version: 66.07
glider: 542
mission: 6
dive: 242
start: 1 16 113 7 27 14
data:
$ID,542
$MISSION,6
$DIVE,242
$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,-11270.343
$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,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
$GPS1,160113,071605,-4638.422,400.828,26,1.0,26,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-49.2
$GPS2,160113,072618,-4638.400,400.758,22,1.2,22,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.250,0.055
$KALMAN_X,-171690.2,71.1,96.0,150976.5,-5803.6
$KALMAN_Y,85605.2,675.2,364.6,-62821.4,-1858.3
$MHEAD_RNG_PITCHd_Wd,100.8,19515,-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,-146.1,0.0,0.0,0,171,0.00,0.00,-141.65,0.000,2,0.000,0.000,55,2894,3379,0,0,0,0,0,0
$GC,178,-0.61,-146.1,3.8,-2.7,18,196,6.60,1.60,-0.90,0.000,4,0.246,0.069,1638,3892,3419,0,0,0,0,0,0
$GC,368,-0.61,-146.1,38.9,-13.2,47,374,0.00,1.58,0.00,0.000,6,0.000,0.030,1639,2853,3420,0,0,0,0,0,0
$GC,614,-0.61,-146.1,72.6,-13.8,88,622,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2853,3420,0,0,0,0,0,0
$GC,972,-0.61,-146.1,113.7,-10.8,135,974,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2853,3421,0,0,0,0,0,0
$GC,1285,-0.61,-146.1,147.2,-10.7,155,1289,0.00,1.67,0.00,0.000,4,0.000,0.058,1630,3886,3422,0,0,0,0,0,0
$GC,1358,-0.61,-146.1,155.5,-11.1,159,1362,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2886,3422,0,0,0,0,0,0
$GC,1692,-0.61,-146.1,192.3,-11.0,180,1696,0.00,2.08,0.00,0.000,4,0.000,0.035,1630,1499,3422,0,0,0,0,0,0
$GC,1761,-0.61,-146.1,199.9,-9.7,184,1766,0.12,2.20,0.00,0.000,6,0.177,0.051,1652,2877,3422,0,0,0,0,0,0
$GC,2089,-0.61,-146.1,230.7,-9.6,204,2092,0.00,1.62,0.00,0.000,4,0.000,0.060,1646,3896,3422,0,0,0,0,0,0
$GC,2145,-0.61,-146.1,236.9,-10.4,207,2148,0.00,1.52,0.00,0.000,6,0.000,0.031,1646,2882,3422,0,0,0,0,0,0
$GC,2482,-0.61,-146.1,271.0,-9.7,225,2486,0.00,2.10,0.00,0.000,4,0.000,0.035,1646,1493,3422,0,0,0,0,0,0
$GC,2512,-0.61,-146.1,274.2,-9.8,226,2516,0.00,2.20,0.00,0.000,6,0.000,0.051,1635,2885,3422,0,0,0,0,0,0
$GC,2832,-0.61,-146.1,306.0,-10.3,241,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3422,0,0,0,0,0,0
$GC,3140,-0.61,-146.1,338.7,-10.8,256,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,3450,-0.61,-146.1,372.4,-11.0,271,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,3778,-0.61,-146.1,409.1,-11.3,286,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2886,3422,0,0,0,0,0,0
$GC,4084,-0.61,-146.1,443.2,-11.1,296,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3422,0,0,0,0,0,0
$GC,4390,-0.61,-146.1,476.4,-10.6,306,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2885,3421,0,0,0,0,0,0
$GC,4696,-0.61,-146.1,507.4,-9.8,316,4700,0.00,2.12,0.00,0.000,4,0.000,0.037,1634,1489,3421,0,0,0,0,0,0
$GC,4737,-0.61,-146.1,511.5,-9.1,317,4741,0.00,2.22,0.00,0.000,6,0.000,0.053,1625,2891,3421,0,0,0,0,0,0
$GC,5064,-0.61,-146.1,543.6,-10.1,328,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2891,3420,0,0,0,0,0,0
$GC,5370,-0.61,-146.1,573.6,-9.7,338,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2891,3420,0,0,0,0,0,0
$GC,5676,-0.61,-146.1,601.6,-8.9,348,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2891,3420,0,0,0,0,0,0
$GC,5983,-0.61,-146.1,629.2,-8.9,358,5987,0.00,2.15,0.00,0.000,4,0.000,0.037,1625,1496,3419,0,0,0,0,0,0
$GC,6013,-0.61,-146.1,631.9,-8.7,358,6020,0.12,2.22,0.00,0.000,6,0.180,0.053,1646,2890,3419,0,0,0,0,0,0
$GC,6328,-0.61,-146.1,654.0,-7.0,369,6332,0.00,2.12,0.00,0.000,4,0.000,0.036,1647,1494,3419,0,0,0,0,0,0
$GC,6360,-0.61,-146.1,656.3,-7.7,370,6364,0.00,2.22,0.00,0.000,6,0.000,0.052,1637,2884,3419,0,0,0,0,0,0
$GC,6698,-0.61,-146.1,683.9,-8.5,381,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3418,0,0,0,0,0,0
$GC,7006,-0.61,-146.1,712.0,-9.3,391,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3417,0,0,0,0,0,0
$GC,7311,-0.61,-146.1,739.6,-8.9,401,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3417,0,0,0,0,0,0
$GC,7618,-0.61,-146.1,765.0,-8.1,411,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3417,0,0,0,0,0,0
$GC,7923,-0.61,-146.1,788.1,-7.2,421,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2884,3417,0,0,0,0,0,0
$GC,8229,-0.61,-146.1,809.7,-7.0,431,8233,0.00,2.12,0.00,0.000,4,0.000,0.037,1637,1488,3416,0,0,0,0,0,0
$GC,8270,-0.61,-146.1,812.8,-7.8,432,8274,0.00,2.25,0.00,0.000,6,0.000,0.053,1627,2890,3416,0,0,0,0,0,0
$GC,8597,-0.61,-146.1,838.7,-8.3,443,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2891,3416,0,0,0,0,0,0
$GC,8903,-0.61,-146.1,866.5,-9.5,453,8907,0.00,2.12,0.00,0.000,4,0.000,0.036,1627,1500,3417,0,0,0,0,0,0
$GC,8932,-0.61,-146.1,869.5,-9.5,453,8940,0.12,2.20,0.00,0.000,6,0.175,0.053,1649,2881,3417,0,0,0,0,0,0
$GC,9248,-0.61,-146.1,895.6,-8.5,464,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2882,3416,0,0,0,0,0,0
$GC,9554,-0.61,-146.1,920.4,-8.0,474,9558,0.00,2.12,0.00,0.000,4,0.000,0.037,1649,1493,3416,0,0,0,0,0,0
$GC,9578,-0.61,-146.1,922.5,-8.0,474,9582,0.00,2.25,0.00,0.000,6,0.000,0.054,1640,2891,3415,0,0,0,0,0,0
$GC,9894,-0.61,-146.1,947.9,-8.1,484,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2892,3416,0,0,0,0,0,0
$GC,10200,-0.61,-146.1,970.1,-6.8,494,10204,0.00,2.15,0.00,0.000,4,0.000,0.037,1640,1493,3416,0,0,0,0,0,0
$GC,10238,-0.61,-146.1,972.7,-6.8,495,10242,0.00,2.22,0.00,0.000,6,0.000,0.054,1631,2887,3416,0,0,0,0,0,0
$GC,10583,-0.61,-146.1,995.6,-6.5,506,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2887,3416,0,0,0,0,0,0
$STATE,10670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10670,begin apogee
$GC,10681,-0.18,0.0,1001.7,6.6,509,10833,0.52,0.00,148.68,1.234,6,0.152,0.000,1787,2713,2819,0,0,0,0,0,0
$STATE,10835,end apogee,CONTROL_FINISHED_OK
$STATE,10835,begin climb
$GC,10840,0.61,146.1,1004.0,0.0,514,11007,0.75,2.22,149.85,1.800,4,0.058,0.058,2054,3892,2226,0,0,0,0,1,0
$GC,11038,0.61,146.1,969.2,27.3,520,11045,0.00,2.00,0.00,0.000,6,0.000,0.035,2063,2711,2224,0,0,0,0,0,0
$GC,11354,0.61,146.1,890.1,25.1,531,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2705,2219,0,0,0,0,0,0
$GC,11660,0.61,146.1,814.9,24.5,541,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2705,2217,0,0,0,0,0,0
$GC,11966,0.61,146.1,742.6,23.5,551,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2705,2216,0,0,0,0,0,0
$GC,12272,0.61,146.1,670.5,23.1,561,12273,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2705,2214,0,0,0,0,0,0
$GC,12578,0.61,146.1,600.5,22.8,571,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2705,2214,0,0,0,0,0,0
$GC,12885,0.61,146.1,530.6,22.5,581,12889,0.00,2.22,0.00,0.000,4,0.000,0.044,2074,1286,2213,0,0,0,0,0,0
$GC,12937,0.61,146.1,519.1,20.9,582,12941,0.00,2.28,0.00,0.000,6,0.000,0.050,2074,2706,2211,0,0,0,0,0,0
$GC,13257,0.61,146.1,444.7,23.1,593,13258,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2706,2211,0,0,0,0,0,0
$GC,13577,0.61,146.1,371.8,22.8,605,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2706,2212,0,0,0,0,0,0
$GC,13884,0.61,146.1,302.0,22.1,620,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2706,2212,0,0,0,0,0,0
$GC,14196,0.61,146.1,231.9,23.1,636,14200,0.00,2.20,0.00,0.000,4,0.000,0.043,2085,1289,2211,0,0,0,0,0,0
$GC,14265,0.61,146.1,216.1,19.8,640,14270,0.15,2.28,0.00,0.000,6,0.207,0.051,2050,2706,2210,0,0,0,0,0,0
$GC,14592,0.61,146.1,154.0,18.6,660,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2706,2210,0,0,0,0,0,0
$GC,14915,0.61,146.1,95.4,18.9,683,14920,0.00,1.88,0.00,0.000,4,0.000,0.057,2049,3895,2210,0,0,0,0,0,0
$GC,14942,0.61,146.1,89.9,20.3,687,14949,0.00,1.88,0.00,0.000,6,0.000,0.037,2057,2694,2210,0,0,0,0,0,0
$GC,15306,0.61,146.1,26.1,17.6,748,15315,0.00,2.17,0.00,0.000,4,0.000,0.044,2068,1296,2210,0,0,0,0,0,0
$GC,15424,0.61,146.1,6.0,16.0,766,15433,0.00,2.25,0.00,0.000,6,0.000,0.049,2068,2693,2208,0,0,0,0,0,0
$STATE,15441,end climb,SURFACE_DEPTH_REACHED
$STATE,15441,begin surface coast
$FINISH,0.8,1.014937
$STATE,15461,end surface coast,CONTROL_FINISHED_OK
$STATE,15461,begin surface
$SM_CCo,15484,183.68,0.786,1,0,479,573.99
$SM_GC,1.41,0.00,0.00,183.68,0.000,0.000,0.786,55,2903,479,-5.61,0.65,573.99
$IRIDIUM_FIX,-4622.97,358.65,160113,020236
$TT8_MAMPS,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.0,46.308
$10V_AH,10.1,22.120
$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,13.900,70.525,298.525,183.675,0.000,26.878,23.623,313.070,0.000,0.000,27.969,1865.797,10910.367,605.661,2259.719,632.705,33.373,1401.791,0.000,1804.972,0.000,1.009,0.000
$DEVICE_MAMPS,246.330,68.850,1800.045,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.090,1522.239,805.378,308.758,0.000,0.000,0.000,0.000,0.000,0.000
$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,53918,771
$CAP_FILE_SIZE,110386,0
$CFSIZE,259252224,214433792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,160113,114952,-4636.765,402.416,37,0.8,37,-23.3