version: 66.07
glider: 542
mission: 6
dive: 286
start: 1 24 113 11 21 28
data:
$ID,542
$MISSION,6
$DIVE,286
$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,-11390.074
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,240113,110934,-4659.358,415.482,37,0.8,37,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.1
$GPS2,240113,112036,-4659.420,415.581,23,1.0,23,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.040,-0.252
$KALMAN_X,-217105.2,358.1,-183.7,215175.8,2194.2
$KALMAN_Y,156853.6,-345.2,-233.3,-171343.8,5553.0
$MHEAD_RNG_PITCHd_Wd,212.5,7130,-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,-146.1,0.0,0.0,0,93,0.00,0.00,-62.95,0.000,2,0.000,0.000,52,2902,3084,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.7,8,126,6.68,1.58,-9.35,0.000,4,0.249,0.075,1619,3869,3417,0,0,0,0,0,0
$GC,168,-0.60,-146.1,16.3,-16.8,17,178,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2833,3419,0,0,0,0,0,0
$GC,256,-0.60,-146.1,29.3,-13.7,30,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2833,3419,0,0,0,0,0,0
$GC,343,-0.60,-146.1,42.3,-14.7,43,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2833,3419,0,0,0,0,0,0
$GC,589,-0.60,-146.1,77.2,-13.3,84,598,0.00,1.70,0.00,0.000,4,0.000,0.057,1611,3872,3420,0,0,0,0,0,0
$GC,742,-0.60,-146.1,96.9,-11.8,110,749,0.00,1.52,0.00,0.000,6,0.000,0.030,1611,2854,3421,0,0,0,0,0,0
$GC,1073,-0.60,-146.1,139.7,-13.8,133,1076,0.00,1.65,0.00,0.000,4,0.000,0.057,1603,3884,3421,0,0,0,0,0,0
$GC,1170,-0.60,-146.1,154.4,-14.6,138,1179,0.08,1.52,0.00,0.000,6,0.166,0.031,1626,2869,3422,0,0,0,0,0,0
$GC,1497,-0.60,-146.1,189.4,-10.0,159,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2869,3422,0,0,0,0,0,0
$GC,1820,-0.60,-146.1,222.0,-10.4,180,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2869,3423,0,0,0,0,0,0
$GC,2146,-0.60,-146.1,257.8,-11.3,200,2149,0.00,1.62,0.00,0.000,4,0.000,0.059,1620,3868,3423,0,0,0,0,0,0
$GC,2203,-0.60,-146.1,264.9,-11.6,202,2207,0.00,1.52,0.00,0.000,6,0.000,0.031,1620,2853,3423,0,0,0,0,0,0
$GC,2527,-0.60,-146.1,303.5,-11.9,218,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2848,3423,0,0,0,0,0,0
$GC,2838,-0.60,-146.1,338.0,-10.7,233,2842,0.00,1.65,0.00,0.000,4,0.000,0.059,1611,3879,3423,0,0,0,0,0,0
$GC,2918,-0.60,-146.1,347.6,-11.5,236,2922,0.00,1.52,0.00,0.000,6,0.000,0.032,1611,2867,3422,0,0,0,0,0,0
$GC,3242,-0.60,-146.1,384.1,-11.1,252,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2863,3423,0,0,0,0,0,0
$GC,3570,-0.60,-146.1,420.8,-11.5,265,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2863,3423,0,0,0,0,0,0
$GC,3876,-0.60,-146.1,456.6,-11.7,275,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2863,3422,0,0,0,0,0,0
$GC,4182,-0.60,-146.1,491.7,-11.5,285,4186,0.00,1.62,0.00,0.000,4,0.000,0.060,1604,3861,3422,0,0,0,0,0,0
$GC,4268,-0.60,-146.1,502.1,-11.2,287,4272,0.08,1.52,0.00,0.000,6,0.165,0.032,1627,2856,3422,0,0,0,0,0,0
$GC,4596,-0.60,-146.1,534.7,-10.0,298,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2851,3422,0,0,0,0,0,0
$GC,4900,-0.60,-146.1,564.3,-9.5,308,4904,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3875,3422,0,0,0,0,0,0
$GC,4937,-0.60,-146.1,567.9,-10.3,309,4941,0.00,1.55,0.00,0.000,6,0.000,0.033,1621,2853,3421,0,0,0,0,0,0
$GC,5280,-0.60,-146.1,600.9,-9.6,320,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2849,3421,0,0,0,0,0,0
$GC,5586,-0.60,-146.1,630.6,-9.6,330,5589,0.00,1.65,0.00,0.000,4,0.000,0.060,1612,3873,3421,0,0,0,0,0,0
$GC,5632,-0.60,-146.1,635.5,-10.6,331,5635,0.00,1.52,0.00,0.000,6,0.000,0.033,1612,2871,3421,0,0,0,0,0,0
$GC,5963,-0.60,-146.1,668.5,-9.9,342,5967,0.00,1.62,0.00,0.000,4,0.000,0.060,1605,3861,3420,0,0,0,0,0,0
$GC,6004,-0.60,-146.1,673.1,-11.1,343,6008,0.08,1.52,0.00,0.000,6,0.168,0.032,1627,2856,3420,0,0,0,0,0,0
$GC,6342,-0.60,-146.1,701.5,-8.2,354,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2852,3420,0,0,0,0,0,0
$GC,6650,-0.60,-146.1,726.0,-7.9,364,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2852,3419,0,0,0,0,0,0
$GC,6954,-0.60,-146.1,748.6,-7.4,374,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2851,3419,0,0,0,0,0,0
$GC,7260,-0.60,-146.1,771.2,-7.5,384,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2851,3419,0,0,0,0,0,0
$GC,7567,-0.60,-146.1,794.5,-7.7,394,7571,0.00,1.67,0.00,0.000,4,0.000,0.061,1621,3872,3418,0,0,0,0,0,0
$GC,7619,-0.60,-146.1,799.1,-9.2,395,7623,0.00,1.55,0.00,0.000,6,0.000,0.033,1621,2854,3418,0,0,0,0,0,0
$GC,7947,-0.60,-146.1,826.6,-8.7,406,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,8252,-0.60,-146.1,854.3,-9.0,416,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2850,3418,0,0,0,0,0,0
$GC,8558,-0.60,-146.1,881.0,-8.5,426,8562,0.00,2.12,0.00,0.000,4,0.000,0.037,1621,1472,3418,0,0,0,0,0,0
$GC,8590,-0.60,-146.1,883.8,-8.8,427,8594,0.00,2.20,0.00,0.000,6,0.000,0.054,1611,2832,3418,0,0,0,0,0,0
$GC,8928,-0.60,-146.1,915.1,-9.1,438,8932,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3903,3417,0,0,0,0,0,0
$GC,8965,-0.60,-146.1,918.7,-9.7,439,8969,0.05,1.58,0.00,0.000,6,0.167,0.033,1633,2862,3417,0,0,0,0,0,0
$GC,9309,-0.60,-146.1,946.1,-7.9,450,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2858,3417,0,0,0,0,0,0
$GC,9617,-0.60,-146.1,969.6,-7.7,460,9618,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2858,3417,0,0,0,0,0,0
$GC,9921,-0.60,-146.1,992.4,-7.4,470,9924,0.00,1.70,0.00,0.000,4,0.000,0.063,1626,3904,3417,0,0,0,0,0,0
$GC,9967,-0.60,-146.1,996.3,-8.6,471,9970,0.00,1.60,0.00,0.000,6,0.000,0.033,1627,2855,3417,0,0,0,0,0,0
$STATE,10018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10018,begin apogee
$GC,10029,-0.18,0.0,1000.4,7.6,473,10178,0.47,0.00,145.65,1.240,6,0.152,0.000,1768,2675,2819,0,0,0,0,0,0
$STATE,10180,end apogee,CONTROL_FINISHED_OK
$STATE,10180,begin climb
$GC,10185,0.60,146.1,1004.0,0.0,478,10351,0.77,2.53,153.40,1.782,4,0.095,0.044,2031,1290,2224,0,0,0,0,1,0
$GC,10382,0.60,146.1,976.4,19.3,484,10387,0.00,2.45,0.00,0.000,6,0.000,0.050,2031,2664,2222,0,0,0,0,0,0
$GC,10715,0.60,146.1,907.4,20.9,495,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2663,2217,0,0,0,0,0,0
$GC,11023,0.60,146.1,843.7,21.0,505,11027,0.00,2.22,0.00,0.000,4,0.000,0.045,2041,1286,2216,0,0,0,0,0,0
$GC,11108,0.60,146.1,826.7,16.8,507,11112,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2683,2213,0,0,0,0,0,0
$GC,11429,0.60,146.1,756.4,21.9,518,11433,0.00,2.22,0.00,0.000,4,0.000,0.043,2051,1286,2213,0,0,0,0,0,0
$GC,11470,0.60,146.1,747.4,20.9,519,11474,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2672,2212,0,0,0,0,0,0
$GC,11809,0.60,146.1,674.0,21.7,530,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2672,2213,0,0,0,0,0,0
$GC,12113,0.60,146.1,608.9,20.9,540,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2672,2212,0,0,0,0,0,0
$GC,12422,0.60,146.1,546.4,20.0,550,12426,0.00,2.22,0.00,0.000,4,0.000,0.045,2061,1276,2212,0,0,0,0,0,0
$GC,12457,0.60,146.1,538.9,19.4,551,12462,0.15,2.25,0.00,0.000,6,0.212,0.049,2027,2670,2211,0,0,0,0,0,0
$GC,12790,0.60,146.1,478.5,18.2,562,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2671,2211,0,0,0,0,0,0
$GC,13096,0.60,146.1,423.5,17.7,572,13100,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1280,2211,0,0,0,0,0,0
$GC,13133,0.60,146.1,417.2,17.6,573,13137,0.00,2.22,0.00,0.000,6,0.000,0.050,2037,2669,2210,0,0,0,0,0,0
$GC,13460,0.60,146.1,357.6,18.1,587,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2670,2210,0,0,0,0,0,0
$GC,13768,0.60,146.1,298.8,19.1,602,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2670,2210,0,0,0,0,0,0
$GC,14082,0.60,146.1,238.6,18.8,618,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2670,2210,0,0,0,0,0,0
$GC,14395,0.60,146.1,181.7,18.2,638,14399,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1275,2209,0,0,0,0,0,0
$GC,14430,0.60,146.1,175.5,16.7,640,14434,0.00,2.25,0.00,0.000,6,0.000,0.051,2047,2669,2209,0,0,0,0,0,0
$GC,14753,0.60,146.1,119.2,17.2,660,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2669,2209,0,0,0,0,0,0
$GC,15080,0.60,146.1,64.1,15.3,704,15087,0.00,1.95,0.00,0.000,4,0.000,0.058,2047,3900,2209,0,0,0,0,0,0
$GC,15139,0.60,146.1,54.5,17.9,713,15146,0.12,1.88,0.00,0.000,6,0.232,0.037,2029,2680,2209,0,0,0,0,0,0
$GC,15395,0.60,146.1,16.5,15.8,754,15404,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1273,2209,0,0,0,0,0,0
$STATE,15484,end climb,SURFACE_DEPTH_REACHED
$STATE,15485,begin surface coast
$FINISH,1.5,1.026393
$STATE,15492,end surface coast,CONTROL_FINISHED_OK
$STATE,15492,begin surface
$SM_CCo,15517,42.15,0.763,1,0,1879,230.09
$SM_GC,2.27,0.00,0.00,42.15,0.000,0.000,0.763,56,2867,1879,-5.55,0.20,230.09
$IRIDIUM_FIX,-4644.93,419.08,240113,060617
$TT8_MAMPS,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,53.679
$10V_AH,10.0,26.651
$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,13.900,78.850,299.050,42.150,0.000,27.463,24.603,350.233,0.000,0.000,25.583,1917.031,10824.736,430.874,2375.871,661.567,33.371,1251.839,0.000,1889.805,0.000,1.009,0.000
$DEVICE_MAMPS,249.390,74.970,1781.685,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.016,1505.207,795.276,301.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,53853,769
$CAP_FILE_SIZE,116954,0
$CFSIZE,259252224,211681280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,240113,154223,-4701.047,413.945,42,1.0,42,-23.3