version: 66.07
glider: 542
mission: 6
dive: 266
start: 1 20 113 18 42 15
data:
$ID,542
$MISSION,6
$DIVE,266
$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,-11341.535
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,200113,183035,-4638.990,445.145,34,1.1,34,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.6
$GPS2,200113,184123,-4639.010,445.109,18,1.3,18,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.115,-0.229
$KALMAN_X,-209929.7,359.5,-17.9,245215.6,-2474.6
$KALMAN_Y,123034.3,-596.7,-349.4,-99354.9,4553.8
$MHEAD_RNG_PITCHd_Wd,177.0,39406,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.00,0.000,2,0.000,0.000,57,2880,3076,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-3.1,8,125,6.82,1.65,-9.60,0.000,4,0.259,0.073,1619,3883,3416,0,0,0,0,0,0
$GC,402,-0.60,-146.1,48.6,-14.1,56,411,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2848,3418,0,0,0,0,0,0
$GC,650,-0.60,-146.1,82.2,-12.1,97,654,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2848,3418,0,0,0,0,0,0
$GC,982,-0.60,-146.1,126.1,-13.2,134,986,0.00,2.08,0.00,0.000,4,0.000,0.036,1619,1483,3420,0,0,0,0,0,0
$GC,1019,-0.60,-146.1,130.6,-11.7,136,1023,0.00,2.20,0.00,0.000,6,0.000,0.050,1609,2852,3420,0,0,0,0,0,0
$GC,1348,-0.60,-146.1,175.2,-14.1,157,1352,0.00,1.65,0.00,0.000,4,0.000,0.058,1601,3903,3420,0,0,0,0,0,0
$GC,1428,-0.60,-146.1,187.7,-15.1,161,1436,0.08,1.58,0.00,0.000,6,0.174,0.031,1623,2856,3421,0,0,0,0,0,0
$GC,1753,-0.60,-146.1,226.1,-11.5,182,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2855,3421,0,0,0,0,0,0
$GC,2068,-0.60,-146.1,260.5,-10.9,201,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2855,3421,0,0,0,0,0,0
$GC,2376,-0.60,-146.1,294.7,-11.1,216,2379,0.00,1.67,0.00,0.000,4,0.000,0.060,1617,3899,3420,0,0,0,0,0,0
$GC,2411,-0.60,-146.1,299.1,-12.3,217,2414,0.00,1.58,0.00,0.000,6,0.000,0.031,1617,2855,3421,0,0,0,0,0,0
$GC,2737,-0.60,-146.1,337.3,-11.9,233,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2851,3420,0,0,0,0,0,0
$GC,3043,-0.60,-146.1,373.8,-11.8,248,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2851,3421,0,0,0,0,0,0
$GC,3362,-0.60,-146.1,411.9,-11.9,262,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2851,3421,0,0,0,0,0,0
$GC,3668,-0.60,-146.1,446.0,-10.7,272,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2850,3420,0,0,0,0,0,0
$GC,3974,-0.60,-146.1,477.9,-10.3,282,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2850,3420,0,0,0,0,0,0
$GC,4281,-0.60,-146.1,508.5,-9.8,292,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2850,3420,0,0,0,0,0,0
$GC,4588,-0.60,-146.1,537.8,-9.4,302,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2850,3419,0,0,0,0,0,0
$GC,4893,-0.60,-146.1,566.1,-9.0,312,4897,0.00,1.70,0.00,0.000,4,0.000,0.061,1608,3891,3418,0,0,0,0,0,0
$GC,4951,-0.60,-146.1,572.0,-9.9,313,4954,0.00,1.55,0.00,0.000,6,0.000,0.034,1608,2874,3418,0,0,0,0,0,0
$GC,5271,-0.60,-146.1,604.1,-10.3,324,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2868,3418,0,0,0,0,0,0
$GC,5577,-0.60,-146.1,633.9,-9.8,334,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2869,3418,0,0,0,0,0,0
$GC,5885,-0.60,-146.1,663.8,-9.5,344,5889,0.00,2.12,0.00,0.000,4,0.000,0.038,1608,1475,3418,0,0,0,0,0,0
$GC,5931,-0.60,-146.1,668.7,-9.9,345,5936,0.12,2.22,0.00,0.000,6,0.190,0.054,1627,2867,3418,0,0,0,0,0,0
$GC,6253,-0.60,-146.1,695.6,-8.7,356,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2867,3418,0,0,0,0,0,0
$GC,6559,-0.60,-146.1,722.3,-8.8,366,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2867,3417,0,0,0,0,0,0
$GC,6866,-0.60,-146.1,749.5,-8.8,376,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2867,3417,0,0,0,0,0,0
$GC,7172,-0.60,-146.1,776.3,-8.7,386,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2867,3417,0,0,0,0,0,0
$GC,7478,-0.60,-146.1,802.0,-8.3,396,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2868,3416,0,0,0,0,0,0
$GC,7784,-0.60,-146.1,826.8,-8.1,406,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2868,3417,0,0,0,0,0,0
$GC,8090,-0.60,-146.1,850.4,-7.6,416,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2868,3417,0,0,0,0,0,0
$GC,8397,-0.60,-146.1,873.6,-7.7,426,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2867,3417,0,0,0,0,0,0
$GC,8703,-0.60,-146.1,898.6,-8.1,436,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2868,3416,0,0,0,0,0,0
$GC,9009,-0.60,-146.1,924.4,-8.6,446,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2868,3416,0,0,0,0,0,0
$GC,9315,-0.60,-146.1,950.8,-8.8,456,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2868,3416,0,0,0,0,0,0
$GC,9621,-0.60,-146.1,976.5,-8.3,466,9625,0.00,2.15,0.00,0.000,4,0.000,0.039,1628,1475,3416,0,0,0,0,0,0
$GC,9651,-0.60,-146.1,979.3,-9.0,466,9658,0.00,2.22,0.00,0.000,6,0.000,0.054,1619,2860,3416,0,0,0,0,0,0
$STATE,9901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9901,begin apogee
$GC,9911,-0.18,0.0,1001.0,8.6,475,10061,0.50,0.00,146.57,1.245,6,0.161,0.000,1764,2673,2819,0,0,0,0,0,0
$STATE,10063,end apogee,CONTROL_FINISHED_OK
$STATE,10063,begin climb
$GC,10068,0.60,146.1,1004.8,0.0,480,10234,0.77,2.53,152.95,1.795,4,0.099,0.043,2026,1280,2224,0,0,0,0,1,0
$GC,10305,0.60,146.1,969.8,17.4,487,10310,0.00,2.45,0.00,0.000,6,0.000,0.050,2026,2671,2219,0,0,0,0,0,0
$GC,10632,0.60,146.1,900.5,21.5,498,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2671,2216,0,0,0,0,0,0
$GC,10938,0.60,146.1,836.4,20.7,508,10942,0.00,2.25,0.00,0.000,4,0.000,0.044,2036,1272,2215,0,0,0,0,0,0
$GC,10996,0.60,146.1,824.9,17.9,509,11000,0.00,2.28,0.00,0.000,6,0.000,0.052,2036,2672,2214,0,0,0,0,0,0
$GC,11312,0.60,146.1,758.2,21.3,519,11315,0.00,1.95,0.00,0.000,4,0.000,0.059,2037,3897,2213,0,0,0,0,0,0
$GC,11381,0.60,146.1,741.8,23.5,521,11385,0.00,1.92,0.00,0.000,6,0.000,0.037,2046,2678,2214,0,0,0,0,0,0
$GC,11726,0.60,146.1,665.2,21.7,532,11730,0.00,2.22,0.00,0.000,4,0.000,0.043,2057,1256,2213,0,0,0,0,0,0
$GC,11801,0.60,146.1,649.8,19.5,534,11805,0.12,2.30,0.00,0.000,6,0.222,0.051,2030,2680,2212,0,0,0,0,0,0
$GC,12135,0.60,146.1,582.6,20.4,545,12138,0.00,1.92,0.00,0.000,4,0.000,0.059,2030,3902,2211,0,0,0,0,0,0
$GC,12175,0.60,146.1,573.1,22.9,546,12179,0.00,1.92,0.00,0.000,6,0.000,0.037,2038,2666,2212,0,0,0,0,0,0
$GC,12512,0.60,146.1,504.7,19.4,557,12516,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1260,2211,0,0,0,0,0,0
$GC,12582,0.60,146.1,492.7,16.5,559,12587,0.00,2.30,0.00,0.000,6,0.000,0.051,2049,2679,2210,0,0,0,0,0,0
$GC,12914,0.60,146.1,427.7,20.2,570,12918,0.00,1.92,0.00,0.000,4,0.000,0.059,2049,3898,2210,0,0,0,0,0,0
$GC,12951,0.60,146.1,420.0,21.8,571,12955,0.12,1.90,0.00,0.000,6,0.237,0.037,2031,2661,2210,0,0,0,0,0,0
$GC,13289,0.60,146.1,357.8,18.5,585,13293,0.00,2.17,0.00,0.000,4,0.000,0.044,2041,1257,2210,0,0,0,0,0,0
$GC,13363,0.60,146.1,344.5,15.9,588,13367,0.00,2.28,0.00,0.000,6,0.000,0.051,2041,2670,2209,0,0,0,0,0,0
$GC,13693,0.60,146.1,282.7,19.0,604,13696,0.00,1.95,0.00,0.000,4,0.000,0.059,2041,3899,2209,0,0,0,0,0,0
$GC,13745,0.60,146.1,271.5,22.5,606,13749,0.00,1.95,0.00,0.000,6,0.000,0.038,2050,2661,2210,0,0,0,0,0,0
$GC,14073,0.60,146.1,206.0,19.9,625,14077,0.00,2.17,0.00,0.000,4,0.000,0.044,2061,1267,2210,0,0,0,0,0,0
$GC,14156,0.60,146.1,190.3,17.2,630,14161,0.15,2.25,0.00,0.000,6,0.210,0.050,2026,2676,2209,0,0,0,0,0,0
$GC,14489,0.60,146.1,132.0,17.0,651,14493,0.00,1.98,0.00,0.000,4,0.000,0.058,2026,3900,2209,0,0,0,0,0,0
$GC,14544,0.60,146.1,121.3,18.9,654,14547,0.00,1.92,0.00,0.000,6,0.000,0.037,2035,2657,2209,0,0,0,0,0,0
$GC,14887,0.60,146.1,67.3,14.9,697,14891,0.00,2.17,0.00,0.000,4,0.000,0.043,2044,1258,2209,0,0,0,0,0,0
$GC,14942,0.60,146.1,59.1,13.5,706,14951,0.00,2.30,0.00,0.000,6,0.000,0.050,2045,2669,2208,0,0,0,0,0,0
$GC,15198,0.60,146.1,17.4,16.6,747,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2669,2208,0,0,0,0,0,0
$STATE,15281,end climb,SURFACE_DEPTH_REACHED
$STATE,15281,begin surface coast
$FINISH,0.7,1.014361
$STATE,15301,end surface coast,CONTROL_FINISHED_OK
$STATE,15301,begin surface
$SM_CCo,15324,42.40,0.765,1,0,1880,230.09
$SM_GC,2.11,0.00,0.00,42.40,0.000,0.000,0.765,59,2878,1880,-5.54,0.51,230.09
$IRIDIUM_FIX,-4619.84,448.42,200113,141453
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.9,50.402
$10V_AH,10.0,24.604
$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,14.200,77.750,299.525,42.400,0.000,27.559,21.379,349.649,0.000,0.000,20.519,1889.254,10693.497,415.204,2349.223,657.634,33.367,1218.222,0.000,1876.708,0.000,1.010,0.000
$DEVICE_MAMPS,259.335,73.440,1794.690,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.084,1493.533,789.080,316.203,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353868
$DATA_FILE_SIZE,53792,763
$CAP_FILE_SIZE,113455,0
$CFSIZE,259252224,212934656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,200113,225952,-4641.052,445.637,37,0.8,37,-23.6