version: 66.07
glider: 542
mission: 6
dive: 254
start: 1 18 113 14 1 34
data:
$ID,542
$MISSION,6
$DIVE,254
$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,-11309.754
$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,25
$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
$GPS1,180113,135004,-4637.313,428.332,41,1.1,41,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-55.5
$GPS2,180113,140042,-4637.291,428.427,21,1.2,21,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.229,0.114
$KALMAN_X,-189291.4,338.3,194.5,203250.2,-3734.4
$KALMAN_Y,108573.4,-593.4,-224.3,-81846.6,4299.0
$MHEAD_RNG_PITCHd_Wd,87.0,20000,-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,-47.17,0.000,2,0.000,0.000,49,2847,2749,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.1,-3.1,6,125,6.68,2.20,-23.60,0.000,4,0.249,0.049,1627,1449,3418,0,0,0,0,0,0
$GC,155,-0.60,-146.1,11.0,-15.2,15,165,0.00,2.30,0.00,0.000,6,0.000,0.049,1618,2857,3418,0,0,0,0,0,0
$GC,243,-0.60,-146.1,22.9,-16.0,28,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2858,3419,0,0,0,0,0,0
$GC,331,-0.60,-146.1,36.6,-16.1,41,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3419,0,0,0,0,0,0
$GC,576,-0.60,-146.1,75.0,-14.9,82,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2857,3419,0,0,0,0,0,0
$GC,918,-0.60,-146.1,123.9,-13.5,122,922,0.00,1.65,0.00,0.000,4,0.000,0.057,1610,3906,3419,0,0,0,0,0,0
$GC,999,-0.60,-146.1,135.3,-12.9,126,1007,0.00,1.62,0.00,0.000,6,0.000,0.031,1609,2829,3420,0,0,0,0,0,0
$GC,1322,-0.60,-146.1,176.1,-12.9,147,1326,0.00,1.73,0.00,0.000,4,0.000,0.057,1601,3892,3421,0,0,0,0,0,0
$GC,1386,-0.60,-146.1,185.6,-14.6,150,1395,0.08,1.55,0.00,0.000,6,0.164,0.031,1625,2859,3422,0,0,0,0,0,0
$GC,1709,-0.60,-146.1,224.5,-11.8,171,1713,0.00,2.10,0.00,0.000,4,0.000,0.037,1625,1477,3421,0,0,0,0,0,0
$GC,1750,-0.60,-146.1,229.7,-11.3,173,1754,0.00,2.22,0.00,0.000,6,0.000,0.050,1615,2865,3421,0,0,0,0,0,0
$GC,2077,-0.60,-146.1,266.5,-11.1,191,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2866,3421,0,0,0,0,0,0
$GC,2385,-0.60,-146.1,300.9,-11.3,206,2389,0.00,1.65,0.00,0.000,4,0.000,0.059,1607,3915,3421,0,0,0,0,0,0
$GC,2448,-0.60,-146.1,308.9,-12.2,208,2457,0.00,1.60,0.00,0.000,6,0.000,0.031,1607,2849,3422,0,0,0,0,0,0
$GC,2767,-0.60,-146.1,346.3,-12.1,224,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2848,3422,0,0,0,0,0,0
$GC,3078,-0.60,-146.1,383.6,-12.0,239,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2849,3422,0,0,0,0,0,0
$GC,3404,-0.60,-146.1,423.0,-12.1,252,3408,0.00,1.67,0.00,0.000,4,0.000,0.059,1599,3897,3422,0,0,0,0,0,0
$GC,3444,-0.60,-146.1,428.4,-12.9,253,3449,0.08,1.55,0.00,0.000,6,0.164,0.032,1637,2872,3421,0,0,0,0,0,0
$GC,3783,-0.60,-146.1,459.5,-8.7,264,3787,0.00,2.10,0.00,0.000,4,0.000,0.037,1638,1481,3422,0,0,0,0,0,0
$GC,3818,-0.60,-146.1,462.8,-8.7,265,3822,0.00,2.22,0.00,0.000,6,0.000,0.052,1628,2869,3422,0,0,0,0,0,0
$GC,4150,-0.60,-146.1,493.7,-9.7,276,4154,0.00,1.62,0.00,0.000,4,0.000,0.060,1620,3889,3421,0,0,0,0,0,0
$GC,4207,-0.60,-146.1,500.0,-10.7,277,4211,0.00,1.55,0.00,0.000,6,0.000,0.033,1620,2857,3422,0,0,0,0,0,0
$GC,4528,-0.60,-146.1,533.2,-10.4,288,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2853,3421,0,0,0,0,0,0
$GC,4834,-0.60,-146.1,564.7,-10.4,298,4838,0.00,2.08,0.00,0.000,4,0.000,0.037,1620,1481,3421,0,0,0,0,0,0
$GC,4866,-0.60,-146.1,567.8,-10.0,299,4870,0.00,2.20,0.00,0.000,6,0.000,0.052,1609,2866,3421,0,0,0,0,0,0
$GC,5203,-0.60,-146.1,603.5,-10.4,310,5207,0.00,2.15,0.00,0.000,4,0.000,0.037,1609,1476,3421,0,0,0,0,0,0
$GC,5238,-0.60,-146.1,607.3,-10.5,311,5243,0.12,2.22,0.00,0.000,6,0.187,0.051,1629,2861,3420,0,0,0,0,0,0
$GC,5571,-0.60,-146.1,636.8,-9.0,322,5575,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3906,3421,0,0,0,0,0,0
$GC,5600,-0.60,-146.1,639.9,-9.8,322,5607,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2862,3420,0,0,0,0,0,0
$GC,5917,-0.60,-146.1,671.1,-10.1,333,5921,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1476,3420,0,0,0,0,0,0
$GC,5963,-0.60,-146.1,676.2,-10.2,334,5967,0.00,2.22,0.00,0.000,6,0.000,0.053,1612,2859,3420,0,0,0,0,0,0
$GC,6284,-0.60,-146.1,711.8,-11.4,345,6287,0.00,1.65,0.00,0.000,4,0.000,0.060,1604,3906,3419,0,0,0,0,0,0
$GC,6324,-0.60,-146.1,716.9,-12.2,346,6328,0.08,1.58,0.00,0.000,6,0.161,0.032,1635,2862,3419,0,0,0,0,0,0
$GC,6662,-0.60,-146.1,749.8,-9.7,357,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2859,3419,0,0,0,0,0,0
$GC,6968,-0.60,-146.1,779.1,-9.5,367,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2859,3419,0,0,0,0,0,0
$GC,7274,-0.60,-146.1,807.6,-9.0,377,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2859,3419,0,0,0,0,0,0
$GC,7583,-0.60,-146.1,833.5,-8.2,387,7586,0.00,2.12,0.00,0.000,4,0.000,0.038,1635,1474,3418,0,0,0,0,0,0
$GC,7614,-0.60,-146.1,836.1,-7.8,388,7618,0.00,2.22,0.00,0.000,6,0.000,0.053,1627,2869,3418,0,0,0,0,0,0
$GC,7957,-0.60,-146.1,864.5,-8.1,399,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2869,3418,0,0,0,0,0,0
$GC,8264,-0.60,-146.1,888.5,-7.8,409,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2869,3418,0,0,0,0,0,0
$GC,8570,-0.60,-146.1,911.9,-7.6,419,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2868,3418,0,0,0,0,0,0
$GC,8876,-0.60,-146.1,936.5,-8.1,429,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2870,3417,0,0,0,0,0,0
$GC,9183,-0.60,-146.1,961.7,-8.3,439,9186,0.00,1.65,0.00,0.000,4,0.000,0.061,1619,3893,3418,0,0,0,0,0,0
$GC,9212,-0.60,-146.1,964.3,-9.5,439,9218,0.00,1.58,0.00,0.000,6,0.000,0.034,1619,2851,3418,0,0,0,0,0,0
$GC,9527,-0.60,-146.1,992.5,-9.1,450,9531,0.00,2.08,0.00,0.000,4,0.000,0.037,1619,1481,3418,0,0,0,0,0,0
$GC,9559,-0.60,-146.1,995.4,-8.9,451,9563,0.00,2.22,0.00,0.000,6,0.000,0.053,1608,2863,3418,0,0,0,0,0,0
$STATE,9617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9617,begin apogee
$GC,9627,-0.18,0.0,1001.2,9.5,453,9779,0.55,0.00,143.70,1.826,6,0.163,0.000,1768,2675,2819,0,0,0,0,1,0
$STATE,9781,end apogee,CONTROL_FINISHED_OK
$STATE,9781,begin climb
$GC,9786,0.60,146.1,1005.8,0.0,458,9955,0.80,2.47,156.23,1.787,4,0.098,0.042,2027,1282,2224,0,0,0,0,1,0
$GC,10014,0.60,146.1,974.5,19.0,465,10019,0.00,2.42,0.00,0.000,6,0.000,0.050,2027,2664,2220,0,0,0,0,0,0
$GC,10354,0.60,146.1,900.9,22.0,476,10358,0.00,2.05,0.00,0.000,4,0.000,0.060,2027,3903,2216,0,0,0,0,0,0
$GC,10391,0.60,146.1,891.8,24.7,477,10395,0.00,1.95,0.00,0.000,6,0.000,0.036,2036,2676,2216,0,0,0,0,0,0
$GC,10734,0.60,146.1,811.1,23.5,488,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2671,2214,0,0,0,0,0,0
$GC,11040,0.60,146.1,740.8,22.7,498,11044,0.00,2.20,0.00,0.000,4,0.000,0.042,2047,1267,2214,0,0,0,0,0,0
$GC,11058,0.60,146.1,736.4,22.6,498,11062,0.00,2.28,0.00,0.000,6,0.000,0.050,2047,2679,2213,0,0,0,0,0,0
$GC,11381,0.60,146.1,663.2,22.4,509,11384,0.00,1.95,0.00,0.000,4,0.000,0.060,2047,3896,2213,0,0,0,0,0,0
$GC,11417,0.60,146.1,654.3,24.6,510,11422,0.12,1.90,0.00,0.000,6,0.240,0.037,2031,2673,2213,0,0,0,0,0,0
$GC,11761,0.60,146.1,587.9,18.2,521,11765,0.00,2.17,0.00,0.000,4,0.000,0.043,2041,1267,2212,0,0,0,0,0,0
$GC,11779,0.60,146.1,584.4,18.0,521,11783,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2675,2211,0,0,0,0,0,0
$GC,12094,0.60,146.1,523.9,19.4,531,12098,0.00,1.98,0.00,0.000,4,0.000,0.060,2040,3894,2211,0,0,0,0,0,0
$GC,12135,0.60,146.1,514.7,21.7,532,12139,0.00,1.92,0.00,0.000,6,0.000,0.038,2050,2673,2211,0,0,0,0,0,0
$GC,12472,0.60,146.1,443.7,21.2,543,12476,0.00,2.17,0.00,0.000,4,0.000,0.042,2061,1265,2211,0,0,0,0,0,0
$GC,12502,0.60,146.1,437.2,20.4,543,12509,0.15,2.25,0.00,0.000,6,0.217,0.050,2026,2668,2209,0,0,0,0,0,0
$GC,12828,0.60,146.1,376.2,18.2,556,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2669,2210,0,0,0,0,0,0
$GC,13140,0.60,146.1,319.7,18.3,571,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2669,2210,0,0,0,0,0,0
$GC,13447,0.60,146.1,263.0,18.4,586,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2669,2209,0,0,0,0,0,0
$GC,13766,0.60,146.1,205.7,17.9,605,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2669,2209,0,0,0,0,0,0
$GC,14078,0.60,146.1,154.5,16.0,625,14079,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2669,2209,0,0,0,0,0,0
$GC,14390,0.60,146.1,101.4,17.0,645,14394,0.00,2.20,0.00,0.000,4,0.000,0.042,2036,1263,2208,0,0,0,0,0,0
$GC,14488,0.60,146.1,86.3,14.2,660,14497,0.00,2.28,0.00,0.000,6,0.000,0.050,2036,2665,2207,0,0,0,0,0,0
$GC,14851,0.60,146.1,31.1,15.3,721,14858,0.00,1.92,0.00,0.000,4,0.000,0.058,2036,3897,2207,0,0,0,0,0,0
$GC,14920,0.60,146.1,19.1,18.4,731,14929,0.00,1.92,0.00,0.000,6,0.000,0.037,2045,2662,2208,0,0,0,0,0,0
$GC,15008,0.60,146.1,5.0,12.8,744,15017,0.00,2.20,0.00,0.000,4,0.000,0.047,2056,1271,2207,0,0,0,0,0,0
$STATE,15025,end climb,SURFACE_DEPTH_REACHED
$STATE,15025,begin surface coast
$FINISH,0.8,1.017622
$STATE,15051,end surface coast,CONTROL_FINISHED_OK
$STATE,15051,begin surface
$SM_CCo,15075,42.50,0.766,1,0,1879,230.09
$SM_GC,1.71,0.00,0.00,42.50,0.000,0.000,0.766,49,2874,1879,-5.57,0.40,230.09
$IRIDIUM_FIX,-4619.84,423.44,180113,090902
$TT8_MAMPS,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.0,48.435
$10V_AH,10.1,23.388
$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,13.925,104.050,299.925,42.500,0.000,25.213,22.098,338.726,0.000,0.000,23.207,1874.467,10411.274,455.267,2332.515,673.000,33.370,1293.628,0.000,1867.291,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,61.200,1826.055,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.626,1477.666,782.346,303.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,53825,750
$CAP_FILE_SIZE,120308,0
$CFSIZE,259252224,213659648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,180113,181505,-4635.511,429.738,39,0.8,39,-23.5