version: 66.07
glider: 542
mission: 6
dive: 221
start: 1 12 113 17 42 7
data:
$ID,542
$MISSION,6
$DIVE,221
$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,-11190.585
$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,39
$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
$GPS1,120113,172935,-4658.710,413.049,37,1.0,37,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-35.2
$GPS2,120113,174111,-4658.666,413.092,20,1.2,20,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.058,-0.153
$KALMAN_X,-159875.4,477.7,386.8,154068.8,-3188.5
$KALMAN_Y,100825.7,374.2,349.2,-115250.8,-590.7
$MHEAD_RNG_PITCHd_Wd,224.0,4622,-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,21,begin dive
$GC,26,-0.79,-57.8,0.0,0.0,0,163,0.00,0.00,-132.73,0.000,6,0.000,0.000,59,2903,3056,0,0,0,0,0,0
$GC,169,-0.86,-116.1,2.8,-3.1,17,188,6.20,1.65,-7.18,0.000,4,0.246,0.079,1561,3894,3295,0,0,0,0,0,0
$GC,237,-0.86,-116.1,17.0,-23.0,26,246,0.00,1.60,0.00,0.000,6,0.000,0.031,1565,2844,3296,0,0,0,0,0,0
$GC,325,-0.86,-116.1,34.3,-19.8,39,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2844,3296,0,0,0,0,0,0
$GC,566,-0.86,-116.1,80.6,-19.2,80,573,0.00,1.70,0.00,0.000,4,0.000,0.057,1558,3890,3297,0,0,0,0,0,0
$GC,588,-0.86,-116.1,84.2,-18.3,83,593,0.00,1.52,0.00,0.000,6,0.000,0.031,1557,2880,3297,0,0,0,0,0,0
$GC,922,-0.86,-116.1,141.2,-17.5,114,930,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2875,3297,0,0,0,0,0,0
$GC,1245,-0.86,-116.1,197.4,-16.6,135,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2875,3297,0,0,0,0,0,0
$GC,1558,-0.86,-116.1,248.0,-16.0,155,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2876,3297,0,0,0,0,0,0
$GC,1883,-0.86,-116.1,300.9,-16.5,171,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2875,3297,0,0,0,0,0,0
$GC,2190,-0.86,-116.1,352.2,-16.9,186,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2875,3297,0,0,0,0,0,0
$GC,2510,-0.86,-116.1,406.2,-17.0,201,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2875,3297,0,0,0,0,0,0
$GC,2817,-0.86,-116.1,457.7,-16.7,211,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2876,3297,0,0,0,0,0,0
$GC,3122,-0.86,-116.1,507.4,-16.2,221,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2876,3297,0,0,0,0,0,0
$GC,3429,-0.86,-116.1,554.4,-15.0,231,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2876,3297,0,0,0,0,0,0
$GC,3734,-0.86,-116.1,598.9,-14.3,241,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2876,3297,0,0,0,0,0,0
$GC,4042,-0.86,-116.1,640.7,-13.8,251,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2876,3297,0,0,0,0,0,0
$GC,4347,-0.86,-116.1,681.3,-12.9,261,4350,0.00,2.08,0.00,0.000,4,0.000,0.037,1558,1506,3296,0,0,0,0,0,0
$GC,4370,-0.86,-116.1,684.6,-13.0,261,4374,0.00,2.17,0.00,0.000,6,0.000,0.052,1548,2870,3296,0,0,0,0,0,0
$GC,4686,-0.86,-116.1,729.2,-14.5,271,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2871,3296,0,0,0,0,0,0
$GC,4992,-0.86,-116.1,771.3,-13.7,281,4996,0.00,2.08,0.00,0.000,4,0.000,0.036,1548,1501,3295,0,0,0,0,0,0
$GC,5027,-0.86,-116.1,776.5,-13.5,282,5032,0.12,2.20,0.00,0.000,6,0.204,0.051,1566,2886,3295,0,0,0,0,0,0
$GC,5359,-0.86,-116.1,817.3,-12.4,293,5363,0.00,2.10,0.00,0.000,4,0.000,0.036,1566,1498,3295,0,0,0,0,0,0
$GC,5411,-0.86,-116.1,823.8,-11.7,294,5415,0.00,2.20,0.00,0.000,6,0.000,0.053,1556,2891,3295,0,0,0,0,0,0
$GC,5732,-0.86,-116.1,865.3,-13.1,305,5736,0.00,2.12,0.00,0.000,4,0.000,0.036,1557,1493,3295,0,0,0,0,0,0
$GC,5761,-0.86,-116.1,869.5,-12.6,305,5768,0.00,2.20,0.00,0.000,6,0.000,0.052,1546,2882,3295,0,0,0,0,0,0
$GC,6078,-0.86,-116.1,913.2,-14.2,316,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2882,3294,0,0,0,0,0,0
$GC,6383,-0.86,-116.1,956.4,-14.1,326,6387,0.00,1.60,0.00,0.000,4,0.000,0.060,1538,3893,3294,0,0,0,0,0,0
$GC,6429,-0.86,-116.1,963.5,-15.7,327,6433,0.10,1.52,0.00,0.000,6,0.190,0.033,1565,2883,3293,0,0,0,0,0,0
$STATE,6726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6726,begin apogee
$GC,6737,-0.18,0.0,1000.7,12.1,337,6857,0.77,0.00,117.07,1.236,6,0.186,0.000,1785,2702,2819,0,0,0,0,0,0
$STATE,6859,end apogee,CONTROL_FINISHED_OK
$STATE,6859,begin climb
$GC,6864,0.86,116.1,1003.7,0.0,341,7001,1.02,2.53,119.35,1.789,4,0.082,0.042,2139,1309,2347,0,0,0,0,1,0
$GC,7024,0.86,116.1,975.8,26.3,346,7029,0.00,2.47,0.00,0.000,6,0.000,0.050,2139,2703,2346,0,0,0,0,0,0
$GC,7345,0.86,116.1,885.4,27.8,357,7349,0.00,1.98,0.00,0.000,4,0.000,0.058,2139,3907,2340,0,0,0,0,0,0
$GC,7374,0.86,116.1,876.1,30.7,357,7381,0.00,1.90,0.00,0.000,6,0.000,0.037,2148,2720,2340,0,0,0,0,0,0
$GC,7690,0.86,116.1,786.2,28.5,368,7694,0.00,2.25,0.00,0.000,4,0.000,0.043,2159,1286,2338,0,0,0,0,0,0
$GC,7747,0.86,116.1,770.0,26.0,369,7755,0.15,2.30,0.00,0.000,6,0.249,0.050,2129,2705,2336,0,0,0,0,0,0
$GC,8062,0.86,116.1,685.3,26.6,380,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2705,2336,0,0,0,0,0,0
$GC,8369,0.86,116.1,604.3,26.3,390,8373,0.00,2.22,0.00,0.000,4,0.000,0.042,2138,1289,2336,0,0,0,0,0,0
$GC,8406,0.86,116.1,595.2,25.8,391,8410,0.00,2.25,0.00,0.000,6,0.000,0.050,2131,2699,2334,0,0,0,0,0,0
$GC,8750,0.86,116.1,508.8,25.4,402,8754,0.00,1.88,0.00,0.000,4,0.000,0.057,2131,3894,2333,0,0,0,0,0,0
$GC,8790,0.86,116.1,497.2,27.4,403,8794,0.00,1.85,0.00,0.000,6,0.000,0.038,2139,2693,2334,0,0,0,0,0,0
$GC,9127,0.86,116.1,411.4,24.9,414,9131,0.00,2.17,0.00,0.000,4,0.000,0.042,2150,1292,2333,0,0,0,0,0,0
$GC,9168,0.86,116.1,401.0,23.7,415,9172,0.00,2.25,0.00,0.000,6,0.000,0.050,2150,2699,2332,0,0,0,0,0,0
$GC,9499,0.86,116.1,319.2,24.8,431,9503,0.00,2.17,0.00,0.000,4,0.000,0.042,2159,1295,2333,0,0,0,0,0,0
$GC,9525,0.86,116.1,312.6,23.9,432,9530,0.15,2.25,0.00,0.000,6,0.246,0.050,2129,2700,2332,0,0,0,0,0,0
$GC,9846,0.86,116.1,239.8,22.6,448,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2701,2331,0,0,0,0,0,0
$GC,10160,0.86,116.1,171.3,21.7,468,10164,0.00,2.20,0.00,0.000,4,0.000,0.042,2138,1287,2332,0,0,0,0,0,0
$GC,10184,0.86,116.1,165.8,19.8,469,10191,0.00,2.25,0.00,0.000,6,0.000,0.050,2131,2701,2331,0,0,0,0,0,0
$GC,10505,0.86,116.1,99.5,19.6,490,10512,0.00,2.17,0.00,0.000,4,0.000,0.043,2141,1298,2331,0,0,0,0,0,0
$GC,10677,0.86,116.1,68.5,17.8,519,10684,0.00,2.25,0.00,0.000,6,0.000,0.050,2140,2693,2331,0,0,0,0,0,0
$STATE,10988,end climb,SURFACE_DEPTH_REACHED
$STATE,10988,begin surface coast
$FINISH,0.7,1.026605
$STATE,11008,end surface coast,CONTROL_FINISHED_OK
$STATE,11008,begin surface
$SM_CCo,11031,193.95,0.795,1,0,479,573.99
$SM_GC,0.95,0.00,0.00,193.95,0.000,0.000,0.795,56,2889,479,-5.60,0.25,573.99
$IRIDIUM_FIX,-4644.93,415.93,120113,171738
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.1,42.388
$10V_AH,10.0,20.039
$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,14.050,66.625,236.425,193.950,0.000,52.072,126.508,243.729,0.000,0.000,22.990,1389.685,7579.322,583.647,1878.784,488.879,33.366,1185.733,0.000,1378.071,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,78.795,1789.335,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.793,1154.915,647.224,263.681,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,40512,573
$CAP_FILE_SIZE,85182,0
$CFSIZE,259252224,215756800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,120113,205036,-4659.973,411.695,31,1.5,31,-23.3