version: 66.07
glider: 542
mission: 6
dive: 261
start: 1 19 113 20 58 14
data:
$ID,542
$MISSION,6
$DIVE,261
$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,-11326.064
$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,57
$R_STBD_OVSHOOT,24
$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
$GPS1,190113,204128,-4632.608,438.880,72,1.0,72,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-56.6
$GPS2,190113,205722,-4632.521,439.158,24,1.4,24,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,-0.164
$KALMAN_X,-205112.7,646.7,481.3,232038.4,-4155.3
$KALMAN_Y,114160.4,33.2,-98.7,-79366.5,2897.0
$MHEAD_RNG_PITCHd_Wd,153.3,50901,-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,-71.15,0.000,2,0.000,0.000,49,2823,3311,0,0,0,0,0,0
$GC,107,-0.60,-146.1,4.0,-3.0,9,125,6.80,1.77,-2.45,0.000,4,0.255,0.069,1623,3907,3418,0,0,0,0,0,0
$GC,350,-0.60,-146.1,48.6,-17.6,47,357,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2853,3419,0,0,0,0,0,0
$GC,592,-0.60,-146.1,88.1,-14.5,88,599,0.00,1.70,0.00,0.000,4,0.000,0.059,1615,3892,3419,0,0,0,0,0,0
$GC,685,-0.60,-146.1,101.2,-13.4,103,689,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2867,3420,0,0,0,0,0,0
$GC,1017,-0.60,-146.1,148.0,-14.2,124,1021,0.00,1.67,0.00,0.000,4,0.000,0.058,1607,3906,3421,0,0,0,0,0,0
$GC,1088,-0.60,-146.1,158.1,-14.3,128,1092,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2856,3422,0,0,0,0,0,0
$GC,1423,-0.60,-146.1,202.0,-12.9,149,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3422,0,0,0,0,0,0
$GC,1735,-0.60,-146.1,245.2,-14.4,169,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3422,0,0,0,0,0,0
$GC,2050,-0.60,-146.1,288.0,-13.6,185,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3422,0,0,0,0,0,0
$GC,2358,-0.60,-146.1,330.1,-13.5,200,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3422,0,0,0,0,0,0
$GC,2669,-0.60,-146.1,370.1,-12.6,215,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3422,0,0,0,0,0,0
$GC,2975,-0.60,-146.1,408.4,-12.4,229,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3422,0,0,0,0,0,0
$GC,3283,-0.60,-146.1,445.4,-12.1,239,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2850,3422,0,0,0,0,0,0
$GC,3588,-0.60,-146.1,481.5,-11.6,249,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3422,0,0,0,0,0,0
$GC,3896,-0.60,-146.1,514.2,-10.4,259,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3421,0,0,0,0,0,0
$GC,4200,-0.60,-146.1,545.6,-10.4,269,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3421,0,0,0,0,0,0
$GC,4507,-0.60,-146.1,578.7,-11.0,279,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3420,0,0,0,0,0,0
$GC,4813,-0.60,-146.1,613.0,-11.1,289,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3420,0,0,0,0,0,0
$GC,5121,-0.60,-146.1,647.3,-11.2,299,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3420,0,0,0,0,0,0
$GC,5425,-0.60,-146.1,682.4,-11.6,309,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3420,0,0,0,0,0,0
$GC,5732,-0.60,-146.1,717.8,-11.6,319,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3419,0,0,0,0,0,0
$GC,6038,-0.60,-146.1,751.5,-10.6,329,6042,0.00,2.08,0.00,0.000,4,0.000,0.038,1607,1480,3420,0,0,0,0,0,0
$GC,6078,-0.60,-146.1,756.0,-10.4,330,6083,0.15,2.20,0.00,0.000,6,0.182,0.054,1634,2862,3419,0,0,0,0,0,0
$GC,6406,-0.60,-146.1,781.0,-7.4,341,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2862,3419,0,0,0,0,0,0
$GC,6712,-0.60,-146.1,803.8,-7.6,351,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2862,3419,0,0,0,0,0,0
$GC,7018,-0.60,-146.1,827.3,-7.6,361,7022,0.00,2.10,0.00,0.000,4,0.000,0.037,1635,1485,3419,0,0,0,0,0,0
$GC,7053,-0.60,-146.1,830.4,-7.8,362,7058,0.00,2.20,0.00,0.000,6,0.000,0.054,1625,2860,3419,0,0,0,0,0,0
$GC,7386,-0.60,-146.1,857.0,-8.0,373,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3419,0,0,0,0,0,0
$GC,7692,-0.60,-146.1,881.2,-8.0,383,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3419,0,0,0,0,0,0
$GC,7998,-0.60,-146.1,905.6,-8.0,393,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3419,0,0,0,0,0,0
$GC,8304,-0.60,-146.1,931.1,-8.4,403,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3419,0,0,0,0,0,0
$GC,8611,-0.60,-146.1,956.6,-8.2,413,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2860,3419,0,0,0,0,0,0
$GC,8917,-0.60,-146.1,980.1,-7.4,423,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3419,0,0,0,0,0,0
$STATE,9218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9218,begin apogee
$GC,9229,-0.18,0.0,1001.3,6.7,433,9379,0.47,0.00,147.27,1.231,6,0.158,0.000,1764,2691,2819,0,0,0,0,0,0
$STATE,9381,end apogee,CONTROL_FINISHED_OK
$STATE,9381,begin climb
$GC,9386,0.60,146.1,1002.4,0.0,438,9552,0.80,2.55,151.40,1.779,4,0.102,0.042,2029,1281,2225,0,0,0,0,1,0
$GC,9572,0.60,146.1,973.5,20.4,443,9579,0.00,2.47,0.00,0.000,6,0.000,0.050,2029,2665,2224,0,0,0,0,0,0
$GC,9888,0.60,146.1,904.8,21.6,454,9891,0.00,2.03,0.00,0.000,4,0.000,0.060,2029,3903,2218,0,0,0,0,0,0
$GC,9924,0.60,146.1,896.1,24.3,455,9928,0.00,1.98,0.00,0.000,6,0.000,0.035,2039,2671,2217,0,0,0,0,0,0
$GC,10267,0.60,146.1,821.7,21.7,466,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2666,2216,0,0,0,0,0,0
$GC,10574,0.60,146.1,758.6,21.0,476,10578,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1269,2216,0,0,0,0,0,0
$GC,10614,0.60,146.1,750.2,19.0,477,10618,0.00,2.28,0.00,0.000,6,0.000,0.052,2049,2672,2214,0,0,0,0,0,0
$GC,10954,0.60,146.1,679.7,21.3,488,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2672,2214,0,0,0,0,0,0
$GC,11259,0.60,146.1,615.2,21.5,498,11262,0.00,1.98,0.00,0.000,4,0.000,0.060,2049,3904,2213,0,0,0,0,0,0
$GC,11299,0.60,146.1,605.1,26.5,499,11303,0.15,1.92,0.00,0.000,6,0.235,0.037,2026,2661,2213,0,0,0,0,0,0
$GC,11633,0.60,146.1,540.5,19.2,510,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2656,2213,0,0,0,0,0,0
$GC,11938,0.60,146.1,480.2,19.3,520,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2656,2213,0,0,0,0,0,0
$GC,12244,0.60,146.1,422.1,18.6,530,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2656,2213,0,0,0,0,0,0
$GC,12564,0.60,146.1,366.3,17.3,543,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2656,2213,0,0,0,0,0,0
$GC,12871,0.60,146.1,313.5,17.3,558,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2656,2213,0,0,0,0,0,0
$GC,13182,0.60,146.1,257.6,18.6,573,13186,0.00,2.03,0.00,0.000,4,0.000,0.060,2026,3906,2212,0,0,0,0,0,0
$GC,13233,0.60,146.1,247.4,20.2,575,13240,0.00,1.90,0.00,0.000,6,0.000,0.037,2035,2666,2212,0,0,0,0,0,0
$GC,13554,0.60,146.1,185.4,17.0,596,13558,0.00,2.15,0.00,0.000,4,0.000,0.043,2045,1273,2212,0,0,0,0,0,0
$GC,13600,0.60,146.1,177.9,14.1,598,13609,0.00,2.28,0.00,0.000,6,0.000,0.051,2045,2668,2210,0,0,0,0,0,0
$GC,13924,0.60,146.1,127.4,15.8,619,13927,0.00,1.98,0.00,0.000,4,0.000,0.060,2045,3906,2210,0,0,0,0,0,0
$GC,14004,0.60,146.1,112.4,17.1,623,14012,0.12,1.90,0.00,0.000,6,0.232,0.037,2028,2668,2211,0,0,0,0,0,0
$GC,14346,0.60,146.1,63.2,13.7,672,14355,0.00,2.20,0.00,0.000,4,0.000,0.041,2037,1270,2210,0,0,0,0,0,0
$GC,14468,0.60,146.1,46.1,13.6,691,14475,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2670,2208,0,0,0,0,0,0
$STATE,14708,end climb,SURFACE_DEPTH_REACHED
$STATE,14708,begin surface coast
$FINISH,0.7,1.014726
$STATE,14729,end surface coast,CONTROL_FINISHED_OK
$STATE,14729,begin surface
$SM_CCo,14751,42.65,0.753,1,0,1877,230.09
$SM_GC,1.92,0.00,0.00,42.65,0.000,0.000,0.753,57,2866,1877,-5.54,0.17,230.09
$IRIDIUM_FIX,-4613.60,438.55,190113,202001
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.0,49.595
$10V_AH,10.0,24.100
$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,13.875,53.075,298.675,42.650,0.000,52.952,94.302,467.599,0.000,0.000,26.278,1772.708,10564.138,411.980,2370.656,619.172,33.369,1120.007,0.000,1679.427,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,79.560,1778.625,752.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.613,1422.381,739.516,286.902,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,53715,733
$CAP_FILE_SIZE,102067,0
$CFSIZE,259252224,213237760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,200113,010622,-4633.197,441.435,41,0.9,41,-23.5