version: 66.07
glider: 542
mission: 6
dive: 320
start: 1 30 113 22 38 37
data:
$ID,542
$MISSION,6
$DIVE,320
$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,-11481.445
$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,32
$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
$GPS1,300113,222504,-4648.010,445.240,34,0.7,35,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-61.7
$GPS2,300113,223741,-4648.038,445.256,18,1.0,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.110,-0.231
$KALMAN_X,-249287.2,298.8,-19.2,284822.4,-2650.7
$KALMAN_Y,175555.0,-350.2,-345.3,-168852.1,3828.5
$MHEAD_RNG_PITCHd_Wd,178.0,23128,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.17,0.000,2,0.000,0.000,48,2876,2771,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.0,-3.0,6,125,6.68,2.25,-23.80,0.000,4,0.246,0.050,1627,1466,3418,0,0,0,0,0,0
$GC,298,-0.60,-146.1,25.1,-12.4,38,308,0.00,2.28,0.00,0.000,6,0.000,0.052,1618,2852,3419,0,0,0,0,0,0
$GC,384,-0.60,-146.1,36.7,-14.7,51,391,0.00,1.67,0.00,0.000,4,0.000,0.057,1610,3909,3419,0,0,0,0,0,0
$GC,441,-0.60,-146.1,44.8,-15.1,59,447,0.00,1.60,0.00,0.000,6,0.000,0.030,1610,2851,3419,0,0,0,0,0,0
$GC,683,-0.60,-146.1,81.9,-15.6,100,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2850,3419,0,0,0,0,0,0
$GC,1033,-0.60,-146.1,128.8,-12.5,135,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2850,3420,0,0,0,0,0,0
$GC,1355,-0.60,-146.1,170.5,-12.2,156,1359,0.00,1.70,0.00,0.000,4,0.000,0.058,1602,3909,3421,0,0,0,0,0,0
$GC,1414,-0.60,-146.1,178.6,-13.8,159,1418,0.08,1.58,0.00,0.000,6,0.161,0.031,1633,2863,3421,0,0,0,0,0,0
$GC,1747,-0.60,-146.1,208.9,-8.6,180,1751,0.00,1.65,0.00,0.000,4,0.000,0.059,1626,3899,3422,0,0,0,0,0,0
$GC,1818,-0.60,-146.1,216.2,-9.6,184,1822,0.00,1.58,0.00,0.000,6,0.000,0.031,1626,2852,3422,0,0,0,0,0,0
$GC,2153,-0.60,-146.1,251.0,-11.0,205,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2848,3421,0,0,0,0,0,0
$GC,2460,-0.60,-146.1,284.9,-10.8,220,2464,0.00,1.70,0.00,0.000,4,0.000,0.060,1618,3903,3422,0,0,0,0,0,0
$GC,2549,-0.60,-146.1,295.3,-12.3,223,2556,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2861,3422,0,0,0,0,0,0
$GC,2870,-0.60,-146.1,331.0,-11.3,239,2873,0.00,1.70,0.00,0.000,4,0.000,0.060,1610,3903,3421,0,0,0,0,0,0
$GC,2910,-0.60,-146.1,336.4,-13.1,240,2919,0.00,1.58,0.00,0.000,6,0.000,0.032,1610,2859,3422,0,0,0,0,0,0
$GC,3229,-0.60,-146.1,373.0,-11.3,256,3232,0.00,1.65,0.00,0.000,4,0.000,0.059,1602,3901,3421,0,0,0,0,0,0
$GC,3258,-0.60,-146.1,376.8,-12.3,257,3263,0.08,1.58,0.00,0.000,6,0.162,0.031,1634,2859,3421,0,0,0,0,0,0
$GC,3588,-0.60,-146.1,407.3,-9.3,272,3592,0.00,1.67,0.00,0.000,4,0.000,0.060,1628,3897,3422,0,0,0,0,0,0
$GC,3628,-0.60,-146.1,411.5,-10.5,273,3632,0.00,1.58,0.00,0.000,6,0.000,0.032,1627,2859,3421,0,0,0,0,0,0
$GC,3966,-0.60,-146.1,445.0,-10.0,284,3969,0.00,1.70,0.00,0.000,4,0.000,0.060,1619,3891,3421,0,0,0,0,0,0
$GC,4017,-0.60,-146.1,450.9,-10.9,285,4021,0.00,1.58,0.00,0.000,6,0.000,0.031,1619,2852,3421,0,0,0,0,0,0
$GC,4345,-0.60,-146.1,485.4,-10.4,296,4348,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3900,3421,0,0,0,0,0,0
$GC,4374,-0.60,-146.1,488.9,-11.5,296,4381,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2860,3421,0,0,0,0,0,0
$GC,4689,-0.60,-146.1,523.2,-10.8,307,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2859,3421,0,0,0,0,0,0
$GC,4996,-0.60,-146.1,556.6,-10.9,317,4999,0.00,1.65,0.00,0.000,4,0.000,0.060,1603,3896,3420,0,0,0,0,0,0
$GC,5053,-0.60,-146.1,563.5,-11.5,318,5057,0.08,1.58,0.00,0.000,6,0.160,0.032,1635,2862,3420,0,0,0,0,0,0
$GC,5374,-0.60,-146.1,592.3,-8.9,329,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2859,3420,0,0,0,0,0,0
$GC,5681,-0.60,-146.1,620.4,-9.2,339,5685,0.00,1.70,0.00,0.000,4,0.000,0.062,1629,3893,3419,0,0,0,0,0,0
$GC,5727,-0.60,-146.1,625.0,-9.6,340,5731,0.00,1.58,0.00,0.000,6,0.000,0.032,1629,2861,3419,0,0,0,0,0,0
$GC,6059,-0.60,-146.1,656.3,-9.5,351,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3418,0,0,0,0,0,0
$GC,6365,-0.60,-146.1,685.0,-9.4,361,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3418,0,0,0,0,0,0
$GC,6672,-0.60,-146.1,712.6,-8.9,371,6676,0.00,1.70,0.00,0.000,4,0.000,0.062,1621,3890,3418,0,0,0,0,0,0
$GC,6724,-0.60,-146.1,717.8,-9.8,372,6728,0.00,1.58,0.00,0.000,6,0.000,0.032,1621,2850,3417,0,0,0,0,0,0
$GC,7052,-0.60,-146.1,746.1,-8.6,383,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2846,3417,0,0,0,0,0,0
$GC,7357,-0.60,-146.1,773.3,-9.0,393,7360,0.00,1.70,0.00,0.000,4,0.000,0.060,1612,3898,3417,0,0,0,0,0,0
$GC,7419,-0.60,-146.1,779.7,-9.7,394,7426,0.00,1.58,0.00,0.000,6,0.000,0.031,1612,2859,3417,0,0,0,0,0,0
$GC,7735,-0.60,-146.1,809.2,-9.3,405,7739,0.00,1.67,0.00,0.000,4,0.000,0.059,1605,3896,3417,0,0,0,0,0,0
$GC,7787,-0.60,-146.1,814.6,-10.0,406,7791,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2858,3416,0,0,0,0,0,0
$GC,8113,-0.60,-146.1,844.5,-9.1,417,8115,0.10,0.00,0.00,0.000,6,0.194,0.000,1628,2852,3416,0,0,0,0,0,0
$GC,8419,-0.60,-146.1,866.5,-7.0,427,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2852,3416,0,0,0,0,0,0
$GC,8726,-0.60,-146.1,886.7,-6.5,437,8730,0.00,1.73,0.00,0.000,4,0.000,0.060,1621,3900,3416,0,0,0,0,0,0
$GC,8763,-0.60,-146.1,889.3,-7.1,438,8767,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2865,3416,0,0,0,0,0,0
$GC,9109,-0.60,-146.1,913.6,-7.0,449,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2861,3416,0,0,0,0,0,0
$GC,9414,-0.60,-146.1,934.3,-6.7,459,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2861,3416,0,0,0,0,0,0
$GC,9720,-0.60,-146.1,955.5,-7.0,469,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2861,3415,0,0,0,0,0,0
$GC,10026,-0.60,-146.1,977.6,-7.3,479,10029,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3896,3415,0,0,0,0,0,0
$GC,10066,-0.60,-146.1,981.1,-8.0,480,10070,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2856,3415,0,0,0,0,0,0
$STATE,10309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10309,begin apogee
$GC,10320,-0.18,0.0,1000.6,8.0,488,10472,0.52,0.00,144.50,1.851,6,0.155,0.000,1767,2675,2820,0,0,0,0,1,0
$STATE,10474,end apogee,CONTROL_FINISHED_OK
$STATE,10474,begin climb
$GC,10479,0.60,146.1,1004.5,0.0,493,10659,0.82,2.53,161.30,1.800,4,0.090,0.042,2033,1293,2225,0,0,0,0,2,0
$GC,10690,0.60,146.1,975.7,18.0,500,10694,0.00,2.42,0.00,0.000,6,0.000,0.048,2032,2667,2222,0,0,0,0,0,0
$GC,11018,0.60,146.1,907.3,20.8,511,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2667,2217,0,0,0,0,0,0
$GC,11323,0.60,146.1,845.3,20.1,521,11327,0.00,2.20,0.00,0.000,4,0.000,0.043,2043,1286,2216,0,0,0,0,0,0
$GC,11358,0.60,146.1,837.9,19.5,522,11362,0.00,2.25,0.00,0.000,6,0.000,0.049,2043,2683,2213,0,0,0,0,0,0
$GC,11690,0.60,146.1,770.0,20.6,533,11694,0.00,1.95,0.00,0.000,4,0.000,0.058,2043,3899,2213,0,0,0,0,0,0
$GC,11736,0.60,146.1,758.9,24.2,534,11740,0.00,1.88,0.00,0.000,6,0.000,0.037,2052,2683,2214,0,0,0,0,0,0
$GC,12067,0.60,146.1,684.4,22.6,545,12071,0.00,2.22,0.00,0.000,4,0.000,0.043,2063,1267,2213,0,0,0,0,0,0
$GC,12148,0.60,146.1,668.3,19.3,547,12153,0.15,2.25,0.00,0.000,6,0.208,0.049,2028,2676,2211,0,0,0,0,0,0
$GC,12471,0.60,146.1,607.2,18.5,558,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2676,2211,0,0,0,0,0,0
$GC,12776,0.60,146.1,550.1,18.7,568,12780,0.00,2.22,0.00,0.000,4,0.000,0.043,2037,1263,2211,0,0,0,0,0,0
$GC,12813,0.60,146.1,543.1,17.7,569,12817,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2668,2210,0,0,0,0,0,0
$GC,13157,0.60,146.1,476.7,18.9,580,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2669,2210,0,0,0,0,0,0
$GC,13463,0.60,146.1,417.6,19.5,590,13467,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1267,2210,0,0,0,0,0,0
$GC,13494,0.60,146.1,411.6,18.7,591,13498,0.00,2.25,0.00,0.000,6,0.000,0.049,2048,2679,2209,0,0,0,0,0,0
$GC,13824,0.60,146.1,345.7,20.2,606,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2678,2209,0,0,0,0,0,0
$GC,14136,0.60,146.1,285.7,19.0,621,14140,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1262,2209,0,0,0,0,0,0
$GC,14194,0.60,146.1,274.5,16.5,623,14201,0.12,2.28,0.00,0.000,6,0.204,0.050,2030,2676,2207,0,0,0,0,0,0
$GC,14520,0.60,146.1,217.8,17.6,642,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2676,2208,0,0,0,0,0,0
$GC,14832,0.60,146.1,165.2,16.0,662,14836,0.00,2.20,0.00,0.000,4,0.000,0.042,2039,1269,2208,0,0,0,0,0,0
$GC,14873,0.60,146.1,158.7,14.3,664,14881,0.00,2.28,0.00,0.000,6,0.000,0.050,2039,2664,2207,0,0,0,0,0,0
$GC,15196,0.60,146.1,107.8,15.8,685,15200,0.00,1.98,0.00,0.000,4,0.000,0.059,2039,3904,2207,0,0,0,0,0,0
$GC,15235,0.60,146.1,101.2,17.1,687,15239,0.00,1.92,0.00,0.000,6,0.000,0.037,2048,2667,2208,0,0,0,0,0,0
$GC,15589,0.60,146.1,47.3,15.3,746,15598,0.00,2.22,0.00,0.000,4,0.000,0.044,2059,1259,2207,0,0,0,0,0,0
$GC,15686,0.60,146.1,33.0,14.8,761,15694,0.12,2.25,0.00,0.000,6,0.197,0.049,2030,2672,2206,0,0,0,0,0,0
$STATE,15905,end climb,SURFACE_DEPTH_REACHED
$STATE,15905,begin surface coast
$FINISH,0.9,1.026265
$STATE,15937,end surface coast,CONTROL_FINISHED_OK
$STATE,15937,begin surface
$SM_CCo,15959,42.03,0.768,1,0,1879,230.09
$SM_GC,1.98,0.00,0.00,42.03,0.000,0.000,0.768,57,2876,1879,-5.54,0.45,230.09
$IRIDIUM_FIX,-4629.23,449.47,300113,171712
$TT8_MAMPS,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.7,59.486
$10V_AH,10.0,30.344
$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,14.100,101.225,305.800,42.025,0.000,27.698,21.176,462.342,0.000,0.000,20.783,2015.367,10940.487,466.433,2564.834,766.078,33.371,1341.583,0.000,2035.361,0.000,1.010,0.000
$DEVICE_MAMPS,245.565,68.085,1851.300,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.444,1605.536,868.431,340.778,0.000,0.000,0.000,0.000,0.000,0.000
$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,57088,801
$CAP_FILE_SIZE,127336,0
$CFSIZE,259252224,209403904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,310113,030653,-4650.258,446.313,40,1.2,40,-23.5