version: 66.07
glider: 542
mission: 6
dive: 220
start: 1 12 113 14 21 8
data:
$ID,542
$MISSION,6
$DIVE,220
$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,-11188.258
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,120113,141037,-4658.424,414.957,31,1.1,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-41.2
$GPS2,120113,142012,-4658.434,415.038,20,1.1,20,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.134,-0.094
$KALMAN_X,-160586.2,304.9,267.1,157536.3,-4663.5
$KALMAN_Y,99554.5,-46.1,66.3,-112838.7,-1697.3
$MHEAD_RNG_PITCHd_Wd,258.1,6993,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.79,-57.8,0.0,0.0,0,163,0.00,0.00,-132.90,0.000,6,0.000,0.000,58,2891,3056,0,0,0,0,0,0
$GC,170,-0.86,-116.0,2.8,-3.1,17,189,6.28,1.67,-7.03,0.000,4,0.249,0.076,1562,3903,3295,0,0,0,0,0,0
$GC,213,-0.86,-116.0,11.3,-17.9,22,222,0.00,1.60,0.00,0.000,6,0.000,0.030,1564,2855,3296,0,0,0,0,0,0
$GC,301,-0.86,-116.0,29.0,-20.1,35,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2855,3297,0,0,0,0,0,0
$GC,386,-0.86,-116.0,45.9,-19.5,48,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2855,3297,0,0,0,0,0,0
$GC,628,-0.86,-116.0,91.8,-17.4,89,632,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2855,3297,0,0,0,0,0,0
$GC,964,-0.86,-116.0,147.8,-17.0,116,965,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2855,3297,0,0,0,0,0,0
$GC,1276,-0.86,-116.0,200.0,-16.6,136,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2855,3298,0,0,0,0,0,0
$GC,1590,-0.86,-116.0,248.5,-15.2,156,1594,0.00,2.05,0.00,0.000,4,0.000,0.035,1564,1497,3298,0,0,0,0,0,0
$GC,1631,-0.86,-116.0,255.1,-14.4,158,1640,0.00,2.22,0.00,0.000,6,0.000,0.052,1555,2877,3298,0,0,0,0,0,0
$GC,1951,-0.86,-116.0,304.7,-16.4,174,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2877,3298,0,0,0,0,0,0
$GC,2261,-0.86,-116.0,355.9,-16.5,189,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2877,3299,0,0,0,0,0,0
$GC,2578,-0.86,-116.0,407.1,-15.8,204,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2877,3298,0,0,0,0,0,0
$GC,2884,-0.86,-116.0,454.1,-15.2,214,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2877,3298,0,0,0,0,0,0
$GC,3190,-0.86,-116.0,500.4,-15.1,224,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2877,3298,0,0,0,0,0,0
$GC,3497,-0.86,-116.0,547.4,-15.2,234,3501,0.00,2.10,0.00,0.000,4,0.000,0.037,1555,1494,3298,0,0,0,0,0,0
$GC,3537,-0.86,-116.0,553.6,-13.3,235,3541,0.00,2.20,0.00,0.000,6,0.000,0.052,1545,2883,3298,0,0,0,0,0,0
$GC,3876,-0.86,-116.0,606.4,-15.9,246,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2884,3297,0,0,0,0,0,0
$GC,4181,-0.86,-116.0,654.4,-15.8,256,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,2884,3297,0,0,0,0,0,0
$GC,4489,-0.86,-116.0,700.1,-14.8,266,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,2884,3296,0,0,0,0,0,0
$GC,4793,-0.86,-116.0,744.8,-14.8,276,4797,0.00,2.12,0.00,0.000,4,0.000,0.037,1544,1493,3296,0,0,0,0,0,0
$GC,4840,-0.86,-116.0,751.6,-13.6,277,4845,0.15,2.20,0.00,0.000,6,0.204,0.052,1569,2878,3295,0,0,0,0,0,0
$GC,5161,-0.86,-116.0,791.3,-12.4,288,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2878,3295,0,0,0,0,0,0
$GC,5468,-0.86,-116.0,828.2,-12.2,298,5472,0.00,2.10,0.00,0.000,4,0.000,0.036,1570,1488,3295,0,0,0,0,0,0
$GC,5514,-0.86,-116.0,834.0,-12.0,299,5518,0.00,2.20,0.00,0.000,6,0.000,0.054,1560,2883,3295,0,0,0,0,0,0
$GC,5846,-0.86,-116.0,875.1,-12.5,310,5850,0.00,2.10,0.00,0.000,4,0.000,0.035,1560,1495,3295,0,0,0,0,0,0
$GC,5875,-0.86,-116.0,879.1,-12.9,310,5882,0.00,2.20,0.00,0.000,6,0.000,0.052,1550,2883,3295,0,0,0,0,0,0
$GC,6190,-0.86,-116.0,921.7,-13.6,321,6194,0.00,1.60,0.00,0.000,4,0.000,0.059,1542,3893,3294,0,0,0,0,0,0
$GC,6230,-0.86,-116.0,928.0,-15.6,322,6235,0.08,1.52,0.00,0.000,6,0.190,0.032,1563,2881,3294,0,0,0,0,0,0
$GC,6568,-0.86,-116.0,969.2,-11.6,333,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2877,3293,0,0,0,0,0,0
$STATE,6839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6839,begin apogee
$GC,6850,-0.18,0.0,1001.4,11.7,342,6971,0.77,0.00,117.20,1.248,6,0.183,0.000,1784,2698,2818,0,0,0,0,0,0
$STATE,6973,end apogee,CONTROL_FINISHED_OK
$STATE,6973,begin climb
$GC,6977,0.86,116.0,1003.8,0.0,346,7110,1.00,2.42,120.55,1.208,4,0.083,0.043,2135,1328,2342,0,0,0,0,0,0
$GC,7130,0.86,116.0,975.8,25.8,350,7135,0.00,2.42,0.00,0.000,6,0.000,0.050,2135,2699,2336,0,0,0,0,0,0
$GC,7447,0.86,116.0,886.6,27.7,360,7451,0.00,1.98,0.00,0.000,4,0.000,0.058,2135,3906,2329,0,0,0,0,0,0
$GC,7465,0.86,116.0,880.8,26.8,360,7468,0.00,1.90,0.00,0.000,6,0.000,0.037,2143,2721,2329,0,0,0,0,0,0
$GC,7791,0.86,116.0,788.0,28.5,371,7795,0.00,2.25,0.00,0.000,4,0.000,0.042,2154,1291,2327,0,0,0,0,0,0
$GC,7822,0.86,116.0,779.0,27.7,372,7826,0.00,2.30,0.00,0.000,6,0.000,0.050,2155,2705,2325,0,0,0,0,0,0
$GC,8160,0.86,116.0,684.2,27.9,383,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2705,2324,0,0,0,0,0,0
$GC,8468,0.86,116.0,599.6,27.5,393,8472,0.00,2.25,0.00,0.000,4,0.000,0.043,2165,1280,2324,0,0,0,0,0,0
$GC,8486,0.86,116.0,593.7,27.3,393,8491,0.15,2.30,0.00,0.000,6,0.243,0.050,2134,2710,2323,0,0,0,0,0,0
$GC,8801,0.86,116.0,515.2,24.7,403,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2710,2323,0,0,0,0,0,0
$GC,9107,0.86,116.0,439.9,24.8,413,9111,0.00,2.22,0.00,0.000,4,0.000,0.043,2143,1289,2322,0,0,0,0,0,0
$GC,9148,0.86,116.0,429.6,23.0,414,9152,0.00,2.25,0.00,0.000,6,0.000,0.050,2143,2701,2321,0,0,0,0,0,0
$GC,9477,0.86,116.0,346.4,25.6,428,9481,0.00,2.22,0.00,0.000,4,0.000,0.042,2154,1284,2321,0,0,0,0,0,0
$GC,9499,0.86,116.0,341.3,25.3,429,9503,0.00,2.28,0.00,0.000,6,0.000,0.050,2153,2708,2321,0,0,0,0,0,0
$GC,9831,0.86,116.0,257.4,25.4,445,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2708,2321,0,0,0,0,0,0
$GC,10153,0.86,116.0,177.0,24.4,465,10157,0.00,2.22,0.00,0.000,4,0.000,0.043,2164,1283,2321,0,0,0,0,0,0
$GC,10208,0.86,116.0,164.1,21.8,468,10212,0.15,2.28,0.00,0.000,6,0.240,0.050,2132,2707,2321,0,0,0,0,0,0
$GC,10535,0.86,116.0,95.3,20.4,490,10542,0.00,2.22,0.00,0.000,4,0.000,0.044,2142,1287,2320,0,0,0,0,0,0
$GC,10681,0.86,116.0,67.4,16.9,514,10688,0.00,2.25,0.00,0.000,6,0.000,0.050,2142,2704,2320,0,0,0,0,0,0
$STATE,10988,end climb,SURFACE_DEPTH_REACHED
$STATE,10989,begin surface coast
$FINISH,0.6,1.014472
$STATE,11002,end surface coast,CONTROL_FINISHED_OK
$STATE,11003,begin surface
$SM_CCo,11025,191.05,0.776,1,0,477,573.99
$SM_GC,0.81,0.00,0.00,191.05,0.000,0.000,0.776,62,2902,477,-5.59,0.62,573.99
$IRIDIUM_FIX,-4644.93,412.78,120113,070713
$TT8_MAMPS,0.026964
$HUMID,57.00
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,22.7,42.222
$10V_AH,10.1,19.956
$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,14.225,64.175,237.750,191.050,0.000,27.493,49.993,267.610,0.000,0.000,22.502,1384.950,7553.010,543.212,1814.498,494.507,33.366,1170.864,0.000,1387.735,0.000,1.008,0.000
$DEVICE_MAMPS,248.625,75.735,1247.715,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.562,1145.528,643.885,258.090,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,40484,567
$CAP_FILE_SIZE,85381,0
$CFSIZE,259252224,215805952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,120113,172935,-4658.710,413.049,37,1.0,37,-23.3