version: 66.07
glider: 542
mission: 6
dive: 250
start: 1 17 113 20 12 39
data:
$ID,542
$MISSION,6
$DIVE,250
$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,-11300.409
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,170113,200053,-4635.963,417.902,40,1.2,40,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-60.4
$GPS2,170113,201147,-4635.901,417.945,20,1.3,20,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.224,-0.122
$KALMAN_X,-182926.9,-205.9,256.2,184085.7,-2225.3
$KALMAN_Y,101716.9,-532.2,-13.7,-72697.8,3580.6
$MHEAD_RNG_PITCHd_Wd,142.0,30165,-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,22,begin dive
$GC,26,-0.60,-146.1,0.0,0.0,0,92,0.00,0.00,-63.10,0.000,2,0.000,0.000,50,2874,3105,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.4,8,125,6.53,1.65,-8.90,0.000,4,0.243,0.071,1620,3890,3417,0,0,0,0,0,0
$GC,386,-0.60,-146.1,49.5,-14.6,53,393,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2836,3420,0,0,0,0,0,0
$GC,627,-0.60,-146.1,85.6,-14.8,94,634,0.00,1.73,0.00,0.000,4,0.000,0.057,1611,3893,3421,0,0,0,0,0,0
$GC,673,-0.60,-146.1,92.5,-14.7,101,678,0.00,1.55,0.00,0.000,6,0.000,0.030,1611,2867,3421,0,0,0,0,0,0
$GC,1013,-0.60,-146.1,139.5,-13.4,128,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2862,3422,0,0,0,0,0,0
$GC,1321,-0.60,-146.1,182.4,-14.0,148,1325,0.00,1.67,0.00,0.000,4,0.000,0.057,1603,3895,3423,0,0,0,0,0,0
$GC,1402,-0.60,-146.1,194.8,-15.1,152,1412,0.08,1.55,0.00,0.000,6,0.172,0.030,1627,2862,3422,0,0,0,0,0,0
$GC,1729,-0.60,-146.1,233.9,-11.4,173,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,2051,-0.60,-146.1,270.7,-11.1,191,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,2359,-0.60,-146.1,302.9,-10.1,206,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,2671,-0.60,-146.1,332.9,-9.6,221,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,2978,-0.60,-146.1,361.8,-9.3,236,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,3288,-0.60,-146.1,391.5,-9.8,251,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3423,0,0,0,0,0,0
$GC,3604,-0.60,-146.1,424.3,-10.6,263,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,3911,-0.60,-146.1,455.6,-10.3,273,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3422,0,0,0,0,0,0
$GC,4216,-0.60,-146.1,485.5,-9.4,283,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3423,0,0,0,0,0,0
$GC,4524,-0.60,-146.1,514.1,-9.0,293,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3422,0,0,0,0,0,0
$GC,4829,-0.60,-146.1,542.7,-9.3,303,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3422,0,0,0,0,0,0
$GC,5136,-0.60,-146.1,571.5,-9.5,313,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3422,0,0,0,0,0,0
$GC,5441,-0.60,-146.1,600.7,-9.4,323,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3421,0,0,0,0,0,0
$GC,5748,-0.60,-146.1,628.7,-9.0,333,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3421,0,0,0,0,0,0
$GC,6054,-0.60,-146.1,655.4,-8.4,343,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3421,0,0,0,0,0,0
$GC,6360,-0.60,-146.1,682.4,-8.8,353,6364,0.00,2.10,0.00,0.000,4,0.000,0.037,1627,1486,3420,0,0,0,0,0,0
$GC,6401,-0.60,-146.1,686.2,-8.2,354,6405,0.00,2.20,0.00,0.000,6,0.000,0.052,1618,2858,3420,0,0,0,0,0,0
$GC,6728,-0.60,-146.1,717.8,-9.9,365,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3420,0,0,0,0,0,0
$GC,7033,-0.60,-146.1,747.1,-9.5,375,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3420,0,0,0,0,0,0
$GC,7340,-0.60,-146.1,776.8,-9.6,385,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3420,0,0,0,0,0,0
$GC,7646,-0.60,-146.1,806.5,-9.6,395,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3420,0,0,0,0,0,0
$GC,7952,-0.60,-146.1,834.2,-8.9,405,7956,0.00,2.12,0.00,0.000,4,0.000,0.037,1618,1482,3419,0,0,0,0,0,0
$GC,7999,-0.60,-146.1,838.4,-8.9,406,8003,0.00,2.22,0.00,0.000,6,0.000,0.053,1607,2867,3419,0,0,0,0,0,0
$GC,8320,-0.60,-146.1,866.7,-8.8,417,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2866,3419,0,0,0,0,0,0
$GC,8626,-0.60,-146.1,892.4,-8.2,427,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2866,3419,0,0,0,0,0,0
$GC,8932,-0.60,-146.1,916.9,-7.9,437,8936,0.00,2.15,0.00,0.000,4,0.000,0.037,1607,1480,3419,0,0,0,0,0,0
$GC,8979,-0.60,-146.1,920.6,-6.9,438,8984,0.15,2.22,0.00,0.000,6,0.179,0.052,1635,2863,3419,0,0,0,0,0,0
$GC,9301,-0.60,-146.1,939.4,-6.0,449,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2865,3419,0,0,0,0,0,0
$GC,9607,-0.60,-146.1,959.4,-6.5,459,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3419,0,0,0,0,0,0
$GC,9914,-0.60,-146.1,979.7,-6.8,469,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3419,0,0,0,0,0,0
$STATE,10215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10215,begin apogee
$GC,10226,-0.18,0.0,1000.9,7.0,479,10378,0.43,0.00,148.95,1.239,6,0.151,0.000,1764,2677,2819,0,0,0,0,0,0
$STATE,10380,end apogee,CONTROL_FINISHED_OK
$STATE,10380,begin climb
$GC,10385,0.60,146.1,1004.4,0.0,484,10550,0.77,2.55,150.32,1.793,4,0.100,0.043,2025,1280,2225,0,0,0,0,1,0
$GC,10619,0.60,146.1,970.1,18.9,491,10624,0.00,2.45,0.00,0.000,6,0.000,0.050,2025,2673,2221,0,0,0,0,0,0
$GC,10951,0.60,146.1,897.4,22.1,502,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2673,2219,0,0,0,0,0,0
$GC,11258,0.60,146.1,831.5,21.3,512,11262,0.00,2.22,0.00,0.000,4,0.000,0.043,2036,1270,2217,0,0,0,0,0,0
$GC,11310,0.60,146.1,821.0,18.7,513,11314,0.00,2.30,0.00,0.000,6,0.000,0.051,2036,2672,2215,0,0,0,0,0,0
$GC,11626,0.60,146.1,753.7,21.7,523,11630,0.00,2.22,0.00,0.000,4,0.000,0.043,2046,1268,2215,0,0,0,0,0,0
$GC,11691,0.60,146.1,740.3,19.4,525,11695,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2670,2213,0,0,0,0,0,0
$GC,12029,0.60,146.1,666.6,21.7,536,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2670,2213,0,0,0,0,0,0
$GC,12334,0.60,146.1,600.0,21.6,546,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2670,2213,0,0,0,0,0,0
$GC,12642,0.60,146.1,533.9,21.3,556,12646,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1270,2213,0,0,0,0,0,0
$GC,12688,0.60,146.1,523.9,19.5,557,12693,0.12,2.25,0.00,0.000,6,0.224,0.050,2030,2671,2212,0,0,0,0,0,0
$GC,13023,0.60,146.1,461.1,18.8,568,13026,0.00,1.95,0.00,0.000,4,0.000,0.060,2030,3908,2212,0,0,0,0,0,0
$GC,13051,0.60,146.1,454.8,20.6,568,13058,0.00,1.90,0.00,0.000,6,0.000,0.037,2038,2673,2212,0,0,0,0,0,0
$GC,13367,0.60,146.1,396.6,18.2,579,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2212,0,0,0,0,0,0
$GC,13676,0.60,146.1,339.4,18.0,594,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2211,0,0,0,0,0,0
$GC,13988,0.60,146.1,283.6,18.1,609,13991,0.00,2.15,0.00,0.000,4,0.000,0.042,2049,1270,2212,0,0,0,0,0,0
$GC,14040,0.60,146.1,273.9,15.8,611,14044,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2670,2211,0,0,0,0,0,0
$GC,14367,0.60,146.1,214.8,18.5,629,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2210,0,0,0,0,0,0
$GC,14680,0.60,146.1,156.0,19.4,649,14684,0.00,2.17,0.00,0.000,4,0.000,0.042,2058,1272,2211,0,0,0,0,0,0
$GC,14734,0.60,146.1,146.0,17.0,652,14739,0.12,2.25,0.00,0.000,6,0.216,0.050,2030,2672,2210,0,0,0,0,0,0
$GC,15061,0.60,146.1,94.0,15.6,676,15067,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2210,0,0,0,0,0,0
$GC,15421,0.60,146.1,41.1,16.2,737,15428,0.00,1.95,0.00,0.000,4,0.000,0.059,2031,3901,2211,0,0,0,0,0,0
$GC,15494,0.60,146.1,28.5,17.0,748,15503,0.00,1.92,0.00,0.000,6,0.000,0.036,2039,2663,2210,0,0,0,0,0,0
$GC,15582,0.60,146.1,14.1,14.9,761,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2663,2211,0,0,0,0,0,0
$STATE,15655,end climb,SURFACE_DEPTH_REACHED
$STATE,15655,begin surface coast
$FINISH,0.8,1.026495
$STATE,15675,end surface coast,CONTROL_FINISHED_OK
$STATE,15675,begin surface
$SM_CCo,15697,42.85,0.755,1,0,1880,230.09
$SM_GC,2.31,0.00,0.00,42.85,0.000,0.000,0.755,54,2889,1880,-5.55,0.82,230.09
$IRIDIUM_FIX,-4619.84,416.96,170113,151535
$TT8_MAMPS,0.026215
$HUMID,58.34
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,47.765
$10V_AH,10.1,22.977
$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,13.500,58.425,299.275,42.850,0.000,34.337,30.808,337.593,0.000,0.000,22.992,1880.761,11160.743,425.264,2276.226,642.228,33.374,1180.993,0.000,1799.216,0.000,1.009,0.000
$DEVICE_MAMPS,242.505,71.145,1793.160,755.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.620,1523.067,795.655,305.105,0.000,0.000,0.000,0.000,0.000,0.000
$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,57041,775
$CAP_FILE_SIZE,108155,0
$CFSIZE,259252224,213921792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180113,003634,-4636.134,420.591,41,0.8,41,-23.4