version: 66.07
glider: 542
mission: 6
dive: 21
start: 12 13 112 3 41 37
data:
$ID,542
$MISSION,6
$DIVE,21
$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,3
$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,-10335.366
$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,46
$R_STBD_OVSHOOT,23
$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
$GPS1,131212,033134,-4703.986,400.211,30,1.2,30,-23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-33.9
$GPS2,131212,034035,-4703.966,400.277,15,1.9,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.074,0.157
$KALMAN_X,-964.3,-678.0,-34.0,-19471.4,647.7
$KALMAN_Y,27712.9,-620.5,-250.5,-50325.5,5206.7
$MHEAD_RNG_PITCHd_Wd,358.0,7353,-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,21,begin dive
$GC,26,-0.81,-63.1,0.0,0.0,0,162,0.00,0.00,-132.12,0.000,6,0.000,0.000,67,2914,3079,0,0,0,0,0,0
$GC,169,-0.90,-131.6,2.5,-2.7,17,195,6.10,2.22,-8.73,0.000,4,0.243,0.063,1578,1531,3359,0,0,0,0,0,0
$GC,250,-0.90,-131.6,15.6,-15.8,28,259,0.00,2.33,0.00,0.000,6,0.000,0.060,1569,2918,3360,0,0,0,0,0,0
$GC,337,-0.90,-131.6,32.2,-20.1,41,344,0.00,2.22,0.00,0.000,4,0.000,0.048,1569,1524,3360,0,0,0,0,0,0
$GC,395,-0.90,-131.6,43.9,-18.3,50,404,0.00,2.33,0.00,0.000,6,0.000,0.060,1558,2919,3360,0,0,0,0,0,0
$GC,642,-0.90,-131.6,93.7,-19.7,91,646,0.00,1.60,0.00,0.000,4,0.000,0.066,1551,3904,3360,0,0,0,0,0,0
$GC,663,-0.90,-131.6,98.2,-18.9,94,669,0.00,1.52,0.00,0.000,6,0.000,0.039,1552,2925,3360,0,0,0,0,0,0
$GC,992,-0.90,-131.6,161.8,-19.5,116,996,0.00,2.17,0.00,0.000,4,0.000,0.048,1551,1528,3361,0,0,0,0,0,0
$GC,1033,-0.90,-131.6,169.5,-16.9,118,1042,0.10,2.30,0.00,0.000,6,0.181,0.060,1569,2924,3361,0,0,0,0,0,0
$GC,1360,-0.90,-131.6,223.2,-16.4,139,1364,0.00,2.17,0.00,0.000,4,0.000,0.047,1569,1531,3361,0,0,0,0,0,0
$GC,1380,-0.90,-131.6,227.2,-16.1,140,1384,0.00,2.25,0.00,0.000,6,0.000,0.060,1560,2931,3361,0,0,0,0,0,0
$GC,1705,-0.90,-131.6,281.1,-16.7,158,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2931,3361,0,0,0,0,0,0
$GC,2018,-0.90,-131.6,332.8,-17.0,173,2022,0.00,2.17,0.00,0.000,4,0.000,0.049,1560,1521,3361,0,0,0,0,0,0
$GC,2043,-0.90,-131.6,337.6,-16.4,174,2048,0.12,2.28,0.00,0.000,6,0.210,0.060,1579,2930,3361,0,0,0,0,0,0
$GC,2374,-0.90,-131.6,389.6,-16.1,190,2378,0.00,1.55,0.00,0.000,4,0.000,0.067,1572,3897,3361,0,0,0,0,0,0
$GC,2414,-0.90,-131.6,396.7,-17.2,191,2421,0.00,1.50,0.00,0.000,6,0.000,0.043,1573,2930,3362,0,0,0,0,0,0
$GC,2750,-0.90,-131.6,451.5,-16.1,203,2754,0.00,2.17,0.00,0.000,4,0.000,0.049,1573,1519,3362,0,0,0,0,0,0
$GC,2796,-0.90,-131.6,459.0,-14.7,204,2800,0.00,2.28,0.00,0.000,6,0.000,0.063,1562,2919,3362,0,0,0,0,0,0
$GC,3117,-0.90,-131.6,512.0,-16.6,215,3121,0.00,2.17,0.00,0.000,4,0.000,0.050,1562,1518,3362,0,0,0,0,0,0
$GC,3148,-0.90,-131.6,517.0,-16.0,216,3152,0.00,2.25,0.00,0.000,6,0.000,0.063,1552,2925,3362,0,0,0,0,0,0
$GC,3486,-0.90,-131.6,572.6,-16.4,227,3490,0.00,2.17,0.00,0.000,4,0.000,0.049,1552,1525,3362,0,0,0,0,0,0
$GC,3521,-0.90,-131.6,578.4,-14.5,228,3526,0.15,2.28,0.00,0.000,6,0.203,0.063,1577,2935,3361,0,0,0,0,0,0
$GC,3853,-0.90,-131.6,623.9,-13.4,239,3857,0.00,1.55,0.00,0.000,4,0.000,0.070,1571,3901,3361,0,0,0,0,0,0
$GC,3882,-0.90,-131.6,628.4,-14.4,239,3889,0.00,1.52,0.00,0.000,6,0.000,0.043,1571,2915,3361,0,0,0,0,0,0
$GC,4197,-0.90,-131.6,673.3,-14.5,250,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2915,3362,0,0,0,0,0,0
$GC,4504,-0.90,-131.6,718.0,-14.7,260,4508,0.00,1.60,0.00,0.000,4,0.000,0.070,1564,3897,3361,0,0,0,0,0,0
$GC,4522,-0.90,-131.6,721.1,-14.7,260,4525,0.00,1.50,0.00,0.000,6,0.000,0.043,1564,2929,3360,0,0,0,0,0,0
$GC,4848,-0.90,-131.6,769.3,-14.7,271,4852,0.00,2.17,0.00,0.000,4,0.000,0.050,1564,1518,3360,0,0,0,0,0,0
$GC,4894,-0.90,-131.6,776.2,-14.3,272,4898,0.00,2.28,0.00,0.000,6,0.000,0.063,1554,2928,3360,0,0,0,0,0,0
$GC,5214,-0.90,-131.6,823.8,-15.3,283,5218,0.00,2.20,0.00,0.000,4,0.000,0.049,1554,1516,3360,0,0,0,0,0,0
$GC,5245,-0.90,-131.6,828.4,-14.9,284,5250,0.15,2.25,0.00,0.000,6,0.205,0.063,1580,2925,3360,0,0,0,0,0,0
$GC,5584,-0.90,-131.6,872.4,-12.8,295,5588,0.00,2.17,0.00,0.000,4,0.000,0.050,1580,1520,3360,0,0,0,0,0,0
$GC,5607,-0.90,-131.6,875.8,-13.6,295,5614,0.00,2.28,0.00,0.000,6,0.000,0.063,1571,2933,3360,0,0,0,0,0,0
$GC,5923,-0.90,-131.6,917.0,-13.0,306,5927,0.00,2.20,0.00,0.000,4,0.000,0.049,1571,1514,3360,0,0,0,0,0,0
$GC,5980,-0.90,-131.6,924.4,-11.7,307,5987,0.00,2.28,0.00,0.000,6,0.000,0.063,1561,2930,3360,0,0,0,0,0,0
$GC,6295,-0.90,-131.6,966.4,-13.4,318,6299,0.00,2.20,0.00,0.000,4,0.000,0.049,1560,1516,3360,0,0,0,0,0,0
$GC,6336,-0.90,-131.6,971.9,-12.7,319,6340,0.12,2.28,0.00,0.000,6,0.210,0.063,1579,2931,3359,0,0,0,0,0,0
$STATE,6597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6597,begin apogee
$GC,6608,-0.19,0.0,1002.3,11.6,328,6750,0.75,0.00,128.52,1.828,6,0.177,0.000,1801,2738,2820,0,0,0,0,1,0
$STATE,6752,end apogee,CONTROL_FINISHED_OK
$STATE,6752,begin climb
$GC,6757,0.90,131.6,1004.8,0.0,333,6903,1.02,2.12,133.65,1.819,4,0.068,0.064,2154,3900,2282,0,0,0,0,1,0
$GC,6958,0.90,131.6,960.5,34.3,339,6962,0.00,2.00,0.00,0.000,6,0.000,0.048,2163,2732,2282,0,0,0,0,0,0
$GC,7289,0.90,131.6,857.8,30.1,350,7294,0.00,2.33,0.00,0.000,4,0.000,0.060,2174,1326,2276,0,0,0,0,0,0
$GC,7313,0.90,131.6,850.2,29.4,350,7320,0.00,2.38,0.00,0.000,6,0.000,0.060,2173,2734,2275,0,0,0,0,0,0
$GC,7628,0.90,131.6,754.8,30.0,361,7632,0.00,2.33,0.00,0.000,4,0.000,0.060,2182,1318,2273,0,0,0,0,0,0
$GC,7657,0.90,131.6,745.6,29.0,361,7664,0.00,2.38,0.00,0.000,6,0.000,0.061,2182,2740,2272,0,0,0,0,0,0
$GC,7972,0.90,131.6,649.9,30.8,372,7976,0.00,2.33,0.00,0.000,4,0.000,0.058,2193,1318,2272,0,0,0,0,0,0
$GC,7985,0.90,131.6,645.6,30.8,372,7990,0.15,2.33,0.00,0.000,6,0.285,0.059,2166,2736,2271,0,0,0,0,0,0
$GC,8306,0.90,131.6,551.4,28.8,383,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2736,2271,0,0,0,0,0,0
$GC,8612,0.90,131.6,466.9,27.5,393,8616,0.00,2.30,0.00,0.000,4,0.000,0.057,2175,1314,2271,0,0,0,0,0,0
$GC,8625,0.90,131.6,463.0,27.5,393,8629,0.00,2.33,0.00,0.000,6,0.000,0.058,2173,2743,2270,0,0,0,0,0,0
$GC,8945,0.90,131.6,375.0,28.1,405,8949,0.00,2.30,0.00,0.000,4,0.000,0.057,2183,1322,2270,0,0,0,0,0,0
$GC,8957,0.90,131.6,369.8,27.9,405,8961,0.00,2.30,0.00,0.000,6,0.000,0.059,2183,2745,2270,0,0,0,0,0,0
$GC,9276,0.90,131.6,279.4,28.5,420,9280,0.00,2.30,0.00,0.000,4,0.000,0.057,2193,1314,2270,0,0,0,0,0,0
$GC,9294,0.90,131.6,273.8,28.6,420,9303,0.10,2.35,0.00,0.000,6,0.273,0.060,2171,2739,2269,0,0,0,0,0,0
$GC,9621,0.90,131.6,185.0,27.4,440,9625,0.00,2.28,0.00,0.000,4,0.000,0.057,2180,1322,2269,0,0,0,0,0,0
$GC,9662,0.90,131.6,173.2,25.8,442,9671,0.00,2.33,0.00,0.000,6,0.000,0.060,2180,2735,2268,0,0,0,0,0,0
$GC,9993,0.90,131.6,86.7,25.1,469,9998,0.00,2.28,0.00,0.000,4,0.000,0.056,2190,1315,2268,0,0,0,0,0,0
$GC,10087,0.90,131.6,63.4,23.2,485,10093,0.12,2.30,0.00,0.000,6,0.278,0.060,2167,2736,2267,0,0,0,0,0,0
$STATE,10343,end climb,SURFACE_DEPTH_REACHED
$STATE,10343,begin surface coast
$FINISH,0.3,1.026429
$STATE,10357,end surface coast,CONTROL_FINISHED_OK
$STATE,10357,begin surface
$SM_CCo,10380,188.55,0.782,1,0,518,564.18
$SM_GC,0.93,0.00,0.00,188.55,0.000,0.000,0.782,58,2933,518,-5.66,0.28,564.18
$IRIDIUM_FIX,-4644.93,357.04,131212,000014
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.6,5.792
$10V_AH,10.2,2.246
$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,14.775,112.250,262.175,188.550,0.000,25.929,27.760,290.611,0.000,0.000,21.516,1324.529,6903.591,607.957,1734.646,546.458,33.352,1273.920,0.000,1361.735,0.000,1.007,0.000
$DEVICE_MAMPS,284.580,73.440,1827.585,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.311,1073.188,597.660,243.214,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,37085,529
$CAP_FILE_SIZE,95492,0
$CFSIZE,259252224,226611200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,131212,063904,-4702.716,359.714,26,1.2,26,-23.2