version: 66.07
glider: 542
mission: 6
dive: 312
start: 1 29 113 9 24 1
data:
$ID,542
$MISSION,6
$DIVE,312
$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,-11459.063
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,290113,091104,-4632.280,441.712,39,1.0,39,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-56.9
$GPS2,290113,092305,-4632.238,441.836,16,1.0,16,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.144,-0.211
$KALMAN_X,-243542.3,601.4,173.7,274237.4,-3123.2
$KALMAN_Y,164550.4,-264.2,-232.7,-128790.5,3073.1
$MHEAD_RNG_PITCHd_Wd,169.2,51468,-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,-55.30,0.000,2,0.000,0.000,55,2886,2917,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.0,-3.5,7,125,6.65,1.65,-16.52,0.000,4,0.247,0.076,1619,3885,3418,0,0,0,0,0,0
$GC,399,-0.60,-146.1,47.3,-14.9,55,405,0.00,1.60,0.00,0.000,6,0.000,0.031,1620,2836,3419,0,0,0,0,0,0
$GC,640,-0.60,-146.1,82.1,-14.4,96,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2835,3419,0,0,0,0,0,0
$GC,980,-0.60,-146.1,125.7,-12.7,132,984,0.00,1.70,0.00,0.000,4,0.000,0.057,1612,3891,3420,0,0,0,0,0,0
$GC,1038,-0.60,-146.1,132.8,-12.8,135,1042,0.00,1.58,0.00,0.000,6,0.000,0.031,1611,2844,3421,0,0,0,0,0,0
$GC,1372,-0.60,-146.1,174.0,-12.1,156,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2840,3421,0,0,0,0,0,0
$GC,1682,-0.60,-146.1,212.1,-12.1,176,1686,0.00,1.67,0.00,0.000,4,0.000,0.057,1603,3885,3422,0,0,0,0,0,0
$GC,1790,-0.60,-146.1,226.0,-13.5,182,1794,0.08,1.55,0.00,0.000,6,0.160,0.031,1641,2853,3422,0,0,0,0,0,0
$GC,2131,-0.60,-146.1,259.2,-9.5,202,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2849,3422,0,0,0,0,0,0
$GC,2438,-0.60,-146.1,287.3,-8.6,217,2442,0.00,1.67,0.00,0.000,4,0.000,0.060,1635,3876,3422,0,0,0,0,0,0
$GC,2479,-0.60,-146.1,291.5,-9.6,218,2488,0.00,1.52,0.00,0.000,6,0.000,0.031,1635,2864,3421,0,0,0,0,0,0
$GC,2798,-0.60,-146.1,319.3,-9.0,234,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3422,0,0,0,0,0,0
$GC,3110,-0.60,-146.1,347.0,-9.0,249,3113,0.00,1.65,0.00,0.000,4,0.000,0.060,1627,3890,3422,0,0,0,0,0,0
$GC,3161,-0.60,-146.1,352.6,-9.9,251,3165,0.00,1.55,0.00,0.000,6,0.000,0.032,1627,2864,3422,0,0,0,0,0,0
$GC,3494,-0.60,-146.1,384.6,-9.7,267,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3421,0,0,0,0,0,0
$GC,3810,-0.60,-146.1,415.0,-9.6,280,3814,0.00,1.62,0.00,0.000,4,0.000,0.060,1619,3881,3421,0,0,0,0,0,0
$GC,3850,-0.60,-146.1,419.5,-10.2,281,3854,0.00,1.55,0.00,0.000,6,0.000,0.032,1619,2863,3421,0,0,0,0,0,0
$GC,4187,-0.60,-146.1,455.0,-10.8,292,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2858,3421,0,0,0,0,0,0
$GC,4493,-0.60,-146.1,487.4,-10.3,302,4497,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3879,3421,0,0,0,0,0,0
$GC,4530,-0.60,-146.1,491.5,-11.2,303,4534,0.00,1.55,0.00,0.000,6,0.000,0.032,1611,2858,3421,0,0,0,0,0,0
$GC,4877,-0.60,-146.1,525.8,-9.6,314,4880,0.00,1.65,0.00,0.000,4,0.000,0.060,1603,3880,3420,0,0,0,0,0,0
$GC,4934,-0.60,-146.1,532.2,-10.5,315,4937,0.00,1.55,0.00,0.000,6,0.000,0.032,1603,2862,3420,0,0,0,0,0,0
$GC,5255,-0.60,-146.1,564.3,-10.3,326,5259,0.12,1.70,0.00,0.000,4,0.184,0.060,1628,3890,3420,0,0,0,0,0,0
$GC,5318,-0.60,-146.1,570.5,-8.6,327,5325,0.00,1.58,0.00,0.000,6,0.000,0.032,1628,2847,3420,0,0,0,0,0,0
$GC,5634,-0.60,-146.1,597.5,-8.6,338,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2847,3419,0,0,0,0,0,0
$GC,5942,-0.60,-146.1,622.9,-8.0,348,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2847,3419,0,0,0,0,0,0
$GC,6246,-0.60,-146.1,645.2,-7.0,358,6250,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3884,3419,0,0,0,0,0,0
$GC,6292,-0.60,-146.1,649.0,-8.0,359,6296,0.00,1.55,0.00,0.000,6,0.000,0.033,1620,2869,3419,0,0,0,0,0,0
$GC,6624,-0.60,-146.1,672.9,-7.2,370,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2863,3418,0,0,0,0,0,0
$GC,6932,-0.60,-146.1,695.2,-7.2,380,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2863,3418,0,0,0,0,0,0
$GC,7237,-0.60,-146.1,719.0,-8.2,390,7240,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3883,3418,0,0,0,0,0,0
$GC,7283,-0.60,-146.1,723.4,-9.7,391,7286,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2852,3418,0,0,0,0,0,0
$GC,7614,-0.60,-146.1,754.0,-9.5,402,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2847,3418,0,0,0,0,0,0
$GC,7924,-0.60,-146.1,783.6,-9.5,412,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2847,3418,0,0,0,0,0,0
$GC,8227,-0.60,-146.1,811.0,-8.8,422,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2847,3417,0,0,0,0,0,0
$GC,8534,-0.60,-146.1,838.0,-8.9,432,8537,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3881,3417,0,0,0,0,0,0
$GC,8573,-0.60,-146.1,842.0,-9.1,433,8578,0.08,1.58,0.00,0.000,6,0.152,0.033,1638,2850,3417,0,0,0,0,0,0
$GC,8912,-0.60,-146.1,866.3,-7.0,444,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2846,3417,0,0,0,0,0,0
$GC,9219,-0.60,-146.1,887.1,-6.8,454,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2846,3417,0,0,0,0,0,0
$GC,9524,-0.60,-146.1,908.1,-6.8,464,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2846,3417,0,0,0,0,0,0
$GC,9831,-0.60,-146.1,930.0,-7.3,474,9834,0.00,1.70,0.00,0.000,4,0.000,0.063,1631,3890,3417,0,0,0,0,0,0
$GC,9871,-0.60,-146.1,933.3,-8.1,475,9875,0.00,1.58,0.00,0.000,6,0.000,0.033,1631,2859,3417,0,0,0,0,0,0
$GC,10209,-0.60,-146.1,958.6,-7.5,486,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3417,0,0,0,0,0,0
$GC,10517,-0.60,-146.1,980.4,-6.8,496,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3417,0,0,0,0,0,0
$STATE,10816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10816,begin apogee
$GC,10827,-0.18,0.0,1000.2,6.4,506,10975,0.45,0.00,144.45,1.258,6,0.152,0.000,1764,2677,2819,0,0,0,0,0,0
$STATE,10977,end apogee,CONTROL_FINISHED_OK
$STATE,10977,begin climb
$GC,10982,0.60,146.1,1002.4,0.0,511,11150,0.77,2.47,154.65,1.808,4,0.095,0.042,2026,1287,2225,0,0,0,0,1,0
$GC,11202,0.60,146.1,970.8,17.5,517,11209,0.00,2.40,0.00,0.000,6,0.000,0.050,2026,2648,2221,0,0,0,0,0,0
$GC,11517,0.60,146.1,904.8,21.2,528,11521,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1278,2217,0,0,0,0,0,0
$GC,11554,0.60,146.1,897.3,20.4,529,11558,0.00,2.30,0.00,0.000,6,0.000,0.051,2037,2673,2215,0,0,0,0,0,0
$GC,11899,0.60,146.1,824.6,21.5,540,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2673,2214,0,0,0,0,0,0
$GC,12203,0.60,146.1,759.3,21.5,550,12207,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1280,2214,0,0,0,0,0,0
$GC,12255,0.60,146.1,748.4,18.8,551,12259,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2671,2213,0,0,0,0,0,0
$GC,12576,0.60,146.1,679.7,21.4,562,12580,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1281,2213,0,0,0,0,0,0
$GC,12616,0.60,146.1,671.0,19.4,563,12621,0.12,2.25,0.00,0.000,6,0.216,0.050,2030,2675,2212,0,0,0,0,0,0
$GC,12956,0.60,146.1,606.6,18.6,574,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2675,2212,0,0,0,0,0,0
$GC,13261,0.60,146.1,548.0,19.1,584,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2675,2211,0,0,0,0,0,0
$GC,13568,0.60,146.1,489.8,18.9,594,13572,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1273,2212,0,0,0,0,0,0
$GC,13626,0.60,146.1,479.3,16.3,595,13633,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2672,2211,0,0,0,0,0,0
$GC,13941,0.60,146.1,421.1,18.7,606,13943,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2672,2211,0,0,0,0,0,0
$GC,14251,0.60,146.1,364.7,18.2,619,14255,0.00,2.17,0.00,0.000,4,0.000,0.044,2049,1281,2211,0,0,0,0,0,0
$GC,14296,0.60,146.1,356.9,16.6,621,14300,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2677,2210,0,0,0,0,0,0
$GC,14633,0.60,146.1,295.1,18.3,637,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2677,2210,0,0,0,0,0,0
$GC,14948,0.60,146.1,237.9,18.4,653,14951,0.00,2.20,0.00,0.000,4,0.000,0.043,2060,1279,2211,0,0,0,0,0,0
$GC,15005,0.60,146.1,227.2,16.2,656,15010,0.12,2.22,0.00,0.000,6,0.206,0.050,2031,2671,2209,0,0,0,0,0,0
$GC,15332,0.60,146.1,173.2,16.3,676,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2672,2209,0,0,0,0,0,0
$GC,15656,0.60,146.1,121.1,14.6,697,15660,0.00,2.17,0.00,0.000,4,0.000,0.042,2040,1282,2209,0,0,0,0,0,0
$GC,15714,0.60,146.1,112.1,13.5,700,15718,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2676,2208,0,0,0,0,0,0
$GC,16059,0.60,146.1,58.2,15.9,750,16068,0.00,2.22,0.00,0.000,4,0.000,0.042,2050,1284,2209,0,0,0,0,0,0
$GC,16204,0.60,146.1,38.2,14.5,773,16211,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2680,2207,0,0,0,0,0,0
$STATE,16423,end climb,SURFACE_DEPTH_REACHED
$STATE,16423,begin surface coast
$FINISH,0.7,1.026248
$STATE,16448,end surface coast,CONTROL_FINISHED_OK
$STATE,16449,begin surface
$SM_CCo,16471,41.60,0.786,1,0,1880,230.09
$SM_GC,2.58,0.00,0.00,41.60,0.000,0.000,0.786,59,2877,1880,-5.54,0.48,230.09
$IRIDIUM_FIX,-4616.72,435.68,290113,000043
$TT8_MAMPS,0.026964
$HUMID,58.38
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.7,58.097
$10V_AH,10.0,29.468
$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,13.900,82.975,299.100,41.600,0.000,31.549,20.218,441.095,0.000,0.000,18.645,2028.031,11511.518,424.179,2517.512,748.854,33.371,1284.177,0.000,2015.865,0.000,1.009,0.000
$DEVICE_MAMPS,247.095,75.735,1808.460,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.748,1609.556,854.869,321.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,57079,812
$CAP_FILE_SIZE,121781,0
$CFSIZE,259252224,209936384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290113,140051,-4633.833,443.909,28,1.1,44,-23.6