version: 66.07
glider: 542
mission: 6
dive: 223
start: 1 13 113 0 24 45
data:
$ID,542
$MISSION,6
$DIVE,223
$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,-11195.829
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,130113,001505,-4700.202,413.612,26,0.9,26,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-30.1
$GPS2,130113,002353,-4700.161,413.607,20,0.8,20,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.137,-0.089
$KALMAN_X,-160246.6,520.6,24.2,155423.1,-2598.5
$KALMAN_Y,103300.8,429.7,-157.4,-120032.2,1579.7
$MHEAD_RNG_PITCHd_Wd,260.2,4566,-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,-131.40,0.000,6,0.000,0.000,52,2905,3056,0,0,0,0,0,0
$GC,174,-0.87,-123.7,3.2,-2.2,17,193,6.12,2.28,-7.65,0.000,4,0.239,0.047,1564,1480,3327,0,0,0,0,0,0
$GC,266,-0.87,-123.7,19.8,-16.8,30,275,0.00,2.28,0.00,0.000,6,0.000,0.051,1555,2867,3328,0,0,0,0,0,0
$GC,352,-0.87,-123.7,35.1,-19.5,43,360,0.00,1.62,0.00,0.000,4,0.000,0.057,1547,3910,3329,0,0,0,0,0,0
$GC,377,-0.87,-123.7,40.7,-21.1,46,386,0.00,1.58,0.00,0.000,6,0.000,0.030,1547,2869,3329,0,0,0,0,0,0
$GC,622,-0.87,-123.7,92.1,-20.5,87,629,0.00,2.10,0.00,0.000,4,0.000,0.034,1547,1505,3329,0,0,0,0,0,0
$GC,869,-0.87,-123.7,134.4,-14.7,105,874,0.12,2.20,0.00,0.000,6,0.202,0.050,1565,2884,3330,0,0,0,0,0,0
$GC,1202,-0.87,-123.7,189.1,-16.4,126,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2884,3330,0,0,0,0,0,0
$GC,1526,-0.87,-123.7,241.4,-15.9,147,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2884,3330,0,0,0,0,0,0
$GC,1835,-0.87,-123.7,290.3,-15.7,163,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2884,3330,0,0,0,0,0,0
$GC,2143,-0.87,-123.7,338.5,-15.6,178,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2884,3330,0,0,0,0,0,0
$GC,2454,-0.87,-123.7,386.2,-15.5,193,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2884,3330,0,0,0,0,0,0
$GC,2769,-0.87,-123.7,435.2,-15.3,205,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2884,3330,0,0,0,0,0,0
$GC,3077,-0.87,-123.7,481.0,-15.1,215,3081,0.00,1.60,0.00,0.000,4,0.000,0.060,1559,3894,3330,0,0,0,0,0,0
$GC,3118,-0.87,-123.7,487.9,-15.9,216,3121,0.00,1.52,0.00,0.000,6,0.000,0.032,1559,2877,3330,0,0,0,0,0,0
$GC,3455,-0.87,-123.7,539.4,-15.1,227,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2873,3330,0,0,0,0,0,0
$GC,3763,-0.87,-123.7,584.8,-14.6,237,3766,0.00,2.08,0.00,0.000,4,0.000,0.036,1559,1502,3330,0,0,0,0,0,0
$GC,3786,-0.87,-123.7,588.8,-14.8,237,3790,0.00,2.17,0.00,0.000,6,0.000,0.052,1549,2881,3330,0,0,0,0,0,0
$GC,4107,-0.87,-123.7,637.5,-15.4,248,4111,0.00,1.60,0.00,0.000,4,0.000,0.059,1541,3892,3330,0,0,0,0,0,0
$GC,4147,-0.87,-123.7,644.5,-16.8,249,4151,0.00,1.52,0.00,0.000,6,0.000,0.033,1541,2877,3329,0,0,0,0,0,0
$GC,4487,-0.87,-123.7,696.3,-15.5,260,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2873,3329,0,0,0,0,0,0
$GC,4791,-0.87,-123.7,742.0,-15.0,270,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2873,3329,0,0,0,0,0,0
$GC,5097,-0.87,-123.7,789.2,-15.6,280,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2873,3329,0,0,0,0,0,0
$GC,5404,-0.87,-123.7,836.1,-15.1,290,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,2873,3328,0,0,0,0,0,0
$GC,5711,-0.87,-123.7,882.5,-15.1,300,5715,0.00,1.65,0.00,0.000,4,0.000,0.060,1533,3908,3328,0,0,0,0,0,0
$GC,5748,-0.87,-123.7,888.5,-16.0,301,5752,0.10,1.55,0.00,0.000,6,0.188,0.034,1568,2883,3328,0,0,0,0,0,0
$GC,6091,-0.87,-123.7,931.5,-12.1,312,6095,0.00,2.12,0.00,0.000,4,0.000,0.037,1568,1497,3328,0,0,0,0,0,0
$GC,6162,-0.87,-123.7,939.7,-10.7,314,6166,0.00,2.20,0.00,0.000,6,0.000,0.053,1559,2884,3328,0,0,0,0,0,0
$GC,6505,-0.87,-123.7,984.0,-13.2,325,6509,0.00,1.60,0.00,0.000,4,0.000,0.061,1551,3893,3327,0,0,0,0,0,0
$GC,6551,-0.87,-123.7,991.0,-15.3,326,6555,0.00,1.52,0.00,0.000,6,0.000,0.034,1552,2878,3328,0,0,0,0,0,0
$STATE,6633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6633,begin apogee
$GC,6644,-0.18,0.0,1002.1,13.2,329,6773,0.82,0.00,125.45,1.255,6,0.184,0.000,1783,2696,2819,0,0,0,0,0,0
$STATE,6775,end apogee,CONTROL_FINISHED_OK
$STATE,6775,begin climb
$GC,6780,0.87,123.7,1005.5,0.0,333,6926,1.02,2.45,128.05,1.799,4,0.083,0.041,2142,1316,2315,0,0,0,0,1,0
$GC,6957,0.87,123.7,972.1,26.4,339,6961,0.00,2.45,0.00,0.000,6,0.000,0.050,2141,2699,2314,0,0,0,0,0,0
$GC,7284,0.87,123.7,877.7,29.3,350,7288,0.00,2.22,0.00,0.000,4,0.000,0.043,2152,1310,2309,0,0,0,0,0,0
$GC,7302,0.87,123.7,872.4,27.5,350,7306,0.00,2.33,0.00,0.000,6,0.000,0.050,2152,2708,2308,0,0,0,0,0,0
$GC,7619,0.87,123.7,781.5,29.2,360,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2708,2306,0,0,0,0,0,0
$GC,7923,0.87,123.7,691.5,29.6,370,7927,0.00,2.22,0.00,0.000,4,0.000,0.044,2162,1308,2306,0,0,0,0,0,0
$GC,7955,0.87,123.7,682.7,27.7,371,7960,0.12,2.25,0.00,0.000,6,0.250,0.050,2137,2703,2304,0,0,0,0,0,0
$GC,8293,0.87,123.7,589.3,27.3,382,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2703,2304,0,0,0,0,0,0
$GC,8600,0.87,123.7,506.9,26.1,392,8604,0.00,2.20,0.00,0.000,4,0.000,0.042,2146,1303,2302,0,0,0,0,0,0
$GC,8631,0.87,123.7,498.9,26.3,393,8635,0.00,2.25,0.00,0.000,6,0.000,0.050,2147,2704,2302,0,0,0,0,0,0
$GC,8969,0.87,123.7,407.9,26.7,404,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2705,2302,0,0,0,0,0,0
$GC,9291,0.87,123.7,325.4,25.3,419,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2705,2301,0,0,0,0,0,0
$GC,9598,0.87,123.7,246.9,25.2,434,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2705,2301,0,0,0,0,0,0
$GC,9910,0.87,123.7,169.4,24.4,454,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2705,2301,0,0,0,0,0,0
$GC,10223,0.87,123.7,95.1,23.0,476,10230,0.00,2.17,0.00,0.000,4,0.000,0.041,2156,1303,2301,0,0,0,0,0,0
$GC,10246,0.87,123.7,90.5,21.9,479,10250,0.00,2.22,0.00,0.000,6,0.000,0.050,2156,2700,2300,0,0,0,0,0,0
$GC,10612,0.87,123.7,10.5,23.7,540,10621,0.00,2.20,0.00,0.000,4,0.000,0.044,2167,1306,2300,0,0,0,0,0,0
$STATE,10635,end climb,SURFACE_DEPTH_REACHED
$STATE,10635,begin surface coast
$FINISH,0.6,1.014536
$STATE,10649,end surface coast,CONTROL_FINISHED_OK
$STATE,10649,begin surface
$SM_CCo,10673,189.32,0.788,1,0,476,573.99
$SM_GC,1.23,0.00,0.00,189.32,0.000,0.000,0.788,58,2891,476,-5.60,0.31,573.99
$IRIDIUM_FIX,-4644.93,409.64,120113,202040
$TT8_MAMPS,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.1,42.717
$10V_AH,10.1,20.202
$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,13.925,60.950,253.500,189.325,0.000,27.658,40.814,245.010,0.000,0.000,22.970,1340.566,7250.626,562.987,1754.418,478.245,33.364,1179.392,0.000,1364.352,0.000,1.008,0.000
$DEVICE_MAMPS,250.155,61.200,1799.280,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.133,1105.271,614.165,240.350,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,40480,545
$CAP_FILE_SIZE,82871,0
$CFSIZE,259252224,215658496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,032721,-4700.172,411.936,39,1.4,39,-23.3