version: 66.07
glider: 542
mission: 6
dive: 310
start: 1 29 113 1 3 15
data:
$ID,542
$MISSION,6
$DIVE,310
$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,-11453.467
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,290113,004904,-4632.040,437.062,30,1.2,30,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.3
$GPS2,290113,010218,-4632.074,437.065,19,1.2,19,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.250,0.052
$KALMAN_X,-240989.7,-201.0,46.5,266593.0,-2374.0
$KALMAN_Y,162226.0,-122.1,-165.4,-126367.4,1930.1
$MHEAD_RNG_PITCHd_Wd,101.8,5363,-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,-63.12,0.000,2,0.000,0.000,52,2871,3092,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.0,8,125,6.70,2.25,-9.00,0.000,4,0.249,0.050,1630,1449,3417,0,0,0,0,0,0
$GC,180,-0.60,-146.1,15.8,-11.4,19,189,0.00,2.30,0.00,0.000,6,0.000,0.049,1620,2855,3419,0,0,0,0,0,0
$GC,268,-0.60,-146.1,27.7,-15.2,32,277,0.00,1.67,0.00,0.000,4,0.000,0.057,1612,3895,3419,0,0,0,0,0,0
$GC,311,-0.60,-146.1,34.7,-15.5,38,320,0.00,1.62,0.00,0.000,6,0.000,0.031,1612,2823,3420,0,0,0,0,0,0
$GC,562,-0.60,-146.1,70.9,-13.8,79,566,0.00,1.75,0.00,0.000,4,0.000,0.057,1604,3893,3420,0,0,0,0,0,0
$GC,601,-0.60,-146.1,76.9,-14.8,85,607,0.08,1.55,0.00,0.000,6,0.170,0.031,1626,2868,3420,0,0,0,0,0,0
$GC,950,-0.60,-146.1,116.7,-11.5,129,951,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2864,3421,0,0,0,0,0,0
$GC,1262,-0.60,-146.1,153.5,-12.0,149,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2863,3422,0,0,0,0,0,0
$GC,1574,-0.60,-146.1,190.5,-12.2,169,1578,0.00,1.67,0.00,0.000,4,0.000,0.058,1619,3893,3422,0,0,0,0,0,0
$GC,1718,-0.60,-146.1,209.0,-12.1,177,1721,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2848,3422,0,0,0,0,0,0
$GC,2046,-0.60,-146.1,246.4,-11.1,198,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2843,3423,0,0,0,0,0,0
$GC,2360,-0.60,-146.1,279.6,-10.6,214,2363,0.00,1.73,0.00,0.000,4,0.000,0.058,1612,3900,3423,0,0,0,0,0,0
$GC,2400,-0.60,-146.1,284.5,-11.5,215,2407,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2851,3423,0,0,0,0,0,0
$GC,2721,-0.60,-146.1,320.0,-11.4,231,2725,0.00,1.70,0.00,0.000,4,0.000,0.058,1603,3909,3423,0,0,0,0,0,0
$GC,2772,-0.60,-146.1,326.2,-12.1,233,2777,0.08,1.58,0.00,0.000,6,0.163,0.031,1635,2868,3423,0,0,0,0,0,0
$GC,3110,-0.60,-146.1,360.0,-10.0,249,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2863,3422,0,0,0,0,0,0
$GC,3418,-0.60,-146.1,389.9,-9.4,264,3421,0.00,1.67,0.00,0.000,4,0.000,0.059,1628,3905,3422,0,0,0,0,0,0
$GC,3458,-0.60,-146.1,394.2,-10.5,265,3465,0.00,1.58,0.00,0.000,6,0.000,0.031,1628,2861,3422,0,0,0,0,0,0
$GC,3774,-0.60,-146.1,423.4,-9.3,277,3778,0.00,1.67,0.00,0.000,4,0.000,0.059,1620,3902,3422,0,0,0,0,0,0
$GC,3814,-0.60,-146.1,427.6,-9.8,278,3818,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2862,3422,0,0,0,0,0,0
$GC,4152,-0.60,-146.1,459.1,-9.1,289,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2857,3422,0,0,0,0,0,0
$GC,4458,-0.60,-146.1,486.8,-9.0,299,4462,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3898,3422,0,0,0,0,0,0
$GC,4521,-0.60,-146.1,493.2,-9.7,300,4528,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2858,3422,0,0,0,0,0,0
$GC,4836,-0.60,-146.1,524.5,-10.0,311,4840,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3898,3421,0,0,0,0,0,0
$GC,4873,-0.60,-146.1,528.3,-10.9,312,4877,0.08,1.58,0.00,0.000,6,0.163,0.032,1636,2860,3421,0,0,0,0,0,0
$GC,5217,-0.60,-146.1,559.1,-8.9,323,5220,0.00,1.67,0.00,0.000,4,0.000,0.060,1629,3899,3421,0,0,0,0,0,0
$GC,5253,-0.60,-146.1,562.6,-10.0,324,5257,0.00,1.58,0.00,0.000,6,0.000,0.032,1630,2863,3421,0,0,0,0,0,0
$GC,5596,-0.60,-146.1,596.7,-10.1,335,5600,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3896,3421,0,0,0,0,0,0
$GC,5637,-0.60,-146.1,601.2,-11.0,336,5641,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2858,3420,0,0,0,0,0,0
$GC,5974,-0.60,-146.1,637.1,-10.5,347,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2853,3419,0,0,0,0,0,0
$GC,6281,-0.60,-146.1,668.2,-9.9,357,6284,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3903,3419,0,0,0,0,0,0
$GC,6317,-0.60,-146.1,671.9,-10.3,358,6321,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2868,3419,0,0,0,0,0,0
$GC,6660,-0.60,-146.1,704.5,-9.3,369,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2863,3419,0,0,0,0,0,0
$GC,6968,-0.60,-146.1,732.3,-9.2,379,6972,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3902,3419,0,0,0,0,0,0
$GC,7006,-0.60,-146.1,736.2,-10.4,380,7009,0.00,1.60,0.00,0.000,6,0.000,0.032,1607,2850,3419,0,0,0,0,0,0
$GC,7348,-0.60,-146.1,771.6,-10.3,391,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2846,3419,0,0,0,0,0,0
$GC,7655,-0.60,-146.1,802.8,-10.2,401,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2846,3419,0,0,0,0,0,0
$GC,7963,-0.60,-146.1,832.2,-9.4,411,7967,0.00,1.70,0.00,0.000,4,0.000,0.059,1599,3897,3419,0,0,0,0,0,0
$GC,8020,-0.60,-146.1,838.2,-10.3,412,8024,0.08,1.58,0.00,0.000,6,0.164,0.032,1631,2862,3418,0,0,0,0,0,0
$GC,8341,-0.60,-146.1,860.8,-6.9,423,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2860,3418,0,0,0,0,0,0
$GC,8649,-0.60,-146.1,880.5,-6.3,433,8653,0.00,1.73,0.00,0.000,4,0.000,0.061,1624,3907,3418,0,0,0,0,0,0
$GC,8695,-0.60,-146.1,883.8,-7.3,434,8699,0.00,1.60,0.00,0.000,6,0.000,0.032,1624,2853,3418,0,0,0,0,0,0
$GC,9028,-0.60,-146.1,905.9,-6.8,445,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2849,3418,0,0,0,0,0,0
$GC,9336,-0.60,-146.1,927.5,-7.3,455,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2848,3418,0,0,0,0,0,0
$GC,9640,-0.60,-146.1,950.0,-7.5,465,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2849,3418,0,0,0,0,0,0
$GC,9946,-0.60,-146.1,972.9,-7.4,475,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2849,3418,0,0,0,0,0,0
$GC,10253,-0.60,-146.1,995.1,-7.3,485,10257,0.00,1.73,0.00,0.000,4,0.000,0.060,1616,3895,3418,0,0,0,0,0,0
$GC,10299,-0.60,-146.1,999.2,-8.5,486,10304,0.00,1.58,0.00,0.000,6,0.000,0.033,1617,2863,3418,0,0,0,0,0,0
$STATE,10307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10307,begin apogee
$GC,10318,-0.18,0.0,1000.2,8.1,486,10466,0.47,0.00,144.80,1.222,6,0.158,0.000,1760,2672,2819,0,0,0,0,0,0
$STATE,10468,end apogee,CONTROL_FINISHED_OK
$STATE,10468,begin climb
$GC,10473,0.60,146.1,1003.7,0.0,491,10641,0.80,2.50,154.90,1.801,4,0.098,0.044,2029,1280,2224,0,0,0,0,1,0
$GC,10667,0.60,146.1,976.4,19.8,497,10671,0.00,2.47,0.00,0.000,6,0.000,0.049,2029,2667,2223,0,0,0,0,0,0
$GC,10999,0.60,146.1,905.9,21.3,508,11003,0.00,2.25,0.00,0.000,4,0.000,0.045,2039,1281,2217,0,0,0,0,0,0
$GC,11045,0.60,146.1,896.0,19.8,509,11050,0.00,2.30,0.00,0.000,6,0.000,0.050,2039,2673,2215,0,0,0,0,0,0
$GC,11372,0.60,146.1,825.4,21.8,520,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2674,2215,0,0,0,0,0,0
$GC,11678,0.60,146.1,758.2,21.6,530,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2674,2214,0,0,0,0,0,0
$GC,11984,0.60,146.1,693.3,20.7,540,11988,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1270,2214,0,0,0,0,0,0
$GC,12042,0.60,146.1,682.0,17.2,541,12046,0.00,2.28,0.00,0.000,6,0.000,0.050,2049,2670,2212,0,0,0,0,0,0
$GC,12359,0.60,146.1,617.5,20.1,551,12363,0.00,2.20,0.00,0.000,4,0.000,0.043,2059,1276,2212,0,0,0,0,0,0
$GC,12399,0.60,146.1,609.5,17.9,552,12404,0.12,2.28,0.00,0.000,6,0.214,0.050,2031,2679,2212,0,0,0,0,0,0
$GC,12727,0.60,146.1,552.0,18.0,563,12731,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1279,2212,0,0,0,0,0,0
$GC,12758,0.60,146.1,546.5,17.4,564,12762,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2669,2211,0,0,0,0,0,0
$GC,13096,0.60,146.1,484.1,18.7,575,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2211,0,0,0,0,0,0
$GC,13404,0.60,146.1,424.3,19.5,585,13408,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1276,2211,0,0,0,0,0,0
$GC,13437,0.60,146.1,417.9,18.4,586,13441,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2669,2210,0,0,0,0,0,0
$GC,13756,0.60,146.1,354.6,20.1,600,13757,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2669,2210,0,0,0,0,0,0
$GC,14068,0.60,146.1,293.8,19.4,615,14072,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1277,2210,0,0,0,0,0,0
$GC,14114,0.60,146.1,284.4,17.0,617,14119,0.15,2.25,0.00,0.000,6,0.206,0.051,2026,2669,2209,0,0,0,0,0,0
$GC,14447,0.60,146.1,229.0,16.6,635,14451,0.00,2.20,0.00,0.000,4,0.000,0.044,2035,1273,2209,0,0,0,0,0,0
$GC,14494,0.60,146.1,221.2,15.3,637,14501,0.00,2.25,0.00,0.000,6,0.000,0.050,2035,2670,2209,0,0,0,0,0,0
$GC,14817,0.60,146.1,166.5,17.1,658,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2671,2208,0,0,0,0,0,0
$GC,15128,0.60,146.1,115.5,15.6,678,15132,0.00,2.20,0.00,0.000,4,0.000,0.043,2045,1278,2209,0,0,0,0,0,0
$GC,15164,0.60,146.1,109.5,15.5,680,15168,0.00,2.25,0.00,0.000,6,0.000,0.050,2045,2671,2209,0,0,0,0,0,0
$GC,15512,0.60,146.1,53.4,16.0,732,15520,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2672,2208,0,0,0,0,0,0
$GC,15770,0.60,146.1,13.1,16.0,773,15779,0.00,2.22,0.00,0.000,4,0.000,0.042,2056,1271,2209,0,0,0,0,0,0
$GC,15828,0.60,146.1,3.7,14.4,781,15837,0.10,2.28,0.00,0.000,6,0.185,0.050,2028,2669,2208,0,0,0,0,0,0
$STATE,15845,end climb,SURFACE_DEPTH_REACHED
$STATE,15845,begin surface coast
$FINISH,0.7,1.026238
$STATE,15871,end surface coast,CONTROL_FINISHED_OK
$STATE,15871,begin surface
$SM_CCo,15894,41.83,0.766,1,0,1881,230.09
$SM_GC,2.17,0.00,0.00,41.83,0.000,0.000,0.766,55,2893,1881,-5.55,0.93,230.09
$IRIDIUM_FIX,-4616.72,435.68,280113,202057
$TT8_MAMPS,0.026215
$HUMID,58.82
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.7,57.760
$10V_AH,10.0,29.263
$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,13.850,102.750,299.700,41.825,0.000,26.031,45.019,472.486,0.000,0.000,22.162,1987.715,10982.003,437.829,2545.184,769.312,33.373,1315.676,0.000,1986.622,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,61.200,1800.810,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.256,1552.725,825.337,311.460,0.000,0.000,0.000,0.000,0.000,0.000
$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,57217,787
$CAP_FILE_SIZE,128184,0
$CFSIZE,259252224,210051072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290113,053022,-4630.747,439.932,38,0.8,38,-23.5