version: 66.07
glider: 542
mission: 6
dive: 212
start: 1 11 113 11 49 3
data:
$ID,542
$MISSION,6
$DIVE,212
$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,-11168.471
$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,53
$R_STBD_OVSHOOT,35
$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
$GPS1,110113,113921,-4702.784,408.030,28,1.9,36,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-45.0
$GPS2,110113,114811,-4702.721,408.079,16,0.9,16,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.158,0.041
$KALMAN_X,-151381.9,291.0,-284.0,140115.8,107.3
$KALMAN_Y,103308.2,-106.1,-446.1,-123934.3,4425.2
$MHEAD_RNG_PITCHd_Wd,98.9,5593,-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,-57.8,0.0,0.0,0,166,0.00,0.00,-130.90,0.000,6,0.000,0.000,56,2895,3056,0,0,0,0,0,0
$GC,173,-0.86,-121.8,3.0,-2.4,17,192,6.28,1.65,-7.60,0.000,4,0.249,0.076,1560,3893,3317,0,0,0,0,0,0
$GC,468,-0.86,-121.8,62.9,-21.4,64,474,0.00,1.55,0.00,0.000,6,0.000,0.031,1560,2869,3320,0,0,0,0,0,0
$GC,821,-0.86,-121.8,127.0,-17.2,107,825,0.00,1.65,0.00,0.000,4,0.000,0.058,1553,3886,3321,0,0,0,0,0,0
$GC,1083,-0.86,-121.8,176.5,-18.1,122,1087,0.00,1.50,0.00,0.000,6,0.000,0.031,1553,2890,3321,0,0,0,0,0,0
$GC,1412,-0.86,-121.8,232.9,-17.1,143,1415,0.00,1.62,0.00,0.000,4,0.000,0.060,1545,3889,3321,0,0,0,0,0,0
$GC,1554,-0.86,-121.8,260.4,-18.4,151,1558,0.00,1.52,0.00,0.000,6,0.000,0.031,1545,2875,3321,0,0,0,0,0,0
$GC,1886,-0.86,-121.8,318.7,-17.5,167,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2871,3321,0,0,0,0,0,0
$GC,2193,-0.86,-121.8,373.0,-17.5,182,2197,0.00,1.65,0.00,0.000,4,0.000,0.060,1537,3909,3321,0,0,0,0,0,0
$GC,2241,-0.86,-121.8,382.1,-19.2,184,2245,0.10,1.55,0.00,0.000,6,0.188,0.032,1572,2883,3321,0,0,0,0,0,0
$GC,2584,-0.86,-121.8,435.8,-15.1,197,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2878,3321,0,0,0,0,0,0
$GC,2891,-0.86,-121.8,482.0,-15.0,207,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2879,3321,0,0,0,0,0,0
$GC,3197,-0.86,-121.8,527.9,-14.8,217,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2879,3321,0,0,0,0,0,0
$GC,3503,-0.86,-121.8,571.7,-13.9,227,3507,0.00,2.08,0.00,0.000,4,0.000,0.038,1572,1496,3321,0,0,0,0,0,0
$GC,3582,-0.86,-121.8,582.5,-13.7,229,3587,0.00,2.17,0.00,0.000,6,0.000,0.054,1563,2874,3320,0,0,0,0,0,0
$GC,3904,-0.86,-121.8,627.3,-14.1,240,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2875,3320,0,0,0,0,0,0
$GC,4209,-0.86,-121.8,669.3,-13.6,250,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2875,3320,0,0,0,0,0,0
$GC,4517,-0.86,-121.8,712.0,-14.0,260,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2875,3319,0,0,0,0,0,0
$GC,4822,-0.86,-121.8,754.5,-13.9,270,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2875,3319,0,0,0,0,0,0
$GC,5128,-0.86,-121.8,797.1,-13.6,280,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2876,3318,0,0,0,0,0,0
$GC,5434,-0.86,-121.8,837.1,-12.7,290,5438,0.00,2.12,0.00,0.000,4,0.000,0.038,1563,1490,3317,0,0,0,0,0,0
$GC,5492,-0.86,-121.8,844.3,-11.6,291,5496,0.00,2.22,0.00,0.000,6,0.000,0.054,1553,2883,3318,0,0,0,0,0,0
$GC,5807,-0.86,-121.8,884.7,-12.9,301,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2883,3318,0,0,0,0,0,0
$GC,6113,-0.86,-121.8,923.7,-12.2,311,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2883,3317,0,0,0,0,0,0
$GC,6420,-0.86,-121.8,961.2,-12.3,321,6423,0.00,2.12,0.00,0.000,4,0.000,0.038,1553,1494,3317,0,0,0,0,0,0
$GC,6449,-0.86,-121.8,965.1,-12.8,321,6456,0.00,2.20,0.00,0.000,6,0.000,0.054,1542,2881,3317,0,0,0,0,0,0
$STATE,6731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6731,begin apogee
$GC,6741,-0.18,0.0,1001.9,13.3,331,6868,0.88,0.00,123.62,1.232,6,0.188,0.000,1787,2709,2820,0,0,0,0,0,0
$STATE,6870,end apogee,CONTROL_FINISHED_OK
$STATE,6870,begin climb
$GC,6875,0.86,121.8,1004.8,0.0,335,7018,0.98,2.22,124.53,1.776,4,0.074,0.060,2127,3892,2323,0,0,0,0,1,0
$GC,7032,0.86,121.8,975.9,27.6,340,7035,0.00,2.03,0.00,0.000,6,0.000,0.037,2136,2715,2323,0,0,0,0,0,0
$GC,7354,0.86,121.8,882.1,29.5,351,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2708,2317,0,0,0,0,0,0
$GC,7658,0.86,121.8,794.7,27.7,361,7662,0.00,2.28,0.00,0.000,4,0.000,0.044,2146,1283,2315,0,0,0,0,0,0
$GC,7716,0.86,121.8,779.1,25.3,362,7723,0.00,2.33,0.00,0.000,6,0.000,0.053,2147,2706,2314,0,0,0,0,0,0
$GC,8031,0.86,121.8,692.5,27.8,373,8035,0.00,1.92,0.00,0.000,4,0.000,0.060,2147,3892,2314,0,0,0,0,0,0
$GC,8049,0.86,121.8,686.7,28.4,373,8053,0.00,1.88,0.00,0.000,6,0.000,0.038,2155,2687,2313,0,0,0,0,0,0
$GC,8375,0.86,121.8,598.5,26.4,384,8379,0.00,2.17,0.00,0.000,4,0.000,0.044,2166,1291,2313,0,0,0,0,0,0
$GC,8432,0.86,121.8,583.3,24.5,385,8440,0.15,2.28,0.00,0.000,6,0.252,0.052,2136,2706,2311,0,0,0,0,0,0
$GC,8747,0.86,121.8,507.2,24.1,396,8751,0.00,2.20,0.00,0.000,4,0.000,0.043,2145,1296,2311,0,0,0,0,0,0
$GC,8784,0.86,121.8,498.2,24.4,397,8788,0.00,2.25,0.00,0.000,6,0.000,0.051,2144,2706,2310,0,0,0,0,0,0
$GC,9129,0.86,121.8,413.0,25.0,408,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2706,2310,0,0,0,0,0,0
$GC,9436,0.86,121.8,335.7,24.8,422,9440,0.00,2.20,0.00,0.000,4,0.000,0.042,2153,1292,2310,0,0,0,0,0,0
$GC,9465,0.86,121.8,329.4,24.7,423,9469,0.00,2.25,0.00,0.000,6,0.000,0.052,2154,2699,2309,0,0,0,0,0,0
$GC,9792,0.86,121.8,243.3,26.8,439,9796,0.00,2.20,0.00,0.000,4,0.000,0.044,2164,1296,2309,0,0,0,0,0,0
$GC,9842,0.86,121.8,230.4,25.2,442,9847,0.15,2.22,0.00,0.000,6,0.249,0.052,2133,2698,2309,0,0,0,0,0,0
$GC,10176,0.86,121.8,149.2,24.1,463,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2698,2309,0,0,0,0,0,0
$GC,10509,0.86,121.8,70.9,20.3,498,10518,0.00,1.92,0.00,0.000,4,0.000,0.060,2131,3903,2308,0,0,0,0,0,0
$GC,10570,0.86,121.8,57.1,25.6,507,10577,0.00,1.85,0.00,0.000,6,0.000,0.037,2139,2694,2308,0,0,0,0,0,0
$STATE,10811,end climb,SURFACE_DEPTH_REACHED
$STATE,10812,begin surface coast
$FINISH,0.7,1.011754
$STATE,10825,end surface coast,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$SM_CCo,10848,192.07,0.791,1,0,478,573.99
$SM_GC,1.08,0.00,0.00,192.07,0.000,0.000,0.791,59,2898,478,-5.60,0.51,573.99
$IRIDIUM_FIX,-4644.93,409.64,110113,050515
$TT8_MAMPS,0.026215
$HUMID,57.20
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.1,40.941
$10V_AH,10.1,19.294
$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,14.200,60.400,248.150,192.075,0.000,26.434,42.164,249.137,0.000,0.000,18.991,1351.138,7393.881,559.230,1789.818,471.047,33.364,1181.424,0.000,1397.349,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,75.735,1775.565,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.141,1102.812,604.347,245.997,0.000,0.000,0.000,0.000,0.000,0.000
$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,40427,548
$CAP_FILE_SIZE,82768,0
$CFSIZE,259252224,216215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,110113,145434,-4702.173,409.700,37,0.9,37,-23.3