version: 66.07
glider: 542
mission: 6
dive: 15
start: 12 12 112 9 5 3
data:
$ID,542
$MISSION,6
$DIVE,15
$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,333
$T_MISSION,348
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52846
$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,563.99261
$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,-10305.838
$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,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,24
$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
$GPS1,121212,085404,-4703.257,403.229,31,1.7,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-36.8
$GPS2,121212,090401,-4703.211,403.336,20,1.8,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.170,0.033
$KALMAN_X,-3529.6,426.7,258.2,-14443.2,-2041.7
$KALMAN_Y,22177.9,-293.3,-388.2,-43579.4,5504.8
$MHEAD_RNG_PITCHd_Wd,304.2,7288,-27.2,-10.010
$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,22,begin dive
$GC,26,-0.81,-63.1,0.0,0.0,0,162,0.00,0.00,-131.88,0.000,6,0.000,0.000,62,2939,3078,0,0,0,0,0,0
$GC,169,-0.90,-129.1,2.6,-3.0,17,195,6.00,2.35,-8.12,0.000,4,0.238,0.067,1578,1509,3349,0,0,0,0,0,0
$GC,207,-0.90,-129.1,9.5,-15.7,21,217,0.00,2.40,0.00,0.000,6,0.000,0.067,1569,2916,3349,0,0,0,0,0,0
$GC,295,-0.90,-129.1,27.2,-21.0,34,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2916,3349,0,0,0,0,0,0
$GC,380,-0.90,-129.1,44.7,-21.8,47,387,0.00,2.25,0.00,0.000,4,0.000,0.051,1569,1518,3349,0,0,0,0,0,0
$GC,399,-0.90,-129.1,48.8,-22.1,49,406,0.00,2.35,0.00,0.000,6,0.000,0.066,1558,2928,3349,0,0,0,0,0,0
$GC,638,-0.90,-129.1,100.6,-19.3,90,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2928,3349,0,0,0,0,0,0
$GC,954,-0.90,-129.1,159.6,-19.3,110,958,0.00,2.22,0.00,0.000,4,0.000,0.052,1558,1514,3349,0,0,0,0,0,0
$GC,978,-0.90,-129.1,164.9,-18.8,111,985,0.12,2.33,0.00,0.000,6,0.213,0.066,1576,2929,3350,0,0,0,0,0,0
$GC,1300,-0.90,-129.1,219.1,-16.2,132,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2929,3350,0,0,0,0,0,0
$GC,1628,-0.90,-129.1,271.6,-15.5,151,1632,0.00,2.25,0.00,0.000,4,0.000,0.052,1576,1513,3350,0,0,0,0,0,0
$GC,1648,-0.90,-129.1,275.0,-16.0,152,1652,0.00,2.30,0.00,0.000,6,0.000,0.065,1567,2924,3350,0,0,0,0,0,0
$GC,1983,-0.90,-129.1,329.3,-16.4,168,1987,0.00,2.20,0.00,0.000,4,0.000,0.052,1567,1518,3350,0,0,0,0,0,0
$GC,2005,-0.90,-129.1,332.7,-16.6,169,2010,0.00,2.30,0.00,0.000,6,0.000,0.064,1556,2929,3350,0,0,0,0,0,0
$GC,2337,-0.90,-129.1,388.9,-17.1,185,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2929,3350,0,0,0,0,0,0
$GC,2662,-0.90,-129.1,443.3,-16.2,197,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2929,3350,0,0,0,0,0,0
$GC,2968,-0.90,-129.1,491.1,-15.8,207,2972,0.00,2.20,0.00,0.000,4,0.000,0.053,1556,1519,3350,0,0,0,0,0,0
$GC,2998,-0.90,-129.1,496.2,-16.1,207,3005,0.12,2.28,0.00,0.000,6,0.211,0.065,1574,2925,3350,0,0,0,0,0,0
$GC,3313,-0.90,-129.1,543.1,-15.1,218,3317,0.00,2.22,0.00,0.000,4,0.000,0.055,1574,1520,3349,0,0,0,0,0,0
$GC,3325,-0.90,-129.1,545.3,-15.1,218,3329,0.00,2.28,0.00,0.000,6,0.000,0.064,1565,2928,3350,0,0,0,0,0,0
$GC,3651,-0.90,-129.1,597.1,-16.3,229,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2928,3350,0,0,0,0,0,0
$GC,3958,-0.90,-129.1,645.8,-15.6,239,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2928,3349,0,0,0,0,0,0
$GC,4264,-0.90,-129.1,691.7,-14.6,249,4268,0.00,2.22,0.00,0.000,4,0.000,0.055,1565,1515,3350,0,0,0,0,0,0
$GC,4293,-0.90,-129.1,696.2,-14.6,249,4300,0.00,2.28,0.00,0.000,6,0.000,0.065,1555,2922,3349,0,0,0,0,0,0
$GC,4608,-0.90,-129.1,743.6,-15.1,260,4612,0.00,2.22,0.00,0.000,4,0.000,0.055,1554,1509,3349,0,0,0,0,0,0
$GC,4643,-0.90,-129.1,749.4,-15.5,261,4648,0.15,2.30,0.00,0.000,6,0.207,0.065,1580,2929,3350,0,0,0,0,0,0
$GC,4976,-0.90,-129.1,794.3,-13.3,272,4980,0.00,2.20,0.00,0.000,4,0.000,0.056,1580,1520,3350,0,0,0,0,0,0
$GC,4999,-0.90,-129.1,797.7,-13.7,272,5006,0.00,2.28,0.00,0.000,6,0.000,0.065,1571,2929,3349,0,0,0,0,0,0
$GC,5314,-0.90,-129.1,841.0,-13.8,283,5318,0.00,2.22,0.00,0.000,4,0.000,0.054,1571,1517,3349,0,0,0,0,0,0
$GC,5332,-0.90,-129.1,843.7,-14.0,283,5336,0.00,2.28,0.00,0.000,6,0.000,0.065,1561,2930,3349,0,0,0,0,0,0
$GC,5653,-0.90,-129.1,889.0,-14.1,294,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2931,3349,0,0,0,0,0,0
$GC,5959,-0.90,-129.1,931.0,-13.6,304,5963,0.00,2.22,0.00,0.000,4,0.000,0.055,1561,1517,3350,0,0,0,0,0,0
$GC,5994,-0.90,-129.1,936.1,-13.9,305,5999,0.12,2.28,0.00,0.000,6,0.207,0.064,1579,2925,3349,0,0,0,0,0,0
$GC,6328,-0.90,-129.1,976.0,-12.1,316,6332,0.00,2.20,0.00,0.000,4,0.000,0.055,1579,1518,3349,0,0,0,0,0,0
$GC,6369,-0.90,-129.1,981.1,-11.1,317,6373,0.00,2.28,0.00,0.000,6,0.000,0.065,1570,2925,3349,0,0,0,0,0,0
$STATE,6537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6537,begin apogee
$GC,6548,-0.19,0.0,1002.3,12.7,323,6690,0.80,0.00,135.57,1.205,6,0.181,0.000,1803,2717,2812,0,0,0,0,0,0
$STATE,6692,end apogee,CONTROL_FINISHED_OK
$STATE,6692,begin climb
$GC,6697,0.90,129.1,1005.5,0.0,328,6836,1.02,0.00,135.35,1.155,6,0.073,0.000,2157,2717,2292,0,0,0,0,0,0
$GC,7131,0.90,129.1,892.2,30.8,342,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2717,2265,0,0,0,0,0,0
$GC,7434,0.90,129.1,801.6,29.6,352,7438,0.00,2.28,0.00,0.000,4,0.000,0.065,2168,1338,2263,0,0,0,0,0,0
$GC,7452,0.90,129.1,795.8,29.0,352,7456,0.00,2.33,0.00,0.000,6,0.000,0.060,2167,2734,2262,0,0,0,0,0,0
$GC,7774,0.90,129.1,700.5,30.2,363,7778,0.00,2.30,0.00,0.000,4,0.000,0.063,2177,1332,2262,0,0,0,0,0,0
$GC,7814,0.90,129.1,687.8,28.9,364,7818,0.00,2.33,0.00,0.000,6,0.000,0.060,2178,2739,2261,0,0,0,0,0,0
$GC,8141,0.90,129.1,588.6,31.0,375,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2739,2261,0,0,0,0,0,0
$GC,8448,0.90,129.1,499.0,28.6,385,8452,0.00,2.30,0.00,0.000,4,0.000,0.063,2188,1328,2260,0,0,0,0,0,0
$GC,8466,0.90,129.1,493.0,28.8,385,8470,0.00,2.30,0.00,0.000,6,0.000,0.060,2188,2739,2259,0,0,0,0,0,0
$GC,8787,0.90,129.1,401.4,28.2,396,8791,0.00,2.28,0.00,0.000,4,0.000,0.063,2199,1335,2259,0,0,0,0,0,0
$GC,8805,0.90,129.1,395.9,28.0,396,8810,0.17,2.28,0.00,0.000,6,0.289,0.060,2165,2745,2259,0,0,0,0,0,0
$GC,9129,0.90,129.1,311.0,26.5,412,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2745,2259,0,0,0,0,0,0
$GC,9441,0.90,129.1,227.6,27.5,428,9445,0.00,2.28,0.00,0.000,4,0.000,0.061,2174,1335,2258,0,0,0,0,0,0
$GC,9459,0.90,129.1,221.8,27.5,429,9463,0.00,2.28,0.00,0.000,6,0.000,0.060,2173,2739,2258,0,0,0,0,0,0
$GC,9784,0.90,129.1,135.5,26.5,449,9788,0.00,2.25,0.00,0.000,4,0.000,0.062,2183,1336,2258,0,0,0,0,0,0
$GC,9804,0.90,129.1,129.0,26.7,450,9808,0.00,2.28,0.00,0.000,6,0.000,0.061,2182,2740,2258,0,0,0,0,0,0
$GC,10151,0.90,129.1,36.6,25.6,498,10160,0.00,2.30,0.00,0.000,4,0.000,0.063,2192,1332,2258,0,0,0,0,0,0
$GC,10170,0.90,129.1,31.7,25.2,500,10180,0.10,2.30,0.00,0.000,6,0.272,0.060,2170,2740,2258,0,0,0,0,0,0
$STATE,10290,end climb,SURFACE_DEPTH_REACHED
$STATE,10290,begin surface coast
$FINISH,0.4,1.013385
$STATE,10308,end surface coast,CONTROL_FINISHED_OK
$STATE,10308,begin surface
$SM_CCo,10330,187.55,0.773,1,0,517,564.18
$SM_GC,1.05,0.00,0.00,187.55,0.000,0.000,0.773,59,2939,517,-5.66,0.45,564.18
$IRIDIUM_FIX,-4648.08,400.19,121212,050526
$TT8_MAMPS,0.026215
$HUMID,55.78
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,23.4,4.660
$10V_AH,10.2,1.780
$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,14.400,91.575,270.925,187.550,0.000,28.723,47.836,312.804,0.000,0.000,26.827,1291.333,7019.260,618.359,1668.648,524.916,33.355,1202.609,0.000,1248.267,0.000,1.009,0.000
$DEVICE_MAMPS,289.170,72.675,1204.875,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.957,1051.275,577.635,223.016,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,37091,521
$CAP_FILE_SIZE,87255,0
$CFSIZE,259252224,226889728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,121212,120153,-4702.315,402.013,40,1.1,40,-23.3