version: 66.07
glider: 542
mission: 6
dive: 316
start: 1 30 113 4 10 15
data:
$ID,542
$MISSION,6
$DIVE,316
$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,-11470.267
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,300113,035605,-4639.521,447.153,33,0.8,33,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-54.2
$GPS2,300113,040918,-4639.467,447.169,14,0.8,15,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.010,-0.255
$KALMAN_X,-243847.9,-140.1,-98.6,282322.5,-409.7
$KALMAN_Y,169738.0,-104.3,55.6,-147820.2,2762.9
$MHEAD_RNG_PITCHd_Wd,206.0,39090,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-47.28,0.000,2,0.000,0.000,57,2872,2763,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.1,-2.8,6,124,6.70,1.67,-24.20,0.000,4,0.249,0.078,1619,3889,3418,0,0,0,0,0,0
$GC,219,-0.60,-146.1,17.4,-15.3,25,228,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2859,3419,0,0,0,0,0,0
$GC,305,-0.60,-146.1,31.8,-14.5,38,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2859,3419,0,0,0,0,0,0
$GC,555,-0.60,-146.1,67.0,-13.7,79,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2859,3419,0,0,0,0,0,0
$GC,896,-0.60,-146.1,115.7,-14.0,126,897,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2859,3420,0,0,0,0,0,0
$GC,1210,-0.60,-146.1,156.5,-12.6,146,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2859,3421,0,0,0,0,0,0
$GC,1522,-0.60,-146.1,192.0,-11.3,166,1525,0.00,1.67,0.00,0.000,4,0.000,0.061,1611,3896,3422,0,0,0,0,0,0
$GC,1578,-0.60,-146.1,198.5,-12.3,169,1581,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2853,3422,0,0,0,0,0,0
$GC,1910,-0.60,-146.1,240.1,-12.5,190,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2847,3422,0,0,0,0,0,0
$GC,2232,-0.60,-146.1,279.3,-12.0,207,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2847,3422,0,0,0,0,0,0
$GC,2540,-0.60,-146.1,314.2,-10.9,222,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2847,3422,0,0,0,0,0,0
$GC,2851,-0.60,-146.1,346.1,-10.1,237,2855,0.00,1.73,0.00,0.000,4,0.000,0.064,1603,3892,3422,0,0,0,0,0,0
$GC,2939,-0.60,-146.1,355.8,-11.1,240,2948,0.08,1.58,0.00,0.000,6,0.161,0.033,1626,2852,3423,0,0,0,0,0,0
$GC,3258,-0.60,-146.1,384.5,-9.1,256,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2852,3422,0,0,0,0,0,0
$GC,3566,-0.60,-146.1,413.2,-9.3,269,3569,0.00,1.70,0.00,0.000,4,0.000,0.064,1620,3896,3422,0,0,0,0,0,0
$GC,3602,-0.60,-146.1,416.9,-10.2,270,3606,0.00,1.58,0.00,0.000,6,0.000,0.033,1620,2859,3421,0,0,0,0,0,0
$GC,3945,-0.60,-146.1,452.9,-10.8,281,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2855,3421,0,0,0,0,0,0
$GC,4253,-0.60,-146.1,486.6,-11.0,291,4256,0.00,1.70,0.00,0.000,4,0.000,0.064,1611,3899,3421,0,0,0,0,0,0
$GC,4304,-0.60,-146.1,493.1,-12.2,292,4308,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2864,3421,0,0,0,0,0,0
$GC,4631,-0.60,-146.1,529.9,-11.3,303,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2859,3421,0,0,0,0,0,0
$GC,4936,-0.60,-146.1,563.8,-11.0,313,4940,0.00,1.70,0.00,0.000,4,0.000,0.065,1604,3886,3421,0,0,0,0,0,0
$GC,4999,-0.60,-146.1,571.2,-11.6,314,5009,0.08,1.58,0.00,0.000,6,0.161,0.034,1627,2851,3421,0,0,0,0,0,0
$GC,5315,-0.60,-146.1,599.7,-9.0,325,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2850,3420,0,0,0,0,0,0
$GC,5621,-0.60,-146.1,625.3,-8.2,335,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2850,3421,0,0,0,0,0,0
$GC,5927,-0.60,-146.1,649.4,-7.7,345,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2850,3420,0,0,0,0,0,0
$GC,6234,-0.60,-146.1,672.8,-7.6,355,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2850,3420,0,0,0,0,0,0
$GC,6541,-0.60,-146.1,696.2,-7.6,365,6545,0.00,1.70,0.00,0.000,4,0.000,0.066,1620,3890,3420,0,0,0,0,0,0
$GC,6593,-0.60,-146.1,700.7,-8.5,366,6597,0.00,1.58,0.00,0.000,6,0.000,0.034,1620,2862,3419,0,0,0,0,0,0
$GC,6920,-0.60,-146.1,726.2,-7.7,377,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3419,0,0,0,0,0,0
$GC,7226,-0.60,-146.1,751.0,-7.9,387,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3419,0,0,0,0,0,0
$GC,7532,-0.60,-146.1,775.4,-7.9,397,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3419,0,0,0,0,0,0
$GC,7840,-0.60,-146.1,800.6,-8.5,407,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2858,3418,0,0,0,0,0,0
$GC,8145,-0.60,-146.1,827.1,-8.7,417,8148,0.00,1.70,0.00,0.000,4,0.000,0.065,1612,3894,3418,0,0,0,0,0,0
$GC,8185,-0.60,-146.1,831.0,-9.3,418,8189,0.00,1.60,0.00,0.000,6,0.000,0.034,1612,2853,3418,0,0,0,0,0,0
$GC,8523,-0.60,-146.1,860.7,-8.8,429,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2849,3418,0,0,0,0,0,0
$GC,8829,-0.60,-146.1,887.5,-8.9,439,8833,0.00,1.70,0.00,0.000,4,0.000,0.064,1604,3890,3418,0,0,0,0,0,0
$GC,8875,-0.60,-146.1,892.1,-9.5,440,8879,0.08,1.58,0.00,0.000,6,0.156,0.034,1636,2858,3418,0,0,0,0,0,0
$GC,9208,-0.60,-146.1,915.8,-7.2,451,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2854,3418,0,0,0,0,0,0
$GC,9514,-0.60,-146.1,937.9,-7.3,461,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2854,3418,0,0,0,0,0,0
$GC,9820,-0.60,-146.1,960.8,-7.6,471,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2854,3418,0,0,0,0,0,0
$GC,10126,-0.60,-146.1,985.0,-8.0,481,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2854,3418,0,0,0,0,0,0
$STATE,10336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10336,begin apogee
$GC,10347,-0.18,0.0,1001.9,7.9,488,10495,0.43,0.00,145.02,1.245,6,0.148,0.000,1765,2672,2819,0,0,0,0,0,0
$STATE,10498,end apogee,CONTROL_FINISHED_OK
$STATE,10498,begin climb
$GC,10502,0.60,146.1,1007.1,0.0,493,10670,0.77,2.50,155.10,1.806,4,0.093,0.043,2028,1281,2226,0,0,0,0,1,0
$GC,10747,0.60,146.1,973.9,16.5,500,10751,0.00,2.45,0.00,0.000,6,0.000,0.053,2028,2665,2221,0,0,0,0,0,0
$GC,11062,0.60,146.1,910.0,20.3,510,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2665,2217,0,0,0,0,0,0
$GC,11368,0.60,146.1,845.4,21.6,520,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2664,2216,0,0,0,0,0,0
$GC,11674,0.60,146.1,780.1,21.3,530,11678,0.00,2.22,0.00,0.000,4,0.000,0.045,2039,1274,2216,0,0,0,0,0,0
$GC,11756,0.60,146.1,764.2,18.6,532,11760,0.00,2.28,0.00,0.000,6,0.000,0.053,2039,2679,2214,0,0,0,0,0,0
$GC,12078,0.60,146.1,697.4,20.8,543,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2679,2214,0,0,0,0,0,0
$GC,12383,0.60,146.1,634.7,20.2,553,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2679,2214,0,0,0,0,0,0
$GC,12690,0.60,146.1,575.0,19.1,563,12694,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1277,2214,0,0,0,0,0,0
$GC,12764,0.60,146.1,561.2,16.8,565,12768,0.00,2.25,0.00,0.000,6,0.000,0.053,2049,2671,2213,0,0,0,0,0,0
$GC,13096,0.60,146.1,496.5,19.7,576,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2672,2213,0,0,0,0,0,0
$GC,13403,0.60,146.1,436.6,18.9,586,13404,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2672,2212,0,0,0,0,0,0
$GC,13720,0.60,146.1,375.0,19.6,598,13724,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1276,2213,0,0,0,0,0,0
$GC,13787,0.60,146.1,363.3,16.5,601,13792,0.12,2.28,0.00,0.000,6,0.206,0.052,2031,2679,2211,0,0,0,0,0,0
$GC,14120,0.60,146.1,304.2,18.1,617,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2679,2211,0,0,0,0,0,0
$GC,14427,0.60,146.1,250.0,17.1,632,14431,0.00,2.22,0.00,0.000,4,0.000,0.045,2040,1277,2211,0,0,0,0,0,0
$GC,14459,0.60,146.1,244.8,16.1,634,14463,0.00,2.28,0.00,0.000,6,0.000,0.052,2040,2680,2211,0,0,0,0,0,0
$GC,14789,0.60,146.1,188.3,17.1,655,14790,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2680,2211,0,0,0,0,0,0
$GC,15100,0.60,146.1,136.1,15.8,675,15104,0.00,2.22,0.00,0.000,4,0.000,0.044,2051,1278,2211,0,0,0,0,0,0
$GC,15141,0.60,146.1,129.7,14.0,677,15148,0.00,2.25,0.00,0.000,6,0.000,0.051,2051,2673,2211,0,0,0,0,0,0
$GC,15474,0.60,146.1,79.6,15.2,714,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2673,2211,0,0,0,0,0,0
$GC,15842,0.60,146.1,23.3,17.0,775,15852,0.00,2.22,0.00,0.000,4,0.000,0.043,2061,1283,2211,0,0,0,0,0,0
$GC,15973,0.60,146.1,3.7,14.0,795,15983,0.10,2.28,0.00,0.000,6,0.194,0.054,2034,2665,2208,0,0,0,0,0,0
$STATE,15991,end climb,SURFACE_DEPTH_REACHED
$STATE,15991,begin surface coast
$FINISH,1.0,1.026323
$STATE,16017,end surface coast,CONTROL_FINISHED_OK
$STATE,16017,begin surface
$SM_CCo,16039,41.90,0.762,1,0,1881,230.09
$SM_GC,2.14,0.00,0.00,41.90,0.000,0.000,0.762,56,2889,1881,-5.55,0.85,230.09
$IRIDIUM_FIX,-4622.97,445.82,290113,232346
$TT8_MAMPS,0.026964
$HUMID,58.19
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.80
$XPDR_PINGS,0
$24V_AH,21.7,58.779
$10V_AH,10.0,29.905
$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,13.650,61.925,300.125,41.900,0.000,27.631,47.651,472.656,0.000,0.000,17.524,1966.320,11277.097,419.368,2473.763,732.149,33.374,1232.753,0.000,1921.939,0.000,1.009,0.000
$DEVICE_MAMPS,249.390,78.030,1806.165,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.810,1582.373,841.900,327.649,0.000,0.000,0.000,0.000,0.000,0.000
$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,57134,801
$CAP_FILE_SIZE,114957,0
$CFSIZE,259252224,209682432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300113,083935,-4641.675,445.677,25,0.9,25,-23.6