version: 66.07
glider: 542
mission: 6
dive: 246
start: 1 17 113 1 49 51
data:
$ID,542
$MISSION,6
$DIVE,246
$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,-11287.276
$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,55
$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
$GPS1,170113,013635,-4632.127,407.702,34,1.4,34,-23.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-32.8
$GPS2,170113,014859,-4632.123,407.836,19,1.2,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,-0.169
$KALMAN_X,-182544.8,482.2,646.5,169811.0,-6729.7
$KALMAN_Y,94942.7,-751.6,50.3,-58764.5,3313.8
$MHEAD_RNG_PITCHd_Wd,154.6,41192,-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,-146.1,0.0,0.0,0,163,0.00,0.00,-133.95,0.000,2,0.000,0.000,51,2918,3161,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.2,-2.6,17,189,6.43,1.58,-6.72,0.000,4,0.236,0.073,1637,3875,3418,0,0,0,0,0,0
$GC,466,-0.61,-146.1,46.9,-12.4,64,475,0.00,1.55,0.00,0.000,6,0.000,0.031,1636,2855,3420,0,0,0,0,0,0
$GC,710,-0.61,-146.1,79.7,-13.2,105,716,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2855,3420,0,0,0,0,0,0
$GC,1045,-0.61,-146.1,119.4,-10.9,144,1048,0.00,2.08,0.00,0.000,4,0.000,0.035,1637,1498,3420,0,0,0,0,0,0
$GC,1103,-0.61,-146.1,125.5,-10.0,147,1107,0.00,2.15,0.00,0.000,6,0.000,0.050,1626,2853,3420,0,0,0,0,0,0
$GC,1426,-0.61,-146.1,163.2,-12.1,167,1430,0.00,1.65,0.00,0.000,4,0.000,0.058,1618,3891,3420,0,0,0,0,0,0
$GC,1465,-0.61,-146.1,168.1,-12.9,169,1470,0.08,1.52,0.00,0.000,6,0.160,0.031,1641,2877,3421,0,0,0,0,0,0
$GC,1804,-0.61,-146.1,204.6,-10.7,190,1808,0.00,1.65,0.00,0.000,4,0.000,0.059,1635,3904,3421,0,0,0,0,0,0
$GC,1909,-0.61,-146.1,216.6,-10.0,196,1913,0.00,1.55,0.00,0.000,6,0.000,0.031,1635,2870,3421,0,0,0,0,0,0
$GC,2244,-0.61,-146.1,251.2,-10.4,217,2247,0.00,2.08,0.00,0.000,4,0.000,0.036,1635,1506,3421,0,0,0,0,0,0
$GC,2284,-0.61,-146.1,255.8,-10.3,218,2293,0.00,2.22,0.00,0.000,6,0.000,0.051,1625,2881,3421,0,0,0,0,0,0
$GC,2602,-0.61,-146.1,289.7,-10.6,234,2606,0.00,1.62,0.00,0.000,4,0.000,0.059,1617,3929,3421,0,0,0,0,0,0
$GC,2644,-0.61,-146.1,294.7,-11.6,235,2652,0.10,1.58,0.00,0.000,6,0.161,0.031,1648,2883,3421,0,0,0,0,0,0
$GC,2965,-0.61,-146.1,324.3,-9.5,251,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2883,3421,0,0,0,0,0,0
$GC,3272,-0.61,-146.1,354.3,-9.4,266,3276,0.00,2.10,0.00,0.000,4,0.000,0.037,1648,1503,3421,0,0,0,0,0,0
$GC,3303,-0.61,-146.1,357.6,-9.9,267,3308,0.00,2.20,0.00,0.000,6,0.000,0.052,1638,2893,3420,0,0,0,0,0,0
$GC,3622,-0.61,-146.1,390.1,-10.6,282,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2893,3420,0,0,0,0,0,0
$GC,3939,-0.61,-146.1,424.4,-10.9,294,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2893,3420,0,0,0,0,0,0
$GC,4246,-0.61,-146.1,456.4,-10.1,304,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2893,3420,0,0,0,0,0,0
$GC,4554,-0.61,-146.1,485.2,-9.0,314,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2893,3419,0,0,0,0,0,0
$GC,4858,-0.61,-146.1,511.4,-8.6,324,4862,0.00,2.12,0.00,0.000,4,0.000,0.037,1639,1505,3419,0,0,0,0,0,0
$GC,4916,-0.61,-146.1,516.5,-7.7,325,4920,0.00,2.17,0.00,0.000,6,0.000,0.052,1628,2881,3419,0,0,0,0,0,0
$GC,5233,-0.61,-146.1,548.3,-10.7,335,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2881,3419,0,0,0,0,0,0
$GC,5538,-0.61,-146.1,581.6,-10.8,345,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2881,3418,0,0,0,0,0,0
$GC,5846,-0.61,-146.1,613.2,-10.0,355,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2881,3418,0,0,0,0,0,0
$GC,6151,-0.61,-146.1,643.0,-9.4,365,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2881,3418,0,0,0,0,0,0
$GC,6457,-0.61,-146.1,671.3,-9.3,375,6461,0.00,2.12,0.00,0.000,4,0.000,0.037,1628,1502,3418,0,0,0,0,0,0
$GC,6497,-0.61,-146.1,675.3,-9.1,376,6502,0.12,2.22,0.00,0.000,6,0.179,0.053,1650,2890,3417,0,0,0,0,0,0
$GC,6825,-0.61,-146.1,699.8,-7.3,387,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2890,3417,0,0,0,0,0,0
$GC,7131,-0.61,-146.1,722.7,-7.4,397,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3417,0,0,0,0,0,0
$GC,7437,-0.61,-146.1,745.0,-7.3,407,7441,0.00,2.12,0.00,0.000,4,0.000,0.037,1650,1495,3417,0,0,0,0,0,0
$GC,7478,-0.61,-146.1,748.0,-6.7,408,7482,0.00,2.22,0.00,0.000,6,0.000,0.053,1641,2880,3416,0,0,0,0,0,0
$GC,7805,-0.61,-146.1,771.2,-7.1,419,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2881,3416,0,0,0,0,0,0
$GC,8111,-0.61,-146.1,793.3,-7.3,429,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2881,3416,0,0,0,0,0,0
$GC,8418,-0.61,-146.1,816.0,-7.6,439,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2881,3416,0,0,0,0,0,0
$GC,8724,-0.61,-146.1,839.8,-7.7,449,8728,0.00,2.12,0.00,0.000,4,0.000,0.037,1641,1493,3416,0,0,0,0,0,0
$GC,8748,-0.61,-146.1,841.8,-7.8,449,8752,0.00,2.20,0.00,0.000,6,0.000,0.054,1631,2880,3416,0,0,0,0,0,0
$GC,9063,-0.61,-146.1,865.6,-7.5,459,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2881,3415,0,0,0,0,0,0
$GC,9369,-0.61,-146.1,888.2,-7.5,469,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2880,3415,0,0,0,0,0,0
$GC,9676,-0.61,-146.1,911.8,-7.6,479,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2880,3415,0,0,0,0,0,0
$GC,9982,-0.61,-146.1,934.8,-7.5,489,9986,0.00,2.10,0.00,0.000,4,0.000,0.037,1632,1500,3415,0,0,0,0,0,0
$GC,10012,-0.61,-146.1,937.2,-7.5,489,10018,0.00,2.22,0.00,0.000,6,0.000,0.054,1622,2889,3415,0,0,0,0,0,0
$GC,10327,-0.61,-146.1,963.3,-8.5,500,10329,0.10,0.00,0.00,0.000,6,0.197,0.000,1645,2889,3415,0,0,0,0,0,0
$GC,10635,-0.61,-146.1,986.1,-7.5,510,10639,0.00,2.12,0.00,0.000,4,0.000,0.037,1644,1502,3415,0,0,0,0,0,0
$GC,10672,-0.61,-146.1,989.2,-7.8,511,10676,0.00,2.22,0.00,0.000,6,0.000,0.054,1637,2886,3415,0,0,0,0,0,0
$STATE,10827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10827,begin apogee
$GC,10838,-0.18,0.0,1001.6,7.9,516,10992,0.50,0.00,150.85,1.229,6,0.151,0.000,1786,2714,2819,0,0,0,0,0,0
$STATE,10994,end apogee,CONTROL_FINISHED_OK
$STATE,10994,begin climb
$GC,10999,0.61,146.1,1006.2,0.0,521,11162,0.75,0.00,148.82,1.800,6,0.058,0.000,2054,2714,2226,0,0,0,0,1,0
$GC,11470,0.61,146.1,911.5,23.4,537,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2714,2221,0,0,0,0,0,0
$GC,11776,0.61,146.1,839.3,23.6,547,11780,0.00,2.22,0.00,0.000,4,0.000,0.042,2065,1294,2218,0,0,0,0,0,0
$GC,11813,0.61,146.1,830.9,22.0,548,11816,0.00,2.30,0.00,0.000,6,0.000,0.050,2065,2707,2217,0,0,0,0,0,0
$GC,12156,0.61,146.1,749.1,23.6,559,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2707,2217,0,0,0,0,0,0
$GC,12462,0.61,146.1,678.0,22.8,569,12463,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2707,2216,0,0,0,0,0,0
$GC,12768,0.61,146.1,610.3,22.1,579,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2707,2215,0,0,0,0,0,0
$GC,13074,0.61,146.1,542.3,22.1,589,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2707,2215,0,0,0,0,0,0
$GC,13381,0.61,146.1,474.9,21.7,599,13385,0.00,2.20,0.00,0.000,4,0.000,0.042,2076,1294,2215,0,0,0,0,0,0
$GC,13438,0.61,146.1,462.6,20.5,600,13442,0.00,2.28,0.00,0.000,6,0.000,0.051,2076,2707,2213,0,0,0,0,0,0
$GC,13754,0.61,146.1,393.5,21.9,610,13758,0.00,2.17,0.00,0.000,4,0.000,0.042,2086,1305,2213,0,0,0,0,0,0
$GC,13789,0.61,146.1,385.4,20.5,611,13797,0.15,2.25,0.00,0.000,6,0.211,0.050,2051,2711,2213,0,0,0,0,0,0
$GC,14110,0.61,146.1,321.6,19.8,627,14113,0.00,1.88,0.00,0.000,4,0.000,0.059,2052,3896,2213,0,0,0,0,0,0
$GC,14144,0.61,146.1,313.7,21.4,628,14147,0.00,1.83,0.00,0.000,6,0.000,0.038,2059,2702,2213,0,0,0,0,0,0
$GC,14467,0.61,146.1,248.8,20.8,644,14471,0.00,2.15,0.00,0.000,4,0.000,0.043,2070,1296,2213,0,0,0,0,0,0
$GC,14520,0.61,146.1,238.2,17.8,647,14524,0.00,2.25,0.00,0.000,6,0.000,0.050,2070,2701,2212,0,0,0,0,0,0
$GC,14844,0.61,146.1,168.8,23.3,667,14848,0.00,1.92,0.00,0.000,4,0.000,0.060,2070,3894,2213,0,0,0,0,0,0
$GC,14917,0.61,146.1,151.2,24.3,671,14921,0.12,1.83,0.00,0.000,6,0.236,0.037,2052,2700,2212,0,0,0,0,0,0
$GC,15245,0.61,146.1,88.9,17.4,698,15252,0.00,2.17,0.00,0.000,4,0.000,0.042,2062,1291,2213,0,0,0,0,0,0
$GC,15297,0.61,146.1,80.8,15.1,706,15304,0.00,2.25,0.00,0.000,6,0.000,0.050,2062,2700,2211,0,0,0,0,0,0
$GC,15666,0.61,146.1,17.1,17.0,767,15675,0.00,1.92,0.00,0.000,4,0.000,0.060,2062,3898,2211,0,0,0,0,0,0
$GC,15731,0.61,146.1,3.5,21.7,776,15740,0.00,1.88,0.00,0.000,6,0.000,0.037,2071,2696,2212,0,0,0,0,0,0
$STATE,15748,end climb,SURFACE_DEPTH_REACHED
$STATE,15748,begin surface coast
$FINISH,0.6,1.009538
$STATE,15768,end surface coast,CONTROL_FINISHED_OK
$STATE,15768,begin surface
$SM_CCo,15791,184.68,0.785,1,0,478,573.99
$SM_GC,1.31,0.00,0.00,184.68,0.000,0.000,0.785,50,2900,478,-5.62,0.57,573.99
$IRIDIUM_FIX,-4616.72,407.59,160113,212102
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,47.083
$10V_AH,10.1,22.553
$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,13.875,85.600,299.675,184.675,0.000,26.895,44.299,420.473,0.000,0.000,22.044,1910.432,11069.893,637.230,2441.460,650.198,33.375,1442.180,0.000,1859.199,0.000,1.008,0.000
$DEVICE_MAMPS,235.620,72.675,1800.045,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.635,1544.683,818.795,322.652,0.000,0.000,0.000,0.000,0.000,0.000
$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,57294,781
$CAP_FILE_SIZE,117128,0
$CFSIZE,259252224,214163456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,170113,061735,-4632.748,411.108,34,0.9,34,-23.4