version: 66.07
glider: 542
mission: 6
dive: 252
start: 1 18 113 5 11 16
data:
$ID,542
$MISSION,6
$DIVE,252
$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,-11305.064
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,180113,045704,-4636.720,423.204,37,1.0,37,-23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-57.0
$GPS2,180113,051024,-4636.738,423.244,16,1.1,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,-0.093
$KALMAN_X,-185576.2,48.9,25.1,193443.5,-1911.7
$KALMAN_Y,105171.0,-133.5,-259.0,-77838.6,3803.1
$MHEAD_RNG_PITCHd_Wd,134.6,24739,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.60,-146.1,0.0,0.0,0,96,0.00,0.00,-63.10,0.000,2,0.000,0.000,53,2878,3109,0,0,0,0,0,0
$GC,102,-0.60,-146.1,3.0,-2.6,8,129,6.60,1.67,-8.62,0.000,4,0.247,0.076,1619,3892,3418,0,0,0,0,0,0
$GC,405,-0.60,-146.1,51.4,-14.4,56,415,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2845,3421,0,0,0,0,0,0
$GC,652,-0.60,-146.1,85.6,-13.7,97,657,0.00,1.70,0.00,0.000,4,0.000,0.057,1611,3905,3421,0,0,0,0,0,0
$GC,778,-0.60,-146.1,102.2,-12.9,117,782,0.00,1.60,0.00,0.000,6,0.000,0.031,1611,2854,3421,0,0,0,0,0,0
$GC,1112,-0.60,-146.1,144.8,-12.7,138,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2849,3422,0,0,0,0,0,0
$GC,1423,-0.60,-146.1,185.2,-13.0,158,1426,0.00,1.67,0.00,0.000,4,0.000,0.057,1603,3898,3422,0,0,0,0,0,0
$GC,1463,-0.60,-146.1,191.0,-14.2,160,1468,0.08,1.58,0.00,0.000,6,0.170,0.031,1634,2856,3422,0,0,0,0,0,0
$GC,1797,-0.60,-146.1,225.7,-10.5,181,1801,0.00,2.08,0.00,0.000,4,0.000,0.036,1635,1482,3423,0,0,0,0,0,0
$GC,1838,-0.60,-146.1,230.8,-10.3,183,1842,0.00,2.22,0.00,0.000,6,0.000,0.052,1626,2868,3422,0,0,0,0,0,0
$GC,2165,-0.60,-146.1,266.7,-10.9,201,2169,0.00,1.62,0.00,0.000,4,0.000,0.059,1618,3891,3422,0,0,0,0,0,0
$GC,2215,-0.60,-146.1,272.4,-11.6,203,2219,0.00,1.55,0.00,0.000,6,0.000,0.031,1618,2855,3422,0,0,0,0,0,0
$GC,2552,-0.60,-146.1,310.3,-11.2,219,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2851,3423,0,0,0,0,0,0
$GC,2859,-0.60,-146.1,344.5,-11.3,234,2863,0.00,1.67,0.00,0.000,4,0.000,0.059,1610,3900,3422,0,0,0,0,0,0
$GC,2900,-0.60,-146.1,349.5,-12.2,235,2907,0.00,1.55,0.00,0.000,6,0.000,0.032,1610,2870,3423,0,0,0,0,0,0
$GC,3221,-0.60,-146.1,386.8,-12.1,251,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2869,3422,0,0,0,0,0,0
$GC,3526,-0.60,-146.1,424.3,-12.1,263,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2869,3422,0,0,0,0,0,0
$GC,3833,-0.60,-146.1,461.3,-12.1,273,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2869,3422,0,0,0,0,0,0
$GC,4139,-0.60,-146.1,498.4,-12.1,283,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2869,3422,0,0,0,0,0,0
$GC,4445,-0.60,-146.1,535.1,-11.8,293,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2869,3422,0,0,0,0,0,0
$GC,4751,-0.60,-146.1,570.5,-11.4,303,4755,0.00,2.12,0.00,0.000,4,0.000,0.037,1610,1483,3421,0,0,0,0,0,0
$GC,4783,-0.60,-146.1,574.0,-11.4,304,4788,0.12,2.22,0.00,0.000,6,0.188,0.053,1630,2870,3421,0,0,0,0,0,0
$GC,5121,-0.60,-146.1,606.6,-9.6,315,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2871,3420,0,0,0,0,0,0
$GC,5429,-0.60,-146.1,636.0,-9.5,325,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2871,3420,0,0,0,0,0,0
$GC,5734,-0.60,-146.1,664.0,-9.2,335,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2871,3420,0,0,0,0,0,0
$GC,6042,-0.60,-146.1,691.9,-9.2,345,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2871,3419,0,0,0,0,0,0
$GC,6347,-0.60,-146.1,720.3,-9.2,355,6350,0.00,2.15,0.00,0.000,4,0.000,0.037,1630,1484,3419,0,0,0,0,0,0
$GC,6382,-0.60,-146.1,723.9,-8.9,356,6386,0.00,2.22,0.00,0.000,6,0.000,0.053,1621,2866,3420,0,0,0,0,0,0
$GC,6714,-0.60,-146.1,755.9,-9.9,367,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3419,0,0,0,0,0,0
$GC,7020,-0.60,-146.1,785.6,-9.6,377,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3419,0,0,0,0,0,0
$GC,7327,-0.60,-146.1,813.9,-9.1,387,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3419,0,0,0,0,0,0
$GC,7633,-0.60,-146.1,840.8,-8.7,397,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3419,0,0,0,0,0,0
$GC,7939,-0.60,-146.1,867.1,-8.5,407,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2867,3418,0,0,0,0,0,0
$GC,8246,-0.60,-146.1,892.8,-8.4,417,8250,0.00,2.12,0.00,0.000,4,0.000,0.037,1621,1481,3418,0,0,0,0,0,0
$GC,8281,-0.60,-146.1,896.1,-8.6,418,8285,0.00,2.22,0.00,0.000,6,0.000,0.053,1611,2860,3419,0,0,0,0,0,0
$GC,8613,-0.60,-146.1,925.8,-9.1,429,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2862,3418,0,0,0,0,0,0
$GC,8921,-0.60,-146.1,953.4,-8.8,439,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2862,3419,0,0,0,0,0,0
$GC,9225,-0.60,-146.1,980.1,-8.7,449,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2862,3419,0,0,0,0,0,0
$STATE,9465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9466,begin apogee
$GC,9476,-0.18,0.0,1001.4,8.7,457,9628,0.52,0.00,148.62,1.238,6,0.162,0.000,1764,2686,2820,0,0,0,0,0,0
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9635,0.60,146.1,1004.5,0.0,462,9801,0.80,2.55,150.98,1.792,4,0.101,0.042,2029,1278,2225,0,0,0,0,1,0
$GC,9829,0.60,146.1,977.1,19.4,468,9833,0.00,2.47,0.00,0.000,6,0.000,0.050,2029,2668,2223,0,0,0,0,0,0
$GC,10166,0.60,146.1,903.6,21.8,479,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2668,2218,0,0,0,0,0,0
$GC,10473,0.60,146.1,840.0,20.3,489,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2668,2216,0,0,0,0,0,0
$GC,10779,0.60,146.1,779.1,19.7,499,10783,0.00,2.22,0.00,0.000,4,0.000,0.043,2039,1279,2215,0,0,0,0,0,0
$GC,10820,0.60,146.1,771.2,18.1,500,10824,0.00,2.28,0.00,0.000,6,0.000,0.051,2039,2675,2213,0,0,0,0,0,0
$GC,11146,0.60,146.1,705.8,20.6,511,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2675,2213,0,0,0,0,0,0
$GC,11453,0.60,146.1,642.8,20.3,521,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2675,2213,0,0,0,0,0,0
$GC,11759,0.60,146.1,580.0,20.6,531,11762,0.00,2.20,0.00,0.000,4,0.000,0.042,2049,1272,2212,0,0,0,0,0,0
$GC,11816,0.60,146.1,568.9,16.9,532,11820,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2679,2211,0,0,0,0,0,0
$GC,12133,0.60,146.1,505.8,20.5,542,12137,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1273,2211,0,0,0,0,0,0
$GC,12168,0.60,146.1,498.2,19.3,543,12173,0.15,2.28,0.00,0.000,6,0.216,0.052,2026,2678,2211,0,0,0,0,0,0
$GC,12502,0.60,146.1,436.9,18.4,554,12506,0.00,1.95,0.00,0.000,4,0.000,0.059,2025,3904,2211,0,0,0,0,0,0
$GC,12542,0.60,146.1,428.3,20.6,555,12546,0.00,1.90,0.00,0.000,6,0.000,0.037,2034,2676,2211,0,0,0,0,0,0
$GC,12871,0.60,146.1,368.2,18.0,568,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2671,2211,0,0,0,0,0,0
$GC,13182,0.60,146.1,311.5,18.6,583,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2671,2211,0,0,0,0,0,0
$GC,13492,0.60,146.1,251.8,18.9,598,13496,0.00,2.20,0.00,0.000,4,0.000,0.043,2045,1262,2211,0,0,0,0,0,0
$GC,13527,0.60,146.1,244.8,16.9,600,13531,0.00,2.28,0.00,0.000,6,0.000,0.051,2045,2673,2209,0,0,0,0,0,0
$GC,13850,0.60,146.1,184.1,19.9,620,13854,0.00,1.95,0.00,0.000,4,0.000,0.060,2045,3900,2210,0,0,0,0,0,0
$GC,13908,0.60,146.1,170.8,22.4,623,13912,0.00,1.90,0.00,0.000,6,0.000,0.038,2054,2675,2210,0,0,0,0,0,0
$GC,14236,0.60,146.1,110.0,18.4,644,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2669,2210,0,0,0,0,0,0
$GC,14573,0.60,146.1,51.0,15.8,696,14582,0.00,2.22,0.00,0.000,4,0.000,0.043,2065,1258,2210,0,0,0,0,0,0
$GC,14660,0.60,146.1,38.2,14.0,709,14668,0.15,2.28,0.00,0.000,6,0.216,0.051,2031,2672,2209,0,0,0,0,0,0
$STATE,14891,end climb,SURFACE_DEPTH_REACHED
$STATE,14891,begin surface coast
$FINISH,0.7,1.026426
$STATE,14911,end surface coast,CONTROL_FINISHED_OK
$STATE,14911,begin surface
$SM_CCo,14933,43.08,0.776,1,0,1877,230.09
$SM_GC,2.33,0.00,0.00,43.08,0.000,0.000,0.776,52,2898,1877,-5.55,1.07,230.09
$IRIDIUM_FIX,-4619.84,420.32,180113,050535
$TT8_MAMPS,0.026964
$HUMID,58.66
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.0,48.087
$10V_AH,10.0,23.181
$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,13.725,69.325,299.600,43.075,0.000,50.588,100.395,345.371,0.000,0.000,18.745,1842.261,10550.801,410.329,2341.358,623.721,33.375,1158.202,0.000,1776.959,0.000,1.008,0.000
$DEVICE_MAMPS,247.095,76.500,1791.630,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.408,1483.294,792.240,311.748,0.000,0.000,0.000,0.000,0.000,0.000
$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,53753,749
$CAP_FILE_SIZE,107615,0
$CFSIZE,259252224,213798912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180113,092222,-4636.919,425.728,36,0.8,36,-23.4