version: 66.07
glider: 542
mission: 6
dive: 255
start: 1 18 113 18 27 10
data:
$ID,542
$MISSION,6
$DIVE,255
$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,-11312.086
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,180113,181505,-4635.511,429.738,39,0.8,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-59.9
$GPS2,180113,182618,-4635.541,429.822,18,1.5,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,0.088
$KALMAN_X,-191786.6,34.8,-30.6,208045.7,-3915.5
$KALMAN_Y,109307.0,-572.5,-402.2,-79173.3,4061.4
$MHEAD_RNG_PITCHd_Wd,93.3,16543,-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,-63.08,0.000,2,0.000,0.000,46,2874,3107,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.4,-3.4,8,125,6.68,1.65,-8.27,0.000,4,0.250,0.073,1619,3890,3417,0,0,0,0,0,0
$GC,137,-0.60,-146.1,11.8,-17.1,12,147,0.00,1.60,0.00,0.000,6,0.000,0.030,1619,2833,3418,0,0,0,0,0,0
$GC,226,-0.60,-146.1,26.5,-14.8,25,234,0.00,1.75,0.00,0.000,4,0.000,0.057,1611,3896,3419,0,0,0,0,0,0
$GC,503,-0.60,-146.1,68.1,-14.2,71,507,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2860,3420,0,0,0,0,0,0
$GC,855,-0.60,-146.1,117.6,-14.0,118,858,0.00,1.65,0.00,0.000,4,0.000,0.057,1603,3900,3421,0,0,0,0,0,0
$GC,1120,-0.60,-146.1,154.3,-13.4,133,1124,0.08,1.58,0.00,0.000,6,0.165,0.031,1635,2858,3422,0,0,0,0,0,0
$GC,1451,-0.60,-146.1,190.2,-11.8,154,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2852,3422,0,0,0,0,0,0
$GC,1761,-0.60,-146.1,226.7,-11.6,174,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2852,3422,0,0,0,0,0,0
$GC,2083,-0.60,-146.1,260.8,-10.4,193,2086,0.00,1.67,0.00,0.000,4,0.000,0.060,1628,3897,3421,0,0,0,0,0,0
$GC,2123,-0.60,-146.1,265.6,-11.6,194,2132,0.00,1.58,0.00,0.000,6,0.000,0.032,1628,2849,3422,0,0,0,0,0,0
$GC,2442,-0.60,-146.1,298.9,-10.4,210,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2850,3421,0,0,0,0,0,0
$GC,2752,-0.60,-146.1,330.5,-9.9,225,2756,0.00,2.08,0.00,0.000,4,0.000,0.037,1628,1484,3421,0,0,0,0,0,0
$GC,2803,-0.60,-146.1,335.4,-9.4,227,2807,0.00,2.20,0.00,0.000,6,0.000,0.052,1618,2860,3422,0,0,0,0,0,0
$GC,3135,-0.60,-146.1,371.0,-10.9,243,3139,0.00,1.67,0.00,0.000,4,0.000,0.060,1610,3894,3421,0,0,0,0,0,0
$GC,3220,-0.60,-146.1,381.5,-11.5,246,3230,0.00,1.55,0.00,0.000,6,0.000,0.032,1610,2862,3422,0,0,0,0,0,0
$GC,3549,-0.60,-146.1,420.4,-12.0,260,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2861,3422,0,0,0,0,0,0
$GC,3854,-0.60,-146.1,458.2,-12.4,270,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2861,3421,0,0,0,0,0,0
$GC,4160,-0.60,-146.1,497.4,-12.9,280,4164,0.00,2.10,0.00,0.000,4,0.000,0.037,1609,1487,3421,0,0,0,0,0,0
$GC,4191,-0.60,-146.1,501.4,-13.0,281,4196,0.12,2.20,0.00,0.000,6,0.187,0.052,1630,2862,3421,0,0,0,0,0,0
$GC,4530,-0.60,-146.1,538.0,-10.7,292,4533,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3908,3420,0,0,0,0,0,0
$GC,4559,-0.60,-146.1,541.6,-11.3,292,4566,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2863,3421,0,0,0,0,0,0
$GC,4876,-0.60,-146.1,576.0,-10.9,303,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3421,0,0,0,0,0,0
$GC,5181,-0.60,-146.1,607.6,-10.2,313,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2862,3420,0,0,0,0,0,0
$GC,5488,-0.60,-146.1,636.7,-9.3,323,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3420,0,0,0,0,0,0
$GC,5793,-0.60,-146.1,665.1,-9.2,333,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3419,0,0,0,0,0,0
$GC,6101,-0.60,-146.1,692.8,-9.0,343,6105,0.00,2.10,0.00,0.000,4,0.000,0.037,1623,1477,3419,0,0,0,0,0,0
$GC,6133,-0.60,-146.1,695.7,-9.2,344,6137,0.00,2.20,0.00,0.000,6,0.000,0.053,1613,2859,3419,0,0,0,0,0,0
$GC,6477,-0.60,-146.1,728.7,-9.7,355,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3419,0,0,0,0,0,0
$GC,6782,-0.60,-146.1,758.6,-9.8,365,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3418,0,0,0,0,0,0
$GC,7088,-0.60,-146.1,788.8,-9.9,375,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3418,0,0,0,0,0,0
$GC,7394,-0.60,-146.1,819.2,-9.7,385,7398,0.00,1.65,0.00,0.000,4,0.000,0.062,1605,3889,3418,0,0,0,0,0,0
$GC,7435,-0.60,-146.1,823.8,-10.9,386,7439,0.00,1.55,0.00,0.000,6,0.000,0.034,1605,2863,3418,0,0,0,0,0,0
$GC,7774,-0.60,-146.1,858.2,-10.1,397,7776,0.10,0.00,0.00,0.000,6,0.200,0.000,1628,2858,3418,0,0,0,0,0,0
$GC,8079,-0.60,-146.1,885.0,-8.9,407,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3418,0,0,0,0,0,0
$GC,8385,-0.60,-146.1,911.1,-8.5,417,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3418,0,0,0,0,0,0
$GC,8692,-0.60,-146.1,937.1,-8.5,427,8696,0.00,2.10,0.00,0.000,4,0.000,0.038,1629,1476,3418,0,0,0,0,0,0
$GC,8733,-0.60,-146.1,940.6,-7.5,428,8737,0.00,2.22,0.00,0.000,6,0.000,0.054,1620,2864,3417,0,0,0,0,0,0
$GC,9072,-0.60,-146.1,969.0,-8.5,439,9075,0.00,1.65,0.00,0.000,4,0.000,0.061,1612,3907,3418,0,0,0,0,0,0
$GC,9124,-0.60,-146.1,974.2,-9.3,440,9128,0.00,1.60,0.00,0.000,6,0.000,0.033,1612,2854,3418,0,0,0,0,0,0
$STATE,9445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9446,begin apogee
$GC,9456,-0.18,0.0,1001.3,8.2,451,9607,0.52,0.00,147.57,1.241,6,0.159,0.000,1765,2675,2819,0,0,0,0,0,0
$STATE,9609,end apogee,CONTROL_FINISHED_OK
$STATE,9609,begin climb
$GC,9614,0.60,146.1,1003.6,0.0,456,9781,0.77,2.53,153.15,1.792,4,0.099,0.043,2024,1287,2225,0,0,0,0,1,0
$GC,9796,0.60,146.1,977.7,20.8,461,9803,0.00,2.45,0.00,0.000,6,0.000,0.050,2025,2662,2223,0,0,0,0,0,0
$GC,10111,0.60,146.1,911.4,20.6,472,10115,0.00,2.05,0.00,0.000,4,0.000,0.060,2025,3899,2217,0,0,0,0,0,0
$GC,10134,0.60,146.1,906.0,20.6,472,10138,0.00,1.98,0.00,0.000,6,0.000,0.037,2034,2686,2216,0,0,0,0,0,0
$GC,10455,0.60,146.1,838.4,21.1,483,10459,0.00,2.25,0.00,0.000,4,0.000,0.044,2045,1269,2215,0,0,0,0,0,0
$GC,10501,0.60,146.1,828.8,18.5,484,10505,0.00,2.30,0.00,0.000,6,0.000,0.051,2045,2673,2213,0,0,0,0,0,0
$GC,10822,0.60,146.1,761.6,21.3,495,10826,0.00,1.95,0.00,0.000,4,0.000,0.060,2045,3897,2213,0,0,0,0,0,0
$GC,10846,0.60,146.1,755.8,22.5,495,10849,0.00,1.92,0.00,0.000,6,0.000,0.037,2054,2669,2214,0,0,0,0,0,0
$GC,11168,0.60,146.1,686.0,21.9,506,11172,0.00,2.20,0.00,0.000,4,0.000,0.043,2065,1265,2213,0,0,0,0,0,0
$GC,11242,0.60,146.1,670.4,18.9,508,11247,0.15,2.28,0.00,0.000,6,0.219,0.051,2032,2673,2211,0,0,0,0,0,0
$GC,11569,0.60,146.1,606.0,19.7,519,11573,0.00,1.98,0.00,0.000,4,0.000,0.059,2031,3894,2211,0,0,0,0,0,0
$GC,11598,0.60,146.1,599.5,22.0,519,11605,0.00,1.90,0.00,0.000,6,0.000,0.037,2040,2663,2211,0,0,0,0,0,0
$GC,11914,0.60,146.1,535.4,20.5,530,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2661,2211,0,0,0,0,0,0
$GC,12220,0.60,146.1,473.6,19.8,540,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2661,2211,0,0,0,0,0,0
$GC,12526,0.60,146.1,411.4,20.7,550,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2661,2211,0,0,0,0,0,0
$GC,12835,0.60,146.1,348.0,20.1,564,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2661,2211,0,0,0,0,0,0
$GC,13146,0.60,146.1,286.5,19.4,579,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2661,2211,0,0,0,0,0,0
$GC,13459,0.60,146.1,227.3,18.5,596,13463,0.00,2.17,0.00,0.000,4,0.000,0.044,2050,1269,2211,0,0,0,0,0,0
$GC,13496,0.60,146.1,220.4,17.1,598,13500,0.00,2.25,0.00,0.000,6,0.000,0.052,2050,2673,2209,0,0,0,0,0,0
$GC,13825,0.60,146.1,159.7,19.3,619,13826,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2673,2209,0,0,0,0,0,0
$GC,14138,0.60,146.1,102.4,17.7,639,14142,0.00,2.20,0.00,0.000,4,0.000,0.042,2060,1269,2209,0,0,0,0,0,0
$GC,14194,0.60,146.1,93.3,15.8,646,14202,0.15,2.25,0.00,0.000,6,0.207,0.052,2026,2673,2208,0,0,0,0,0,0
$GC,14554,0.60,146.1,38.5,14.5,707,14560,0.00,1.92,0.00,0.000,4,0.000,0.059,2026,3903,2208,0,0,0,0,0,0
$GC,14596,0.60,146.1,31.2,18.2,713,14603,0.00,1.90,0.00,0.000,6,0.000,0.037,2034,2672,2208,0,0,0,0,0,0
$STATE,14775,end climb,SURFACE_DEPTH_REACHED
$STATE,14775,begin surface coast
$FINISH,0.7,1.013852
$STATE,14801,end surface coast,CONTROL_FINISHED_OK
$STATE,14801,begin surface
$SM_CCo,14824,42.80,0.768,1,0,1880,230.09
$SM_GC,1.77,0.00,0.00,42.80,0.000,0.000,0.768,59,2883,1880,-5.53,0.62,230.09
$IRIDIUM_FIX,-4622.97,526.72,180113,131336
$TT8_MAMPS,0.026215
$HUMID,58.54
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.0,48.598
$10V_AH,10.1,23.491
$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,14.025,82.175,300.725,42.800,0.000,27.738,42.886,350.700,0.000,0.000,20.356,1849.059,10273.151,462.841,2295.696,647.569,33.369,1221.357,0.000,1805.345,0.000,1.010,0.000
$DEVICE_MAMPS,250.155,73.440,1792.395,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.208,1470.195,785.697,300.790,0.000,0.000,0.000,0.000,0.000,0.000
$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,53848,745
$CAP_FILE_SIZE,110074,0
$CFSIZE,259252224,213610496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180113,223628,-4634.342,431.076,38,0.9,38,-23.5