version: 66.07
glider: 542
mission: 6
dive: 241
start: 1 16 113 2 49 37
data:
$ID,542
$MISSION,6
$DIVE,241
$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,-11264.249
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,160113,023803,-4640.285,400.247,39,1.1,42,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-48.2
$GPS2,160113,024841,-4640.250,400.225,17,1.0,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.223,0.125
$KALMAN_X,-167448.9,-72.8,14.4,146292.2,-4717.4
$KALMAN_Y,84763.2,551.4,341.9,-65258.2,-2634.2
$MHEAD_RNG_PITCHd_Wd,84.1,22708,-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,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,163,0.00,0.00,-134.02,0.000,2,0.000,0.000,54,2887,3185,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.1,-2.6,17,189,6.65,1.67,-6.12,0.000,4,0.249,0.073,1638,3909,3418,0,0,0,0,0,0
$GC,466,-0.61,-146.1,47.3,-13.0,64,475,0.00,1.60,0.00,0.000,6,0.000,0.031,1638,2852,3420,0,0,0,0,0,0
$GC,711,-0.61,-146.1,78.9,-12.4,105,718,0.00,1.70,0.00,0.000,4,0.000,0.058,1629,3894,3420,0,0,0,0,0,0
$GC,910,-0.61,-146.1,104.1,-11.8,136,914,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2884,3420,0,0,0,0,0,0
$GC,1239,-0.61,-146.1,144.9,-12.8,157,1243,0.00,2.10,0.00,0.000,4,0.000,0.035,1630,1498,3421,0,0,0,0,0,0
$GC,1290,-0.61,-146.1,151.8,-11.5,160,1295,0.12,2.22,0.00,0.000,6,0.178,0.050,1651,2890,3421,0,0,0,0,0,0
$GC,1615,-0.61,-146.1,187.1,-10.9,180,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,1651,2890,3421,0,0,0,0,0,0
$GC,1926,-0.61,-146.1,219.6,-9.7,200,1930,0.00,2.12,0.00,0.000,4,0.000,0.034,1652,1502,3421,0,0,0,0,0,0
$GC,1950,-0.61,-146.1,222.4,-9.9,201,1957,0.00,2.20,0.00,0.000,6,0.000,0.050,1642,2885,3421,0,0,0,0,0,0
$GC,2281,-0.61,-146.1,254.4,-9.3,222,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2885,3421,0,0,0,0,0,0
$GC,2593,-0.61,-146.1,283.1,-9.4,237,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2885,3421,0,0,0,0,0,0
$GC,2900,-0.61,-146.1,313.8,-10.2,252,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2886,3421,0,0,0,0,0,0
$GC,3211,-0.61,-146.1,346.0,-10.1,267,3215,0.00,2.12,0.00,0.000,4,0.000,0.036,1642,1491,3421,0,0,0,0,0,0
$GC,3238,-0.61,-146.1,348.8,-10.4,268,3242,0.00,2.22,0.00,0.000,6,0.000,0.052,1632,2884,3421,0,0,0,0,0,0
$GC,3568,-0.61,-146.1,383.9,-10.3,284,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2885,3421,0,0,0,0,0,0
$GC,3886,-0.61,-146.1,415.1,-9.5,297,3890,0.00,2.12,0.00,0.000,4,0.000,0.035,1632,1498,3421,0,0,0,0,0,0
$GC,3904,-0.61,-146.1,417.2,-9.7,297,3909,0.10,2.20,0.00,0.000,6,0.185,0.051,1646,2888,3420,0,0,0,0,0,0
$GC,4226,-0.61,-146.1,443.5,-8.3,308,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2888,3420,0,0,0,0,0,0
$GC,4532,-0.61,-146.1,469.4,-8.6,318,4536,0.00,2.12,0.00,0.000,4,0.000,0.035,1646,1498,3420,0,0,0,0,0,0
$GC,4573,-0.61,-146.1,473.1,-8.4,319,4577,0.00,2.22,0.00,0.000,6,0.000,0.052,1636,2890,3420,0,0,0,0,0,0
$GC,4900,-0.61,-146.1,503.6,-9.4,330,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2891,3419,0,0,0,0,0,0
$GC,5207,-0.61,-146.1,531.3,-8.7,340,5211,0.00,1.60,0.00,0.000,4,0.000,0.061,1628,3895,3419,0,0,0,0,0,0
$GC,5245,-0.61,-146.1,534.8,-9.3,341,5249,0.00,1.52,0.00,0.000,6,0.000,0.032,1628,2880,3419,0,0,0,0,0,0
$GC,5588,-0.61,-146.1,566.4,-9.3,352,5592,0.00,2.10,0.00,0.000,4,0.000,0.036,1629,1492,3419,0,0,0,0,0,0
$GC,5623,-0.61,-146.1,569.8,-8.6,353,5628,0.12,2.20,0.00,0.000,6,0.174,0.052,1650,2881,3419,0,0,0,0,0,0
$GC,5956,-0.61,-146.1,595.5,-8.0,364,5960,0.00,1.62,0.00,0.000,4,0.000,0.061,1644,3899,3419,0,0,0,0,0,0
$GC,5993,-0.61,-146.1,598.6,-8.7,365,5997,0.00,1.52,0.00,0.000,6,0.000,0.032,1644,2884,3419,0,0,0,0,0,0
$GC,6336,-0.61,-146.1,627.2,-8.4,376,6340,0.00,2.10,0.00,0.000,4,0.000,0.037,1644,1500,3419,0,0,0,0,0,0
$GC,6383,-0.61,-146.1,631.3,-8.1,377,6387,0.00,2.20,0.00,0.000,6,0.000,0.053,1634,2885,3419,0,0,0,0,0,0
$GC,6715,-0.61,-146.1,660.8,-9.1,388,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2885,3418,0,0,0,0,0,0
$GC,7022,-0.61,-146.1,689.2,-9.1,398,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2885,3418,0,0,0,0,0,0
$GC,7327,-0.61,-146.1,714.5,-8.0,408,7331,0.00,2.12,0.00,0.000,4,0.000,0.037,1634,1489,3418,0,0,0,0,0,0
$GC,7365,-0.61,-146.1,717.6,-7.3,409,7369,0.00,2.22,0.00,0.000,6,0.000,0.053,1623,2887,3417,0,0,0,0,0,0
$GC,7708,-0.61,-146.1,748.6,-9.6,420,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2888,3418,0,0,0,0,0,0
$GC,8014,-0.61,-146.1,779.1,-10.2,430,8018,0.00,2.12,0.00,0.000,4,0.000,0.036,1623,1499,3418,0,0,0,0,0,0
$GC,8045,-0.61,-146.1,782.3,-10.2,431,8050,0.12,2.22,0.00,0.000,6,0.179,0.053,1645,2890,3417,0,0,0,0,0,0
$GC,8384,-0.61,-146.1,811.3,-8.6,442,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2890,3417,0,0,0,0,0,0
$GC,8690,-0.61,-146.1,836.8,-8.3,452,8694,0.00,2.12,0.00,0.000,4,0.000,0.036,1646,1491,3417,0,0,0,0,0,0
$GC,8722,-0.61,-146.1,839.3,-8.4,453,8726,0.00,2.22,0.00,0.000,6,0.000,0.053,1636,2881,3417,0,0,0,0,0,0
$GC,9060,-0.61,-146.1,867.3,-8.3,464,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2882,3417,0,0,0,0,0,0
$GC,9366,-0.61,-146.1,891.4,-7.8,474,9370,0.00,1.62,0.00,0.000,4,0.000,0.060,1628,3897,3417,0,0,0,0,0,0
$GC,9403,-0.61,-146.1,894.6,-8.7,475,9407,0.00,1.52,0.00,0.000,6,0.000,0.032,1628,2883,3417,0,0,0,0,0,0
$GC,9749,-0.61,-146.1,923.6,-8.4,486,9753,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1501,3417,0,0,0,0,0,0
$GC,9790,-0.61,-146.1,927.4,-8.3,487,9794,0.12,2.20,0.00,0.000,6,0.174,0.054,1650,2885,3417,0,0,0,0,0,0
$GC,10117,-0.61,-146.1,949.6,-6.6,498,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2885,3417,0,0,0,0,0,0
$GC,10425,-0.61,-146.1,969.4,-6.3,508,10429,0.00,2.12,0.00,0.000,4,0.000,0.037,1650,1500,3417,0,0,0,0,0,0
$GC,10449,-0.61,-146.1,971.3,-6.5,508,10453,0.00,2.22,0.00,0.000,6,0.000,0.054,1642,2885,3417,0,0,0,0,0,0
$GC,10765,-0.61,-146.1,991.4,-6.3,518,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2885,3417,0,0,0,0,0,0
$STATE,10913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10913,begin apogee
$GC,10924,-0.18,0.0,1001.1,6.2,523,11075,0.47,0.00,148.48,1.224,6,0.148,0.000,1785,2714,2819,0,0,0,0,0,0
$STATE,11077,end apogee,CONTROL_FINISHED_OK
$STATE,11077,begin climb
$GC,11082,0.61,146.1,1003.3,0.0,528,11244,0.77,0.00,150.02,1.788,6,0.058,0.000,2064,2714,2224,0,0,0,0,1,0
$GC,11560,0.61,146.1,894.7,26.1,544,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2714,2218,0,0,0,0,0,0
$GC,11867,0.61,146.1,815.7,25.8,554,11871,0.00,1.95,0.00,0.000,4,0.000,0.057,2064,3889,2216,0,0,0,0,0,0
$GC,11885,0.61,146.1,810.4,25.4,554,11888,0.00,1.88,0.00,0.000,6,0.000,0.037,2073,2697,2216,0,0,0,0,0,0
$GC,12211,0.61,146.1,728.3,25.0,565,12215,0.00,2.17,0.00,0.000,4,0.000,0.042,2084,1291,2215,0,0,0,0,0,0
$GC,12229,0.61,146.1,723.3,24.9,565,12234,0.15,2.28,0.00,0.000,6,0.217,0.050,2050,2708,2213,0,0,0,0,0,0
$GC,12544,0.61,146.1,653.6,21.3,575,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2708,2213,0,0,0,0,0,0
$GC,12850,0.61,146.1,590.1,20.8,585,12854,0.00,2.22,0.00,0.000,4,0.000,0.041,2059,1297,2212,0,0,0,0,0,0
$GC,12868,0.61,146.1,586.1,20.4,585,12872,0.00,2.25,0.00,0.000,6,0.000,0.050,2059,2705,2211,0,0,0,0,0,0
$GC,13189,0.61,146.1,515.6,22.4,596,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2705,2212,0,0,0,0,0,0
$GC,13495,0.61,146.1,447.7,22.0,606,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2705,2211,0,0,0,0,0,0
$GC,13804,0.61,146.1,380.6,21.7,617,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2705,2211,0,0,0,0,0,0
$GC,14111,0.61,146.1,315.1,21.1,632,14115,0.00,2.22,0.00,0.000,4,0.000,0.041,2070,1287,2211,0,0,0,0,0,0
$GC,14147,0.61,146.1,307.5,19.3,633,14154,0.00,2.28,0.00,0.000,6,0.000,0.050,2070,2708,2210,0,0,0,0,0,0
$GC,14471,0.61,146.1,237.3,22.4,650,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2708,2210,0,0,0,0,0,0
$GC,14783,0.61,146.1,169.6,22.2,670,14787,0.00,2.20,0.00,0.000,4,0.000,0.043,2080,1295,2210,0,0,0,0,0,0
$GC,14840,0.61,146.1,158.5,19.7,673,14845,0.12,2.22,0.00,0.000,6,0.208,0.051,2052,2699,2209,0,0,0,0,0,0
$GC,15167,0.61,146.1,96.5,18.1,695,15170,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2699,2209,0,0,0,0,0,0
$GC,15523,0.61,146.1,30.8,17.2,756,15532,0.00,1.90,0.00,0.000,4,0.000,0.058,2052,3890,2209,0,0,0,0,0,0
$GC,15575,0.61,146.1,21.1,20.5,763,15584,0.00,1.85,0.00,0.000,6,0.000,0.037,2060,2696,2209,0,0,0,0,0,0
$GC,15663,0.61,146.1,4.7,17.8,776,15673,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2695,2209,0,0,0,0,0,0
$STATE,15681,end climb,SURFACE_DEPTH_REACHED
$STATE,15681,begin surface coast
$FINISH,0.8,1.015442
$STATE,15701,end surface coast,CONTROL_FINISHED_OK
$STATE,15701,begin surface
$SM_CCo,15723,185.00,0.793,1,0,477,573.99
$SM_GC,1.43,0.00,0.00,185.00,0.000,0.000,0.793,55,2893,477,-5.61,0.37,573.99
$IRIDIUM_FIX,-4626.10,401.78,150113,222230
$TT8_MAMPS,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.0,46.119
$10V_AH,10.1,22.015
$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,14.025,93.875,298.500,185.000,0.000,25.746,45.204,322.640,0.000,0.000,23.370,1921.972,10981.346,604.763,2365.451,665.997,33.374,1447.433,0.000,1881.231,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,72.675,1787.805,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.622,1542.986,818.754,317.018,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,57432,781
$CAP_FILE_SIZE,119992,0
$CFSIZE,259252224,214478848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,160113,071605,-4638.422,400.828,26,1.0,26,-23.3