version: 66.07
glider: 542
mission: 6
dive: 258
start: 1 19 113 7 30 52
data:
$ID,542
$MISSION,6
$DIVE,258
$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,-11319.076
$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,38
$R_STBD_OVSHOOT,52
$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
$GPS1,190113,071956,-4633.594,435.149,46,0.9,46,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-58.5
$GPS2,190113,073000,-4633.617,435.263,18,1.2,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.239,0.090
$KALMAN_X,-199653.6,982.8,-32.2,221847.8,-5503.7
$KALMAN_Y,110335.4,-123.2,-329.6,-77168.2,2357.4
$MHEAD_RNG_PITCHd_Wd,92.9,9019,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-70.90,0.000,2,0.000,0.000,54,2899,3231,0,0,0,0,0,0
$GC,106,-0.60,-146.1,3.2,-2.8,9,125,6.78,1.55,-4.75,0.000,4,0.256,0.070,1623,3880,3417,0,0,0,0,0,0
$GC,399,-0.60,-146.1,54.3,-13.9,56,408,0.00,1.60,0.00,0.000,6,0.000,0.029,1623,2825,3419,0,0,0,0,0,0
$GC,646,-0.60,-146.1,88.6,-14.8,97,650,0.00,1.67,0.00,0.000,4,0.000,0.056,1614,3872,3420,0,0,0,0,0,0
$GC,909,-0.60,-146.1,126.5,-13.0,121,912,0.00,1.52,0.00,0.000,6,0.000,0.031,1615,2856,3421,0,0,0,0,0,0
$GC,1235,-0.60,-146.1,170.8,-14.1,142,1239,0.00,2.08,0.00,0.000,4,0.000,0.035,1614,1477,3422,0,0,0,0,0,0
$GC,1267,-0.60,-146.1,175.2,-14.3,144,1272,0.12,2.17,0.00,0.000,6,0.181,0.050,1636,2837,3422,0,0,0,0,0,0
$GC,1600,-0.60,-146.1,213.0,-11.3,165,1604,0.00,1.67,0.00,0.000,4,0.000,0.059,1629,3889,3423,0,0,0,0,0,0
$GC,1732,-0.60,-146.1,228.8,-11.4,172,1741,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2850,3423,0,0,0,0,0,0
$GC,2054,-0.60,-146.1,264.2,-10.8,191,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2849,3423,0,0,0,0,0,0
$GC,2362,-0.60,-146.1,298.4,-11.1,206,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3423,0,0,0,0,0,0
$GC,2673,-0.60,-146.1,332.8,-11.2,221,2677,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3893,3423,0,0,0,0,0,0
$GC,2724,-0.60,-146.1,338.8,-12.0,223,2727,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2866,3423,0,0,0,0,0,0
$GC,3060,-0.60,-146.1,378.6,-11.4,239,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3423,0,0,0,0,0,0
$GC,3387,-0.60,-146.1,414.8,-10.8,253,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3423,0,0,0,0,0,0
$GC,3693,-0.60,-146.1,448.2,-10.8,263,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2862,3423,0,0,0,0,0,0
$GC,3999,-0.60,-146.1,481.4,-10.7,273,4003,0.00,1.67,0.00,0.000,4,0.000,0.060,1612,3891,3422,0,0,0,0,0,0
$GC,4029,-0.60,-146.1,484.8,-10.8,273,4036,0.00,1.55,0.00,0.000,6,0.000,0.033,1612,2861,3422,0,0,0,0,0,0
$GC,4344,-0.60,-146.1,520.8,-11.5,284,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2861,3422,0,0,0,0,0,0
$GC,4650,-0.60,-146.1,555.1,-11.1,294,4654,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3892,3422,0,0,0,0,0,0
$GC,4713,-0.60,-146.1,562.8,-12.1,295,4720,0.00,1.55,0.00,0.000,6,0.000,0.033,1605,2860,3422,0,0,0,0,0,0
$GC,5030,-0.60,-146.1,598.1,-11.0,306,5034,0.10,1.67,0.00,0.000,4,0.200,0.060,1623,3895,3422,0,0,0,0,0,0
$GC,5067,-0.60,-146.1,602.2,-9.5,307,5071,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2871,3422,0,0,0,0,0,0
$GC,5411,-0.60,-146.1,634.1,-9.3,318,5415,0.00,2.12,0.00,0.000,4,0.000,0.037,1622,1478,3421,0,0,0,0,0,0
$GC,5457,-0.60,-146.1,638.6,-8.7,319,5461,0.00,2.22,0.00,0.000,6,0.000,0.051,1611,2865,3421,0,0,0,0,0,0
$GC,5778,-0.60,-146.1,671.6,-10.6,330,5781,0.00,1.65,0.00,0.000,4,0.000,0.060,1603,3910,3421,0,0,0,0,0,0
$GC,5824,-0.60,-146.1,677.1,-11.5,331,5828,0.08,1.60,0.00,0.000,6,0.164,0.032,1635,2854,3421,0,0,0,0,0,0
$GC,6156,-0.60,-146.1,707.4,-9.3,342,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2851,3421,0,0,0,0,0,0
$GC,6463,-0.60,-146.1,735.7,-9.3,352,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2850,3420,0,0,0,0,0,0
$GC,6769,-0.60,-146.1,763.5,-8.9,362,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2850,3421,0,0,0,0,0,0
$GC,7075,-0.60,-146.1,789.1,-8.1,372,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2850,3420,0,0,0,0,0,0
$GC,7381,-0.60,-146.1,811.5,-7.1,382,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2850,3420,0,0,0,0,0,0
$GC,7688,-0.60,-146.1,832.6,-6.8,392,7692,0.00,2.10,0.00,0.000,4,0.000,0.038,1635,1481,3420,0,0,0,0,0,0
$GC,7712,-0.60,-146.1,834.4,-6.8,392,7716,0.00,2.22,0.00,0.000,6,0.000,0.053,1626,2862,3420,0,0,0,0,0,0
$GC,8027,-0.60,-146.1,856.0,-7.0,402,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,8333,-0.60,-146.1,878.0,-7.4,412,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3420,0,0,0,0,0,0
$GC,8640,-0.60,-146.1,901.7,-7.8,422,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,8946,-0.60,-146.1,927.0,-8.5,432,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3420,0,0,0,0,0,0
$GC,9252,-0.60,-146.1,953.3,-8.6,442,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2862,3420,0,0,0,0,0,0
$GC,9559,-0.60,-146.1,981.3,-9.3,452,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2862,3420,0,0,0,0,0,0
$STATE,9768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9768,begin apogee
$GC,9778,-0.18,0.0,1000.8,9.0,459,9929,0.47,0.00,147.85,1.232,6,0.162,0.000,1764,2674,2819,0,0,0,0,0,0
$STATE,9931,end apogee,CONTROL_FINISHED_OK
$STATE,9931,begin climb
$GC,9936,0.60,146.1,1006.1,0.0,464,10102,0.77,2.53,152.38,1.777,4,0.100,0.043,2023,1284,2224,0,0,0,0,1,0
$GC,10151,0.60,146.1,977.1,17.8,470,10155,0.00,2.42,0.00,0.000,6,0.000,0.050,2024,2663,2220,0,0,0,0,0,0
$GC,10466,0.60,146.1,912.7,20.7,480,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2663,2216,0,0,0,0,0,0
$GC,10772,0.60,146.1,849.6,20.4,490,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,2663,2215,0,0,0,0,0,0
$GC,11078,0.60,146.1,788.1,20.1,500,11082,0.00,2.20,0.00,0.000,4,0.000,0.044,2034,1274,2214,0,0,0,0,0,0
$GC,11119,0.60,146.1,779.8,19.0,501,11123,0.00,2.28,0.00,0.000,6,0.000,0.050,2034,2673,2213,0,0,0,0,0,0
$GC,11446,0.60,146.1,712.9,20.8,512,11449,0.00,1.98,0.00,0.000,4,0.000,0.060,2034,3904,2213,0,0,0,0,0,0
$GC,11469,0.60,146.1,707.5,22.2,512,11473,0.00,1.92,0.00,0.000,6,0.000,0.037,2044,2670,2213,0,0,0,0,0,0
$GC,11791,0.60,146.1,639.1,21.2,523,11795,0.00,2.20,0.00,0.000,4,0.000,0.044,2054,1268,2212,0,0,0,0,0,0
$GC,11832,0.60,146.1,630.1,20.0,524,11836,0.00,2.28,0.00,0.000,6,0.000,0.050,2054,2672,2211,0,0,0,0,0,0
$GC,12158,0.60,146.1,558.1,22.2,535,12162,0.00,1.98,0.00,0.000,4,0.000,0.060,2054,3908,2211,0,0,0,0,0,0
$GC,12204,0.60,146.1,546.6,25.0,536,12209,0.15,1.92,0.00,0.000,6,0.236,0.038,2031,2671,2211,0,0,0,0,0,0
$GC,12531,0.60,146.1,480.9,19.9,547,12535,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1265,2211,0,0,0,0,0,0
$GC,12554,0.60,146.1,476.1,18.7,547,12561,0.00,2.28,0.00,0.000,6,0.000,0.051,2041,2679,2210,0,0,0,0,0,0
$GC,12870,0.60,146.1,413.0,20.0,558,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2679,2210,0,0,0,0,0,0
$GC,13188,0.60,146.1,350.5,19.9,572,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2679,2210,0,0,0,0,0,0
$GC,13500,0.60,146.1,291.0,18.6,587,13503,0.00,2.22,0.00,0.000,4,0.000,0.042,2051,1263,2210,0,0,0,0,0,0
$GC,13525,0.60,146.1,285.7,18.6,588,13529,0.00,2.28,0.00,0.000,6,0.000,0.050,2051,2676,2209,0,0,0,0,0,0
$GC,13851,0.60,146.1,221.0,20.4,606,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2676,2209,0,0,0,0,0,0
$GC,14164,0.60,146.1,159.4,17.9,626,14168,0.00,2.20,0.00,0.000,4,0.000,0.042,2061,1269,2209,0,0,0,0,0,0
$GC,14215,0.60,146.1,150.6,16.5,629,14220,0.15,2.25,0.00,0.000,6,0.213,0.052,2027,2667,2208,0,0,0,0,0,0
$GC,14546,0.60,146.1,97.9,15.1,650,14552,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2668,2209,0,0,0,0,0,0
$GC,14903,0.60,146.1,46.5,13.1,711,14910,0.00,1.98,0.00,0.000,4,0.000,0.060,2027,3909,2208,0,0,0,0,0,0
$GC,14959,0.60,146.1,37.9,15.6,719,14966,0.00,1.92,0.00,0.000,6,0.000,0.037,2035,2655,2209,0,0,0,0,0,0
$STATE,15147,end climb,SURFACE_DEPTH_REACHED
$STATE,15147,begin surface coast
$FINISH,0.6,1.026396
$STATE,15167,end surface coast,CONTROL_FINISHED_OK
$STATE,15167,begin surface
$SM_CCo,15189,42.53,0.762,1,0,1879,230.09
$SM_GC,2.25,0.00,0.00,42.53,0.000,0.000,0.762,59,2886,1879,-5.54,0.74,230.09
$IRIDIUM_FIX,-4619.84,435.93,190113,030338
$TT8_MAMPS,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.0,49.103
$10V_AH,10.1,23.795
$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,13.875,78.350,300.225,42.525,0.000,24.815,22.252,325.579,0.000,0.000,20.997,1856.668,10650.913,423.512,2269.865,627.127,33.364,1211.999,0.000,1825.114,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,69.615,1777.095,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.355,1461.048,765.819,298.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,53686,752
$CAP_FILE_SIZE,112021,0
$CFSIZE,259252224,213417984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,190113,114604,-4632.260,436.602,27,0.9,27,-23.5