version: 66.07
glider: 542
mission: 6
dive: 225
start: 1 13 113 6 59 11
data:
$ID,542
$MISSION,6
$DIVE,225
$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,-11200.48
$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,38
$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
$GPS1,130113,064905,-4701.352,410.808,42,1.0,42,-23.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-33.1
$GPS2,130113,065819,-4701.296,410.866,23,1.2,23,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.034,-0.160
$KALMAN_X,-158816.2,-0.4,-67.2,151137.8,-486.1
$KALMAN_Y,107452.6,-589.3,-313.9,-125100.5,5238.9
$MHEAD_RNG_PITCHd_Wd,215.3,2637,-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,-132.10,0.000,6,0.000,0.000,52,2895,3056,0,0,0,0,0,0
$GC,174,-0.86,-117.1,3.0,-3.0,17,192,6.20,1.65,-6.82,0.000,4,0.244,0.073,1558,3900,3299,0,0,0,0,0,0
$GC,265,-0.86,-117.1,22.2,-23.1,30,274,0.00,1.58,0.00,0.000,6,0.000,0.031,1559,2855,3300,0,0,0,0,0,0
$GC,353,-0.86,-117.1,40.4,-19.3,43,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2855,3300,0,0,0,0,0,0
$GC,597,-0.86,-117.1,89.2,-18.3,84,606,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2855,3300,0,0,0,0,0,0
$GC,929,-0.86,-117.1,147.2,-17.8,111,933,0.00,2.03,0.00,0.000,4,0.000,0.034,1559,1503,3301,0,0,0,0,0,0
$GC,949,-0.86,-117.1,151.0,-17.7,112,953,0.00,2.17,0.00,0.000,6,0.000,0.050,1549,2873,3301,0,0,0,0,0,0
$GC,1278,-0.86,-117.1,210.2,-18.1,133,1282,0.00,2.08,0.00,0.000,4,0.000,0.034,1549,1500,3301,0,0,0,0,0,0
$GC,1318,-0.86,-117.1,217.8,-16.1,135,1326,0.12,2.20,0.00,0.000,6,0.204,0.050,1566,2888,3301,0,0,0,0,0,0
$GC,1656,-0.86,-117.1,272.7,-17.2,155,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2888,3301,0,0,0,0,0,0
$GC,1964,-0.86,-117.1,323.6,-16.1,170,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2888,3301,0,0,0,0,0,0
$GC,2275,-0.86,-117.1,370.8,-14.9,185,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2888,3301,0,0,0,0,0,0
$GC,2601,-0.86,-117.1,421.3,-15.4,199,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2888,3301,0,0,0,0,0,0
$GC,2908,-0.86,-117.1,466.8,-14.8,209,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2888,3301,0,0,0,0,0,0
$GC,3214,-0.86,-117.1,511.3,-14.5,219,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2888,3301,0,0,0,0,0,0
$GC,3520,-0.86,-117.1,555.2,-14.5,229,3524,0.00,2.10,0.00,0.000,4,0.000,0.036,1567,1496,3301,0,0,0,0,0,0
$GC,3566,-0.86,-117.1,561.7,-13.4,230,3570,0.00,2.22,0.00,0.000,6,0.000,0.053,1558,2891,3301,0,0,0,0,0,0
$GC,3887,-0.86,-117.1,609.6,-15.1,241,3890,0.00,1.58,0.00,0.000,4,0.000,0.060,1550,3890,3301,0,0,0,0,0,0
$GC,3923,-0.86,-117.1,615.4,-16.1,242,3927,0.00,1.50,0.00,0.000,6,0.000,0.032,1550,2888,3301,0,0,0,0,0,0
$GC,4266,-0.86,-117.1,668.3,-15.5,253,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2883,3301,0,0,0,0,0,0
$GC,4572,-0.86,-117.1,714.3,-14.8,263,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2883,3301,0,0,0,0,0,0
$GC,4879,-0.86,-117.1,758.2,-14.2,273,4883,0.00,2.08,0.00,0.000,4,0.000,0.037,1550,1495,3300,0,0,0,0,0,0
$GC,4919,-0.86,-117.1,764.1,-13.2,274,4924,0.12,2.20,0.00,0.000,6,0.205,0.052,1568,2881,3301,0,0,0,0,0,0
$GC,5246,-0.86,-117.1,803.9,-12.0,285,5250,0.00,2.10,0.00,0.000,4,0.000,0.036,1568,1489,3300,0,0,0,0,0,0
$GC,5278,-0.86,-117.1,807.5,-11.6,286,5282,0.00,2.22,0.00,0.000,6,0.000,0.054,1559,2885,3300,0,0,0,0,0,0
$GC,5615,-0.86,-117.1,849.4,-12.5,297,5619,0.00,2.10,0.00,0.000,4,0.000,0.036,1559,1494,3300,0,0,0,0,0,0
$GC,5661,-0.86,-117.1,855.2,-11.5,298,5665,0.00,2.22,0.00,0.000,6,0.000,0.054,1548,2888,3300,0,0,0,0,0,0
$GC,5982,-0.86,-117.1,896.8,-13.3,309,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2889,3300,0,0,0,0,0,0
$GC,6288,-0.86,-117.1,936.3,-12.7,319,6292,0.00,2.10,0.00,0.000,4,0.000,0.037,1548,1498,3299,0,0,0,0,0,0
$GC,6353,-0.86,-117.1,944.3,-11.6,321,6358,0.12,2.20,0.00,0.000,6,0.205,0.053,1566,2881,3299,0,0,0,0,0,0
$GC,6692,-0.86,-117.1,982.8,-11.3,332,6696,0.00,2.10,0.00,0.000,4,0.000,0.036,1566,1493,3299,0,0,0,0,0,0
$GC,6732,-0.86,-117.1,987.6,-11.3,333,6736,0.00,2.20,0.00,0.000,6,0.000,0.054,1557,2881,3299,0,0,0,0,0,0
$STATE,6850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6850,begin apogee
$GC,6861,-0.18,0.0,1001.7,11.8,337,6984,0.82,0.00,118.75,1.234,6,0.190,0.000,1786,2706,2818,0,0,0,0,0,0
$STATE,6985,end apogee,CONTROL_FINISHED_OK
$STATE,6986,begin climb
$GC,6990,0.86,117.1,1003.8,0.0,341,7131,1.00,2.50,120.53,1.776,4,0.080,0.042,2134,1313,2343,0,0,0,0,1,0
$GC,7145,0.86,117.1,976.2,25.5,346,7150,0.00,2.47,0.00,0.000,6,0.000,0.050,2134,2703,2342,0,0,0,0,0,0
$GC,7472,0.86,117.1,883.1,28.6,357,7476,0.00,2.28,0.00,0.000,4,0.000,0.042,2144,1304,2335,0,0,0,0,0,0
$GC,7495,0.86,117.1,876.0,27.8,357,7502,0.00,2.33,0.00,0.000,6,0.000,0.050,2144,2707,2333,0,0,0,0,0,0
$GC,7811,0.86,117.1,787.8,28.5,368,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2707,2332,0,0,0,0,0,0
$GC,8117,0.86,117.1,703.5,27.2,378,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2707,2331,0,0,0,0,0,0
$GC,8423,0.86,117.1,621.6,27.0,388,8427,0.00,2.20,0.00,0.000,4,0.000,0.042,2154,1303,2330,0,0,0,0,0,0
$GC,8475,0.86,117.1,608.0,24.7,389,8479,0.00,2.25,0.00,0.000,6,0.000,0.050,2155,2700,2329,0,0,0,0,0,0
$GC,8798,0.86,117.1,524.3,26.1,400,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2702,2329,0,0,0,0,0,0
$GC,9102,0.86,117.1,446.6,25.5,410,9106,0.00,2.20,0.00,0.000,4,0.000,0.041,2165,1296,2328,0,0,0,0,0,0
$GC,9148,0.86,117.1,435.2,23.8,411,9152,0.15,2.25,0.00,0.000,6,0.243,0.050,2133,2713,2327,0,0,0,0,0,0
$GC,9466,0.86,117.1,359.4,24.2,424,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2713,2327,0,0,0,0,0,0
$GC,9777,0.86,117.1,285.2,23.8,439,9781,0.00,2.20,0.00,0.000,4,0.000,0.042,2142,1301,2327,0,0,0,0,0,0
$GC,9812,0.86,117.1,276.1,22.6,440,9816,0.00,2.22,0.00,0.000,6,0.000,0.050,2142,2706,2327,0,0,0,0,0,0
$GC,10135,0.86,117.1,198.7,24.8,459,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2707,2327,0,0,0,0,0,0
$GC,10447,0.86,117.1,127.7,22.5,479,10451,0.00,2.20,0.00,0.000,4,0.000,0.042,2153,1296,2326,0,0,0,0,0,0
$GC,10551,0.86,117.1,104.6,21.4,485,10555,0.00,2.25,0.00,0.000,6,0.000,0.050,2153,2708,2326,0,0,0,0,0,0
$GC,10912,0.86,117.1,26.0,25.5,543,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2708,2325,0,0,0,0,0,0
$GC,10999,0.86,117.1,4.3,24.8,556,11008,0.00,1.92,0.00,0.000,4,0.000,0.064,2153,3891,2325,0,0,0,0,0,0
$STATE,11016,end climb,SURFACE_DEPTH_REACHED
$STATE,11016,begin surface coast
$FINISH,0.6,1.015027
$STATE,11030,end surface coast,CONTROL_FINISHED_OK
$STATE,11030,begin surface
$SM_CCo,11054,193.95,0.788,1,0,479,573.99
$SM_GC,1.28,0.00,0.00,193.95,0.000,0.000,0.788,55,2866,479,-5.61,-0.40,573.99
$IRIDIUM_FIX,-4644.93,412.78,130113,000006
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.1,43.040
$10V_AH,10.1,20.365
$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,14.250,71.700,239.275,193.950,0.000,46.840,19.281,271.334,0.000,0.000,25.276,1375.782,7556.442,567.852,1812.295,484.852,33.367,1200.306,0.000,1387.132,0.000,1.011,0.000
$DEVICE_MAMPS,244.035,73.440,1775.565,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.212,1118.848,610.865,241.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,40547,560
$CAP_FILE_SIZE,88071,0
$CFSIZE,259252224,215556096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,100803,-4702.801,409.883,17,1.8,31,-23.3