version: 66.07
glider: 542
mission: 6
dive: 253
start: 1 18 113 9 34 57
data:
$ID,542
$MISSION,6
$DIVE,253
$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,-11307.416
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,180113,092222,-4636.919,425.728,36,0.8,36,-23.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-57.3
$GPS2,180113,093405,-4636.944,425.830,19,1.2,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.230,-0.111
$KALMAN_X,-187646.1,391.0,-14.6,198480.8,-3101.2
$KALMAN_Y,106739.9,-407.0,-135.2,-79643.7,3618.8
$MHEAD_RNG_PITCHd_Wd,139.1,22174,-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,27,-0.60,-146.1,0.0,0.0,0,84,0.00,0.00,-55.15,0.000,2,0.000,0.000,51,2898,2912,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.1,-4.1,7,125,6.55,1.60,-16.65,0.000,4,0.243,0.078,1621,3871,3418,0,0,0,0,0,0
$GC,402,-0.60,-146.1,49.5,-14.8,56,411,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2836,3419,0,0,0,0,0,0
$GC,649,-0.60,-146.1,84.6,-13.3,97,653,0.00,1.67,0.00,0.000,4,0.000,0.057,1613,3879,3419,0,0,0,0,0,0
$GC,841,-0.60,-146.1,112.1,-13.5,121,845,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2853,3421,0,0,0,0,0,0
$GC,1173,-0.60,-146.1,158.6,-14.1,142,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2849,3421,0,0,0,0,0,0
$GC,1486,-0.60,-146.1,199.6,-13.3,162,1490,0.00,1.65,0.00,0.000,4,0.000,0.057,1605,3882,3421,0,0,0,0,0,0
$GC,1526,-0.60,-146.1,205.3,-14.1,164,1530,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2854,3422,0,0,0,0,0,0
$GC,1855,-0.60,-146.1,249.1,-13.8,185,1857,0.10,0.00,0.00,0.000,6,0.198,0.000,1628,2849,3422,0,0,0,0,0,0
$GC,2179,-0.60,-146.1,284.4,-10.3,201,2183,0.00,1.65,0.00,0.000,4,0.000,0.059,1622,3865,3421,0,0,0,0,0,0
$GC,2214,-0.60,-146.1,288.5,-11.6,202,2218,0.00,1.52,0.00,0.000,6,0.000,0.032,1622,2851,3421,0,0,0,0,0,0
$GC,2538,-0.60,-146.1,324.5,-11.5,218,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3422,0,0,0,0,0,0
$GC,2849,-0.60,-146.1,359.6,-11.5,233,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3422,0,0,0,0,0,0
$GC,3156,-0.60,-146.1,394.4,-11.0,248,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3421,0,0,0,0,0,0
$GC,3464,-0.60,-146.1,428.0,-10.8,259,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3422,0,0,0,0,0,0
$GC,3771,-0.60,-146.1,460.6,-10.4,269,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3422,0,0,0,0,0,0
$GC,4076,-0.60,-146.1,491.9,-10.1,279,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2846,3421,0,0,0,0,0,0
$GC,4382,-0.60,-146.1,522.4,-9.8,289,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2848,3421,0,0,0,0,0,0
$GC,4689,-0.60,-146.1,551.1,-9.1,299,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3421,0,0,0,0,0,0
$GC,4995,-0.60,-146.1,579.7,-9.4,309,4999,0.00,2.10,0.00,0.000,4,0.000,0.038,1622,1478,3421,0,0,0,0,0,0
$GC,5035,-0.60,-146.1,583.9,-8.8,310,5040,0.00,2.20,0.00,0.000,6,0.000,0.053,1612,2844,3421,0,0,0,0,0,0
$GC,5362,-0.60,-146.1,618.5,-11.1,321,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2844,3421,0,0,0,0,0,0
$GC,5668,-0.60,-146.1,652.9,-11.4,331,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2844,3421,0,0,0,0,0,0
$GC,5974,-0.60,-146.1,686.9,-10.9,341,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2844,3420,0,0,0,0,0,0
$GC,6281,-0.60,-146.1,719.0,-10.4,351,6285,0.00,1.67,0.00,0.000,4,0.000,0.061,1603,3890,3420,0,0,0,0,0,0
$GC,6333,-0.60,-146.1,724.7,-10.3,352,6337,0.08,1.55,0.00,0.000,6,0.163,0.034,1627,2869,3420,0,0,0,0,0,0
$GC,6661,-0.60,-146.1,751.0,-7.7,363,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2865,3420,0,0,0,0,0,0
$GC,6966,-0.60,-146.1,774.7,-7.8,373,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2864,3420,0,0,0,0,0,0
$GC,7272,-0.60,-146.1,798.7,-7.7,383,7276,0.00,2.10,0.00,0.000,4,0.000,0.038,1627,1478,3420,0,0,0,0,0,0
$GC,7304,-0.60,-146.1,801.3,-8.0,384,7308,0.00,2.22,0.00,0.000,6,0.000,0.053,1618,2862,3420,0,0,0,0,0,0
$GC,7642,-0.60,-146.1,829.9,-8.5,395,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3420,0,0,0,0,0,0
$GC,7948,-0.60,-146.1,854.3,-7.6,405,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3420,0,0,0,0,0,0
$GC,8256,-0.60,-146.1,877.9,-7.8,415,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3420,0,0,0,0,0,0
$GC,8561,-0.60,-146.1,903.0,-8.2,425,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3420,0,0,0,0,0,0
$GC,8867,-0.60,-146.1,928.7,-8.4,435,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3420,0,0,0,0,0,0
$GC,9173,-0.60,-146.1,954.1,-8.3,445,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3420,0,0,0,0,0,0
$GC,9480,-0.60,-146.1,979.4,-8.5,455,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3419,0,0,0,0,0,0
$STATE,9719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9719,begin apogee
$GC,9730,-0.18,0.0,1000.5,8.7,463,9882,0.50,0.00,148.85,1.245,6,0.160,0.000,1764,2676,2819,0,0,0,0,0,0
$STATE,9884,end apogee,CONTROL_FINISHED_OK
$STATE,9884,begin climb
$GC,9889,0.60,146.1,1004.3,0.0,468,10054,0.82,2.55,152.48,1.796,4,0.099,0.042,2033,1284,2226,0,0,0,0,1,0
$GC,10080,0.60,146.1,977.9,18.8,474,10084,0.00,2.47,0.00,0.000,6,0.000,0.050,2033,2672,2224,0,0,0,0,0,0
$GC,10395,0.60,146.1,911.3,21.4,484,10399,0.00,2.28,0.00,0.000,4,0.000,0.042,2044,1273,2219,0,0,0,0,0,0
$GC,10430,0.60,146.1,903.6,21.8,485,10435,0.00,2.35,0.00,0.000,6,0.000,0.051,2044,2675,2216,0,0,0,0,0,0
$GC,10763,0.60,146.1,831.0,21.5,496,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2675,2216,0,0,0,0,0,0
$GC,11069,0.60,146.1,765.4,21.1,506,11073,0.00,2.22,0.00,0.000,4,0.000,0.043,2054,1276,2215,0,0,0,0,0,0
$GC,11115,0.60,146.1,755.7,19.8,507,11119,0.00,2.25,0.00,0.000,6,0.000,0.051,2054,2669,2214,0,0,0,0,0,0
$GC,11449,0.60,146.1,681.0,23.1,518,11453,0.00,1.95,0.00,0.000,4,0.000,0.059,2054,3900,2214,0,0,0,0,0,0
$GC,11467,0.60,146.1,676.1,22.9,518,11471,0.15,1.92,0.00,0.000,6,0.241,0.037,2032,2668,2214,0,0,0,0,0,0
$GC,11788,0.60,146.1,610.4,20.2,529,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2663,2214,0,0,0,0,0,0
$GC,12096,0.60,146.1,550.9,19.1,539,12100,0.00,2.20,0.00,0.000,4,0.000,0.043,2041,1255,2214,0,0,0,0,0,0
$GC,12148,0.60,146.1,540.8,16.9,540,12152,0.00,2.30,0.00,0.000,6,0.000,0.051,2041,2677,2212,0,0,0,0,0,0
$GC,12464,0.60,146.1,479.9,19.4,550,12467,0.00,1.95,0.00,0.000,4,0.000,0.059,2041,3903,2212,0,0,0,0,0,0
$GC,12515,0.60,146.1,467.9,22.2,551,12519,0.00,1.92,0.00,0.000,6,0.000,0.037,2051,2666,2212,0,0,0,0,0,0
$GC,12841,0.60,146.1,401.8,20.2,562,12845,0.00,2.20,0.00,0.000,4,0.000,0.043,2061,1251,2213,0,0,0,0,0,0
$GC,12888,0.60,146.1,392.5,18.3,564,12892,0.15,2.30,0.00,0.000,6,0.216,0.051,2027,2681,2212,0,0,0,0,0,0
$GC,13219,0.60,146.1,333.7,18.1,580,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2681,2212,0,0,0,0,0,0
$GC,13529,0.60,146.1,274.7,19.2,595,13533,0.00,1.95,0.00,0.000,4,0.000,0.060,2027,3890,2212,0,0,0,0,0,0
$GC,13570,0.60,146.1,265.4,21.2,596,13579,0.00,1.92,0.00,0.000,6,0.000,0.037,2035,2655,2212,0,0,0,0,0,0
$GC,13896,0.60,146.1,203.7,18.6,616,13897,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2655,2212,0,0,0,0,0,0
$GC,14208,0.60,146.1,147.7,17.9,636,14212,0.00,2.15,0.00,0.000,4,0.000,0.043,2045,1265,2212,0,0,0,0,0,0
$GC,14259,0.60,146.1,139.8,16.3,639,14263,0.00,2.28,0.00,0.000,6,0.000,0.050,2046,2677,2210,0,0,0,0,0,0
$GC,14591,0.60,146.1,82.8,18.2,671,14595,0.00,1.95,0.00,0.000,4,0.000,0.060,2046,3904,2211,0,0,0,0,0,0
$GC,14651,0.60,146.1,70.9,19.7,681,14659,0.10,1.92,0.00,0.000,6,0.221,0.038,2029,2673,2211,0,0,0,0,0,0
$GC,15028,0.60,146.1,16.9,13.4,742,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2672,2211,0,0,0,0,0,0
$GC,15116,0.60,146.1,5.1,13.4,755,15124,0.00,2.00,0.00,0.000,4,0.000,0.063,2029,3889,2210,0,0,0,0,0,0
$STATE,15133,end climb,SURFACE_DEPTH_REACHED
$STATE,15133,begin surface coast
$FINISH,0.7,1.026440
$STATE,15146,end surface coast,CONTROL_FINISHED_OK
$STATE,15146,begin surface
$SM_CCo,15170,42.70,0.758,1,0,1879,230.09
$SM_GC,2.29,0.00,0.00,42.70,0.000,0.000,0.758,50,2847,1879,-5.56,-0.37,230.09
$IRIDIUM_FIX,-4619.84,423.44,180113,050521
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,48.251
$10V_AH,10.0,23.284
$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,13.775,71.575,301.325,42.700,0.000,32.120,43.768,380.577,0.000,0.000,21.553,1862.395,10655.610,457.043,2288.205,642.204,33.367,1179.313,0.000,1766.850,0.000,1.008,0.000
$DEVICE_MAMPS,243.270,78.030,1796.220,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.071,1504.282,802.004,324.296,0.000,0.000,0.000,0.000,0.000,0.000
$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,53803,759
$CAP_FILE_SIZE,107943,0
$CFSIZE,259252224,213737472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180113,135004,-4637.313,428.332,41,1.1,41,-23.5