version: 66.07
glider: 542
mission: 6
dive: 22
start: 12 13 112 6 50 22
data:
$ID,542
$MISSION,6
$DIVE,22
$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,-10338.389
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,131212,063904,-4702.716,359.714,26,1.2,26,-23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-37.4
$GPS2,131212,064924,-4702.680,359.739,12,0.8,13,-23.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.041,0.168
$KALMAN_X,-837.7,-126.2,103.5,-20972.5,608.3
$KALMAN_Y,26683.0,-811.3,-553.8,-46415.7,3797.0
$MHEAD_RNG_PITCHd_Wd,9.5,4975,-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,-131.62,0.000,6,0.000,0.000,58,2934,3079,0,0,0,0,0,0
$GC,168,-0.91,-141.1,2.6,-1.7,17,195,6.12,2.33,-9.55,0.000,4,0.246,0.062,1576,1515,3397,0,0,0,0,0,0
$GC,213,-0.91,-141.1,10.7,-18.9,22,222,0.00,2.35,0.00,0.000,6,0.000,0.058,1567,2918,3398,0,0,0,0,0,0
$GC,301,-0.91,-141.1,29.0,-22.9,35,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2918,3398,0,0,0,0,0,0
$GC,383,-0.91,-141.1,47.2,-20.7,48,392,0.00,1.60,0.00,0.000,4,0.000,0.065,1560,3899,3398,0,0,0,0,0,0
$GC,410,-0.91,-141.1,52.5,-21.7,51,416,0.00,1.58,0.00,0.000,6,0.000,0.041,1560,2899,3399,0,0,0,0,0,0
$GC,650,-0.91,-141.1,100.8,-18.0,92,654,0.00,2.15,0.00,0.000,4,0.000,0.047,1560,1517,3399,0,0,0,0,0,0
$GC,707,-0.91,-141.1,111.3,-16.4,95,712,0.00,2.30,0.00,0.000,6,0.000,0.060,1549,2932,3399,0,0,0,0,0,0
$GC,1031,-0.91,-141.1,173.2,-19.4,115,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2932,3399,0,0,0,0,0,0
$GC,1343,-0.91,-141.1,235.2,-20.3,135,1347,0.00,2.20,0.00,0.000,4,0.000,0.047,1550,1516,3399,0,0,0,0,0,0
$GC,1367,-0.91,-141.1,240.8,-20.0,136,1372,0.15,2.30,0.00,0.000,6,0.205,0.059,1574,2935,3399,0,0,0,0,0,0
$GC,1691,-0.91,-141.1,295.9,-16.5,152,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2934,3399,0,0,0,0,0,0
$GC,2002,-0.91,-141.1,344.6,-15.4,167,2006,0.00,2.20,0.00,0.000,4,0.000,0.047,1574,1522,3400,0,0,0,0,0,0
$GC,2047,-0.91,-141.1,351.3,-15.2,169,2051,0.00,2.28,0.00,0.000,6,0.000,0.060,1565,2932,3399,0,0,0,0,0,0
$GC,2386,-0.91,-141.1,407.2,-16.8,185,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2933,3400,0,0,0,0,0,0
$GC,2694,-0.91,-141.1,458.4,-16.8,195,2698,0.00,2.17,0.00,0.000,4,0.000,0.047,1565,1524,3399,0,0,0,0,0,0
$GC,2729,-0.91,-141.1,464.7,-15.9,196,2733,0.00,2.25,0.00,0.000,6,0.000,0.060,1555,2922,3399,0,0,0,0,0,0
$GC,3061,-0.91,-141.1,520.9,-17.6,207,3064,0.00,1.55,0.00,0.000,4,0.000,0.067,1548,3896,3399,0,0,0,0,0,0
$GC,3112,-0.91,-141.1,530.7,-17.8,208,3116,0.00,1.50,0.00,0.000,6,0.000,0.041,1548,2924,3400,0,0,0,0,0,0
$GC,3438,-0.91,-141.1,588.6,-17.8,219,3442,0.00,2.15,0.00,0.000,4,0.000,0.048,1548,1522,3400,0,0,0,0,0,0
$GC,3471,-0.91,-141.1,594.2,-17.2,220,3475,0.15,2.22,0.00,0.000,6,0.200,0.061,1573,2922,3399,0,0,0,0,0,0
$GC,3809,-0.91,-141.1,645.6,-15.0,231,3813,0.00,2.15,0.00,0.000,4,0.000,0.048,1574,1527,3399,0,0,0,0,0,0
$GC,3832,-0.91,-141.1,649.5,-15.2,231,3836,0.00,2.25,0.00,0.000,6,0.000,0.061,1565,2925,3399,0,0,0,0,0,0
$GC,4148,-0.91,-141.1,697.1,-15.1,241,4151,0.00,1.55,0.00,0.000,4,0.000,0.068,1557,3896,3399,0,0,0,0,0,0
$GC,4188,-0.91,-141.1,703.8,-15.4,242,4191,0.00,1.50,0.00,0.000,6,0.000,0.043,1557,2922,3399,0,0,0,0,0,0
$GC,4525,-0.91,-141.1,753.8,-14.9,253,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2919,3399,0,0,0,0,0,0
$GC,4833,-0.91,-141.1,799.4,-14.8,263,4837,0.00,2.12,0.00,0.000,4,0.000,0.048,1557,1520,3399,0,0,0,0,0,0
$GC,4851,-0.91,-141.1,802.6,-14.7,263,4855,0.00,2.25,0.00,0.000,6,0.000,0.061,1547,2922,3399,0,0,0,0,0,0
$GC,5166,-0.91,-141.1,849.9,-15.3,273,5170,0.00,2.15,0.00,0.000,4,0.000,0.049,1546,1522,3399,0,0,0,0,0,0
$GC,5178,-0.91,-141.1,852.2,-15.3,273,5183,0.15,2.25,0.00,0.000,6,0.204,0.060,1573,2932,3398,0,0,0,0,0,0
$GC,5505,-0.91,-141.1,894.1,-12.7,284,5509,0.00,2.17,0.00,0.000,4,0.000,0.049,1573,1524,3399,0,0,0,0,0,0
$GC,5523,-0.91,-141.1,896.8,-12.9,284,5527,0.00,2.22,0.00,0.000,6,0.000,0.062,1564,2923,3398,0,0,0,0,0,0
$GC,5843,-0.91,-141.1,940.0,-13.4,295,5847,0.00,1.58,0.00,0.000,4,0.000,0.069,1556,3897,3398,0,0,0,0,0,0
$GC,5861,-0.91,-141.1,942.8,-13.8,295,5865,0.00,1.50,0.00,0.000,6,0.000,0.042,1556,2924,3398,0,0,0,0,0,0
$GC,6189,-0.91,-141.1,989.2,-14.8,306,6193,0.00,2.15,0.00,0.000,4,0.000,0.049,1556,1521,3398,0,0,0,0,0,0
$GC,6254,-0.91,-141.1,998.6,-13.5,308,6259,0.12,2.25,0.00,0.000,6,0.208,0.063,1574,2922,3398,0,0,0,0,0,0
$STATE,6263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6263,begin apogee
$GC,6274,-0.19,0.0,1000.5,12.5,308,6423,0.75,0.00,145.55,1.207,6,0.177,0.000,1801,2729,2819,0,0,0,0,0,0
$STATE,6425,end apogee,CONTROL_FINISHED_OK
$STATE,6425,begin climb
$GC,6429,0.91,141.1,1005.0,0.0,313,6578,1.02,2.12,135.55,1.795,4,0.071,0.063,2159,3902,2246,0,0,0,0,1,0
$GC,6609,0.91,141.1,968.9,32.2,318,6612,0.00,1.98,0.00,0.000,6,0.000,0.047,2168,2746,2246,0,0,0,0,0,0
$GC,6929,0.91,141.1,870.6,30.5,329,6933,0.00,2.35,0.00,0.000,4,0.000,0.059,2179,1320,2240,0,0,0,0,0,0
$GC,6947,0.91,141.1,864.5,30.1,329,6951,0.00,2.38,0.00,0.000,6,0.000,0.060,2179,2736,2239,0,0,0,0,0,0
$GC,7262,0.91,141.1,767.0,31.2,339,7266,0.00,2.33,0.00,0.000,4,0.000,0.058,2189,1316,2238,0,0,0,0,0,0
$GC,7291,0.91,141.1,757.6,30.5,339,7298,0.00,2.38,0.00,0.000,6,0.000,0.059,2189,2746,2237,0,0,0,0,0,0
$GC,7607,0.91,141.1,656.8,32.0,350,7611,0.00,2.33,0.00,0.000,4,0.000,0.057,2200,1322,2236,0,0,0,0,0,0
$GC,7630,0.91,141.1,648.5,32.4,350,7638,0.15,2.33,0.00,0.000,6,0.280,0.058,2172,2737,2235,0,0,0,0,0,0
$GC,7945,0.91,141.1,553.8,29.8,361,7949,0.00,2.30,0.00,0.000,4,0.000,0.056,2181,1317,2235,0,0,0,0,0,0
$GC,7969,0.91,141.1,546.3,28.9,361,7973,0.00,2.30,0.00,0.000,6,0.000,0.058,2181,2736,2234,0,0,0,0,0,0
$GC,8284,0.91,141.1,451.5,30.2,371,8288,0.00,1.88,0.00,0.000,4,0.000,0.064,2181,3907,2234,0,0,0,0,0,0
$GC,8303,0.91,141.1,445.5,30.2,371,8307,0.00,1.88,0.00,0.000,6,0.000,0.048,2190,2722,2234,0,0,0,0,0,0
$GC,8620,0.91,141.1,348.6,30.0,384,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2721,2234,0,0,0,0,0,0
$GC,8932,0.91,141.1,256.6,29.6,399,8936,0.00,2.22,0.00,0.000,4,0.000,0.057,2200,1320,2234,0,0,0,0,0,0
$GC,8972,0.91,141.1,243.7,27.8,401,8980,0.15,2.30,0.00,0.000,6,0.279,0.057,2171,2745,2232,0,0,0,0,0,0
$GC,9294,0.91,141.1,151.6,29.0,422,9298,0.00,2.28,0.00,0.000,4,0.000,0.057,2180,1325,2232,0,0,0,0,0,0
$GC,9334,0.91,141.1,140.0,26.7,424,9343,0.00,2.30,0.00,0.000,6,0.000,0.058,2180,2730,2232,0,0,0,0,0,0
$GC,9676,0.91,141.1,48.8,27.1,467,9682,0.00,2.22,0.00,0.000,4,0.000,0.055,2191,1325,2232,0,0,0,0,0,0
$GC,9710,0.91,141.1,39.1,26.3,472,9719,0.00,2.30,0.00,0.000,6,0.000,0.060,2191,2731,2232,0,0,0,0,0,0
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9842,begin surface coast
$FINISH,0.7,1.026537
$STATE,9854,end surface coast,CONTROL_FINISHED_OK
$STATE,9854,begin surface
$SM_CCo,9876,185.52,0.782,1,0,517,564.18
$SM_GC,0.90,0.00,0.00,185.52,0.000,0.000,0.782,59,2937,517,-5.66,0.40,564.18
$IRIDIUM_FIX,-4648.08,357.25,131212,030331
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.7,5.974
$10V_AH,10.2,2.322
$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,14.625,102.000,281.100,185.525,0.000,27.874,47.990,325.164,0.000,0.000,16.416,1249.312,6579.117,595.310,1711.010,548.313,33.354,1238.041,0.000,1283.445,0.000,1.008,0.000
$DEVICE_MAMPS,279.990,81.855,1795.455,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.189,993.512,551.286,215.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,37232,494
$CAP_FILE_SIZE,92087,0
$CFSIZE,259252224,226562048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,131212,093935,-4701.389,359.304,39,1.1,39,-23.2