version: 66.07
glider: 542
mission: 6
dive: 267
start: 1 20 113 23 11 40
data:
$ID,542
$MISSION,6
$DIVE,267
$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,-11343.914
$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,37
$R_STBD_OVSHOOT,36
$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
$GPS1,200113,225952,-4641.052,445.637,37,0.8,37,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.4
$GPS2,200113,231048,-4641.071,445.676,20,1.0,20,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.181,-0.181
$KALMAN_X,-211864.4,396.7,226.8,247582.6,-3903.2
$KALMAN_Y,123490.2,-309.1,-346.1,-103918.0,3465.9
$MHEAD_RNG_PITCHd_Wd,158.6,35782,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.03,0.000,2,0.000,0.000,59,2878,3073,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.0,-2.5,8,125,6.80,1.65,-9.90,0.000,4,0.258,0.073,1620,3887,3416,0,0,0,0,0,0
$GC,402,-0.60,-146.1,50.2,-14.7,56,411,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2833,3418,0,0,0,0,0,0
$GC,649,-0.60,-146.1,86.9,-15.0,97,652,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2834,3418,0,0,0,0,0,0
$GC,980,-0.60,-146.1,135.8,-14.7,128,984,0.00,1.73,0.00,0.000,4,0.000,0.057,1611,3891,3419,0,0,0,0,0,0
$GC,1036,-0.60,-146.1,144.9,-15.4,131,1040,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2857,3420,0,0,0,0,0,0
$GC,1369,-0.60,-146.1,191.7,-13.3,152,1373,0.00,1.67,0.00,0.000,4,0.000,0.057,1603,3885,3421,0,0,0,0,0,0
$GC,1483,-0.60,-146.1,208.0,-13.4,158,1492,0.00,1.55,0.00,0.000,6,0.000,0.031,1603,2851,3421,0,0,0,0,0,0
$GC,1806,-0.60,-146.1,248.7,-12.1,179,1808,0.12,0.00,0.00,0.000,6,0.193,0.000,1634,2850,3421,0,0,0,0,0,0
$GC,2132,-0.60,-146.1,281.6,-10.3,195,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3421,0,0,0,0,0,0
$GC,2439,-0.60,-146.1,315.2,-10.9,210,2443,0.00,1.67,0.00,0.000,4,0.000,0.059,1627,3894,3421,0,0,0,0,0,0
$GC,2480,-0.60,-146.1,320.3,-11.6,211,2487,0.00,1.55,0.00,0.000,6,0.000,0.031,1627,2866,3421,0,0,0,0,0,0
$GC,2801,-0.60,-146.1,355.1,-10.4,227,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2866,3421,0,0,0,0,0,0
$GC,3107,-0.60,-146.1,386.2,-9.7,242,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2866,3421,0,0,0,0,0,0
$GC,3426,-0.60,-146.1,416.2,-9.3,255,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2866,3421,0,0,0,0,0,0
$GC,3732,-0.60,-146.1,445.1,-9.6,265,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2866,3421,0,0,0,0,0,0
$GC,4038,-0.60,-146.1,475.3,-10.1,275,4041,0.00,1.62,0.00,0.000,4,0.000,0.060,1619,3891,3421,0,0,0,0,0,0
$GC,4095,-0.60,-146.1,481.6,-10.4,276,4098,0.00,1.55,0.00,0.000,6,0.000,0.032,1619,2868,3421,0,0,0,0,0,0
$GC,4415,-0.60,-146.1,515.1,-10.5,287,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2863,3421,0,0,0,0,0,0
$GC,4723,-0.60,-146.1,546.0,-10.0,297,4726,0.00,1.62,0.00,0.000,4,0.000,0.060,1611,3890,3420,0,0,0,0,0,0
$GC,4760,-0.60,-146.1,550.1,-10.8,298,4763,0.00,1.55,0.00,0.000,6,0.000,0.032,1611,2863,3420,0,0,0,0,0,0
$GC,5103,-0.60,-146.1,585.7,-10.3,309,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3420,0,0,0,0,0,0
$GC,5409,-0.60,-146.1,617.7,-10.6,319,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3420,0,0,0,0,0,0
$GC,5715,-0.60,-146.1,649.3,-10.2,329,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3420,0,0,0,0,0,0
$GC,6021,-0.60,-146.1,679.4,-9.8,339,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3420,0,0,0,0,0,0
$GC,6327,-0.60,-146.1,709.6,-10.0,349,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3419,0,0,0,0,0,0
$GC,6633,-0.60,-146.1,740.3,-10.0,359,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3419,0,0,0,0,0,0
$GC,6940,-0.60,-146.1,770.4,-9.8,369,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3418,0,0,0,0,0,0
$GC,7246,-0.60,-146.1,800.5,-9.7,379,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3418,0,0,0,0,0,0
$GC,7552,-0.60,-146.1,829.4,-9.4,389,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2858,3418,0,0,0,0,0,0
$GC,7859,-0.60,-146.1,857.8,-9.4,399,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2858,3418,0,0,0,0,0,0
$GC,8165,-0.60,-146.1,885.4,-8.7,409,8169,0.00,2.12,0.00,0.000,4,0.000,0.038,1611,1478,3418,0,0,0,0,0,0
$GC,8212,-0.60,-146.1,889.5,-8.3,410,8216,0.12,2.20,0.00,0.000,6,0.184,0.053,1631,2854,3418,0,0,0,0,0,0
$GC,8534,-0.60,-146.1,910.7,-6.6,421,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3418,0,0,0,0,0,0
$GC,8842,-0.60,-146.1,931.7,-7.0,431,8845,0.00,1.62,0.00,0.000,4,0.000,0.061,1625,3894,3418,0,0,0,0,0,0
$GC,8893,-0.60,-146.1,935.9,-7.9,432,8897,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2852,3418,0,0,0,0,0,0
$GC,9220,-0.60,-146.1,960.3,-7.6,443,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2848,3418,0,0,0,0,0,0
$GC,9526,-0.60,-146.1,983.3,-7.4,453,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2848,3418,0,0,0,0,0,0
$STATE,9735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9735,begin apogee
$GC,9746,-0.18,0.0,1000.1,7.9,460,9896,0.50,0.00,146.48,1.242,6,0.162,0.000,1769,2683,2819,0,0,0,0,0,0
$STATE,9898,end apogee,CONTROL_FINISHED_OK
$STATE,9898,begin climb
$GC,9903,0.60,146.1,1003.6,0.0,465,10065,0.75,0.00,152.57,1.789,6,0.095,0.000,2014,2683,2223,0,0,0,0,1,0
$GC,10368,0.60,146.1,921.7,20.2,480,10372,0.00,2.25,0.00,0.000,4,0.000,0.041,2025,1286,2218,0,0,0,0,0,0
$GC,10415,0.60,146.1,912.5,17.6,481,10419,0.00,2.33,0.00,0.000,6,0.000,0.050,2025,2675,2215,0,0,0,0,0,0
$GC,10736,0.60,146.1,847.0,20.8,492,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2675,2214,0,0,0,0,0,0
$GC,11042,0.60,146.1,781.8,21.4,502,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2675,2213,0,0,0,0,0,0
$GC,11350,0.60,146.1,718.4,20.4,512,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2675,2213,0,0,0,0,0,0
$GC,11654,0.60,146.1,656.4,20.7,522,11658,0.00,1.98,0.00,0.000,4,0.000,0.060,2025,3891,2212,0,0,0,0,0,0
$GC,11691,0.60,146.1,648.2,21.7,523,11695,0.00,1.88,0.00,0.000,6,0.000,0.035,2034,2688,2211,0,0,0,0,0,0
$GC,12036,0.60,146.1,571.5,22.7,534,12040,0.00,2.20,0.00,0.000,4,0.000,0.042,2045,1267,2212,0,0,0,0,0,0
$GC,12071,0.60,146.1,563.3,19.9,535,12076,0.00,2.28,0.00,0.000,6,0.000,0.050,2045,2674,2210,0,0,0,0,0,0
$GC,12403,0.60,146.1,491.1,21.7,546,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2674,2210,0,0,0,0,0,0
$GC,12710,0.60,146.1,424.0,21.0,556,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2675,2210,0,0,0,0,0,0
$GC,13020,0.60,146.1,360.2,20.7,569,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2674,2210,0,0,0,0,0,0
$GC,13327,0.60,146.1,296.6,20.7,584,13328,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2674,2210,0,0,0,0,0,0
$GC,13639,0.60,146.1,233.7,20.6,600,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2675,2210,0,0,0,0,0,0
$GC,13949,0.60,146.1,173.7,19.1,620,13953,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1272,2210,0,0,0,0,0,0
$GC,14035,0.60,146.1,159.5,16.2,625,14039,0.12,2.25,0.00,0.000,6,0.216,0.051,2028,2670,2209,0,0,0,0,0,0
$GC,14366,0.60,146.1,104.6,17.0,646,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2208,0,0,0,0,0,0
$GC,14702,0.60,146.1,50.9,16.2,702,14711,0.00,1.98,0.00,0.000,4,0.000,0.058,2028,3903,2209,0,0,0,0,0,0
$GC,14741,0.60,146.1,44.7,17.8,707,14748,0.00,1.90,0.00,0.000,6,0.000,0.037,2036,2670,2209,0,0,0,0,0,0
$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.7,1.014729
$STATE,15014,end surface coast,CONTROL_FINISHED_OK
$STATE,15014,begin surface
$SM_CCo,15036,42.40,0.770,1,0,1881,230.09
$SM_GC,2.29,0.00,0.00,42.40,0.000,0.000,0.770,59,2876,1881,-5.54,0.48,230.09
$IRIDIUM_FIX,-4619.84,448.42,200113,141453
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,50.562
$10V_AH,10.1,24.705
$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,13.750,48.600,299.050,42.400,0.000,32.703,22.006,345.120,0.000,0.000,23.133,1824.858,10651.668,403.234,2233.074,610.875,33.369,1137.187,0.000,1755.127,0.000,1.010,0.000
$DEVICE_MAMPS,257.805,72.675,1789.335,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.688,1475.772,779.192,305.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353860
$DATA_FILE_SIZE,53736,751
$CAP_FILE_SIZE,102582,0
$CFSIZE,259252224,212877312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,210113,032434,-4642.654,447.712,42,0.8,42,-23.6