version: 66.07
glider: 542
mission: 6
dive: 259
start: 1 19 113 11 58 3
data:
$ID,542
$MISSION,6
$DIVE,259
$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,-11321.414
$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,44
$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
$GPS1,190113,114604,-4632.260,436.602,27,0.9,27,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-51.8
$GPS2,190113,115711,-4632.165,436.710,17,1.1,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.250,0.054
$KALMAN_X,-202860.8,799.4,298.9,226739.8,-6948.4
$KALMAN_Y,110717.4,-68.1,-108.6,-75140.3,1574.6
$MHEAD_RNG_PITCHd_Wd,101.2,5803,-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,-63.10,0.000,2,0.000,0.000,56,2888,3094,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-3.3,8,125,6.78,2.28,-8.93,0.000,4,0.256,0.050,1633,1456,3418,0,0,0,0,0,0
$GC,137,-0.60,-146.1,10.2,-14.7,12,147,0.00,2.28,0.00,0.000,6,0.000,0.051,1623,2837,3418,0,0,0,0,0,0
$GC,225,-0.60,-146.1,21.2,-12.4,25,234,0.00,2.17,0.00,0.000,4,0.000,0.035,1623,1458,3419,0,0,0,0,0,0
$GC,347,-0.60,-146.1,38.3,-11.3,44,356,0.00,2.30,0.00,0.000,6,0.000,0.052,1613,2863,3420,0,0,0,0,0,0
$GC,597,-0.60,-146.1,77.2,-15.6,85,601,0.00,1.65,0.00,0.000,4,0.000,0.057,1605,3909,3420,0,0,0,0,0,0
$GC,718,-0.60,-146.1,97.7,-16.0,106,725,0.00,1.62,0.00,0.000,6,0.000,0.030,1605,2841,3421,0,0,0,0,0,0
$GC,1048,-0.60,-146.1,148.8,-15.6,128,1049,0.10,0.00,0.00,0.000,6,0.194,0.000,1628,2841,3421,0,0,0,0,0,0
$GC,1360,-0.60,-146.1,189.7,-12.1,148,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2841,3421,0,0,0,0,0,0
$GC,1672,-0.60,-146.1,225.2,-10.6,168,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2841,3422,0,0,0,0,0,0
$GC,1986,-0.60,-146.1,256.5,-9.9,187,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2841,3422,0,0,0,0,0,0
$GC,2294,-0.60,-146.1,288.6,-10.8,202,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2841,3422,0,0,0,0,0,0
$GC,2605,-0.60,-146.1,321.5,-10.9,217,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2841,3422,0,0,0,0,0,0
$GC,2913,-0.60,-146.1,356.0,-11.4,232,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2842,3422,0,0,0,0,0,0
$GC,3223,-0.60,-146.1,391.1,-11.5,247,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2842,3422,0,0,0,0,0,0
$GC,3549,-0.60,-146.1,428.1,-11.2,259,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2842,3422,0,0,0,0,0,0
$GC,3856,-0.60,-146.1,460.9,-10.5,269,3860,0.00,2.10,0.00,0.000,4,0.000,0.038,1628,1471,3422,0,0,0,0,0,0
$GC,3889,-0.60,-146.1,464.3,-10.4,270,3893,0.00,2.25,0.00,0.000,6,0.000,0.053,1619,2871,3422,0,0,0,0,0,0
$GC,4226,-0.60,-146.1,500.9,-10.8,281,4230,0.00,1.62,0.00,0.000,4,0.000,0.060,1611,3890,3422,0,0,0,0,0,0
$GC,4250,-0.60,-146.1,503.8,-11.3,281,4254,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2848,3421,0,0,0,0,0,0
$GC,4570,-0.60,-146.1,538.9,-11.0,292,4574,0.00,2.08,0.00,0.000,4,0.000,0.037,1611,1482,3421,0,0,0,0,0,0
$GC,4601,-0.60,-146.1,542.2,-10.3,293,4606,0.12,2.22,0.00,0.000,6,0.190,0.052,1631,2870,3421,0,0,0,0,0,0
$GC,4940,-0.60,-146.1,569.9,-7.9,304,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2871,3421,0,0,0,0,0,0
$GC,5248,-0.60,-146.1,593.6,-7.9,314,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2871,3421,0,0,0,0,0,0
$GC,5553,-0.60,-146.1,618.5,-8.2,324,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2871,3421,0,0,0,0,0,0
$GC,5859,-0.60,-146.1,644.3,-8.6,334,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2871,3421,0,0,0,0,0,0
$GC,6165,-0.60,-146.1,670.8,-8.7,344,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2872,3421,0,0,0,0,0,0
$GC,6471,-0.60,-146.1,698.0,-8.9,354,6475,0.00,2.15,0.00,0.000,4,0.000,0.037,1631,1482,3421,0,0,0,0,0,0
$GC,6518,-0.60,-146.1,702.2,-9.1,355,6522,0.00,2.20,0.00,0.000,6,0.000,0.053,1621,2862,3420,0,0,0,0,0,0
$GC,6839,-0.60,-146.1,731.7,-9.4,366,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3420,0,0,0,0,0,0
$GC,7145,-0.60,-146.1,760.0,-9.3,376,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3420,0,0,0,0,0,0
$GC,7451,-0.60,-146.1,788.8,-9.6,386,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3420,0,0,0,0,0,0
$GC,7758,-0.60,-146.1,817.7,-9.4,396,7762,0.00,2.12,0.00,0.000,4,0.000,0.037,1621,1479,3419,0,0,0,0,0,0
$GC,7804,-0.60,-146.1,822.4,-9.1,397,7808,0.00,2.22,0.00,0.000,6,0.000,0.053,1611,2865,3419,0,0,0,0,0,0
$GC,8136,-0.60,-146.1,856.0,-10.2,408,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2866,3419,0,0,0,0,0,0
$GC,8443,-0.60,-146.1,886.3,-9.9,418,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2865,3419,0,0,0,0,0,0
$GC,8749,-0.60,-146.1,916.7,-10.1,428,8753,0.00,2.15,0.00,0.000,4,0.000,0.037,1611,1473,3419,0,0,0,0,0,0
$GC,8778,-0.60,-146.1,919.8,-10.3,428,8785,0.12,2.22,0.00,0.000,6,0.185,0.053,1632,2859,3419,0,0,0,0,0,0
$GC,9094,-0.60,-146.1,945.3,-7.9,439,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2860,3419,0,0,0,0,0,0
$GC,9400,-0.60,-146.1,967.6,-7.0,449,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2860,3419,0,0,0,0,0,0
$GC,9706,-0.60,-146.1,987.7,-6.4,459,9710,0.00,2.12,0.00,0.000,4,0.000,0.036,1632,1481,3419,0,0,0,0,0,0
$GC,9741,-0.60,-146.1,990.2,-6.5,460,9745,0.00,2.22,0.00,0.000,6,0.000,0.054,1623,2859,3419,0,0,0,0,0,0
$STATE,9885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9885,begin apogee
$GC,9896,-0.18,0.0,1000.9,7.4,465,10047,0.50,0.00,148.23,1.232,6,0.156,0.000,1770,2671,2819,0,0,0,0,0,0
$STATE,10049,end apogee,CONTROL_FINISHED_OK
$STATE,10049,begin climb
$GC,10054,0.60,146.1,1003.2,0.0,470,10221,0.75,2.50,152.02,1.778,4,0.096,0.041,2025,1286,2226,0,0,0,0,1,0
$GC,10263,0.60,146.1,972.2,19.8,476,10267,0.00,2.45,0.00,0.000,6,0.000,0.050,2025,2667,2222,0,0,0,0,0,0
$GC,10584,0.60,146.1,904.2,20.8,487,10588,0.00,2.03,0.00,0.000,4,0.000,0.060,2025,3898,2218,0,0,0,0,0,0
$GC,10608,0.60,146.1,898.7,20.3,487,10612,0.00,1.95,0.00,0.000,6,0.000,0.037,2034,2676,2217,0,0,0,0,0,0
$GC,10930,0.60,146.1,830.9,20.8,498,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2671,2215,0,0,0,0,0,0
$GC,11235,0.60,146.1,765.5,21.7,508,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2671,2215,0,0,0,0,0,0
$GC,11541,0.60,146.1,699.5,21.3,518,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2671,2214,0,0,0,0,0,0
$GC,11847,0.60,146.1,635.6,20.3,528,11851,0.00,2.20,0.00,0.000,4,0.000,0.043,2045,1267,2213,0,0,0,0,0,0
$GC,11888,0.60,146.1,627.6,18.2,529,11892,0.00,2.28,0.00,0.000,6,0.000,0.050,2045,2674,2212,0,0,0,0,0,0
$GC,12214,0.60,146.1,559.9,21.0,540,12218,0.00,1.95,0.00,0.000,4,0.000,0.060,2045,3895,2212,0,0,0,0,0,0
$GC,12271,0.60,146.1,546.8,22.2,541,12276,0.08,1.92,0.00,0.000,6,0.225,0.037,2022,2673,2212,0,0,0,0,0,0
$GC,12593,0.60,146.1,487.9,17.9,552,12597,0.00,2.17,0.00,0.000,4,0.000,0.042,2031,1269,2212,0,0,0,0,0,0
$GC,12634,0.60,146.1,480.3,16.7,553,12638,0.00,2.25,0.00,0.000,6,0.000,0.051,2031,2670,2210,0,0,0,0,0,0
$GC,12971,0.60,146.1,417.5,19.0,564,12975,0.00,1.92,0.00,0.000,4,0.000,0.059,2031,3899,2211,0,0,0,0,0,0
$GC,13000,0.60,146.1,411.3,20.9,564,13007,0.00,1.90,0.00,0.000,6,0.000,0.037,2040,2664,2211,0,0,0,0,0,0
$GC,13320,0.60,146.1,347.7,19.7,579,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2662,2211,0,0,0,0,0,0
$GC,13628,0.60,146.1,287.8,19.3,594,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2662,2211,0,0,0,0,0,0
$GC,13945,0.60,146.1,227.7,18.9,611,13949,0.00,2.17,0.00,0.000,4,0.000,0.043,2051,1268,2211,0,0,0,0,0,0
$GC,13981,0.60,146.1,220.6,17.4,613,13985,0.00,2.28,0.00,0.000,6,0.000,0.051,2051,2679,2209,0,0,0,0,0,0
$GC,14304,0.60,146.1,159.9,18.2,633,14308,0.00,1.95,0.00,0.000,4,0.000,0.060,2051,3904,2209,0,0,0,0,0,0
$GC,14324,0.60,146.1,155.8,18.2,634,14328,0.15,1.90,0.00,0.000,6,0.233,0.038,2027,2673,2210,0,0,0,0,0,0
$GC,14663,0.60,146.1,100.2,17.6,655,14667,0.00,2.20,0.00,0.000,4,0.000,0.042,2037,1256,2210,0,0,0,0,0,0
$GC,14742,0.60,146.1,86.6,15.9,667,14747,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2670,2208,0,0,0,0,0,0
$GC,15104,0.60,146.1,26.4,14.4,728,15113,0.00,1.95,0.00,0.000,4,0.000,0.057,2037,3893,2208,0,0,0,0,0,0
$GC,15132,0.60,146.1,22.0,16.0,731,15141,0.00,1.92,0.00,0.000,6,0.000,0.040,2046,2673,2209,0,0,0,0,0,0
$GC,15219,0.60,146.1,8.3,17.5,744,15228,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1259,2209,0,0,0,0,0,0
$STATE,15260,end climb,SURFACE_DEPTH_REACHED
$STATE,15261,begin surface coast
$FINISH,0.7,1.026409
$STATE,15286,end surface coast,CONTROL_FINISHED_OK
$STATE,15286,begin surface
$SM_CCo,15311,43.78,0.754,1,0,1880,230.09
$SM_GC,1.99,0.00,0.00,43.78,0.000,0.000,0.754,55,2870,1880,-5.55,0.28,230.09
$IRIDIUM_FIX,-4616.72,432.56,190113,070712
$TT8_MAMPS,0.026215
$HUMID,58.74
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,49.264
$10V_AH,10.0,23.897
$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,14.100,88.875,300.250,43.775,0.000,28.769,29.744,358.291,0.000,0.000,20.106,1859.687,10808.889,436.575,2258.797,648.601,33.369,1209.664,0.000,1768.581,0.000,1.009,0.000
$DEVICE_MAMPS,256.275,60.435,1777.860,754.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.598,1486.518,778.983,294.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,53837,754
$CAP_FILE_SIZE,113156,0
$CFSIZE,259252224,213348352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,190113,161528,-4630.767,438.553,36,0.9,36,-23.5