version: 66.07
glider: 542
mission: 6
dive: 324
start: 1 31 113 17 13 44
data:
$ID,542
$MISSION,6
$DIVE,324
$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,-11492.556
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,310113,165935,-4656.293,444.573,32,1.0,32,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-54.6
$GPS2,310113,171247,-4656.248,444.684,17,1.1,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,-0.255
$KALMAN_X,-252889.4,191.7,199.1,287584.7,-2727.5
$KALMAN_Y,180006.0,296.1,-119.4,-189390.1,2744.3
$MHEAD_RNG_PITCHd_Wd,198.5,9127,-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,-63.22,0.000,2,0.000,0.000,59,2864,3085,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-3.4,8,125,6.75,1.70,-9.38,0.000,4,0.252,0.076,1622,3897,3418,0,0,0,0,0,0
$GC,340,-0.60,-146.1,43.6,-12.5,45,346,0.00,1.62,0.00,0.000,6,0.000,0.032,1622,2841,3420,0,0,0,0,0,0
$GC,583,-0.60,-146.1,79.1,-15.4,86,590,0.00,2.10,0.00,0.000,4,0.000,0.037,1622,1474,3421,0,0,0,0,0,0
$GC,610,-0.60,-146.1,83.1,-14.6,90,619,0.00,2.28,0.00,0.000,6,0.000,0.050,1612,2869,3421,0,0,0,0,0,0
$GC,951,-0.60,-146.1,130.9,-14.2,124,955,0.00,1.62,0.00,0.000,4,0.000,0.057,1604,3887,3421,0,0,0,0,0,0
$GC,1009,-0.60,-146.1,139.7,-13.7,127,1013,0.08,1.58,0.00,0.000,6,0.163,0.031,1635,2847,3422,0,0,0,0,0,0
$GC,1342,-0.60,-146.1,176.4,-10.9,148,1345,0.00,1.70,0.00,0.000,4,0.000,0.059,1629,3900,3422,0,0,0,0,0,0
$GC,1382,-0.60,-146.1,181.7,-11.2,150,1386,0.00,1.58,0.00,0.000,6,0.000,0.030,1628,2854,3423,0,0,0,0,0,0
$GC,1711,-0.60,-146.1,216.1,-10.3,171,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2850,3424,0,0,0,0,0,0
$GC,2023,-0.60,-146.1,250.7,-10.8,191,2027,0.00,1.70,0.00,0.000,4,0.000,0.059,1621,3890,3424,0,0,0,0,0,0
$GC,2081,-0.60,-146.1,257.8,-11.7,193,2085,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2866,3423,0,0,0,0,0,0
$GC,2407,-0.60,-146.1,293.7,-11.2,209,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2860,3423,0,0,0,0,0,0
$GC,2714,-0.60,-146.1,327.5,-10.8,224,2718,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3886,3423,0,0,0,0,0,0
$GC,2795,-0.60,-146.1,337.2,-11.8,227,2798,0.00,1.55,0.00,0.000,6,0.000,0.031,1612,2862,3423,0,0,0,0,0,0
$GC,3120,-0.60,-146.1,374.6,-11.7,243,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2856,3423,0,0,0,0,0,0
$GC,3437,-0.60,-146.1,412.5,-12.1,257,3441,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3896,3423,0,0,0,0,0,0
$GC,3489,-0.60,-146.1,419.5,-12.4,258,3493,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2856,3422,0,0,0,0,0,0
$GC,3816,-0.60,-146.1,460.6,-12.5,269,3817,0.10,0.00,0.00,0.000,6,0.192,0.000,1629,2851,3422,0,0,0,0,0,0
$GC,4121,-0.60,-146.1,491.9,-10.1,279,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2851,3422,0,0,0,0,0,0
$GC,4428,-0.60,-146.1,521.5,-9.4,289,4432,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3892,3422,0,0,0,0,0,0
$GC,4485,-0.60,-146.1,527.8,-10.9,290,4489,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2858,3421,0,0,0,0,0,0
$GC,4806,-0.60,-146.1,559.6,-10.0,301,4809,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3892,3420,0,0,0,0,0,0
$GC,4846,-0.60,-146.1,563.9,-10.5,302,4850,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2856,3420,0,0,0,0,0,0
$GC,5183,-0.60,-146.1,597.5,-9.9,313,5187,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3889,3420,0,0,0,0,0,0
$GC,5224,-0.60,-146.1,601.9,-10.0,314,5227,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2853,3420,0,0,0,0,0,0
$GC,5563,-0.60,-146.1,637.1,-10.4,325,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2849,3419,0,0,0,0,0,0
$GC,5867,-0.60,-146.1,668.9,-10.4,335,5871,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3901,3419,0,0,0,0,0,0
$GC,5952,-0.60,-146.1,678.9,-12.0,337,5956,0.08,1.60,0.00,0.000,6,0.168,0.033,1629,2854,3418,0,0,0,0,0,0
$GC,6279,-0.60,-146.1,705.5,-8.0,348,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2851,3419,0,0,0,0,0,0
$GC,6587,-0.60,-146.1,731.2,-8.6,358,6590,0.00,1.70,0.00,0.000,4,0.000,0.061,1622,3900,3418,0,0,0,0,0,0
$GC,6632,-0.60,-146.1,735.8,-9.5,359,6635,0.00,1.60,0.00,0.000,6,0.000,0.033,1622,2855,3418,0,0,0,0,0,0
$GC,6964,-0.60,-146.1,765.7,-9.1,370,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3418,0,0,0,0,0,0
$GC,7270,-0.60,-146.1,792.5,-8.8,380,7274,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3885,3418,0,0,0,0,0,0
$GC,7316,-0.60,-146.1,796.9,-9.3,381,7320,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2854,3418,0,0,0,0,0,0
$GC,7649,-0.60,-146.1,825.9,-8.7,392,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2850,3417,0,0,0,0,0,0
$GC,7955,-0.60,-146.1,852.0,-8.4,402,7958,0.00,1.70,0.00,0.000,4,0.000,0.061,1606,3897,3417,0,0,0,0,0,0
$GC,8006,-0.60,-146.1,856.8,-9.0,403,8010,0.00,1.60,0.00,0.000,6,0.000,0.033,1606,2854,3417,0,0,0,0,0,0
$GC,8334,-0.60,-146.1,885.1,-8.9,414,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2850,3417,0,0,0,0,0,0
$GC,8640,-0.60,-146.1,912.6,-9.1,424,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2848,3416,0,0,0,0,0,0
$GC,8945,-0.60,-146.1,940.2,-9.2,434,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2849,3416,0,0,0,0,0,0
$GC,9253,-0.60,-146.1,968.8,-9.3,444,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2849,3416,0,0,0,0,0,0
$GC,9557,-0.60,-146.1,997.7,-9.5,454,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2849,3416,0,0,0,0,0,0
$STATE,9585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9585,begin apogee
$GC,9595,-0.18,0.0,1000.5,9.3,455,9749,0.55,0.00,145.40,1.846,6,0.155,0.000,1768,2677,2820,0,0,0,0,1,0
$STATE,9751,end apogee,CONTROL_FINISHED_OK
$STATE,9751,begin climb
$GC,9756,0.60,146.1,1004.8,0.0,460,9925,0.82,0.00,160.43,1.805,6,0.092,0.000,2021,2676,2224,0,0,0,0,1,0
$GC,10224,0.60,146.1,922.9,20.2,476,10228,0.00,2.28,0.00,0.000,4,0.000,0.045,2032,1284,2217,0,0,0,0,0,0
$GC,10282,0.60,146.1,911.7,17.9,477,10289,0.00,2.30,0.00,0.000,6,0.000,0.051,2032,2664,2214,0,0,0,0,0,0
$GC,10597,0.60,146.1,845.7,21.7,488,10601,0.00,2.22,0.00,0.000,4,0.000,0.044,2042,1280,2215,0,0,0,0,0,0
$GC,10638,0.60,146.1,836.9,18.6,489,10642,0.00,2.28,0.00,0.000,6,0.000,0.051,2042,2672,2213,0,0,0,0,0,0
$GC,10965,0.60,146.1,767.0,21.9,500,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2672,2212,0,0,0,0,0,0
$GC,11271,0.60,146.1,702.7,20.9,510,11275,0.00,2.20,0.00,0.000,4,0.000,0.044,2052,1274,2212,0,0,0,0,0,0
$GC,11328,0.60,146.1,691.4,17.5,511,11332,0.00,2.25,0.00,0.000,6,0.000,0.051,2052,2676,2211,0,0,0,0,0,0
$GC,11645,0.60,146.1,625.6,21.0,521,11649,0.00,1.92,0.00,0.000,4,0.000,0.058,2052,3897,2210,0,0,0,0,0,0
$GC,11685,0.60,146.1,615.9,23.9,522,11690,0.15,1.90,0.00,0.000,6,0.234,0.038,2029,2680,2211,0,0,0,0,0,0
$GC,12023,0.60,146.1,551.3,19.1,533,12027,0.00,2.22,0.00,0.000,4,0.000,0.045,2038,1263,2210,0,0,0,0,0,0
$GC,12064,0.60,146.1,543.9,16.5,534,12068,0.00,2.28,0.00,0.000,6,0.000,0.050,2038,2671,2209,0,0,0,0,0,0
$GC,12391,0.60,146.1,482.0,19.2,545,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2671,2209,0,0,0,0,0,0
$GC,12698,0.60,146.1,422.8,19.5,555,12702,0.00,2.25,0.00,0.000,4,0.000,0.045,2049,1258,2209,0,0,0,0,0,0
$GC,12734,0.60,146.1,415.4,19.5,556,12738,0.00,2.30,0.00,0.000,6,0.000,0.051,2049,2676,2208,0,0,0,0,0,0
$GC,13071,0.60,146.1,348.2,20.0,571,13074,0.00,1.95,0.00,0.000,4,0.000,0.059,2049,3897,2208,0,0,0,0,0,0
$GC,13111,0.60,146.1,338.5,21.8,572,13120,0.10,1.95,0.00,0.000,6,0.214,0.039,2031,2662,2208,0,0,0,0,0,0
$GC,13429,0.60,146.1,282.4,17.1,588,13433,0.00,2.20,0.00,0.000,4,0.000,0.045,2041,1264,2208,0,0,0,0,0,0
$GC,13499,0.60,146.1,271.1,14.9,591,13503,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2672,2207,0,0,0,0,0,0
$GC,13826,0.60,146.1,215.8,17.6,610,13830,0.00,1.92,0.00,0.000,4,0.000,0.057,2041,3895,2207,0,0,0,0,0,0
$GC,13873,0.60,146.1,206.3,19.1,612,13882,0.00,1.92,0.00,0.000,6,0.000,0.039,2051,2673,2208,0,0,0,0,0,0
$GC,14196,0.60,146.1,150.9,15.4,633,14200,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1257,2208,0,0,0,0,0,0
$GC,14254,0.60,146.1,141.5,14.6,636,14259,0.15,2.28,0.00,0.000,6,0.201,0.051,2026,2675,2206,0,0,0,0,0,0
$GC,14582,0.60,146.1,96.6,13.9,658,14589,0.00,2.22,0.00,0.000,4,0.000,0.042,2035,1259,2206,0,0,0,0,0,0
$GC,14629,0.60,146.1,90.2,12.0,665,14633,0.00,2.28,0.00,0.000,6,0.000,0.051,2035,2669,2206,0,0,0,0,0,0
$GC,14987,0.60,146.1,34.0,18.4,726,14996,0.00,1.98,0.00,0.000,4,0.000,0.057,2035,3896,2206,0,0,0,0,0,0
$GC,15033,0.60,146.1,26.0,19.4,732,15042,0.00,1.92,0.00,0.000,6,0.000,0.038,2045,2670,2207,0,0,0,0,0,0
$GC,15121,0.60,146.1,9.0,18.9,745,15130,0.00,2.22,0.00,0.000,4,0.000,0.041,2056,1251,2206,0,0,0,0,0,0
$GC,15143,0.60,146.1,4.6,20.0,747,15152,0.10,2.33,0.00,0.000,6,0.190,0.052,2028,2673,2205,0,0,0,0,0,0
$STATE,15162,end climb,SURFACE_DEPTH_REACHED
$STATE,15162,begin surface coast
$FINISH,0.7,1.025592
$STATE,15182,end surface coast,CONTROL_FINISHED_OK
$STATE,15182,begin surface
$SM_CCo,15205,42.17,0.766,1,0,1880,230.09
$SM_GC,2.02,0.00,0.00,42.17,0.000,0.000,0.766,52,2875,1880,-5.55,0.42,230.09
$IRIDIUM_FIX,-4638.64,447.13,310113,121204
$TT8_MAMPS,0.026964
$HUMID,59.25
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.7,60.207
$10V_AH,10.0,30.780
$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,14.325,103.450,305.825,42.175,0.000,24.898,51.316,470.379,0.000,0.000,19.576,1900.264,10470.277,490.910,2409.173,762.826,33.378,1299.059,0.000,1862.785,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,76.500,1845.945,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.585,1474.200,772.045,283.417,0.000,0.000,0.000,0.000,0.000,0.000
$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,53971,752
$CAP_FILE_SIZE,121661,0
$CFSIZE,259252224,209149952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,310113,212922,-4658.275,443.943,37,1.0,38,-23.5