version: 66.07
glider: 542
mission: 6
dive: 321
start: 1 31 113 3 20 46
data:
$ID,542
$MISSION,6
$DIVE,321
$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,-11484.237
$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,35
$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
$GPS1,310113,030653,-4650.258,446.313,40,1.2,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-56.9
$GPS2,310113,031949,-4650.391,446.361,15,1.3,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,-0.246
$KALMAN_X,-250171.8,11.6,322.8,287041.4,-2697.4
$KALMAN_Y,175732.4,-307.4,-249.1,-173518.8,2468.1
$MHEAD_RNG_PITCHd_Wd,187.9,19526,-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,-63.03,0.000,2,0.000,0.000,56,2877,3114,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.4,8,124,6.72,2.28,-8.57,0.000,4,0.251,0.050,1631,1452,3418,0,0,0,0,0,0
$GC,340,-0.60,-146.1,35.5,-12.4,45,348,0.00,2.28,0.00,0.000,6,0.000,0.050,1622,2855,3419,0,0,0,0,0,0
$GC,586,-0.60,-146.1,71.7,-13.5,86,593,0.00,1.67,0.00,0.000,4,0.000,0.058,1613,3900,3420,0,0,0,0,0,0
$GC,657,-0.60,-146.1,81.3,-13.9,97,662,0.00,1.62,0.00,0.000,6,0.000,0.030,1613,2832,3421,0,0,0,0,0,0
$GC,998,-0.60,-146.1,125.1,-12.0,134,1002,0.00,1.75,0.00,0.000,4,0.000,0.057,1605,3900,3421,0,0,0,0,0,0
$GC,1125,-0.60,-146.1,141.9,-12.9,141,1129,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2855,3422,0,0,0,0,0,0
$GC,1453,-0.60,-146.1,182.2,-12.6,162,1455,0.10,0.00,0.00,0.000,6,0.191,0.000,1629,2850,3422,0,0,0,0,0,0
$GC,1764,-0.60,-146.1,215.4,-10.6,182,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3422,0,0,0,0,0,0
$GC,2076,-0.60,-146.1,246.2,-9.8,202,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3422,0,0,0,0,0,0
$GC,2391,-0.60,-146.1,277.3,-10.0,218,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3422,0,0,0,0,0,0
$GC,2703,-0.60,-146.1,308.8,-10.2,233,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3422,0,0,0,0,0,0
$GC,3010,-0.60,-146.1,342.8,-11.1,248,3014,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3904,3422,0,0,0,0,0,0
$GC,3067,-0.60,-146.1,349.9,-12.2,250,3071,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2867,3422,0,0,0,0,0,0
$GC,3392,-0.60,-146.1,386.4,-11.1,266,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2862,3422,0,0,0,0,0,0
$GC,3699,-0.60,-146.1,419.7,-10.7,278,3702,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3901,3422,0,0,0,0,0,0
$GC,3773,-0.60,-146.1,428.4,-11.1,280,3776,0.00,1.60,0.00,0.000,6,0.000,0.032,1614,2849,3422,0,0,0,0,0,0
$GC,4110,-0.60,-146.1,463.3,-10.0,291,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2844,3421,0,0,0,0,0,0
$GC,4418,-0.60,-146.1,492.6,-9.5,301,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2844,3421,0,0,0,0,0,0
$GC,4722,-0.60,-146.1,522.6,-9.9,311,4726,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3897,3421,0,0,0,0,0,0
$GC,4780,-0.60,-146.1,529.1,-11.2,312,4784,0.00,1.58,0.00,0.000,6,0.000,0.033,1605,2863,3420,0,0,0,0,0,0
$GC,5100,-0.60,-146.1,564.7,-11.4,323,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2859,3420,0,0,0,0,0,0
$GC,5407,-0.60,-146.1,599.6,-11.4,333,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2859,3419,0,0,0,0,0,0
$GC,5713,-0.60,-146.1,634.9,-11.4,343,5718,0.10,1.73,0.00,0.000,4,0.194,0.061,1622,3893,3419,0,0,0,0,0,0
$GC,5766,-0.60,-146.1,641.1,-10.5,344,5769,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2862,3419,0,0,0,0,0,0
$GC,6092,-0.60,-146.1,672.6,-9.4,355,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3418,0,0,0,0,0,0
$GC,6400,-0.60,-146.1,700.1,-8.8,365,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3418,0,0,0,0,0,0
$GC,6704,-0.60,-146.1,726.1,-8.5,375,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3418,0,0,0,0,0,0
$GC,7011,-0.60,-146.1,752.8,-8.7,385,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3418,0,0,0,0,0,0
$GC,7317,-0.60,-146.1,779.8,-8.8,395,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3417,0,0,0,0,0,0
$GC,7623,-0.60,-146.1,807.0,-9.0,405,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3417,0,0,0,0,0,0
$GC,7931,-0.60,-146.1,834.4,-9.1,415,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3417,0,0,0,0,0,0
$GC,8236,-0.60,-146.1,862.1,-9.0,425,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2857,3417,0,0,0,0,0,0
$GC,8542,-0.60,-146.1,888.1,-8.5,435,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3417,0,0,0,0,0,0
$GC,8848,-0.60,-146.1,913.3,-8.1,445,8852,0.00,2.12,0.00,0.000,4,0.000,0.038,1622,1470,3416,0,0,0,0,0,0
$GC,8880,-0.60,-146.1,915.8,-7.6,446,8885,0.00,2.25,0.00,0.000,6,0.000,0.053,1612,2871,3416,0,0,0,0,0,0
$GC,9218,-0.60,-146.1,944.9,-8.6,457,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2871,3416,0,0,0,0,0,0
$GC,9525,-0.60,-146.1,972.0,-8.8,467,9528,0.00,1.65,0.00,0.000,4,0.000,0.062,1604,3891,3416,0,0,0,0,0,0
$GC,9566,-0.60,-146.1,976.0,-9.0,468,9570,0.08,1.58,0.00,0.000,6,0.156,0.034,1627,2857,3416,0,0,0,0,0,0
$STATE,9901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9901,begin apogee
$GC,9912,-0.18,0.0,1000.2,7.0,479,10060,0.47,0.00,144.43,1.243,6,0.150,0.000,1770,2677,2819,0,0,0,0,0,0
$STATE,10061,end apogee,CONTROL_FINISHED_OK
$STATE,10062,begin climb
$GC,10067,0.60,146.1,1003.3,0.0,484,10233,0.77,0.00,156.80,1.815,6,0.090,0.000,2019,2677,2224,0,0,0,0,1,0
$GC,10540,0.60,146.1,917.9,20.9,500,10545,0.00,2.28,0.00,0.000,4,0.000,0.044,2030,1281,2219,0,0,0,0,0,0
$GC,10576,0.60,146.1,910.2,19.9,501,10580,0.00,2.33,0.00,0.000,6,0.000,0.051,2030,2670,2216,0,0,0,0,0,0
$GC,10910,0.60,146.1,839.7,21.7,512,10914,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1282,2215,0,0,0,0,0,0
$GC,10956,0.60,146.1,829.7,18.5,513,10960,0.00,2.28,0.00,0.000,6,0.000,0.051,2040,2674,2214,0,0,0,0,0,0
$GC,11277,0.60,146.1,761.6,21.1,524,11281,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1283,2214,0,0,0,0,0,0
$GC,11318,0.60,146.1,753.1,19.6,525,11322,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2681,2213,0,0,0,0,0,0
$GC,11644,0.60,146.1,681.3,22.3,536,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2682,2213,0,0,0,0,0,0
$GC,11952,0.60,146.1,613.7,21.8,546,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2682,2213,0,0,0,0,0,0
$GC,12257,0.60,146.1,547.5,21.4,556,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2682,2213,0,0,0,0,0,0
$GC,12563,0.60,146.1,482.5,21.2,566,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2681,2212,0,0,0,0,0,0
$GC,12869,0.60,146.1,419.5,19.9,576,12873,0.00,2.22,0.00,0.000,4,0.000,0.042,2061,1271,2212,0,0,0,0,0,0
$GC,12916,0.60,146.1,410.5,17.7,577,12920,0.15,2.25,0.00,0.000,6,0.203,0.050,2026,2677,2211,0,0,0,0,0,0
$GC,13240,0.60,146.1,357.1,16.8,592,13244,0.00,1.98,0.00,0.000,4,0.000,0.060,2025,3897,2211,0,0,0,0,0,0
$GC,13288,0.60,146.1,347.9,19.5,594,13292,0.00,1.90,0.00,0.000,6,0.000,0.038,2034,2674,2211,0,0,0,0,0,0
$GC,13623,0.60,146.1,287.7,17.9,610,13627,0.00,2.17,0.00,0.000,4,0.000,0.044,2044,1268,2211,0,0,0,0,0,0
$GC,13681,0.60,146.1,278.0,15.8,612,13685,0.00,2.25,0.00,0.000,6,0.000,0.050,2044,2672,2210,0,0,0,0,0,0
$GC,14011,0.60,146.1,217.0,18.2,630,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2672,2210,0,0,0,0,0,0
$GC,14323,0.60,146.1,160.6,17.7,650,14327,0.00,2.22,0.00,0.000,4,0.000,0.044,2055,1267,2210,0,0,0,0,0,0
$GC,14376,0.60,146.1,151.5,15.4,653,14381,0.12,2.25,0.00,0.000,6,0.203,0.050,2027,2674,2209,0,0,0,0,0,0
$GC,14705,0.60,146.1,106.7,14.1,673,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2675,2209,0,0,0,0,0,0
$GC,15052,0.60,146.1,60.9,13.3,730,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2674,2209,0,0,0,0,0,0
$GC,15426,0.60,146.1,5.0,13.8,791,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2674,2208,0,0,0,0,0,0
$STATE,15454,end climb,SURFACE_DEPTH_REACHED
$STATE,15454,begin surface coast
$FINISH,0.8,1.023572
$STATE,15505,end surface coast,CONTROL_FINISHED_OK
$STATE,15505,begin surface
$SM_CCo,15527,41.78,0.762,1,0,1880,230.09
$SM_GC,2.02,0.00,0.00,41.78,0.000,0.000,0.762,63,2883,1880,-5.52,0.65,230.09
$IRIDIUM_FIX,-4632.36,443.47,300113,222240
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.7,59.657
$10V_AH,10.0,30.455
$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,13.800,63.250,301.225,41.775,0.000,24.717,24.499,480.880,0.000,0.000,18.301,1959.501,10772.915,454.949,2442.347,707.362,33.378,1207.810,0.000,1906.842,0.000,1.010,0.000
$DEVICE_MAMPS,250.920,62.730,1814.580,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.535,1600.422,881.616,351.257,0.000,0.000,0.000,0.000,0.000,0.000
$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,57262,803
$CAP_FILE_SIZE,110489,0
$CFSIZE,259252224,209358848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310113,074135,-4652.635,446.966,27,0.9,27,-23.5