version: 66.07
glider: 542
mission: 6
dive: 311
start: 1 29 113 5 44 8
data:
$ID,542
$MISSION,6
$DIVE,311
$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,-11456.273
$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,51
$R_STBD_OVSHOOT,47
$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
$GPS1,290113,053022,-4630.747,439.932,38,0.8,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-64.7
$GPS2,290113,054311,-4630.769,440.089,23,0.7,23,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.120,-0.171
$KALMAN_X,-242668.8,10.7,86.6,271836.7,-2548.3
$KALMAN_Y,163480.6,-288.1,20.7,-125232.0,1984.5
$MHEAD_RNG_PITCHd_Wd,168.5,54137,-21.0,-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,-0.65,-95.0,0.0,0.0,0,100,0.00,0.00,-68.22,0.000,6,0.000,0.000,55,2893,3209,0,0,0,0,0,0
$GC,106,-0.72,-146.1,3.6,-2.7,9,125,6.53,1.58,-5.10,0.000,4,0.248,0.072,1585,3884,3416,0,0,0,0,0,0
$GC,401,-0.72,-146.1,59.6,-16.7,56,410,0.00,1.58,0.00,0.000,6,0.000,0.030,1591,2848,3418,0,0,0,0,0,0
$GC,648,-0.72,-146.1,99.8,-16.1,97,652,0.00,1.67,0.00,0.000,4,0.000,0.057,1584,3875,3418,0,0,0,0,0,0
$GC,705,-0.72,-146.1,108.8,-15.6,101,709,0.00,1.55,0.00,0.000,6,0.000,0.030,1590,2853,3419,0,0,0,0,0,0
$GC,1037,-0.72,-146.1,159.2,-14.7,122,1041,0.00,1.67,0.00,0.000,4,0.000,0.057,1584,3878,3420,0,0,0,0,0,0
$GC,1177,-0.72,-146.1,180.3,-14.7,130,1180,0.00,1.52,0.00,0.000,6,0.000,0.031,1589,2863,3421,0,0,0,0,0,0
$GC,1511,-0.72,-146.1,222.7,-12.3,151,1515,0.00,1.65,0.00,0.000,4,0.000,0.057,1582,3873,3421,0,0,0,0,0,0
$GC,1550,-0.72,-146.1,228.0,-14.0,153,1554,0.00,1.52,0.00,0.000,6,0.000,0.031,1582,2860,3421,0,0,0,0,0,0
$GC,1878,-0.72,-146.1,274.7,-14.9,171,1882,0.00,1.65,0.00,0.000,4,0.000,0.057,1575,3872,3420,0,0,0,0,0,0
$GC,1930,-0.72,-146.1,283.6,-15.9,173,1934,0.00,1.52,0.00,0.000,6,0.000,0.031,1574,2854,3421,0,0,0,0,0,0
$GC,2262,-0.72,-146.1,334.5,-15.2,189,2265,0.00,1.65,0.00,0.000,4,0.000,0.057,1567,3880,3421,0,0,0,0,0,0
$GC,2381,-0.72,-146.1,354.6,-16.0,194,2386,0.08,1.55,0.00,0.000,6,0.174,0.031,1588,2856,3420,0,0,0,0,0,0
$GC,2712,-0.72,-146.1,400.8,-14.0,210,2715,0.00,1.67,0.00,0.000,4,0.000,0.058,1582,3892,3420,0,0,0,0,0,0
$GC,2769,-0.72,-146.1,409.6,-14.8,211,2772,0.00,1.55,0.00,0.000,6,0.000,0.031,1582,2866,3420,0,0,0,0,0,0
$GC,3089,-0.72,-146.1,455.1,-14.4,222,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2861,3420,0,0,0,0,0,0
$GC,3397,-0.72,-146.1,499.3,-14.3,232,3401,0.00,1.65,0.00,0.000,4,0.000,0.059,1574,3887,3420,0,0,0,0,0,0
$GC,3477,-0.72,-146.1,511.8,-14.7,234,3481,0.00,1.55,0.00,0.000,6,0.000,0.032,1574,2865,3419,0,0,0,0,0,0
$GC,3809,-0.72,-146.1,559.4,-14.1,245,3813,0.00,1.67,0.00,0.000,4,0.000,0.060,1567,3872,3419,0,0,0,0,0,0
$GC,3880,-0.72,-146.1,569.7,-14.2,247,3884,0.08,1.52,0.00,0.000,6,0.173,0.032,1588,2864,3419,0,0,0,0,0,0
$GC,4223,-0.72,-146.1,612.3,-12.3,258,4226,0.00,1.65,0.00,0.000,4,0.000,0.060,1582,3883,3418,0,0,0,0,0,0
$GC,4274,-0.72,-146.1,619.5,-13.6,259,4278,0.00,1.55,0.00,0.000,6,0.000,0.032,1582,2860,3418,0,0,0,0,0,0
$GC,4601,-0.72,-146.1,662.0,-13.2,270,4605,0.00,1.67,0.00,0.000,4,0.000,0.060,1575,3880,3418,0,0,0,0,0,0
$GC,4714,-0.72,-146.1,678.5,-14.0,273,4718,0.00,1.55,0.00,0.000,6,0.000,0.032,1574,2857,3418,0,0,0,0,0,0
$GC,5046,-0.72,-146.1,723.7,-13.6,284,5050,0.00,1.65,0.00,0.000,4,0.000,0.060,1567,3877,3418,0,0,0,0,0,0
$GC,5109,-0.72,-146.1,733.2,-15.0,285,5115,0.00,1.55,0.00,0.000,6,0.000,0.033,1566,2854,3418,0,0,0,0,0,0
$GC,5424,-0.72,-146.1,776.8,-13.8,296,5428,0.12,1.67,0.00,0.000,4,0.202,0.060,1589,3879,3418,0,0,0,0,0,0
$GC,5471,-0.72,-146.1,783.3,-12.8,297,5474,0.00,1.55,0.00,0.000,6,0.000,0.032,1589,2858,3418,0,0,0,0,0,0
$GC,5802,-0.72,-146.1,821.2,-11.3,308,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2853,3418,0,0,0,0,0,0
$GC,6109,-0.72,-146.1,853.9,-10.5,318,6112,0.00,1.65,0.00,0.000,4,0.000,0.060,1581,3876,3417,0,0,0,0,0,0
$GC,6154,-0.72,-146.1,859.3,-11.5,319,6158,0.00,1.55,0.00,0.000,6,0.000,0.032,1581,2856,3417,0,0,0,0,0,0
$GC,6486,-0.72,-146.1,894.5,-10.6,330,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2852,3417,0,0,0,0,0,0
$GC,6792,-0.72,-146.1,927.4,-10.7,340,6796,0.00,1.67,0.00,0.000,4,0.000,0.060,1574,3873,3417,0,0,0,0,0,0
$GC,6872,-0.72,-146.1,936.8,-11.5,342,6876,0.00,1.55,0.00,0.000,6,0.000,0.033,1573,2854,3417,0,0,0,0,0,0
$GC,7204,-0.72,-146.1,974.5,-11.4,353,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2849,3417,0,0,0,0,0,0
$STATE,7445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7445,begin apogee
$GC,7456,-0.18,0.0,1002.7,11.5,361,7603,0.68,0.00,143.52,1.248,6,0.171,0.000,1764,2674,2819,0,0,0,0,0,0
$STATE,7604,end apogee,CONTROL_FINISHED_OK
$STATE,7605,begin climb
$GC,7610,0.72,146.1,1007.4,0.0,366,7777,0.90,2.47,154.30,1.802,4,0.095,0.044,2065,1286,2225,0,0,0,0,1,0
$GC,7876,0.72,146.1,964.0,19.7,374,7880,0.00,2.35,0.00,0.000,6,0.000,0.050,2065,2644,2221,0,0,0,0,0,0
$GC,8208,0.72,146.1,885.6,24.1,385,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2644,2217,0,0,0,0,0,0
$GC,8514,0.72,146.1,810.3,24.5,395,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2644,2216,0,0,0,0,0,0
$GC,8821,0.72,146.1,735.3,24.5,405,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2644,2215,0,0,0,0,0,0
$GC,9127,0.72,146.1,663.2,23.0,415,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2644,2215,0,0,0,0,0,0
$GC,9433,0.72,146.1,592.3,23.5,425,9437,0.00,2.15,0.00,0.000,4,0.000,0.044,2075,1281,2215,0,0,0,0,0,0
$GC,9485,0.72,146.1,580.6,20.6,426,9489,0.00,2.22,0.00,0.000,6,0.000,0.050,2076,2673,2213,0,0,0,0,0,0
$GC,9808,0.72,146.1,506.1,23.0,437,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2673,2213,0,0,0,0,0,0
$GC,10112,0.72,146.1,435.6,22.8,447,10116,0.00,2.20,0.00,0.000,4,0.000,0.044,2086,1273,2213,0,0,0,0,0,0
$GC,10144,0.72,146.1,428.5,23.0,448,10148,0.00,2.22,0.00,0.000,6,0.000,0.050,2086,2670,2213,0,0,0,0,0,0
$GC,10465,0.72,146.1,355.8,23.0,461,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2670,2213,0,0,0,0,0,0
$GC,10772,0.72,146.1,282.6,23.6,476,10776,0.00,2.17,0.00,0.000,4,0.000,0.043,2096,1273,2213,0,0,0,0,0,0
$GC,10815,0.72,146.1,273.0,21.5,478,10820,0.15,2.22,0.00,0.000,6,0.227,0.050,2063,2670,2212,0,0,0,0,0,0
$GC,11150,0.72,146.1,206.1,19.9,497,11154,0.00,2.20,0.00,0.000,4,0.000,0.044,2072,1274,2212,0,0,0,0,0,0
$GC,11185,0.72,146.1,197.5,18.4,499,11189,0.00,2.22,0.00,0.000,6,0.000,0.050,2072,2670,2211,0,0,0,0,0,0
$GC,11509,0.72,146.1,135.9,19.3,519,11513,0.00,2.20,0.00,0.000,4,0.000,0.044,2083,1273,2211,0,0,0,0,0,0
$GC,11582,0.72,146.1,122.6,16.6,523,11586,0.00,2.22,0.00,0.000,6,0.000,0.050,2083,2670,2211,0,0,0,0,0,0
$GC,11923,0.72,146.1,60.7,18.8,567,11930,0.00,1.98,0.00,0.000,4,0.000,0.059,2083,3897,2211,0,0,0,0,0,0
$GC,11966,0.72,146.1,52.3,21.3,573,11974,0.12,1.88,0.00,0.000,6,0.246,0.038,2067,2670,2211,0,0,0,0,0,0
$GC,12223,0.72,146.1,4.6,16.8,614,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2670,2211,0,0,0,0,0,0
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FINISH,0.7,1.013901
$STATE,12259,end surface coast,CONTROL_FINISHED_OK
$STATE,12259,begin surface
$SM_CCo,12282,42.22,0.773,1,0,1879,230.09
$SM_GC,1.97,0.00,0.00,42.22,0.000,0.000,0.773,56,2884,1879,-5.55,0.71,230.09
$IRIDIUM_FIX,-4616.72,435.68,290113,000043
$TT8_MAMPS,0.026215
$HUMID,59.68
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.8,57.929
$10V_AH,10.0,29.356
$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,14.325,79.300,297.825,42.225,0.000,28.421,22.086,463.955,0.000,0.000,26.134,1580.396,8235.288,403.018,2197.659,669.223,33.403,1154.450,0.000,1684.714,0.000,1.009,0.000
$DEVICE_MAMPS,247.860,71.910,1802.340,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.365,1231.072,670.161,267.882,0.000,0.000,0.000,0.000,0.000,0.000
$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,43784,619
$CAP_FILE_SIZE,103641,0
$CFSIZE,259252224,210026496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290113,091104,-4632.280,441.712,39,1.0,39,-23.5