version: 66.07
glider: 542
mission: 6
dive: 247
start: 1 17 113 6 29 43
data:
$ID,542
$MISSION,6
$DIVE,247
$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,-11293.4
$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,41
$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
$GPS1,170113,061735,-4632.748,411.108,34,0.9,34,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-30.0
$GPS2,170113,062847,-4632.686,411.200,20,0.9,20,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.131,-0.220
$KALMAN_X,-182187.2,594.2,795.2,173438.7,-4581.0
$KALMAN_Y,97360.2,-587.5,-58.0,-62283.5,4408.1
$MHEAD_RNG_PITCHd_Wd,172.7,37051,-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,-146.1,0.0,0.0,0,147,0.00,0.00,-118.18,0.000,2,0.000,0.000,48,2901,2797,0,0,0,0,0,0
$GC,154,-0.61,-146.1,3.1,-3.4,15,189,6.75,1.65,-22.62,0.000,4,0.252,0.080,1638,3885,3416,0,0,0,0,0,0
$GC,455,-0.61,-146.1,42.5,-14.1,62,464,0.00,1.58,0.00,0.000,6,0.000,0.031,1638,2845,3418,0,0,0,0,0,0
$GC,703,-0.61,-146.1,74.8,-12.9,103,708,0.00,1.67,0.00,0.000,4,0.000,0.057,1630,3890,3419,0,0,0,0,0,0
$GC,778,-0.61,-146.1,84.1,-12.6,115,782,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2878,3419,0,0,0,0,0,0
$GC,1118,-0.61,-146.1,123.9,-11.5,151,1122,0.00,1.65,0.00,0.000,4,0.000,0.058,1622,3890,3420,0,0,0,0,0,0
$GC,1147,-0.61,-146.1,128.0,-12.7,152,1156,0.00,1.52,0.00,0.000,6,0.000,0.031,1622,2873,3420,0,0,0,0,0,0
$GC,1471,-0.61,-146.1,167.1,-12.0,173,1475,0.00,2.08,0.00,0.000,4,0.000,0.035,1622,1496,3420,0,0,0,0,0,0
$GC,1506,-0.61,-146.1,171.6,-10.8,175,1511,0.15,2.17,0.00,0.000,6,0.177,0.049,1651,2874,3421,0,0,0,0,0,0
$GC,1834,-0.61,-146.1,202.5,-9.8,195,1837,0.00,2.10,0.00,0.000,4,0.000,0.034,1651,1495,3421,0,0,0,0,0,0
$GC,1873,-0.61,-146.1,206.4,-9.1,197,1877,0.00,2.22,0.00,0.000,6,0.000,0.050,1642,2889,3420,0,0,0,0,0,0
$GC,2201,-0.61,-146.1,239.7,-10.2,218,2205,0.00,1.60,0.00,0.000,4,0.000,0.059,1634,3894,3420,0,0,0,0,0,0
$GC,2248,-0.61,-146.1,245.3,-11.4,220,2257,0.00,1.52,0.00,0.000,6,0.000,0.031,1634,2874,3420,0,0,0,0,0,0
$GC,2574,-0.61,-146.1,278.4,-9.9,237,2577,0.00,2.08,0.00,0.000,4,0.000,0.035,1634,1507,3420,0,0,0,0,0,0
$GC,2614,-0.61,-146.1,282.9,-9.9,238,2623,0.00,2.22,0.00,0.000,6,0.000,0.051,1623,2883,3420,0,0,0,0,0,0
$GC,2933,-0.61,-146.1,317.1,-10.7,254,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2883,3420,0,0,0,0,0,0
$GC,3243,-0.61,-146.1,350.4,-10.9,269,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2882,3419,0,0,0,0,0,0
$GC,3552,-0.61,-146.1,385.0,-11.3,284,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2883,3419,0,0,0,0,0,0
$GC,3881,-0.61,-146.1,420.4,-10.5,297,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2883,3418,0,0,0,0,0,0
$GC,4185,-0.61,-146.1,450.5,-9.6,307,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2883,3418,0,0,0,0,0,0
$GC,4492,-0.61,-146.1,479.9,-9.9,317,4496,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1500,3418,0,0,0,0,0,0
$GC,4538,-0.61,-146.1,484.5,-9.5,318,4543,0.12,2.20,0.00,0.000,6,0.182,0.052,1644,2888,3417,0,0,0,0,0,0
$GC,4860,-0.61,-146.1,512.0,-8.8,329,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2888,3417,0,0,0,0,0,0
$GC,5166,-0.61,-146.1,538.6,-8.6,339,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2888,3417,0,0,0,0,0,0
$GC,5472,-0.61,-146.1,564.6,-8.6,349,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2888,3417,0,0,0,0,0,0
$GC,5779,-0.61,-146.1,590.9,-8.5,359,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2888,3416,0,0,0,0,0,0
$GC,6085,-0.61,-146.1,617.2,-8.7,369,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2888,3416,0,0,0,0,0,0
$GC,6391,-0.61,-146.1,644.8,-9.4,379,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2888,3416,0,0,0,0,0,0
$GC,6697,-0.61,-146.1,673.1,-9.1,389,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2888,3415,0,0,0,0,0,0
$GC,7003,-0.61,-146.1,698.8,-8.0,399,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2888,3415,0,0,0,0,0,0
$GC,7310,-0.61,-146.1,720.4,-6.8,409,7314,0.00,2.10,0.00,0.000,4,0.000,0.036,1644,1504,3414,0,0,0,0,0,0
$GC,7345,-0.61,-146.1,723.0,-6.6,410,7349,0.00,2.22,0.00,0.000,6,0.000,0.054,1635,2889,3414,0,0,0,0,0,0
$GC,7677,-0.61,-146.1,747.8,-7.7,421,7681,0.00,1.60,0.00,0.000,4,0.000,0.061,1628,3892,3414,0,0,0,0,0,0
$GC,7724,-0.61,-146.1,751.8,-8.1,422,7727,0.00,1.50,0.00,0.000,6,0.000,0.033,1628,2896,3413,0,0,0,0,0,0
$GC,8056,-0.61,-146.1,779.8,-8.6,433,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2891,3413,0,0,0,0,0,0
$GC,8363,-0.61,-146.1,804.9,-7.9,443,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2891,3413,0,0,0,0,0,0
$GC,8668,-0.61,-146.1,828.4,-7.6,453,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2891,3413,0,0,0,0,0,0
$GC,8975,-0.61,-146.1,851.2,-7.5,463,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2891,3413,0,0,0,0,0,0
$GC,9281,-0.61,-146.1,874.9,-7.8,473,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2891,3413,0,0,0,0,0,0
$GC,9589,-0.61,-146.1,900.1,-8.3,483,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2891,3412,0,0,0,0,0,0
$GC,9893,-0.61,-146.1,925.2,-8.1,493,9897,0.00,2.10,0.00,0.000,4,0.000,0.037,1628,1497,3412,0,0,0,0,0,0
$GC,9924,-0.61,-146.1,927.9,-8.4,494,9929,0.12,2.22,0.00,0.000,6,0.174,0.054,1650,2883,3412,0,0,0,0,0,0
$GC,10264,-0.61,-146.1,949.0,-6.1,505,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2883,3412,0,0,0,0,0,0
$GC,10569,-0.61,-146.1,968.4,-6.4,515,10573,0.00,1.62,0.00,0.000,4,0.000,0.063,1643,3894,3412,0,0,0,0,0,0
$GC,10616,-0.61,-146.1,971.6,-7.1,516,10619,0.00,1.55,0.00,0.000,6,0.000,0.033,1643,2872,3412,0,0,0,0,0,0
$GC,10948,-0.61,-146.1,993.0,-6.2,527,10952,0.00,2.08,0.00,0.000,4,0.000,0.036,1643,1490,3412,0,0,0,0,0,0
$GC,10983,-0.61,-146.1,995.4,-7.0,528,10987,0.00,2.22,0.00,0.000,6,0.000,0.053,1634,2890,3412,0,0,0,0,0,0
$STATE,11065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11065,begin apogee
$GC,11076,-0.18,0.0,1001.0,6.7,531,11227,0.50,0.00,147.90,1.228,6,0.152,0.000,1783,2700,2819,0,0,0,0,0,0
$STATE,11229,end apogee,CONTROL_FINISHED_OK
$STATE,11229,begin climb
$GC,11234,0.61,146.1,1004.2,0.0,536,11398,0.77,0.00,150.45,1.783,6,0.057,0.000,2061,2700,2225,0,0,0,0,1,0
$GC,11706,0.61,146.1,898.5,25.9,552,11710,0.00,2.28,0.00,0.000,4,0.000,0.044,2072,1300,2218,0,0,0,0,0,0
$GC,11774,0.61,146.1,881.1,24.7,554,11778,0.00,2.30,0.00,0.000,6,0.000,0.050,2072,2696,2215,0,0,0,0,0,0
$GC,12112,0.61,146.1,794.5,25.3,565,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2696,2214,0,0,0,0,0,0
$GC,12418,0.61,146.1,718.8,24.4,575,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2696,2214,0,0,0,0,0,0
$GC,12726,0.61,146.1,646.3,23.5,585,12730,0.00,2.20,0.00,0.000,4,0.000,0.042,2082,1297,2213,0,0,0,0,0,0
$GC,12795,0.61,146.1,630.6,21.3,587,12799,0.12,2.25,0.00,0.000,6,0.220,0.051,2055,2701,2211,0,0,0,0,0,0
$GC,13128,0.61,146.1,556.0,23.0,598,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2702,2212,0,0,0,0,0,0
$GC,13434,0.61,146.1,490.4,20.7,608,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2702,2211,0,0,0,0,0,0
$GC,13740,0.61,146.1,427.0,20.3,618,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2702,2211,0,0,0,0,0,0
$GC,14060,0.61,146.1,362.7,20.5,631,14064,0.00,2.17,0.00,0.000,4,0.000,0.042,2064,1303,2211,0,0,0,0,0,0
$GC,14105,0.61,146.1,353.9,18.3,633,14109,0.00,2.22,0.00,0.000,6,0.000,0.050,2064,2704,2209,0,0,0,0,0,0
$GC,14438,0.61,146.1,286.2,20.2,649,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2704,2210,0,0,0,0,0,0
$GC,14745,0.61,146.1,224.2,19.6,666,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2704,2210,0,0,0,0,0,0
$GC,15059,0.61,146.1,161.5,20.1,686,15063,0.00,2.17,0.00,0.000,4,0.000,0.042,2074,1308,2210,0,0,0,0,0,0
$GC,15146,0.61,146.1,144.1,18.4,691,15150,0.00,2.22,0.00,0.000,6,0.000,0.050,2075,2701,2209,0,0,0,0,0,0
$GC,15479,0.61,146.1,77.2,19.0,723,15485,0.00,2.20,0.00,0.000,4,0.000,0.042,2084,1310,2209,0,0,0,0,0,0
$GC,15600,0.61,146.1,56.3,17.0,743,15607,0.15,2.22,0.00,0.000,6,0.207,0.050,2049,2699,2208,0,0,0,0,0,0
$GC,15854,0.61,146.1,11.5,16.2,784,15862,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2699,2209,0,0,0,0,0,0
$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15900,begin surface coast
$FINISH,0.8,1.003419
$STATE,15920,end surface coast,CONTROL_FINISHED_OK
$STATE,15920,begin surface
$SM_CCo,15943,184.75,0.786,1,0,476,573.99
$SM_GC,1.22,0.00,0.00,184.75,0.000,0.000,0.786,53,2888,476,-5.61,0.23,573.99
$IRIDIUM_FIX,-4616.72,407.59,160113,212102
$TT8_MAMPS,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.0,47.274
$10V_AH,10.1,22.662
$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,14.175,71.950,298.350,184.750,0.000,31.841,41.869,346.585,0.000,0.000,26.486,1937.042,11214.510,643.161,2361.236,637.347,33.370,1421.609,0.000,1848.455,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,79.560,1783.215,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.781,1572.051,835.033,327.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,57178,794
$CAP_FILE_SIZE,113531,0
$CFSIZE,259252224,214106112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,170113,110004,-4634.401,412.960,39,1.9,39,-23.4