version: 66.07
glider: 542
mission: 6
dive: 249
start: 1 17 113 15 44 15
data:
$ID,542
$MISSION,6
$DIVE,249
$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,-11298.076
$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,40
$R_STBD_OVSHOOT,40
$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
$GPS1,170113,152752,-4636.149,414.815,36,0.9,36,-23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-56.7
$GPS2,170113,154319,-4636.062,414.928,16,0.8,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.239,-0.090
$KALMAN_X,-183029.5,773.2,456.0,179192.2,-4030.3
$KALMAN_Y,99231.5,-168.9,-78.1,-70790.0,2278.4
$MHEAD_RNG_PITCHd_Wd,134.1,33876,-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,-0.60,-146.1,0.0,0.0,0,76,0.00,0.00,-47.12,0.000,2,0.000,0.000,57,2886,2741,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.0,-3.3,6,124,6.47,1.65,-26.45,0.000,4,0.240,0.078,1620,3880,3416,0,0,0,0,0,0
$GC,386,-0.60,-146.1,42.9,-14.7,53,393,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2828,3417,0,0,0,0,0,0
$GC,629,-0.60,-146.1,77.6,-14.7,94,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2827,3418,0,0,0,0,0,0
$GC,971,-0.60,-146.1,123.4,-13.3,134,974,0.00,1.67,0.00,0.000,4,0.000,0.057,1612,3890,3418,0,0,0,0,0,0
$GC,1097,-0.60,-146.1,141.8,-13.9,141,1101,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2861,3419,0,0,0,0,0,0
$GC,1426,-0.60,-146.1,186.6,-13.6,162,1429,0.00,2.10,0.00,0.000,4,0.000,0.035,1612,1481,3419,0,0,0,0,0,0
$GC,1457,-0.60,-146.1,191.2,-13.8,164,1462,0.12,2.20,0.00,0.000,6,0.187,0.050,1632,2857,3419,0,0,0,0,0,0
$GC,1791,-0.60,-146.1,228.8,-11.5,185,1795,0.00,1.65,0.00,0.000,4,0.000,0.058,1625,3893,3419,0,0,0,0,0,0
$GC,1872,-0.60,-146.1,239.3,-12.1,189,1879,0.00,1.55,0.00,0.000,6,0.000,0.031,1625,2856,3420,0,0,0,0,0,0
$GC,2204,-0.60,-146.1,276.0,-11.1,207,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2856,3420,0,0,0,0,0,0
$GC,2511,-0.60,-146.1,310.2,-11.1,222,2514,0.00,1.67,0.00,0.000,4,0.000,0.059,1617,3904,3420,0,0,0,0,0,0
$GC,2576,-0.60,-146.1,318.1,-11.4,224,2585,0.00,1.58,0.00,0.000,6,0.000,0.031,1617,2852,3420,0,0,0,0,0,0
$GC,2895,-0.60,-146.1,354.7,-11.3,240,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2851,3419,0,0,0,0,0,0
$GC,3206,-0.60,-146.1,388.0,-10.5,255,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2851,3419,0,0,0,0,0,0
$GC,3513,-0.60,-146.1,421.2,-11.2,267,3517,0.00,1.67,0.00,0.000,4,0.000,0.060,1609,3899,3419,0,0,0,0,0,0
$GC,3559,-0.60,-146.1,427.0,-11.8,268,3562,0.00,1.55,0.00,0.000,6,0.000,0.032,1609,2873,3419,0,0,0,0,0,0
$GC,3890,-0.60,-146.1,465.7,-11.7,279,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2869,3418,0,0,0,0,0,0
$GC,4196,-0.60,-146.1,499.9,-10.9,289,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2869,3418,0,0,0,0,0,0
$GC,4502,-0.60,-146.1,535.1,-11.7,299,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2869,3418,0,0,0,0,0,0
$GC,4809,-0.60,-146.1,570.5,-11.7,309,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2869,3417,0,0,0,0,0,0
$GC,5115,-0.60,-146.1,605.8,-11.5,319,5119,0.00,2.12,0.00,0.000,4,0.000,0.037,1609,1481,3417,0,0,0,0,0,0
$GC,5139,-0.60,-146.1,608.9,-11.9,319,5147,0.12,2.20,0.00,0.000,6,0.189,0.052,1629,2859,3417,0,0,0,0,0,0
$GC,5456,-0.60,-146.1,638.8,-9.5,330,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,5761,-0.60,-146.1,666.4,-8.6,340,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,6069,-0.60,-146.1,691.5,-8.1,350,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,6373,-0.60,-146.1,715.9,-8.2,360,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,6680,-0.60,-146.1,741.3,-8.3,370,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3417,0,0,0,0,0,0
$GC,6986,-0.60,-146.1,768.0,-8.8,380,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,7294,-0.60,-146.1,795.9,-9.1,390,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,7598,-0.60,-146.1,823.3,-8.9,400,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3416,0,0,0,0,0,0
$GC,7907,-0.60,-146.1,849.6,-8.6,410,7910,0.00,2.12,0.00,0.000,4,0.000,0.037,1629,1480,3416,0,0,0,0,0,0
$GC,7942,-0.60,-146.1,853.0,-8.2,411,7946,0.00,2.22,0.00,0.000,6,0.000,0.053,1620,2862,3416,0,0,0,0,0,0
$GC,8274,-0.60,-146.1,882.5,-8.9,422,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2861,3416,0,0,0,0,0,0
$GC,8581,-0.60,-146.1,908.8,-8.7,432,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3415,0,0,0,0,0,0
$GC,8887,-0.60,-146.1,935.2,-8.7,442,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3415,0,0,0,0,0,0
$GC,9193,-0.60,-146.1,962.2,-9.0,452,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3415,0,0,0,0,0,0
$GC,9500,-0.60,-146.1,990.0,-9.1,462,9503,0.00,2.15,0.00,0.000,4,0.000,0.037,1620,1472,3415,0,0,0,0,0,0
$GC,9540,-0.60,-146.1,994.1,-9.1,463,9544,0.00,2.25,0.00,0.000,6,0.000,0.053,1609,2868,3415,0,0,0,0,0,0
$STATE,9617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9617,begin apogee
$GC,9628,-0.18,0.0,1001.6,9.6,466,9778,0.52,0.00,147.48,1.240,6,0.161,0.000,1764,2678,2819,0,0,0,0,0,0
$STATE,9780,end apogee,CONTROL_FINISHED_OK
$STATE,9780,begin climb
$GC,9785,0.60,146.1,1006.4,0.0,471,9950,0.77,2.47,149.77,1.789,4,0.099,0.041,2025,1276,2226,0,0,0,0,1,0
$GC,10019,0.60,146.1,974.6,17.7,478,10024,0.00,2.45,0.00,0.000,6,0.000,0.050,2025,2669,2221,0,0,0,0,0,0
$GC,10352,0.60,146.1,905.6,20.7,489,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2670,2218,0,0,0,0,0,0
$GC,10660,0.60,146.1,844.8,19.8,499,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2669,2217,0,0,0,0,0,0
$GC,10964,0.60,146.1,785.1,19.4,509,10968,0.00,2.22,0.00,0.000,4,0.000,0.042,2035,1273,2215,0,0,0,0,0,0
$GC,11005,0.60,146.1,777.5,17.3,510,11009,0.00,2.28,0.00,0.000,6,0.000,0.050,2036,2675,2213,0,0,0,0,0,0
$GC,11332,0.60,146.1,712.8,20.2,521,11333,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2675,2213,0,0,0,0,0,0
$GC,11639,0.60,146.1,651.9,19.7,531,11643,0.00,2.22,0.00,0.000,4,0.000,0.042,2046,1272,2213,0,0,0,0,0,0
$GC,11685,0.60,146.1,642.7,17.8,532,11689,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2669,2212,0,0,0,0,0,0
$GC,12006,0.60,146.1,577.5,20.5,543,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2212,0,0,0,0,0,0
$GC,12312,0.60,146.1,514.7,20.2,553,12316,0.00,2.17,0.00,0.000,4,0.000,0.044,2056,1276,2212,0,0,0,0,0,0
$GC,12359,0.60,146.1,505.0,18.8,554,12363,0.12,2.25,0.00,0.000,6,0.223,0.051,2029,2679,2211,0,0,0,0,0,0
$GC,12691,0.60,146.1,443.4,18.3,565,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2679,2211,0,0,0,0,0,0
$GC,12998,0.60,146.1,388.4,17.8,576,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2679,2211,0,0,0,0,0,0
$GC,13309,0.60,146.1,333.7,17.8,591,13313,0.00,2.20,0.00,0.000,4,0.000,0.043,2038,1276,2211,0,0,0,0,0,0
$GC,13344,0.60,146.1,326.8,16.9,592,13348,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2670,2210,0,0,0,0,0,0
$GC,13668,0.60,146.1,266.7,19.2,608,13669,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2211,0,0,0,0,0,0
$GC,13992,0.60,146.1,206.0,18.4,627,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2211,0,0,0,0,0,0
$GC,14306,0.60,146.1,148.6,18.4,647,14307,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2671,2211,0,0,0,0,0,0
$GC,14616,0.60,146.1,95.2,16.3,669,14623,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2211,0,0,0,0,0,0
$GC,14975,0.60,146.1,40.2,16.0,730,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2211,0,0,0,0,0,0
$STATE,15212,end climb,SURFACE_DEPTH_REACHED
$STATE,15212,begin surface coast
$FINISH,0.8,1.013017
$STATE,15238,end surface coast,CONTROL_FINISHED_OK
$STATE,15238,begin surface
$SM_CCo,15260,44.30,0.767,1,0,1879,230.09
$SM_GC,2.11,0.00,0.00,44.30,0.000,0.000,0.767,52,2874,1879,-5.56,0.40,230.09
$IRIDIUM_FIX,-4619.84,414.07,170113,151526
$TT8_MAMPS,0.026215
$HUMID,59.13
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,22.0,47.605
$10V_AH,10.0,22.874
$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,13.475,56.850,297.250,44.300,0.000,58.295,65.141,480.215,0.000,0.000,19.822,1884.962,10764.126,413.368,2486.835,677.396,33.378,1174.521,0.000,1834.310,0.000,1.008,0.000
$DEVICE_MAMPS,240.210,78.030,1789.335,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.732,1531.740,822.038,327.798,0.000,0.000,0.000,0.000,0.000,0.000
$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,53885,772
$CAP_FILE_SIZE,109500,0
$CFSIZE,259252224,213983232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,170113,200053,-4635.963,417.902,40,1.2,40,-23.4