version: 66.07
glider: 542
mission: 6
dive: 307
start: 1 28 113 11 22 46
data:
$ID,542
$MISSION,6
$DIVE,307
$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,-11445.249
$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,37
$R_STBD_OVSHOOT,36
$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
$GPS1,280113,110904,-4634.003,428.078,69,1.0,70,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-57.5
$GPS2,280113,112149,-4634.035,428.223,15,0.7,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.240,-0.089
$KALMAN_X,-236791.1,-13.0,248.0,250787.8,-1311.4
$KALMAN_Y,160117.8,-619.9,-387.9,-127161.0,3764.7
$MHEAD_RNG_PITCHd_Wd,133.9,16771,-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,-54.95,0.000,2,0.000,0.000,51,2892,2899,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.2,-3.1,7,124,6.57,2.30,-15.88,0.000,4,0.243,0.048,1628,1446,3418,0,0,0,0,0,0
$GC,218,-0.60,-146.1,18.2,-13.3,25,228,0.00,2.30,0.00,0.000,6,0.000,0.051,1618,2847,3419,0,0,0,0,0,0
$GC,305,-0.60,-146.1,32.7,-17.3,38,314,0.00,1.70,0.00,0.000,4,0.000,0.057,1610,3903,3419,0,0,0,0,0,0
$GC,369,-0.60,-146.1,42.3,-14.6,47,376,0.00,1.62,0.00,0.000,6,0.000,0.030,1610,2837,3419,0,0,0,0,0,0
$GC,611,-0.60,-146.1,79.4,-15.7,88,620,0.00,1.73,0.00,0.000,4,0.000,0.057,1602,3893,3419,0,0,0,0,0,0
$GC,649,-0.60,-146.1,85.2,-16.0,93,656,0.08,1.58,0.00,0.000,6,0.164,0.030,1625,2846,3420,0,0,0,0,0,0
$GC,988,-0.60,-146.1,126.6,-11.2,127,990,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2846,3421,0,0,0,0,0,0
$GC,1301,-0.60,-146.1,164.4,-12.7,147,1305,0.00,1.73,0.00,0.000,4,0.000,0.058,1618,3901,3422,0,0,0,0,0,0
$GC,1364,-0.60,-146.1,173.4,-13.6,150,1373,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2856,3422,0,0,0,0,0,0
$GC,1688,-0.60,-146.1,214.5,-12.4,171,1692,0.00,1.70,0.00,0.000,4,0.000,0.058,1610,3899,3422,0,0,0,0,0,0
$GC,1729,-0.60,-146.1,220.2,-12.8,173,1732,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2854,3422,0,0,0,0,0,0
$GC,2057,-0.60,-146.1,257.8,-11.4,193,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2849,3422,0,0,0,0,0,0
$GC,2364,-0.60,-146.1,293.5,-11.6,208,2368,0.00,1.67,0.00,0.000,4,0.000,0.059,1602,3906,3422,0,0,0,0,0,0
$GC,2467,-0.60,-146.1,306.7,-12.1,212,2471,0.08,1.58,0.00,0.000,6,0.162,0.031,1634,2865,3422,0,0,0,0,0,0
$GC,2791,-0.60,-146.1,339.8,-10.0,228,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2860,3422,0,0,0,0,0,0
$GC,3102,-0.60,-146.1,370.8,-9.7,243,3106,0.00,1.70,0.00,0.000,4,0.000,0.060,1627,3897,3422,0,0,0,0,0,0
$GC,3131,-0.60,-146.1,374.3,-10.5,244,3135,0.00,1.58,0.00,0.000,6,0.000,0.031,1627,2858,3422,0,0,0,0,0,0
$GC,3461,-0.60,-146.1,407.9,-10.2,259,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2853,3422,0,0,0,0,0,0
$GC,3766,-0.60,-146.1,439.2,-10.4,269,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2853,3422,0,0,0,0,0,0
$GC,4073,-0.60,-146.1,471.1,-10.3,279,4076,0.00,1.70,0.00,0.000,4,0.000,0.060,1619,3905,3422,0,0,0,0,0,0
$GC,4124,-0.60,-146.1,476.8,-10.9,280,4128,0.00,1.60,0.00,0.000,6,0.000,0.031,1619,2852,3421,0,0,0,0,0,0
$GC,4450,-0.60,-146.1,511.8,-11.0,291,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2848,3421,0,0,0,0,0,0
$GC,4758,-0.60,-146.1,545.6,-10.9,301,4762,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3900,3421,0,0,0,0,0,0
$GC,4804,-0.60,-146.1,551.3,-11.9,302,4808,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2866,3421,0,0,0,0,0,0
$GC,5136,-0.60,-146.1,587.3,-10.5,313,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2862,3420,0,0,0,0,0,0
$GC,5442,-0.60,-146.1,619.1,-10.2,323,5446,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3897,3420,0,0,0,0,0,0
$GC,5505,-0.60,-146.1,626.1,-10.7,324,5513,0.08,1.58,0.00,0.000,6,0.163,0.032,1627,2856,3420,0,0,0,0,0,0
$GC,5821,-0.60,-146.1,653.7,-8.6,335,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2856,3420,0,0,0,0,0,0
$GC,6127,-0.60,-146.1,680.1,-8.5,345,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2856,3419,0,0,0,0,0,0
$GC,6436,-0.60,-146.1,706.5,-8.6,355,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2856,3418,0,0,0,0,0,0
$GC,6740,-0.60,-146.1,732.5,-8.6,365,6743,0.00,1.70,0.00,0.000,4,0.000,0.062,1620,3903,3418,0,0,0,0,0,0
$GC,6776,-0.60,-146.1,735.8,-9.1,366,6780,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2870,3418,0,0,0,0,0,0
$GC,7120,-0.60,-146.1,767.2,-9.3,377,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2865,3418,0,0,0,0,0,0
$GC,7426,-0.60,-146.1,794.0,-8.5,387,7429,0.00,1.67,0.00,0.000,4,0.000,0.061,1612,3899,3417,0,0,0,0,0,0
$GC,7463,-0.60,-146.1,797.3,-9.4,388,7466,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2865,3417,0,0,0,0,0,0
$GC,7806,-0.60,-146.1,827.5,-9.0,399,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2861,3417,0,0,0,0,0,0
$GC,8114,-0.60,-146.1,854.4,-8.9,409,8117,0.00,1.70,0.00,0.000,4,0.000,0.061,1604,3907,3417,0,0,0,0,0,0
$GC,8176,-0.60,-146.1,860.8,-10.2,410,8183,0.00,1.60,0.00,0.000,6,0.000,0.031,1603,2847,3417,0,0,0,0,0,0
$GC,8492,-0.60,-146.1,891.3,-9.9,421,8494,0.12,0.00,0.00,0.000,6,0.185,0.000,1636,2846,3417,0,0,0,0,0,0
$GC,8798,-0.60,-146.1,915.1,-7.8,431,8802,0.00,1.73,0.00,0.000,4,0.000,0.060,1629,3894,3415,0,0,0,0,0,0
$GC,8835,-0.60,-146.1,918.1,-8.2,432,8839,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2870,3415,0,0,0,0,0,0
$GC,9181,-0.60,-146.1,945.0,-7.5,443,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2867,3416,0,0,0,0,0,0
$GC,9485,-0.60,-146.1,967.2,-7.2,453,9489,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3900,3415,0,0,0,0,0,0
$GC,9525,-0.60,-146.1,970.6,-7.9,454,9529,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2858,3416,0,0,0,0,0,0
$GC,9863,-0.60,-146.1,996.5,-7.7,465,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2853,3415,0,0,0,0,0,0
$STATE,9919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9919,begin apogee
$GC,9930,-0.18,0.0,1001.4,7.7,467,10078,0.50,0.00,144.68,1.231,6,0.151,0.000,1769,2674,2819,0,0,0,0,0,0
$STATE,10080,end apogee,CONTROL_FINISHED_OK
$STATE,10080,begin climb
$GC,10084,0.60,146.1,1004.7,0.0,472,10252,0.75,2.50,154.02,1.794,4,0.095,0.044,2026,1288,2225,0,0,0,0,1,0
$GC,10313,0.60,146.1,973.7,18.5,479,10317,0.00,2.42,0.00,0.000,6,0.000,0.049,2026,2668,2221,0,0,0,0,0,0
$GC,10651,0.60,146.1,905.5,20.0,490,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2669,2217,0,0,0,0,0,0
$GC,10957,0.60,146.1,844.5,19.8,500,10961,0.00,2.22,0.00,0.000,4,0.000,0.042,2036,1277,2216,0,0,0,0,0,0
$GC,10986,0.60,146.1,838.4,19.3,500,10993,0.00,2.28,0.00,0.000,6,0.000,0.049,2036,2677,2214,0,0,0,0,0,0
$GC,11303,0.60,146.1,774.0,20.8,511,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2677,2214,0,0,0,0,0,0
$GC,11607,0.60,146.1,710.4,20.7,521,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2677,2214,0,0,0,0,0,0
$GC,11914,0.60,146.1,647.4,20.8,531,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2677,2214,0,0,0,0,0,0
$GC,12220,0.60,146.1,584.5,20.8,541,12224,0.00,2.20,0.00,0.000,4,0.000,0.043,2046,1284,2214,0,0,0,0,0,0
$GC,12272,0.60,146.1,573.7,18.2,542,12276,0.00,2.22,0.00,0.000,6,0.000,0.050,2046,2671,2213,0,0,0,0,0,0
$GC,12592,0.60,146.1,505.7,21.3,553,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2672,2213,0,0,0,0,0,0
$GC,12899,0.60,146.1,442.9,20.4,563,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2213,0,0,0,0,0,0
$GC,13218,0.60,146.1,377.6,20.7,575,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2671,2213,0,0,0,0,0,0
$GC,13525,0.60,146.1,314.5,19.7,590,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2672,2212,0,0,0,0,0,0
$GC,13837,0.60,146.1,254.6,19.4,605,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2672,2212,0,0,0,0,0,0
$GC,14159,0.60,146.1,189.5,20.5,625,14163,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1280,2212,0,0,0,0,0,0
$GC,14194,0.60,146.1,183.0,19.2,627,14199,0.12,2.25,0.00,0.000,6,0.209,0.050,2028,2677,2211,0,0,0,0,0,0
$GC,14527,0.60,146.1,127.4,16.2,648,14535,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2677,2211,0,0,0,0,0,0
$GC,14867,0.60,146.1,77.0,12.5,687,14873,0.00,2.22,0.00,0.000,4,0.000,0.043,2038,1288,2211,0,0,0,0,0,0
$GC,14918,0.60,146.1,70.0,12.4,695,14923,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2670,2210,0,0,0,0,0,0
$GC,15286,0.60,146.1,16.1,12.0,756,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2210,0,0,0,0,0,0
$STATE,15362,end climb,SURFACE_DEPTH_REACHED
$STATE,15362,begin surface coast
$FINISH,0.9,1.015189
$STATE,15382,end surface coast,CONTROL_FINISHED_OK
$STATE,15383,begin surface
$SM_CCo,15405,42.17,0.760,1,0,1879,230.09
$SM_GC,2.11,0.00,0.00,42.17,0.000,0.000,0.760,42,2881,1879,-5.59,0.59,230.09
$IRIDIUM_FIX,-4613.60,432.32,280113,060613
$TT8_MAMPS,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.8,57.252
$10V_AH,10.0,28.936
$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,13.700,73.800,298.700,42.175,0.000,26.885,19.012,474.612,0.000,0.000,18.582,1906.494,10739.500,428.350,2396.203,736.021,33.374,1237.619,0.000,1868.594,0.000,1.009,0.000
$DEVICE_MAMPS,242.505,62.730,1793.925,759.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.265,1523.188,815.439,317.642,0.000,0.000,0.000,0.000,0.000,0.000
$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,53863,771
$CAP_FILE_SIZE,115535,0
$CFSIZE,259252224,210264064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280113,154134,-4634.303,431.734,26,0.8,27,-23.5