version: 66.07
glider: 542
mission: 6
dive: 308
start: 1 28 113 15 55 25
data:
$ID,542
$MISSION,6
$DIVE,308
$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,-11447.991
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,280113,154134,-4634.303,431.734,26,0.8,27,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-61.5
$GPS2,280113,155429,-4634.315,431.885,14,1.1,14,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.250,0.053
$KALMAN_X,-236762.3,-239.2,70.3,255806.7,-327.0
$KALMAN_Y,160784.1,-373.3,-96.4,-128890.3,2740.5
$MHEAD_RNG_PITCHd_Wd,101.6,13072,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-70.90,0.000,2,0.000,0.000,42,2881,3285,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.5,-2.7,9,124,6.68,0.00,-3.22,0.000,6,0.245,0.000,1626,2881,3417,0,0,0,0,0,0
$GC,203,-0.60,-146.1,24.5,-15.3,23,212,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2881,3418,0,0,0,0,0,0
$GC,287,-0.60,-146.1,37.1,-13.7,36,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2881,3419,0,0,0,0,0,0
$GC,534,-0.60,-146.1,69.7,-12.6,77,539,0.00,1.62,0.00,0.000,4,0.000,0.057,1619,3884,3420,0,0,0,0,0,0
$GC,610,-0.60,-146.1,80.1,-12.7,90,619,0.00,1.58,0.00,0.000,6,0.000,0.030,1619,2843,3420,0,0,0,0,0,0
$GC,951,-0.60,-146.1,121.9,-12.1,129,952,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2842,3421,0,0,0,0,0,0
$GC,1263,-0.60,-146.1,159.1,-11.6,149,1267,0.00,1.67,0.00,0.000,4,0.000,0.057,1611,3887,3421,0,0,0,0,0,0
$GC,1292,-0.60,-146.1,163.2,-12.3,150,1301,0.00,1.55,0.00,0.000,6,0.000,0.030,1611,2846,3422,0,0,0,0,0,0
$GC,1616,-0.60,-146.1,203.0,-12.8,171,1619,0.00,1.67,0.00,0.000,4,0.000,0.057,1603,3892,3421,0,0,0,0,0,0
$GC,1691,-0.60,-146.1,214.0,-14.0,175,1695,0.08,1.55,0.00,0.000,6,0.159,0.030,1627,2863,3422,0,0,0,0,0,0
$GC,2033,-0.60,-146.1,255.8,-12.3,196,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3422,0,0,0,0,0,0
$GC,2339,-0.60,-146.1,291.4,-11.4,211,2343,0.00,1.67,0.00,0.000,4,0.000,0.059,1621,3884,3422,0,0,0,0,0,0
$GC,2392,-0.60,-146.1,297.9,-11.9,213,2395,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2857,3423,0,0,0,0,0,0
$GC,2723,-0.60,-146.1,334.7,-11.1,229,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2852,3422,0,0,0,0,0,0
$GC,3030,-0.60,-146.1,369.7,-11.5,244,3034,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3895,3422,0,0,0,0,0,0
$GC,3078,-0.60,-146.1,375.7,-12.6,246,3082,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2852,3422,0,0,0,0,0,0
$GC,3412,-0.60,-146.1,415.8,-12.1,260,3416,0.00,1.70,0.00,0.000,4,0.000,0.059,1604,3889,3422,0,0,0,0,0,0
$GC,3475,-0.60,-146.1,424.0,-12.7,261,3482,0.08,1.55,0.00,0.000,6,0.161,0.031,1627,2862,3422,0,0,0,0,0,0
$GC,3790,-0.60,-146.1,457.6,-10.5,272,3794,0.00,1.65,0.00,0.000,4,0.000,0.059,1621,3889,3421,0,0,0,0,0,0
$GC,3847,-0.60,-146.1,464.2,-11.5,273,3851,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2862,3421,0,0,0,0,0,0
$GC,4168,-0.60,-146.1,498.3,-10.7,284,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3421,0,0,0,0,0,0
$GC,4475,-0.60,-146.1,529.0,-9.8,294,4479,0.00,1.65,0.00,0.000,4,0.000,0.060,1612,3886,3421,0,0,0,0,0,0
$GC,4498,-0.60,-146.1,531.8,-10.4,294,4502,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2862,3421,0,0,0,0,0,0
$GC,4819,-0.60,-146.1,564.7,-10.4,305,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2857,3420,0,0,0,0,0,0
$GC,5125,-0.60,-146.1,596.1,-10.3,315,5129,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3886,3419,0,0,0,0,0,0
$GC,5188,-0.60,-146.1,603.2,-10.7,316,5194,0.00,1.55,0.00,0.000,6,0.000,0.032,1605,2855,3419,0,0,0,0,0,0
$GC,5503,-0.60,-146.1,637.9,-11.1,327,5505,0.10,0.00,0.00,0.000,6,0.201,0.000,1629,2855,3419,0,0,0,0,0,0
$GC,5809,-0.60,-146.1,667.1,-9.5,337,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2855,3419,0,0,0,0,0,0
$GC,6116,-0.60,-146.1,694.3,-8.7,347,6119,0.00,1.67,0.00,0.000,4,0.000,0.061,1622,3892,3419,0,0,0,0,0,0
$GC,6187,-0.60,-146.1,700.7,-8.6,349,6191,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2869,3418,0,0,0,0,0,0
$GC,6532,-0.60,-146.1,731.6,-9.0,360,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2866,3418,0,0,0,0,0,0
$GC,6836,-0.60,-146.1,761.2,-9.8,370,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2866,3418,0,0,0,0,0,0
$GC,7143,-0.60,-146.1,791.2,-9.7,380,7146,0.00,1.65,0.00,0.000,4,0.000,0.060,1614,3884,3418,0,0,0,0,0,0
$GC,7188,-0.60,-146.1,796.2,-10.4,381,7192,0.00,1.55,0.00,0.000,6,0.000,0.032,1614,2866,3418,0,0,0,0,0,0
$GC,7520,-0.60,-146.1,829.0,-9.8,392,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3418,0,0,0,0,0,0
$GC,7829,-0.60,-146.1,858.0,-9.4,402,7832,0.00,1.65,0.00,0.000,4,0.000,0.059,1606,3886,3418,0,0,0,0,0,0
$GC,7874,-0.60,-146.1,863.2,-11.3,403,7877,0.00,1.55,0.00,0.000,6,0.000,0.031,1606,2857,3418,0,0,0,0,0,0
$GC,8205,-0.60,-146.1,895.6,-9.8,414,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2852,3417,0,0,0,0,0,0
$GC,8514,-0.60,-146.1,923.7,-9.1,424,8517,0.00,1.67,0.00,0.000,4,0.000,0.059,1598,3891,3417,0,0,0,0,0,0
$GC,8543,-0.60,-146.1,926.8,-9.7,424,8550,0.10,1.55,0.00,0.000,6,0.161,0.031,1629,2863,3417,0,0,0,0,0,0
$GC,8858,-0.60,-146.1,948.9,-6.8,435,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3417,0,0,0,0,0,0
$GC,9164,-0.60,-146.1,968.8,-6.1,445,9168,0.00,1.65,0.00,0.000,4,0.000,0.060,1622,3885,3417,0,0,0,0,0,0
$GC,9202,-0.60,-146.1,971.0,-6.3,446,9206,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2861,3417,0,0,0,0,0,0
$GC,9545,-0.60,-146.1,992.4,-6.0,457,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2856,3416,0,0,0,0,0,0
$STATE,9693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9693,begin apogee
$GC,9704,-0.18,0.0,1001.8,6.1,462,9852,0.50,0.00,144.70,1.241,6,0.151,0.000,1771,2680,2819,0,0,0,0,0,0
$STATE,9854,end apogee,CONTROL_FINISHED_OK
$STATE,9854,begin climb
$GC,9859,0.60,146.1,1002.9,0.0,467,10028,0.77,2.50,155.07,1.802,4,0.090,0.041,2030,1286,2226,0,0,0,0,1,0
$GC,10046,0.60,146.1,975.2,20.8,473,10051,0.00,2.45,0.00,0.000,6,0.000,0.047,2031,2658,2224,0,0,0,0,0,0
$GC,10373,0.60,146.1,903.9,21.6,484,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2658,2218,0,0,0,0,0,0
$GC,10679,0.60,146.1,841.4,20.0,494,10683,0.00,2.17,0.00,0.000,4,0.000,0.042,2041,1281,2217,0,0,0,0,0,0
$GC,10720,0.60,146.1,833.3,17.8,495,10724,0.00,2.25,0.00,0.000,6,0.000,0.050,2041,2674,2214,0,0,0,0,0,0
$GC,11059,0.60,146.1,764.9,20.6,506,11063,0.00,2.22,0.00,0.000,4,0.000,0.042,2051,1280,2215,0,0,0,0,0,0
$GC,11092,0.60,146.1,758.0,19.9,507,11096,0.00,2.22,0.00,0.000,6,0.000,0.049,2051,2670,2214,0,0,0,0,0,0
$GC,11430,0.60,146.1,688.1,21.1,518,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2670,2214,0,0,0,0,0,0
$GC,11736,0.60,146.1,624.1,21.2,528,11740,0.00,2.20,0.00,0.000,4,0.000,0.042,2062,1274,2213,0,0,0,0,0,0
$GC,11807,0.60,146.1,610.0,19.0,530,11811,0.15,2.25,0.00,0.000,6,0.210,0.049,2027,2670,2212,0,0,0,0,0,0
$GC,12145,0.60,146.1,543.8,19.9,541,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2671,2212,0,0,0,0,0,0
$GC,12451,0.60,146.1,484.1,19.3,551,12455,0.00,2.17,0.00,0.000,4,0.000,0.042,2037,1274,2212,0,0,0,0,0,0
$GC,12542,0.60,146.1,467.9,17.4,553,12550,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2674,2211,0,0,0,0,0,0
$GC,12858,0.60,146.1,408.2,19.1,564,12862,0.00,1.92,0.00,0.000,4,0.000,0.057,2037,3897,2211,0,0,0,0,0,0
$GC,12904,0.60,146.1,397.7,22.5,565,12908,0.00,1.88,0.00,0.000,6,0.000,0.037,2046,2685,2211,0,0,0,0,0,0
$GC,13241,0.60,146.1,330.6,20.1,581,13245,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1270,2211,0,0,0,0,0,0
$GC,13316,0.60,146.1,315.7,17.6,584,13321,0.12,2.25,0.00,0.000,6,0.210,0.049,2028,2676,2209,0,0,0,0,0,0
$GC,13646,0.60,146.1,252.8,18.7,600,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2676,2210,0,0,0,0,0,0
$GC,13964,0.60,146.1,194.0,18.7,620,13968,0.00,2.22,0.00,0.000,4,0.000,0.043,2038,1270,2210,0,0,0,0,0,0
$GC,14017,0.60,146.1,184.8,15.9,623,14021,0.00,2.28,0.00,0.000,6,0.000,0.050,2038,2679,2209,0,0,0,0,0,0
$GC,14340,0.60,146.1,129.7,17.9,643,14344,0.00,2.22,0.00,0.000,4,0.000,0.041,2048,1269,2209,0,0,0,0,0,0
$GC,14381,0.60,146.1,122.5,14.6,645,14386,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2677,2209,0,0,0,0,0,0
$GC,14721,0.60,146.1,65.6,17.4,689,14726,0.00,1.95,0.00,0.000,4,0.000,0.058,2048,3898,2209,0,0,0,0,0,0
$GC,14749,0.60,146.1,60.7,17.2,693,14756,0.10,1.92,0.00,0.000,6,0.216,0.037,2032,2669,2210,0,0,0,0,0,0
$STATE,15111,end climb,SURFACE_DEPTH_REACHED
$STATE,15112,begin surface coast
$FINISH,0.8,1.013568
$STATE,15142,end surface coast,CONTROL_FINISHED_OK
$STATE,15142,begin surface
$SM_CCo,15164,42.10,0.766,1,0,1879,230.09
$SM_GC,2.16,0.00,0.00,42.10,0.000,0.000,0.766,54,2902,1879,-5.55,1.19,230.09
$IRIDIUM_FIX,-4616.72,429.44,280113,111140
$TT8_MAMPS,0.026215
$HUMID,59.21
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.00
$XPDR_PINGS,1
$24V_AH,21.8,57.422
$10V_AH,10.0,29.042
$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,13.950,89.400,299.775,42.100,0.000,28.064,22.907,479.094,0.250,0.000,16.929,1895.546,10443.986,466.567,2418.918,749.820,33.372,1273.107,0.000,1886.712,0.000,1.011,0.000
$DEVICE_MAMPS,244.800,61.200,1802.340,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.009,1483.671,789.176,310.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,53793,757
$CAP_FILE_SIZE,118072,0
$CFSIZE,259252224,210198528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280113,201023,-4633.167,434.428,38,0.9,38,-23.5