version: 66.07
glider: 542
mission: 6
dive: 323
start: 1 31 113 12 36 43
data:
$ID,542
$MISSION,6
$DIVE,323
$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,-11489.8
$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,61
$R_STBD_OVSHOOT,24
$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
$GPS1,310113,122228,-4654.481,445.621,61,0.8,62,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-56.2
$GPS2,310113,123547,-4654.525,445.725,18,1.4,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.001,-0.256
$KALMAN_X,-251663.2,428.4,-3.6,287644.5,-2023.0
$KALMAN_Y,178082.2,-124.7,20.5,-183997.1,2565.2
$MHEAD_RNG_PITCHd_Wd,203.6,12454,-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,-63.15,0.000,2,0.000,0.000,46,2828,3091,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.2,-3.4,8,125,6.75,1.77,-9.25,0.000,4,0.250,0.076,1619,3893,3418,0,0,0,0,0,0
$GC,352,-0.60,-146.1,40.0,-14.0,47,358,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2857,3420,0,0,0,0,0,0
$GC,595,-0.60,-146.1,76.1,-14.5,88,604,0.00,1.70,0.00,0.000,4,0.000,0.057,1610,3896,3420,0,0,0,0,0,0
$GC,625,-0.60,-146.1,80.6,-14.5,92,632,0.00,1.58,0.00,0.000,6,0.000,0.031,1610,2850,3421,0,0,0,0,0,0
$GC,966,-0.60,-146.1,127.4,-13.5,130,967,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2850,3421,0,0,0,0,0,0
$GC,1279,-0.60,-146.1,168.2,-13.2,150,1283,0.00,1.70,0.00,0.000,4,0.000,0.057,1602,3896,3422,0,0,0,0,0,0
$GC,1359,-0.60,-146.1,179.7,-14.5,154,1369,0.10,1.55,0.00,0.000,6,0.161,0.031,1633,2865,3423,0,0,0,0,0,0
$GC,1687,-0.60,-146.1,216.3,-10.9,175,1691,0.00,1.67,0.00,0.000,4,0.000,0.058,1626,3894,3423,0,0,0,0,0,0
$GC,1750,-0.60,-146.1,224.3,-11.0,178,1759,0.00,1.55,0.00,0.000,6,0.000,0.031,1626,2867,3423,0,0,0,0,0,0
$GC,2071,-0.60,-146.1,256.7,-9.6,198,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2867,3423,0,0,0,0,0,0
$GC,2383,-0.60,-146.1,284.6,-9.0,213,2387,0.00,1.67,0.00,0.000,4,0.000,0.059,1618,3893,3423,0,0,0,0,0,0
$GC,2434,-0.60,-146.1,289.7,-11.0,215,2437,0.00,1.55,0.00,0.000,6,0.000,0.031,1618,2869,3423,0,0,0,0,0,0
$GC,2771,-0.60,-146.1,323.7,-10.2,231,2774,0.00,1.67,0.00,0.000,4,0.000,0.059,1610,3906,3423,0,0,0,0,0,0
$GC,2805,-0.60,-146.1,327.9,-11.2,232,2809,0.00,1.60,0.00,0.000,6,0.000,0.031,1610,2849,3423,0,0,0,0,0,0
$GC,3129,-0.60,-146.1,363.0,-11.1,248,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2844,3423,0,0,0,0,0,0
$GC,3440,-0.60,-146.1,397.6,-11.3,263,3444,0.00,1.73,0.00,0.000,4,0.000,0.060,1602,3900,3422,0,0,0,0,0,0
$GC,3482,-0.60,-146.1,402.9,-12.0,265,3486,0.08,1.58,0.00,0.000,6,0.161,0.032,1633,2863,3422,0,0,0,0,0,0
$GC,3820,-0.60,-146.1,434.6,-9.3,276,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2859,3422,0,0,0,0,0,0
$GC,4127,-0.60,-146.1,462.6,-9.1,286,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2859,3422,0,0,0,0,0,0
$GC,4433,-0.60,-146.1,491.0,-9.3,296,4436,0.00,1.67,0.00,0.000,4,0.000,0.061,1627,3897,3421,0,0,0,0,0,0
$GC,4469,-0.60,-146.1,494.5,-9.8,297,4473,0.00,1.58,0.00,0.000,6,0.000,0.033,1627,2865,3421,0,0,0,0,0,0
$GC,4812,-0.60,-146.1,528.1,-9.6,308,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3421,0,0,0,0,0,0
$GC,5119,-0.60,-146.1,556.6,-9.3,318,5123,0.00,2.12,0.00,0.000,4,0.000,0.037,1627,1478,3419,0,0,0,0,0,0
$GC,5152,-0.60,-146.1,559.5,-9.2,319,5157,0.00,2.22,0.00,0.000,6,0.000,0.052,1616,2864,3419,0,0,0,0,0,0
$GC,5490,-0.60,-146.1,593.6,-9.9,330,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2863,3419,0,0,0,0,0,0
$GC,5797,-0.60,-146.1,623.7,-10.0,340,5801,0.00,1.65,0.00,0.000,4,0.000,0.061,1608,3886,3419,0,0,0,0,0,0
$GC,5849,-0.60,-146.1,629.4,-11.1,341,5852,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2852,3418,0,0,0,0,0,0
$GC,6176,-0.60,-146.1,663.5,-10.7,352,6180,0.00,1.70,0.00,0.000,4,0.000,0.060,1600,3899,3418,0,0,0,0,0,0
$GC,6223,-0.60,-146.1,669.5,-12.4,353,6227,0.08,1.58,0.00,0.000,6,0.163,0.033,1632,2866,3418,0,0,0,0,0,0
$GC,6555,-0.60,-146.1,699.3,-8.7,364,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2864,3418,0,0,0,0,0,0
$GC,6863,-0.60,-146.1,724.8,-7.9,374,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2864,3418,0,0,0,0,0,0
$GC,7167,-0.60,-146.1,747.7,-7.3,384,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2864,3418,0,0,0,0,0,0
$GC,7475,-0.60,-146.1,769.7,-7.1,394,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2864,3417,0,0,0,0,0,0
$GC,7780,-0.60,-146.1,793.0,-7.7,404,7783,0.00,1.67,0.00,0.000,4,0.000,0.061,1625,3895,3417,0,0,0,0,0,0
$GC,7826,-0.60,-146.1,797.1,-8.0,405,7830,0.00,1.58,0.00,0.000,6,0.000,0.033,1625,2866,3417,0,0,0,0,0,0
$GC,8158,-0.60,-146.1,825.0,-8.5,416,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2860,3417,0,0,0,0,0,0
$GC,8465,-0.60,-146.1,852.0,-8.8,426,8468,0.00,1.70,0.00,0.000,4,0.000,0.060,1617,3896,3417,0,0,0,0,0,0
$GC,8516,-0.60,-146.1,857.2,-9.7,427,8520,0.00,1.58,0.00,0.000,6,0.000,0.031,1617,2858,3417,0,0,0,0,0,0
$GC,8843,-0.60,-146.1,887.2,-9.3,438,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2852,3417,0,0,0,0,0,0
$GC,9150,-0.60,-146.1,914.3,-8.8,448,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2852,3417,0,0,0,0,0,0
$GC,9455,-0.60,-146.1,939.8,-8.1,458,9459,0.00,1.70,0.00,0.000,4,0.000,0.060,1609,3900,3416,0,0,0,0,0,0
$GC,9507,-0.60,-146.1,944.7,-9.1,459,9511,0.00,1.60,0.00,0.000,6,0.000,0.032,1609,2851,3416,0,0,0,0,0,0
$GC,9834,-0.60,-146.1,973.6,-9.2,470,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2846,3416,0,0,0,0,0,0
$STATE,10135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10136,begin apogee
$GC,10147,-0.18,0.0,1001.9,9.1,480,10295,0.55,0.00,144.77,1.254,6,0.156,0.000,1770,2671,2820,0,0,0,0,0,0
$STATE,10297,end apogee,CONTROL_FINISHED_OK
$STATE,10297,begin climb
$GC,10301,0.60,146.1,1005.5,0.0,485,10470,0.75,2.47,155.45,1.803,4,0.089,0.041,2028,1283,2225,0,0,0,0,1,0
$GC,10506,0.60,146.1,978.3,17.9,491,10511,0.00,2.45,0.00,0.000,6,0.000,0.050,2028,2662,2223,0,0,0,0,0,0
$GC,10828,0.60,146.1,910.7,21.3,502,10832,0.00,2.25,0.00,0.000,4,0.000,0.043,2039,1281,2218,0,0,0,0,0,0
$GC,10874,0.60,146.1,900.9,19.2,503,10878,0.00,2.30,0.00,0.000,6,0.000,0.050,2039,2684,2216,0,0,0,0,0,0
$GC,11195,0.60,146.1,830.6,21.8,514,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2684,2215,0,0,0,0,0,0
$GC,11503,0.60,146.1,765.4,21.6,524,11504,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2684,2214,0,0,0,0,0,0
$GC,11807,0.60,146.1,700.1,21.1,534,11811,0.00,2.22,0.00,0.000,4,0.000,0.043,2049,1270,2214,0,0,0,0,0,0
$GC,11853,0.60,146.1,690.9,17.6,535,11858,0.00,2.25,0.00,0.000,6,0.000,0.049,2049,2675,2213,0,0,0,0,0,0
$GC,12175,0.60,146.1,623.2,21.3,546,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2675,2213,0,0,0,0,0,0
$GC,12482,0.60,146.1,560.2,20.4,556,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2675,2214,0,0,0,0,0,0
$GC,12787,0.60,146.1,498.9,20.0,566,12791,0.00,2.22,0.00,0.000,4,0.000,0.044,2059,1271,2213,0,0,0,0,0,0
$GC,12818,0.60,146.1,492.8,18.9,567,12823,0.12,2.25,0.00,0.000,6,0.207,0.050,2031,2669,2212,0,0,0,0,0,0
$GC,13157,0.60,146.1,429.4,18.7,578,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2212,0,0,0,0,0,0
$GC,13464,0.60,146.1,370.8,19.1,590,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2212,0,0,0,0,0,0
$GC,13776,0.60,146.1,314.8,17.7,605,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2212,0,0,0,0,0,0
$GC,14082,0.60,146.1,261.2,17.4,620,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2669,2212,0,0,0,0,0,0
$GC,14401,0.60,146.1,205.4,17.2,639,14405,0.00,1.98,0.00,0.000,4,0.000,0.058,2031,3908,2211,0,0,0,0,0,0
$GC,14455,0.60,146.1,194.9,19.6,642,14459,0.00,1.90,0.00,0.000,6,0.000,0.037,2039,2682,2212,0,0,0,0,0,0
$GC,14789,0.60,146.1,137.3,17.1,663,14793,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1260,2211,0,0,0,0,0,0
$GC,14847,0.60,146.1,127.3,14.9,666,14856,0.00,2.30,0.00,0.000,6,0.000,0.050,2050,2667,2209,0,0,0,0,0,0
$GC,15184,0.60,146.1,72.9,14.2,707,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2667,2210,0,0,0,0,0,0
$GC,15551,0.60,146.1,12.7,14.9,768,15560,0.00,2.25,0.00,0.000,4,0.000,0.042,2060,1262,2210,0,0,0,0,0,0
$STATE,15599,end climb,SURFACE_DEPTH_REACHED
$STATE,15599,begin surface coast
$FINISH,0.9,1.026380
$STATE,15619,end surface coast,CONTROL_FINISHED_OK
$STATE,15619,begin surface
$SM_CCo,15644,42.28,0.772,1,0,1880,230.09
$SM_GC,1.82,0.00,0.00,42.28,0.000,0.000,0.772,61,2864,1880,-5.53,0.11,230.09
$IRIDIUM_FIX,-4635.50,446.60,310113,070738
$TT8_MAMPS,0.026964
$HUMID,59.13
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.7,60.009
$10V_AH,10.0,30.674
$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,13.975,78.775,300.225,42.275,0.000,25.778,21.927,502.896,0.000,0.000,21.044,1928.032,10938.479,422.752,2452.227,735.630,33.377,1233.975,0.000,1893.629,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,75.735,1803.105,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.083,1533.864,811.856,304.269,0.000,0.000,0.000,0.000,0.000,0.000
$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,57003,778
$CAP_FILE_SIZE,116818,0
$CFSIZE,259252224,209223680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310113,165935,-4656.293,444.573,32,1.0,32,-23.5