version: 66.07
glider: 542
mission: 6
dive: 318
start: 1 30 113 13 28 56
data:
$ID,542
$MISSION,6
$DIVE,318
$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,-11475.881
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,300113,131505,-4643.859,445.560,34,1.0,34,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-64.9
$GPS2,300113,132759,-4643.866,445.661,17,1.0,17,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.051,-0.251
$KALMAN_X,-246591.9,-29.2,198.2,282748.0,-1749.6
$KALMAN_Y,172448.7,-266.0,-37.2,-158413.2,2496.9
$MHEAD_RNG_PITCHd_Wd,192.1,30724,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-62.90,0.000,2,0.000,0.000,47,2866,3132,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-2.3,8,124,6.88,1.70,-7.70,0.000,4,0.257,0.073,1620,3900,3418,0,0,0,0,0,0
$GC,304,-0.60,-146.1,35.3,-13.7,39,311,0.00,1.62,0.00,0.000,6,0.000,0.031,1620,2846,3421,0,0,0,0,0,0
$GC,549,-0.60,-146.1,69.8,-13.3,80,556,0.00,1.73,0.00,0.000,4,0.000,0.059,1612,3896,3421,0,0,0,0,0,0
$GC,603,-0.60,-146.1,77.1,-15.2,88,610,0.00,1.58,0.00,0.000,6,0.000,0.030,1612,2853,3421,0,0,0,0,0,0
$GC,943,-0.60,-146.1,117.9,-11.2,129,947,0.00,1.70,0.00,0.000,4,0.000,0.060,1604,3893,3422,0,0,0,0,0,0
$GC,1001,-0.60,-146.1,125.3,-12.3,132,1005,0.08,1.55,0.00,0.000,6,0.158,0.030,1627,2865,3422,0,0,0,0,0,0
$GC,1334,-0.60,-146.1,160.2,-11.3,153,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3423,0,0,0,0,0,0
$GC,1655,-0.60,-146.1,198.0,-11.3,174,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3423,0,0,0,0,0,0
$GC,1968,-0.60,-146.1,233.3,-10.9,194,1972,0.00,1.70,0.00,0.000,4,0.000,0.061,1620,3897,3424,0,0,0,0,0,0
$GC,2024,-0.60,-146.1,239.7,-11.4,197,2028,0.00,1.58,0.00,0.000,6,0.000,0.031,1620,2854,3423,0,0,0,0,0,0
$GC,2349,-0.60,-146.1,277.5,-11.8,214,2353,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3906,3423,0,0,0,0,0,0
$GC,2397,-0.60,-146.1,283.4,-12.1,216,2401,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2864,3423,0,0,0,0,0,0
$GC,2732,-0.60,-146.1,323.0,-11.9,232,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2859,3423,0,0,0,0,0,0
$GC,3044,-0.60,-146.1,358.3,-11.4,247,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2859,3423,0,0,0,0,0,0
$GC,3351,-0.60,-146.1,392.6,-10.9,262,3354,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3897,3423,0,0,0,0,0,0
$GC,3399,-0.60,-146.1,398.0,-11.6,264,3403,0.08,1.58,0.00,0.000,6,0.159,0.032,1637,2859,3423,0,0,0,0,0,0
$GC,3731,-0.60,-146.1,426.6,-8.4,275,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,4038,-0.60,-146.1,451.8,-8.1,285,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2854,3423,0,0,0,0,0,0
$GC,4343,-0.60,-146.1,476.8,-8.2,295,4347,0.00,1.70,0.00,0.000,4,0.000,0.061,1630,3903,3423,0,0,0,0,0,0
$GC,4390,-0.60,-146.1,481.0,-9.1,296,4393,0.00,1.60,0.00,0.000,6,0.000,0.032,1630,2853,3422,0,0,0,0,0,0
$GC,4721,-0.60,-146.1,511.7,-9.5,307,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2848,3422,0,0,0,0,0,0
$GC,5028,-0.60,-146.1,542.8,-10.3,317,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2848,3422,0,0,0,0,0,0
$GC,5334,-0.60,-146.1,575.5,-10.6,327,5338,0.00,1.70,0.00,0.000,4,0.000,0.062,1621,3896,3421,0,0,0,0,0,0
$GC,5371,-0.60,-146.1,579.5,-10.9,328,5374,0.00,1.58,0.00,0.000,6,0.000,0.034,1622,2862,3421,0,0,0,0,0,0
$GC,5713,-0.60,-146.1,615.8,-10.4,339,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2858,3421,0,0,0,0,0,0
$GC,6020,-0.60,-146.1,646.1,-9.6,349,6024,0.00,1.70,0.00,0.000,4,0.000,0.062,1614,3904,3421,0,0,0,0,0,0
$GC,6100,-0.60,-146.1,654.2,-10.2,351,6103,0.00,1.60,0.00,0.000,6,0.000,0.033,1614,2856,3421,0,0,0,0,0,0
$GC,6432,-0.60,-146.1,685.9,-9.5,362,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2851,3420,0,0,0,0,0,0
$GC,6738,-0.60,-146.1,713.4,-8.8,372,6742,0.00,1.70,0.00,0.000,4,0.000,0.061,1606,3899,3421,0,0,0,0,0,0
$GC,6775,-0.60,-146.1,716.7,-8.9,373,6779,0.00,1.58,0.00,0.000,6,0.000,0.034,1606,2865,3420,0,0,0,0,0,0
$GC,7118,-0.60,-146.1,748.8,-9.4,384,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2860,3420,0,0,0,0,0,0
$GC,7425,-0.60,-146.1,777.6,-9.3,394,7429,0.00,1.70,0.00,0.000,4,0.000,0.062,1598,3894,3420,0,0,0,0,0,0
$GC,7476,-0.60,-146.1,783.0,-10.0,395,7480,0.05,1.58,0.00,0.000,6,0.170,0.033,1629,2862,3419,0,0,0,0,0,0
$GC,7803,-0.60,-146.1,808.8,-7.7,406,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3419,0,0,0,0,0,0
$GC,8110,-0.60,-146.1,831.7,-7.6,416,8114,0.00,1.70,0.00,0.000,4,0.000,0.063,1622,3900,3419,0,0,0,0,0,0
$GC,8173,-0.60,-146.1,837.3,-8.2,417,8180,0.00,1.60,0.00,0.000,6,0.000,0.033,1621,2851,3419,0,0,0,0,0,0
$GC,8489,-0.60,-146.1,862.3,-7.9,428,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2851,3419,0,0,0,0,0,0
$GC,8795,-0.60,-146.1,886.0,-7.8,438,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2851,3419,0,0,0,0,0,0
$GC,9101,-0.60,-146.1,909.9,-7.9,448,9105,0.00,1.70,0.00,0.000,4,0.000,0.063,1614,3895,3418,0,0,0,0,0,0
$GC,9142,-0.60,-146.1,913.6,-8.3,449,9145,0.00,1.58,0.00,0.000,6,0.000,0.034,1614,2865,3419,0,0,0,0,0,0
$GC,9479,-0.60,-146.1,942.6,-8.5,460,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2860,3419,0,0,0,0,0,0
$GC,9786,-0.60,-146.1,970.2,-9.2,470,9789,0.00,1.73,0.00,0.000,4,0.000,0.063,1606,3903,3419,0,0,0,0,0,0
$GC,9826,-0.60,-146.1,974.4,-10.5,471,9830,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2856,3419,0,0,0,0,0,0
$STATE,10099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10099,begin apogee
$GC,10110,-0.18,0.0,1000.6,9.6,480,10259,0.55,0.00,144.98,1.244,6,0.161,0.000,1765,2675,2819,0,0,0,0,0,0
$STATE,10260,end apogee,CONTROL_FINISHED_OK
$STATE,10261,begin climb
$GC,10265,0.60,146.1,1005.3,0.0,485,10442,0.77,2.53,157.88,1.782,4,0.096,0.045,2027,1300,2224,0,0,0,0,2,0
$GC,10503,0.60,146.1,973.3,16.8,492,10507,0.00,2.42,0.00,0.000,6,0.000,0.050,2027,2671,2220,0,0,0,0,0,0
$GC,10830,0.60,146.1,908.0,20.5,503,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2671,2215,0,0,0,0,0,0
$GC,11136,0.60,146.1,844.4,20.6,513,11140,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1280,2215,0,0,0,0,0,0
$GC,11182,0.60,146.1,834.9,18.3,514,11186,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2678,2213,0,0,0,0,0,0
$GC,11514,0.60,146.1,765.4,21.2,525,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2213,0,0,0,0,0,0
$GC,11820,0.60,146.1,701.8,20.5,535,11821,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2213,0,0,0,0,0,0
$GC,12126,0.60,146.1,640.7,19.8,545,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2212,0,0,0,0,0,0
$GC,12433,0.60,146.1,581.2,19.3,555,12437,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1287,2212,0,0,0,0,0,0
$GC,12518,0.60,146.1,566.5,15.3,557,12522,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2679,2210,0,0,0,0,0,0
$GC,12835,0.60,146.1,506.5,19.2,567,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2679,2210,0,0,0,0,0,0
$GC,13140,0.60,146.1,447.8,19.1,577,13144,0.00,2.20,0.00,0.000,4,0.000,0.043,2058,1287,2210,0,0,0,0,0,0
$GC,13198,0.60,146.1,437.1,17.4,578,13205,0.12,2.22,0.00,0.000,6,0.209,0.050,2029,2669,2209,0,0,0,0,0,0
$GC,13526,0.60,146.1,381.1,17.2,591,13527,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2669,2210,0,0,0,0,0,0
$GC,13834,0.60,146.1,328.1,17.2,606,13835,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2669,2209,0,0,0,0,0,0
$GC,14145,0.60,146.1,273.3,18.3,621,14149,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1277,2209,0,0,0,0,0,0
$GC,14210,0.60,146.1,262.1,15.1,624,14214,0.00,2.25,0.00,0.000,6,0.000,0.051,2039,2670,2207,0,0,0,0,0,0
$GC,14542,0.60,146.1,202.9,18.3,644,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2208,0,0,0,0,0,0
$GC,14856,0.60,146.1,149.3,15.6,664,14857,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2208,0,0,0,0,0,0
$GC,15167,0.60,146.1,97.5,17.6,684,15177,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1291,2208,0,0,0,0,0,0
$GC,15348,0.60,146.1,70.4,13.7,714,15357,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2669,2206,0,0,0,0,0,0
$GC,15719,0.60,146.1,12.4,15.6,775,15728,0.00,1.98,0.00,0.000,4,0.000,0.058,2049,3893,2207,0,0,0,0,0,0
$STATE,15773,end climb,SURFACE_DEPTH_REACHED
$STATE,15773,begin surface coast
$FINISH,0.9,1.026376
$STATE,15786,end surface coast,CONTROL_FINISHED_OK
$STATE,15786,begin surface
$SM_CCo,15810,41.62,0.760,1,0,1879,230.09
$SM_GC,2.20,0.00,0.00,41.62,0.000,0.000,0.760,55,2850,1879,-5.55,-0.28,230.09
$IRIDIUM_FIX,-4626.10,442.95,300113,080816
$TT8_MAMPS,0.026215
$HUMID,58.54
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.7,59.147
$10V_AH,10.0,30.123
$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,13.975,77.025,302.850,41.625,0.000,25.672,41.265,460.063,0.000,0.000,19.719,1944.965,11040.945,429.827,2467.354,737.171,33.380,1255.887,0.000,1931.137,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,73.440,1782.450,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.907,1542.114,815.335,312.039,0.000,0.000,0.000,0.000,0.000,0.000
$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,57127,785
$CAP_FILE_SIZE,117279,0
$CFSIZE,259252224,209551360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,300113,175436,-4645.824,445.669,34,1.4,34,-23.6