version: 66.07
glider: 542
mission: 6
dive: 227
start: 1 13 113 13 47 33
data:
$ID,542
$MISSION,6
$DIVE,227
$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,-11205.13
$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,52
$R_STBD_OVSHOOT,28
$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
$GPS1,130113,133806,-4704.330,410.697,27,1.7,27,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-31.9
$GPS2,130113,134641,-4704.305,410.778,18,1.8,18,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.003,0.198
$KALMAN_X,-159257.2,6.8,342.1,151054.4,-1045.9
$KALMAN_Y,107423.4,-653.0,-228.0,-130652.2,3753.3
$MHEAD_RNG_PITCHd_Wd,24.2,8034,-22.3,-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,-0.69,-84.8,0.0,0.0,0,168,0.00,0.00,-134.40,0.000,2,0.000,0.000,55,2843,3161,0,0,0,0,0,0
$GC,175,-0.77,-146.1,3.3,-3.3,17,194,6.40,2.15,-6.60,0.000,4,0.248,0.049,1603,1481,3419,0,0,0,0,0,0
$GC,349,-0.77,-146.1,32.4,-12.9,43,357,0.00,2.28,0.00,0.000,6,0.000,0.054,1595,2881,3419,0,0,0,0,0,0
$GC,594,-0.77,-146.1,77.0,-17.4,84,603,0.00,1.62,0.00,0.000,4,0.000,0.059,1587,3894,3419,0,0,0,0,0,0
$GC,634,-0.77,-146.1,84.4,-18.8,90,643,0.00,1.55,0.00,0.000,6,0.000,0.031,1587,2865,3419,0,0,0,0,0,0
$GC,977,-0.77,-146.1,142.6,-16.4,120,981,0.00,1.62,0.00,0.000,4,0.000,0.059,1579,3895,3419,0,0,0,0,0,0
$GC,1041,-0.77,-146.1,154.7,-17.0,123,1048,0.00,1.52,0.00,0.000,6,0.000,0.031,1579,2877,3420,0,0,0,0,0,0
$GC,1364,-0.77,-146.1,208.7,-16.9,144,1367,0.00,1.65,0.00,0.000,4,0.000,0.060,1571,3910,3420,0,0,0,0,0,0
$GC,1410,-0.77,-146.1,217.4,-17.6,146,1419,0.08,1.55,0.00,0.000,6,0.177,0.031,1593,2884,3421,0,0,0,0,0,0
$GC,1741,-0.77,-146.1,266.3,-14.5,166,1745,0.00,2.10,0.00,0.000,4,0.000,0.036,1593,1501,3421,0,0,0,0,0,0
$GC,1763,-0.77,-146.1,269.2,-14.7,167,1767,0.00,2.20,0.00,0.000,6,0.000,0.051,1584,2884,3421,0,0,0,0,0,0
$GC,2095,-0.77,-146.1,318.2,-14.9,183,2098,0.00,1.60,0.00,0.000,4,0.000,0.060,1576,3891,3421,0,0,0,0,0,0
$GC,2129,-0.77,-146.1,324.3,-16.1,184,2132,0.00,1.52,0.00,0.000,6,0.000,0.032,1576,2874,3421,0,0,0,0,0,0
$GC,2452,-0.77,-146.1,374.1,-15.4,200,2456,0.00,1.65,0.00,0.000,4,0.000,0.059,1568,3907,3421,0,0,0,0,0,0
$GC,2504,-0.77,-146.1,382.8,-15.9,202,2509,0.10,1.55,0.00,0.000,6,0.175,0.032,1597,2882,3421,0,0,0,0,0,0
$GC,2834,-0.77,-146.1,427.9,-13.8,215,2838,0.00,2.08,0.00,0.000,4,0.000,0.037,1597,1495,3421,0,0,0,0,0,0
$GC,2857,-0.77,-146.1,431.8,-14.4,215,2866,0.00,2.20,0.00,0.000,6,0.000,0.052,1588,2881,3421,0,0,0,0,0,0
$GC,3173,-0.77,-146.1,476.8,-14.7,226,3177,0.00,1.60,0.00,0.000,4,0.000,0.060,1580,3890,3420,0,0,0,0,0,0
$GC,3209,-0.77,-146.1,482.4,-15.3,227,3213,0.00,1.52,0.00,0.000,6,0.000,0.032,1581,2873,3420,0,0,0,0,0,0
$GC,3554,-0.77,-146.1,533.9,-15.3,238,3558,0.00,2.05,0.00,0.000,4,0.000,0.036,1580,1500,3420,0,0,0,0,0,0
$GC,3572,-0.77,-146.1,537.3,-15.5,238,3577,0.12,2.20,0.00,0.000,6,0.199,0.052,1599,2881,3420,0,0,0,0,0,0
$GC,3887,-0.77,-146.1,579.1,-13.2,248,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2882,3420,0,0,0,0,0,0
$GC,4194,-0.77,-146.1,618.9,-12.9,258,4198,0.00,1.60,0.00,0.000,4,0.000,0.061,1592,3889,3420,0,0,0,0,0,0
$GC,4217,-0.77,-146.1,622.3,-13.1,258,4221,0.00,1.52,0.00,0.000,6,0.000,0.033,1592,2876,3420,0,0,0,0,0,0
$GC,4538,-0.77,-146.1,663.6,-12.8,269,4542,0.00,2.08,0.00,0.000,4,0.000,0.037,1592,1502,3419,0,0,0,0,0,0
$GC,4556,-0.77,-146.1,666.0,-12.3,269,4559,0.00,2.20,0.00,0.000,6,0.000,0.052,1582,2880,3419,0,0,0,0,0,0
$GC,4871,-0.77,-146.1,706.3,-13.0,279,4875,0.00,1.60,0.00,0.000,4,0.000,0.060,1574,3889,3419,0,0,0,0,0,0
$GC,4917,-0.77,-146.1,713.0,-14.7,280,4921,0.00,1.52,0.00,0.000,6,0.000,0.033,1574,2876,3418,0,0,0,0,0,0
$GC,5249,-0.77,-146.1,756.2,-12.8,291,5253,0.00,1.65,0.00,0.000,4,0.000,0.060,1567,3892,3418,0,0,0,0,0,0
$GC,5278,-0.77,-146.1,760.5,-13.5,291,5285,0.10,1.52,0.00,0.000,6,0.182,0.033,1595,2878,3418,0,0,0,0,0,0
$GC,5594,-0.77,-146.1,794.8,-10.9,302,5597,0.00,1.65,0.00,0.000,4,0.000,0.061,1588,3910,3418,0,0,0,0,0,0
$GC,5611,-0.77,-146.1,797.0,-11.2,302,5615,0.00,1.55,0.00,0.000,6,0.000,0.032,1588,2880,3418,0,0,0,0,0,0
$GC,5937,-0.77,-146.1,835.6,-12.1,313,5941,0.00,2.08,0.00,0.000,4,0.000,0.037,1588,1497,3417,0,0,0,0,0,0
$GC,5961,-0.77,-146.1,838.7,-12.7,313,5965,0.00,2.22,0.00,0.000,6,0.000,0.053,1578,2890,3417,0,0,0,0,0,0
$GC,6276,-0.77,-146.1,879.1,-13.0,323,6280,0.00,1.60,0.00,0.000,4,0.000,0.061,1570,3895,3417,0,0,0,0,0,0
$GC,6313,-0.77,-146.1,883.9,-14.0,324,6317,0.08,1.52,0.00,0.000,6,0.177,0.033,1592,2886,3416,0,0,0,0,0,0
$GC,6656,-0.77,-146.1,922.1,-10.7,335,6660,0.00,2.12,0.00,0.000,4,0.000,0.038,1592,1484,3416,0,0,0,0,0,0
$GC,6702,-0.77,-146.1,927.3,-9.8,336,6706,0.00,2.25,0.00,0.000,6,0.000,0.054,1583,2890,3416,0,0,0,0,0,0
$GC,7023,-0.77,-146.1,962.5,-11.2,347,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2890,3416,0,0,0,0,0,0
$GC,7331,-0.77,-146.1,998.2,-11.6,357,7335,0.00,2.15,0.00,0.000,4,0.000,0.037,1583,1491,3416,0,0,0,0,0,0
$STATE,7339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7339,begin apogee
$GC,7351,-0.18,0.0,1000.2,11.7,357,7502,0.70,0.00,147.35,1.223,6,0.177,0.000,1778,2708,2819,0,0,0,0,0,0
$STATE,7504,end apogee,CONTROL_FINISHED_OK
$STATE,7504,begin climb
$GC,7509,0.77,146.1,1004.4,0.0,362,7671,0.95,2.47,148.90,1.788,4,0.086,0.041,2106,1315,2226,0,0,0,0,1,0
$GC,7708,0.77,146.1,968.1,25.3,368,7712,0.00,2.45,0.00,0.000,6,0.000,0.051,2105,2695,2224,0,0,0,0,0,0
$GC,8035,0.77,146.1,879.8,27.3,379,8039,0.00,2.25,0.00,0.000,4,0.000,0.043,2116,1312,2218,0,0,0,0,0,0
$GC,8075,0.77,146.1,868.5,25.5,380,8079,0.00,2.30,0.00,0.000,6,0.000,0.051,2116,2708,2216,0,0,0,0,0,0
$GC,8402,0.77,146.1,778.0,28.5,391,8406,0.00,2.20,0.00,0.000,4,0.000,0.043,2126,1311,2216,0,0,0,0,0,0
$GC,8420,0.77,146.1,772.3,28.1,391,8424,0.00,2.28,0.00,0.000,6,0.000,0.050,2127,2706,2215,0,0,0,0,0,0
$GC,8735,0.77,146.1,682.3,28.8,401,8739,0.00,2.20,0.00,0.000,4,0.000,0.042,2137,1312,2215,0,0,0,0,0,0
$GC,8772,0.77,146.1,671.8,28.0,402,8777,0.17,2.25,0.00,0.000,6,0.243,0.052,2099,2708,2214,0,0,0,0,0,0
$GC,9111,0.77,146.1,584.6,25.9,413,9115,0.00,2.20,0.00,0.000,4,0.000,0.042,2108,1313,2214,0,0,0,0,0,0
$GC,9129,0.77,146.1,579.5,25.6,413,9133,0.00,2.22,0.00,0.000,6,0.000,0.050,2104,2706,2214,0,0,0,0,0,0
$GC,9444,0.77,146.1,498.4,26.5,423,9448,0.00,2.20,0.00,0.000,4,0.000,0.042,2114,1306,2214,0,0,0,0,0,0
$GC,9484,0.77,146.1,487.9,23.5,424,9488,0.00,2.22,0.00,0.000,6,0.000,0.051,2114,2700,2213,0,0,0,0,0,0
$GC,9811,0.77,146.1,403.5,25.7,435,9815,0.00,2.15,0.00,0.000,4,0.000,0.044,2124,1314,2213,0,0,0,0,0,0
$GC,9834,0.77,146.1,397.1,24.8,435,9841,0.00,2.22,0.00,0.000,6,0.000,0.051,2124,2702,2213,0,0,0,0,0,0
$GC,10156,0.77,146.1,316.7,25.3,451,10160,0.00,2.17,0.00,0.000,4,0.000,0.042,2133,1312,2213,0,0,0,0,0,0
$GC,10168,0.77,146.1,312.1,25.7,451,10173,0.15,2.22,0.00,0.000,6,0.246,0.050,2099,2704,2213,0,0,0,0,0,0
$GC,10494,0.77,146.1,237.5,22.1,467,10498,0.00,2.17,0.00,0.000,4,0.000,0.042,2108,1313,2212,0,0,0,0,0,0
$GC,10518,0.77,146.1,231.3,22.5,468,10527,0.00,2.25,0.00,0.000,6,0.000,0.050,2104,2701,2212,0,0,0,0,0,0
$GC,10842,0.77,146.1,156.4,24.4,489,10846,0.00,2.17,0.00,0.000,4,0.000,0.043,2114,1303,2212,0,0,0,0,0,0
$GC,10856,0.77,146.1,152.3,25.0,490,10860,0.00,2.22,0.00,0.000,6,0.000,0.050,2114,2699,2212,0,0,0,0,0,0
$GC,11192,0.77,146.1,74.9,22.4,523,11197,0.00,1.90,0.00,0.000,4,0.000,0.059,2114,3891,2212,0,0,0,0,0,0
$GC,11232,0.77,146.1,65.4,25.1,529,11237,0.00,1.83,0.00,0.000,6,0.000,0.037,2122,2720,2211,0,0,0,0,0,0
$STATE,11503,end climb,SURFACE_DEPTH_REACHED
$STATE,11503,begin surface coast
$FINISH,0.7,1.014241
$STATE,11517,end surface coast,CONTROL_FINISHED_OK
$STATE,11517,begin surface
$SM_CCo,11540,185.50,0.789,1,0,479,573.99
$SM_GC,1.38,0.00,0.00,185.50,0.000,0.000,0.789,59,2892,479,-5.60,0.37,573.99
$IRIDIUM_FIX,-4648.08,413.02,130113,101016
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.1,43.380
$10V_AH,10.1,20.535
$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,14.550,117.900,296.250,185.500,0.000,25.911,21.916,249.376,0.000,0.000,20.649,1459.832,7710.397,609.648,1896.458,558.903,33.363,1345.356,0.000,1509.772,0.000,1.008,0.000
$DEVICE_MAMPS,247.860,68.850,1787.805,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.560,1167.689,647.285,261.370,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,40384,576
$CAP_FILE_SIZE,103527,0
$CFSIZE,259252224,215441408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,170428,-4702.850,411.063,36,1.0,36,-23.3