version: 66.07
glider: 542
mission: 6
dive: 59
start: 12 19 112 3 37 29
data:
$ID,542
$MISSION,6
$DIVE,59
$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,-10472.77
$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,40
$R_STBD_OVSHOOT,36
$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
$GPS1,191212,032336,-4631.423,403.961,31,1.1,31,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-33.3
$GPS2,191212,033631,-4631.458,404.055,14,0.8,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.099,0.142
$KALMAN_X,-51893.9,897.2,418.6,34187.5,-3649.0
$KALMAN_Y,14139.8,-130.8,-418.5,23132.1,569.9
$MHEAD_RNG_PITCHd_Wd,348.6,5832,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.81,-63.1,0.0,0.0,0,166,0.00,0.00,-131.02,0.000,6,0.000,0.000,52,2948,3080,0,0,0,0,0,0
$GC,173,-0.88,-118.9,3.1,-4.1,17,192,6.20,2.30,-6.72,0.000,4,0.246,0.053,1581,1519,3307,0,0,0,0,0,0
$GC,294,-0.88,-118.9,22.9,-15.8,35,303,0.00,2.30,0.00,0.000,6,0.000,0.052,1572,2914,3308,0,0,0,0,0,0
$GC,378,-0.88,-118.9,37.1,-17.3,48,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2914,3308,0,0,0,0,0,0
$GC,621,-0.88,-118.9,80.6,-17.2,89,625,0.00,2.17,0.00,0.000,4,0.000,0.038,1572,1519,3308,0,0,0,0,0,0
$GC,638,-0.88,-118.9,83.2,-18.1,91,643,0.00,2.28,0.00,0.000,6,0.000,0.053,1562,2928,3308,0,0,0,0,0,0
$GC,974,-0.88,-118.9,140.1,-17.5,123,977,0.00,1.55,0.00,0.000,4,0.000,0.059,1555,3900,3308,0,0,0,0,0,0
$GC,1046,-0.88,-118.9,153.2,-18.1,127,1050,0.00,1.52,0.00,0.000,6,0.000,0.034,1555,2901,3309,0,0,0,0,0,0
$GC,1378,-0.88,-118.9,215.2,-19.1,148,1383,0.12,2.10,0.00,0.000,4,0.221,0.040,1591,1527,3309,0,0,0,0,0,0
$GC,1425,-0.88,-118.9,222.8,-14.3,150,1434,0.00,2.25,0.00,0.000,6,0.000,0.054,1582,2917,3309,0,0,0,0,0,0
$GC,1753,-0.88,-118.9,273.4,-15.6,169,1757,0.00,2.12,0.00,0.000,4,0.000,0.039,1582,1525,3309,0,0,0,0,0,0
$GC,1793,-0.88,-118.9,280.0,-14.4,170,1802,0.00,2.25,0.00,0.000,6,0.000,0.054,1572,2917,3310,0,0,0,0,0,0
$GC,2111,-0.88,-118.9,328.6,-15.2,186,2115,0.00,1.55,0.00,0.000,4,0.000,0.061,1565,3894,3309,0,0,0,0,0,0
$GC,2129,-0.88,-118.9,332.0,-15.6,186,2138,0.00,1.48,0.00,0.000,6,0.000,0.035,1565,2924,3309,0,0,0,0,0,0
$GC,2447,-0.88,-118.9,381.7,-15.5,202,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2924,3309,0,0,0,0,0,0
$GC,2755,-0.88,-118.9,431.9,-16.4,214,2759,0.00,2.12,0.00,0.000,4,0.000,0.040,1565,1524,3309,0,0,0,0,0,0
$GC,2767,-0.88,-118.9,434.2,-16.6,214,2772,0.12,2.20,0.00,0.000,6,0.222,0.054,1582,2923,3309,0,0,0,0,0,0
$GC,3089,-0.88,-118.9,482.0,-14.9,225,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2923,3309,0,0,0,0,0,0
$GC,3395,-0.88,-118.9,525.0,-13.7,235,3399,0.00,2.17,0.00,0.000,4,0.000,0.041,1582,1523,3309,0,0,0,0,0,0
$GC,3436,-0.88,-118.9,530.5,-13.0,236,3440,0.00,2.22,0.00,0.000,6,0.000,0.056,1573,2922,3309,0,0,0,0,0,0
$GC,3762,-0.88,-118.9,575.6,-14.0,247,3765,0.00,1.55,0.00,0.000,4,0.000,0.063,1565,3900,3308,0,0,0,0,0,0
$GC,3785,-0.88,-118.9,579.4,-14.5,247,3789,0.00,1.48,0.00,0.000,6,0.000,0.036,1565,2930,3308,0,0,0,0,0,0
$GC,4106,-0.88,-118.9,627.5,-15.1,258,4110,0.00,2.12,0.00,0.000,4,0.000,0.040,1565,1522,3309,0,0,0,0,0,0
$GC,4152,-0.88,-118.9,634.7,-14.8,259,4156,0.12,2.20,0.00,0.000,6,0.219,0.055,1582,2922,3308,0,0,0,0,0,0
$GC,4473,-0.88,-118.9,679.7,-14.2,270,4477,0.00,1.55,0.00,0.000,4,0.000,0.063,1576,3901,3308,0,0,0,0,0,0
$GC,4513,-0.88,-118.9,686.0,-14.9,271,4517,0.00,1.50,0.00,0.000,6,0.000,0.036,1576,2913,3307,0,0,0,0,0,0
$GC,4850,-0.88,-118.9,733.3,-13.7,282,4854,0.00,2.10,0.00,0.000,4,0.000,0.040,1576,1520,3308,0,0,0,0,0,0
$GC,4919,-0.88,-118.9,742.6,-12.4,284,4923,0.00,2.20,0.00,0.000,6,0.000,0.056,1566,2922,3307,0,0,0,0,0,0
$GC,5251,-0.88,-118.9,788.1,-13.8,295,5255,0.00,2.12,0.00,0.000,4,0.000,0.040,1566,1526,3307,0,0,0,0,0,0
$GC,5297,-0.88,-118.9,794.5,-12.7,296,5301,0.00,2.22,0.00,0.000,6,0.000,0.056,1555,2929,3307,0,0,0,0,0,0
$GC,5618,-0.88,-118.9,838.8,-13.6,307,5622,0.12,2.15,0.00,0.000,4,0.233,0.041,1592,1528,3307,0,0,0,0,0,0
$GC,5687,-0.88,-118.9,847.0,-10.6,309,5691,0.00,2.20,0.00,0.000,6,0.000,0.056,1583,2924,3307,0,0,0,0,0,0
$GC,6025,-0.88,-118.9,886.6,-11.9,320,6029,0.00,2.12,0.00,0.000,4,0.000,0.040,1583,1525,3308,0,0,0,0,0,0
$GC,6049,-0.88,-118.9,889.7,-12.0,320,6056,0.00,2.22,0.00,0.000,6,0.000,0.057,1572,2931,3307,0,0,0,0,0,0
$GC,6364,-0.88,-118.9,927.4,-11.9,331,6368,0.00,2.12,0.00,0.000,4,0.000,0.040,1572,1528,3307,0,0,0,0,0,0
$GC,6435,-0.88,-118.9,935.6,-10.5,333,6439,0.00,2.20,0.00,0.000,6,0.000,0.057,1562,2928,3307,0,0,0,0,0,0
$GC,6772,-0.88,-118.9,978.1,-12.6,344,6776,0.00,2.15,0.00,0.000,4,0.000,0.040,1561,1521,3307,0,0,0,0,0,0
$GC,6839,-0.88,-118.9,985.8,-10.9,346,6843,0.12,2.20,0.00,0.000,6,0.223,0.055,1579,2923,3306,0,0,0,0,0,0
$STATE,6990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6990,begin apogee
$GC,7001,-0.19,0.0,1002.9,10.7,351,7126,0.77,0.00,121.93,1.238,6,0.197,0.000,1799,2736,2819,0,0,0,0,0,0
$STATE,7128,end apogee,CONTROL_FINISHED_OK
$STATE,7128,begin climb
$GC,7133,0.88,118.9,1003.9,0.0,355,7265,1.00,2.53,118.72,1.801,4,0.060,0.049,2174,1325,2334,0,0,0,0,1,0
$GC,7278,0.88,118.9,975.6,27.0,359,7283,0.00,2.50,0.00,0.000,6,0.000,0.052,2175,2733,2335,0,0,0,0,0,0
$GC,7599,0.88,118.9,873.5,31.5,370,7603,0.00,2.30,0.00,0.000,4,0.000,0.049,2185,1339,2328,0,0,0,0,0,0
$GC,7612,0.88,118.9,868.9,31.4,370,7617,0.12,2.35,0.00,0.000,6,0.262,0.054,2162,2745,2328,0,0,0,0,0,0
$GC,7933,0.88,118.9,772.0,29.9,381,7937,0.00,2.30,0.00,0.000,4,0.000,0.050,2172,1332,2326,0,0,0,0,0,0
$GC,7980,0.88,118.9,758.3,27.8,382,7984,0.00,2.30,0.00,0.000,6,0.000,0.054,2172,2734,2324,0,0,0,0,0,0
$GC,8311,0.88,118.9,660.9,29.5,393,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2736,2324,0,0,0,0,0,0
$GC,8618,0.88,118.9,570.7,29.5,403,8621,0.00,1.88,0.00,0.000,4,0.000,0.060,2172,3904,2323,0,0,0,0,0,0
$GC,8629,0.88,118.9,566.8,29.5,403,8633,0.00,1.83,0.00,0.000,6,0.000,0.043,2181,2742,2323,0,0,0,0,0,0
$GC,8961,0.88,118.9,472.3,28.4,414,8965,0.00,2.22,0.00,0.000,4,0.000,0.049,2191,1326,2322,0,0,0,0,0,0
$GC,8992,0.88,118.9,463.3,28.1,415,8997,0.15,2.25,0.00,0.000,6,0.253,0.054,2160,2736,2321,0,0,0,0,0,0
$GC,9324,0.88,118.9,374.9,27.1,427,9328,0.00,2.22,0.00,0.000,4,0.000,0.050,2170,1330,2321,0,0,0,0,0,0
$GC,9349,0.88,118.9,367.6,26.7,428,9353,0.00,2.25,0.00,0.000,6,0.000,0.056,2169,2737,2321,0,0,0,0,0,0
$GC,9678,0.88,118.9,277.5,27.9,444,9682,0.00,2.22,0.00,0.000,4,0.000,0.050,2179,1329,2321,0,0,0,0,0,0
$GC,9742,0.88,118.9,260.1,27.1,446,9751,0.00,2.30,0.00,0.000,6,0.000,0.056,2179,2738,2320,0,0,0,0,0,0
$GC,10075,0.88,118.9,170.1,26.7,467,10079,0.00,2.22,0.00,0.000,4,0.000,0.050,2189,1329,2320,0,0,0,0,0,0
$GC,10093,0.88,118.9,164.2,26.9,468,10098,0.15,2.25,0.00,0.000,6,0.255,0.054,2158,2734,2320,0,0,0,0,0,0
$GC,10423,0.88,118.9,81.1,23.4,496,10430,0.00,2.20,0.00,0.000,4,0.000,0.049,2168,1329,2320,0,0,0,0,0,0
$GC,10515,0.88,118.9,59.1,20.8,511,10522,0.00,2.25,0.00,0.000,6,0.000,0.055,2165,2737,2319,0,0,0,0,0,0
$STATE,10761,end climb,SURFACE_DEPTH_REACHED
$STATE,10761,begin surface coast
$FINISH,0.5,1.013569
$STATE,10775,end surface coast,CONTROL_FINISHED_OK
$STATE,10775,begin surface
$SM_CCo,10797,189.15,0.787,1,0,515,564.18
$SM_GC,1.00,0.00,0.00,189.15,0.000,0.000,0.787,59,2936,515,-5.66,0.34,564.18
$IRIDIUM_FIX,-4613.60,407.37,191212,030302
$TT8_MAMPS,0.026215
$HUMID,55.59
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.5,13.344
$10V_AH,10.1,5.779
$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,14.825,109.975,240.650,189.150,0.000,56.301,99.226,344.221,0.000,0.000,17.861,1406.435,7214.927,592.670,1971.000,579.075,33.356,1269.881,0.000,1445.540,0.000,1.008,0.000
$DEVICE_MAMPS,262.395,71.145,1800.810,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.595,1112.567,617.514,260.556,0.000,0.000,0.000,0.000,0.000,0.000
$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,40410,553
$CAP_FILE_SIZE,99097,0
$CFSIZE,259252224,224415744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,064205,-4630.255,403.348,37,1.3,37,-23.3