version: 66.07
glider: 542
mission: 6
dive: 256
start: 1 18 113 22 48 9
data:
$ID,542
$MISSION,6
$DIVE,256
$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,-11314.423
$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,37
$R_STBD_OVSHOOT,42
$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
$GPS1,180113,223628,-4634.342,431.076,38,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-57.2
$GPS2,180113,224717,-4634.383,431.159,17,0.9,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.211,-0.145
$KALMAN_X,-195035.7,-145.5,49.2,213089.2,-4604.4
$KALMAN_Y,109224.2,-572.3,-318.4,-77027.6,2961.2
$MHEAD_RNG_PITCHd_Wd,147.9,13890,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,100,0.00,0.00,-71.10,0.000,2,0.000,0.000,56,2884,3281,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.6,-2.9,9,126,6.65,2.28,-3.15,0.000,4,0.249,0.049,1640,1432,3417,0,0,0,0,0,0
$GC,256,-0.60,-146.1,29.0,-12.1,31,265,0.00,2.33,0.00,0.000,6,0.000,0.051,1630,2844,3417,0,0,0,0,0,0
$GC,340,-0.60,-146.1,41.6,-15.8,44,350,0.00,1.70,0.00,0.000,4,0.000,0.058,1622,3900,3418,0,0,0,0,0,0
$GC,369,-0.60,-146.1,45.4,-14.5,47,376,0.00,1.62,0.00,0.000,6,0.000,0.030,1622,2831,3418,0,0,0,0,0,0
$GC,611,-0.60,-146.1,80.4,-13.2,88,619,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2830,3418,0,0,0,0,0,0
$GC,953,-0.60,-146.1,124.1,-12.4,126,957,0.00,1.73,0.00,0.000,4,0.000,0.058,1613,3903,3419,0,0,0,0,0,0
$GC,1095,-0.60,-146.1,142.2,-12.0,134,1098,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2864,3419,0,0,0,0,0,0
$GC,1429,-0.60,-146.1,182.8,-12.8,155,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3420,0,0,0,0,0,0
$GC,1741,-0.60,-146.1,220.6,-12.1,175,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3421,0,0,0,0,0,0
$GC,2051,-0.60,-146.1,258.1,-11.8,194,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3420,0,0,0,0,0,0
$GC,2363,-0.60,-146.1,294.8,-11.7,209,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3420,0,0,0,0,0,0
$GC,2670,-0.60,-146.1,332.1,-12.2,224,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3420,0,0,0,0,0,0
$GC,2981,-0.60,-146.1,369.5,-12.0,239,2985,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3902,3420,0,0,0,0,0,0
$GC,3016,-0.60,-146.1,374.5,-13.0,240,3020,0.08,1.58,0.00,0.000,6,0.168,0.032,1628,2862,3420,0,0,0,0,0,0
$GC,3350,-0.60,-146.1,410.5,-10.8,255,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2858,3420,0,0,0,0,0,0
$GC,3655,-0.60,-146.1,442.6,-10.1,265,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2858,3420,0,0,0,0,0,0
$GC,3962,-0.60,-146.1,472.1,-9.4,275,3966,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3900,3419,0,0,0,0,0,0
$GC,3999,-0.60,-146.1,475.6,-9.8,276,4003,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2855,3419,0,0,0,0,0,0
$GC,4344,-0.60,-146.1,508.1,-9.5,287,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3419,0,0,0,0,0,0
$GC,4649,-0.60,-146.1,537.4,-9.6,297,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,4956,-0.60,-146.1,566.6,-9.7,307,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,5262,-0.60,-146.1,594.6,-9.0,317,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,5568,-0.60,-146.1,622.4,-9.0,327,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,5874,-0.60,-146.1,650.5,-9.4,337,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3418,0,0,0,0,0,0
$GC,6180,-0.60,-146.1,679.9,-9.6,347,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,6486,-0.60,-146.1,709.3,-9.7,357,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3417,0,0,0,0,0,0
$GC,6792,-0.60,-146.1,739.2,-9.7,367,6796,0.00,1.70,0.00,0.000,4,0.000,0.062,1613,3904,3417,0,0,0,0,0,0
$GC,6838,-0.60,-146.1,744.0,-10.2,368,6842,0.00,1.58,0.00,0.000,6,0.000,0.034,1613,2869,3417,0,0,0,0,0,0
$GC,7170,-0.60,-146.1,778.4,-10.7,379,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2864,3417,0,0,0,0,0,0
$GC,7478,-0.60,-146.1,811.6,-10.9,389,7481,0.00,2.10,0.00,0.000,4,0.000,0.038,1613,1478,3417,0,0,0,0,0,0
$GC,7513,-0.60,-146.1,815.8,-10.6,390,7518,0.12,2.22,0.00,0.000,6,0.184,0.053,1634,2863,3417,0,0,0,0,0,0
$GC,7846,-0.60,-146.1,847.6,-9.5,401,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2863,3417,0,0,0,0,0,0
$GC,8152,-0.60,-146.1,876.1,-9.1,411,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2863,3417,0,0,0,0,0,0
$GC,8459,-0.60,-146.1,903.2,-8.6,421,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2864,3417,0,0,0,0,0,0
$GC,8764,-0.60,-146.1,928.2,-7.9,431,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2863,3417,0,0,0,0,0,0
$GC,9071,-0.60,-146.1,951.5,-7.4,441,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2863,3416,0,0,0,0,0,0
$GC,9377,-0.60,-146.1,973.5,-7.1,451,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2863,3416,0,0,0,0,0,0
$GC,9683,-0.60,-146.1,995.1,-7.2,461,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2863,3416,0,0,0,0,0,0
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9770,begin apogee
$GC,9781,-0.18,0.0,1001.6,7.0,464,9931,0.45,0.00,147.25,1.240,6,0.155,0.000,1768,2676,2819,0,0,0,0,0,0
$STATE,9933,end apogee,CONTROL_FINISHED_OK
$STATE,9933,begin climb
$GC,9938,0.60,146.1,1004.8,0.0,469,10104,0.77,2.53,151.77,1.791,4,0.097,0.043,2030,1287,2224,0,0,0,0,1,0
$GC,10162,0.60,146.1,972.0,19.0,475,10169,0.00,2.42,0.00,0.000,6,0.000,0.050,2030,2666,2220,0,0,0,0,0,0
$GC,10477,0.60,146.1,902.5,22.5,486,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2666,2216,0,0,0,0,0,0
$GC,10783,0.60,146.1,835.2,22.0,496,10787,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1273,2215,0,0,0,0,0,0
$GC,10818,0.60,146.1,827.6,20.4,497,10822,0.00,2.30,0.00,0.000,6,0.000,0.051,2040,2676,2214,0,0,0,0,0,0
$GC,11150,0.60,146.1,753.1,22.7,508,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2676,2214,0,0,0,0,0,0
$GC,11456,0.60,146.1,685.9,21.6,518,11460,0.00,1.98,0.00,0.000,4,0.000,0.060,2040,3893,2214,0,0,0,0,0,0
$GC,11493,0.60,146.1,677.4,24.7,519,11497,0.00,1.90,0.00,0.000,6,0.000,0.037,2049,2682,2214,0,0,0,0,0,0
$GC,11838,0.60,146.1,603.2,21.4,530,11842,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1265,2213,0,0,0,0,0,0
$GC,11878,0.60,146.1,594.2,18.9,531,11883,0.15,2.28,0.00,0.000,6,0.216,0.050,2026,2672,2212,0,0,0,0,0,0
$GC,12206,0.60,146.1,532.5,18.9,542,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2672,2212,0,0,0,0,0,0
$GC,12512,0.60,146.1,475.1,18.0,552,12516,0.00,2.22,0.00,0.000,4,0.000,0.043,2035,1262,2212,0,0,0,0,0,0
$GC,12541,0.60,146.1,469.7,18.3,552,12548,0.00,2.28,0.00,0.000,6,0.000,0.051,2035,2675,2210,0,0,0,0,0,0
$GC,12856,0.60,146.1,411.1,18.3,563,12860,0.00,1.95,0.00,0.000,4,0.000,0.060,2035,3898,2210,0,0,0,0,0,0
$GC,12902,0.60,146.1,401.0,23.1,564,12906,0.00,1.90,0.00,0.000,6,0.000,0.038,2044,2672,2211,0,0,0,0,0,0
$GC,13237,0.60,146.1,333.6,20.8,580,13241,0.00,2.17,0.00,0.000,4,0.000,0.044,2055,1266,2211,0,0,0,0,0,0
$GC,13289,0.60,146.1,323.5,16.9,582,13294,0.12,2.25,0.00,0.000,6,0.216,0.051,2028,2670,2209,0,0,0,0,0,0
$GC,13614,0.60,146.1,265.4,18.0,598,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2210,0,0,0,0,0,0
$GC,13938,0.60,146.1,208.5,17.8,617,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2209,0,0,0,0,0,0
$GC,14250,0.60,146.1,154.9,16.6,637,14254,0.00,1.92,0.00,0.000,4,0.000,0.060,2028,3900,2209,0,0,0,0,0,0
$GC,14304,0.60,146.1,144.4,20.2,640,14308,0.00,1.90,0.00,0.000,6,0.000,0.037,2036,2667,2209,0,0,0,0,0,0
$GC,14635,0.60,146.1,87.0,17.6,667,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2663,2209,0,0,0,0,0,0
$GC,14991,0.60,146.1,29.6,19.7,728,15002,0.00,2.20,0.00,0.000,4,0.000,0.044,2046,1266,2209,0,0,0,0,0,0
$GC,15069,0.60,146.1,17.6,15.2,739,15078,0.00,2.28,0.00,0.000,6,0.000,0.052,2046,2664,2208,0,0,0,0,0,0
$GC,15156,0.60,146.1,3.2,17.0,752,15164,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2667,2208,0,0,0,0,0,0
$STATE,15172,end climb,SURFACE_DEPTH_REACHED
$STATE,15172,begin surface coast
$FINISH,0.5,1.007023
$STATE,15198,end surface coast,CONTROL_FINISHED_OK
$STATE,15198,begin surface
$SM_CCo,15221,42.78,0.764,1,0,1880,230.09
$SM_GC,1.43,0.00,0.00,42.78,0.000,0.000,0.764,51,2889,1880,-5.56,0.82,230.09
$IRIDIUM_FIX,-4619.84,432.81,180113,181841
$TT8_MAMPS,0.026215
$HUMID,58.89
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.9,48.758
$10V_AH,10.1,23.593
$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,13.675,64.875,299.025,42.775,0.000,26.989,23.148,350.290,0.000,0.000,19.950,1851.939,10716.048,421.416,2269.052,644.645,33.369,1197.136,0.000,1796.444,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,61.965,1790.865,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.465,1488.741,788.997,301.619,0.000,0.000,0.000,0.000,0.000,0.000
$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,53826,758
$CAP_FILE_SIZE,108898,0
$CFSIZE,259252224,213544960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,190113,030404,-4635.259,433.692,38,0.8,38,-23.5