version: 66.07
glider: 542
mission: 6
dive: 43
start: 12 16 112 21 2 57
data:
$ID,542
$MISSION,6
$DIVE,43
$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,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,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,-10410.757
$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,25
$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
$GPS1,161212,204922,-4628.621,403.037,37,0.8,37,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-26.1
$GPS2,161212,210159,-4628.685,403.124,18,1.0,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.170,0.036
$KALMAN_X,-49446.8,992.3,242.9,30642.6,-5920.8
$KALMAN_Y,-1331.1,-322.4,144.6,43334.8,-2847.1
$MHEAD_RNG_PITCHd_Wd,101.3,4668,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.81,-63.1,0.0,0.0,0,163,0.00,0.00,-132.15,0.000,6,0.000,0.000,62,2938,3079,0,0,0,0,0,0
$GC,170,-0.91,-138.2,2.7,-2.0,17,196,6.20,1.60,-8.93,0.000,4,0.249,0.083,1567,3898,3384,0,0,0,0,0,0
$GC,469,-0.91,-138.2,68.6,-21.2,65,474,0.00,1.55,0.00,0.000,6,0.000,0.035,1572,2901,3385,0,0,0,0,0,0
$GC,803,-0.91,-138.2,133.2,-18.7,104,807,0.00,1.62,0.00,0.000,4,0.000,0.060,1566,3891,3386,0,0,0,0,0,0
$GC,984,-0.91,-138.2,166.2,-18.9,114,988,0.00,1.50,0.00,0.000,6,0.000,0.035,1568,2917,3387,0,0,0,0,0,0
$GC,1312,-0.91,-138.2,222.0,-16.8,135,1316,0.00,2.12,0.00,0.000,4,0.000,0.041,1568,1524,3387,0,0,0,0,0,0
$GC,1401,-0.91,-138.2,236.1,-14.9,140,1405,0.00,2.25,0.00,0.000,6,0.000,0.055,1559,2928,3387,0,0,0,0,0,0
$GC,1722,-0.91,-138.2,289.8,-16.4,157,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2928,3387,0,0,0,0,0,0
$GC,2030,-0.91,-138.2,343.8,-18.2,172,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2928,3387,0,0,0,0,0,0
$GC,2341,-0.91,-138.2,399.5,-17.8,187,2345,0.00,2.12,0.00,0.000,4,0.000,0.041,1559,1529,3387,0,0,0,0,0,0
$GC,2365,-0.91,-138.2,404.4,-17.5,188,2372,0.12,2.22,0.00,0.000,6,0.219,0.055,1576,2927,3387,0,0,0,0,0,0
$GC,2680,-0.91,-138.2,455.8,-16.4,199,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2928,3387,0,0,0,0,0,0
$GC,2986,-0.91,-138.2,504.2,-15.7,209,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2927,3387,0,0,0,0,0,0
$GC,3292,-0.91,-138.2,552.5,-15.6,219,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2927,3387,0,0,0,0,0,0
$GC,3598,-0.91,-138.2,597.6,-14.5,229,3602,0.00,1.52,0.00,0.000,4,0.000,0.063,1570,3892,3387,0,0,0,0,0,0
$GC,3655,-0.91,-138.2,606.8,-15.9,230,3659,0.00,1.48,0.00,0.000,6,0.000,0.037,1570,2927,3386,0,0,0,0,0,0
$GC,3976,-0.91,-138.2,654.3,-15.2,241,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2923,3387,0,0,0,0,0,0
$GC,4283,-0.91,-138.2,698.6,-14.3,251,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2923,3386,0,0,0,0,0,0
$GC,4588,-0.91,-138.2,741.4,-13.8,261,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2923,3386,0,0,0,0,0,0
$GC,4895,-0.91,-138.2,783.3,-13.6,271,4899,0.00,2.12,0.00,0.000,4,0.000,0.044,1570,1526,3385,0,0,0,0,0,0
$GC,4930,-0.91,-138.2,788.4,-13.3,272,4934,0.00,2.22,0.00,0.000,6,0.000,0.057,1560,2923,3385,0,0,0,0,0,0
$GC,5262,-0.91,-138.2,837.6,-15.2,283,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2923,3385,0,0,0,0,0,0
$GC,5568,-0.91,-138.2,883.3,-14.9,293,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2923,3385,0,0,0,0,0,0
$GC,5874,-0.91,-138.2,927.2,-14.2,303,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2923,3385,0,0,0,0,0,0
$GC,6180,-0.91,-138.2,971.1,-14.3,313,6184,0.00,2.15,0.00,0.000,4,0.000,0.044,1560,1526,3385,0,0,0,0,0,0
$GC,6233,-0.91,-138.2,978.2,-13.0,314,6237,0.00,2.22,0.00,0.000,6,0.000,0.057,1549,2923,3384,0,0,0,0,0,0
$STATE,6395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6395,begin apogee
$GC,6406,-0.19,0.0,1002.2,14.7,320,6550,0.90,0.00,140.77,1.222,6,0.198,0.000,1803,2739,2819,0,0,0,0,0,0
$STATE,6552,end apogee,CONTROL_FINISHED_OK
$STATE,6552,begin climb
$GC,6557,0.91,138.2,1005.8,0.0,325,6709,1.05,2.12,135.60,1.826,4,0.066,0.060,2168,3900,2256,0,0,0,0,1,0
$GC,6742,0.91,138.2,964.2,34.1,331,6746,0.00,1.98,0.00,0.000,6,0.000,0.043,2177,2749,2256,0,0,0,0,0,0
$GC,7085,0.91,138.2,851.0,32.8,342,7089,0.00,2.33,0.00,0.000,4,0.000,0.051,2187,1318,2250,0,0,0,0,0,0
$GC,7103,0.91,138.2,844.3,32.7,342,7108,0.00,2.38,0.00,0.000,6,0.000,0.054,2188,2732,2249,0,0,0,0,0,0
$GC,7424,0.91,138.2,738.8,32.8,353,7428,0.00,2.33,0.00,0.000,4,0.000,0.051,2198,1314,2248,0,0,0,0,0,0
$GC,7465,0.91,138.2,725.2,31.1,354,7470,0.15,2.38,0.00,0.000,6,0.273,0.056,2169,2743,2246,0,0,0,0,0,0
$GC,7792,0.91,138.2,623.5,31.3,365,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2743,2246,0,0,0,0,0,0
$GC,8098,0.91,138.2,529.6,30.3,375,8102,0.00,1.85,0.00,0.000,4,0.000,0.061,2169,3897,2246,0,0,0,0,0,0
$GC,8128,0.91,138.2,519.9,32.4,375,8134,0.00,1.85,0.00,0.000,6,0.000,0.044,2177,2725,2246,0,0,0,0,0,0
$GC,8443,0.91,138.2,426.6,29.6,386,8447,0.00,2.22,0.00,0.000,4,0.000,0.051,2187,1320,2245,0,0,0,0,0,0
$GC,8509,0.91,138.2,408.5,27.5,388,8513,0.00,2.28,0.00,0.000,6,0.000,0.055,2187,2737,2244,0,0,0,0,0,0
$GC,8831,0.91,138.2,313.5,29.2,403,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2737,2244,0,0,0,0,0,0
$GC,9150,0.91,138.2,222.0,28.4,420,9154,0.00,2.25,0.00,0.000,4,0.000,0.052,2197,1318,2244,0,0,0,0,0,0
$GC,9221,0.91,138.2,203.3,26.4,424,9226,0.15,2.28,0.00,0.000,6,0.276,0.054,2168,2734,2243,0,0,0,0,0,0
$GC,9555,0.91,138.2,117.0,26.1,445,9558,0.00,1.85,0.00,0.000,4,0.000,0.063,2168,3890,2243,0,0,0,0,0,0
$GC,9584,0.91,138.2,107.0,27.4,446,9593,0.00,1.83,0.00,0.000,6,0.000,0.044,2176,2736,2243,0,0,0,0,0,0
$GC,9946,0.91,138.2,14.6,25.1,503,9955,0.00,2.22,0.00,0.000,4,0.000,0.054,2186,1332,2243,0,0,0,0,0,0
$STATE,9987,end climb,SURFACE_DEPTH_REACHED
$STATE,9987,begin surface coast
$FINISH,0.4,1.026435
$STATE,10001,end surface coast,CONTROL_FINISHED_OK
$STATE,10001,begin surface
$SM_CCo,10025,183.68,0.770,1,0,519,564.18
$SM_GC,0.88,0.00,0.00,183.68,0.000,0.000,0.770,67,2937,519,-5.64,0.40,564.18
$IRIDIUM_FIX,-4607.37,724.94,161212,202031
$TT8_MAMPS,0.025466
$HUMID,56.02
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.4,10.351
$10V_AH,10.1,4.431
$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,14.475,61.725,276.375,183.675,0.000,50.875,134.697,308.934,0.000,0.000,20.707,1257.703,6840.171,568.013,1812.843,489.812,33.357,1165.256,0.000,1294.036,0.000,1.008,0.000
$DEVICE_MAMPS,276.165,83.385,1826.055,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.554,1031.313,564.693,225.278,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,37121,511
$CAP_FILE_SIZE,80473,0
$CFSIZE,259252224,225243136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,161212,235435,-4628.260,404.541,37,0.9,37,-23.3