version: 66.07
glider: 542
mission: 6
dive: 279
start: 1 23 113 3 49 45
data:
$ID,542
$MISSION,6
$DIVE,279
$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,-11372.504
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,230113,033734,-4701.904,434.097,41,1.0,41,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-52.9
$GPS2,230113,034853,-4701.957,434.222,21,1.0,21,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.166,-0.195
$KALMAN_X,-225279.1,97.6,265.0,246739.7,-1592.2
$KALMAN_Y,139291.0,-618.2,-44.0,-158399.3,4724.4
$MHEAD_RNG_PITCHd_Wd,243.9,30808,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-70.88,0.000,2,0.000,0.000,46,2889,3252,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.7,-3.3,9,125,6.62,1.60,-3.97,0.000,4,0.245,0.069,1621,3902,3417,0,0,0,0,0,0
$GC,180,-0.60,-146.1,20.7,-17.4,19,189,0.00,1.65,0.00,0.000,6,0.000,0.032,1621,2838,3418,0,0,0,0,0,0
$GC,266,-0.60,-146.1,31.5,-12.8,32,275,0.00,1.75,0.00,0.000,4,0.000,0.057,1613,3899,3418,0,0,0,0,0,0
$GC,317,-0.60,-146.1,39.7,-17.2,39,323,0.00,1.60,0.00,0.000,6,0.000,0.032,1613,2847,3418,0,0,0,0,0,0
$GC,560,-0.60,-146.1,76.4,-13.6,80,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2847,3419,0,0,0,0,0,0
$GC,909,-0.60,-146.1,125.0,-14.4,121,912,0.00,1.70,0.00,0.000,4,0.000,0.058,1605,3903,3420,0,0,0,0,0,0
$GC,1018,-0.60,-146.1,142.3,-15.3,127,1022,0.08,1.58,0.00,0.000,6,0.163,0.031,1637,2866,3421,0,0,0,0,0,0
$GC,1350,-0.60,-146.1,181.5,-11.5,148,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2862,3422,0,0,0,0,0,0
$GC,1674,-0.60,-146.1,217.0,-11.3,169,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2862,3422,0,0,0,0,0,0
$GC,1987,-0.60,-146.1,250.9,-10.5,189,1991,0.00,1.70,0.00,0.000,4,0.000,0.060,1630,3900,3422,0,0,0,0,0,0
$GC,2021,-0.60,-146.1,255.4,-11.5,190,2025,0.00,1.58,0.00,0.000,6,0.000,0.032,1630,2862,3422,0,0,0,0,0,0
$GC,2345,-0.60,-146.1,289.5,-10.4,206,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2857,3422,0,0,0,0,0,0
$GC,2657,-0.60,-146.1,320.1,-9.8,221,2660,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3898,3422,0,0,0,0,0,0
$GC,2709,-0.60,-146.1,325.9,-10.2,223,2712,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2855,3422,0,0,0,0,0,0
$GC,3040,-0.60,-146.1,360.4,-10.7,239,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2851,3422,0,0,0,0,0,0
$GC,3347,-0.60,-146.1,394.1,-11.0,254,3351,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3893,3422,0,0,0,0,0,0
$GC,3395,-0.60,-146.1,399.7,-11.6,256,3399,0.00,1.55,0.00,0.000,6,0.000,0.033,1614,2869,3422,0,0,0,0,0,0
$GC,3730,-0.60,-146.1,436.0,-10.5,267,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2863,3421,0,0,0,0,0,0
$GC,4033,-0.60,-146.1,466.7,-9.9,277,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2863,3422,0,0,0,0,0,0
$GC,4341,-0.60,-146.1,497.8,-10.3,287,4344,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3903,3421,0,0,0,0,0,0
$GC,4415,-0.60,-146.1,506.1,-11.0,289,4419,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2852,3422,0,0,0,0,0,0
$GC,4754,-0.60,-146.1,543.0,-11.0,300,4758,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3903,3421,0,0,0,0,0,0
$GC,4841,-0.60,-146.1,553.6,-11.7,302,4845,0.08,1.60,0.00,0.000,6,0.170,0.033,1629,2855,3421,0,0,0,0,0,0
$GC,5169,-0.60,-146.1,584.6,-9.6,313,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3421,0,0,0,0,0,0
$GC,5473,-0.60,-146.1,614.5,-9.6,323,5477,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3889,3420,0,0,0,0,0,0
$GC,5531,-0.60,-146.1,620.6,-10.4,324,5534,0.00,1.58,0.00,0.000,6,0.000,0.034,1623,2853,3420,0,0,0,0,0,0
$GC,5853,-0.60,-146.1,651.5,-9.5,335,5857,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3902,3420,0,0,0,0,0,0
$GC,5904,-0.60,-146.1,657.1,-10.6,336,5908,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2868,3420,0,0,0,0,0,0
$GC,6230,-0.60,-146.1,689.8,-10.2,347,6234,0.00,1.67,0.00,0.000,4,0.000,0.061,1607,3901,3420,0,0,0,0,0,0
$GC,6301,-0.60,-146.1,697.3,-10.6,349,6305,0.00,1.58,0.00,0.000,6,0.000,0.033,1607,2860,3420,0,0,0,0,0,0
$GC,6646,-0.60,-146.1,732.8,-10.3,360,6649,0.00,1.67,0.00,0.000,4,0.000,0.060,1599,3893,3420,0,0,0,0,0,0
$GC,6696,-0.60,-146.1,738.7,-10.7,361,6700,0.08,1.58,0.00,0.000,6,0.164,0.033,1631,2858,3420,0,0,0,0,0,0
$GC,7024,-0.60,-146.1,767.0,-8.5,372,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3420,0,0,0,0,0,0
$GC,7331,-0.60,-146.1,791.4,-7.7,382,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3419,0,0,0,0,0,0
$GC,7636,-0.60,-146.1,814.6,-7.6,392,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3419,0,0,0,0,0,0
$GC,7944,-0.60,-146.1,836.9,-7.2,402,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3419,0,0,0,0,0,0
$GC,8248,-0.60,-146.1,858.5,-6.9,412,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2855,3419,0,0,0,0,0,0
$GC,8554,-0.60,-146.1,879.6,-6.9,422,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3419,0,0,0,0,0,0
$GC,8861,-0.60,-146.1,902.3,-7.6,432,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3419,0,0,0,0,0,0
$GC,9167,-0.60,-146.1,927.2,-8.1,442,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3419,0,0,0,0,0,0
$GC,9473,-0.60,-146.1,951.7,-8.0,452,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3418,0,0,0,0,0,0
$GC,9780,-0.60,-146.1,974.6,-7.1,462,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3418,0,0,0,0,0,0
$GC,10085,-0.60,-146.1,996.5,-7.4,472,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3418,0,0,0,0,0,0
$STATE,10142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10142,begin apogee
$GC,10152,-0.18,0.0,1001.2,7.5,474,10301,0.45,0.00,145.80,1.240,6,0.153,0.000,1765,2679,2819,0,0,0,0,0,0
$STATE,10303,end apogee,CONTROL_FINISHED_OK
$STATE,10303,begin climb
$GC,10308,0.60,146.1,1004.9,0.0,479,10475,0.77,2.53,152.50,1.790,4,0.095,0.044,2028,1290,2225,0,0,0,0,1,0
$GC,10517,0.60,146.1,975.4,17.3,485,10522,0.00,2.45,0.00,0.000,6,0.000,0.051,2028,2666,2222,0,0,0,0,0,0
$GC,10838,0.60,146.1,907.2,21.3,496,10842,0.00,2.05,0.00,0.000,4,0.000,0.060,2028,3907,2217,0,0,0,0,0,0
$GC,10856,0.60,146.1,902.8,21.7,496,10860,0.00,1.98,0.00,0.000,6,0.000,0.037,2038,2680,2217,0,0,0,0,0,0
$GC,11184,0.60,146.1,830.6,22.3,507,11188,0.00,2.25,0.00,0.000,4,0.000,0.044,2049,1268,2216,0,0,0,0,0,0
$GC,11224,0.60,146.1,821.1,21.0,508,11229,0.00,2.30,0.00,0.000,6,0.000,0.051,2049,2672,2214,0,0,0,0,0,0
$GC,11551,0.60,146.1,749.2,22.2,519,11555,0.00,2.25,0.00,0.000,4,0.000,0.044,2059,1270,2214,0,0,0,0,0,0
$GC,11583,0.60,146.1,742.3,21.5,520,11588,0.15,2.28,0.00,0.000,6,0.221,0.050,2026,2672,2213,0,0,0,0,0,0
$GC,11921,0.60,146.1,675.9,19.3,531,11925,0.00,2.25,0.00,0.000,4,0.000,0.044,2036,1262,2213,0,0,0,0,0,0
$GC,11953,0.60,146.1,669.9,19.1,532,11957,0.00,2.30,0.00,0.000,6,0.000,0.051,2035,2678,2212,0,0,0,0,0,0
$GC,12290,0.60,146.1,602.8,20.3,543,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2678,2212,0,0,0,0,0,0
$GC,12598,0.60,146.1,540.9,20.1,553,12602,0.00,2.25,0.00,0.000,4,0.000,0.045,2045,1267,2212,0,0,0,0,0,0
$GC,12638,0.60,146.1,532.5,17.6,554,12642,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2669,2211,0,0,0,0,0,0
$GC,12965,0.60,146.1,466.0,20.6,565,12966,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2669,2211,0,0,0,0,0,0
$GC,13271,0.60,146.1,401.9,20.9,575,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2669,2211,0,0,0,0,0,0
$GC,13591,0.60,146.1,336.0,20.9,590,13595,0.00,2.22,0.00,0.000,4,0.000,0.044,2056,1269,2211,0,0,0,0,0,0
$GC,13643,0.60,146.1,325.5,18.4,592,13648,0.12,2.28,0.00,0.000,6,0.216,0.051,2029,2677,2210,0,0,0,0,0,0
$GC,13963,0.60,146.1,266.5,18.2,607,13964,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2677,2210,0,0,0,0,0,0
$GC,14283,0.60,146.1,210.5,16.5,626,14285,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2677,2210,0,0,0,0,0,0
$GC,14597,0.60,146.1,158.7,16.4,646,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2677,2210,0,0,0,0,0,0
$GC,14908,0.60,146.1,108.0,16.6,666,14912,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1270,2210,0,0,0,0,0,0
$GC,15057,0.60,146.1,85.7,15.2,685,15062,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2670,2208,0,0,0,0,0,0
$GC,15417,0.60,146.1,24.7,17.3,746,15426,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1271,2209,0,0,0,0,0,0
$GC,15529,0.60,146.1,6.4,16.9,763,15538,0.00,2.28,0.00,0.000,6,0.000,0.052,2049,2664,2208,0,0,0,0,0,0
$STATE,15546,end climb,SURFACE_DEPTH_REACHED
$STATE,15546,begin surface coast
$FINISH,0.7,1.015861
$STATE,15566,end surface coast,CONTROL_FINISHED_OK
$STATE,15566,begin surface
$SM_CCo,15588,42.33,0.758,1,0,1880,230.09
$SM_GC,1.68,0.00,0.00,42.33,0.000,0.000,0.758,53,2871,1880,-5.55,0.31,230.09
$IRIDIUM_FIX,-4644.93,435.06,220113,232335
$TT8_MAMPS,0.026215
$HUMID,58.19
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,52.483
$10V_AH,10.0,25.920
$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,13.725,80.425,298.300,42.325,0.000,28.580,47.113,344.942,0.000,0.000,23.561,1924.185,10897.682,422.107,2388.178,664.987,33.370,1242.003,0.000,1885.271,0.000,1.008,0.000
$DEVICE_MAMPS,244.800,81.855,1790.100,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.821,1506.496,788.657,289.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,53826,768
$CAP_FILE_SIZE,117011,0
$CFSIZE,259252224,212135936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,230113,081134,-4702.549,431.379,25,0.9,25,-23.4