version: 66.07
glider: 542
mission: 6
dive: 248
start: 1 17 113 11 12 10
data:
$ID,542
$MISSION,6
$DIVE,248
$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,230
$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,-11295.738
$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,1830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2860
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,31
$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
$GPS1,170113,110004,-4634.401,412.960,39,1.9,39,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-32.7
$GPS2,170113,111118,-4634.370,412.931,18,1.8,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.159,-0.200
$KALMAN_X,-182321.8,1184.7,43.1,175945.0,-2892.2
$KALMAN_Y,98629.3,26.3,-575.6,-66754.4,4348.5
$MHEAD_RNG_PITCHd_Wd,164.9,35444,-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,-0.60,-146.1,0.0,0.0,0,155,0.00,0.00,-125.95,0.000,2,0.000,0.000,52,2889,2981,0,0,0,0,0,0
$GC,162,-0.60,-146.1,3.0,-3.3,16,188,6.50,1.62,-13.27,0.000,4,0.242,0.078,1621,3900,3415,0,0,0,0,0,0
$GC,415,-0.60,-146.1,38.9,-13.5,55,422,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2850,3416,0,0,0,0,0,0
$GC,656,-0.60,-146.1,74.4,-14.0,96,664,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3416,0,0,0,0,0,0
$GC,1001,-0.60,-146.1,121.2,-12.9,138,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2849,3417,0,0,0,0,0,0
$GC,1315,-0.60,-146.1,163.8,-13.2,158,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2849,3418,0,0,0,0,0,0
$GC,1626,-0.60,-146.1,206.8,-13.4,178,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2849,3418,0,0,0,0,0,0
$GC,1938,-0.60,-146.1,247.9,-13.1,198,1942,0.00,1.67,0.00,0.000,4,0.000,0.058,1612,3885,3418,0,0,0,0,0,0
$GC,1990,-0.60,-146.1,254.2,-13.0,201,1993,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2850,3418,0,0,0,0,0,0
$GC,2327,-0.60,-146.1,297.0,-12.3,217,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2845,3418,0,0,0,0,0,0
$GC,2634,-0.60,-146.1,334.0,-12.2,232,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2845,3418,0,0,0,0,0,0
$GC,2945,-0.60,-146.1,370.7,-11.9,247,2949,0.00,1.70,0.00,0.000,4,0.000,0.059,1604,3894,3418,0,0,0,0,0,0
$GC,2980,-0.60,-146.1,375.7,-12.9,248,2985,0.08,1.55,0.00,0.000,6,0.171,0.032,1626,2869,3417,0,0,0,0,0,0
$GC,3324,-0.60,-146.1,414.1,-11.4,263,3328,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3897,3418,0,0,0,0,0,0
$GC,3365,-0.60,-146.1,419.3,-12.4,264,3369,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2851,3418,0,0,0,0,0,0
$GC,3704,-0.60,-146.1,459.1,-11.7,275,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2847,3417,0,0,0,0,0,0
$GC,4008,-0.60,-146.1,496.4,-12.4,285,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2847,3417,0,0,0,0,0,0
$GC,4317,-0.60,-146.1,533.6,-12.0,295,4320,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3896,3416,0,0,0,0,0,0
$GC,4368,-0.60,-146.1,540.7,-12.4,296,4372,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2852,3417,0,0,0,0,0,0
$GC,4694,-0.60,-146.1,581.0,-12.3,307,4697,0.00,2.08,0.00,0.000,4,0.000,0.037,1612,1486,3416,0,0,0,0,0,0
$GC,4734,-0.60,-146.1,586.2,-11.8,308,4739,0.12,2.17,0.00,0.000,6,0.190,0.052,1632,2857,3416,0,0,0,0,0,0
$GC,5067,-0.60,-146.1,620.0,-9.8,319,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3416,0,0,0,0,0,0
$GC,5375,-0.60,-146.1,648.5,-9.0,329,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2858,3416,0,0,0,0,0,0
$GC,5680,-0.60,-146.1,674.1,-8.3,339,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3416,0,0,0,0,0,0
$GC,5988,-0.60,-146.1,698.6,-8.1,349,5991,0.00,1.62,0.00,0.000,4,0.000,0.061,1625,3903,3416,0,0,0,0,0,0
$GC,6025,-0.60,-146.1,701.9,-8.4,350,6029,0.00,1.58,0.00,0.000,6,0.000,0.033,1625,2861,3416,0,0,0,0,0,0
$GC,6368,-0.60,-146.1,731.2,-8.5,361,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2856,3416,0,0,0,0,0,0
$GC,6676,-0.60,-146.1,758.5,-9.0,371,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3415,0,0,0,0,0,0
$GC,6980,-0.60,-146.1,787.1,-9.2,381,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3415,0,0,0,0,0,0
$GC,7289,-0.60,-146.1,815.0,-8.8,391,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2857,3415,0,0,0,0,0,0
$GC,7593,-0.60,-146.1,841.6,-8.7,401,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3415,0,0,0,0,0,0
$GC,7902,-0.60,-146.1,868.0,-8.6,411,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3414,0,0,0,0,0,0
$GC,8205,-0.60,-146.1,891.7,-7.7,421,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3414,0,0,0,0,0,0
$GC,8514,-0.60,-146.1,914.2,-7.3,431,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3414,0,0,0,0,0,0
$GC,8818,-0.60,-146.1,937.2,-7.5,441,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3414,0,0,0,0,0,0
$GC,9126,-0.60,-146.1,960.9,-7.8,451,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3413,0,0,0,0,0,0
$GC,9431,-0.60,-146.1,985.8,-8.4,461,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3414,0,0,0,0,0,0
$STATE,9609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9609,begin apogee
$GC,9620,-0.18,0.0,1002.1,9.1,467,9771,0.47,0.00,147.65,1.233,6,0.160,0.000,1764,2681,2819,0,0,0,0,0,0
$STATE,9772,end apogee,CONTROL_FINISHED_OK
$STATE,9773,begin climb
$GC,9777,0.60,146.1,1007.6,0.0,472,9943,0.77,2.50,150.20,1.791,4,0.099,0.041,2026,1279,2225,0,0,0,0,1,0
$GC,10011,0.60,146.1,978.7,16.6,479,10016,0.00,2.42,0.00,0.000,6,0.000,0.049,2026,2664,2220,0,0,0,0,0,0
$GC,10344,0.60,146.1,913.9,19.7,490,10348,0.00,2.22,0.00,0.000,4,0.000,0.042,2036,1282,2218,0,0,0,0,0,0
$GC,10379,0.60,146.1,907.2,17.6,491,10383,0.00,2.30,0.00,0.000,6,0.000,0.050,2036,2672,2215,0,0,0,0,0,0
$GC,10711,0.60,146.1,841.7,20.3,502,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2673,2215,0,0,0,0,0,0
$GC,11018,0.60,146.1,776.8,21.6,512,11022,0.00,2.20,0.00,0.000,4,0.000,0.042,2047,1276,2214,0,0,0,0,0,0
$GC,11058,0.60,146.1,767.9,19.9,513,11062,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2676,2213,0,0,0,0,0,0
$GC,11384,0.60,146.1,695.3,21.9,524,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2676,2213,0,0,0,0,0,0
$GC,11691,0.60,146.1,629.4,21.7,534,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2676,2213,0,0,0,0,0,0
$GC,11997,0.60,146.1,565.6,20.3,544,12001,0.00,2.20,0.00,0.000,4,0.000,0.042,2057,1271,2212,0,0,0,0,0,0
$GC,12054,0.60,146.1,554.8,18.7,545,12061,0.12,2.25,0.00,0.000,6,0.225,0.050,2030,2672,2211,0,0,0,0,0,0
$GC,12370,0.60,146.1,496.3,18.7,556,12374,0.00,1.95,0.00,0.000,4,0.000,0.058,2030,3901,2211,0,0,0,0,0,0
$GC,12410,0.60,146.1,487.2,21.2,557,12414,0.00,1.88,0.00,0.000,6,0.000,0.037,2038,2675,2211,0,0,0,0,0,0
$GC,12748,0.60,146.1,421.2,19.6,568,12752,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1258,2211,0,0,0,0,0,0
$GC,12814,0.60,146.1,408.9,19.3,570,12819,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2672,2210,0,0,0,0,0,0
$GC,13147,0.60,146.1,341.5,20.8,585,13150,0.00,1.98,0.00,0.000,4,0.000,0.060,2049,3895,2210,0,0,0,0,0,0
$GC,13205,0.60,146.1,327.9,22.7,587,13209,0.12,1.88,0.00,0.000,6,0.241,0.037,2032,2669,2210,0,0,0,0,0,0
$GC,13531,0.60,146.1,267.9,18.3,603,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2664,2210,0,0,0,0,0,0
$GC,13850,0.60,146.1,209.3,17.5,622,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2665,2210,0,0,0,0,0,0
$GC,14163,0.60,146.1,155.6,16.6,642,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2665,2210,0,0,0,0,0,0
$GC,14477,0.60,146.1,107.3,14.7,662,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2664,2210,0,0,0,0,0,0
$GC,14813,0.60,146.1,57.9,15.3,714,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2665,2210,0,0,0,0,0,0
$GC,15069,0.60,146.1,19.4,15.6,755,15077,0.00,2.20,0.00,0.000,4,0.000,0.043,2041,1269,2209,0,0,0,0,0,0
$GC,15132,0.60,146.1,8.7,15.8,764,15141,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2669,2208,0,0,0,0,0,0
$STATE,15167,end climb,SURFACE_DEPTH_REACHED
$STATE,15167,begin surface coast
$FINISH,0.8,1.013658
$STATE,15187,end surface coast,CONTROL_FINISHED_OK
$STATE,15187,begin surface
$SM_CCo,15210,42.58,0.758,1,0,1880,230.09
$SM_GC,2.08,0.00,0.00,42.58,0.000,0.000,0.758,59,2885,1880,-5.54,0.71,230.09
$IRIDIUM_FIX,-4616.72,413.84,170113,060614
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.0,47.435
$10V_AH,10.1,22.767
$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,13.650,59.125,297.850,42.575,0.000,28.246,44.236,356.232,0.000,0.000,20.261,1877.085,10617.297,445.304,2348.688,628.265,33.376,1239.571,0.000,1846.174,0.000,1.010,0.000
$DEVICE_MAMPS,241.740,78.030,1790.865,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.346,1526.194,828.567,335.753,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,53829,772
$CAP_FILE_SIZE,108433,0
$CFSIZE,259252224,214044672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,170113,152752,-4636.149,414.815,36,0.9,36,-23.4