version: 66.07
glider: 542
mission: 6
dive: 216
start: 1 12 113 1 19 15
data:
$ID,542
$MISSION,6
$DIVE,216
$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,-11177.777
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,120113,011005,-4702.317,412.161,28,0.8,28,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-36.5
$GPS2,120113,011823,-4702.292,412.191,20,0.9,20,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.136,0.091
$KALMAN_X,-157397.6,434.6,393.2,150497.0,-4685.1
$KALMAN_Y,103651.5,-341.8,-269.3,-123432.8,2938.8
$MHEAD_RNG_PITCHd_Wd,79.3,5068,-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,22,begin dive
$GC,26,-0.79,-57.8,0.0,0.0,0,162,0.00,0.00,-130.18,0.000,6,0.000,0.000,64,2894,3055,0,0,0,0,0,0
$GC,169,-0.87,-123.5,3.0,-2.3,17,188,6.15,1.67,-7.93,0.000,4,0.246,0.078,1555,3903,3325,0,0,0,0,0,0
$GC,465,-0.87,-123.5,67.2,-20.8,64,472,0.00,1.58,0.00,0.000,6,0.000,0.031,1561,2862,3327,0,0,0,0,0,0
$GC,805,-0.87,-123.5,129.1,-17.1,103,809,0.00,1.67,0.00,0.000,4,0.000,0.059,1555,3893,3328,0,0,0,0,0,0
$GC,1068,-0.87,-123.5,175.9,-18.9,118,1071,0.00,1.52,0.00,0.000,6,0.000,0.031,1560,2884,3328,0,0,0,0,0,0
$GC,1397,-0.87,-123.5,231.6,-16.5,139,1400,0.00,1.67,0.00,0.000,4,0.000,0.060,1555,3900,3329,0,0,0,0,0,0
$GC,1583,-0.87,-123.5,264.4,-16.5,149,1586,0.00,1.55,0.00,0.000,6,0.000,0.031,1561,2872,3329,0,0,0,0,0,0
$GC,1919,-0.87,-123.5,319.2,-15.9,165,1923,0.00,1.65,0.00,0.000,4,0.000,0.058,1555,3892,3329,0,0,0,0,0,0
$GC,1990,-0.87,-123.5,331.9,-17.6,168,1994,0.00,1.52,0.00,0.000,6,0.000,0.031,1561,2877,3329,0,0,0,0,0,0
$GC,2325,-0.87,-123.5,385.8,-15.8,184,2329,0.00,1.65,0.00,0.000,4,0.000,0.059,1554,3895,3329,0,0,0,0,0,0
$GC,2354,-0.87,-123.5,390.2,-16.9,185,2358,0.00,1.52,0.00,0.000,6,0.000,0.032,1554,2878,3329,0,0,0,0,0,0
$GC,2696,-0.87,-123.5,445.1,-15.7,197,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2874,3329,0,0,0,0,0,0
$GC,3004,-0.87,-123.5,490.9,-14.8,207,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2874,3329,0,0,0,0,0,0
$GC,3309,-0.87,-123.5,535.2,-14.4,217,3312,0.00,2.08,0.00,0.000,4,0.000,0.037,1554,1505,3328,0,0,0,0,0,0
$GC,3340,-0.87,-123.5,539.6,-14.2,218,3344,0.00,2.20,0.00,0.000,6,0.000,0.052,1544,2888,3327,0,0,0,0,0,0
$GC,3678,-0.87,-123.5,592.1,-15.8,229,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2888,3327,0,0,0,0,0,0
$GC,3983,-0.87,-123.5,639.9,-15.7,239,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2888,3327,0,0,0,0,0,0
$GC,4290,-0.87,-123.5,686.6,-15.1,249,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2888,3326,0,0,0,0,0,0
$GC,4596,-0.87,-123.5,734.2,-15.6,259,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2888,3326,0,0,0,0,0,0
$GC,4903,-0.87,-123.5,781.2,-15.1,269,4907,0.00,2.12,0.00,0.000,4,0.000,0.037,1544,1501,3325,0,0,0,0,0,0
$GC,4927,-0.87,-123.5,785.2,-15.0,269,4932,0.12,2.17,0.00,0.000,6,0.210,0.052,1563,2883,3325,0,0,0,0,0,0
$GC,5242,-0.87,-123.5,828.0,-13.7,279,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2883,3325,0,0,0,0,0,0
$GC,5548,-0.87,-123.5,870.3,-13.7,289,5552,0.00,2.10,0.00,0.000,4,0.000,0.037,1563,1502,3324,0,0,0,0,0,0
$GC,5619,-0.87,-123.5,879.6,-12.8,291,5623,0.00,2.20,0.00,0.000,6,0.000,0.054,1554,2884,3325,0,0,0,0,0,0
$GC,5957,-0.87,-123.5,925.0,-13.2,302,5961,0.00,2.12,0.00,0.000,4,0.000,0.037,1554,1499,3324,0,0,0,0,0,0
$GC,5980,-0.87,-123.5,928.3,-13.2,302,5987,0.00,2.20,0.00,0.000,6,0.000,0.053,1544,2885,3324,0,0,0,0,0,0
$GC,6296,-0.87,-123.5,970.2,-13.4,313,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,2885,3324,0,0,0,0,0,0
$STATE,6536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6536,begin apogee
$GC,6547,-0.18,0.0,1003.4,13.7,321,6675,0.85,0.00,124.50,1.249,6,0.190,0.000,1781,2713,2819,0,0,0,0,0,0
$STATE,6677,end apogee,CONTROL_FINISHED_OK
$STATE,6677,begin climb
$GC,6681,0.87,123.5,1006.8,0.0,325,6824,1.00,2.12,126.93,1.785,4,0.083,0.057,2122,3886,2315,0,0,0,0,1,0
$GC,6838,0.87,123.5,979.1,27.1,329,6845,0.00,2.00,0.00,0.000,6,0.000,0.036,2131,2720,2315,0,0,0,0,0,0
$GC,7155,0.87,123.5,888.3,28.6,340,7159,0.00,2.30,0.00,0.000,4,0.000,0.045,2142,1282,2310,0,0,0,0,0,0
$GC,7201,0.87,123.5,874.9,25.5,341,7206,0.00,2.38,0.00,0.000,6,0.000,0.052,2142,2706,2308,0,0,0,0,0,0
$GC,7523,0.87,123.5,782.5,29.5,352,7527,0.00,2.25,0.00,0.000,4,0.000,0.044,2153,1287,2307,0,0,0,0,0,0
$GC,7563,0.87,123.5,770.7,26.6,353,7567,0.00,2.30,0.00,0.000,6,0.000,0.052,2152,2709,2305,0,0,0,0,0,0
$GC,7889,0.87,123.5,677.2,28.5,364,7893,0.00,2.28,0.00,0.000,4,0.000,0.044,2163,1280,2305,0,0,0,0,0,0
$GC,7935,0.87,123.5,664.2,24.9,365,7940,0.15,2.30,0.00,0.000,6,0.254,0.051,2133,2701,2304,0,0,0,0,0,0
$GC,8257,0.87,123.5,578.2,26.7,376,8261,0.00,2.25,0.00,0.000,4,0.000,0.043,2142,1278,2304,0,0,0,0,0,0
$GC,8288,0.87,123.5,569.9,27.2,377,8292,0.00,2.30,0.00,0.000,6,0.000,0.051,2133,2706,2302,0,0,0,0,0,0
$GC,8626,0.87,123.5,479.0,27.0,388,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2706,2303,0,0,0,0,0,0
$GC,8933,0.87,123.5,397.3,26.5,398,8937,0.00,2.22,0.00,0.000,4,0.000,0.044,2143,1274,2302,0,0,0,0,0,0
$GC,9003,0.87,123.5,378.7,23.7,401,9007,0.00,2.28,0.00,0.000,6,0.000,0.050,2143,2706,2301,0,0,0,0,0,0
$GC,9329,0.87,123.5,295.2,25.4,417,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2707,2301,0,0,0,0,0,0
$GC,9637,0.87,123.5,216.9,24.3,434,9641,0.00,2.22,0.00,0.000,4,0.000,0.044,2153,1277,2301,0,0,0,0,0,0
$GC,9683,0.87,123.5,206.1,21.6,436,9692,0.00,2.30,0.00,0.000,6,0.000,0.052,2153,2693,2300,0,0,0,0,0,0
$GC,10007,0.87,123.5,127.2,24.2,457,10010,0.00,1.90,0.00,0.000,4,0.000,0.060,2153,3911,2301,0,0,0,0,0,0
$GC,10113,0.87,123.5,100.2,23.2,463,10118,0.15,1.88,0.00,0.000,6,0.269,0.037,2133,2689,2301,0,0,0,0,0,0
$GC,10472,0.87,123.5,22.7,22.6,522,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2684,2299,0,0,0,0,0,0
$GC,10563,0.87,123.5,3.6,21.7,535,10571,0.00,2.17,0.00,0.000,4,0.000,0.045,2141,1301,2298,0,0,0,0,0,0
$STATE,10579,end climb,SURFACE_DEPTH_REACHED
$STATE,10579,begin surface coast
$FINISH,0.7,1.026181
$STATE,10599,end surface coast,CONTROL_FINISHED_OK
$STATE,10599,begin surface
$SM_CCo,10624,190.45,0.789,1,0,476,573.99
$SM_GC,1.21,0.00,0.00,190.45,0.000,0.000,0.789,51,2899,476,-5.62,0.51,573.99
$IRIDIUM_FIX,-4644.93,412.78,110113,212134
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.1,41.605
$10V_AH,10.1,19.628
$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,14.150,73.500,251.425,190.450,0.000,25.852,20.747,237.569,0.000,0.000,22.674,1353.978,7110.784,555.884,1811.132,477.176,33.362,1216.268,0.000,1447.215,0.000,1.009,0.000
$DEVICE_MAMPS,269.280,78.030,1784.745,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.354,1097.127,611.013,248.588,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,40445,540
$CAP_FILE_SIZE,86644,0
$CFSIZE,259252224,216006656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,120113,042100,-4701.688,413.157,37,1.5,37,-23.3