version: 66.07
glider: 542
mission: 6
dive: 217
start: 1 12 113 4 30 45
data:
$ID,542
$MISSION,6
$DIVE,217
$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,-11180.686
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,120113,042100,-4701.688,413.157,37,1.5,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-32.2
$GPS2,120113,042953,-4701.655,413.108,17,1.3,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.108,0.123
$KALMAN_X,-158973.2,868.1,188.3,153003.9,-5936.8
$KALMAN_Y,102186.8,-82.1,-271.0,-121042.6,757.5
$MHEAD_RNG_PITCHd_Wd,64.6,4981,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.79,-57.8,0.0,0.0,0,167,0.00,0.00,-130.82,0.000,6,0.000,0.000,50,2899,3055,0,0,0,0,0,0
$GC,173,-0.86,-120.0,3.0,-2.6,17,193,6.20,2.28,-7.55,0.000,4,0.245,0.048,1575,1480,3312,0,0,0,0,0,0
$GC,305,-0.86,-120.0,23.9,-17.5,36,313,0.00,2.28,0.00,0.000,6,0.000,0.050,1565,2875,3314,0,0,0,0,0,0
$GC,390,-0.86,-120.0,41.4,-19.5,49,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2875,3314,0,0,0,0,0,0
$GC,629,-0.86,-120.0,89.8,-18.6,90,639,0.00,1.62,0.00,0.000,4,0.000,0.057,1558,3894,3314,0,0,0,0,0,0
$GC,655,-0.86,-120.0,94.2,-18.5,93,661,0.00,1.58,0.00,0.000,6,0.000,0.031,1558,2848,3314,0,0,0,0,0,0
$GC,989,-0.86,-120.0,152.1,-16.7,117,992,0.00,1.67,0.00,0.000,4,0.000,0.058,1550,3899,3315,0,0,0,0,0,0
$GC,1171,-0.86,-120.0,184.4,-17.6,127,1177,0.00,1.52,0.00,0.000,6,0.000,0.031,1551,2882,3315,0,0,0,0,0,0
$GC,1494,-0.86,-120.0,237.6,-16.7,148,1497,0.00,1.62,0.00,0.000,4,0.000,0.058,1543,3890,3315,0,0,0,0,0,0
$GC,1557,-0.86,-120.0,249.4,-17.1,151,1565,0.08,1.50,0.00,0.000,6,0.184,0.031,1564,2895,3315,0,0,0,0,0,0
$GC,1878,-0.86,-120.0,298.5,-15.5,167,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2894,3316,0,0,0,0,0,0
$GC,2185,-0.86,-120.0,347.3,-15.9,182,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2894,3315,0,0,0,0,0,0
$GC,2496,-0.86,-120.0,395.6,-15.1,197,2500,0.00,1.62,0.00,0.000,4,0.000,0.060,1558,3907,3316,0,0,0,0,0,0
$GC,2531,-0.86,-120.0,401.6,-16.0,198,2535,0.00,1.55,0.00,0.000,6,0.000,0.033,1557,2878,3315,0,0,0,0,0,0
$GC,2852,-0.86,-120.0,451.7,-15.4,209,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2873,3316,0,0,0,0,0,0
$GC,3157,-0.86,-120.0,498.6,-15.5,219,3161,0.00,2.10,0.00,0.000,4,0.000,0.037,1557,1491,3316,0,0,0,0,0,0
$GC,3181,-0.86,-120.0,502.5,-15.3,219,3185,0.00,2.20,0.00,0.000,6,0.000,0.052,1547,2887,3316,0,0,0,0,0,0
$GC,3496,-0.86,-120.0,552.7,-16.3,229,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2887,3315,0,0,0,0,0,0
$GC,3802,-0.86,-120.0,600.2,-15.7,239,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2887,3315,0,0,0,0,0,0
$GC,4109,-0.86,-120.0,647.9,-15.6,249,4113,0.00,2.12,0.00,0.000,4,0.000,0.037,1547,1501,3315,0,0,0,0,0,0
$GC,4126,-0.86,-120.0,650.9,-15.4,249,4131,0.12,2.20,0.00,0.000,6,0.203,0.052,1566,2890,3314,0,0,0,0,0,0
$GC,4448,-0.86,-120.0,694.9,-13.8,260,4452,0.00,2.12,0.00,0.000,4,0.000,0.037,1566,1493,3314,0,0,0,0,0,0
$GC,4466,-0.86,-120.0,697.8,-13.7,260,4470,0.00,2.20,0.00,0.000,6,0.000,0.052,1557,2887,3314,0,0,0,0,0,0
$GC,4786,-0.86,-120.0,743.2,-14.3,271,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2888,3314,0,0,0,0,0,0
$GC,5094,-0.86,-120.0,785.9,-13.5,281,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2888,3314,0,0,0,0,0,0
$GC,5399,-0.86,-120.0,826.3,-13.3,291,5403,0.00,2.12,0.00,0.000,4,0.000,0.037,1557,1492,3313,0,0,0,0,0,0
$GC,5445,-0.86,-120.0,832.5,-12.1,292,5449,0.00,2.22,0.00,0.000,6,0.000,0.053,1547,2887,3313,0,0,0,0,0,0
$GC,5766,-0.86,-120.0,874.9,-13.3,303,5770,0.00,2.12,0.00,0.000,4,0.000,0.036,1546,1500,3313,0,0,0,0,0,0
$GC,5784,-0.86,-120.0,877.7,-13.5,303,5789,0.12,2.17,0.00,0.000,6,0.203,0.052,1565,2881,3312,0,0,0,0,0,0
$GC,6099,-0.86,-120.0,917.3,-12.6,313,6103,0.00,2.10,0.00,0.000,4,0.000,0.036,1565,1499,3313,0,0,0,0,0,0
$GC,6123,-0.86,-120.0,920.6,-12.8,313,6127,0.00,2.20,0.00,0.000,6,0.000,0.053,1556,2880,3312,0,0,0,0,0,0
$GC,6438,-0.86,-120.0,960.7,-12.8,323,6442,0.00,2.10,0.00,0.000,4,0.000,0.035,1555,1493,3312,0,0,0,0,0,0
$GC,6489,-0.86,-120.0,967.1,-11.7,324,6493,0.00,2.22,0.00,0.000,6,0.000,0.053,1546,2887,3312,0,0,0,0,0,0
$STATE,6771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6771,begin apogee
$GC,6782,-0.18,0.0,1002.8,12.8,333,6907,0.85,0.00,121.78,1.252,6,0.189,0.000,1783,2709,2819,0,0,0,0,0,0
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6914,0.86,120.0,1005.3,0.0,337,7056,1.00,2.22,123.20,1.787,4,0.082,0.058,2123,3889,2332,0,0,0,0,1,0
$GC,7092,0.86,120.0,969.5,29.6,342,7096,0.00,1.98,0.00,0.000,6,0.000,0.035,2133,2720,2330,0,0,0,0,0,0
$GC,7418,0.86,120.0,875.2,28.9,353,7422,0.00,2.30,0.00,0.000,4,0.000,0.044,2143,1286,2324,0,0,0,0,0,0
$GC,7450,0.86,120.0,866.3,27.9,354,7454,0.00,2.35,0.00,0.000,6,0.000,0.051,2143,2700,2322,0,0,0,0,0,0
$GC,7788,0.86,120.0,771.2,27.7,365,7791,0.00,2.25,0.00,0.000,4,0.000,0.043,2154,1288,2320,0,0,0,0,0,0
$GC,7834,0.86,120.0,758.6,25.9,366,7838,0.00,2.30,0.00,0.000,6,0.000,0.051,2154,2702,2319,0,0,0,0,0,0
$GC,8166,0.86,120.0,667.4,27.8,377,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2702,2319,0,0,0,0,0,0
$GC,8472,0.86,120.0,586.6,26.3,387,8476,0.00,2.22,0.00,0.000,4,0.000,0.043,2164,1280,2318,0,0,0,0,0,0
$GC,8524,0.86,120.0,572.8,25.1,388,8529,0.15,2.30,0.00,0.000,6,0.255,0.050,2134,2710,2318,0,0,0,0,0,0
$GC,8839,0.86,120.0,493.9,25.4,398,8843,0.00,2.25,0.00,0.000,4,0.000,0.043,2143,1282,2318,0,0,0,0,0,0
$GC,8908,0.86,120.0,477.5,22.5,400,8912,0.00,2.28,0.00,0.000,6,0.000,0.050,2144,2709,2317,0,0,0,0,0,0
$GC,9246,0.86,120.0,393.5,24.9,411,9250,0.00,2.22,0.00,0.000,4,0.000,0.044,2154,1290,2317,0,0,0,0,0,0
$GC,9298,0.86,120.0,380.5,22.4,413,9302,0.00,2.25,0.00,0.000,6,0.000,0.050,2154,2702,2316,0,0,0,0,0,0
$GC,9623,0.86,120.0,298.5,25.8,429,9627,0.00,2.22,0.00,0.000,4,0.000,0.045,2164,1283,2316,0,0,0,0,0,0
$GC,9664,0.86,120.0,287.6,24.6,430,9673,0.12,2.30,0.00,0.000,6,0.242,0.051,2134,2701,2316,0,0,0,0,0,0
$GC,9998,0.86,120.0,210.0,23.4,449,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2701,2316,0,0,0,0,0,0
$GC,10308,0.86,120.0,137.2,23.8,469,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2701,2316,0,0,0,0,0,0
$GC,10633,0.86,120.0,64.1,21.2,507,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2701,2315,0,0,0,0,0,0
$STATE,10925,end climb,SURFACE_DEPTH_REACHED
$STATE,10926,begin surface coast
$FINISH,0.8,1.026444
$STATE,10939,end surface coast,CONTROL_FINISHED_OK
$STATE,10939,begin surface
$SM_CCo,10962,191.95,0.793,1,0,477,573.99
$SM_GC,1.11,0.00,0.00,191.95,0.000,0.000,0.793,54,2893,477,-5.61,0.37,573.99
$IRIDIUM_FIX,-4644.93,415.93,120113,010104
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.1,41.771
$10V_AH,10.1,19.710
$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,14.075,79.450,244.975,191.950,0.000,26.667,46.638,250.233,0.000,0.000,19.640,1384.479,7402.515,557.274,1842.302,497.629,33.366,1221.983,0.000,1439.945,0.000,1.009,0.000
$DEVICE_MAMPS,254.745,69.615,1787.040,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.645,1134.935,637.405,260.486,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353976
$DATA_FILE_SIZE,40377,557
$CAP_FILE_SIZE,89161,0
$CFSIZE,259252224,215957504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,120113,073804,-4700.691,413.701,31,1.3,31,-23.3