version: 66.07
glider: 542
mission: 6
dive: 325
start: 1 31 113 21 43 40
data:
$ID,542
$MISSION,6
$DIVE,325
$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,-11495.432
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,310113,212922,-4658.275,443.943,37,1.0,38,-23.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-46.7
$GPS2,310113,214243,-4658.266,444.051,21,2.0,21,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,-0.240
$KALMAN_X,-253707.5,-80.1,107.4,287959.3,-2022.3
$KALMAN_Y,181793.2,88.0,-106.1,-194715.5,2659.4
$MHEAD_RNG_PITCHd_Wd,223.4,6041,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-71.05,0.000,2,0.000,0.000,49,2875,3274,0,0,0,0,0,0
$GC,106,-0.60,-146.1,3.3,-2.5,9,125,6.78,2.20,-3.58,0.000,4,0.252,0.043,1636,1427,3417,0,0,0,0,0,0
$GC,185,-0.60,-146.1,23.0,-13.7,20,194,0.00,2.35,0.00,0.000,6,0.000,0.051,1626,2855,3419,0,0,0,0,0,0
$GC,272,-0.60,-146.1,33.4,-10.9,33,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2855,3420,0,0,0,0,0,0
$GC,518,-0.60,-146.1,68.3,-13.9,74,525,0.00,1.67,0.00,0.000,4,0.000,0.058,1619,3900,3420,0,0,0,0,0,0
$GC,613,-0.60,-146.1,81.1,-12.4,90,622,0.00,1.62,0.00,0.000,6,0.000,0.032,1619,2840,3421,0,0,0,0,0,0
$GC,963,-0.60,-146.1,123.3,-12.3,129,966,0.00,1.73,0.00,0.000,4,0.000,0.057,1610,3911,3421,0,0,0,0,0,0
$GC,1005,-0.60,-146.1,129.1,-12.9,131,1009,0.00,1.60,0.00,0.000,6,0.000,0.031,1610,2856,3421,0,0,0,0,0,0
$GC,1332,-0.60,-146.1,169.1,-12.1,152,1336,0.00,1.70,0.00,0.000,4,0.000,0.057,1603,3898,3422,0,0,0,0,0,0
$GC,1373,-0.60,-146.1,174.6,-13.9,154,1377,0.08,1.58,0.00,0.000,6,0.162,0.030,1634,2855,3422,0,0,0,0,0,0
$GC,1708,-0.60,-146.1,207.8,-9.2,175,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2850,3422,0,0,0,0,0,0
$GC,2032,-0.60,-146.1,238.4,-8.9,196,2035,0.00,1.70,0.00,0.000,4,0.000,0.060,1627,3906,3422,0,0,0,0,0,0
$GC,2073,-0.60,-146.1,243.0,-10.7,198,2076,0.00,1.58,0.00,0.000,6,0.000,0.031,1627,2865,3422,0,0,0,0,0,0
$GC,2399,-0.60,-146.1,276.1,-10.3,215,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2860,3422,0,0,0,0,0,0
$GC,2706,-0.60,-146.1,309.1,-10.9,230,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2859,3422,0,0,0,0,0,0
$GC,3018,-0.60,-146.1,343.9,-11.2,245,3021,0.00,1.67,0.00,0.000,4,0.000,0.060,1619,3902,3422,0,0,0,0,0,0
$GC,3067,-0.60,-146.1,349.6,-11.9,247,3071,0.00,1.58,0.00,0.000,6,0.000,0.032,1619,2861,3422,0,0,0,0,0,0
$GC,3405,-0.60,-146.1,387.3,-10.9,263,3409,0.00,1.70,0.00,0.000,4,0.000,0.060,1611,3896,3422,0,0,0,0,0,0
$GC,3439,-0.60,-146.1,391.7,-11.5,264,3443,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2856,3422,0,0,0,0,0,0
$GC,3781,-0.60,-146.1,428.9,-11.0,277,3785,0.00,1.70,0.00,0.000,4,0.000,0.060,1603,3909,3421,0,0,0,0,0,0
$GC,3818,-0.60,-146.1,433.3,-11.7,278,3822,0.08,1.60,0.00,0.000,6,0.161,0.032,1635,2852,3422,0,0,0,0,0,0
$GC,4162,-0.60,-146.1,465.0,-8.9,289,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2849,3421,0,0,0,0,0,0
$GC,4468,-0.60,-146.1,493.0,-9.0,299,4471,0.00,1.70,0.00,0.000,4,0.000,0.060,1628,3902,3421,0,0,0,0,0,0
$GC,4525,-0.60,-146.1,498.7,-9.7,300,4529,0.00,1.58,0.00,0.000,6,0.000,0.033,1628,2869,3421,0,0,0,0,0,0
$GC,4846,-0.60,-146.1,527.9,-9.1,311,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2864,3421,0,0,0,0,0,0
$GC,5152,-0.60,-146.1,555.2,-9.0,321,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2864,3421,0,0,0,0,0,0
$GC,5458,-0.60,-146.1,583.9,-9.5,331,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2864,3420,0,0,0,0,0,0
$GC,5766,-0.60,-146.1,612.3,-9.1,341,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2863,3419,0,0,0,0,0,0
$GC,6071,-0.60,-146.1,638.7,-8.3,351,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2863,3419,0,0,0,0,0,0
$GC,6379,-0.60,-146.1,664.5,-8.3,361,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2863,3418,0,0,0,0,0,0
$GC,6684,-0.60,-146.1,690.3,-8.3,371,6687,0.00,1.67,0.00,0.000,4,0.000,0.061,1620,3900,3418,0,0,0,0,0,0
$GC,6735,-0.60,-146.1,695.0,-8.6,372,6739,0.00,1.60,0.00,0.000,6,0.000,0.033,1620,2854,3418,0,0,0,0,0,0
$GC,7062,-0.60,-146.1,722.3,-8.5,383,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2850,3418,0,0,0,0,0,0
$GC,7368,-0.60,-146.1,748.7,-8.7,393,7372,0.00,1.70,0.00,0.000,4,0.000,0.061,1612,3901,3418,0,0,0,0,0,0
$GC,7419,-0.60,-146.1,753.6,-9.6,394,7423,0.00,1.60,0.00,0.000,6,0.000,0.033,1613,2854,3418,0,0,0,0,0,0
$GC,7745,-0.60,-146.1,784.8,-9.9,405,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2849,3417,0,0,0,0,0,0
$GC,8052,-0.60,-146.1,814.7,-9.8,415,8056,0.00,1.70,0.00,0.000,4,0.000,0.061,1605,3900,3417,0,0,0,0,0,0
$GC,8092,-0.60,-146.1,819.2,-10.6,416,8096,0.00,1.60,0.00,0.000,6,0.000,0.034,1605,2854,3417,0,0,0,0,0,0
$GC,8430,-0.60,-146.1,851.9,-9.6,427,8431,0.10,0.00,0.00,0.000,6,0.192,0.000,1628,2849,3417,0,0,0,0,0,0
$GC,8738,-0.60,-146.1,875.5,-7.6,437,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2849,3417,0,0,0,0,0,0
$GC,9042,-0.60,-146.1,898.6,-7.4,447,9046,0.00,1.73,0.00,0.000,4,0.000,0.062,1621,3909,3417,0,0,0,0,0,0
$GC,9094,-0.60,-146.1,902.8,-7.5,448,9098,0.00,1.60,0.00,0.000,6,0.000,0.033,1621,2868,3417,0,0,0,0,0,0
$GC,9421,-0.60,-146.1,927.9,-7.7,459,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3416,0,0,0,0,0,0
$GC,9727,-0.60,-146.1,951.8,-7.9,469,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3416,0,0,0,0,0,0
$GC,10033,-0.60,-146.1,975.4,-7.7,479,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3416,0,0,0,0,0,0
$STATE,10335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10335,begin apogee
$GC,10346,-0.18,0.0,1000.0,8.1,489,10494,0.50,0.00,144.45,1.243,6,0.150,0.000,1770,2677,2819,0,0,0,0,0,0
$STATE,10495,end apogee,CONTROL_FINISHED_OK
$STATE,10496,begin climb
$GC,10500,0.60,146.1,1003.9,0.0,494,10668,0.75,2.50,155.05,1.802,4,0.093,0.043,2025,1284,2225,0,0,0,0,1,0
$GC,10745,0.60,146.1,969.0,17.9,501,10749,0.00,2.45,0.00,0.000,6,0.000,0.051,2025,2676,2221,0,0,0,0,0,0
$GC,11060,0.60,146.1,904.7,20.2,511,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2676,2217,0,0,0,0,0,0
$GC,11366,0.60,146.1,841.9,20.8,521,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2676,2216,0,0,0,0,0,0
$GC,11672,0.60,146.1,778.9,20.3,531,11676,0.00,2.25,0.00,0.000,4,0.000,0.044,2036,1271,2216,0,0,0,0,0,0
$GC,11754,0.60,146.1,763.6,17.7,533,11758,0.00,2.28,0.00,0.000,6,0.000,0.050,2036,2675,2213,0,0,0,0,0,0
$GC,12075,0.60,146.1,698.7,20.1,544,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2676,2213,0,0,0,0,0,0
$GC,12381,0.60,146.1,639.7,18.8,554,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2676,2213,0,0,0,0,0,0
$GC,12688,0.60,146.1,583.9,18.0,564,12692,0.00,2.22,0.00,0.000,4,0.000,0.042,2046,1269,2213,0,0,0,0,0,0
$GC,12717,0.60,146.1,578.2,18.0,564,12724,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2670,2213,0,0,0,0,0,0
$GC,13032,0.60,146.1,519.4,18.8,575,13036,0.00,2.20,0.00,0.000,4,0.000,0.044,2056,1273,2213,0,0,0,0,0,0
$GC,13067,0.60,146.1,512.5,18.4,576,13072,0.12,2.25,0.00,0.000,6,0.207,0.050,2028,2670,2212,0,0,0,0,0,0
$GC,13400,0.60,146.1,456.1,16.7,587,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2212,0,0,0,0,0,0
$GC,13706,0.60,146.1,404.6,16.8,597,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2670,2213,0,0,0,0,0,0
$GC,14026,0.60,146.1,349.6,17.5,612,14030,0.00,1.95,0.00,0.000,4,0.000,0.059,2028,3899,2212,0,0,0,0,0,0
$GC,14061,0.60,146.1,342.5,20.3,613,14065,0.00,1.90,0.00,0.000,6,0.000,0.037,2036,2677,2212,0,0,0,0,0,0
$GC,14386,0.60,146.1,283.5,17.8,629,14390,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1267,2212,0,0,0,0,0,0
$GC,14445,0.60,146.1,273.3,15.1,631,14451,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2670,2211,0,0,0,0,0,0
$GC,14765,0.60,146.1,213.3,17.9,650,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2670,2211,0,0,0,0,0,0
$GC,15077,0.60,146.1,160.3,16.8,670,15081,0.00,1.95,0.00,0.000,4,0.000,0.059,2047,3895,2211,0,0,0,0,0,0
$GC,15118,0.60,146.1,152.0,21.6,672,15123,0.12,1.92,0.00,0.000,6,0.228,0.037,2029,2661,2211,0,0,0,0,0,0
$GC,15451,0.60,146.1,101.2,15.5,693,15455,0.00,2.05,0.00,0.000,4,0.000,0.059,2029,3900,2211,0,0,0,0,0,0
$GC,15493,0.60,146.1,93.4,16.3,698,15500,0.00,1.92,0.00,0.000,6,0.000,0.037,2038,2658,2211,0,0,0,0,0,0
$GC,15857,0.60,146.1,44.4,10.4,759,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2652,2210,0,0,0,0,0,0
$STATE,16108,end climb,SURFACE_DEPTH_REACHED
$STATE,16108,begin surface coast
$FINISH,0.8,1.024738
$STATE,16122,end surface coast,CONTROL_FINISHED_OK
$STATE,16122,begin surface
$SM_CCo,16145,42.28,0.768,1,0,1880,230.09
$SM_GC,1.51,0.00,0.00,42.28,0.000,0.000,0.768,59,2877,1880,-5.53,0.45,230.09
$IRIDIUM_FIX,-4638.64,437.45,310113,171713
$TT8_MAMPS,0.026964
$HUMID,59.09
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.7,60.378
$10V_AH,10.0,30.890
$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,14.850,79.200,299.500,42.275,0.000,25.764,19.730,504.036,0.000,0.000,24.202,1984.360,11324.861,426.700,2485.465,760.934,33.378,1253.798,0.000,1929.406,0.000,1.009,0.000
$DEVICE_MAMPS,252.450,71.145,1802.340,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.042,1565.270,818.341,316.381,0.000,0.000,0.000,0.000,0.000,0.000
$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,57118,802
$CAP_FILE_SIZE,119934,0
$CFSIZE,259252224,209084416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010213,021522,-4659.148,441.586,60,1.1,60,-23.5