version: 66.07
glider: 542
mission: 6
dive: 319
start: 1 30 113 18 8 51
data:
$ID,542
$MISSION,6
$DIVE,319
$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,-11478.624
$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,22
$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
$GPS1,300113,175436,-4645.824,445.669,34,1.4,34,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-65.1
$GPS2,300113,180755,-4645.852,445.809,15,1.6,15,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.049,-0.251
$KALMAN_X,-247543.4,345.9,-64.3,283771.9,-1617.0
$KALMAN_Y,174301.9,-510.2,-75.6,-163667.3,3266.0
$MHEAD_RNG_PITCHd_Wd,192.5,27211,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.08,0.000,2,0.000,0.000,53,2850,3133,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.3,-2.3,8,118,6.70,1.77,-7.65,0.000,4,0.249,0.074,1622,3907,3418,0,0,0,0,0,0
$GC,339,-0.60,-146.1,40.5,-13.8,45,345,0.00,1.62,0.00,0.000,6,0.000,0.031,1622,2847,3421,0,0,0,0,0,0
$GC,583,-0.60,-146.1,73.7,-13.4,86,589,0.00,1.73,0.00,0.000,4,0.000,0.059,1614,3898,3421,0,0,0,0,0,0
$GC,622,-0.60,-146.1,79.0,-13.7,92,629,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2852,3421,0,0,0,0,0,0
$GC,967,-0.60,-146.1,120.4,-12.1,132,971,0.00,1.70,0.00,0.000,4,0.000,0.058,1605,3909,3422,0,0,0,0,0,0
$GC,997,-0.60,-146.1,124.8,-12.9,133,1004,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2865,3423,0,0,0,0,0,0
$GC,1320,-0.60,-146.1,168.9,-14.3,154,1322,0.10,0.00,0.00,0.000,6,0.192,0.000,1629,2863,3423,0,0,0,0,0,0
$GC,1631,-0.60,-146.1,204.5,-10.8,174,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2864,3424,0,0,0,0,0,0
$GC,1944,-0.60,-146.1,238.8,-11.3,194,1947,0.00,1.67,0.00,0.000,4,0.000,0.058,1622,3909,3424,0,0,0,0,0,0
$GC,1989,-0.60,-146.1,244.6,-12.1,196,1998,0.00,1.60,0.00,0.000,6,0.000,0.031,1622,2847,3424,0,0,0,0,0,0
$GC,2316,-0.60,-146.1,281.9,-11.6,213,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3424,0,0,0,0,0,0
$GC,2623,-0.60,-146.1,317.3,-11.2,228,2627,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3903,3424,0,0,0,0,0,0
$GC,2680,-0.60,-146.1,324.4,-11.0,230,2685,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2862,3424,0,0,0,0,0,0
$GC,3005,-0.60,-146.1,361.5,-11.4,246,3008,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3897,3424,0,0,0,0,0,0
$GC,3039,-0.60,-146.1,366.1,-13.0,247,3043,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2855,3424,0,0,0,0,0,0
$GC,3373,-0.60,-146.1,404.3,-11.4,263,3377,0.10,1.73,0.00,0.000,4,0.194,0.060,1622,3907,3424,0,0,0,0,0,0
$GC,3437,-0.60,-146.1,411.4,-10.2,264,3443,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2847,3424,0,0,0,0,0,0
$GC,3752,-0.60,-146.1,442.3,-9.8,275,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3423,0,0,0,0,0,0
$GC,4058,-0.60,-146.1,471.7,-9.2,285,4062,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3899,3423,0,0,0,0,0,0
$GC,4121,-0.60,-146.1,478.1,-10.3,286,4128,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2860,3423,0,0,0,0,0,0
$GC,4436,-0.60,-146.1,508.8,-9.9,297,4440,0.00,1.70,0.00,0.000,4,0.000,0.061,1606,3899,3423,0,0,0,0,0,0
$GC,4476,-0.60,-146.1,513.3,-10.7,298,4480,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2863,3423,0,0,0,0,0,0
$GC,4814,-0.60,-146.1,549.3,-10.6,309,4818,0.10,1.70,0.00,0.000,4,0.197,0.060,1622,3899,3423,0,0,0,0,0,0
$GC,4855,-0.60,-146.1,553.9,-10.1,310,4858,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2865,3422,0,0,0,0,0,0
$GC,5192,-0.60,-146.1,584.9,-9.4,321,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2860,3422,0,0,0,0,0,0
$GC,5500,-0.60,-146.1,614.0,-9.6,331,5504,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3908,3421,0,0,0,0,0,0
$GC,5546,-0.60,-146.1,619.2,-11.3,332,5550,0.00,1.60,0.00,0.000,6,0.000,0.031,1614,2852,3421,0,0,0,0,0,0
$GC,5877,-0.60,-146.1,652.6,-10.2,343,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2847,3421,0,0,0,0,0,0
$GC,6186,-0.60,-146.1,684.2,-10.4,353,6189,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3899,3420,0,0,0,0,0,0
$GC,6243,-0.60,-146.1,691.0,-11.7,354,6246,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2865,3420,0,0,0,0,0,0
$GC,6563,-0.60,-146.1,726.1,-11.0,365,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2859,3419,0,0,0,0,0,0
$GC,6869,-0.60,-146.1,758.4,-10.4,375,6873,0.00,1.73,0.00,0.000,4,0.000,0.060,1597,3896,3419,0,0,0,0,0,0
$GC,6910,-0.60,-146.1,763.3,-11.6,376,6915,0.10,1.58,0.00,0.000,6,0.158,0.032,1628,2858,3419,0,0,0,0,0,0
$GC,7250,-0.60,-146.1,791.6,-8.3,387,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2854,3419,0,0,0,0,0,0
$GC,7555,-0.60,-146.1,816.8,-8.3,397,7559,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3904,3419,0,0,0,0,0,0
$GC,7618,-0.60,-146.1,822.6,-8.6,398,7625,0.00,1.60,0.00,0.000,6,0.000,0.031,1622,2845,3419,0,0,0,0,0,0
$GC,7934,-0.60,-146.1,850.0,-8.8,409,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2845,3418,0,0,0,0,0,0
$GC,8241,-0.60,-146.1,875.0,-8.2,419,8244,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3899,3418,0,0,0,0,0,0
$GC,8287,-0.60,-146.1,879.6,-9.4,420,8290,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2863,3418,0,0,0,0,0,0
$GC,8619,-0.60,-146.1,908.4,-8.7,431,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3418,0,0,0,0,0,0
$GC,8927,-0.60,-146.1,933.9,-8.3,441,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2859,3418,0,0,0,0,0,0
$GC,9231,-0.60,-146.1,958.9,-8.0,451,9235,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3907,3417,0,0,0,0,0,0
$GC,9272,-0.60,-146.1,962.6,-8.8,452,9275,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2855,3418,0,0,0,0,0,0
$GC,9610,-0.60,-146.1,991.3,-8.6,463,9611,0.10,0.00,0.00,0.000,6,0.194,0.000,1629,2851,3418,0,0,0,0,0,0
$STATE,9727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9727,begin apogee
$GC,9738,-0.18,0.0,1000.4,7.4,467,9885,0.45,0.00,144.27,1.247,6,0.151,0.000,1764,2674,2819,0,0,0,0,0,0
$STATE,9887,end apogee,CONTROL_FINISHED_OK
$STATE,9887,begin climb
$GC,9892,0.60,146.1,1004.2,0.0,472,10051,0.77,2.50,151.75,1.203,4,0.096,0.042,2026,1290,2219,0,0,0,0,0,0
$GC,10105,0.60,146.1,974.9,17.2,478,10109,0.00,2.42,0.00,0.000,6,0.000,0.048,2026,2672,2212,0,0,0,0,0,0
$GC,10426,0.60,146.1,909.2,20.7,489,10430,0.00,2.25,0.00,0.000,4,0.000,0.043,2036,1284,2208,0,0,0,0,0,0
$GC,10466,0.60,146.1,900.8,19.0,490,10471,0.00,2.30,0.00,0.000,6,0.000,0.049,2036,2680,2206,0,0,0,0,0,0
$GC,10806,0.60,146.1,829.3,21.4,501,10810,0.00,2.25,0.00,0.000,4,0.000,0.044,2047,1278,2206,0,0,0,0,0,0
$GC,10846,0.60,146.1,820.1,20.2,502,10851,0.00,2.28,0.00,0.000,6,0.000,0.050,2046,2674,2205,0,0,0,0,0,0
$GC,11173,0.60,146.1,747.2,22.8,513,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2675,2206,0,0,0,0,0,0
$GC,11479,0.60,146.1,676.4,23.4,523,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2674,2205,0,0,0,0,0,0
$GC,11785,0.60,146.1,607.6,21.8,533,11789,0.00,2.20,0.00,0.000,4,0.000,0.043,2057,1288,2205,0,0,0,0,0,0
$GC,11850,0.60,146.1,594.5,19.2,535,11855,0.12,2.22,0.00,0.000,6,0.212,0.050,2029,2670,2203,0,0,0,0,0,0
$GC,12189,0.60,146.1,528.9,19.4,546,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2670,2203,0,0,0,0,0,0
$GC,12495,0.60,146.1,469.1,19.4,556,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2670,2203,0,0,0,0,0,0
$GC,12801,0.60,146.1,412.2,18.5,566,12805,0.00,2.17,0.00,0.000,4,0.000,0.044,2039,1281,2203,0,0,0,0,0,0
$GC,12830,0.60,146.1,406.4,18.7,566,12837,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2678,2202,0,0,0,0,0,0
$GC,13159,0.60,146.1,343.4,19.3,582,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2679,2202,0,0,0,0,0,0
$GC,13470,0.60,146.1,285.5,18.5,597,13474,0.00,2.20,0.00,0.000,4,0.000,0.044,2048,1283,2202,0,0,0,0,0,0
$GC,13524,0.60,146.1,275.2,16.6,599,13528,0.00,2.25,0.00,0.000,6,0.000,0.051,2049,2673,2201,0,0,0,0,0,0
$GC,13849,0.60,146.1,212.8,19.2,618,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2672,2202,0,0,0,0,0,0
$GC,14162,0.60,146.1,158.2,17.3,638,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2673,2202,0,0,0,0,0,0
$GC,14475,0.60,146.1,108.9,16.0,658,14479,0.00,2.17,0.00,0.000,4,0.000,0.044,2059,1287,2201,0,0,0,0,0,0
$GC,14538,0.60,146.1,99.1,14.6,661,14546,0.12,2.22,0.00,0.000,6,0.202,0.050,2030,2670,2201,0,0,0,0,0,0
$GC,14894,0.60,146.1,47.1,14.7,722,14903,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1287,2201,0,0,0,0,0,0
$GC,14980,0.60,146.1,35.9,12.9,735,14987,0.00,2.22,0.00,0.000,6,0.000,0.050,2039,2672,2200,0,0,0,0,0,0
$STATE,15198,end climb,SURFACE_DEPTH_REACHED
$STATE,15198,begin surface coast
$FINISH,0.8,1.024224
$STATE,15221,end surface coast,CONTROL_FINISHED_OK
$STATE,15221,begin surface
$SM_CCo,15243,40.95,0.744,1,0,1879,230.09
$SM_GC,2.20,0.00,0.00,40.95,0.000,0.000,0.744,49,2875,1879,-5.57,0.42,230.09
$IRIDIUM_FIX,-4629.23,446.08,300113,131339
$TT8_MAMPS,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,22.3,59.290
$10V_AH,10.0,30.231
$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,14.100,89.350,296.025,40.950,0.000,26.223,43.488,475.405,0.000,0.000,18.362,1929.306,10488.441,424.855,2498.073,735.918,33.401,1251.081,0.000,1937.262,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,74.205,1246.950,744.345,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.983,1523.562,825.470,325.536,0.000,0.000,0.000,0.000,0.000,0.000
$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,57139,773
$CAP_FILE_SIZE,119699,0
$CFSIZE,259252224,209477632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,300113,222504,-4648.010,445.240,34,0.7,35,-23.5