version: 66.07
glider: 542
mission: 6
dive: 228
start: 1 13 113 17 14 45
data:
$ID,542
$MISSION,6
$DIVE,228
$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,-11207.446
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,130113,170428,-4702.850,411.063,36,1.0,36,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-33.0
$GPS2,130113,171349,-4702.837,411.155,18,0.7,19,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.079,0.159
$KALMAN_X,-158452.5,138.9,-5.8,150938.1,215.5
$KALMAN_Y,105576.4,-642.9,-512.0,-125811.5,1858.4
$MHEAD_RNG_PITCHd_Wd,356.9,5453,-25.0,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.74,-68.0,0.0,0.0,0,155,0.00,0.00,-125.95,0.000,2,0.000,0.000,56,2893,2943,0,0,0,0,0,0
$GC,162,-0.81,-127.5,3.1,-3.9,16,188,6.35,2.20,-12.60,0.000,4,0.249,0.046,1580,1464,3339,0,0,0,0,0,0
$GC,301,-0.81,-127.5,26.4,-18.3,36,310,0.00,2.30,0.00,0.000,6,0.000,0.052,1571,2869,3341,0,0,0,0,0,0
$GC,387,-0.81,-127.5,41.4,-18.4,49,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2869,3341,0,0,0,0,0,0
$GC,630,-0.81,-127.5,88.7,-21.1,90,638,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2869,3341,0,0,0,0,0,0
$GC,965,-0.81,-127.5,143.9,-16.7,118,968,0.00,1.62,0.00,0.000,4,0.000,0.057,1563,3920,3341,0,0,0,0,0,0
$GC,1088,-0.81,-127.5,165.0,-17.2,125,1092,0.00,1.60,0.00,0.000,6,0.000,0.031,1563,2857,3342,0,0,0,0,0,0
$GC,1420,-0.81,-127.5,221.1,-16.2,146,1424,0.00,1.67,0.00,0.000,4,0.000,0.057,1555,3893,3342,0,0,0,0,0,0
$GC,1442,-0.81,-127.5,224.5,-16.5,147,1447,0.08,1.52,0.00,0.000,6,0.187,0.031,1576,2879,3342,0,0,0,0,0,0
$GC,1765,-0.81,-127.5,272.9,-14.4,165,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2874,3342,0,0,0,0,0,0
$GC,2074,-0.81,-127.5,318.4,-15.0,180,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2874,3342,0,0,0,0,0,0
$GC,2384,-0.81,-127.5,365.1,-15.3,195,2388,0.00,1.65,0.00,0.000,4,0.000,0.060,1569,3896,3342,0,0,0,0,0,0
$GC,2419,-0.81,-127.5,371.4,-15.8,196,2423,0.00,1.52,0.00,0.000,6,0.000,0.032,1569,2877,3342,0,0,0,0,0,0
$GC,2742,-0.81,-127.5,421.7,-15.8,210,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2873,3342,0,0,0,0,0,0
$GC,3048,-0.81,-127.5,468.1,-15.0,220,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2873,3342,0,0,0,0,0,0
$GC,3354,-0.81,-127.5,513.1,-14.4,230,3358,0.00,2.08,0.00,0.000,4,0.000,0.037,1569,1491,3342,0,0,0,0,0,0
$GC,3372,-0.81,-127.5,516.0,-14.6,230,3376,0.00,2.20,0.00,0.000,6,0.000,0.052,1559,2884,3342,0,0,0,0,0,0
$GC,3693,-0.81,-127.5,563.0,-14.7,241,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2884,3342,0,0,0,0,0,0
$GC,3999,-0.81,-127.5,607.7,-14.6,251,4002,0.00,1.60,0.00,0.000,4,0.000,0.060,1551,3894,3341,0,0,0,0,0,0
$GC,4035,-0.81,-127.5,613.4,-15.1,252,4039,0.10,1.52,0.00,0.000,6,0.181,0.033,1579,2883,3341,0,0,0,0,0,0
$GC,4379,-0.81,-127.5,657.2,-12.6,263,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2879,3341,0,0,0,0,0,0
$GC,4685,-0.81,-127.5,695.0,-12.3,273,4689,0.00,2.10,0.00,0.000,4,0.000,0.037,1580,1493,3341,0,0,0,0,0,0
$GC,4716,-0.81,-127.5,698.8,-12.0,274,4720,0.00,2.22,0.00,0.000,6,0.000,0.053,1570,2889,3341,0,0,0,0,0,0
$GC,5061,-0.81,-127.5,742.9,-12.8,285,5065,0.00,1.60,0.00,0.000,4,0.000,0.060,1562,3897,3340,0,0,0,0,0,0
$GC,5124,-0.81,-127.5,752.2,-14.1,286,5131,0.00,1.55,0.00,0.000,6,0.000,0.033,1563,2865,3340,0,0,0,0,0,0
$GC,5439,-0.81,-127.5,794.2,-13.6,297,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2865,3340,0,0,0,0,0,0
$GC,5746,-0.81,-127.5,835.9,-13.4,307,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2865,3340,0,0,0,0,0,0
$GC,6051,-0.81,-127.5,876.7,-13.2,317,6055,0.00,1.62,0.00,0.000,4,0.000,0.060,1555,3900,3340,0,0,0,0,0,0
$GC,6088,-0.81,-127.5,881.7,-14.1,318,6092,0.08,1.52,0.00,0.000,6,0.183,0.033,1576,2893,3339,0,0,0,0,0,0
$GC,6432,-0.81,-127.5,922.2,-11.4,329,6435,0.00,2.12,0.00,0.000,4,0.000,0.037,1576,1490,3339,0,0,0,0,0,0
$GC,6466,-0.81,-127.5,926.4,-10.3,330,6470,0.00,2.20,0.00,0.000,6,0.000,0.053,1567,2881,3339,0,0,0,0,0,0
$GC,6798,-0.81,-127.5,965.1,-11.7,341,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2882,3339,0,0,0,0,0,0
$GC,7106,-0.81,-127.5,999.8,-11.1,351,7110,0.00,2.08,0.00,0.000,3,0.000,0.036,1567,1514,3339,0,0,0,0,0,0
$STATE,7112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7112,begin apogee
$GC,7124,-0.18,0.0,1001.0,11.1,351,7259,0.77,0.00,131.23,1.219,6,0.183,0.000,1781,2704,2819,0,0,0,0,0,0
$STATE,7261,end apogee,CONTROL_FINISHED_OK
$STATE,7261,begin climb
$GC,7266,0.81,127.5,1003.3,0.0,355,7409,0.95,2.45,129.38,1.786,4,0.082,0.041,2117,1321,2300,0,0,0,0,1,0
$GC,7423,0.81,127.5,974.7,25.9,359,7430,0.00,2.45,0.00,0.000,6,0.000,0.050,2116,2691,2301,0,0,0,0,0,0
$GC,7738,0.81,127.5,883.4,29.0,370,7742,0.00,2.22,0.00,0.000,4,0.000,0.044,2128,1315,2294,0,0,0,0,0,0
$GC,7772,0.81,127.5,874.4,28.5,371,7776,0.00,2.30,0.00,0.000,6,0.000,0.050,2123,2708,2293,0,0,0,0,0,0
$GC,8109,0.81,127.5,780.3,27.5,382,8113,0.00,2.20,0.00,0.000,4,0.000,0.044,2133,1314,2292,0,0,0,0,0,0
$GC,8127,0.81,127.5,775.2,27.1,382,8131,0.00,2.25,0.00,0.000,6,0.000,0.050,2133,2704,2291,0,0,0,0,0,0
$GC,8448,0.81,127.5,688.9,27.1,393,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2704,2291,0,0,0,0,0,0
$GC,8754,0.81,127.5,609.3,25.6,403,8758,0.00,2.17,0.00,0.000,4,0.000,0.043,2143,1311,2290,0,0,0,0,0,0
$GC,8772,0.81,127.5,604.2,25.0,403,8777,0.12,2.25,0.00,0.000,6,0.249,0.050,2119,2710,2290,0,0,0,0,0,0
$GC,9094,0.81,127.5,526.2,23.8,414,9098,0.00,2.20,0.00,0.000,4,0.000,0.042,2128,1302,2290,0,0,0,0,0,0
$GC,9112,0.81,127.5,521.5,23.6,414,9116,0.00,2.25,0.00,0.000,6,0.000,0.050,2123,2702,2289,0,0,0,0,0,0
$GC,9432,0.81,127.5,443.2,24.2,425,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2701,2289,0,0,0,0,0,0
$GC,9742,0.81,127.5,368.9,24.0,437,9746,0.00,2.17,0.00,0.000,4,0.000,0.041,2133,1308,2289,0,0,0,0,0,0
$GC,9766,0.81,127.5,362.4,23.8,438,9770,0.00,2.22,0.00,0.000,6,0.000,0.050,2133,2709,2288,0,0,0,0,0,0
$GC,10090,0.81,127.5,283.8,24.2,454,10094,0.00,2.17,0.00,0.000,4,0.000,0.042,2143,1306,2288,0,0,0,0,0,0
$GC,10120,0.81,127.5,276.4,23.8,455,10124,0.00,2.25,0.00,0.000,6,0.000,0.050,2143,2710,2287,0,0,0,0,0,0
$GC,10450,0.81,127.5,193.0,25.2,474,10455,0.12,2.17,0.00,0.000,4,0.253,0.043,2127,1304,2287,0,0,0,0,0,0
$GC,10486,0.81,127.5,184.1,22.1,476,10490,0.00,2.22,0.00,0.000,6,0.000,0.051,2124,2706,2287,0,0,0,0,0,0
$GC,10808,0.81,127.5,107.7,23.7,496,10812,0.00,1.88,0.00,0.000,4,0.000,0.058,2123,3895,2287,0,0,0,0,0,0
$GC,10845,0.81,127.5,98.7,25.6,498,10854,0.00,1.85,0.00,0.000,6,0.000,0.038,2132,2709,2287,0,0,0,0,0,0
$GC,11212,0.81,127.5,21.4,22.5,559,11221,0.00,2.20,0.00,0.000,4,0.000,0.044,2142,1304,2286,0,0,0,0,0,0
$GC,11263,0.81,127.5,9.9,21.1,566,11272,0.00,2.25,0.00,0.000,6,0.000,0.051,2142,2696,2285,0,0,0,0,0,0
$STATE,11304,end climb,SURFACE_DEPTH_REACHED
$STATE,11304,begin surface coast
$FINISH,0.8,1.013667
$STATE,11324,end surface coast,CONTROL_FINISHED_OK
$STATE,11324,begin surface
$SM_CCo,11347,191.88,0.794,1,0,478,573.99
$SM_GC,1.34,0.00,0.00,191.88,0.000,0.000,0.794,59,2906,478,-5.60,0.71,573.99
$IRIDIUM_FIX,-4648.08,413.02,130113,131306
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.1,43.551
$10V_AH,10.1,20.619
$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,14.200,84.900,260.600,191.875,0.000,28.124,43.216,260.470,0.000,0.000,21.980,1423.380,7721.138,570.013,1858.146,524.602,33.361,1248.692,0.000,1441.122,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,63.495,1786.275,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.765,1154.924,637.350,260.550,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,40408,575
$CAP_FILE_SIZE,93541,0
$CFSIZE,259252224,215396352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,202833,-4701.642,410.459,17,2.0,36,-23.3