version: 66.07
glider: 542
mission: 6
dive: 313
start: 1 29 113 14 15 51
data:
$ID,542
$MISSION,6
$DIVE,313
$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,-11461.89
$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,55
$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
$GPS1,290113,140051,-4633.833,443.909,28,1.1,44,-23.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-61.6
$GPS2,290113,141459,-4633.790,443.967,18,0.9,18,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.149,-0.208
$KALMAN_X,-244100.6,880.5,317.4,277069.1,-3346.7
$KALMAN_Y,165742.6,-133.8,-78.9,-133140.0,2514.8
$MHEAD_RNG_PITCHd_Wd,168.0,48799,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.60,-146.1,0.0,0.0,0,97,0.00,0.00,-63.35,0.000,2,0.000,0.000,58,2878,3111,0,0,0,0,0,0
$GC,103,-0.60,-146.1,3.0,-2.3,8,130,6.65,1.65,-8.50,0.000,4,0.248,0.074,1621,3887,3418,0,0,0,0,0,0
$GC,377,-0.60,-146.1,44.3,-13.8,51,384,0.00,1.58,0.00,0.000,6,0.000,0.030,1621,2844,3421,0,0,0,0,0,0
$GC,620,-0.60,-146.1,78.8,-13.9,92,627,0.00,1.70,0.00,0.000,4,0.000,0.056,1613,3886,3421,0,0,0,0,0,0
$GC,661,-0.60,-146.1,84.5,-14.6,98,668,0.00,1.55,0.00,0.000,6,0.000,0.030,1613,2851,3421,0,0,0,0,0,0
$GC,998,-0.60,-146.1,127.7,-12.5,131,1002,0.00,2.05,0.00,0.000,4,0.000,0.035,1613,1493,3421,0,0,0,0,0,0
$GC,1046,-0.60,-146.1,134.2,-11.6,134,1051,0.12,2.17,0.00,0.000,6,0.178,0.050,1634,2860,3421,0,0,0,0,0,0
$GC,1380,-0.60,-146.1,169.1,-10.3,155,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2861,3422,0,0,0,0,0,0
$GC,1705,-0.60,-146.1,203.0,-10.5,176,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2861,3422,0,0,0,0,0,0
$GC,2014,-0.60,-146.1,235.3,-10.5,196,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2860,3422,0,0,0,0,0,0
$GC,2335,-0.60,-146.1,267.2,-9.6,214,2339,0.00,1.65,0.00,0.000,4,0.000,0.060,1627,3890,3422,0,0,0,0,0,0
$GC,2387,-0.60,-146.1,272.9,-10.6,216,2391,0.00,1.55,0.00,0.000,6,0.000,0.031,1627,2865,3422,0,0,0,0,0,0
$GC,2716,-0.60,-146.1,306.8,-10.6,232,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2861,3422,0,0,0,0,0,0
$GC,3028,-0.60,-146.1,341.2,-11.6,247,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3422,0,0,0,0,0,0
$GC,3335,-0.60,-146.1,377.2,-11.5,262,3339,0.00,1.70,0.00,0.000,4,0.000,0.060,1619,3898,3422,0,0,0,0,0,0
$GC,3371,-0.60,-146.1,381.6,-12.3,263,3375,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2857,3422,0,0,0,0,0,0
$GC,3714,-0.60,-146.1,421.9,-11.6,277,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2852,3422,0,0,0,0,0,0
$GC,4020,-0.60,-146.1,457.1,-11.2,287,4024,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3890,3422,0,0,0,0,0,0
$GC,4072,-0.60,-146.1,463.7,-12.6,288,4076,0.00,1.55,0.00,0.000,6,0.000,0.033,1611,2870,3422,0,0,0,0,0,0
$GC,4400,-0.60,-146.1,499.6,-10.7,299,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2865,3422,0,0,0,0,0,0
$GC,4705,-0.60,-146.1,530.7,-10.0,309,4708,0.00,1.65,0.00,0.000,4,0.000,0.060,1603,3900,3422,0,0,0,0,0,0
$GC,4750,-0.60,-146.1,535.6,-10.4,310,4755,0.05,1.58,0.00,0.000,6,0.162,0.032,1634,2862,3422,0,0,0,0,0,0
$GC,5083,-0.60,-146.1,560.5,-7.4,321,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2859,3421,0,0,0,0,0,0
$GC,5390,-0.60,-146.1,583.5,-7.4,331,5393,0.00,1.67,0.00,0.000,4,0.000,0.062,1627,3893,3421,0,0,0,0,0,0
$GC,5436,-0.60,-146.1,587.5,-8.6,332,5439,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2857,3420,0,0,0,0,0,0
$GC,5768,-0.60,-146.1,615.1,-8.6,343,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2852,3420,0,0,0,0,0,0
$GC,6076,-0.60,-146.1,641.1,-8.6,353,6080,0.00,1.70,0.00,0.000,4,0.000,0.061,1618,3901,3419,0,0,0,0,0,0
$GC,6146,-0.60,-146.1,648.1,-10.1,355,6150,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2866,3419,0,0,0,0,0,0
$GC,6490,-0.60,-146.1,678.8,-9.0,366,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2862,3419,0,0,0,0,0,0
$GC,6796,-0.60,-146.1,704.8,-8.2,376,6800,0.00,1.67,0.00,0.000,4,0.000,0.060,1611,3895,3419,0,0,0,0,0,0
$GC,6842,-0.60,-146.1,708.9,-8.9,377,6846,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2859,3418,0,0,0,0,0,0
$GC,7174,-0.60,-146.1,736.9,-8.4,388,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2854,3418,0,0,0,0,0,0
$GC,7483,-0.60,-146.1,762.3,-8.4,398,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2854,3418,0,0,0,0,0,0
$GC,7787,-0.60,-146.1,788.6,-8.8,408,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2854,3418,0,0,0,0,0,0
$GC,8093,-0.60,-146.1,816.5,-9.3,418,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2854,3417,0,0,0,0,0,0
$GC,8399,-0.60,-146.1,846.5,-9.9,428,8403,0.00,1.70,0.00,0.000,4,0.000,0.061,1603,3897,3417,0,0,0,0,0,0
$GC,8462,-0.60,-146.1,853.4,-10.4,429,8469,0.08,1.58,0.00,0.000,6,0.156,0.033,1627,2861,3417,0,0,0,0,0,0
$GC,8777,-0.60,-146.1,881.1,-8.8,440,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2861,3417,0,0,0,0,0,0
$GC,9084,-0.60,-146.1,907.9,-8.8,450,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3417,0,0,0,0,0,0
$GC,9390,-0.60,-146.1,933.3,-8.2,460,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2861,3417,0,0,0,0,0,0
$GC,9696,-0.60,-146.1,957.3,-7.9,470,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2861,3417,0,0,0,0,0,0
$GC,10003,-0.60,-146.1,981.2,-7.8,480,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2861,3416,0,0,0,0,0,0
$STATE,10242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10242,begin apogee
$GC,10253,-0.18,0.0,1000.8,8.1,488,10400,0.47,0.00,144.20,1.261,6,0.156,0.000,1768,2672,2820,0,0,0,0,0,0
$STATE,10403,end apogee,CONTROL_FINISHED_OK
$STATE,10403,begin climb
$GC,10407,0.60,146.1,1005.9,0.0,493,10576,0.77,2.47,154.77,1.814,4,0.092,0.042,2032,1281,2226,0,0,0,0,1,0
$GC,10622,0.60,146.1,978.2,17.4,499,10626,0.00,2.45,0.00,0.000,6,0.000,0.050,2032,2661,2222,0,0,0,0,0,0
$GC,10937,0.60,146.1,914.7,20.3,509,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2661,2218,0,0,0,0,0,0
$GC,11243,0.60,146.1,851.4,20.9,519,11247,0.00,2.20,0.00,0.000,4,0.000,0.044,2042,1272,2217,0,0,0,0,0,0
$GC,11278,0.60,146.1,844.2,19.6,520,11282,0.00,2.28,0.00,0.000,6,0.000,0.050,2042,2674,2215,0,0,0,0,0,0
$GC,11610,0.60,146.1,774.0,21.0,531,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2674,2215,0,0,0,0,0,0
$GC,11916,0.60,146.1,708.9,21.2,541,11920,0.00,2.22,0.00,0.000,4,0.000,0.043,2053,1273,2214,0,0,0,0,0,0
$GC,11953,0.60,146.1,701.5,19.6,542,11957,0.00,2.28,0.00,0.000,6,0.000,0.050,2053,2680,2213,0,0,0,0,0,0
$GC,12298,0.60,146.1,627.4,22.0,553,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2681,2213,0,0,0,0,0,0
$GC,12602,0.60,146.1,562.6,21.0,563,12606,0.00,2.22,0.00,0.000,4,0.000,0.045,2063,1277,2213,0,0,0,0,0,0
$GC,12654,0.60,146.1,552.0,19.6,564,12659,0.15,2.25,0.00,0.000,6,0.208,0.050,2028,2676,2212,0,0,0,0,0,0
$GC,12970,0.60,146.1,492.6,19.4,574,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2677,2212,0,0,0,0,0,0
$GC,13277,0.60,146.1,435.6,18.2,584,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2677,2212,0,0,0,0,0,0
$GC,13593,0.60,146.1,375.0,19.5,596,13597,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1273,2211,0,0,0,0,0,0
$GC,13674,0.60,146.1,360.3,16.4,599,13678,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2677,2210,0,0,0,0,0,0
$GC,13992,0.60,146.1,298.3,19.6,614,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2677,2210,0,0,0,0,0,0
$GC,14309,0.60,146.1,238.7,17.7,630,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2677,2210,0,0,0,0,0,0
$GC,14620,0.60,146.1,183.0,16.6,650,14624,0.00,2.20,0.00,0.000,4,0.000,0.043,2048,1273,2210,0,0,0,0,0,0
$GC,14661,0.60,146.1,176.3,15.1,652,14669,0.00,2.30,0.00,0.000,6,0.000,0.051,2048,2676,2210,0,0,0,0,0,0
$GC,14985,0.60,146.1,122.0,18.0,673,14989,0.00,1.98,0.00,0.000,4,0.000,0.060,2048,3912,2210,0,0,0,0,0,0
$GC,15073,0.60,146.1,104.8,19.9,678,15077,0.12,1.90,0.00,0.000,6,0.226,0.037,2031,2678,2210,0,0,0,0,0,0
$GC,15427,0.60,146.1,52.7,14.6,735,15434,0.00,2.22,0.00,0.000,4,0.000,0.043,2041,1254,2210,0,0,0,0,0,0
$GC,15583,0.60,146.1,31.0,12.7,760,15592,0.00,2.30,0.00,0.000,6,0.000,0.051,2041,2664,2208,0,0,0,0,0,0
$STATE,15758,end climb,SURFACE_DEPTH_REACHED
$STATE,15758,begin surface coast
$FINISH,0.8,1.026358
$STATE,15784,end surface coast,CONTROL_FINISHED_OK
$STATE,15784,begin surface
$SM_CCo,15806,42.00,0.770,1,0,1879,230.09
$SM_GC,2.28,0.00,0.00,42.00,0.000,0.000,0.770,58,2885,1879,-5.54,0.71,230.09
$IRIDIUM_FIX,-4616.72,445.04,290113,090927
$TT8_MAMPS,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.7,58.265
$10V_AH,10.0,29.577
$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,13.850,73.025,298.975,42.000,0.000,60.347,73.405,397.937,0.000,0.000,20.494,1958.538,11108.432,419.612,2521.239,676.823,33.377,1227.083,0.000,1914.937,0.000,1.008,0.000
$DEVICE_MAMPS,247.860,74.205,1813.815,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.581,1559.933,828.627,323.019,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,57226,791
$CAP_FILE_SIZE,115418,0
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