version: 66.07
glider: 542
mission: 6
dive: 332
start: 2 2 113 6 51 56
data:
$ID,542
$MISSION,6
$DIVE,332
$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,-11515.318
$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,42
$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
$GPS1,020213,063352,-4654.070,423.689,47,0.9,48,-23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-59.8
$GPS2,020213,065100,-4654.031,423.943,15,1.8,15,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.019,-0.255
$KALMAN_X,-248047.9,-845.8,-67.8,257787.5,3003.5
$KALMAN_Y,210293.2,-445.2,-118.1,-214810.7,7034.3
$MHEAD_RNG_PITCHd_Wd,207.6,20793,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.08,0.000,2,0.000,0.000,56,2886,3115,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.4,-3.0,8,125,6.70,2.30,-8.00,0.000,4,0.249,0.049,1631,1437,3418,0,0,0,0,0,0
$GC,364,-0.60,-146.1,41.0,-14.0,49,371,0.00,2.28,0.00,0.000,6,0.000,0.050,1622,2847,3419,0,0,0,0,0,0
$GC,606,-0.60,-146.1,75.4,-12.8,90,615,0.00,1.67,0.00,0.000,4,0.000,0.056,1613,3896,3419,0,0,0,0,0,0
$GC,655,-0.60,-146.1,81.5,-13.1,97,660,0.00,1.60,0.00,0.000,6,0.000,0.030,1613,2847,3420,0,0,0,0,0,0
$GC,988,-0.60,-146.1,121.8,-11.1,134,992,0.00,1.70,0.00,0.000,4,0.000,0.058,1605,3902,3420,0,0,0,0,0,0
$GC,1103,-0.60,-146.1,136.4,-11.9,140,1112,0.00,1.60,0.00,0.000,6,0.000,0.030,1605,2837,3421,0,0,0,0,0,0
$GC,1427,-0.60,-146.1,178.3,-13.4,161,1431,0.10,1.75,0.00,0.000,4,0.192,0.058,1621,3897,3422,0,0,0,0,0,0
$GC,1516,-0.60,-146.1,189.3,-11.6,166,1519,0.00,1.55,0.00,0.000,6,0.000,0.030,1621,2868,3422,0,0,0,0,0,0
$GC,1850,-0.60,-146.1,226.5,-10.9,187,1854,0.00,1.67,0.00,0.000,4,0.000,0.059,1614,3892,3422,0,0,0,0,0,0
$GC,1925,-0.60,-146.1,235.6,-12.0,191,1929,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2860,3422,0,0,0,0,0,0
$GC,2252,-0.60,-146.1,273.5,-11.9,209,2255,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3901,3422,0,0,0,0,0,0
$GC,2304,-0.60,-146.1,280.7,-13.1,211,2308,0.08,1.58,0.00,0.000,6,0.158,0.031,1629,2858,3422,0,0,0,0,0,0
$GC,2636,-0.60,-146.1,316.8,-10.9,227,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3422,0,0,0,0,0,0
$GC,2944,-0.60,-146.1,350.3,-10.7,242,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3422,0,0,0,0,0,0
$GC,3254,-0.60,-146.1,383.3,-10.8,257,3258,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3893,3422,0,0,0,0,0,0
$GC,3342,-0.60,-146.1,393.8,-11.7,260,3350,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2863,3422,0,0,0,0,0,0
$GC,3660,-0.60,-146.1,429.3,-11.1,272,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3421,0,0,0,0,0,0
$GC,3964,-0.60,-146.1,463.6,-11.2,282,3967,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3903,3422,0,0,0,0,0,0
$GC,4021,-0.60,-146.1,470.7,-12.2,283,4025,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2863,3422,0,0,0,0,0,0
$GC,4342,-0.60,-146.1,507.1,-11.3,294,4345,0.00,1.67,0.00,0.000,4,0.000,0.060,1606,3900,3421,0,0,0,0,0,0
$GC,4393,-0.60,-146.1,513.5,-12.2,295,4397,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2856,3421,0,0,0,0,0,0
$GC,4720,-0.60,-146.1,550.3,-11.4,306,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3421,0,0,0,0,0,0
$GC,5026,-0.60,-146.1,583.8,-10.7,316,5030,0.00,1.67,0.00,0.000,4,0.000,0.060,1597,3893,3421,0,0,0,0,0,0
$GC,5072,-0.60,-146.1,589.2,-11.5,317,5076,0.08,1.58,0.00,0.000,6,0.164,0.032,1629,2855,3421,0,0,0,0,0,0
$GC,5405,-0.60,-146.1,617.6,-8.5,328,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3421,0,0,0,0,0,0
$GC,5713,-0.60,-146.1,643.9,-8.5,338,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,6017,-0.60,-146.1,670.1,-8.5,348,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,6325,-0.60,-146.1,696.5,-8.7,358,6328,0.00,1.70,0.00,0.000,4,0.000,0.061,1622,3903,3420,0,0,0,0,0,0
$GC,6382,-0.60,-146.1,702.3,-9.9,359,6386,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2853,3419,0,0,0,0,0,0
$GC,6703,-0.60,-146.1,731.0,-8.8,370,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2850,3419,0,0,0,0,0,0
$GC,7011,-0.60,-146.1,758.4,-9.1,380,7014,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3900,3419,0,0,0,0,0,0
$GC,7057,-0.60,-146.1,763.4,-10.5,381,7060,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2869,3418,0,0,0,0,0,0
$GC,7388,-0.60,-146.1,795.1,-9.6,392,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2865,3418,0,0,0,0,0,0
$GC,7694,-0.60,-146.1,825.0,-9.8,402,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2864,3418,0,0,0,0,0,0
$GC,8001,-0.60,-146.1,854.0,-9.2,412,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3417,0,0,0,0,0,0
$GC,8307,-0.60,-146.1,881.0,-8.8,422,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3417,0,0,0,0,0,0
$GC,8613,-0.60,-146.1,907.3,-8.5,432,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3417,0,0,0,0,0,0
$GC,8920,-0.60,-146.1,932.8,-8.3,442,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3417,0,0,0,0,0,0
$GC,9226,-0.60,-146.1,958.2,-8.3,452,9230,0.00,1.67,0.00,0.000,4,0.000,0.061,1606,3896,3417,0,0,0,0,0,0
$GC,9272,-0.60,-146.1,962.5,-9.1,453,9276,0.00,1.58,0.00,0.000,6,0.000,0.034,1606,2865,3416,0,0,0,0,0,0
$GC,9605,-0.60,-146.1,992.2,-9.0,464,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2859,3416,0,0,0,0,0,0
$STATE,9692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9692,begin apogee
$GC,9703,-0.18,0.0,1000.5,8.9,467,9856,0.55,0.00,144.93,1.852,6,0.156,0.000,1767,2671,2820,0,0,0,0,1,0
$STATE,9858,end apogee,CONTROL_FINISHED_OK
$STATE,9858,begin climb
$GC,9863,0.60,146.1,1004.5,0.0,472,10036,0.80,2.50,159.85,1.806,4,0.091,0.043,2030,1284,2225,0,0,0,0,1,0
$GC,10091,0.60,146.1,973.8,18.5,479,10096,0.00,2.45,0.00,0.000,6,0.000,0.051,2029,2669,2221,0,0,0,0,0,0
$GC,10430,0.60,146.1,901.0,21.6,490,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2669,2217,0,0,0,0,0,0
$GC,10735,0.60,146.1,835.4,21.2,500,10739,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1271,2216,0,0,0,0,0,0
$GC,10781,0.60,146.1,825.9,19.1,501,10786,0.00,2.28,0.00,0.000,6,0.000,0.050,2040,2675,2214,0,0,0,0,0,0
$GC,11115,0.60,146.1,755.5,21.4,512,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2675,2214,0,0,0,0,0,0
$GC,11420,0.60,146.1,691.2,20.8,522,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2675,2213,0,0,0,0,0,0
$GC,11726,0.60,146.1,627.7,20.8,532,11730,0.00,2.20,0.00,0.000,4,0.000,0.043,2051,1271,2213,0,0,0,0,0,0
$GC,11763,0.60,146.1,620.2,21.2,533,11767,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2676,2211,0,0,0,0,0,0
$GC,12108,0.60,146.1,546.9,21.3,544,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2211,0,0,0,0,0,0
$GC,12412,0.60,146.1,484.5,19.7,554,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2211,0,0,0,0,0,0
$GC,12718,0.60,146.1,423.0,19.8,564,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2211,0,0,0,0,0,0
$GC,13029,0.60,146.1,361.8,19.9,577,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2676,2211,0,0,0,0,0,0
$GC,13336,0.60,146.1,300.5,19.9,592,13340,0.00,2.22,0.00,0.000,4,0.000,0.043,2061,1270,2211,0,0,0,0,0,0
$GC,13379,0.60,146.1,292.6,17.7,594,13384,0.15,2.22,0.00,0.000,6,0.204,0.050,2026,2669,2209,0,0,0,0,0,0
$GC,13711,0.60,146.1,235.0,17.3,611,13715,0.00,1.95,0.00,0.000,4,0.000,0.059,2025,3897,2209,0,0,0,0,0,0
$GC,13752,0.60,146.1,225.7,18.5,613,13755,0.00,1.90,0.00,0.000,6,0.000,0.037,2034,2677,2210,0,0,0,0,0,0
$GC,14079,0.60,146.1,166.5,17.5,634,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2672,2209,0,0,0,0,0,0
$GC,14392,0.60,146.1,113.5,16.8,654,14396,0.00,1.98,0.00,0.000,4,0.000,0.057,2034,3909,2210,0,0,0,0,0,0
$GC,14433,0.60,146.1,105.0,19.1,656,14436,0.00,1.92,0.00,0.000,6,0.000,0.036,2043,2669,2210,0,0,0,0,0,0
$GC,14783,0.60,146.1,50.1,18.2,714,14792,0.00,2.03,0.00,0.000,4,0.000,0.058,2044,3901,2209,0,0,0,0,0,0
$GC,14834,0.60,146.1,40.4,21.1,721,14841,0.00,1.92,0.00,0.000,6,0.000,0.037,2053,2660,2209,0,0,0,0,0,0
$STATE,15021,end climb,SURFACE_DEPTH_REACHED
$STATE,15021,begin surface coast
$FINISH,0.9,1.022190
$STATE,15041,end surface coast,CONTROL_FINISHED_OK
$STATE,15042,begin surface
$SM_CCo,15064,42.33,0.766,1,0,1879,230.09
$SM_GC,1.98,0.00,0.00,42.33,0.000,0.000,0.766,63,2877,1879,-5.52,0.48,230.09
$IRIDIUM_FIX,-4638.64,424.89,020213,060628
$TT8_MAMPS,0.026215
$HUMID,58.89
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.7,61.645
$10V_AH,10.0,31.669
$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,13.925,74.425,304.775,42.325,0.000,52.529,40.658,602.935,0.000,0.000,17.562,1872.054,10519.332,421.520,2547.537,765.728,33.397,1221.909,0.000,1863.262,0.000,1.008,0.000
$DEVICE_MAMPS,248.625,78.795,1852.065,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.075,1481.985,788.537,299.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354048
$DATA_FILE_SIZE,53711,754
$CAP_FILE_SIZE,115563,0
$CFSIZE,259252224,208621568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,020213,110504,-4655.284,422.196,28,1.0,29,-23.4