266,3160,0.00,2.08,0.00,0.000,4,0.000,0.037,1626,1498,3420,0,0,0,0,0,0
$GC,3185,-0.61,-146.1,365.6,-10.7,267,3190,0.12,2.20,0.00,0.000,6,0.184,0.052,1647,2881,3420,0,0,0,0,0,0
$GC,3513,-0.61,-146.1,394.7,-9.1,283,3516,0.00,1.60,0.00,0.000,4,0.000,0.061,1641,3892,3420,0,0,0,0,0,0
$GC,3548,-0.61,-146.1,398.5,-10.1,284,3551,0.00,1.52,0.00,0.000,6,0.000,0.033,1641,2879,3421,0,0,0,0,0,0
$GC,3888,-0.61,-146.1,430.9,-9.6,296,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2874,3419,0,0,0,0,0,0
$GC,4196,-0.61,-146.1,461.8,-10.2,306,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2875,3419,0,0,0,0,0,0
$GC,4501,-0.61,-146.1,493.3,-10.3,316,4504,0.00,1.65,0.00,0.000,4,0.000,0.062,1633,3907,3419,0,0,0,0,0,0
$GC,4537,-0.61,-146.1,497.2,-11.0,317,4541,0.00,1.55,0.00,0.000,6,0.000,0.034,1633,2880,3419,0,0,0,0,0,0
$GC,4881,-0.61,-146.1,533.3,-10.3,328,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2876,3419,0,0,0,0,0,0
$GC,5187,-0.61,-146.1,563.0,-9.6,338,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2876,3419,0,0,0,0,0,0
$GC,5494,-0.61,-146.1,591.8,-9.3,348,5497,0.00,1.65,0.00,0.000,4,0.000,0.062,1625,3893,3418,0,0,0,0,0,0
$GC,5523,-0.61,-146.1,595.0,-10.2,348,5530,0.00,1.52,0.00,0.000,6,0.000,0.033,1625,2878,3418,0,0,0,0,0,0
$GC,5840,-0.61,-146.1,625.9,-9.9,359,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2877,3418,0,0,0,0,0,0
$GC,6144,-0.61,-146.1,656.0,-9.9,369,6148,0.00,2.10,0.00,0.000,4,0.000,0.038,1625,1493,3418,0,0,0,0,0,0
$GC,6168,-0.61,-146.1,658.7,-10.8,369,6172,0.12,2.22,0.00,0.000,6,0.184,0.054,1646,2889,3417,0,0,0,0,0,0
$GC,6483,-0.61,-146.1,685.2,-8.4,379,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2889,3418,0,0,0,0,0,0
$GC,6789,-0.61,-146.1,710.3,-8.1,389,6793,0.00,2.12,0.00,0.000,4,0.000,0.037,1647,1498,3417,0,0,0,0,0,0
$GC,6826,-0.61,-146.1,713.4,-8.2,390,6831,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2884,3417,0,0,0,0,0,0
$GC,7172,-0.61,-146.1,744.0,-9.0,401,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3417,0,0,0,0,0,0
$GC,7476,-0.61,-146.1,770.5,-8.4,411,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3417,0,0,0,0,0,0
$GC,7782,-0.61,-146.1,795.9,-8.3,421,7786,0.00,2.12,0.00,0.000,4,0.000,0.037,1637,1501,3417,0,0,0,0,0,0
$GC,7807,-0.61,-146.1,798.1,-8.7,421,7813,0.00,2.20,0.00,0.000,6,0.000,0.054,1627,2884,3417,0,0,0,0,0,0
$GC,8122,-0.61,-146.1,825.4,-9.0,432,8126,0.00,1.60,0.00,0.000,4,0.000,0.062,1620,3893,3417,0,0,0,0,0,0
$GC,8146,-0.61,-146.1,827.8,-9.5,432,8150,0.08,1.52,0.00,0.000,6,0.159,0.033,1643,2883,3416,0,0,0,0,0,0
$GC,8467,-0.61,-146.1,853.0,-7.8,443,8471,0.00,2.10,0.00,0.000,4,0.000,0.037,1643,1496,3416,0,0,0,0,0,0
$GC,8508,-0.61,-146.1,856.4,-8.3,444,8512,0.00,2.22,0.00,0.000,6,0.000,0.054,1635,2888,3416,0,0,0,0,0,0
$GC,8834,-0.61,-146.1,883.7,-8.6,455,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2888,3416,0,0,0,0,0,0
$GC,9141,-0.61,-146.1,909.9,-8.6,465,9145,0.00,2.15,0.00,0.000,4,0.000,0.037,1635,1493,3416,0,0,0,0,0,0
$GC,9182,-0.61,-146.1,913.8,-8.5,466,9186,0.00,2.22,0.00,0.000,6,0.000,0.054,1625,2884,3416,0,0,0,0,0,0
$GC,9509,-0.61,-146.1,942.7,-8.9,477,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2884,3416,0,0,0,0,0,0
$GC,9816,-0.61,-146.1,968.9,-8.3,487,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2884,3416,0,0,0,0,0,0
$GC,10121,-0.61,-146.1,994.2,-8.2,497,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2884,3416,0,0,0,0,0,0
$STATE,10209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10219,-0.18,0.0,1001.7,8.2,500,10370,0.55,0.00,147.18,1.230,6,0.161,0.000,1787,2711,2819,0,0,0,0,0,0
$STATE,10372,end apogee,CONTROL_FINISHED_OK
$STATE,10372,begin climb
$GC,10377,0.61,146.1,1004.4,0.0,505,10539,0.77,2.55,148.57,1.784,4,0.065,0.045,2071,1313,2225,0,0,0,0,1,0
$GC,10559,0.61,146.1,973.8,24.6,511,10564,0.00,2.47,0.00,0.000,6,0.000,0.050,2071,2695,2224,0,0,0,0,0,0
$GC,10892,0.61,146.1,888.8,25.8,522,10896,0.00,2.28,0.00,0.000,4,0.000,0.045,2081,1311,2216,0,0,0,0,0,0
$GC,10923,0.61,146.1,880.8,26.2,523,10928,0.12,2.33,0.00,0.000,6,0.225,0.050,2055,2708,2215,0,0,0,0,0,0
$GC,11262,0.61,146.1,799.7,23.8,534,11266,0.00,2.25,0.00,0.000,4,0.000,0.044,2064,1296,2214,0,0,0,0,0,0
$GC,11286,0.61,146.1,793.5,24.4,534,11292,0.00,2.30,0.00,0.000,6,0.000,0.051,2065,2708,2213,0,0,0,0,0,0
$GC,11601,0.61,146.1,716.5,24.6,545,11605,0.00,2.25,0.00,0.000,4,0.000,0.045,2075,1297,2213,0,0,0,0,0,0
$GC,11619,0.61,146.1,711.7,24.0,545,11624,0.00,2.28,0.00,0.000,6,0.000,0.050,2075,2713,2213,0,0,0,0,0,0
$GC,11940,0.61,146.1,634.0,24.1,556,11944,0.00,2.22,0.00,0.000,4,0.000,0.045,2085,1309,2212,0,0,0,0,0,0
$GC,11992,0.61,146.1,621.5,22.2,557,11997,0.15,2.25,0.00,0.000,6,0.224,0.051,2052,2704,2211,0,0,0,0,0,0
$GC,12315,0.61,146.1,552.1,21.4,568,12319,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1300,2211,0,0,0,0,0,0
$GC,12348,0.61,146.1,545.1,22.2,569,12352,0.00,2.25,0.00,0.000,6,0.000,0.050,2061,2702,2210,0,0,0,0,0,0
$GC,12686,0.61,146.1,471.0,21.9,580,12690,0.00,2.20,0.00,0.000,4,0.000,0.044,2071,1308,2211,0,0,0,0,0,0
$GC,12710,0.61,146.1,465.5,21.5,580,12716,0.00,2.22,0.00,0.000,6,0.000,0.051,2071,2699,2210,0,0,0,0,0,0
$GC,13025,0.61,146.1,397.5,21.8,591,13029,0.00,2.20,0.00,0.000,4,0.000,0.045,2082,1297,2210,0,0,0,0,0,0
$GC,13043,0.61,146.1,393.1,22.2,591,13050,0.12,2.25,0.00,0.000,6,0.226,0.051,2054,2705,2210,0,0,0,0,0,0
$GC,13364,0.61,146.1,328.0,20.6,607,13368,0.00,2.20,0.00,0.000,4,0.000,0.045,2064,1294,2210,0,0,0,0,0,0
$GC,13387,0.61,146.1,322.3,20.3,608,13392,0.00,2.25,0.00,0.000,6,0.000,0.051,2064,2698,2209,0,0,0,0,0,0
$GC,13711,0.61,146.1,253.8,21.3,624,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2699,2210,0,0,0,0,0,0
$GC,14029,0.61,146.1,187.6,21.0,644,14033,0.00,2.17,0.00,0.000,4,0.000,0.044,2074,1296,2210,0,0,0,0,0,0
$GC,14053,0.61,146.1,182.3,19.3,645,14060,0.00,2.25,0.00,0.000,6,0.000,0.050,2074,2710,2209,0,0,0,0,0,0
$GC,14376,0.61,146.1,114.3,21.0,666,14380,0.00,2.22,0.00,0.000,4,0.000,0.046,2084,1296,2209,0,0,0,0,0,0
$GC,14408,0.61,146.1,107.4,21.1,668,14413,0.15,2.25,0.00,0.000,6,0.218,0.052,2050,2702,2208,0,0,0,0,0,0
$GC,14762,0.61,146.1,41.3,19.2,724,14773,0.00,2.22,0.00,0.000,4,0.000,0.044,2059,1303,2209,0,0,0,0,0,0
$GC,14803,0.61,146.1,34.6,17.4,729,14809,0.00,2.22,0.00,0.000,6,0.000,0.052,2059,2698,2208,0,0,0,0,0,0
$STATE,14973,end climb,SURFACE_DEPTH_REACHED
$STATE,14973,begin surface coast
$FINISH,0.8,1.015529
$STATE,14987,end surface coast,CONTROL_FINISHED_OK
$STATE,14987,begin surface
$SM_CCo,15009,180.18,0.789,1,0,477,573.99
$SM_GC,1.14,0.00,0.00,180.18,0.000,0.000,0.789,56,2890,477,-5.61,0.28,573.99
$IRIDIUM_FIX,-4710.21,1250.37,100113,101049
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.1,39.972
$10V_AH,10.1,18.795
$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,14.375,116.325,295.750,180.175,0.000,26.930,49.182,294.704,0.000,0.000,26.105,1879.876,10330.748,616.649,2327.399,646.596,33.374,1456.283,0.000,1849.961,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,79.560,1783.980,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.759,1507.381,815.663,327.325,0.000,0.000,0.000,0.000,0.000,0.000
$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,53742,758
$CAP_FILE_SIZE,122092,0
$CFSIZE,259252224,216473600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100113,185359,-4700.754,408.044,48,0.8,48,-23.3