version: 66.07
glider: 542
mission: 6
dive: 222
start: 1 12 113 20 59 58
data:
$ID,542
$MISSION,6
$DIVE,222
$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,-11193.497
$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,43
$R_STBD_OVSHOOT,26
$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
$GPS1,120113,205036,-4659.973,411.695,31,1.5,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-31.3
$GPS2,120113,205906,-4659.904,411.685,15,0.9,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.152,-0.060
$KALMAN_X,-160066.6,656.7,192.0,152504.0,-3155.3
$KALMAN_Y,101965.1,647.0,87.9,-118688.5,236.6
$MHEAD_RNG_PITCHd_Wd,134.8,2136,-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,-57.8,0.0,0.0,0,167,0.00,0.00,-133.52,0.000,6,0.000,0.000,55,2891,3056,0,0,0,0,0,0
$GC,173,-0.85,-113.6,3.0,-3.3,17,192,6.12,1.67,-7.00,0.000,4,0.240,0.077,1559,3900,3284,0,0,0,0,0,0
$GC,467,-0.85,-113.6,61.7,-20.6,64,474,0.00,1.60,0.00,0.000,6,0.000,0.031,1559,2848,3285,0,0,0,0,0,0
$GC,814,-0.85,-113.6,121.0,-15.9,110,818,0.00,1.65,0.00,0.000,4,0.000,0.058,1551,3897,3286,0,0,0,0,0,0
$GC,973,-0.85,-113.6,149.5,-17.0,119,977,0.00,1.52,0.00,0.000,6,0.000,0.031,1551,2887,3287,0,0,0,0,0,0
$GC,1307,-0.85,-113.6,206.5,-16.6,140,1311,0.00,2.10,0.00,0.000,4,0.000,0.035,1551,1500,3287,0,0,0,0,0,0
$GC,1342,-0.85,-113.6,212.7,-15.8,142,1347,0.12,2.22,0.00,0.000,6,0.203,0.051,1569,2894,3287,0,0,0,0,0,0
$GC,1671,-0.85,-113.6,260.9,-15.2,161,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3288,0,0,0,0,0,0
$GC,1972,-0.85,-113.6,308.1,-15.0,176,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3288,0,0,0,0,0,0
$GC,2284,-0.85,-113.6,356.3,-15.7,191,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3287,0,0,0,0,0,0
$GC,2601,-0.85,-113.6,406.3,-15.7,206,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3287,0,0,0,0,0,0
$GC,2907,-0.85,-113.6,452.8,-14.9,216,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3287,0,0,0,0,0,0
$GC,3214,-0.85,-113.6,496.5,-14.0,226,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3287,0,0,0,0,0,0
$GC,3520,-0.85,-113.6,539.4,-14.0,236,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2894,3286,0,0,0,0,0,0
$GC,3827,-0.85,-113.6,581.3,-13.6,246,3831,0.00,2.12,0.00,0.000,4,0.000,0.037,1569,1496,3286,0,0,0,0,0,0
$GC,3913,-0.85,-113.6,592.4,-11.7,248,3917,0.00,2.20,0.00,0.000,6,0.000,0.053,1560,2884,3286,0,0,0,0,0,0
$GC,4234,-0.85,-113.6,635.2,-13.5,259,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2885,3285,0,0,0,0,0,0
$GC,4539,-0.85,-113.6,677.0,-13.5,269,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2885,3285,0,0,0,0,0,0
$GC,4846,-0.85,-113.6,720.4,-14.3,279,4850,0.00,2.12,0.00,0.000,4,0.000,0.037,1560,1497,3285,0,0,0,0,0,0
$GC,4892,-0.85,-113.6,727.1,-13.7,280,4896,0.00,2.20,0.00,0.000,6,0.000,0.052,1549,2890,3285,0,0,0,0,0,0
$GC,5224,-0.85,-113.6,775.0,-14.3,291,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2890,3284,0,0,0,0,0,0
$GC,5530,-0.85,-113.6,818.5,-14.1,301,5534,0.00,2.12,0.00,0.000,4,0.000,0.037,1550,1491,3284,0,0,0,0,0,0
$GC,5599,-0.85,-113.6,827.9,-13.5,303,5603,0.12,2.22,0.00,0.000,6,0.204,0.052,1567,2890,3283,0,0,0,0,0,0
$GC,5939,-0.85,-113.6,867.8,-11.5,314,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2890,3284,0,0,0,0,0,0
$GC,6243,-0.85,-113.6,902.9,-11.2,324,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2889,3283,0,0,0,0,0,0
$GC,6550,-0.85,-113.6,937.7,-11.4,334,6554,0.00,2.12,0.00,0.000,4,0.000,0.036,1567,1498,3283,0,0,0,0,0,0
$GC,6618,-0.85,-113.6,945.6,-10.8,336,6622,0.00,2.20,0.00,0.000,6,0.000,0.054,1558,2881,3283,0,0,0,0,0,0
$GC,6957,-0.85,-113.6,984.4,-11.7,347,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2882,3282,0,0,0,0,0,0
$STATE,7104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7104,begin apogee
$GC,7115,-0.18,0.0,1002.3,11.7,352,7234,0.82,0.00,115.00,1.251,6,0.189,0.000,1786,2707,2818,0,0,0,0,0,0
$STATE,7235,end apogee,CONTROL_FINISHED_OK
$STATE,7235,begin climb
$GC,7240,0.85,113.6,1004.4,0.0,356,7367,1.00,0.00,117.78,1.793,6,0.081,0.000,2123,2708,2356,0,0,0,0,1,0
$GC,7660,0.85,113.6,903.9,27.5,370,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2708,2351,0,0,0,0,0,0
$GC,7964,0.85,113.6,822.8,26.7,380,7968,0.00,2.22,0.00,0.000,4,0.000,0.042,2134,1309,2348,0,0,0,0,0,0
$GC,7995,0.85,113.6,814.5,25.7,381,7999,0.00,2.28,0.00,0.000,6,0.000,0.051,2134,2708,2346,0,0,0,0,0,0
$GC,8340,0.85,113.6,725.0,25.9,392,8344,0.00,2.20,0.00,0.000,4,0.000,0.042,2144,1311,2346,0,0,0,0,0,0
$GC,8386,0.85,113.6,712.5,24.7,393,8390,0.00,2.25,0.00,0.000,6,0.000,0.050,2144,2701,2344,0,0,0,0,0,0
$GC,8707,0.85,113.6,630.7,25.7,404,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2701,2344,0,0,0,0,0,0
$GC,9013,0.85,113.6,553.1,25.0,414,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2701,2344,0,0,0,0,0,0
$GC,9319,0.85,113.6,476.4,25.2,424,9323,0.00,2.20,0.00,0.000,4,0.000,0.041,2154,1303,2343,0,0,0,0,0,0
$GC,9343,0.85,113.6,470.0,25.3,424,9350,0.00,2.25,0.00,0.000,6,0.000,0.050,2154,2711,2342,0,0,0,0,0,0
$GC,9669,0.85,113.6,387.6,25.0,436,9673,0.00,2.20,0.00,0.000,4,0.000,0.044,2165,1309,2342,0,0,0,0,0,0
$GC,9712,0.85,113.6,377.1,24.0,438,9717,0.15,2.22,0.00,0.000,6,0.246,0.050,2133,2698,2342,0,0,0,0,0,0
$GC,10042,0.85,113.6,298.8,23.4,454,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2699,2342,0,0,0,0,0,0
$GC,10365,0.85,113.6,224.1,22.8,471,10369,0.00,2.17,0.00,0.000,4,0.000,0.041,2142,1298,2342,0,0,0,0,0,0
$GC,10404,0.85,113.6,215.6,22.1,473,10408,0.00,2.25,0.00,0.000,6,0.000,0.050,2142,2708,2341,0,0,0,0,0,0
$GC,10736,0.85,113.6,139.6,24.0,494,10740,0.00,2.20,0.00,0.000,4,0.000,0.041,2152,1297,2341,0,0,0,0,0,0
$GC,10753,0.85,113.6,134.8,24.4,495,10757,0.00,2.25,0.00,0.000,6,0.000,0.050,2152,2708,2341,0,0,0,0,0,0
$GC,11091,0.85,113.6,61.6,21.6,537,11098,0.00,2.20,0.00,0.000,4,0.000,0.043,2163,1312,2341,0,0,0,0,0,0
$GC,11378,0.85,113.6,7.4,20.5,583,11387,0.12,2.22,0.00,0.000,6,0.223,0.052,2130,2693,2339,0,0,0,0,0,0
$STATE,11395,end climb,SURFACE_DEPTH_REACHED
$STATE,11395,begin surface coast
$FINISH,0.8,1.026482
$STATE,11409,end surface coast,CONTROL_FINISHED_OK
$STATE,11409,begin surface
$SM_CCo,11432,195.50,0.799,1,0,479,573.99
$SM_GC,1.06,0.00,0.00,195.50,0.000,0.000,0.799,57,2903,479,-5.60,0.65,573.99
$IRIDIUM_FIX,-4641.78,415.70,120113,171721
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.1,42.548
$10V_AH,10.1,20.123
$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,14.200,59.775,232.775,195.500,0.000,26.055,24.409,249.095,0.000,0.000,19.238,1439.842,7845.295,555.062,1813.641,479.889,33.363,1167.198,0.000,1432.971,0.000,1.009,0.000
$DEVICE_MAMPS,245.565,77.265,1793.160,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.861,1178.178,657.133,264.878,0.000,0.000,0.000,0.000,0.000,0.000
$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,43722,587
$CAP_FILE_SIZE,84549,0
$CFSIZE,259252224,215703552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,001505,-4700.202,413.612,26,0.9,26,-23.3