version: 66.07
glider: 542
mission: 6
dive: 215
start: 1 11 113 22 3 34
data:
$ID,542
$MISSION,6
$DIVE,215
$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,-11175.446
$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,37
$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
$GPS1,110113,215334,-4700.731,412.211,24,1.1,24,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-46.1
$GPS2,110113,220242,-4700.737,412.224,17,0.8,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.025,-0.162
$KALMAN_X,-156078.9,-237.8,21.4,150274.2,-3096.1
$KALMAN_Y,103696.9,-671.8,-211.0,-120329.5,3165.4
$MHEAD_RNG_PITCHd_Wd,194.5,3123,-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,-129.27,0.000,6,0.000,0.000,56,2897,3054,0,0,0,0,0,0
$GC,173,-0.87,-122.8,3.0,-2.3,17,192,6.18,1.65,-7.78,0.000,4,0.246,0.076,1555,3893,3322,0,0,0,0,0,0
$GC,289,-0.87,-122.8,27.2,-20.7,34,299,0.00,1.58,0.00,0.000,6,0.000,0.031,1561,2865,3323,0,0,0,0,0,0
$GC,376,-0.87,-122.8,44.8,-21.0,47,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2865,3323,0,0,0,0,0,0
$GC,618,-0.87,-122.8,92.9,-20.3,88,624,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2865,3324,0,0,0,0,0,0
$GC,956,-0.87,-122.8,150.3,-16.7,113,960,0.00,1.65,0.00,0.000,4,0.000,0.058,1555,3897,3324,0,0,0,0,0,0
$GC,1031,-0.87,-122.8,163.9,-19.4,117,1034,0.00,1.52,0.00,0.000,6,0.000,0.031,1561,2884,3324,0,0,0,0,0,0
$GC,1363,-0.87,-122.8,221.9,-16.9,138,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2878,3325,0,0,0,0,0,0
$GC,1679,-0.87,-122.8,273.2,-16.1,156,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2878,3325,0,0,0,0,0,0
$GC,1990,-0.87,-122.8,323.2,-16.1,171,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2878,3325,0,0,0,0,0,0
$GC,2298,-0.87,-122.8,373.0,-15.6,186,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2878,3325,0,0,0,0,0,0
$GC,2606,-0.87,-122.8,419.3,-15.0,199,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2878,3324,0,0,0,0,0,0
$GC,2912,-0.87,-122.8,464.1,-14.8,209,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3325,0,0,0,0,0,0
$GC,3218,-0.87,-122.8,508.2,-14.5,219,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3324,0,0,0,0,0,0
$GC,3524,-0.87,-122.8,554.0,-14.8,229,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3323,0,0,0,0,0,0
$GC,3831,-0.87,-122.8,600.1,-15.0,239,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3323,0,0,0,0,0,0
$GC,4137,-0.87,-122.8,646.8,-15.5,249,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3322,0,0,0,0,0,0
$GC,4443,-0.87,-122.8,693.1,-14.8,259,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3322,0,0,0,0,0,0
$GC,4749,-0.87,-122.8,738.2,-14.8,269,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3322,0,0,0,0,0,0
$GC,5055,-0.87,-122.8,782.6,-14.2,279,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3321,0,0,0,0,0,0
$GC,5362,-0.87,-122.8,824.2,-13.5,289,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2879,3321,0,0,0,0,0,0
$GC,5668,-0.87,-122.8,862.9,-12.3,299,5672,0.00,2.08,0.00,0.000,4,0.000,0.038,1561,1497,3321,0,0,0,0,0,0
$GC,5708,-0.87,-122.8,868.0,-11.8,300,5712,0.00,2.20,0.00,0.000,6,0.000,0.054,1552,2874,3320,0,0,0,0,0,0
$GC,6034,-0.87,-122.8,910.0,-13.0,311,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2874,3320,0,0,0,0,0,0
$GC,6341,-0.87,-122.8,948.6,-12.4,321,6345,0.00,2.10,0.00,0.000,4,0.000,0.037,1552,1496,3320,0,0,0,0,0,0
$GC,6370,-0.87,-122.8,952.5,-13.1,321,6377,0.00,2.20,0.00,0.000,6,0.000,0.054,1541,2880,3319,0,0,0,0,0,0
$GC,6685,-0.87,-122.8,992.0,-12.5,332,6689,0.00,2.12,0.00,0.000,4,0.000,0.037,1542,1495,3319,0,0,0,0,0,0
$GC,6731,-0.87,-122.8,998.0,-12.0,333,6736,0.15,2.20,0.00,0.000,6,0.205,0.054,1566,2887,3319,0,0,0,0,0,0
$STATE,6773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6773,begin apogee
$GC,6784,-0.18,0.0,1002.9,11.2,335,6912,0.77,0.00,119.80,1.827,6,0.183,0.000,1787,2714,2819,0,0,0,0,1,0
$STATE,6914,end apogee,CONTROL_FINISHED_OK
$STATE,6914,begin climb
$GC,6919,0.87,122.8,1004.8,0.0,339,7064,1.00,2.55,131.05,1.787,4,0.072,0.042,2135,1309,2319,0,0,0,0,1,0
$GC,7146,0.87,122.8,957.1,25.7,346,7153,0.00,2.40,0.00,0.000,6,0.000,0.050,2135,2695,2315,0,0,0,0,0,0
$GC,7461,0.87,122.8,864.2,29.3,357,7465,0.00,2.28,0.00,0.000,4,0.000,0.044,2145,1303,2311,0,0,0,0,0,0
$GC,7496,0.87,122.8,853.7,28.1,358,7501,0.00,2.33,0.00,0.000,6,0.000,0.052,2146,2704,2310,0,0,0,0,0,0
$GC,7828,0.87,122.8,757.3,28.8,369,7832,0.00,2.25,0.00,0.000,4,0.000,0.043,2156,1296,2309,0,0,0,0,0,0
$GC,7869,0.87,122.8,745.9,27.3,370,7873,0.00,2.30,0.00,0.000,6,0.000,0.051,2156,2706,2307,0,0,0,0,0,0
$GC,8195,0.87,122.8,655.3,27.5,381,8199,0.00,2.22,0.00,0.000,4,0.000,0.044,2166,1301,2307,0,0,0,0,0,0
$GC,8253,0.87,122.8,639.8,25.5,382,8260,0.15,2.28,0.00,0.000,6,0.252,0.053,2136,2709,2306,0,0,0,0,0,0
$GC,8568,0.87,122.8,557.6,25.9,393,8572,0.00,2.22,0.00,0.000,4,0.000,0.043,2145,1295,2305,0,0,0,0,0,0
$GC,8605,0.87,122.8,548.3,25.1,394,8609,0.00,2.28,0.00,0.000,6,0.000,0.051,2144,2710,2305,0,0,0,0,0,0
$GC,8950,0.87,122.8,458.5,26.3,405,8954,0.00,2.22,0.00,0.000,4,0.000,0.044,2154,1295,2305,0,0,0,0,0,0
$GC,9002,0.87,122.8,445.0,23.2,406,9006,0.00,2.28,0.00,0.000,6,0.000,0.050,2154,2713,2303,0,0,0,0,0,0
$GC,9318,0.87,122.8,364.0,25.8,418,9322,0.00,2.22,0.00,0.000,4,0.000,0.044,2164,1294,2303,0,0,0,0,0,0
$GC,9354,0.87,122.8,354.4,25.8,419,9359,0.15,2.28,0.00,0.000,6,0.252,0.052,2133,2708,2303,0,0,0,0,0,0
$GC,9672,0.87,122.8,277.1,24.2,434,9676,0.00,2.22,0.00,0.000,4,0.000,0.044,2143,1294,2303,0,0,0,0,0,0
$GC,9741,0.87,122.8,262.2,22.4,437,9745,0.00,2.22,0.00,0.000,6,0.000,0.050,2134,2699,2302,0,0,0,0,0,0
$GC,10070,0.87,122.8,184.1,23.3,457,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2699,2303,0,0,0,0,0,0
$GC,10382,0.87,122.8,111.6,22.8,477,10387,0.00,2.17,0.00,0.000,4,0.000,0.044,2143,1299,2302,0,0,0,0,0,0
$GC,10462,0.87,122.8,94.4,20.5,484,10469,0.00,2.25,0.00,0.000,6,0.000,0.053,2143,2710,2301,0,0,0,0,0,0
$GC,10831,0.87,122.8,15.4,21.0,545,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2710,2301,0,0,0,0,0,0
$STATE,10883,end climb,SURFACE_DEPTH_REACHED
$STATE,10883,begin surface coast
$FINISH,0.7,1.026576
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10920,189.70,0.793,1,0,478,573.99
$SM_GC,1.34,0.00,0.00,189.70,0.000,0.000,0.793,64,2893,478,-5.58,0.40,573.99
$IRIDIUM_FIX,-4641.78,415.70,110113,181826
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.1,41.439
$10V_AH,10.1,19.547
$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,14.075,60.800,250.850,189.700,0.000,25.208,45.838,262.259,0.000,0.000,20.052,1357.085,7458.471,559.298,1792.762,484.590,33.364,1188.286,0.000,1388.535,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,76.500,1826.820,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.262,1120.896,620.830,250.369,0.000,0.000,0.000,0.000,0.000,0.000
$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,40295,555
$CAP_FILE_SIZE,84488,0
$CFSIZE,259252224,216059904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,120113,011005,-4702.317,412.161,28,0.8,28,-23.3