version: 66.07
glider: 542
mission: 6
dive: 268
start: 1 21 113 3 35 58
data:
$ID,542
$MISSION,6
$DIVE,268
$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,-11346.38
$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,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
$GPS1,210113,032434,-4642.654,447.712,42,0.8,42,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.4
$GPS2,210113,033506,-4642.675,447.736,14,0.7,15,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.121,-0.225
$KALMAN_X,-212709.3,235.4,207.0,251206.2,-3215.8
$KALMAN_Y,124032.4,-345.8,-199.2,-107546.0,2630.5
$MHEAD_RNG_PITCHd_Wd,175.3,33540,-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,-71.03,0.000,2,0.000,0.000,58,2878,3255,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.4,-2.7,9,125,6.78,1.60,-4.05,0.000,4,0.256,0.069,1619,3890,3417,0,0,0,0,0,0
$GC,374,-0.60,-146.1,50.1,-14.6,51,380,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2845,3418,0,0,0,0,0,0
$GC,615,-0.60,-146.1,85.3,-13.4,92,622,0.00,1.70,0.00,0.000,4,0.000,0.057,1611,3884,3419,0,0,0,0,0,0
$GC,695,-0.60,-146.1,96.3,-13.7,105,701,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2852,3419,0,0,0,0,0,0
$GC,1022,-0.60,-146.1,140.8,-13.5,128,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3420,0,0,0,0,0,0
$GC,1332,-0.60,-146.1,183.1,-13.6,148,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3421,0,0,0,0,0,0
$GC,1645,-0.60,-146.1,223.1,-12.2,168,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3421,0,0,0,0,0,0
$GC,1964,-0.60,-146.1,260.8,-11.7,187,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3421,0,0,0,0,0,0
$GC,2271,-0.60,-146.1,296.8,-11.6,202,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2852,3421,0,0,0,0,0,0
$GC,2583,-0.60,-146.1,332.3,-11.6,217,2586,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3881,3422,0,0,0,0,0,0
$GC,2654,-0.60,-146.1,341.4,-12.4,220,2658,0.08,1.52,0.00,0.000,6,0.166,0.033,1626,2877,3421,0,0,0,0,0,0
$GC,2989,-0.60,-146.1,379.0,-11.4,236,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3421,0,0,0,0,0,0
$GC,3297,-0.60,-146.1,415.8,-11.9,249,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3421,0,0,0,0,0,0
$GC,3603,-0.60,-146.1,449.0,-10.7,259,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3421,0,0,0,0,0,0
$GC,3910,-0.60,-146.1,480.2,-10.0,269,3914,0.00,2.12,0.00,0.000,4,0.000,0.038,1626,1475,3421,0,0,0,0,0,0
$GC,3956,-0.60,-146.1,485.0,-9.7,270,3960,0.00,2.22,0.00,0.000,6,0.000,0.054,1617,2861,3421,0,0,0,0,0,0
$GC,4288,-0.60,-146.1,520.9,-11.3,281,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3420,0,0,0,0,0,0
$GC,4594,-0.60,-146.1,554.6,-11.0,291,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3420,0,0,0,0,0,0
$GC,4900,-0.60,-146.1,587.0,-10.7,301,4904,0.00,1.65,0.00,0.000,4,0.000,0.062,1609,3903,3419,0,0,0,0,0,0
$GC,4937,-0.60,-146.1,591.0,-11.4,302,4941,0.00,1.60,0.00,0.000,6,0.000,0.033,1609,2850,3419,0,0,0,0,0,0
$GC,5280,-0.60,-146.1,629.7,-11.2,313,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2847,3419,0,0,0,0,0,0
$GC,5586,-0.60,-146.1,663.4,-10.8,323,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2847,3419,0,0,0,0,0,0
$GC,5892,-0.60,-146.1,696.3,-10.8,333,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2847,3419,0,0,0,0,0,0
$GC,6198,-0.60,-146.1,728.4,-10.2,343,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2847,3418,0,0,0,0,0,0
$GC,6505,-0.60,-146.1,759.1,-10.0,353,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3418,0,0,0,0,0,0
$GC,6811,-0.60,-146.1,788.6,-9.5,363,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2847,3418,0,0,0,0,0,0
$GC,7117,-0.60,-146.1,817.1,-9.4,373,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3418,0,0,0,0,0,0
$GC,7424,-0.60,-146.1,844.8,-8.9,383,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2846,3418,0,0,0,0,0,0
$GC,7730,-0.60,-146.1,873.3,-9.5,393,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3418,0,0,0,0,0,0
$GC,8036,-0.60,-146.1,903.0,-9.7,403,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3418,0,0,0,0,0,0
$GC,8342,-0.60,-146.1,932.6,-9.7,413,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3417,0,0,0,0,0,0
$GC,8648,-0.60,-146.1,962.4,-9.7,423,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2846,3417,0,0,0,0,0,0
$GC,8954,-0.60,-146.1,991.8,-9.6,433,8958,0.00,2.10,0.00,0.000,4,0.000,0.039,1609,1478,3417,0,0,0,0,0,0
$GC,8991,-0.60,-146.1,995.2,-8.6,434,8996,0.12,2.22,0.00,0.000,6,0.184,0.054,1629,2862,3417,0,0,0,0,0,0
$STATE,9055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9055,begin apogee
$GC,9066,-0.18,0.0,1000.8,7.6,436,9216,0.47,0.00,146.62,1.246,6,0.155,0.000,1770,2677,2819,0,0,0,0,0,0
$STATE,9218,end apogee,CONTROL_FINISHED_OK
$STATE,9218,begin climb
$GC,9223,0.60,146.1,1004.1,0.0,441,9389,0.75,2.53,152.23,1.794,4,0.094,0.044,2027,1290,2224,0,0,0,0,1,0
$GC,9437,0.60,146.1,972.1,19.1,447,9441,0.00,2.42,0.00,0.000,6,0.000,0.051,2027,2664,2221,0,0,0,0,0,0
$GC,9752,0.60,146.1,903.6,22.1,457,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2217,0,0,0,0,0,0
$GC,10059,0.60,146.1,835.3,22.3,467,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2664,2215,0,0,0,0,0,0
$GC,10364,0.60,146.1,768.9,21.3,477,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2664,2215,0,0,0,0,0,0
$GC,10672,0.60,146.1,704.5,20.4,487,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2214,0,0,0,0,0,0
$GC,10977,0.60,146.1,644.4,20.2,497,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2214,0,0,0,0,0,0
$GC,11285,0.60,146.1,584.5,19.6,507,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2214,0,0,0,0,0,0
$GC,11589,0.60,146.1,524.2,19.6,517,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2663,2213,0,0,0,0,0,0
$GC,11895,0.60,146.1,464.0,19.6,527,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2213,0,0,0,0,0,0
$GC,12202,0.60,146.1,405.0,19.3,537,12203,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2213,0,0,0,0,0,0
$GC,12521,0.60,146.1,344.3,19.0,552,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2664,2212,0,0,0,0,0,0
$GC,12832,0.60,146.1,286.3,18.7,567,12836,0.00,2.00,0.00,0.000,4,0.000,0.060,2027,3898,2212,0,0,0,0,0,0
$GC,12867,0.60,146.1,278.5,21.9,568,12871,0.00,1.92,0.00,0.000,6,0.000,0.038,2036,2673,2212,0,0,0,0,0,0
$GC,13200,0.60,146.1,218.0,17.6,587,13201,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2668,2212,0,0,0,0,0,0
$GC,13513,0.60,146.1,165.0,17.6,607,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2668,2212,0,0,0,0,0,0
$GC,13825,0.60,146.1,112.4,16.1,627,13829,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1268,2211,0,0,0,0,0,0
$GC,13900,0.60,146.1,100.1,15.7,631,13907,0.00,2.28,0.00,0.000,6,0.000,0.052,2047,2682,2209,0,0,0,0,0,0
$GC,14258,0.60,146.1,39.4,16.5,692,14266,0.00,1.95,0.00,0.000,4,0.000,0.060,2047,3891,2209,0,0,0,0,0,0
$GC,14310,0.60,146.1,30.0,20.1,699,14320,0.10,1.90,0.00,0.000,6,0.219,0.037,2030,2670,2210,0,0,0,0,0,0
$GC,14399,0.60,146.1,14.7,16.9,712,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2210,0,0,0,0,0,0
$STATE,14470,end climb,SURFACE_DEPTH_REACHED
$STATE,14470,begin surface coast
$FINISH,0.8,1.014953
$STATE,14489,end surface coast,CONTROL_FINISHED_OK
$STATE,14489,begin surface
$SM_CCo,14512,42.55,0.768,1,0,1878,230.09
$SM_GC,2.08,0.00,0.00,42.55,0.000,0.000,0.768,60,2872,1878,-5.53,0.34,230.09
$IRIDIUM_FIX,-4622.97,442.69,200113,232333
$TT8_MAMPS,0.026215
$HUMID,58.70
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.9,50.722
$10V_AH,10.0,24.802
$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,13.500,39.375,298.850,42.550,0.000,24.619,50.157,324.805,0.000,0.000,21.558,1749.766,10332.687,402.240,2121.693,571.497,33.368,1094.780,0.000,1657.297,0.000,1.009,0.000
$DEVICE_MAMPS,255.510,68.850,1793.925,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.333,1429.234,759.286,282.102,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353864
$DATA_FILE_SIZE,50461,726
$CAP_FILE_SIZE,95750,0
$CFSIZE,259252224,212832256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210113,074004,-4644.553,448.866,38,0.8,38,-23.6