version: 66.07
glider: 542
mission: 6
dive: 303
start: 1 27 113 16 52 52
data:
$ID,542
$MISSION,6
$DIVE,303
$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,-11434.166
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,270113,163904,-4630.844,415.514,24,0.9,24,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.9
$GPS2,270113,165156,-4630.843,415.540,15,0.8,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.252,-0.041
$KALMAN_X,-236984.0,572.6,317.8,234251.2,-4635.8
$KALMAN_Y,152982.8,519.3,313.2,-115987.3,901.4
$MHEAD_RNG_PITCHd_Wd,122.6,31222,-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,-63.10,0.000,2,0.000,0.000,52,2890,3117,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.5,8,125,6.55,1.62,-8.57,0.000,4,0.242,0.076,1620,3876,3418,0,0,0,0,0,0
$GC,402,-0.60,-146.1,48.3,-15.1,56,411,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2837,3420,0,0,0,0,0,0
$GC,648,-0.60,-146.1,83.9,-14.8,97,653,0.00,1.70,0.00,0.000,4,0.000,0.057,1612,3877,3421,0,0,0,0,0,0
$GC,828,-0.60,-146.1,109.0,-12.6,120,832,0.00,1.52,0.00,0.000,6,0.000,0.031,1611,2862,3421,0,0,0,0,0,0
$GC,1162,-0.60,-146.1,151.5,-12.5,141,1166,0.00,2.08,0.00,0.000,4,0.000,0.034,1611,1482,3422,0,0,0,0,0,0
$GC,1215,-0.60,-146.1,158.6,-11.8,144,1220,0.12,2.17,0.00,0.000,6,0.182,0.049,1632,2845,3422,0,0,0,0,0,0
$GC,1542,-0.60,-146.1,192.6,-10.4,164,1545,0.00,1.65,0.00,0.000,4,0.000,0.057,1626,3897,3422,0,0,0,0,0,0
$GC,1606,-0.60,-146.1,200.6,-11.7,167,1612,0.00,1.55,0.00,0.000,6,0.000,0.031,1625,2862,3423,0,0,0,0,0,0
$GC,1927,-0.60,-146.1,234.5,-10.6,188,1931,0.00,1.65,0.00,0.000,4,0.000,0.058,1618,3893,3423,0,0,0,0,0,0
$GC,1968,-0.60,-146.1,239.5,-12.2,190,1971,0.00,1.55,0.00,0.000,6,0.000,0.031,1618,2865,3423,0,0,0,0,0,0
$GC,2302,-0.60,-146.1,275.5,-10.5,208,2306,0.00,1.70,0.00,0.000,4,0.000,0.058,1609,3905,3423,0,0,0,0,0,0
$GC,2343,-0.60,-146.1,280.7,-12.1,209,2350,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2854,3423,0,0,0,0,0,0
$GC,2663,-0.60,-146.1,318.7,-12.1,225,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2853,3423,0,0,0,0,0,0
$GC,2971,-0.60,-146.1,356.0,-12.0,240,2974,0.00,1.67,0.00,0.000,4,0.000,0.058,1601,3898,3423,0,0,0,0,0,0
$GC,3056,-0.60,-146.1,367.6,-13.5,243,3064,0.08,1.58,0.00,0.000,6,0.167,0.031,1624,2856,3423,0,0,0,0,0,0
$GC,3385,-0.60,-146.1,404.2,-11.1,259,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2856,3423,0,0,0,0,0,0
$GC,3691,-0.60,-146.1,436.6,-10.5,269,3695,0.00,1.67,0.00,0.000,4,0.000,0.060,1618,3897,3423,0,0,0,0,0,0
$GC,3761,-0.60,-146.1,444.3,-11.2,271,3765,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2853,3422,0,0,0,0,0,0
$GC,4105,-0.60,-146.1,481.6,-10.8,282,4109,0.00,1.70,0.00,0.000,4,0.000,0.059,1609,3891,3422,0,0,0,0,0,0
$GC,4162,-0.60,-146.1,488.3,-11.4,283,4166,0.00,1.55,0.00,0.000,6,0.000,0.032,1610,2866,3422,0,0,0,0,0,0
$GC,4484,-0.60,-146.1,524.1,-11.3,294,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2861,3421,0,0,0,0,0,0
$GC,4789,-0.60,-146.1,559.1,-11.4,304,4793,0.00,1.70,0.00,0.000,4,0.000,0.059,1601,3900,3421,0,0,0,0,0,0
$GC,4826,-0.60,-146.1,563.5,-12.1,305,4830,0.08,1.58,0.00,0.000,6,0.166,0.032,1633,2860,3421,0,0,0,0,0,0
$GC,5169,-0.60,-146.1,595.4,-9.0,316,5173,0.00,1.70,0.00,0.000,4,0.000,0.060,1626,3895,3420,0,0,0,0,0,0
$GC,5210,-0.60,-146.1,599.6,-9.6,317,5214,0.00,1.58,0.00,0.000,6,0.000,0.032,1626,2858,3420,0,0,0,0,0,0
$GC,5547,-0.60,-146.1,631.3,-9.4,328,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2853,3420,0,0,0,0,0,0
$GC,5854,-0.60,-146.1,659.5,-8.9,338,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2852,3419,0,0,0,0,0,0
$GC,6161,-0.60,-146.1,685.7,-8.3,348,6164,0.00,1.70,0.00,0.000,4,0.000,0.060,1618,3890,3419,0,0,0,0,0,0
$GC,6197,-0.60,-146.1,689.1,-9.6,349,6201,0.00,1.58,0.00,0.000,6,0.000,0.033,1618,2853,3419,0,0,0,0,0,0
$GC,6542,-0.60,-146.1,719.8,-9.0,360,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2848,3419,0,0,0,0,0,0
$GC,6847,-0.60,-146.1,747.2,-9.3,370,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2848,3418,0,0,0,0,0,0
$GC,7153,-0.60,-146.1,773.4,-8.3,380,7157,0.00,1.70,0.00,0.000,4,0.000,0.060,1610,3897,3418,0,0,0,0,0,0
$GC,7190,-0.60,-146.1,776.6,-9.0,381,7194,0.00,1.58,0.00,0.000,6,0.000,0.033,1610,2863,3418,0,0,0,0,0,0
$GC,7533,-0.60,-146.1,806.6,-8.9,392,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3418,0,0,0,0,0,0
$GC,7841,-0.60,-146.1,834.6,-9.3,402,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2859,3418,0,0,0,0,0,0
$GC,8145,-0.60,-146.1,861.9,-8.7,412,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2859,3417,0,0,0,0,0,0
$GC,8452,-0.60,-146.1,888.0,-8.5,422,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2859,3417,0,0,0,0,0,0
$GC,8758,-0.60,-146.1,914.2,-8.9,432,8762,0.00,1.70,0.00,0.000,4,0.000,0.061,1602,3893,3417,0,0,0,0,0,0
$GC,8787,-0.60,-146.1,917.3,-10.3,432,8794,0.08,1.58,0.00,0.000,6,0.161,0.032,1625,2854,3417,0,0,0,0,0,0
$GC,9103,-0.60,-146.1,943.4,-8.5,443,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3417,0,0,0,0,0,0
$GC,9409,-0.60,-146.1,971.0,-9.1,453,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3416,0,0,0,0,0,0
$GC,9715,-0.60,-146.1,997.1,-8.4,463,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2854,3416,0,0,0,0,0,0
$STATE,9773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9773,begin apogee
$GC,9784,-0.18,0.0,1002.2,8.4,465,9932,0.47,0.00,144.52,1.247,6,0.153,0.000,1767,2675,2820,0,0,0,0,0,0
$STATE,9934,end apogee,CONTROL_FINISHED_OK
$STATE,9934,begin climb
$GC,9938,0.60,146.1,1006.9,0.0,470,10105,0.77,2.47,154.02,1.803,4,0.093,0.043,2029,1287,2226,0,0,0,0,1,0
$GC,10158,0.60,146.1,977.6,18.2,476,10165,0.00,2.42,0.00,0.000,6,0.000,0.050,2031,2662,2222,0,0,0,0,0,0
$GC,10473,0.60,146.1,909.7,21.9,487,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2662,2218,0,0,0,0,0,0
$GC,10779,0.60,146.1,843.2,21.8,497,10783,0.00,2.17,0.00,0.000,4,0.000,0.044,2041,1288,2217,0,0,0,0,0,0
$GC,10837,0.60,146.1,831.0,18.1,498,10844,0.00,2.25,0.00,0.000,6,0.000,0.050,2041,2673,2214,0,0,0,0,0,0
$GC,11153,0.60,146.1,759.8,22.9,509,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2673,2214,0,0,0,0,0,0
$GC,11458,0.60,146.1,691.8,22.4,519,11462,0.00,2.20,0.00,0.000,4,0.000,0.042,2051,1277,2214,0,0,0,0,0,0
$GC,11516,0.60,146.1,679.6,18.6,520,11520,0.00,2.28,0.00,0.000,6,0.000,0.051,2051,2679,2213,0,0,0,0,0,0
$GC,11832,0.60,146.1,612.5,21.3,530,11836,0.00,2.20,0.00,0.000,4,0.000,0.045,2061,1290,2213,0,0,0,0,0,0
$GC,11868,0.60,146.1,604.8,20.9,531,11873,0.15,2.22,0.00,0.000,6,0.207,0.050,2027,2669,2212,0,0,0,0,0,0
$GC,12201,0.60,146.1,543.5,17.9,542,12205,0.00,2.20,0.00,0.000,4,0.000,0.044,2036,1286,2212,0,0,0,0,0,0
$GC,12241,0.60,146.1,536.3,16.4,543,12245,0.00,2.22,0.00,0.000,6,0.000,0.050,2036,2670,2211,0,0,0,0,0,0
$GC,12568,0.60,146.1,473.9,19.6,554,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2212,0,0,0,0,0,0
$GC,12874,0.60,146.1,414.1,19.5,564,12878,0.00,2.17,0.00,0.000,4,0.000,0.043,2046,1284,2212,0,0,0,0,0,0
$GC,12953,0.60,146.1,399.4,17.8,566,12957,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2678,2210,0,0,0,0,0,0
$GC,13283,0.60,146.1,333.1,20.0,582,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2679,2210,0,0,0,0,0,0
$GC,13594,0.60,146.1,271.7,19.4,597,13598,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1283,2211,0,0,0,0,0,0
$GC,13634,0.60,146.1,263.4,17.1,598,13645,0.00,2.25,0.00,0.000,6,0.000,0.050,2057,2662,2210,0,0,0,0,0,0
$GC,13961,0.60,146.1,200.3,19.7,618,13965,0.12,2.17,0.00,0.000,4,0.229,0.042,2039,1286,2210,0,0,0,0,0,0
$GC,14012,0.60,146.1,192.4,14.4,621,14016,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2680,2209,0,0,0,0,0,0
$GC,14344,0.60,146.1,137.3,16.9,642,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2680,2209,0,0,0,0,0,0
$GC,14666,0.60,146.1,84.2,15.9,672,14675,0.00,2.22,0.00,0.000,4,0.000,0.042,2049,1289,2209,0,0,0,0,0,0
$GC,14738,0.60,146.1,73.4,14.7,683,14742,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2672,2209,0,0,0,0,0,0
$GC,15105,0.60,146.1,12.3,16.8,744,15114,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2672,2209,0,0,0,0,0,0
$STATE,15158,end climb,SURFACE_DEPTH_REACHED
$STATE,15158,begin surface coast
$FINISH,0.8,1.014700
$STATE,15178,end surface coast,CONTROL_FINISHED_OK
$STATE,15178,begin surface
$SM_CCo,15200,41.97,0.763,1,0,1880,230.09
$SM_GC,1.95,0.00,0.00,41.97,0.000,0.000,0.763,50,2888,1880,-5.56,0.79,230.09
$IRIDIUM_FIX,-4616.72,410.49,270113,121210
$TT8_MAMPS,0.027713
$HUMID,58.30
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.8,56.573
$10V_AH,10.0,28.503
$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,13.825,87.375,298.550,41.975,0.000,28.096,21.466,476.366,0.000,0.000,19.331,1886.857,10527.817,431.130,2432.134,728.234,33.373,1255.428,0.000,1894.339,0.000,1.010,0.000
$DEVICE_MAMPS,241.740,76.500,1803.105,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.409,1491.392,795.368,309.334,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,53723,755
$CAP_FILE_SIZE,118343,0
$CFSIZE,259252224,210526208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270113,210822,-4630.318,418.963,34,0.8,35,-23.4