version: 66.07
glider: 542
mission: 6
dive: 240
start: 1 15 113 22 8 46
data:
$ID,542
$MISSION,6
$DIVE,240
$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,-11258.104
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,150113,215252,-4642.225,400.086,39,0.9,39,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-42.2
$GPS2,150113,220754,-4642.278,400.115,17,1.1,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.184,0.177
$KALMAN_X,-163566.0,-50.3,-110.2,142376.2,-3564.1
$KALMAN_Y,84864.5,402.4,201.3,-68820.1,-3135.2
$MHEAD_RNG_PITCHd_Wd,69.4,25997,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,164,0.00,0.00,-134.00,0.000,2,0.000,0.000,52,2898,3197,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.1,-2.9,17,189,6.80,2.28,-5.78,0.000,4,0.256,0.049,1655,1476,3417,0,0,0,0,0,0
$GC,232,-0.61,-146.1,14.9,-12.3,25,241,0.00,2.30,0.00,0.000,6,0.000,0.051,1645,2876,3419,0,0,0,0,0,0
$GC,319,-0.61,-146.1,25.4,-12.8,38,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2875,3419,0,0,0,0,0,0
$GC,408,-0.61,-146.1,36.7,-12.4,51,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2876,3419,0,0,0,0,0,0
$GC,652,-0.61,-146.1,70.3,-14.1,92,658,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2876,3420,0,0,0,0,0,0
$GC,995,-0.61,-146.1,112.7,-10.9,139,996,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2876,3420,0,0,0,0,0,0
$GC,1307,-0.61,-146.1,145.5,-10.5,159,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2876,3420,0,0,0,0,0,0
$GC,1621,-0.61,-146.1,179.5,-10.8,179,1624,0.00,1.62,0.00,0.000,4,0.000,0.058,1637,3899,3420,0,0,0,0,0,0
$GC,1676,-0.61,-146.1,186.0,-11.5,182,1680,0.00,1.58,0.00,0.000,6,0.000,0.031,1637,2845,3421,0,0,0,0,0,0
$GC,2015,-0.61,-146.1,220.2,-9.3,203,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3420,0,0,0,0,0,0
$GC,2336,-0.61,-146.1,251.4,-9.9,224,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3421,0,0,0,0,0,0
$GC,2648,-0.61,-146.1,281.9,-9.8,239,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3421,0,0,0,0,0,0
$GC,2955,-0.61,-146.1,312.7,-9.8,254,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3420,0,0,0,0,0,0
$GC,3267,-0.61,-146.1,343.6,-10.1,269,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3420,0,0,0,0,0,0
$GC,3573,-0.61,-146.1,375.5,-10.5,284,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3420,0,0,0,0,0,0
$GC,3882,-0.61,-146.1,409.0,-11.0,298,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3419,0,0,0,0,0,0
$GC,4189,-0.61,-146.1,443.0,-10.9,308,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2842,3419,0,0,0,0,0,0
$GC,4495,-0.61,-146.1,476.8,-10.9,318,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2841,3418,0,0,0,0,0,0
$GC,4801,-0.61,-146.1,509.6,-10.7,328,4804,0.00,1.70,0.00,0.000,4,0.000,0.061,1629,3905,3418,0,0,0,0,0,0
$GC,4841,-0.61,-146.1,514.2,-10.8,329,4845,0.00,1.52,0.00,0.000,6,0.000,0.033,1629,2895,3418,0,0,0,0,0,0
$GC,5178,-0.61,-146.1,550.7,-10.8,340,5182,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1494,3417,0,0,0,0,0,0
$GC,5213,-0.61,-146.1,554.7,-10.6,341,5218,0.12,2.22,0.00,0.000,6,0.173,0.053,1651,2885,3418,0,0,0,0,0,0
$GC,5546,-0.61,-146.1,582.4,-8.1,352,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2885,3416,0,0,0,0,0,0
$GC,5855,-0.61,-146.1,606.3,-7.9,362,5859,0.00,2.12,0.00,0.000,4,0.000,0.037,1651,1485,3416,0,0,0,0,0,0
$GC,5891,-0.61,-146.1,609.3,-7.1,363,5895,0.00,2.22,0.00,0.000,6,0.000,0.054,1643,2887,3416,0,0,0,0,0,0
$GC,6223,-0.61,-146.1,635.7,-8.2,374,6227,0.00,1.60,0.00,0.000,4,0.000,0.061,1635,3892,3416,0,0,0,0,0,0
$GC,6247,-0.61,-146.1,638.0,-9.0,374,6251,0.00,1.52,0.00,0.000,6,0.000,0.032,1635,2877,3415,0,0,0,0,0,0
$GC,6568,-0.61,-146.1,665.5,-8.6,385,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2873,3415,0,0,0,0,0,0
$GC,6875,-0.61,-146.1,690.8,-8.0,395,6879,0.00,2.10,0.00,0.000,4,0.000,0.037,1635,1492,3415,0,0,0,0,0,0
$GC,6908,-0.61,-146.1,693.2,-8.0,396,6912,0.00,2.20,0.00,0.000,6,0.000,0.053,1625,2882,3415,0,0,0,0,0,0
$GC,7246,-0.61,-146.1,721.1,-8.4,407,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2883,3414,0,0,0,0,0,0
$GC,7552,-0.61,-146.1,747.1,-8.5,417,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2882,3414,0,0,0,0,0,0
$GC,7858,-0.61,-146.1,773.2,-8.4,427,7862,0.00,2.10,0.00,0.000,4,0.000,0.036,1625,1498,3413,0,0,0,0,0,0
$GC,7890,-0.61,-146.1,775.9,-7.8,428,7895,0.12,2.22,0.00,0.000,6,0.180,0.054,1647,2887,3413,0,0,0,0,0,0
$GC,8229,-0.61,-146.1,798.6,-6.6,439,8233,0.00,2.12,0.00,0.000,4,0.000,0.036,1647,1490,3413,0,0,0,0,0,0
$GC,8261,-0.61,-146.1,800.8,-7.1,440,8265,0.00,2.22,0.00,0.000,6,0.000,0.054,1638,2890,3413,0,0,0,0,0,0
$GC,8599,-0.61,-146.1,825.0,-7.2,451,8602,0.00,1.60,0.00,0.000,4,0.000,0.061,1630,3893,3413,0,0,0,0,0,0
$GC,8622,-0.61,-146.1,827.0,-8.1,451,8626,0.00,1.52,0.00,0.000,6,0.000,0.032,1630,2878,3413,0,0,0,0,0,0
$GC,8943,-0.61,-146.1,852.3,-8.0,462,8947,0.00,2.08,0.00,0.000,4,0.000,0.037,1630,1492,3413,0,0,0,0,0,0
$GC,8984,-0.61,-146.1,855.7,-7.8,463,8989,0.12,2.20,0.00,0.000,6,0.175,0.053,1652,2881,3412,0,0,0,0,0,0
$GC,9312,-0.61,-146.1,877.1,-6.5,474,9316,0.00,2.10,0.00,0.000,4,0.000,0.035,1652,1496,3413,0,0,0,0,0,0
$GC,9336,-0.61,-146.1,879.0,-7.1,474,9342,0.00,2.22,0.00,0.000,6,0.000,0.053,1645,2887,3412,0,0,0,0,0,0
$GC,9651,-0.61,-146.1,902.6,-7.6,485,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2888,3412,0,0,0,0,0,0
$GC,9958,-0.61,-146.1,925.1,-7.1,495,9962,0.00,2.10,0.00,0.000,4,0.000,0.035,1645,1499,3412,0,0,0,0,0,0
$GC,9998,-0.61,-146.1,928.0,-6.2,496,10002,0.00,2.22,0.00,0.000,6,0.000,0.054,1636,2885,3411,0,0,0,0,0,0
$GC,10325,-0.61,-146.1,951.2,-7.2,507,10329,0.00,1.60,0.00,0.000,4,0.000,0.061,1628,3890,3411,0,0,0,0,0,0
$GC,10365,-0.61,-146.1,954.3,-7.9,508,10369,0.00,1.52,0.00,0.000,6,0.000,0.032,1628,2872,3411,0,0,0,0,0,0
$GC,10703,-0.61,-146.1,978.8,-7.3,519,10706,0.00,2.05,0.00,0.000,4,0.000,0.036,1628,1504,3411,0,0,0,0,0,0
$GC,10740,-0.61,-146.1,981.6,-7.2,520,10744,0.12,2.20,0.00,0.000,6,0.174,0.053,1650,2888,3411,0,0,0,0,0,0
$STATE,11043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11043,begin apogee
$GC,11054,-0.18,0.0,1000.3,6.0,530,11204,0.45,0.00,142.25,1.825,6,0.148,0.000,1786,2715,2820,0,0,0,0,1,0
$STATE,11206,end apogee,CONTROL_FINISHED_OK
$STATE,11206,begin climb
$GC,11211,0.61,146.1,1004.2,0.0,535,11379,0.77,2.15,154.88,1.792,4,0.059,0.057,2057,3891,2223,0,0,0,0,1,0
$GC,11393,0.61,146.1,976.1,23.7,540,11400,0.00,2.03,0.00,0.000,6,0.000,0.034,2066,2710,2223,0,0,0,0,0,0
$GC,11710,0.61,146.1,896.4,24.9,551,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2704,2217,0,0,0,0,0,0
$GC,12014,0.61,146.1,820.7,24.9,561,12018,0.00,2.25,0.00,0.000,4,0.000,0.043,2076,1287,2214,0,0,0,0,0,0
$GC,12055,0.61,146.1,810.9,22.1,562,12059,0.00,2.33,0.00,0.000,6,0.000,0.050,2076,2708,2212,0,0,0,0,0,0
$GC,12381,0.61,146.1,729.2,25.5,573,12385,0.00,2.25,0.00,0.000,4,0.000,0.042,2087,1294,2211,0,0,0,0,0,0
$GC,12399,0.61,146.1,724.0,25.6,573,12404,0.15,2.28,0.00,0.000,6,0.216,0.050,2053,2699,2211,0,0,0,0,0,0
$GC,12716,0.61,146.1,652.1,22.6,583,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2699,2211,0,0,0,0,0,0
$GC,13021,0.61,146.1,583.3,22.2,593,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2699,2210,0,0,0,0,0,0
$GC,13327,0.61,146.1,517.1,21.3,603,13328,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2699,2210,0,0,0,0,0,0
$GC,13633,0.61,146.1,452.2,21.4,613,13637,0.00,2.20,0.00,0.000,4,0.000,0.041,2062,1284,2209,0,0,0,0,0,0
$GC,13665,0.61,146.1,445.7,20.4,614,13669,0.00,2.28,0.00,0.000,6,0.000,0.050,2063,2703,2208,0,0,0,0,0,0
$GC,13983,0.61,146.1,375.0,22.2,626,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2704,2208,0,0,0,0,0,0
$GC,14294,0.61,146.1,303.9,23.1,641,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2704,2208,0,0,0,0,0,0
$GC,14604,0.61,146.1,236.8,20.3,657,14606,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2704,2208,0,0,0,0,0,0
$GC,14916,0.61,146.1,172.1,20.3,677,14921,0.00,2.20,0.00,0.000,4,0.000,0.042,2073,1292,2208,0,0,0,0,0,0
$GC,14963,0.61,146.1,162.4,17.9,679,14970,0.00,2.25,0.00,0.000,6,0.000,0.050,2073,2701,2207,0,0,0,0,0,0
$GC,15286,0.61,146.1,97.0,20.0,700,15293,0.00,2.20,0.00,0.000,4,0.000,0.043,2083,1291,2207,0,0,0,0,0,0
$GC,15314,0.61,146.1,90.9,19.8,704,15322,0.12,2.25,0.00,0.000,6,0.210,0.050,2055,2704,2207,0,0,0,0,0,0
$GC,15677,0.61,146.1,32.1,17.1,765,15683,0.00,1.88,0.00,0.000,4,0.000,0.058,2054,3895,2207,0,0,0,0,0,0
$GC,15720,0.61,146.1,24.1,18.9,771,15730,0.00,1.88,0.00,0.000,6,0.000,0.037,2063,2691,2207,0,0,0,0,0,0
$GC,15809,0.61,146.1,7.6,18.0,784,15818,0.00,2.17,0.00,0.000,4,0.000,0.044,2073,1303,2207,0,0,0,0,0,0
$STATE,15832,end climb,SURFACE_DEPTH_REACHED
$STATE,15833,begin surface coast
$FINISH,0.7,1.012870
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15852,begin surface
$SM_CCo,15877,184.20,0.778,1,0,478,573.99
$SM_GC,1.39,0.00,0.00,184.20,0.000,0.000,0.778,55,2886,478,-5.61,0.17,573.99
$IRIDIUM_FIX,-4622.97,358.44,150113,212130
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.0,45.929
$10V_AH,10.0,21.907
$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,14.200,94.575,297.125,184.200,0.000,53.700,68.580,438.938,0.000,0.000,19.598,1937.551,11151.988,628.856,2549.629,684.677,33.366,1471.987,0.000,1886.673,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,61.200,1825.290,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.931,1557.502,822.076,312.741,0.000,0.000,0.000,0.000,0.000,0.000
$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,57028,790
$CAP_FILE_SIZE,123516,0
$CFSIZE,259252224,214544384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,160113,023803,-4640.285,400.247,39,1.1,42,-23.3