version: 66.07
glider: 542
mission: 6
dive: 229
start: 1 13 113 20 39 26
data:
$ID,542
$MISSION,6
$DIVE,229
$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,-11209.776
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,130113,202833,-4701.642,410.459,17,2.0,36,-23.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-34.4
$GPS2,130113,203830,-4701.646,410.546,15,1.1,16,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.083,0.151
$KALMAN_X,-157552.8,248.9,-26.8,149181.4,1075.2
$KALMAN_Y,103595.9,-526.9,-202.0,-122062.1,-160.3
$MHEAD_RNG_PITCHd_Wd,354.4,3126,-25.8,-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,-0.76,-64.0,0.0,0.0,0,162,0.00,0.00,-132.55,0.000,6,0.000,0.000,56,2906,3082,0,0,0,0,0,0
$GC,169,-0.84,-130.8,3.1,-2.8,17,188,6.25,2.28,-7.62,0.000,4,0.246,0.046,1578,1475,3355,0,0,0,0,0,0
$GC,348,-0.84,-130.8,36.6,-14.0,44,357,0.00,2.30,0.00,0.000,6,0.000,0.054,1568,2874,3356,0,0,0,0,0,0
$GC,596,-0.84,-130.8,84.9,-20.8,85,603,0.00,1.62,0.00,0.000,4,0.000,0.057,1560,3893,3357,0,0,0,0,0,0
$GC,661,-0.84,-130.8,98.6,-19.0,96,671,0.00,1.58,0.00,0.000,6,0.000,0.031,1560,2852,3357,0,0,0,0,0,0
$GC,994,-0.84,-130.8,158.6,-17.9,118,997,0.00,1.67,0.00,0.000,4,0.000,0.057,1553,3903,3358,0,0,0,0,0,0
$GC,1091,-0.84,-130.8,178.0,-19.7,123,1097,0.00,1.55,0.00,0.000,6,0.000,0.031,1552,2876,3358,0,0,0,0,0,0
$GC,1412,-0.84,-130.8,237.0,-18.1,144,1416,0.00,2.08,0.00,0.000,4,0.000,0.035,1552,1501,3358,0,0,0,0,0,0
$GC,1487,-0.84,-130.8,250.0,-15.8,148,1492,0.12,2.17,0.00,0.000,6,0.199,0.050,1572,2881,3357,0,0,0,0,0,0
$GC,1808,-0.84,-130.8,299.1,-15.3,163,1811,0.00,1.60,0.00,0.000,4,0.000,0.058,1566,3892,3358,0,0,0,0,0,0
$GC,1833,-0.84,-130.8,303.5,-16.4,164,1837,0.00,1.52,0.00,0.000,6,0.000,0.031,1566,2873,3358,0,0,0,0,0,0
$GC,2168,-0.84,-130.8,356.0,-15.1,180,2172,0.00,2.05,0.00,0.000,4,0.000,0.035,1565,1500,3358,0,0,0,0,0,0
$GC,2211,-0.84,-130.8,362.3,-14.4,182,2215,0.00,2.20,0.00,0.000,6,0.000,0.051,1555,2883,3358,0,0,0,0,0,0
$GC,2550,-0.84,-130.8,416.3,-16.4,197,2554,0.00,2.12,0.00,0.000,4,0.000,0.035,1555,1497,3358,0,0,0,0,0,0
$GC,2568,-0.84,-130.8,419.6,-16.4,197,2573,0.12,2.20,0.00,0.000,6,0.203,0.050,1574,2881,3358,0,0,0,0,0,0
$GC,2885,-0.84,-130.8,465.0,-14.4,207,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2882,3357,0,0,0,0,0,0
$GC,3189,-0.84,-130.8,508.4,-14.1,217,3193,0.00,1.60,0.00,0.000,4,0.000,0.059,1567,3893,3357,0,0,0,0,0,0
$GC,3226,-0.84,-130.8,513.8,-15.7,218,3229,0.00,1.52,0.00,0.000,6,0.000,0.032,1567,2875,3357,0,0,0,0,0,0
$GC,3569,-0.84,-130.8,564.8,-15.1,229,3573,0.00,2.05,0.00,0.000,4,0.000,0.036,1567,1502,3356,0,0,0,0,0,0
$GC,3622,-0.84,-130.8,572.4,-13.0,230,3626,0.00,2.20,0.00,0.000,6,0.000,0.052,1557,2882,3357,0,0,0,0,0,0
$GC,3945,-0.84,-130.8,622.2,-15.7,241,3949,0.00,2.12,0.00,0.000,4,0.000,0.036,1557,1497,3356,0,0,0,0,0,0
$GC,3976,-0.84,-130.8,627.4,-16.2,242,3980,0.12,2.20,0.00,0.000,6,0.203,0.051,1575,2890,3356,0,0,0,0,0,0
$GC,4320,-0.84,-130.8,674.1,-13.3,253,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2890,3355,0,0,0,0,0,0
$GC,4626,-0.84,-130.8,715.0,-13.4,263,4630,0.00,2.12,0.00,0.000,4,0.000,0.036,1575,1501,3355,0,0,0,0,0,0
$GC,4661,-0.84,-130.8,719.9,-13.0,264,4665,0.00,2.20,0.00,0.000,6,0.000,0.053,1566,2891,3355,0,0,0,0,0,0
$GC,4993,-0.84,-130.8,765.8,-13.9,275,4996,0.00,1.60,0.00,0.000,4,0.000,0.060,1559,3901,3355,0,0,0,0,0,0
$GC,5010,-0.84,-130.8,768.7,-13.9,275,5014,0.00,1.52,0.00,0.000,6,0.000,0.032,1558,2886,3354,0,0,0,0,0,0
$GC,5337,-0.84,-130.8,816.8,-14.8,286,5341,0.00,2.10,0.00,0.000,4,0.000,0.037,1558,1496,3354,0,0,0,0,0,0
$GC,5405,-0.84,-130.8,826.9,-13.1,288,5410,0.12,2.20,0.00,0.000,6,0.202,0.052,1576,2890,3354,0,0,0,0,0,0
$GC,5738,-0.84,-130.8,871.1,-13.3,299,5742,0.00,2.12,0.00,0.000,4,0.000,0.036,1577,1500,3354,0,0,0,0,0,0
$GC,5762,-0.84,-130.8,874.4,-13.0,299,5768,0.00,2.20,0.00,0.000,6,0.000,0.052,1568,2884,3353,0,0,0,0,0,0
$GC,6079,-0.84,-130.8,916.2,-13.2,310,6082,0.00,1.60,0.00,0.000,4,0.000,0.060,1560,3893,3353,0,0,0,0,0,0
$GC,6109,-0.84,-130.8,920.7,-13.9,310,6116,0.00,1.52,0.00,0.000,6,0.000,0.032,1560,2875,3352,0,0,0,0,0,0
$GC,6424,-0.84,-130.8,963.2,-13.5,321,6428,0.00,2.08,0.00,0.000,4,0.000,0.037,1560,1495,3353,0,0,0,0,0,0
$GC,6499,-0.84,-130.8,973.0,-12.0,323,6503,0.00,2.20,0.00,0.000,6,0.000,0.053,1549,2886,3352,0,0,0,0,0,0
$STATE,6704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6704,begin apogee
$GC,6714,-0.18,0.0,1001.6,13.9,330,6850,0.85,0.00,132.15,1.244,6,0.184,0.000,1788,2711,2819,0,0,0,0,0,0
$STATE,6852,end apogee,CONTROL_FINISHED_OK
$STATE,6852,begin climb
$GC,6857,0.84,130.8,1005.1,0.0,334,7003,0.95,2.47,133.48,1.786,4,0.074,0.042,2127,1310,2289,0,0,0,0,1,0
$GC,7034,0.84,130.8,972.1,26.5,339,7039,0.00,2.47,0.00,0.000,6,0.000,0.050,2127,2706,2287,0,0,0,0,0,0
$GC,7350,0.84,130.8,880.4,29.7,349,7354,0.00,2.25,0.00,0.000,4,0.000,0.043,2137,1309,2281,0,0,0,0,0,0
$GC,7381,0.84,130.8,871.3,28.2,350,7385,0.00,2.33,0.00,0.000,6,0.000,0.051,2137,2708,2279,0,0,0,0,0,0
$GC,7719,0.84,130.8,775.2,28.1,361,7723,0.00,2.25,0.00,0.000,4,0.000,0.044,2148,1300,2278,0,0,0,0,0,0
$GC,7760,0.84,130.8,763.3,27.0,362,7764,0.00,2.28,0.00,0.000,6,0.000,0.050,2148,2710,2277,0,0,0,0,0,0
$GC,8086,0.84,130.8,670.7,28.1,373,8090,0.00,2.22,0.00,0.000,4,0.000,0.042,2158,1305,2277,0,0,0,0,0,0
$GC,8110,0.84,130.8,663.7,27.0,373,8118,0.15,2.25,0.00,0.000,6,0.248,0.050,2128,2703,2276,0,0,0,0,0,0
$GC,8425,0.84,130.8,583.5,24.9,384,8429,0.00,2.17,0.00,0.000,4,0.000,0.043,2137,1308,2275,0,0,0,0,0,0
$GC,8457,0.84,130.8,575.7,24.8,385,8461,0.00,2.25,0.00,0.000,6,0.000,0.050,2137,2708,2275,0,0,0,0,0,0
$GC,8794,0.84,130.8,487.6,26.6,396,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2708,2274,0,0,0,0,0,0
$GC,9101,0.84,130.8,407.7,26.1,406,9105,0.00,2.20,0.00,0.000,4,0.000,0.042,2146,1298,2274,0,0,0,0,0,0
$GC,9118,0.84,130.8,402.6,25.3,406,9123,0.00,2.22,0.00,0.000,6,0.000,0.049,2146,2701,2274,0,0,0,0,0,0
$GC,9442,0.84,130.8,319.0,25.9,422,9446,0.00,2.20,0.00,0.000,4,0.000,0.042,2156,1300,2274,0,0,0,0,0,0
$GC,9464,0.84,130.8,313.8,25.8,423,9469,0.15,2.25,0.00,0.000,6,0.243,0.050,2125,2705,2274,0,0,0,0,0,0
$GC,9795,0.84,130.8,231.5,23.8,440,9799,0.00,2.17,0.00,0.000,4,0.000,0.041,2134,1311,2274,0,0,0,0,0,0
$GC,9817,0.84,130.8,226.6,23.9,441,9821,0.00,2.22,0.00,0.000,6,0.000,0.050,2131,2709,2274,0,0,0,0,0,0
$GC,10150,0.84,130.8,148.3,23.9,462,10154,0.00,2.17,0.00,0.000,4,0.000,0.041,2141,1302,2274,0,0,0,0,0,0
$GC,10166,0.84,130.8,144.9,23.6,463,10171,0.00,2.22,0.00,0.000,6,0.000,0.051,2141,2699,2273,0,0,0,0,0,0
$GC,10505,0.84,130.8,67.8,21.4,499,10509,0.00,2.15,0.00,0.000,4,0.000,0.041,2151,1301,2274,0,0,0,0,0,0
$GC,10526,0.84,130.8,62.7,22.0,502,10533,0.12,2.22,0.00,0.000,6,0.241,0.050,2125,2706,2273,0,0,0,0,0,0
$STATE,10807,end climb,SURFACE_DEPTH_REACHED
$STATE,10807,begin surface coast
$FINISH,0.8,1.026466
$STATE,10821,end surface coast,CONTROL_FINISHED_OK
$STATE,10821,begin surface
$SM_CCo,10844,192.52,0.774,1,0,478,573.99
$SM_GC,1.21,0.00,0.00,192.52,0.000,0.000,0.774,56,2902,478,-5.60,0.65,573.99
$IRIDIUM_FIX,-4648.08,413.02,130113,131306
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.1,43.728
$10V_AH,10.0,20.702
$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,14.550,107.650,265.625,192.525,0.000,32.699,48.829,287.637,0.000,0.000,19.079,1397.705,7203.625,584.855,1909.220,536.332,33.363,1275.572,0.000,1458.481,0.000,1.009,0.000
$DEVICE_MAMPS,247.860,67.320,1786.275,774.180,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.263,1116.683,624.156,255.117,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,40387,550
$CAP_FILE_SIZE,97776,0
$CFSIZE,259252224,215339008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,234453,-4700.533,409.786,37,1.1,37,-23.3