version: 66.07
glider: 542
mission: 6
dive: 304
start: 1 27 113 21 23 3
data:
$ID,542
$MISSION,6
$DIVE,304
$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,-11436.919
$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,40
$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
$GPS1,270113,210822,-4630.318,418.963,34,0.8,35,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-56.6
$GPS2,270113,212206,-4630.338,419.114,18,1.0,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.139
$KALMAN_X,-237915.9,855.4,403.6,239339.9,-4442.8
$KALMAN_Y,155799.7,-34.8,-82.2,-116913.6,2955.8
$MHEAD_RNG_PITCHd_Wd,146.5,26634,-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,-146.1,0.0,0.0,0,84,0.00,0.00,-55.30,0.000,2,0.000,0.000,48,2888,2923,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.0,-3.4,7,125,6.68,1.65,-17.02,0.000,4,0.246,0.080,1623,3880,3418,0,0,0,0,0,0
$GC,403,-0.60,-146.1,42.9,-12.8,56,412,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2840,3420,0,0,0,0,0,0
$GC,651,-0.60,-146.1,74.9,-12.8,97,656,0.00,1.65,0.00,0.000,4,0.000,0.056,1615,3884,3420,0,0,0,0,0,0
$GC,682,-0.60,-146.1,79.5,-13.6,102,690,0.00,1.55,0.00,0.000,6,0.000,0.030,1615,2857,3421,0,0,0,0,0,0
$GC,1019,-0.60,-146.1,126.4,-13.3,139,1023,0.00,1.65,0.00,0.000,4,0.000,0.055,1606,3891,3421,0,0,0,0,0,0
$GC,1099,-0.60,-146.1,137.9,-13.6,143,1106,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2853,3421,0,0,0,0,0,0
$GC,1421,-0.60,-146.1,179.4,-12.2,164,1425,0.00,1.67,0.00,0.000,4,0.000,0.056,1599,3886,3421,0,0,0,0,0,0
$GC,1526,-0.60,-146.1,193.0,-12.6,170,1531,0.10,1.52,0.00,0.000,6,0.168,0.031,1629,2869,3422,0,0,0,0,0,0
$GC,1865,-0.60,-146.1,227.4,-10.7,191,1869,0.00,1.65,0.00,0.000,4,0.000,0.058,1622,3878,3422,0,0,0,0,0,0
$GC,1904,-0.60,-146.1,232.1,-11.6,193,1907,0.00,1.52,0.00,0.000,6,0.000,0.031,1623,2862,3422,0,0,0,0,0,0
$GC,2231,-0.60,-146.1,269.1,-11.6,211,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3422,0,0,0,0,0,0
$GC,2539,-0.60,-146.1,304.5,-11.0,226,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3422,0,0,0,0,0,0
$GC,2850,-0.60,-146.1,337.6,-10.3,241,2854,0.00,1.67,0.00,0.000,4,0.000,0.059,1615,3885,3421,0,0,0,0,0,0
$GC,2925,-0.60,-146.1,346.0,-10.4,244,2929,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2859,3422,0,0,0,0,0,0
$GC,3254,-0.60,-146.1,379.8,-10.2,260,3258,0.00,1.65,0.00,0.000,4,0.000,0.058,1606,3884,3422,0,0,0,0,0,0
$GC,3312,-0.60,-146.1,386.5,-10.8,262,3316,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2852,3422,0,0,0,0,0,0
$GC,3634,-0.60,-146.1,422.0,-11.3,275,3638,0.00,1.65,0.00,0.000,4,0.000,0.058,1598,3893,3421,0,0,0,0,0,0
$GC,3708,-0.60,-146.1,430.9,-11.6,277,3712,0.08,1.55,0.00,0.000,6,0.164,0.031,1637,2869,3421,0,0,0,0,0,0
$GC,4047,-0.60,-146.1,457.8,-7.7,288,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2865,3421,0,0,0,0,0,0
$GC,4354,-0.60,-146.1,482.5,-8.5,298,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2865,3421,0,0,0,0,0,0
$GC,4659,-0.60,-146.1,508.3,-8.2,308,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2865,3420,0,0,0,0,0,0
$GC,4966,-0.60,-146.1,534.3,-8.6,318,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2865,3420,0,0,0,0,0,0
$GC,5271,-0.60,-146.1,560.5,-8.5,328,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2864,3419,0,0,0,0,0,0
$GC,5577,-0.60,-146.1,585.3,-7.8,338,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2865,3419,0,0,0,0,0,0
$GC,5884,-0.60,-146.1,608.2,-7.4,348,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2865,3419,0,0,0,0,0,0
$GC,6190,-0.60,-146.1,629.8,-7.2,358,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2865,3418,0,0,0,0,0,0
$GC,6496,-0.60,-146.1,652.1,-7.6,368,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2865,3418,0,0,0,0,0,0
$GC,6803,-0.60,-146.1,677.7,-8.7,378,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2865,3418,0,0,0,0,0,0
$GC,7108,-0.60,-146.1,704.6,-8.7,388,7112,0.00,1.67,0.00,0.000,4,0.000,0.060,1630,3882,3418,0,0,0,0,0,0
$GC,7149,-0.60,-146.1,708.4,-8.9,389,7153,0.00,1.55,0.00,0.000,6,0.000,0.033,1630,2866,3418,0,0,0,0,0,0
$GC,7489,-0.60,-146.1,735.9,-7.9,400,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2864,3417,0,0,0,0,0,0
$GC,7795,-0.60,-146.1,760.1,-8.1,410,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3417,0,0,0,0,0,0
$GC,8100,-0.60,-146.1,786.1,-8.8,420,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3418,0,0,0,0,0,0
$GC,8406,-0.60,-146.1,813.9,-9.0,430,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3417,0,0,0,0,0,0
$GC,8712,-0.60,-146.1,841.0,-8.7,440,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2864,3417,0,0,0,0,0,0
$GC,9018,-0.60,-146.1,866.7,-8.1,450,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3417,0,0,0,0,0,0
$GC,9326,-0.60,-146.1,891.3,-8.0,460,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3417,0,0,0,0,0,0
$GC,9631,-0.60,-146.1,915.8,-7.8,470,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3417,0,0,0,0,0,0
$GC,9937,-0.60,-146.1,939.4,-7.6,480,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3416,0,0,0,0,0,0
$GC,10243,-0.60,-146.1,962.6,-7.5,490,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3416,0,0,0,0,0,0
$GC,10550,-0.60,-146.1,986.1,-7.7,500,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2863,3416,0,0,0,0,0,0
$STATE,10728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10728,begin apogee
$GC,10739,-0.18,0.0,1000.5,7.9,506,10887,0.47,0.00,144.65,1.244,6,0.150,0.000,1771,2675,2819,0,0,0,0,0,0
$STATE,10889,end apogee,CONTROL_FINISHED_OK
$STATE,10889,begin climb
$GC,10894,0.60,146.1,1004.9,0.0,511,11061,0.75,2.47,155.27,1.799,4,0.091,0.041,2028,1287,2225,0,0,0,0,1,0
$GC,11091,0.60,146.1,980.3,16.8,517,11095,0.00,2.42,0.00,0.000,6,0.000,0.049,2028,2649,2223,0,0,0,0,0,0
$GC,11417,0.60,146.1,914.3,20.9,528,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2650,2218,0,0,0,0,0,0
$GC,11724,0.60,146.1,850.7,20.9,538,11728,0.00,2.20,0.00,0.000,4,0.000,0.044,2038,1277,2216,0,0,0,0,0,0
$GC,11820,0.60,146.1,832.3,18.1,540,11827,0.00,2.28,0.00,0.000,6,0.000,0.051,2038,2674,2214,0,0,0,0,0,0
$GC,12136,0.60,146.1,766.1,21.7,551,12140,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1277,2213,0,0,0,0,0,0
$GC,12176,0.60,146.1,757.3,21.4,552,12181,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2671,2213,0,0,0,0,0,0
$GC,12514,0.60,146.1,684.7,21.4,563,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2671,2213,0,0,0,0,0,0
$GC,12820,0.60,146.1,618.1,21.8,573,12824,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1277,2213,0,0,0,0,0,0
$GC,12890,0.60,146.1,604.2,17.3,575,12895,0.12,2.25,0.00,0.000,6,0.213,0.049,2031,2672,2212,0,0,0,0,0,0
$GC,13222,0.60,146.1,537.7,20.5,586,13226,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1273,2212,0,0,0,0,0,0
$GC,13269,0.60,146.1,528.5,17.5,587,13273,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2669,2211,0,0,0,0,0,0
$GC,13590,0.60,146.1,462.8,20.5,598,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2211,0,0,0,0,0,0
$GC,13896,0.60,146.1,401.3,20.3,608,13900,0.00,2.20,0.00,0.000,4,0.000,0.044,2051,1273,2211,0,0,0,0,0,0
$GC,13948,0.60,146.1,391.2,17.7,610,13952,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2669,2211,0,0,0,0,0,0
$GC,14272,0.60,146.1,324.1,20.9,626,14273,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2669,2210,0,0,0,0,0,0
$GC,14583,0.60,146.1,259.9,20.2,641,14587,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1271,2210,0,0,0,0,0,0
$GC,14642,0.60,146.1,248.7,16.7,643,14646,0.15,2.28,0.00,0.000,6,0.203,0.050,2026,2679,2210,0,0,0,0,0,0
$GC,14970,0.60,146.1,196.2,16.3,663,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2210,0,0,0,0,0,0
$GC,15292,0.60,146.1,144.3,16.6,684,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2210,0,0,0,0,0,0
$GC,15605,0.60,146.1,92.7,14.6,708,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2210,0,0,0,0,0,0
$GC,15965,0.60,146.1,41.8,13.7,769,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2210,0,0,0,0,0,0
$GC,16222,0.60,146.1,4.4,14.3,810,16230,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2210,0,0,0,0,0,0
$STATE,16238,end climb,SURFACE_DEPTH_REACHED
$STATE,16238,begin surface coast
$FINISH,1.0,1.026396
$STATE,16258,end surface coast,CONTROL_FINISHED_OK
$STATE,16258,begin surface
$SM_CCo,16281,42.25,0.756,1,0,1879,230.09
$SM_GC,2.06,0.00,0.00,42.25,0.000,0.000,0.756,55,2876,1879,-5.55,0.48,230.09
$IRIDIUM_FIX,-4616.72,410.49,270113,121210
$TT8_MAMPS,0.025466
$HUMID,58.11
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.8,56.745
$10V_AH,10.0,28.614
$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,13.800,61.050,299.925,42.250,0.000,29.396,48.894,497.879,0.000,0.000,21.197,1995.259,11446.233,451.382,2517.702,731.093,33.373,1241.118,0.000,1931.503,0.000,1.009,0.000
$DEVICE_MAMPS,246.330,79.560,1799.280,755.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.912,1608.437,854.815,348.849,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354032
$DATA_FILE_SIZE,57004,815
$CAP_FILE_SIZE,114339,0
$CFSIZE,259252224,210468864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280113,015635,-4630.801,422.897,35,1.0,35,-23.4