version: 66.07
glider: 542
mission: 6
dive: 213
start: 1 11 113 15 6 37
data:
$ID,542
$MISSION,6
$DIVE,213
$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,-11170.801
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,110113,145434,-4702.173,409.700,37,0.9,37,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-27.6
$GPS2,110113,150541,-4702.140,409.662,18,1.0,18,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.157,0.047
$KALMAN_X,-152970.6,-156.0,215.4,143652.7,-2418.4
$KALMAN_Y,102951.7,-175.4,-330.8,-122550.2,3101.0
$MHEAD_RNG_PITCHd_Wd,96.7,3986,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.79,-57.8,0.0,0.0,0,162,0.00,0.00,-130.35,0.000,6,0.000,0.000,58,2900,3057,0,0,0,0,0,0
$GC,169,-0.85,-111.0,3.1,-3.6,17,188,6.15,1.65,-6.30,0.000,4,0.243,0.076,1564,3896,3274,0,0,0,0,0,0
$GC,461,-0.85,-111.0,58.4,-20.2,64,470,0.00,1.58,0.00,0.000,6,0.000,0.031,1563,2866,3276,0,0,0,0,0,0
$GC,714,-0.85,-111.0,106.1,-16.9,103,718,0.00,1.67,0.00,0.000,4,0.000,0.060,1556,3893,3276,0,0,0,0,0,0
$GC,894,-0.85,-111.0,137.7,-18.0,113,898,0.00,1.55,0.00,0.000,6,0.000,0.031,1556,2866,3277,0,0,0,0,0,0
$GC,1226,-0.85,-111.0,196.0,-17.0,134,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2862,3278,0,0,0,0,0,0
$GC,1539,-0.85,-111.0,246.5,-15.6,154,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2862,3278,0,0,0,0,0,0
$GC,1859,-0.85,-111.0,296.9,-16.0,170,1863,0.00,2.05,0.00,0.000,4,0.000,0.036,1556,1495,3278,0,0,0,0,0,0
$GC,1894,-0.85,-111.0,302.5,-14.6,171,1901,0.00,2.20,0.00,0.000,6,0.000,0.054,1546,2877,3278,0,0,0,0,0,0
$GC,2214,-0.85,-111.0,352.8,-15.9,187,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2877,3278,0,0,0,0,0,0
$GC,2521,-0.85,-111.0,402.9,-16.5,202,2525,0.00,2.10,0.00,0.000,4,0.000,0.037,1546,1501,3279,0,0,0,0,0,0
$GC,2545,-0.85,-111.0,407.1,-16.2,202,2550,0.15,2.20,0.00,0.000,6,0.200,0.054,1571,2880,3278,0,0,0,0,0,0
$GC,2860,-0.85,-111.0,451.4,-14.0,212,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2881,3278,0,0,0,0,0,0
$GC,3166,-0.85,-111.0,494.3,-14.1,222,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2881,3278,0,0,0,0,0,0
$GC,3472,-0.85,-111.0,535.9,-13.4,232,3476,0.00,2.10,0.00,0.000,4,0.000,0.037,1571,1494,3277,0,0,0,0,0,0
$GC,3507,-0.85,-111.0,540.6,-11.8,233,3511,0.00,2.22,0.00,0.000,6,0.000,0.055,1562,2883,3277,0,0,0,0,0,0
$GC,3840,-0.85,-111.0,586.6,-14.0,244,3843,0.00,2.12,0.00,0.000,4,0.000,0.037,1562,1495,3276,0,0,0,0,0,0
$GC,3871,-0.85,-111.0,591.0,-14.3,245,3875,0.00,2.22,0.00,0.000,6,0.000,0.055,1552,2887,3276,0,0,0,0,0,0
$GC,4208,-0.85,-111.0,640.8,-14.9,256,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2887,3276,0,0,0,0,0,0
$GC,4515,-0.85,-111.0,685.0,-14.3,266,4519,0.00,2.10,0.00,0.000,4,0.000,0.037,1552,1500,3275,0,0,0,0,0,0
$GC,4560,-0.85,-111.0,691.8,-13.6,267,4565,0.12,2.20,0.00,0.000,6,0.205,0.054,1570,2881,3275,0,0,0,0,0,0
$GC,4882,-0.85,-111.0,732.8,-12.7,278,4886,0.00,2.10,0.00,0.000,4,0.000,0.036,1570,1493,3275,0,0,0,0,0,0
$GC,4913,-0.85,-111.0,736.7,-12.9,279,4917,0.00,2.22,0.00,0.000,6,0.000,0.055,1561,2884,3274,0,0,0,0,0,0
$GC,5251,-0.85,-111.0,781.3,-13.3,290,5254,0.00,2.10,0.00,0.000,4,0.000,0.037,1561,1496,3274,0,0,0,0,0,0
$GC,5282,-0.85,-111.0,785.5,-13.1,291,5286,0.00,2.22,0.00,0.000,6,0.000,0.055,1550,2888,3274,0,0,0,0,0,0
$GC,5619,-0.85,-111.0,832.0,-14.0,302,5623,0.00,2.12,0.00,0.000,4,0.000,0.036,1550,1498,3274,0,0,0,0,0,0
$GC,5677,-0.85,-111.0,840.0,-13.2,303,5684,0.12,2.20,0.00,0.000,6,0.209,0.054,1568,2883,3274,0,0,0,0,0,0
$GC,5992,-0.85,-111.0,879.3,-12.5,314,5996,0.00,2.12,0.00,0.000,4,0.000,0.037,1568,1486,3274,0,0,0,0,0,0
$GC,6021,-0.85,-111.0,883.2,-12.3,314,6030,0.00,2.22,0.00,0.000,6,0.000,0.055,1558,2881,3273,0,0,0,0,0,0
$GC,6336,-0.85,-111.0,923.2,-12.7,325,6340,0.00,2.12,0.00,0.000,4,0.000,0.036,1558,1488,3273,0,0,0,0,0,0
$GC,6368,-0.85,-111.0,927.2,-12.7,326,6372,0.00,2.22,0.00,0.000,6,0.000,0.055,1548,2881,3273,0,0,0,0,0,0
$GC,6705,-0.85,-111.0,971.5,-13.2,337,6709,0.00,2.10,0.00,0.000,4,0.000,0.036,1548,1496,3272,0,0,0,0,0,0
$GC,6746,-0.85,-111.0,977.0,-12.5,338,6750,0.15,2.22,0.00,0.000,6,0.202,0.055,1573,2884,3272,0,0,0,0,0,0
$STATE,6976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6976,begin apogee
$GC,6987,-0.18,0.0,1003.3,11.2,346,7103,0.75,0.00,112.55,1.245,6,0.183,0.000,1786,2713,2820,0,0,0,0,0,0
$STATE,7105,end apogee,CONTROL_FINISHED_OK
$STATE,7105,begin climb
$GC,7110,0.85,111.0,1005.7,0.0,350,7240,0.98,2.22,114.03,1.782,4,0.082,0.060,2120,3890,2367,0,0,0,0,1,0
$GC,7260,0.85,111.0,980.0,25.9,354,7264,0.00,2.00,0.00,0.000,6,0.000,0.035,2129,2715,2367,0,0,0,0,0,0
$GC,7586,0.85,111.0,892.0,27.0,365,7590,0.00,2.30,0.00,0.000,4,0.000,0.044,2140,1286,2360,0,0,0,0,0,0
$GC,7621,0.85,111.0,882.2,26.1,366,7625,0.00,2.38,0.00,0.000,6,0.000,0.054,2140,2706,2358,0,0,0,0,0,0
$GC,7953,0.85,111.0,792.9,26.8,377,7957,0.00,2.28,0.00,0.000,4,0.000,0.045,2151,1289,2357,0,0,0,0,0,0
$GC,7985,0.85,111.0,784.6,26.9,378,7989,0.00,2.33,0.00,0.000,6,0.000,0.054,2151,2708,2356,0,0,0,0,0,0
$GC,8322,0.85,111.0,693.7,27.2,389,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2708,2356,0,0,0,0,0,0
$GC,8630,0.85,111.0,611.8,27.0,399,8634,0.00,2.25,0.00,0.000,4,0.000,0.044,2161,1286,2355,0,0,0,0,0,0
$GC,8654,0.85,111.0,604.4,26.6,399,8662,0.15,2.30,0.00,0.000,6,0.257,0.053,2131,2711,2354,0,0,0,0,0,0
$GC,8971,0.85,111.0,527.6,24.1,410,8975,0.00,2.25,0.00,0.000,4,0.000,0.044,2141,1285,2354,0,0,0,0,0,0
$GC,9012,0.85,111.0,517.3,23.1,411,9016,0.00,2.28,0.00,0.000,6,0.000,0.053,2141,2708,2352,0,0,0,0,0,0
$GC,9351,0.85,111.0,434.9,25.0,422,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2709,2353,0,0,0,0,0,0
$GC,9669,0.85,111.0,358.9,23.3,435,9673,0.00,2.22,0.00,0.000,4,0.000,0.044,2151,1287,2353,0,0,0,0,0,0
$GC,9710,0.85,111.0,348.8,22.0,436,9718,0.00,2.30,0.00,0.000,6,0.000,0.053,2151,2700,2352,0,0,0,0,0,0
$GC,10028,0.85,111.0,273.2,23.6,452,10032,0.00,2.20,0.00,0.000,4,0.000,0.044,2161,1287,2352,0,0,0,0,0,0
$GC,10118,0.85,111.0,253.3,22.0,456,10123,0.15,2.28,0.00,0.000,6,0.250,0.053,2130,2706,2351,0,0,0,0,0,0
$GC,10458,0.85,111.0,177.2,22.7,477,10461,0.00,1.85,0.00,0.000,4,0.000,0.060,2125,3896,2351,0,0,0,0,0,0
$GC,10477,0.85,111.0,171.1,23.2,478,10481,0.00,1.85,0.00,0.000,6,0.000,0.039,2133,2689,2351,0,0,0,0,0,0
$GC,10812,0.85,111.0,97.3,21.9,499,10816,0.00,2.15,0.00,0.000,4,0.000,0.044,2144,1301,2351,0,0,0,0,0,0
$GC,10900,0.85,111.0,79.2,17.4,514,10907,0.00,2.22,0.00,0.000,6,0.000,0.053,2144,2699,2350,0,0,0,0,0,0
$GC,11270,0.85,111.0,3.8,20.7,575,11279,0.00,1.90,0.00,0.000,4,0.000,0.058,2144,3892,2349,0,0,0,0,0,0
$STATE,11289,end climb,SURFACE_DEPTH_REACHED
$STATE,11289,begin surface coast
$FINISH,0.6,1.006675
$STATE,11309,end surface coast,CONTROL_FINISHED_OK
$STATE,11309,begin surface
$SM_CCo,11332,196.20,0.793,1,0,476,573.99
$SM_GC,1.25,0.00,0.00,196.20,0.000,0.000,0.793,59,2849,476,-5.60,-0.88,573.99
$IRIDIUM_FIX,-4641.78,409.41,110113,141444
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.1,41.102
$10V_AH,10.0,19.379
$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,14.475,97.350,226.575,196.200,0.000,62.396,99.742,232.741,0.000,0.000,20.877,1450.143,7692.352,559.370,1986.765,507.244,33.364,1247.891,0.000,1508.844,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,76.500,1782.450,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.294,1169.825,650.639,265.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,40498,580
$CAP_FILE_SIZE,96101,0
$CFSIZE,259252224,216154112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,110113,182004,-4701.375,411.004,25,1.1,25,-23.3