version: 66.07
glider: 542
mission: 6
dive: 314
start: 1 29 113 18 55 18
data:
$ID,542
$MISSION,6
$DIVE,314
$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,-11464.658
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,290113,184129,-4635.719,446.029,35,1.0,35,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-62.9
$GPS2,290113,185421,-4635.746,446.105,16,0.8,17,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.086,-0.241
$KALMAN_X,-243837.0,498.0,198.2,280014.2,-2330.1
$KALMAN_Y,166532.4,-195.3,-147.1,-137420.1,2141.1
$MHEAD_RNG_PITCHd_Wd,183.9,45576,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.60,-146.1,0.0,0.0,0,83,0.00,0.00,-55.10,0.000,2,0.000,0.000,58,2888,2914,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.6,7,124,6.85,1.65,-17.10,0.000,4,0.257,0.079,1620,3887,3418,0,0,0,0,0,0
$GC,328,-0.60,-146.1,35.0,-13.4,43,334,0.00,1.62,0.00,0.000,6,0.000,0.031,1620,2826,3420,0,0,0,0,0,0
$GC,571,-0.60,-146.1,69.6,-13.7,84,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2825,3420,0,0,0,0,0,0
$GC,922,-0.60,-146.1,116.9,-13.3,130,923,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2825,3421,0,0,0,0,0,0
$GC,1233,-0.60,-146.1,154.8,-12.2,150,1236,0.00,1.70,0.00,0.000,4,0.000,0.058,1612,3897,3422,0,0,0,0,0,0
$GC,1313,-0.60,-146.1,165.6,-12.2,154,1322,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2845,3422,0,0,0,0,0,0
$GC,1637,-0.60,-146.1,202.5,-10.8,175,1640,0.00,1.67,0.00,0.000,4,0.000,0.058,1604,3891,3422,0,0,0,0,0,0
$GC,1713,-0.60,-146.1,211.9,-11.9,179,1717,0.00,1.55,0.00,0.000,6,0.000,0.031,1604,2858,3422,0,0,0,0,0,0
$GC,2040,-0.60,-146.1,250.9,-12.3,200,2045,0.12,1.73,0.00,0.000,4,0.184,0.059,1628,3893,3423,0,0,0,0,0,0
$GC,2099,-0.60,-146.1,257.7,-10.4,202,2102,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2866,3423,0,0,0,0,0,0
$GC,2423,-0.60,-146.1,290.0,-10.2,218,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3422,0,0,0,0,0,0
$GC,2734,-0.60,-146.1,320.0,-9.6,233,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2861,3423,0,0,0,0,0,0
$GC,3041,-0.60,-146.1,349.9,-9.5,248,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3422,0,0,0,0,0,0
$GC,3352,-0.60,-146.1,379.2,-9.4,263,3356,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3886,3422,0,0,0,0,0,0
$GC,3410,-0.60,-146.1,385.6,-9.9,265,3414,0.00,1.55,0.00,0.000,6,0.000,0.032,1620,2863,3422,0,0,0,0,0,0
$GC,3753,-0.60,-146.1,419.6,-9.9,279,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3422,0,0,0,0,0,0
$GC,4058,-0.60,-146.1,451.0,-10.5,289,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3422,0,0,0,0,0,0
$GC,4365,-0.60,-146.1,483.9,-10.9,299,4368,0.00,1.67,0.00,0.000,4,0.000,0.061,1612,3894,3421,0,0,0,0,0,0
$GC,4427,-0.60,-146.1,491.7,-13.1,300,4434,0.00,1.58,0.00,0.000,6,0.000,0.032,1612,2851,3421,0,0,0,0,0,0
$GC,4743,-0.60,-146.1,530.1,-12.6,311,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2851,3421,0,0,0,0,0,0
$GC,5049,-0.60,-146.1,569.1,-12.9,321,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2851,3420,0,0,0,0,0,0
$GC,5355,-0.60,-146.1,606.9,-12.1,331,5359,0.00,1.65,0.00,0.000,4,0.000,0.060,1604,3888,3419,0,0,0,0,0,0
$GC,5401,-0.60,-146.1,612.8,-12.3,332,5405,0.08,1.55,0.00,0.000,6,0.159,0.033,1643,2870,3419,0,0,0,0,0,0
$GC,5734,-0.60,-146.1,641.2,-8.2,343,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2866,3419,0,0,0,0,0,0
$GC,6042,-0.60,-146.1,664.6,-7.4,353,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2866,3418,0,0,0,0,0,0
$GC,6347,-0.60,-146.1,687.5,-7.4,363,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2866,3418,0,0,0,0,0,0
$GC,6652,-0.60,-146.1,710.5,-7.7,373,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2866,3418,0,0,0,0,0,0
$GC,6959,-0.60,-146.1,733.2,-7.2,383,6963,0.00,1.67,0.00,0.000,4,0.000,0.061,1636,3884,3418,0,0,0,0,0,0
$GC,7000,-0.60,-146.1,736.6,-8.0,384,7004,0.00,1.58,0.00,0.000,6,0.000,0.033,1636,2850,3418,0,0,0,0,0,0
$GC,7339,-0.60,-146.1,761.3,-7.3,395,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2846,3418,0,0,0,0,0,0
$GC,7644,-0.60,-146.1,783.2,-7.0,405,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2846,3417,0,0,0,0,0,0
$GC,7951,-0.60,-146.1,805.7,-7.4,415,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2846,3417,0,0,0,0,0,0
$GC,8256,-0.60,-146.1,827.9,-7.1,425,8260,0.00,1.70,0.00,0.000,4,0.000,0.062,1629,3892,3417,0,0,0,0,0,0
$GC,8302,-0.60,-146.1,831.6,-8.1,426,8306,0.00,1.58,0.00,0.000,6,0.000,0.033,1628,2861,3417,0,0,0,0,0,0
$GC,8635,-0.60,-146.1,855.4,-7.1,437,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2856,3416,0,0,0,0,0,0
$GC,8941,-0.60,-146.1,878.4,-7.7,447,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2856,3416,0,0,0,0,0,0
$GC,9247,-0.60,-146.1,903.5,-8.4,457,9250,0.00,1.65,0.00,0.000,4,0.000,0.061,1621,3887,3416,0,0,0,0,0,0
$GC,9288,-0.60,-146.1,907.4,-9.2,458,9291,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2856,3416,0,0,0,0,0,0
$GC,9625,-0.60,-146.1,938.3,-9.1,469,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2852,3416,0,0,0,0,0,0
$GC,9931,-0.60,-146.1,965.1,-8.7,479,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2852,3416,0,0,0,0,0,0
$GC,10238,-0.60,-146.1,990.7,-8.3,489,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2852,3415,0,0,0,0,0,0
$STATE,10355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10355,begin apogee
$GC,10366,-0.18,0.0,1000.6,8.0,493,10514,0.50,0.00,144.70,1.253,6,0.155,0.000,1768,2677,2819,0,0,0,0,0,0
$STATE,10516,end apogee,CONTROL_FINISHED_OK
$STATE,10516,begin climb
$GC,10521,0.60,146.1,1004.6,0.0,498,10691,0.77,2.50,155.80,1.818,4,0.092,0.042,2030,1290,2224,0,0,0,0,1,0
$GC,10776,0.60,146.1,966.6,18.2,505,10783,0.00,2.40,0.00,0.000,6,0.000,0.050,2030,2664,2220,0,0,0,0,0,0
$GC,11091,0.60,146.1,899.5,21.6,516,11095,0.00,2.25,0.00,0.000,4,0.000,0.044,2041,1287,2216,0,0,0,0,0,0
$GC,11137,0.60,146.1,889.8,19.1,517,11141,0.00,2.30,0.00,0.000,6,0.000,0.050,2041,2675,2215,0,0,0,0,0,0
$GC,11458,0.60,146.1,822.2,21.0,528,11462,0.00,2.25,0.00,0.000,4,0.000,0.044,2051,1276,2214,0,0,0,0,0,0
$GC,11510,0.60,146.1,811.3,18.1,529,11514,0.00,2.28,0.00,0.000,6,0.000,0.050,2051,2671,2213,0,0,0,0,0,0
$GC,11825,0.60,146.1,743.1,22.2,539,11829,0.00,2.22,0.00,0.000,4,0.000,0.044,2062,1276,2213,0,0,0,0,0,0
$GC,11877,0.60,146.1,731.9,19.7,540,11882,0.15,2.25,0.00,0.000,6,0.211,0.050,2027,2679,2212,0,0,0,0,0,0
$GC,12192,0.60,146.1,670.6,19.6,550,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2680,2211,0,0,0,0,0,0
$GC,12499,0.60,146.1,610.7,19.2,560,12503,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1277,2211,0,0,0,0,0,0
$GC,12551,0.60,146.1,601.4,16.0,561,12555,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2673,2211,0,0,0,0,0,0
$GC,12871,0.60,146.1,538.0,20.4,572,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2673,2211,0,0,0,0,0,0
$GC,13178,0.60,146.1,479.2,19.2,582,13182,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1284,2211,0,0,0,0,0,0
$GC,13230,0.60,146.1,469.8,16.7,583,13234,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2679,2210,0,0,0,0,0,0
$GC,13545,0.60,146.1,409.0,19.4,593,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2678,2211,0,0,0,0,0,0
$GC,13856,0.60,146.1,349.5,19.4,607,13860,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1280,2211,0,0,0,0,0,0
$GC,13906,0.60,146.1,340.3,17.2,609,13911,0.12,2.25,0.00,0.000,6,0.210,0.050,2029,2673,2210,0,0,0,0,0,0
$GC,14239,0.60,146.1,280.6,17.9,625,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2673,2210,0,0,0,0,0,0
$GC,14547,0.60,146.1,225.5,16.9,642,14551,0.00,2.20,0.00,0.000,4,0.000,0.042,2038,1280,2210,0,0,0,0,0,0
$GC,14623,0.60,146.1,213.5,14.4,646,14633,0.00,2.28,0.00,0.000,6,0.000,0.050,2039,2672,2209,0,0,0,0,0,0
$GC,14946,0.60,146.1,157.0,17.8,667,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2672,2209,0,0,0,0,0,0
$GC,15259,0.60,146.1,104.1,16.3,687,15263,0.00,2.20,0.00,0.000,4,0.000,0.042,2049,1276,2209,0,0,0,0,0,0
$GC,15370,0.60,146.1,87.0,13.3,702,15379,0.00,2.30,0.00,0.000,6,0.000,0.050,2049,2684,2209,0,0,0,0,0,0
$GC,15734,0.60,146.1,29.8,16.0,763,15742,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2684,2209,0,0,0,0,0,0
$GC,15822,0.60,146.1,14.9,16.9,776,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2684,2209,0,0,0,0,0,0
$STATE,15898,end climb,SURFACE_DEPTH_REACHED
$STATE,15899,begin surface coast
$FINISH,0.8,1.026284
$STATE,15918,end surface coast,CONTROL_FINISHED_OK
$STATE,15919,begin surface
$SM_CCo,15941,41.75,0.776,1,0,1880,230.09
$SM_GC,1.89,0.00,0.00,41.75,0.000,0.000,0.776,57,2881,1880,-5.54,0.59,230.09
$IRIDIUM_FIX,-4616.72,445.04,290113,141434
$TT8_MAMPS,0.026215
$HUMID,58.82
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.7,58.436
$10V_AH,10.0,29.686
$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,14.025,73.775,300.500,41.750,0.000,27.977,19.396,476.108,0.000,0.000,20.280,1956.569,11159.341,426.791,2472.128,734.029,33.372,1259.919,0.000,1940.035,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,78.795,1818.405,776.475,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.510,1562.465,832.082,318.630,0.000,0.000,0.000,0.000,0.000,0.000
$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,57113,791
$CAP_FILE_SIZE,118101,0
$CFSIZE,259252224,209809408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290113,232305,-4637.847,447.286,30,1.3,30,-23.6