version: 66.07
glider: 542
mission: 6
dive: 226
start: 1 13 113 10 17 46
data:
$ID,542
$MISSION,6
$DIVE,226
$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,-11202.815
$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,61
$R_STBD_OVSHOOT,27
$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
$GPS1,130113,100803,-4702.801,409.883,17,1.8,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-30.4
$GPS2,130113,101654,-4702.759,409.916,21,1.4,21,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.033,-0.160
$KALMAN_X,-159126.2,-28.3,-206.2,150416.6,-54.0
$KALMAN_Y,107973.4,-698.0,-597.8,-127927.4,5877.6
$MHEAD_RNG_PITCHd_Wd,191.7,5111,-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,-57.8,0.0,0.0,0,159,0.00,0.00,-125.95,0.000,2,0.000,0.000,52,2867,2934,0,0,0,0,0,0
$GC,165,-0.85,-108.9,3.0,-3.9,16,191,6.40,1.70,-10.88,0.000,4,0.254,0.075,1561,3894,3264,0,0,0,0,0,0
$GC,379,-0.85,-108.9,47.6,-21.2,49,386,0.00,1.55,0.00,0.000,6,0.000,0.031,1565,2867,3266,0,0,0,0,0,0
$GC,618,-0.85,-108.9,92.7,-18.8,90,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2867,3266,0,0,0,0,0,0
$GC,948,-0.85,-108.9,144.8,-15.6,115,949,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2867,3266,0,0,0,0,0,0
$GC,1260,-0.85,-108.9,192.7,-14.5,135,1264,0.00,2.08,0.00,0.000,4,0.000,0.034,1565,1507,3267,0,0,0,0,0,0
$GC,1301,-0.85,-108.9,199.3,-13.3,137,1305,0.00,2.20,0.00,0.000,6,0.000,0.050,1555,2888,3267,0,0,0,0,0,0
$GC,1625,-0.85,-108.9,248.9,-15.9,157,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2888,3267,0,0,0,0,0,0
$GC,1950,-0.85,-108.9,299.2,-15.5,173,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2888,3267,0,0,0,0,0,0
$GC,2257,-0.85,-108.9,345.9,-14.9,188,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2889,3267,0,0,0,0,0,0
$GC,2568,-0.85,-108.9,391.9,-14.9,203,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2888,3267,0,0,0,0,0,0
$GC,2873,-0.85,-108.9,441.4,-16.4,214,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2888,3267,0,0,0,0,0,0
$GC,3179,-0.85,-108.9,491.0,-16.1,224,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2888,3267,0,0,0,0,0,0
$GC,3486,-0.85,-108.9,539.0,-15.8,234,3490,0.00,2.10,0.00,0.000,4,0.000,0.036,1555,1506,3267,0,0,0,0,0,0
$GC,3557,-0.85,-108.9,549.2,-13.4,236,3561,0.12,2.20,0.00,0.000,6,0.208,0.052,1573,2890,3267,0,0,0,0,0,0
$GC,3895,-0.85,-108.9,596.6,-14.1,247,3899,0.00,2.10,0.00,0.000,4,0.000,0.036,1573,1505,3267,0,0,0,0,0,0
$GC,3941,-0.85,-108.9,603.1,-12.4,248,3945,0.00,2.20,0.00,0.000,6,0.000,0.052,1564,2887,3267,0,0,0,0,0,0
$GC,4273,-0.85,-108.9,649.0,-13.7,259,4277,0.00,2.10,0.00,0.000,4,0.000,0.036,1564,1506,3266,0,0,0,0,0,0
$GC,4297,-0.85,-108.9,652.4,-13.8,259,4301,0.00,2.17,0.00,0.000,6,0.000,0.051,1554,2887,3266,0,0,0,0,0,0
$GC,4612,-0.85,-108.9,694.8,-13.4,269,4616,0.00,2.10,0.00,0.000,4,0.000,0.036,1554,1500,3266,0,0,0,0,0,0
$GC,4669,-0.85,-108.9,702.5,-12.1,270,4677,0.12,2.20,0.00,0.000,6,0.207,0.051,1571,2893,3266,0,0,0,0,0,0
$GC,4985,-0.85,-108.9,739.4,-11.8,281,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2893,3266,0,0,0,0,0,0
$GC,5292,-0.85,-108.9,774.5,-11.4,291,5296,0.00,2.10,0.00,0.000,4,0.000,0.036,1571,1503,3265,0,0,0,0,0,0
$GC,5328,-0.85,-108.9,779.0,-11.0,292,5332,0.00,2.20,0.00,0.000,6,0.000,0.052,1562,2884,3265,0,0,0,0,0,0
$GC,5660,-0.85,-108.9,818.0,-12.0,303,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2884,3265,0,0,0,0,0,0
$GC,5966,-0.85,-108.9,853.9,-11.8,313,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2884,3264,0,0,0,0,0,0
$GC,6273,-0.85,-108.9,889.2,-11.5,323,6277,0.00,2.10,0.00,0.000,4,0.000,0.037,1562,1499,3264,0,0,0,0,0,0
$GC,6341,-0.85,-108.9,897.0,-10.8,325,6345,0.00,2.20,0.00,0.000,6,0.000,0.053,1552,2882,3264,0,0,0,0,0,0
$GC,6680,-0.85,-108.9,936.3,-11.8,336,6684,0.00,2.10,0.00,0.000,4,0.000,0.035,1552,1496,3264,0,0,0,0,0,0
$GC,6732,-0.85,-108.9,942.7,-11.7,337,6737,0.12,2.20,0.00,0.000,6,0.203,0.052,1570,2890,3264,0,0,0,0,0,0
$GC,7047,-0.85,-108.9,975.4,-10.3,347,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2890,3263,0,0,0,0,0,0
$STATE,7288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7288,begin apogee
$GC,7299,-0.18,0.0,1000.9,10.3,355,7413,0.75,0.00,110.80,1.240,6,0.186,0.000,1781,2714,2818,0,0,0,0,0,0
$STATE,7415,end apogee,CONTROL_FINISHED_OK
$STATE,7415,begin climb
$GC,7420,0.85,108.9,1002.9,0.0,359,7549,0.98,2.22,112.20,1.780,4,0.085,0.057,2115,3896,2376,0,0,0,0,1,0
$GC,7563,0.85,108.9,978.6,26.0,363,7567,0.00,2.03,0.00,0.000,6,0.000,0.036,2124,2718,2376,0,0,0,0,0,0
$GC,7895,0.85,108.9,891.2,26.3,374,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2711,2369,0,0,0,0,0,0
$GC,8201,0.85,108.9,811.7,26.0,384,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2711,2368,0,0,0,0,0,0
$GC,8507,0.85,108.9,733.4,25.2,394,8511,0.00,2.25,0.00,0.000,4,0.000,0.043,2135,1279,2367,0,0,0,0,0,0
$GC,8531,0.85,108.9,727.0,25.3,394,8538,0.00,2.30,0.00,0.000,6,0.000,0.050,2135,2703,2365,0,0,0,0,0,0
$GC,8846,0.85,108.9,648.8,24.6,405,8850,0.00,2.22,0.00,0.000,4,0.000,0.042,2146,1287,2365,0,0,0,0,0,0
$GC,8892,0.85,108.9,637.4,23.0,406,8896,0.00,2.28,0.00,0.000,6,0.000,0.050,2146,2701,2363,0,0,0,0,0,0
$GC,9226,0.85,108.9,554.3,25.1,417,9230,0.00,2.20,0.00,0.000,4,0.000,0.042,2156,1288,2363,0,0,0,0,0,0
$GC,9250,0.85,108.9,547.5,25.7,417,9257,0.12,2.28,0.00,0.000,6,0.252,0.050,2131,2711,2362,0,0,0,0,0,0
$GC,9565,0.85,108.9,472.4,23.3,428,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2711,2362,0,0,0,0,0,0
$GC,9871,0.85,108.9,402.2,22.7,438,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2711,2362,0,0,0,0,0,0
$GC,10193,0.85,108.9,329.2,22.8,453,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2711,2362,0,0,0,0,0,0
$GC,10500,0.85,108.9,257.3,24.1,468,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2711,2361,0,0,0,0,0,0
$GC,10823,0.85,108.9,184.0,21.9,488,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2711,2361,0,0,0,0,0,0
$GC,11136,0.85,108.9,117.8,20.7,508,11140,0.00,2.22,0.00,0.000,4,0.000,0.043,2141,1287,2360,0,0,0,0,0,0
$GC,11295,0.85,108.9,88.0,20.3,523,11300,0.00,2.25,0.00,0.000,6,0.000,0.050,2140,2699,2359,0,0,0,0,0,0
$GC,11663,0.85,108.9,12.6,21.1,584,11672,0.00,1.90,0.00,0.000,4,0.000,0.056,2140,3894,2359,0,0,0,0,0,0
$STATE,11704,end climb,SURFACE_DEPTH_REACHED
$STATE,11704,begin surface coast
$FINISH,0.6,1.026459
$STATE,11718,end surface coast,CONTROL_FINISHED_OK
$STATE,11718,begin surface
$SM_CCo,11742,197.25,0.786,1,0,476,573.99
$SM_GC,0.94,0.00,0.00,197.25,0.000,0.000,0.786,56,2843,476,-5.60,-1.05,573.99
$IRIDIUM_FIX,-4644.93,412.78,130113,060625
$TT8_MAMPS,0.026215
$HUMID,56.02
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.1,43.196
$10V_AH,10.0,20.449
$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,14.400,63.600,223.000,197.250,0.000,35.225,26.055,248.905,0.000,0.000,24.002,1449.863,8133.023,546.386,1840.790,495.848,33.359,1179.586,0.000,1444.020,0.000,1.010,0.000
$DEVICE_MAMPS,253.980,74.970,1780.155,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.361,1190.065,647.246,255.286,0.000,0.000,0.000,0.000,0.000,0.000
$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,43809,592
$CAP_FILE_SIZE,86598,0
$CFSIZE,259252224,215502848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,133806,-4704.330,410.697,27,1.7,27,-23.3