version: 66.07
glider: 542
mission: 6
dive: 389
start: 2 13 113 15 6 39
data:
$ID,542
$MISSION,6
$DIVE,389
$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,-11683.87
$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,60
$R_STBD_OVSHOOT,51
$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
$GPS1,130213,145204,-4658.200,418.430,28,1.3,29,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-61.3
$GPS2,130213,150542,-4658.057,418.504,18,0.9,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.009,-0.256
$KALMAN_X,-270177.6,669.2,-157.6,271603.5,1649.8
$KALMAN_Y,302838.5,-212.9,-113.1,-315054.9,5903.3
$MHEAD_RNG_PITCHd_Wd,205.4,11328,-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,21,begin dive
$GC,26,-0.60,-146.1,0.0,0.0,0,83,0.00,0.00,-55.05,0.000,2,0.000,0.000,46,2892,2902,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.5,7,124,6.97,1.62,-17.20,0.000,4,0.259,0.079,1621,3870,3416,0,0,0,0,0,0
$GC,208,-0.60,-146.1,15.4,-10.1,24,217,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2847,3418,0,0,0,0,0,0
$GC,297,-0.60,-146.1,25.7,-11.7,37,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3418,0,0,0,0,0,0
$GC,381,-0.60,-146.1,37.4,-11.8,50,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3418,0,0,0,0,0,0
$GC,629,-0.60,-146.1,70.8,-14.5,91,633,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3418,0,0,0,0,0,0
$GC,977,-0.60,-146.1,116.1,-12.8,137,978,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3419,0,0,0,0,0,0
$GC,1290,-0.60,-146.1,153.2,-11.9,157,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2847,3419,0,0,0,0,0,0
$GC,1605,-0.60,-146.1,190.1,-11.7,177,1609,0.00,1.65,0.00,0.000,4,0.000,0.058,1613,3880,3419,0,0,0,0,0,0
$GC,1678,-0.60,-146.1,199.6,-12.6,181,1682,0.00,1.52,0.00,0.000,6,0.000,0.031,1613,2864,3420,0,0,0,0,0,0
$GC,2010,-0.60,-146.1,238.5,-10.9,202,2014,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3873,3420,0,0,0,0,0,0
$GC,2056,-0.60,-146.1,243.8,-12.1,204,2065,0.00,1.52,0.00,0.000,6,0.000,0.031,1605,2852,3420,0,0,0,0,0,0
$GC,2378,-0.60,-146.1,279.2,-11.5,221,2379,0.10,0.00,0.00,0.000,6,0.188,0.000,1629,2851,3420,0,0,0,0,0,0
$GC,2684,-0.60,-146.1,309.9,-10.1,236,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3420,0,0,0,0,0,0
$GC,2996,-0.60,-146.1,340.4,-9.8,251,3000,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3865,3420,0,0,0,0,0,0
$GC,3037,-0.60,-146.1,345.1,-10.8,252,3045,0.00,1.50,0.00,0.000,6,0.000,0.031,1622,2867,3420,0,0,0,0,0,0
$GC,3357,-0.60,-146.1,377.8,-10.0,268,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2867,3420,0,0,0,0,0,0
$GC,3674,-0.60,-146.1,409.1,-9.7,282,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2867,3420,0,0,0,0,0,0
$GC,3980,-0.60,-146.1,439.3,-9.9,292,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2867,3420,0,0,0,0,0,0
$GC,4286,-0.60,-146.1,468.8,-9.6,302,4290,0.00,2.10,0.00,0.000,4,0.000,0.037,1623,1483,3420,0,0,0,0,0,0
$GC,4323,-0.60,-146.1,472.2,-8.9,303,4328,0.00,2.17,0.00,0.000,6,0.000,0.052,1613,2841,3419,0,0,0,0,0,0
$GC,4669,-0.60,-146.1,507.4,-10.1,314,4672,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3903,3419,0,0,0,0,0,0
$GC,4732,-0.60,-146.1,514.9,-11.1,315,4739,0.08,1.58,0.00,0.000,6,0.153,0.032,1628,2859,3419,0,0,0,0,0,0
$GC,5048,-0.60,-146.1,543.9,-9.0,326,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,5354,-0.60,-146.1,570.7,-8.5,336,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,5660,-0.60,-146.1,595.7,-8.2,346,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,5966,-0.60,-146.1,619.4,-7.6,356,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,6273,-0.60,-146.1,643.0,-7.8,366,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,6578,-0.60,-146.1,666.2,-7.4,376,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,6885,-0.60,-146.1,687.8,-6.9,386,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3418,0,0,0,0,0,0
$GC,7191,-0.60,-146.1,708.0,-6.5,396,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3419,0,0,0,0,0,0
$GC,7497,-0.60,-146.1,728.4,-6.7,406,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2859,3419,0,0,0,0,0,0
$GC,7803,-0.60,-146.1,749.7,-7.1,416,7807,0.00,2.10,0.00,0.000,4,0.000,0.038,1628,1484,3418,0,0,0,0,0,0
$GC,7845,-0.60,-146.1,752.8,-6.7,417,7849,0.00,2.22,0.00,0.000,6,0.000,0.053,1619,2865,3418,0,0,0,0,0,0
$GC,8184,-0.60,-146.1,779.1,-8.1,428,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,8489,-0.60,-146.1,803.4,-8.0,438,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,8797,-0.60,-146.1,828.7,-8.3,448,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,9101,-0.60,-146.1,854.1,-8.3,458,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,9408,-0.60,-146.1,879.6,-8.3,468,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,9714,-0.60,-146.1,905.1,-8.4,478,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,10020,-0.60,-146.1,930.3,-8.2,488,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2865,3418,0,0,0,0,0,0
$GC,10326,-0.60,-146.1,954.6,-7.7,498,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$GC,10634,-0.60,-146.1,976.8,-7.2,508,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3417,0,0,0,0,0,0
$GC,10939,-0.60,-146.1,998.7,-7.3,518,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2866,3418,0,0,0,0,0,0
$STATE,10964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10964,begin apogee
$GC,10975,-0.18,0.0,1000.8,7.1,519,11124,0.50,0.00,145.52,1.249,6,0.153,0.000,1766,2677,2819,0,0,0,0,0,0
$STATE,11126,end apogee,CONTROL_FINISHED_OK
$STATE,11126,begin climb
$GC,11130,0.60,146.1,1003.6,0.0,524,11305,0.80,0.00,160.85,1.812,6,0.092,0.000,2020,2676,2224,0,0,0,0,1,0
$GC,11608,0.60,146.1,916.4,21.1,540,11612,0.00,2.28,0.00,0.000,4,0.000,0.044,2031,1272,2219,0,0,0,0,0,0
$GC,11689,0.60,146.1,900.4,18.1,542,11693,0.00,2.28,0.00,0.000,6,0.000,0.049,2031,2667,2217,0,0,0,0,0,0
$GC,12010,0.60,146.1,830.0,22.4,553,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2667,2217,0,0,0,0,0,0
$GC,12316,0.60,146.1,762.7,21.8,563,12320,0.00,2.22,0.00,0.000,4,0.000,0.044,2041,1271,2216,0,0,0,0,0,0
$GC,12381,0.60,146.1,750.0,19.1,565,12385,0.00,2.25,0.00,0.000,6,0.000,0.050,2041,2678,2214,0,0,0,0,0,0
$GC,12726,0.60,146.1,676.5,21.6,576,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2679,2214,0,0,0,0,0,0
$GC,13031,0.60,146.1,612.4,20.9,586,13035,0.00,2.22,0.00,0.000,4,0.000,0.044,2051,1273,2214,0,0,0,0,0,0
$GC,13098,0.60,146.1,600.3,17.8,588,13102,0.00,2.25,0.00,0.000,6,0.000,0.050,2052,2673,2212,0,0,0,0,0,0
$GC,13435,0.60,146.1,530.9,20.1,599,13437,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2212,0,0,0,0,0,0
$GC,13742,0.60,146.1,470.1,20.2,609,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2212,0,0,0,0,0,0
$GC,14048,0.60,146.1,410.9,19.1,619,14052,0.00,2.22,0.00,0.000,4,0.000,0.045,2062,1269,2212,0,0,0,0,0,0
$GC,14100,0.60,146.1,401.2,16.8,620,14105,0.15,2.22,0.00,0.000,6,0.202,0.050,2026,2669,2211,0,0,0,0,0,0
$GC,14430,0.60,146.1,346.4,16.2,635,14434,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1271,2212,0,0,0,0,0,0
$GC,14466,0.60,146.1,340.4,14.8,636,14470,0.00,2.22,0.00,0.000,6,0.000,0.050,2036,2670,2211,0,0,0,0,0,0
$GC,14791,0.60,146.1,284.6,17.7,652,14792,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2211,0,0,0,0,0,0
$GC,15107,0.60,146.1,226.2,18.4,669,15109,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2211,0,0,0,0,0,0
$GC,15419,0.60,146.1,168.8,18.1,689,15423,0.00,2.17,0.00,0.000,4,0.000,0.044,2046,1275,2211,0,0,0,0,0,0
$GC,15449,0.60,146.1,163.5,15.4,690,15458,0.00,2.28,0.00,0.000,6,0.000,0.049,2046,2673,2211,0,0,0,0,0,0
$GC,15772,0.60,146.1,108.6,16.6,711,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2673,2211,0,0,0,0,0,0
$GC,16109,0.60,146.1,57.5,16.0,763,16116,0.00,2.20,0.00,0.000,4,0.000,0.043,2056,1275,2211,0,0,0,0,0,0
$GC,16187,0.60,146.1,46.9,13.4,775,16194,0.12,2.25,0.00,0.000,6,0.194,0.050,2027,2673,2210,0,0,0,0,0,0
$GC,16445,0.60,146.1,10.7,17.4,816,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2674,2210,0,0,0,0,0,0
$STATE,16491,end climb,SURFACE_DEPTH_REACHED
$STATE,16491,begin surface coast
$FINISH,0.9,1.026475
$STATE,16519,end surface coast,CONTROL_FINISHED_OK
$STATE,16519,begin surface
$SM_CCo,16542,42.45,0.785,1,0,1881,230.09
$SM_GC,1.80,0.00,0.00,42.45,0.000,0.000,0.785,56,2880,1881,-5.55,0.54,230.09
$IRIDIUM_FIX,-4641.78,422.23,130213,090946
$TT8_MAMPS,0.026215
$HUMID,58.34
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.1,71.835
$10V_AH,10.0,38.148
$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,14.175,56.400,306.375,42.450,0.000,26.172,42.975,496.054,0.000,0.000,21.538,2013.630,11695.050,451.206,2487.799,745.582,33.396,1242.484,0.000,1917.229,0.000,1.008,0.000
$DEVICE_MAMPS,259.335,78.795,1812.285,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.761,1631.871,867.654,342.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354060
$DATA_FILE_SIZE,60474,827
$CAP_FILE_SIZE,114508,0
$CFSIZE,259252224,204689408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130213,194434,-4659.258,417.576,37,0.9,38,-23.4