version: 66.07
glider: 542
mission: 6
dive: 208
start: 1 10 113 22 26 9
data:
$ID,542
$MISSION,6
$DIVE,208
$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,-11158.019
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,100113,221651,-4702.252,406.887,35,1.6,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-27.3
$GPS2,100113,222517,-4702.338,406.926,18,1.2,18,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.150,-0.065
$KALMAN_X,-150494.4,-598.1,-56.6,138441.2,1609.3
$KALMAN_Y,101023.9,-436.5,-483.0,-120568.0,5277.5
$MHEAD_RNG_PITCHd_Wd,136.6,5816,-27.2,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.79,-57.8,0.0,0.0,0,159,0.00,0.00,-126.07,0.000,2,0.000,0.000,55,2894,2983,0,0,0,0,0,0
$GC,165,-0.85,-109.6,3.1,-3.8,16,192,6.25,2.22,-9.07,0.000,4,0.248,0.050,1577,1492,3269,0,0,0,0,0,0
$GC,328,-0.85,-109.6,28.7,-17.1,40,337,0.00,2.25,0.00,0.000,6,0.000,0.052,1568,2871,3270,0,0,0,0,0,0
$GC,414,-0.85,-109.6,44.3,-18.8,53,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2871,3270,0,0,0,0,0,0
$GC,657,-0.85,-109.6,91.0,-19.2,94,664,0.00,1.62,0.00,0.000,4,0.000,0.059,1561,3890,3271,0,0,0,0,0,0
$GC,784,-0.85,-109.6,113.9,-18.1,107,787,0.00,1.55,0.00,0.000,6,0.000,0.031,1564,2857,3271,0,0,0,0,0,0
$GC,1116,-0.85,-109.6,171.6,-17.8,128,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2852,3272,0,0,0,0,0,0
$GC,1430,-0.85,-109.6,223.9,-16.1,148,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2852,3272,0,0,0,0,0,0
$GC,1745,-0.85,-109.6,275.0,-15.7,166,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2852,3272,0,0,0,0,0,0
$GC,2056,-0.85,-109.6,322.0,-14.6,181,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2852,3272,0,0,0,0,0,0
$GC,2363,-0.85,-109.6,368.2,-15.4,196,2367,0.00,1.67,0.00,0.000,4,0.000,0.059,1558,3894,3272,0,0,0,0,0,0
$GC,2489,-0.85,-109.6,389.2,-16.4,201,2493,0.00,1.52,0.00,0.000,6,0.000,0.032,1558,2877,3272,0,0,0,0,0,0
$GC,2810,-0.85,-109.6,438.5,-15.2,213,2813,0.00,1.65,0.00,0.000,4,0.000,0.059,1550,3915,3272,0,0,0,0,0,0
$GC,2867,-0.85,-109.6,447.9,-16.2,214,2871,0.00,1.55,0.00,0.000,6,0.000,0.032,1550,2887,3272,0,0,0,0,0,0
$GC,3188,-0.85,-109.6,498.0,-15.9,225,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2882,3272,0,0,0,0,0,0
$GC,3494,-0.85,-109.6,545.8,-15.5,235,3497,0.00,1.62,0.00,0.000,4,0.000,0.059,1542,3893,3272,0,0,0,0,0,0
$GC,3575,-0.85,-109.6,559.7,-17.0,237,3579,0.10,1.52,0.00,0.000,6,0.190,0.033,1570,2883,3272,0,0,0,0,0,0
$GC,3907,-0.85,-109.6,607.0,-13.7,248,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2878,3272,0,0,0,0,0,0
$GC,4213,-0.85,-109.6,648.0,-13.2,258,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3271,0,0,0,0,0,0
$GC,4520,-0.85,-109.6,688.4,-13.2,268,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3271,0,0,0,0,0,0
$GC,4826,-0.85,-109.6,726.1,-11.9,278,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3271,0,0,0,0,0,0
$GC,5132,-0.85,-109.6,759.7,-10.8,288,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3271,0,0,0,0,0,0
$GC,5438,-0.85,-109.6,793.4,-11.1,298,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3270,0,0,0,0,0,0
$GC,5745,-0.85,-109.6,828.5,-11.8,308,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3270,0,0,0,0,0,0
$GC,6051,-0.85,-109.6,866.3,-12.5,318,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2879,3270,0,0,0,0,0,0
$GC,6357,-0.85,-109.6,904.1,-12.3,328,6361,0.00,2.10,0.00,0.000,4,0.000,0.039,1570,1496,3269,0,0,0,0,0,0
$GC,6403,-0.85,-109.6,909.7,-11.9,329,6407,0.00,2.22,0.00,0.000,6,0.000,0.054,1561,2890,3269,0,0,0,0,0,0
$GC,6723,-0.85,-109.6,950.0,-12.7,340,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2890,3269,0,0,0,0,0,0
$GC,7029,-0.85,-109.6,987.5,-12.1,350,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2891,3269,0,0,0,0,0,0
$STATE,7147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7147,begin apogee
$GC,7158,-0.18,0.0,1002.1,12.0,354,7273,0.80,0.00,111.68,1.240,6,0.185,0.000,1786,2702,2819,0,0,0,0,0,0
$STATE,7275,end apogee,CONTROL_FINISHED_OK
$STATE,7275,begin climb
$GC,7280,0.85,109.6,1004.1,0.0,358,7406,1.00,0.00,112.22,1.774,6,0.076,0.000,2127,2702,2373,0,0,0,0,1,0
$GC,7701,0.85,109.6,906.1,26.7,372,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2701,2368,0,0,0,0,0,0
$GC,8007,0.85,109.6,825.6,26.2,382,8011,0.00,2.20,0.00,0.000,4,0.000,0.044,2138,1308,2365,0,0,0,0,0,0
$GC,8044,0.85,109.6,816.2,25.7,383,8048,0.00,2.28,0.00,0.000,6,0.000,0.051,2138,2706,2363,0,0,0,0,0,0
$GC,8389,0.85,109.6,726.4,26.4,394,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2706,2362,0,0,0,0,0,0
$GC,8693,0.85,109.6,647.4,25.8,404,8697,0.00,2.20,0.00,0.000,4,0.000,0.044,2148,1303,2361,0,0,0,0,0,0
$GC,8762,0.85,109.6,630.1,23.8,406,8766,0.00,2.25,0.00,0.000,6,0.000,0.050,2148,2699,2359,0,0,0,0,0,0
$GC,9094,0.85,109.6,544.1,26.2,417,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2699,2359,0,0,0,0,0,0
$GC,9400,0.85,109.6,465.6,25.4,427,9404,0.00,2.20,0.00,0.000,4,0.000,0.044,2158,1292,2359,0,0,0,0,0,0
$GC,9452,0.85,109.6,452.5,24.0,428,9457,0.15,2.25,0.00,0.000,6,0.255,0.050,2128,2701,2358,0,0,0,0,0,0
$GC,9787,0.85,109.6,375.3,22.8,441,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2702,2358,0,0,0,0,0,0
$GC,10096,0.85,109.6,304.1,22.3,456,10100,0.00,2.20,0.00,0.000,4,0.000,0.044,2137,1297,2358,0,0,0,0,0,0
$GC,10143,0.85,109.6,293.1,21.4,458,10147,0.00,2.22,0.00,0.000,6,0.000,0.050,2131,2701,2357,0,0,0,0,0,0
$GC,10474,0.85,109.6,218.9,22.7,476,10478,0.00,2.17,0.00,0.000,4,0.000,0.045,2140,1306,2357,0,0,0,0,0,0
$GC,10530,0.85,109.6,207.7,20.0,479,10534,0.00,2.22,0.00,0.000,6,0.000,0.052,2141,2700,2356,0,0,0,0,0,0
$GC,10857,0.85,109.6,136.7,21.2,500,10861,0.00,2.20,0.00,0.000,4,0.000,0.044,2151,1291,2357,0,0,0,0,0,0
$GC,10881,0.85,109.6,131.4,20.7,501,10885,0.00,2.28,0.00,0.000,6,0.000,0.052,2151,2710,2356,0,0,0,0,0,0
$GC,11220,0.85,109.6,61.7,20.7,543,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2711,2357,0,0,0,0,0,0
$STATE,11512,end climb,SURFACE_DEPTH_REACHED
$STATE,11513,begin surface coast
$FINISH,0.8,1.026449
$STATE,11526,end surface coast,CONTROL_FINISHED_OK
$STATE,11526,begin surface
$SM_CCo,11549,195.62,0.789,1,0,476,573.99
$SM_GC,1.32,0.00,0.00,195.62,0.000,0.000,0.789,55,2896,476,-5.61,0.45,573.99
$IRIDIUM_FIX,-4644.93,412.78,100113,181834
$TT8_MAMPS,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.1,40.296
$10V_AH,10.1,18.965
$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,14.025,48.750,223.900,195.625,0.000,24.948,21.453,246.949,0.000,0.000,20.683,1447.215,7960.674,528.378,1836.538,473.412,33.369,1158.161,0.000,1460.769,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,73.440,1774.035,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.477,1193.499,667.084,273.178,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,43667,593
$CAP_FILE_SIZE,84024,0
$CFSIZE,259252224,216412160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,110113,014322,-4702.687,409.332,35,0.8,35,-23.3