version: 66.07
glider: 542
mission: 6
dive: 218
start: 1 12 113 7 47 53
data:
$ID,542
$MISSION,6
$DIVE,218
$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,-11183.6
$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,33
$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
$GPS1,120113,073804,-4700.691,413.701,31,1.3,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-24.5
$GPS2,120113,074700,-4700.708,413.682,31,1.0,31,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.102,0.128
$KALMAN_X,-160078.2,818.9,321.2,154746.0,-6373.8
$KALMAN_Y,100934.0,-84.0,-73.8,-118238.8,-865.6
$MHEAD_RNG_PITCHd_Wd,61.9,4831,-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,-131.23,0.000,6,0.000,0.000,52,2893,3056,0,0,0,0,0,0
$GC,173,-0.87,-122.5,2.9,-2.4,17,192,6.15,2.30,-7.82,0.000,4,0.243,0.050,1571,1463,3321,0,0,0,0,0,0
$GC,216,-0.87,-122.5,11.1,-17.4,22,226,0.00,2.33,0.00,0.000,6,0.000,0.054,1562,2872,3323,0,0,0,0,0,0
$GC,305,-0.87,-122.5,28.2,-21.1,35,314,0.00,2.22,0.00,0.000,4,0.000,0.034,1562,1466,3322,0,0,0,0,0,0
$GC,338,-0.87,-122.5,35.4,-21.5,39,345,0.00,2.30,0.00,0.000,6,0.000,0.053,1551,2884,3323,0,0,0,0,0,0
$GC,581,-0.87,-122.5,85.9,-20.1,80,587,0.00,1.62,0.00,0.000,4,0.000,0.058,1543,3901,3323,0,0,0,0,0,0
$GC,690,-0.87,-122.5,107.3,-18.2,94,694,0.00,1.60,0.00,0.000,6,0.000,0.031,1543,2849,3323,0,0,0,0,0,0
$GC,1024,-0.87,-122.5,168.5,-17.2,115,1028,0.00,1.65,0.00,0.000,4,0.000,0.059,1535,3897,3324,0,0,0,0,0,0
$GC,1087,-0.87,-122.5,181.5,-18.7,118,1096,0.10,1.55,0.00,0.000,6,0.185,0.031,1563,2872,3325,0,0,0,0,0,0
$GC,1414,-0.87,-122.5,234.1,-16.6,139,1418,0.00,1.65,0.00,0.000,4,0.000,0.060,1557,3891,3325,0,0,0,0,0,0
$GC,1510,-0.87,-122.5,251.9,-18.4,145,1514,0.00,1.52,0.00,0.000,6,0.000,0.032,1557,2876,3325,0,0,0,0,0,0
$GC,1847,-0.87,-122.5,311.1,-17.2,161,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2872,3325,0,0,0,0,0,0
$GC,2154,-0.87,-122.5,363.6,-16.9,176,2158,0.00,1.62,0.00,0.000,4,0.000,0.060,1549,3904,3325,0,0,0,0,0,0
$GC,2183,-0.87,-122.5,368.9,-17.7,177,2187,0.00,1.55,0.00,0.000,6,0.000,0.032,1550,2876,3325,0,0,0,0,0,0
$GC,2522,-0.87,-122.5,425.1,-16.2,191,2525,0.00,1.62,0.00,0.000,4,0.000,0.060,1542,3906,3325,0,0,0,0,0,0
$GC,2539,-0.87,-122.5,428.5,-16.5,191,2543,0.00,1.55,0.00,0.000,6,0.000,0.032,1542,2877,3325,0,0,0,0,0,0
$GC,2865,-0.87,-122.5,483.2,-16.8,202,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,2873,3325,0,0,0,0,0,0
$GC,3173,-0.87,-122.5,534.4,-16.7,212,3178,0.10,2.08,0.00,0.000,4,0.221,0.037,1564,1500,3325,0,0,0,0,0,0
$GC,3214,-0.87,-122.5,541.1,-13.0,213,3218,0.00,2.20,0.00,0.000,6,0.000,0.054,1555,2890,3324,0,0,0,0,0,0
$GC,3541,-0.87,-122.5,590.1,-15.3,224,3544,0.00,1.60,0.00,0.000,4,0.000,0.061,1548,3899,3324,0,0,0,0,0,0
$GC,3581,-0.87,-122.5,597.0,-16.9,225,3584,0.00,1.52,0.00,0.000,6,0.000,0.032,1548,2883,3325,0,0,0,0,0,0
$GC,3918,-0.87,-122.5,649.4,-15.7,236,3922,0.00,1.62,0.00,0.000,4,0.000,0.060,1539,3911,3324,0,0,0,0,0,0
$GC,3964,-0.87,-122.5,657.4,-17.1,237,3968,0.08,1.55,0.00,0.000,6,0.190,0.033,1574,2887,3323,0,0,0,0,0,0
$GC,4296,-0.87,-122.5,701.6,-12.9,248,4300,0.00,2.10,0.00,0.000,4,0.000,0.037,1574,1495,3323,0,0,0,0,0,0
$GC,4314,-0.87,-122.5,704.3,-12.9,248,4318,0.00,2.22,0.00,0.000,6,0.000,0.054,1565,2888,3323,0,0,0,0,0,0
$GC,4631,-0.87,-122.5,746.2,-13.4,258,4634,0.00,1.60,0.00,0.000,4,0.000,0.061,1557,3897,3323,0,0,0,0,0,0
$GC,4659,-0.87,-122.5,750.9,-14.5,258,4666,0.00,1.55,0.00,0.000,6,0.000,0.032,1558,2863,3323,0,0,0,0,0,0
$GC,4975,-0.87,-122.5,794.9,-14.2,269,4978,0.00,2.05,0.00,0.000,4,0.000,0.037,1557,1503,3322,0,0,0,0,0,0
$GC,5011,-0.87,-122.5,799.9,-13.1,270,5015,0.00,2.20,0.00,0.000,6,0.000,0.054,1547,2884,3323,0,0,0,0,0,0
$GC,5349,-0.87,-122.5,848.2,-14.2,281,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2885,3323,0,0,0,0,0,0
$GC,5655,-0.87,-122.5,890.4,-13.8,291,5659,0.00,1.60,0.00,0.000,4,0.000,0.061,1539,3893,3322,0,0,0,0,0,0
$GC,5695,-0.87,-122.5,896.8,-15.6,292,5700,0.08,1.52,0.00,0.000,6,0.190,0.034,1561,2886,3322,0,0,0,0,0,0
$GC,6033,-0.87,-122.5,939.4,-12.3,303,6037,0.00,2.10,0.00,0.000,4,0.000,0.038,1560,1491,3322,0,0,0,0,0,0
$GC,6068,-0.87,-122.5,944.0,-12.1,304,6072,0.00,2.22,0.00,0.000,6,0.000,0.054,1551,2884,3322,0,0,0,0,0,0
$GC,6400,-0.87,-122.5,986.7,-13.3,315,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2884,3322,0,0,0,0,0,0
$STATE,6518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6518,begin apogee
$GC,6529,-0.18,0.0,1002.5,12.9,319,6656,0.82,0.00,123.65,1.246,6,0.186,0.000,1783,2695,2819,0,0,0,0,0,0
$STATE,6657,end apogee,CONTROL_FINISHED_OK
$STATE,6658,begin climb
$GC,6663,0.87,122.5,1005.3,0.0,323,6798,1.00,2.45,127.65,1.206,4,0.083,0.044,2132,1317,2315,0,0,0,0,0,0
$GC,6816,0.87,122.5,977.6,27.4,327,6823,0.00,2.45,0.00,0.000,6,0.000,0.051,2132,2699,2311,0,0,0,0,0,0
$GC,7132,0.87,122.5,884.1,28.7,338,7136,0.00,2.28,0.00,0.000,4,0.000,0.044,2143,1301,2303,0,0,0,0,0,0
$GC,7150,0.87,122.5,878.4,28.8,338,7154,0.00,2.33,0.00,0.000,6,0.000,0.051,2143,2703,2302,0,0,0,0,0,0
$GC,7470,0.87,122.5,785.8,28.8,349,7474,0.00,2.25,0.00,0.000,4,0.000,0.044,2153,1303,2300,0,0,0,0,0,0
$GC,7488,0.87,122.5,780.2,29.0,349,7493,0.00,2.30,0.00,0.000,6,0.000,0.050,2153,2713,2300,0,0,0,0,0,0
$GC,7810,0.87,122.5,687.7,28.9,360,7814,0.00,2.25,0.00,0.000,4,0.000,0.044,2164,1297,2299,0,0,0,0,0,0
$GC,7841,0.87,122.5,679.1,27.6,361,7846,0.15,2.28,0.00,0.000,6,0.245,0.051,2133,2704,2299,0,0,0,0,0,0
$GC,8179,0.87,122.5,589.1,26.1,372,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2704,2298,0,0,0,0,0,0
$GC,8485,0.87,122.5,509.4,25.5,382,8489,0.00,2.17,0.00,0.000,4,0.000,0.043,2142,1309,2298,0,0,0,0,0,0
$GC,8503,0.87,122.5,504.4,25.8,382,8507,0.00,2.25,0.00,0.000,6,0.000,0.050,2141,2710,2297,0,0,0,0,0,0
$GC,8824,0.87,122.5,420.2,26.6,393,8828,0.00,2.20,0.00,0.000,4,0.000,0.044,2151,1307,2297,0,0,0,0,0,0
$GC,8870,0.87,122.5,407.9,24.1,394,8874,0.00,2.22,0.00,0.000,6,0.000,0.050,2151,2705,2296,0,0,0,0,0,0
$GC,9197,0.87,122.5,320.4,27.6,409,9201,0.00,2.17,0.00,0.000,4,0.000,0.042,2161,1307,2296,0,0,0,0,0,0
$GC,9231,0.87,122.5,310.3,25.7,410,9241,0.10,2.25,0.00,0.000,6,0.234,0.051,2137,2695,2296,0,0,0,0,0,0
$GC,9553,0.87,122.5,229.2,25.1,427,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2695,2296,0,0,0,0,0,0
$GC,9866,0.87,122.5,152.2,23.4,447,9870,0.00,2.15,0.00,0.000,4,0.000,0.043,2145,1307,2296,0,0,0,0,0,0
$GC,9942,0.87,122.5,133.3,22.2,451,9949,0.00,2.22,0.00,0.000,6,0.000,0.051,2144,2705,2294,0,0,0,0,0,0
$GC,10283,0.87,122.5,54.7,21.2,494,10292,0.00,1.90,0.00,0.000,4,0.000,0.058,2144,3894,2294,0,0,0,0,0,0
$GC,10310,0.87,122.5,48.8,23.6,497,10317,0.00,1.83,0.00,0.000,6,0.000,0.038,2153,2707,2294,0,0,0,0,0,0
$STATE,10510,end climb,SURFACE_DEPTH_REACHED
$STATE,10510,begin surface coast
$FINISH,0.7,1.026419
$STATE,10524,end surface coast,CONTROL_FINISHED_OK
$STATE,10524,begin surface
$SM_CCo,10547,189.12,0.775,1,0,476,573.99
$SM_GC,1.04,0.00,0.00,189.12,0.000,0.000,0.775,60,2892,476,-5.60,0.34,573.99
$IRIDIUM_FIX,-4644.93,412.78,120113,040458
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,22.7,41.916
$10V_AH,10.1,19.790
$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,14.275,95.375,251.300,189.125,0.000,34.365,20.117,255.235,0.000,0.000,33.198,1338.698,7050.886,594.855,1766.602,517.362,33.365,1235.591,0.000,1370.728,0.000,1.008,0.000
$DEVICE_MAMPS,244.800,64.260,1246.185,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.825,1074.303,594.398,242.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353888
$DATA_FILE_SIZE,40184,531
$CAP_FILE_SIZE,91892,0
$CFSIZE,259252224,215904256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,120113,104824,-4659.586,414.417,42,1.0,42,-23.3