version: 66.07
glider: 542
mission: 6
dive: 257
start: 1 19 113 3 16 5
data:
$ID,542
$MISSION,6
$DIVE,257
$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,-11316.741
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,190113,030404,-4635.259,433.692,38,0.8,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-57.7
$GPS2,190113,031513,-4635.302,433.719,23,0.8,23,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.223,0.125
$KALMAN_X,-197018.8,350.9,553.5,217297.5,-5090.6
$KALMAN_Y,110011.0,-406.7,-49.7,-79964.2,2500.1
$MHEAD_RNG_PITCHd_Wd,84.3,12671,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-71.03,0.000,2,0.000,0.000,50,2890,3231,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.2,-2.5,9,125,6.65,2.22,-4.62,0.000,4,0.247,0.045,1639,1458,3414,0,0,0,0,0,0
$GC,222,-0.60,-146.1,27.1,-16.7,26,231,0.00,2.30,0.00,0.000,6,0.000,0.053,1630,2851,3416,0,0,0,0,0,0
$GC,308,-0.60,-146.1,39.1,-12.6,39,314,0.00,2.20,0.00,0.000,4,0.000,0.037,1630,1452,3416,0,0,0,0,0,0
$GC,331,-0.60,-146.1,42.8,-13.6,42,340,0.00,2.30,0.00,0.000,6,0.000,0.050,1620,2859,3416,0,0,0,0,0,0
$GC,575,-0.60,-146.1,80.4,-14.3,83,580,0.00,1.65,0.00,0.000,4,0.000,0.058,1611,3901,3416,0,0,0,0,0,0
$GC,629,-0.60,-146.1,89.2,-15.9,92,636,0.00,1.62,0.00,0.000,6,0.000,0.031,1611,2829,3416,0,0,0,0,0,0
$GC,965,-0.60,-146.1,135.1,-13.8,121,968,0.00,1.73,0.00,0.000,4,0.000,0.057,1604,3903,3417,0,0,0,0,0,0
$GC,1126,-0.60,-146.1,157.9,-13.6,130,1131,0.08,1.58,0.00,0.000,6,0.164,0.031,1626,2858,3418,0,0,0,0,0,0
$GC,1466,-0.60,-146.1,197.3,-11.4,151,1470,0.00,1.67,0.00,0.000,4,0.000,0.058,1620,3899,3419,0,0,0,0,0,0
$GC,1554,-0.60,-146.1,208.7,-11.8,156,1558,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2854,3419,0,0,0,0,0,0
$GC,1888,-0.60,-146.1,247.6,-11.8,177,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3419,0,0,0,0,0,0
$GC,2209,-0.60,-146.1,286.1,-12.2,193,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3419,0,0,0,0,0,0
$GC,2515,-0.60,-146.1,324.8,-12.6,208,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3419,0,0,0,0,0,0
$GC,2827,-0.60,-146.1,364.6,-13.0,223,2831,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3893,3419,0,0,0,0,0,0
$GC,2879,-0.60,-146.1,372.3,-13.9,225,2883,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2869,3419,0,0,0,0,0,0
$GC,3197,-0.60,-146.1,414.0,-13.1,239,3201,0.00,1.67,0.00,0.000,4,0.000,0.059,1604,3893,3418,0,0,0,0,0,0
$GC,3226,-0.60,-146.1,418.3,-14.2,239,3233,0.08,1.58,0.00,0.000,6,0.165,0.031,1626,2850,3418,0,0,0,0,0,0
$GC,3541,-0.60,-146.1,454.9,-11.3,250,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2849,3418,0,0,0,0,0,0
$GC,3847,-0.60,-146.1,488.5,-10.8,260,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2848,3418,0,0,0,0,0,0
$GC,4154,-0.60,-146.1,521.8,-10.8,270,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2848,3417,0,0,0,0,0,0
$GC,4460,-0.60,-146.1,553.2,-10.2,280,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2849,3417,0,0,0,0,0,0
$GC,4767,-0.60,-146.1,582.1,-9.2,290,4771,0.00,2.08,0.00,0.000,4,0.000,0.038,1627,1481,3417,0,0,0,0,0,0
$GC,4799,-0.60,-146.1,584.9,-9.3,291,4803,0.00,2.22,0.00,0.000,6,0.000,0.053,1618,2865,3417,0,0,0,0,0,0
$GC,5136,-0.60,-146.1,617.3,-9.8,302,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2865,3417,0,0,0,0,0,0
$GC,5443,-0.60,-146.1,648.2,-10.0,312,5447,0.00,1.65,0.00,0.000,4,0.000,0.060,1609,3894,3416,0,0,0,0,0,0
$GC,5479,-0.60,-146.1,652.1,-10.6,313,5483,0.00,1.55,0.00,0.000,6,0.000,0.033,1609,2867,3416,0,0,0,0,0,0
$GC,5824,-0.60,-146.1,688.5,-10.3,324,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2863,3416,0,0,0,0,0,0
$GC,6129,-0.60,-146.1,720.7,-10.6,334,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2863,3415,0,0,0,0,0,0
$GC,6436,-0.60,-146.1,753.5,-10.7,344,6440,0.00,2.12,0.00,0.000,4,0.000,0.038,1609,1478,3415,0,0,0,0,0,0
$GC,6460,-0.60,-146.1,756.5,-11.4,344,6467,0.12,2.22,0.00,0.000,6,0.189,0.053,1629,2867,3415,0,0,0,0,0,0
$GC,6776,-0.60,-146.1,785.2,-9.2,355,6780,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3894,3415,0,0,0,0,0,0
$GC,6822,-0.60,-146.1,789.9,-10.2,356,6826,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2848,3415,0,0,0,0,0,0
$GC,7154,-0.60,-146.1,821.3,-9.5,367,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2844,3415,0,0,0,0,0,0
$GC,7461,-0.60,-146.1,849.4,-9.1,377,7465,0.00,2.08,0.00,0.000,4,0.000,0.037,1623,1483,3414,0,0,0,0,0,0
$GC,7485,-0.60,-146.1,851.9,-9.3,377,7491,0.00,2.22,0.00,0.000,6,0.000,0.053,1612,2871,3414,0,0,0,0,0,0
$GC,7800,-0.60,-146.1,881.4,-9.4,388,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2872,3414,0,0,0,0,0,0
$GC,8107,-0.60,-146.1,910.4,-9.3,398,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2872,3414,0,0,0,0,0,0
$GC,8413,-0.60,-146.1,939.0,-9.3,408,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2871,3414,0,0,0,0,0,0
$GC,8718,-0.60,-146.1,968.5,-9.6,418,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2872,3414,0,0,0,0,0,0
$GC,9025,-0.60,-146.1,997.3,-9.4,428,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2872,3413,0,0,0,0,0,0
$STATE,9051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9051,begin apogee
$GC,9062,-0.18,0.0,1000.3,9.3,429,9213,0.52,0.00,143.27,1.847,6,0.164,0.000,1764,2685,2819,0,0,0,0,1,0
$STATE,9215,end apogee,CONTROL_FINISHED_OK
$STATE,9215,begin climb
$GC,9220,0.60,146.1,1004.5,0.0,434,9391,0.82,2.55,156.50,1.792,4,0.101,0.044,2029,1283,2225,0,0,0,0,1,0
$GC,9428,0.60,146.1,975.9,17.7,440,9433,0.00,2.45,0.00,0.000,6,0.000,0.050,2030,2662,2221,0,0,0,0,0,0
$GC,9749,0.60,146.1,908.9,21.1,451,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2662,2216,0,0,0,0,0,0
$GC,10056,0.60,146.1,844.3,21.1,461,10060,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1271,2215,0,0,0,0,0,0
$GC,10108,0.60,146.1,833.8,18.1,462,10112,0.00,2.28,0.00,0.000,6,0.000,0.051,2040,2675,2213,0,0,0,0,0,0
$GC,10424,0.60,146.1,766.8,21.4,472,10427,0.00,1.98,0.00,0.000,4,0.000,0.059,2040,3903,2213,0,0,0,0,0,0
$GC,10453,0.60,146.1,759.8,23.3,472,10460,0.00,1.92,0.00,0.000,6,0.000,0.037,2050,2665,2213,0,0,0,0,0,0
$GC,10768,0.60,146.1,689.3,22.5,483,10772,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1268,2213,0,0,0,0,0,0
$GC,10799,0.60,146.1,682.4,22.0,484,10804,0.15,2.25,0.00,0.000,6,0.217,0.050,2026,2672,2211,0,0,0,0,0,0
$GC,11138,0.60,146.1,615.2,20.0,495,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2672,2211,0,0,0,0,0,0
$GC,11444,0.60,146.1,554.8,19.7,505,11448,0.00,2.22,0.00,0.000,4,0.000,0.042,2036,1266,2210,0,0,0,0,0,0
$GC,11490,0.60,146.1,545.7,18.5,506,11494,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2673,2209,0,0,0,0,0,0
$GC,11811,0.60,146.1,481.9,19.7,517,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2674,2210,0,0,0,0,0,0
$GC,12117,0.60,146.1,421.3,19.6,527,12121,0.00,1.98,0.00,0.000,4,0.000,0.059,2036,3899,2209,0,0,0,0,0,0
$GC,12140,0.60,146.1,416.0,20.1,527,12144,0.00,1.90,0.00,0.000,6,0.000,0.038,2045,2673,2209,0,0,0,0,0,0
$GC,12474,0.60,146.1,350.3,19.7,542,12478,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1263,2209,0,0,0,0,0,0
$GC,12541,0.60,146.1,338.4,16.1,545,12546,0.12,2.28,0.00,0.000,6,0.214,0.050,2028,2676,2208,0,0,0,0,0,0
$GC,12874,0.60,146.1,278.2,18.5,561,12878,0.00,1.95,0.00,0.000,4,0.000,0.059,2028,3890,2208,0,0,0,0,0,0
$GC,12931,0.60,146.1,265.7,20.0,563,12935,0.00,1.88,0.00,0.000,6,0.000,0.037,2037,2660,2208,0,0,0,0,0,0
$GC,13264,0.60,146.1,203.6,18.9,583,13268,0.00,2.15,0.00,0.000,4,0.000,0.044,2047,1261,2208,0,0,0,0,0,0
$GC,13288,0.60,146.1,198.8,18.0,584,13292,0.00,2.28,0.00,0.000,6,0.000,0.051,2047,2673,2207,0,0,0,0,0,0
$GC,13611,0.60,146.1,138.6,19.2,604,13615,0.00,1.92,0.00,0.000,4,0.000,0.060,2047,3897,2207,0,0,0,0,0,0
$GC,13641,0.60,146.1,132.1,21.1,605,13648,0.12,1.90,0.00,0.000,6,0.233,0.039,2030,2667,2207,0,0,0,0,0,0
$GC,13974,0.60,146.1,75.5,16.3,642,13983,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1272,2208,0,0,0,0,0,0
$GC,14069,0.60,146.1,62.5,13.3,657,14075,0.00,2.28,0.00,0.000,6,0.000,0.051,2040,2670,2207,0,0,0,0,0,0
$STATE,14438,end climb,SURFACE_DEPTH_REACHED
$STATE,14438,begin surface coast
$FINISH,0.7,1.026374
$STATE,14465,end surface coast,CONTROL_FINISHED_OK
$STATE,14465,begin surface
$SM_CCo,14488,42.80,0.759,1,0,1879,230.09
$SM_GC,1.61,0.00,0.00,42.80,0.000,0.000,0.759,55,2899,1879,-5.55,1.10,230.09
$IRIDIUM_FIX,-4619.84,432.81,180113,222204
$TT8_MAMPS,0.026215
$HUMID,59.05
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,22.0,48.944
$10V_AH,10.1,23.693
$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,14.175,92.500,299.775,42.800,0.000,27.041,41.870,345.413,0.000,0.000,25.349,1794.079,10038.986,440.209,2256.185,660.634,33.370,1220.781,0.000,1768.415,0.000,1.008,0.000
$DEVICE_MAMPS,247.095,61.200,1847.475,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.266,1417.855,749.416,294.542,0.000,0.000,0.000,0.000,0.000,0.000
$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,53680,721
$CAP_FILE_SIZE,112479,0
$CFSIZE,259252224,213479424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,190113,071956,-4633.594,435.149,46,0.9,46,-23.5