version: 66.07
glider: 542
mission: 6
dive: 270
start: 1 21 113 12 9 15
data:
$ID,542
$MISSION,6
$DIVE,270
$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,-11351.14
$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,34
$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
$GPS1,210113,115734,-4646.803,449.186,28,0.7,28,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.3
$GPS2,210113,120823,-4646.831,449.154,16,1.0,16,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.111,-0.230
$KALMAN_X,-215315.8,344.4,67.2,255649.2,-3334.4
$KALMAN_Y,125822.1,-295.3,-255.6,-117029.8,2817.7
$MHEAD_RNG_PITCHd_Wd,177.8,26991,-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,-63.05,0.000,2,0.000,0.000,49,2883,3075,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.0,-1.8,8,125,6.72,1.65,-9.57,0.000,4,0.252,0.076,1620,3886,3418,0,0,0,0,0,0
$GC,386,-0.60,-146.1,47.0,-14.5,53,393,0.00,1.60,0.00,0.000,6,0.000,0.032,1620,2840,3420,0,0,0,0,0,0
$GC,628,-0.60,-146.1,82.3,-13.6,94,634,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2840,3420,0,0,0,0,0,0
$GC,964,-0.60,-146.1,124.8,-12.9,131,968,0.00,2.08,0.00,0.000,4,0.000,0.036,1620,1478,3421,0,0,0,0,0,0
$GC,1005,-0.60,-146.1,129.3,-10.9,133,1009,0.00,2.22,0.00,0.000,6,0.000,0.050,1609,2863,3421,0,0,0,0,0,0
$GC,1334,-0.60,-146.1,170.7,-12.5,154,1337,0.00,1.65,0.00,0.000,4,0.000,0.057,1601,3911,3422,0,0,0,0,0,0
$GC,1392,-0.60,-146.1,178.9,-13.3,157,1396,0.08,1.60,0.00,0.000,6,0.171,0.031,1632,2850,3422,0,0,0,0,0,0
$GC,1723,-0.60,-146.1,211.7,-10.0,178,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2845,3422,0,0,0,0,0,0
$GC,2031,-0.60,-146.1,242.9,-10.1,198,2035,0.00,1.70,0.00,0.000,4,0.000,0.060,1625,3904,3423,0,0,0,0,0,0
$GC,2077,-0.60,-146.1,247.9,-10.6,200,2086,0.00,1.58,0.00,0.000,6,0.000,0.031,1625,2862,3423,0,0,0,0,0,0
$GC,2413,-0.60,-146.1,283.9,-11.2,217,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3423,0,0,0,0,0,0
$GC,2721,-0.60,-146.1,317.7,-10.9,232,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3423,0,0,0,0,0,0
$GC,3032,-0.60,-146.1,351.4,-10.9,247,3036,0.00,1.67,0.00,0.000,4,0.000,0.060,1617,3890,3423,0,0,0,0,0,0
$GC,3103,-0.60,-146.1,359.7,-10.9,250,3107,0.00,1.55,0.00,0.000,6,0.000,0.032,1617,2867,3423,0,0,0,0,0,0
$GC,3437,-0.60,-146.1,397.4,-11.3,266,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3422,0,0,0,0,0,0
$GC,3756,-0.60,-146.1,434.2,-11.3,277,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3422,0,0,0,0,0,0
$GC,4061,-0.60,-146.1,468.2,-11.0,287,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2862,3422,0,0,0,0,0,0
$GC,4368,-0.60,-146.1,500.0,-10.0,297,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3423,0,0,0,0,0,0
$GC,4673,-0.60,-146.1,529.7,-9.5,307,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3422,0,0,0,0,0,0
$GC,4980,-0.60,-146.1,559.5,-9.8,317,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2862,3422,0,0,0,0,0,0
$GC,5286,-0.60,-146.1,590.3,-10.0,327,5289,0.00,1.67,0.00,0.000,4,0.000,0.061,1609,3897,3421,0,0,0,0,0,0
$GC,5326,-0.60,-146.1,594.8,-10.8,328,5329,0.00,1.58,0.00,0.000,6,0.000,0.033,1609,2863,3421,0,0,0,0,0,0
$GC,5663,-0.60,-146.1,631.4,-11.1,339,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2857,3421,0,0,0,0,0,0
$GC,5969,-0.60,-146.1,664.8,-11.1,349,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2858,3420,0,0,0,0,0,0
$GC,6275,-0.60,-146.1,698.2,-10.9,359,6279,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3895,3420,0,0,0,0,0,0
$GC,6312,-0.60,-146.1,702.3,-11.2,360,6317,0.08,1.58,0.00,0.000,6,0.166,0.033,1624,2859,3420,0,0,0,0,0,0
$GC,6657,-0.60,-146.1,733.4,-8.6,371,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3420,0,0,0,0,0,0
$GC,6962,-0.60,-146.1,758.2,-8.0,381,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2854,3419,0,0,0,0,0,0
$GC,7270,-0.60,-146.1,783.6,-8.4,391,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3419,0,0,0,0,0,0
$GC,7575,-0.60,-146.1,810.4,-8.7,401,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3419,0,0,0,0,0,0
$GC,7881,-0.60,-146.1,838.0,-9.2,411,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3418,0,0,0,0,0,0
$GC,8187,-0.60,-146.1,865.0,-8.8,421,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2854,3418,0,0,0,0,0,0
$GC,8494,-0.60,-146.1,891.7,-8.8,431,8498,0.00,2.10,0.00,0.000,4,0.000,0.039,1625,1474,3418,0,0,0,0,0,0
$GC,8531,-0.60,-146.1,894.9,-9.2,432,8535,0.00,2.25,0.00,0.000,6,0.000,0.054,1615,2869,3418,0,0,0,0,0,0
$GC,8876,-0.60,-146.1,925.3,-8.8,443,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2868,3418,0,0,0,0,0,0
$GC,9181,-0.60,-146.1,950.6,-8.2,453,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2868,3418,0,0,0,0,0,0
$GC,9490,-0.60,-146.1,976.5,-8.4,463,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2868,3418,0,0,0,0,0,0
$STATE,9757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9757,begin apogee
$GC,9768,-0.18,0.0,1000.4,8.8,472,9918,0.52,0.00,146.57,1.222,6,0.162,0.000,1767,2681,2819,0,0,0,0,0,0
$STATE,9920,end apogee,CONTROL_FINISHED_OK
$STATE,9920,begin climb
$GC,9925,0.60,146.1,1004.3,0.0,477,10091,0.77,2.55,151.45,1.772,4,0.098,0.043,2028,1277,2224,0,0,0,0,1,0
$GC,10139,0.60,146.1,973.8,18.7,483,10143,0.00,2.45,0.00,0.000,6,0.000,0.050,2028,2669,2222,0,0,0,0,0,0
$GC,10454,0.60,146.1,905.8,21.5,493,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2669,2217,0,0,0,0,0,0
$GC,10762,0.60,146.1,839.5,21.6,503,10766,0.00,2.22,0.00,0.000,4,0.000,0.043,2038,1272,2215,0,0,0,0,0,0
$GC,10793,0.60,146.1,832.3,21.5,504,10798,0.00,2.30,0.00,0.000,6,0.000,0.051,2038,2682,2214,0,0,0,0,0,0
$GC,11137,0.60,146.1,755.0,22.8,515,11141,0.00,1.95,0.00,0.000,4,0.000,0.060,2038,3906,2214,0,0,0,0,0,0
$GC,11177,0.60,146.1,744.8,24.2,516,11181,0.00,1.90,0.00,0.000,6,0.000,0.037,2048,2677,2214,0,0,0,0,0,0
$GC,11515,0.60,146.1,668.6,22.1,527,11519,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1259,2213,0,0,0,0,0,0
$GC,11572,0.60,146.1,656.4,19.3,528,11580,0.12,2.30,0.00,0.000,6,0.222,0.051,2031,2679,2211,0,0,0,0,0,0
$GC,11887,0.60,146.1,592.8,20.1,539,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2680,2211,0,0,0,0,0,0
$GC,12194,0.60,146.1,532.7,19.7,549,12198,0.00,1.92,0.00,0.000,4,0.000,0.060,2031,3897,2211,0,0,0,0,0,0
$GC,12251,0.60,146.1,520.1,21.9,550,12254,0.00,1.90,0.00,0.000,6,0.000,0.037,2039,2670,2211,0,0,0,0,0,0
$GC,12571,0.60,146.1,455.0,20.4,561,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2664,2211,0,0,0,0,0,0
$GC,12888,0.60,146.1,390.8,19.8,572,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2665,2211,0,0,0,0,0,0
$GC,13200,0.60,146.1,330.7,19.3,587,13204,0.00,2.17,0.00,0.000,4,0.000,0.043,2050,1270,2211,0,0,0,0,0,0
$GC,13246,0.60,146.1,321.4,18.7,589,13250,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2669,2210,0,0,0,0,0,0
$GC,13578,0.60,146.1,257.3,19.2,605,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2670,2210,0,0,0,0,0,0
$GC,13900,0.60,146.1,193.9,20.1,625,13904,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1268,2210,0,0,0,0,0,0
$GC,13981,0.60,146.1,178.9,16.5,629,13988,0.15,2.28,0.00,0.000,6,0.211,0.052,2026,2682,2210,0,0,0,0,0,0
$GC,14308,0.60,146.1,126.3,15.8,650,14311,0.00,1.92,0.00,0.000,4,0.000,0.060,2026,3903,2210,0,0,0,0,0,0
$GC,14354,0.60,146.1,117.3,17.5,652,14363,0.00,1.92,0.00,0.000,6,0.000,0.037,2034,2673,2210,0,0,0,0,0,0
$GC,14698,0.60,146.1,66.8,14.7,699,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2672,2210,0,0,0,0,0,0
$GC,15069,0.60,146.1,8.4,17.6,760,15078,0.00,2.20,0.00,0.000,4,0.000,0.041,2045,1277,2210,0,0,0,0,0,0
$GC,15096,0.60,146.1,3.9,16.5,763,15105,0.00,2.25,0.00,0.000,6,0.000,0.050,2045,2665,2209,0,0,0,0,0,0
$STATE,15113,end climb,SURFACE_DEPTH_REACHED
$STATE,15113,begin surface coast
$FINISH,0.7,1.002853
$STATE,15133,end surface coast,CONTROL_FINISHED_OK
$STATE,15133,begin surface
$SM_CCo,15155,42.33,0.761,1,0,1880,230.09
$SM_GC,2.13,0.00,0.00,42.33,0.000,0.000,0.761,56,2890,1880,-5.55,0.82,230.09
$IRIDIUM_FIX,-4629.23,449.47,210113,070709
$TT8_MAMPS,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,51.040
$10V_AH,10.0,25.006
$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,13.850,67.675,298.025,42.325,0.000,25.284,21.980,354.717,0.000,0.000,18.472,1881.688,10575.873,416.956,2321.079,642.427,33.376,1198.632,0.000,1848.186,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,75.735,1771.740,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.520,1511.408,815.368,316.775,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,53823,768
$CAP_FILE_SIZE,109056,0
$CFSIZE,259252224,212701184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,210113,162405,-4649.303,449.075,39,1.1,39,-23.6