version: 66.07
glider: 542
mission: 6
dive: 285
start: 1 24 113 6 53 46
data:
$ID,542
$MISSION,6
$DIVE,285
$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,-11387.662
$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,45
$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
$GPS1,240113,063434,-4659.913,418.483,30,1.3,30,-23.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-57.4
$GPS2,240113,065254,-4659.870,418.304,18,1.1,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,-0.097
$KALMAN_X,-217474.0,-323.4,-528.9,220014.4,3955.9
$KALMAN_Y,154144.2,-214.1,-338.4,-169490.6,5675.6
$MHEAD_RNG_PITCHd_Wd,271.1,10491,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.60,-146.1,0.0,0.0,0,96,0.00,0.00,-63.12,0.000,2,0.000,0.000,55,2881,3087,0,0,0,0,0,0
$GC,103,-0.60,-146.1,3.1,-3.4,8,129,6.57,1.65,-9.65,0.000,4,0.244,0.074,1622,3888,3418,0,0,0,0,0,0
$GC,148,-0.60,-146.1,11.4,-16.8,13,157,0.00,1.60,0.00,0.000,6,0.000,0.031,1621,2836,3418,0,0,0,0,0,0
$GC,236,-0.60,-146.1,26.5,-16.3,26,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2836,3419,0,0,0,0,0,0
$GC,322,-0.60,-146.1,39.2,-14.9,39,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2836,3419,0,0,0,0,0,0
$GC,564,-0.60,-146.1,76.0,-15.8,80,570,0.00,1.73,0.00,0.000,4,0.000,0.058,1613,3889,3419,0,0,0,0,0,0
$GC,590,-0.60,-146.1,80.3,-15.5,84,599,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2860,3420,0,0,0,0,0,0
$GC,930,-0.60,-146.1,127.4,-13.2,120,933,0.00,1.65,0.00,0.000,4,0.000,0.057,1605,3887,3420,0,0,0,0,0,0
$GC,1115,-0.60,-146.1,151.3,-12.5,130,1123,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2853,3421,0,0,0,0,0,0
$GC,1438,-0.60,-146.1,190.0,-11.9,151,1443,0.10,2.08,0.00,0.000,4,0.202,0.036,1628,1489,3421,0,0,0,0,0,0
$GC,1462,-0.60,-146.1,193.2,-11.0,152,1466,0.00,2.20,0.00,0.000,6,0.000,0.050,1619,2863,3421,0,0,0,0,0,0
$GC,1786,-0.60,-146.1,229.2,-11.7,172,1789,0.00,1.65,0.00,0.000,4,0.000,0.058,1610,3913,3422,0,0,0,0,0,0
$GC,1843,-0.60,-146.1,236.8,-11.8,175,1847,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2865,3422,0,0,0,0,0,0
$GC,2175,-0.60,-146.1,277.0,-12.4,193,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2861,3421,0,0,0,0,0,0
$GC,2482,-0.60,-146.1,313.8,-11.9,208,2486,0.00,1.70,0.00,0.000,4,0.000,0.059,1603,3907,3421,0,0,0,0,0,0
$GC,2522,-0.60,-146.1,319.1,-12.6,209,2530,0.08,1.58,0.00,0.000,6,0.166,0.031,1627,2860,3421,0,0,0,0,0,0
$GC,2843,-0.60,-146.1,353.4,-10.8,225,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2861,3421,0,0,0,0,0,0
$GC,3150,-0.60,-146.1,387.8,-11.5,240,3154,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3903,3421,0,0,0,0,0,0
$GC,3198,-0.60,-146.1,393.6,-12.4,242,3202,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2860,3421,0,0,0,0,0,0
$GC,3541,-0.60,-146.1,435.3,-12.2,254,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2855,3421,0,0,0,0,0,0
$GC,3847,-0.60,-146.1,471.3,-11.7,264,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2855,3421,0,0,0,0,0,0
$GC,4153,-0.60,-146.1,505.2,-10.9,274,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2855,3420,0,0,0,0,0,0
$GC,4459,-0.60,-146.1,538.5,-10.9,284,4463,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3896,3420,0,0,0,0,0,0
$GC,4511,-0.60,-146.1,544.6,-10.9,285,4515,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2855,3420,0,0,0,0,0,0
$GC,4837,-0.60,-146.1,580.4,-11.0,296,4840,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3893,3419,0,0,0,0,0,0
$GC,4877,-0.60,-146.1,585.3,-12.0,297,4881,0.08,1.58,0.00,0.000,6,0.161,0.032,1636,2854,3419,0,0,0,0,0,0
$GC,5215,-0.60,-146.1,614.8,-8.6,308,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3419,0,0,0,0,0,0
$GC,5521,-0.60,-146.1,639.8,-8.1,318,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3418,0,0,0,0,0,0
$GC,5827,-0.60,-146.1,665.6,-8.5,328,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3418,0,0,0,0,0,0
$GC,6134,-0.60,-146.1,691.7,-8.5,338,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3418,0,0,0,0,0,0
$GC,6440,-0.60,-146.1,717.0,-8.0,348,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2851,3418,0,0,0,0,0,0
$GC,6746,-0.60,-146.1,741.1,-7.8,358,6750,0.00,1.70,0.00,0.000,4,0.000,0.062,1629,3901,3417,0,0,0,0,0,0
$GC,6770,-0.60,-146.1,743.2,-8.2,358,6774,0.00,1.58,0.00,0.000,6,0.000,0.033,1629,2870,3417,0,0,0,0,0,0
$GC,7091,-0.60,-146.1,770.1,-8.5,369,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2866,3418,0,0,0,0,0,0
$GC,7397,-0.60,-146.1,797.3,-9.1,379,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2866,3417,0,0,0,0,0,0
$GC,7704,-0.60,-146.1,823.8,-8.6,389,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2866,3417,0,0,0,0,0,0
$GC,8010,-0.60,-146.1,848.6,-8.0,399,8013,0.00,2.15,0.00,0.000,4,0.000,0.038,1629,1472,3417,0,0,0,0,0,0
$GC,8033,-0.60,-146.1,850.6,-7.7,399,8040,0.00,2.25,0.00,0.000,6,0.000,0.054,1619,2870,3417,0,0,0,0,0,0
$GC,8349,-0.60,-146.1,877.0,-8.4,410,8353,0.00,1.65,0.00,0.000,4,0.000,0.061,1611,3894,3417,0,0,0,0,0,0
$GC,8401,-0.60,-146.1,881.9,-9.3,411,8405,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2855,3416,0,0,0,0,0,0
$GC,8729,-0.60,-146.1,911.2,-9.0,422,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2850,3416,0,0,0,0,0,0
$GC,9034,-0.60,-146.1,939.6,-9.4,432,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2850,3416,0,0,0,0,0,0
$GC,9341,-0.60,-146.1,969.4,-9.8,442,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2850,3416,0,0,0,0,0,0
$GC,9646,-0.60,-146.1,998.6,-9.4,452,9650,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3899,3416,0,0,0,0,0,0
$STATE,9659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9659,begin apogee
$GC,9672,-0.18,0.0,1000.4,9.4,452,9821,0.52,0.00,145.07,1.249,6,0.164,0.000,1759,2674,2818,0,0,0,0,0,0
$STATE,9822,end apogee,CONTROL_FINISHED_OK
$STATE,9823,begin climb
$GC,9827,0.60,146.1,1005.0,0.0,457,9995,0.80,2.53,153.80,1.792,4,0.097,0.044,2028,1284,2224,0,0,0,0,1,0
$GC,10075,0.60,146.1,970.5,17.7,464,10079,0.00,2.42,0.00,0.000,6,0.000,0.050,2028,2667,2219,0,0,0,0,0,0
$GC,10396,0.60,146.1,905.3,20.6,475,10400,0.00,2.28,0.00,0.000,4,0.000,0.045,2038,1281,2216,0,0,0,0,0,0
$GC,10431,0.60,146.1,897.9,20.5,476,10435,0.00,2.33,0.00,0.000,6,0.000,0.051,2038,2682,2215,0,0,0,0,0,0
$GC,10763,0.60,146.1,827.9,21.4,487,10767,0.00,2.25,0.00,0.000,4,0.000,0.045,2049,1282,2214,0,0,0,0,0,0
$GC,10809,0.60,146.1,818.3,18.8,488,10813,0.00,2.28,0.00,0.000,6,0.000,0.050,2049,2677,2214,0,0,0,0,0,0
$GC,11130,0.60,146.1,748.5,21.9,499,11134,0.00,2.22,0.00,0.000,4,0.000,0.044,2059,1278,2213,0,0,0,0,0,0
$GC,11176,0.60,146.1,738.7,19.5,500,11181,0.12,2.25,0.00,0.000,6,0.217,0.050,2031,2671,2212,0,0,0,0,0,0
$GC,11498,0.60,146.1,677.4,19.4,511,11502,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1271,2212,0,0,0,0,0,0
$GC,11516,0.60,146.1,673.6,19.0,511,11520,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2677,2212,0,0,0,0,0,0
$GC,11831,0.60,146.1,611.1,19.7,521,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2677,2212,0,0,0,0,0,0
$GC,12138,0.60,146.1,548.8,20.4,531,12142,0.00,2.22,0.00,0.000,4,0.000,0.045,2051,1277,2212,0,0,0,0,0,0
$GC,12173,0.60,146.1,541.6,18.6,532,12177,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2670,2211,0,0,0,0,0,0
$GC,12505,0.60,146.1,472.8,21.0,543,12509,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1277,2211,0,0,0,0,0,0
$GC,12528,0.60,146.1,467.5,21.0,543,12536,0.15,2.25,0.00,0.000,6,0.209,0.050,2026,2678,2210,0,0,0,0,0,0
$GC,12844,0.60,146.1,408.7,18.7,554,12848,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1277,2210,0,0,0,0,0,0
$GC,12862,0.60,146.1,405.0,18.3,554,12866,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2674,2210,0,0,0,0,0,0
$GC,13196,0.60,146.1,342.1,18.7,570,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2674,2210,0,0,0,0,0,0
$GC,13507,0.60,146.1,285.0,18.2,585,13511,0.00,2.17,0.00,0.000,4,0.000,0.042,2046,1280,2210,0,0,0,0,0,0
$GC,13542,0.60,146.1,278.4,17.6,586,13546,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2680,2209,0,0,0,0,0,0
$GC,13875,0.60,146.1,217.6,18.6,605,13879,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1280,2209,0,0,0,0,0,0
$GC,13909,0.60,146.1,211.5,17.8,607,13913,0.12,2.25,0.00,0.000,6,0.207,0.051,2028,2673,2209,0,0,0,0,0,0
$GC,14242,0.60,146.1,159.6,15.0,628,14246,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1277,2209,0,0,0,0,0,0
$GC,14295,0.60,146.1,151.0,13.1,631,14299,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2671,2209,0,0,0,0,0,0
$GC,14618,0.60,146.1,98.8,17.1,651,14624,0.00,1.98,0.00,0.000,4,0.000,0.059,2037,3898,2209,0,0,0,0,0,0
$GC,14726,0.60,146.1,78.4,20.2,669,14733,0.00,1.90,0.00,0.000,6,0.000,0.037,2047,2686,2209,0,0,0,0,0,0
$GC,15097,0.60,146.1,15.1,17.9,730,15107,0.00,2.22,0.00,0.000,4,0.000,0.042,2057,1267,2209,0,0,0,0,0,0
$GC,15155,0.60,146.1,6.2,14.9,738,15165,0.08,2.28,0.00,0.000,6,0.192,0.048,2036,2669,2207,0,0,0,0,0,0
$STATE,15173,end climb,SURFACE_DEPTH_REACHED
$STATE,15173,begin surface coast
$FINISH,0.8,1.012643
$STATE,15193,end surface coast,CONTROL_FINISHED_OK
$STATE,15193,begin surface
$SM_CCo,15215,42.22,0.760,1,0,1879,230.09
$SM_GC,2.08,0.00,0.00,42.22,0.000,0.000,0.760,55,2902,1879,-5.55,1.19,230.09
$IRIDIUM_FIX,-4641.78,421.99,240113,060612
$TT8_MAMPS,0.026215
$HUMID,59.05
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.9,53.519
$10V_AH,10.0,26.546
$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,13.950,103.175,298.875,42.225,0.000,89.663,150.894,463.739,0.000,0.000,21.040,1870.380,10716.851,441.723,2593.964,723.914,33.370,1268.117,0.000,1828.356,0.000,1.010,0.000
$DEVICE_MAMPS,244.035,74.205,1791.630,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.760,1461.239,762.188,282.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,53641,743
$CAP_FILE_SIZE,123869,0
$CFSIZE,259252224,211738624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,240113,110934,-4659.358,415.482,37,0.8,37,-23.4