version: 66.07
glider: 542
mission: 6
dive: 243
start: 1 16 113 12 0 50
data:
$ID,542
$MISSION,6
$DIVE,243
$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,-11276.481
$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,38
$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
$GPS1,160113,114952,-4636.765,402.416,37,0.8,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-51.4
$GPS2,160113,115954,-4636.788,402.378,17,1.5,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,-0.084
$KALMAN_X,-175462.5,523.0,330.1,156103.3,-6797.8
$KALMAN_Y,87674.7,683.0,330.9,-61880.2,-409.9
$MHEAD_RNG_PITCHd_Wd,132.6,15888,-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,-133.75,0.000,2,0.000,0.000,55,2903,3193,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.1,-2.2,17,189,6.57,1.62,-5.85,0.000,4,0.244,0.073,1637,3892,3417,0,0,0,0,0,0
$GC,268,-0.61,-146.1,21.1,-13.1,31,277,0.00,1.58,0.00,0.000,6,0.000,0.031,1637,2850,3419,0,0,0,0,0,0
$GC,354,-0.61,-146.1,32.6,-13.6,44,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2849,3419,0,0,0,0,0,0
$GC,605,-0.61,-146.1,66.7,-13.9,85,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2850,3420,0,0,0,0,0,0
$GC,960,-0.61,-146.1,111.2,-11.3,136,963,0.00,2.03,0.00,0.000,4,0.000,0.035,1637,1507,3420,0,0,0,0,0,0
$GC,1016,-0.61,-146.1,117.0,-10.1,139,1020,0.00,2.17,0.00,0.000,6,0.000,0.050,1627,2871,3420,0,0,0,0,0,0
$GC,1345,-0.61,-146.1,158.9,-13.1,160,1348,0.00,1.62,0.00,0.000,4,0.000,0.058,1619,3894,3420,0,0,0,0,0,0
$GC,1401,-0.61,-146.1,166.3,-13.1,163,1405,0.08,1.50,0.00,0.000,6,0.162,0.031,1643,2899,3420,0,0,0,0,0,0
$GC,1739,-0.61,-146.1,203.6,-10.1,184,1743,0.00,2.12,0.00,0.000,4,0.000,0.036,1643,1494,3421,0,0,0,0,0,0
$GC,1775,-0.61,-146.1,207.8,-9.0,186,1779,0.00,2.22,0.00,0.000,6,0.000,0.050,1634,2889,3421,0,0,0,0,0,0
$GC,2098,-0.61,-146.1,240.2,-10.3,206,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2890,3420,0,0,0,0,0,0
$GC,2414,-0.61,-146.1,272.9,-10.4,223,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2890,3420,0,0,0,0,0,0
$GC,2722,-0.61,-146.1,304.7,-10.2,238,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2889,3420,0,0,0,0,0,0
$GC,3032,-0.61,-146.1,335.8,-10.2,253,3036,0.00,2.12,0.00,0.000,4,0.000,0.036,1633,1497,3421,0,0,0,0,0,0
$GC,3068,-0.61,-146.1,339.6,-10.1,254,3071,0.00,2.20,0.00,0.000,6,0.000,0.051,1623,2880,3421,0,0,0,0,0,0
$GC,3393,-0.61,-146.1,375.1,-10.9,270,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2881,3420,0,0,0,0,0,0
$GC,3710,-0.61,-146.1,412.0,-11.7,284,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3420,0,0,0,0,0,0
$GC,4016,-0.61,-146.1,447.7,-11.8,294,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3420,0,0,0,0,0,0
$GC,4322,-0.61,-146.1,483.5,-11.3,304,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3420,0,0,0,0,0,0
$GC,4630,-0.61,-146.1,517.7,-11.3,314,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3419,0,0,0,0,0,0
$GC,4935,-0.61,-146.1,551.5,-10.9,324,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2881,3419,0,0,0,0,0,0
$GC,5241,-0.61,-146.1,584.0,-10.5,334,5245,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1497,3418,0,0,0,0,0,0
$GC,5276,-0.61,-146.1,587.8,-10.3,335,5281,0.12,2.22,0.00,0.000,6,0.180,0.052,1646,2886,3418,0,0,0,0,0,0
$GC,5609,-0.61,-146.1,615.7,-8.3,346,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2886,3417,0,0,0,0,0,0
$GC,5915,-0.61,-146.1,640.4,-7.9,356,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2887,3417,0,0,0,0,0,0
$GC,6221,-0.61,-146.1,666.3,-8.4,366,6225,0.00,2.12,0.00,0.000,4,0.000,0.037,1646,1491,3417,0,0,0,0,0,0
$GC,6268,-0.61,-146.1,670.4,-8.8,367,6272,0.00,2.22,0.00,0.000,6,0.000,0.053,1636,2881,3417,0,0,0,0,0,0
$GC,6589,-0.61,-146.1,699.1,-9.1,378,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3417,0,0,0,0,0,0
$GC,6897,-0.61,-146.1,726.2,-8.7,388,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3416,0,0,0,0,0,0
$GC,7202,-0.61,-146.1,753.4,-9.1,398,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2881,3416,0,0,0,0,0,0
$GC,7509,-0.61,-146.1,782.9,-9.8,408,7513,0.00,2.15,0.00,0.000,4,0.000,0.037,1636,1485,3415,0,0,0,0,0,0
$GC,7544,-0.61,-146.1,786.8,-10.0,409,7548,0.00,2.25,0.00,0.000,6,0.000,0.053,1626,2887,3415,0,0,0,0,0,0
$GC,7876,-0.61,-146.1,819.2,-9.7,420,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2887,3415,0,0,0,0,0,0
$GC,8183,-0.61,-146.1,848.7,-9.7,430,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2887,3415,0,0,0,0,0,0
$GC,8489,-0.61,-146.1,876.8,-8.8,440,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2887,3415,0,0,0,0,0,0
$GC,8795,-0.61,-146.1,902.6,-8.3,450,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2887,3414,0,0,0,0,0,0
$GC,9103,-0.61,-146.1,926.6,-7.7,460,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2887,3414,0,0,0,0,0,0
$GC,9408,-0.61,-146.1,951.5,-8.2,470,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2887,3413,0,0,0,0,0,0
$GC,9714,-0.61,-146.1,976.7,-8.5,480,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2887,3413,0,0,0,0,0,0
$STATE,10015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10015,begin apogee
$GC,10027,-0.18,0.0,1002.1,8.3,490,10178,0.55,0.00,148.00,1.231,6,0.156,0.000,1789,2699,2819,0,0,0,0,0,0
$STATE,10180,end apogee,CONTROL_FINISHED_OK
$STATE,10180,begin climb
$GC,10184,0.61,146.1,1006.3,0.0,495,10347,0.73,2.20,149.73,1.797,4,0.062,0.057,2054,3898,2226,0,0,0,0,1,0
$GC,10442,0.61,146.1,957.1,26.7,503,10446,0.00,2.03,0.00,0.000,6,0.000,0.036,2063,2679,2224,0,0,0,0,0,0
$GC,10786,0.61,146.1,869.4,24.6,514,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2673,2218,0,0,0,0,0,0
$GC,11092,0.61,146.1,794.5,24.1,524,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2673,2217,0,0,0,0,0,0
$GC,11399,0.61,146.1,720.6,24.0,534,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2673,2216,0,0,0,0,0,0
$GC,11704,0.61,146.1,647.1,24.0,544,11708,0.00,1.95,0.00,0.000,4,0.000,0.058,2064,3894,2216,0,0,0,0,0,0
$GC,11750,0.61,146.1,634.5,28.3,545,11754,0.00,1.88,0.00,0.000,6,0.000,0.037,2073,2685,2215,0,0,0,0,0,0
$GC,12083,0.61,146.1,555.2,23.2,556,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2680,2215,0,0,0,0,0,0
$GC,12388,0.61,146.1,487.4,22.2,566,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2679,2215,0,0,0,0,0,0
$GC,12694,0.61,146.1,419.7,21.6,576,12698,0.00,2.15,0.00,0.000,4,0.000,0.042,2083,1294,2214,0,0,0,0,0,0
$GC,12746,0.61,146.1,408.7,19.1,577,12751,0.12,2.25,0.00,0.000,6,0.214,0.050,2055,2702,2213,0,0,0,0,0,0
$GC,13083,0.61,146.1,340.7,20.4,593,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2701,2213,0,0,0,0,0,0
$GC,13390,0.61,146.1,277.7,20.6,608,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2701,2213,0,0,0,0,0,0
$GC,13706,0.61,146.1,214.7,20.3,626,13710,0.00,2.17,0.00,0.000,4,0.000,0.042,2064,1300,2213,0,0,0,0,0,0
$GC,13757,0.61,146.1,205.8,17.2,629,13761,0.00,2.25,0.00,0.000,6,0.000,0.050,2064,2708,2212,0,0,0,0,0,0
$GC,14085,0.61,146.1,141.4,18.4,650,14087,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2709,2211,0,0,0,0,0,0
$GC,14408,0.61,146.1,83.6,15.7,680,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2709,2212,0,0,0,0,0,0
$GC,14773,0.61,146.1,19.1,18.1,741,14782,0.00,2.22,0.00,0.000,4,0.000,0.042,2074,1305,2211,0,0,0,0,0,0
$GC,14831,0.61,146.1,8.9,16.9,749,14840,0.00,2.25,0.00,0.000,6,0.000,0.050,2074,2697,2210,0,0,0,0,0,0
$STATE,14865,end climb,SURFACE_DEPTH_REACHED
$STATE,14866,begin surface coast
$FINISH,0.6,1.011752
$STATE,14886,end surface coast,CONTROL_FINISHED_OK
$STATE,14886,begin surface
$SM_CCo,14908,184.27,0.793,1,0,479,573.99
$SM_GC,1.32,0.00,0.00,184.27,0.000,0.000,0.793,52,2901,479,-5.62,0.59,573.99
$IRIDIUM_FIX,-4622.97,401.56,160113,070739
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.0,46.496
$10V_AH,10.1,22.223
$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,13.650,54.225,297.725,184.275,0.000,24.977,19.641,311.634,0.000,0.000,23.835,1826.168,10455.450,582.705,2225.737,599.518,33.374,1344.331,0.000,1781.074,0.000,1.008,0.000
$DEVICE_MAMPS,244.035,73.440,1796.985,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.027,1507.368,821.813,321.225,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,53834,757
$CAP_FILE_SIZE,103830,0
$CFSIZE,259252224,214376448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,160113,161353,-4636.123,405.031,37,0.8,37,-23.3