version: 66.07
glider: 542
mission: 6
dive: 207
start: 1 10 113 19 4 43
data:
$ID,542
$MISSION,6
$DIVE,207
$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,573.99261
$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,-11155.694
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,25
$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
$GPS1,100113,185359,-4700.754,408.044,48,0.8,48,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-33.7
$GPS2,100113,190347,-4700.791,408.023,17,1.1,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.035,-0.168
$KALMAN_X,-150050.0,217.3,-405.1,138915.0,3236.5
$KALMAN_Y,100212.0,-194.3,-320.7,-117311.1,5020.0
$MHEAD_RNG_PITCHd_Wd,215.2,2895,-25.8,-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,-0.76,-63.7,0.0,0.0,0,148,0.00,0.00,-118.15,0.000,2,0.000,0.000,55,2892,2819,0,0,0,0,0,0
$GC,154,-0.83,-124.8,3.0,-3.4,15,188,6.35,2.25,-18.95,0.000,4,0.252,0.050,1578,1481,3328,0,0,0,0,0,0
$GC,465,-0.83,-124.8,48.4,-15.7,64,474,0.00,2.28,0.00,0.000,6,0.000,0.051,1568,2880,3329,0,0,0,0,0,0
$GC,707,-0.83,-124.8,93.3,-19.0,105,713,0.00,2.20,0.00,0.000,4,0.000,0.034,1568,1486,3330,0,0,0,0,0,0
$GC,753,-0.83,-124.8,100.6,-14.4,112,757,0.00,2.25,0.00,0.000,6,0.000,0.050,1558,2893,3329,0,0,0,0,0,0
$GC,1083,-0.83,-124.8,157.3,-17.0,133,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2894,3330,0,0,0,0,0,0
$GC,1394,-0.83,-124.8,210.8,-17.6,153,1398,0.00,2.15,0.00,0.000,4,0.000,0.035,1558,1488,3330,0,0,0,0,0,0
$GC,1435,-0.83,-124.8,218.2,-15.7,155,1442,0.12,2.22,0.00,0.000,6,0.203,0.050,1576,2892,3331,0,0,0,0,0,0
$GC,1773,-0.83,-124.8,269.6,-15.6,175,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2892,3331,0,0,0,0,0,0
$GC,2080,-0.83,-124.8,317.2,-14.9,190,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2893,3331,0,0,0,0,0,0
$GC,2392,-0.83,-124.8,362.8,-14.7,205,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2892,3331,0,0,0,0,0,0
$GC,2719,-0.83,-124.8,410.6,-14.5,220,2722,0.00,1.58,0.00,0.000,4,0.000,0.059,1570,3891,3331,0,0,0,0,0,0
$GC,2782,-0.83,-124.8,420.8,-15.3,221,2789,0.00,1.55,0.00,0.000,6,0.000,0.033,1574,2856,3331,0,0,0,0,0,0
$GC,3097,-0.83,-124.8,467.4,-15.0,232,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2855,3331,0,0,0,0,0,0
$GC,3403,-0.83,-124.8,511.7,-14.2,242,3407,0.00,1.65,0.00,0.000,4,0.000,0.060,1568,3896,3331,0,0,0,0,0,0
$GC,3454,-0.83,-124.8,519.5,-15.2,243,3458,0.00,1.52,0.00,0.000,6,0.000,0.032,1568,2884,3330,0,0,0,0,0,0
$GC,3781,-0.83,-124.8,564.8,-13.8,254,3784,0.00,1.62,0.00,0.000,4,0.000,0.060,1561,3889,3330,0,0,0,0,0,0
$GC,3866,-0.83,-124.8,577.9,-15.3,256,3869,0.00,1.52,0.00,0.000,6,0.000,0.033,1560,2873,3330,0,0,0,0,0,0
$GC,4192,-0.83,-124.8,624.6,-14.6,267,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2868,3330,0,0,0,0,0,0
$GC,4498,-0.83,-124.8,668.5,-14.2,277,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2868,3329,0,0,0,0,0,0
$GC,4804,-0.83,-124.8,711.5,-13.9,287,4808,0.00,1.65,0.00,0.000,4,0.000,0.060,1553,3908,3328,0,0,0,0,0,0
$GC,4855,-0.83,-124.8,719.7,-16.2,288,4859,0.00,1.55,0.00,0.000,6,0.000,0.034,1552,2878,3328,0,0,0,0,0,0
$GC,5182,-0.83,-124.8,766.5,-14.1,299,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2874,3328,0,0,0,0,0,0
$GC,5489,-0.83,-124.8,809.6,-13.9,309,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2874,3328,0,0,0,0,0,0
$GC,5794,-0.83,-124.8,851.3,-13.7,319,5797,0.00,1.65,0.00,0.000,4,0.000,0.060,1545,3914,3327,0,0,0,0,0,0
$GC,5890,-0.83,-124.8,865.8,-14.8,321,5898,0.10,1.55,0.00,0.000,6,0.189,0.034,1572,2886,3327,0,0,0,0,0,0
$GC,6205,-0.83,-124.8,904.0,-12.0,332,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2886,3327,0,0,0,0,0,0
$GC,6512,-0.83,-124.8,940.6,-12.2,342,6516,0.00,2.10,0.00,0.000,4,0.000,0.039,1573,1490,3327,0,0,0,0,0,0
$GC,6541,-0.83,-124.8,944.3,-11.8,342,6548,0.00,2.20,0.00,0.000,6,0.000,0.053,1562,2881,3327,0,0,0,0,0,0
$GC,6856,-0.83,-124.8,983.6,-12.9,353,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2881,3326,0,0,0,0,0,0
$STATE,7005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7016,-0.18,0.0,1002.8,12.5,358,7144,0.77,0.00,124.93,1.239,6,0.182,0.000,1783,2705,2819,0,0,0,0,0,0
$STATE,7146,end apogee,CONTROL_FINISHED_OK
$STATE,7146,begin climb
$GC,7151,0.83,124.8,1005.6,0.0,362,7291,0.98,2.45,127.25,1.773,4,0.077,0.044,2128,1316,2311,0,0,0,0,1,0
$GC,7317,0.83,124.8,974.8,26.6,367,7324,0.00,2.45,0.00,0.000,6,0.000,0.050,2129,2695,2310,0,0,0,0,0,0
$GC,7632,0.83,124.8,886.1,28.4,378,7636,0.00,2.28,0.00,0.000,4,0.000,0.046,2138,1309,2305,0,0,0,0,0,0
$GC,7667,0.83,124.8,875.9,28.3,379,7671,0.00,2.33,0.00,0.000,6,0.000,0.051,2138,2705,2303,0,0,0,0,0,0
$GC,7999,0.83,124.8,781.7,28.6,390,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2705,2301,0,0,0,0,0,0
$GC,8305,0.83,124.8,696.5,27.4,400,8309,0.00,2.22,0.00,0.000,4,0.000,0.045,2148,1306,2300,0,0,0,0,0,0
$GC,8402,0.83,124.8,671.2,25.2,402,8409,0.00,2.25,0.00,0.000,6,0.000,0.050,2148,2704,2299,0,0,0,0,0,0
$GC,8719,0.83,124.8,586.1,27.0,413,8723,0.00,2.22,0.00,0.000,4,0.000,0.045,2158,1300,2299,0,0,0,0,0,0
$GC,8776,0.83,124.8,570.4,24.8,414,8781,0.17,2.25,0.00,0.000,6,0.257,0.051,2122,2700,2298,0,0,0,0,0,0
$GC,9093,0.83,124.8,490.3,25.8,424,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2700,2298,0,0,0,0,0,0
$GC,9398,0.83,124.8,415.3,24.4,434,9402,0.00,2.20,0.00,0.000,4,0.000,0.044,2132,1295,2298,0,0,0,0,0,0
$GC,9444,0.83,124.8,403.9,23.0,435,9448,0.00,2.25,0.00,0.000,6,0.000,0.050,2131,2700,2297,0,0,0,0,0,0
$GC,9780,0.83,124.8,322.8,24.0,451,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2700,2297,0,0,0,0,0,0
$GC,10087,0.83,124.8,249.9,22.9,466,10091,0.00,2.17,0.00,0.000,4,0.000,0.044,2140,1309,2297,0,0,0,0,0,0
$GC,10147,0.83,124.8,236.8,22.0,469,10153,0.00,2.22,0.00,0.000,6,0.000,0.051,2140,2705,2296,0,0,0,0,0,0
$GC,10468,0.83,124.8,162.7,23.7,490,10472,0.00,2.20,0.00,0.000,4,0.000,0.044,2151,1296,2296,0,0,0,0,0,0
$GC,10498,0.83,124.8,155.6,22.8,491,10505,0.12,2.25,0.00,0.000,6,0.256,0.052,2126,2706,2296,0,0,0,0,0,0
$GC,10826,0.83,124.8,84.4,23.3,520,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2706,2296,0,0,0,0,0,0
$GC,11194,0.83,124.8,6.3,23.6,581,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2706,2295,0,0,0,0,0,0
$STATE,11210,end climb,SURFACE_DEPTH_REACHED
$STATE,11210,begin surface coast
$FINISH,0.8,1.026460
$STATE,11227,end surface coast,CONTROL_FINISHED_OK
$STATE,11227,begin surface
$SM_CCo,11250,190.43,0.789,1,0,478,573.99
$SM_GC,1.17,0.00,0.00,190.43,0.000,0.000,0.789,56,2893,478,-5.61,0.37,573.99
$IRIDIUM_FIX,-4644.93,406.49,100113,141435
$TT8_MAMPS,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.1,40.141
$10V_AH,10.1,18.881
$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,14.300,65.775,252.175,190.425,0.000,24.818,24.319,295.476,0.000,0.000,23.108,1428.205,7604.464,564.829,1903.163,521.137,33.362,1225.968,0.000,1482.435,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,74.970,1773.270,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.449,1184.979,670.392,277.542,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,43845,585
$CAP_FILE_SIZE,88604,0
$CFSIZE,259252224,216457216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,100113,221651,-4702.252,406.887,35,1.6,35,-23.3