version: 66.07
glider: 542
mission: 6
dive: 262
start: 1 20 113 1 22 16
data:
$ID,542
$MISSION,6
$DIVE,262
$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,-11328.422
$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,43
$R_STBD_OVSHOOT,23
$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
$GPS1,200113,010622,-4633.197,441.435,41,0.9,41,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-55.2
$GPS2,200113,012124,-4633.097,441.546,18,1.4,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.220,-0.131
$KALMAN_X,-206422.9,1298.1,241.0,235981.2,-4645.1
$KALMAN_Y,116303.4,147.3,18.6,-82800.8,2993.1
$MHEAD_RNG_PITCHd_Wd,144.2,49863,-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,-146.1,0.0,0.0,0,93,0.00,0.00,-63.17,0.000,2,0.000,0.000,54,2866,3109,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-3.1,8,126,6.53,1.73,-8.12,0.000,4,0.242,0.076,1622,3900,3417,0,0,0,0,0,0
$GC,402,-0.60,-146.1,53.8,-15.1,56,411,0.00,1.62,0.00,0.000,6,0.000,0.032,1621,2827,3420,0,0,0,0,0,0
$GC,647,-0.60,-146.1,92.7,-16.8,97,652,0.00,1.75,0.00,0.000,4,0.000,0.058,1613,3899,3420,0,0,0,0,0,0
$GC,721,-0.60,-146.1,103.2,-13.6,107,725,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2862,3420,0,0,0,0,0,0
$GC,1053,-0.60,-146.1,147.3,-12.0,128,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3421,0,0,0,0,0,0
$GC,1368,-0.60,-146.1,184.9,-11.3,148,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3422,0,0,0,0,0,0
$GC,1678,-0.60,-146.1,220.8,-11.9,168,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3422,0,0,0,0,0,0
$GC,1993,-0.60,-146.1,258.2,-12.0,187,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3422,0,0,0,0,0,0
$GC,2300,-0.60,-146.1,295.4,-11.9,202,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2858,3422,0,0,0,0,0,0
$GC,2611,-0.60,-146.1,332.3,-12.2,217,2615,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3900,3422,0,0,0,0,0,0
$GC,2686,-0.60,-146.1,342.5,-13.1,220,2689,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2855,3422,0,0,0,0,0,0
$GC,3015,-0.60,-146.1,385.4,-12.9,236,3016,0.10,0.00,0.00,0.000,6,0.203,0.000,1628,2851,3422,0,0,0,0,0,0
$GC,3343,-0.60,-146.1,421.5,-10.6,249,3347,0.00,2.10,0.00,0.000,4,0.000,0.037,1628,1476,3422,0,0,0,0,0,0
$GC,3389,-0.60,-146.1,426.4,-9.5,250,3394,0.00,2.22,0.00,0.000,6,0.000,0.052,1619,2864,3422,0,0,0,0,0,0
$GC,3710,-0.60,-146.1,460.5,-10.7,261,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2865,3422,0,0,0,0,0,0
$GC,4016,-0.60,-146.1,493.8,-10.8,271,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2865,3421,0,0,0,0,0,0
$GC,4323,-0.60,-146.1,526.6,-10.6,281,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2864,3421,0,0,0,0,0,0
$GC,4629,-0.60,-146.1,558.4,-10.4,291,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2865,3419,0,0,0,0,0,0
$GC,4935,-0.60,-146.1,589.5,-10.0,301,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2865,3419,0,0,0,0,0,0
$GC,5242,-0.60,-146.1,620.1,-10.2,311,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2865,3419,0,0,0,0,0,0
$GC,5547,-0.60,-146.1,651.6,-10.1,321,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2865,3419,0,0,0,0,0,0
$GC,5854,-0.60,-146.1,681.5,-9.5,331,5858,0.00,2.12,0.00,0.000,4,0.000,0.037,1619,1478,3418,0,0,0,0,0,0
$GC,5883,-0.60,-146.1,684.4,-9.5,331,5890,0.00,2.22,0.00,0.000,6,0.000,0.053,1608,2869,3418,0,0,0,0,0,0
$GC,6198,-0.60,-146.1,714.9,-9.9,342,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2870,3418,0,0,0,0,0,0
$GC,6504,-0.60,-146.1,745.2,-9.8,352,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2870,3418,0,0,0,0,0,0
$GC,6811,-0.60,-146.1,776.2,-10.2,362,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2870,3418,0,0,0,0,0,0
$GC,7117,-0.60,-146.1,809.4,-11.1,372,7121,0.00,2.12,0.00,0.000,4,0.000,0.037,1608,1485,3418,0,0,0,0,0,0
$GC,7158,-0.60,-146.1,814.3,-9.9,373,7162,0.12,2.20,0.00,0.000,6,0.187,0.053,1628,2863,3418,0,0,0,0,0,0
$GC,7497,-0.60,-146.1,846.7,-9.6,384,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2863,3418,0,0,0,0,0,0
$GC,7802,-0.60,-146.1,876.0,-9.6,394,7806,0.00,2.10,0.00,0.000,4,0.000,0.037,1628,1483,3418,0,0,0,0,0,0
$GC,7837,-0.60,-146.1,879.7,-10.1,395,7841,0.00,2.22,0.00,0.000,6,0.000,0.053,1619,2865,3417,0,0,0,0,0,0
$GC,8169,-0.60,-146.1,912.5,-9.9,406,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2865,3417,0,0,0,0,0,0
$GC,8476,-0.60,-146.1,942.0,-9.6,416,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2865,3417,0,0,0,0,0,0
$GC,8781,-0.60,-146.1,971.4,-9.8,426,8785,0.00,2.12,0.00,0.000,4,0.000,0.036,1620,1484,3417,0,0,0,0,0,0
$GC,8816,-0.60,-146.1,975.2,-9.8,427,8820,0.00,2.22,0.00,0.000,6,0.000,0.053,1609,2867,3416,0,0,0,0,0,0
$STATE,9052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9052,begin apogee
$GC,9063,-0.18,0.0,1000.8,11.0,435,9213,0.55,0.00,146.52,1.237,6,0.158,0.000,1770,2677,2819,0,0,0,0,0,0
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9219,0.60,146.1,1007.3,0.0,440,9385,0.75,2.53,151.45,1.782,4,0.093,0.043,2026,1282,2225,0,0,0,0,1,0
$GC,9416,0.60,146.1,983.7,17.6,446,9421,0.00,2.47,0.00,0.000,6,0.000,0.050,2026,2672,2223,0,0,0,0,0,0
$GC,9748,0.60,146.1,916.7,20.4,457,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2672,2217,0,0,0,0,0,0
$GC,10055,0.60,146.1,852.1,21.5,467,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2672,2216,0,0,0,0,0,0
$GC,10361,0.60,146.1,786.7,21.2,477,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2672,2215,0,0,0,0,0,0
$GC,10669,0.60,146.1,721.5,21.8,487,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2672,2214,0,0,0,0,0,0
$GC,10974,0.60,146.1,653.9,22.1,497,10978,0.00,2.22,0.00,0.000,4,0.000,0.043,2037,1272,2214,0,0,0,0,0,0
$GC,11020,0.60,146.1,643.7,20.3,498,11024,0.00,2.28,0.00,0.000,6,0.000,0.050,2037,2679,2212,0,0,0,0,0,0
$GC,11341,0.60,146.1,572.3,22.5,509,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2212,0,0,0,0,0,0
$GC,11647,0.60,146.1,504.8,21.7,519,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2212,0,0,0,0,0,0
$GC,11953,0.60,146.1,440.9,20.8,529,11957,0.00,1.92,0.00,0.000,4,0.000,0.060,2037,3896,2212,0,0,0,0,0,0
$GC,11982,0.60,146.1,434.2,22.3,529,11989,0.00,1.88,0.00,0.000,6,0.000,0.037,2045,2674,2212,0,0,0,0,0,0
$GC,12299,0.60,146.1,368.6,20.3,542,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2212,0,0,0,0,0,0
$GC,12612,0.60,146.1,306.8,19.5,557,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2212,0,0,0,0,0,0
$GC,12917,0.60,146.1,245.8,20.0,572,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2212,0,0,0,0,0,0
$GC,13230,0.60,146.1,181.4,20.0,592,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2212,0,0,0,0,0,0
$GC,13542,0.60,146.1,119.1,18.4,612,13543,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2211,0,0,0,0,0,0
$GC,13870,0.60,146.1,65.3,16.9,656,13877,0.00,2.17,0.00,0.000,4,0.000,0.042,2056,1272,2211,0,0,0,0,0,0
$GC,14013,0.60,146.1,43.0,15.7,679,14021,0.12,2.25,0.00,0.000,6,0.209,0.052,2028,2668,2208,0,0,0,0,0,0
$STATE,14267,end climb,SURFACE_DEPTH_REACHED
$STATE,14267,begin surface coast
$FINISH,0.9,1.026446
$STATE,14293,end surface coast,CONTROL_FINISHED_OK
$STATE,14293,begin surface
$SM_CCo,14315,42.35,0.759,1,0,1881,230.09
$SM_GC,2.07,0.00,0.00,42.35,0.000,0.000,0.759,58,2887,1881,-5.54,0.76,230.09
$IRIDIUM_FIX,-4616.72,441.92,200113,010144
$TT8_MAMPS,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,22.0,49.763
$10V_AH,10.0,24.200
$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,13.550,49.875,297.975,42.350,0.000,58.315,84.484,442.631,0.000,0.000,20.732,1750.447,10169.785,402.709,2326.655,601.908,33.366,1094.002,0.000,1676.539,0.000,1.009,0.000
$DEVICE_MAMPS,241.740,76.500,1782.450,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.348,1437.964,769.412,296.360,0.000,0.000,0.000,0.000,0.000,0.000
$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,50497,724
$CAP_FILE_SIZE,98452,0
$CFSIZE,259252224,213184512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,200113,052334,-4633.572,443.798,67,0.9,67,-23.6