version: 66.07
glider: 542
mission: 6
dive: 60
start: 12 19 112 6 52 58
data:
$ID,542
$MISSION,6
$DIVE,60
$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,-10476.01
$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,37
$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
$GPS1,191212,064205,-4630.255,403.348,37,1.3,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-34.0
$GPS2,191212,065200,-4630.247,403.450,17,0.8,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.166,0.050
$KALMAN_X,-49876.8,744.5,355.8,31622.1,-1337.3
$KALMAN_Y,13339.2,-600.8,87.3,26123.2,-453.1
$MHEAD_RNG_PITCHd_Wd,310.0,4422,-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,-131.38,0.000,6,0.000,0.000,58,2938,3078,0,0,0,0,0,0
$GC,169,-0.91,-137.2,2.8,-2.1,17,195,6.45,2.28,-9.15,0.000,4,0.264,0.054,1581,1519,3381,0,0,0,0,0,0
$GC,250,-0.91,-137.2,15.8,-16.4,28,258,0.00,2.33,0.00,0.000,6,0.000,0.054,1572,2930,3382,0,0,0,0,0,0
$GC,338,-0.91,-137.2,33.0,-20.1,41,345,0.00,1.58,0.00,0.000,4,0.000,0.060,1564,3902,3382,0,0,0,0,0,0
$GC,358,-0.91,-137.2,37.3,-20.3,43,365,0.00,1.55,0.00,0.000,6,0.000,0.034,1564,2899,3382,0,0,0,0,0,0
$GC,601,-0.91,-137.2,87.3,-19.5,84,610,0.00,2.12,0.00,0.000,4,0.000,0.039,1565,1529,3383,0,0,0,0,0,0
$GC,619,-0.91,-137.2,90.8,-19.4,86,626,0.00,2.25,0.00,0.000,6,0.000,0.053,1554,2931,3382,0,0,0,0,0,0
$GC,954,-0.91,-137.2,156.5,-20.1,112,958,0.00,2.17,0.00,0.000,4,0.000,0.038,1554,1528,3383,0,0,0,0,0,0
$GC,972,-0.91,-137.2,160.8,-19.4,113,977,0.12,2.25,0.00,0.000,6,0.217,0.053,1571,2928,3383,0,0,0,0,0,0
$GC,1300,-0.91,-137.2,217.8,-17.6,133,1304,0.00,1.55,0.00,0.000,4,0.000,0.060,1565,3900,3384,0,0,0,0,0,0
$GC,1339,-0.91,-137.2,225.0,-16.8,135,1342,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2935,3384,0,0,0,0,0,0
$GC,1666,-0.91,-137.2,280.6,-16.8,153,1670,0.00,2.12,0.00,0.000,4,0.000,0.039,1565,1525,3384,0,0,0,0,0,0
$GC,1701,-0.91,-137.2,287.0,-15.6,154,1705,0.00,2.22,0.00,0.000,6,0.000,0.055,1555,2923,3384,0,0,0,0,0,0
$GC,2024,-0.91,-137.2,344.5,-17.7,170,2028,0.00,2.12,0.00,0.000,4,0.000,0.038,1555,1526,3384,0,0,0,0,0,0
$GC,2042,-0.91,-137.2,348.2,-18.4,170,2052,0.10,2.25,0.00,0.000,6,0.193,0.054,1572,2919,3384,0,0,0,0,0,0
$GC,2361,-0.91,-137.2,400.5,-16.7,186,2364,0.00,1.55,0.00,0.000,4,0.000,0.061,1566,3895,3384,0,0,0,0,0,0
$GC,2389,-0.91,-137.2,405.7,-17.4,186,2396,0.00,1.48,0.00,0.000,6,0.000,0.036,1566,2920,3384,0,0,0,0,0,0
$GC,2706,-0.91,-137.2,457.5,-16.4,197,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2920,3384,0,0,0,0,0,0
$GC,3011,-0.91,-137.2,505.6,-15.8,207,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2920,3384,0,0,0,0,0,0
$GC,3319,-0.91,-137.2,553.2,-15.5,217,3323,0.00,2.10,0.00,0.000,4,0.000,0.040,1566,1521,3384,0,0,0,0,0,0
$GC,3365,-0.91,-137.2,560.4,-13.7,218,3369,0.00,2.25,0.00,0.000,6,0.000,0.057,1555,2931,3384,0,0,0,0,0,0
$GC,3685,-0.91,-137.2,610.6,-15.6,229,3689,0.00,1.52,0.00,0.000,4,0.000,0.063,1548,3896,3383,0,0,0,0,0,0
$GC,3703,-0.91,-137.2,613.7,-15.3,229,3707,0.00,1.48,0.00,0.000,6,0.000,0.037,1548,2927,3383,0,0,0,0,0,0
$GC,4029,-0.91,-137.2,664.9,-15.7,240,4031,0.12,0.00,0.00,0.000,6,0.216,0.000,1576,2923,3383,0,0,0,0,0,0
$GC,4335,-0.91,-137.2,705.8,-12.9,250,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,3383,0,0,0,0,0,0
$GC,4641,-0.91,-137.2,745.8,-13.1,260,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,3382,0,0,0,0,0,0
$GC,4948,-0.91,-137.2,785.7,-13.1,270,4952,0.00,2.12,0.00,0.000,4,0.000,0.041,1576,1520,3382,0,0,0,0,0,0
$GC,4971,-0.91,-137.2,789.0,-12.9,270,4978,0.00,2.22,0.00,0.000,6,0.000,0.057,1567,2922,3381,0,0,0,0,0,0
$GC,5287,-0.91,-137.2,830.4,-13.1,281,5291,0.00,2.15,0.00,0.000,4,0.000,0.041,1567,1516,3381,0,0,0,0,0,0
$GC,5299,-0.91,-137.2,832.4,-12.9,281,5303,0.00,2.25,0.00,0.000,6,0.000,0.056,1556,2932,3381,0,0,0,0,0,0
$GC,5625,-0.91,-137.2,876.2,-13.4,292,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2932,3381,0,0,0,0,0,0
$GC,5931,-0.91,-137.2,916.8,-13.2,302,5935,0.00,2.15,0.00,0.000,4,0.000,0.041,1556,1519,3381,0,0,0,0,0,0
$GC,5968,-0.91,-137.2,921.7,-12.2,303,5973,0.12,2.22,0.00,0.000,6,0.216,0.057,1574,2931,3380,0,0,0,0,0,0
$GC,6312,-0.91,-137.2,962.6,-12.1,314,6316,0.00,2.15,0.00,0.000,4,0.000,0.041,1573,1522,3380,0,0,0,0,0,0
$GC,6364,-0.91,-137.2,969.0,-11.6,315,6368,0.00,2.22,0.00,0.000,6,0.000,0.057,1564,2923,3380,0,0,0,0,0,0
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6624,-0.19,0.0,1001.6,13.2,323,6767,0.82,0.00,138.60,1.222,6,0.189,0.000,1801,2737,2817,0,0,0,0,0,0
$STATE,6769,end apogee,CONTROL_FINISHED_OK
$STATE,6769,begin climb
$GC,6774,0.91,137.2,1005.2,0.0,328,6926,1.00,2.50,136.23,1.792,4,0.060,0.047,2172,1338,2260,0,0,0,0,1,0
$GC,6935,0.91,137.2,972.7,30.6,332,6939,0.00,2.53,0.00,0.000,6,0.000,0.051,2172,2739,2260,0,0,0,0,0,0
$GC,7267,0.91,137.2,866.5,32.3,343,7271,0.00,2.33,0.00,0.000,4,0.000,0.050,2182,1339,2253,0,0,0,0,0,0
$GC,7299,0.91,137.2,856.5,31.1,344,7303,0.00,2.38,0.00,0.000,6,0.000,0.054,2182,2745,2252,0,0,0,0,0,0
$GC,7637,0.91,137.2,748.6,31.9,355,7641,0.00,2.30,0.00,0.000,4,0.000,0.050,2193,1338,2250,0,0,0,0,0,0
$GC,7668,0.91,137.2,738.7,32.4,356,7673,0.12,2.33,0.00,0.000,6,0.260,0.054,2169,2741,2249,0,0,0,0,0,0
$GC,8006,0.91,137.2,631.0,31.7,367,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2741,2249,0,0,0,0,0,0
$GC,8313,0.91,137.2,535.7,30.7,377,8317,0.00,2.25,0.00,0.000,4,0.000,0.048,2179,1332,2248,0,0,0,0,0,0
$GC,8387,0.91,137.2,514.0,27.6,379,8391,0.00,2.28,0.00,0.000,6,0.000,0.054,2172,2735,2247,0,0,0,0,0,0
$GC,8718,0.91,137.2,416.6,29.6,390,8722,0.00,2.22,0.00,0.000,4,0.000,0.048,2182,1326,2247,0,0,0,0,0,0
$GC,8742,0.91,137.2,409.3,29.0,390,8746,0.00,2.28,0.00,0.000,6,0.000,0.054,2182,2735,2247,0,0,0,0,0,0
$GC,9072,0.91,137.2,312.8,29.5,405,9076,0.00,2.20,0.00,0.000,4,0.000,0.050,2192,1339,2247,0,0,0,0,0,0
$GC,9131,0.91,137.2,295.0,26.5,407,9136,0.12,2.28,0.00,0.000,6,0.258,0.056,2168,2745,2246,0,0,0,0,0,0
$GC,9464,0.91,137.2,201.7,27.7,425,9468,0.00,2.25,0.00,0.000,4,0.000,0.048,2177,1326,2246,0,0,0,0,0,0
$GC,9484,0.91,137.2,195.7,27.5,426,9488,0.00,2.28,0.00,0.000,6,0.000,0.055,2172,2738,2245,0,0,0,0,0,0
$GC,9805,0.91,137.2,108.3,28.6,446,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2738,2245,0,0,0,0,0,0
$GC,10156,0.91,137.2,16.9,27.3,502,10165,0.00,2.25,0.00,0.000,4,0.000,0.049,2182,1331,2245,0,0,0,0,0,0
$STATE,10210,end climb,SURFACE_DEPTH_REACHED
$STATE,10210,begin surface coast
$FINISH,0.5,1.026486
$STATE,10223,end surface coast,CONTROL_FINISHED_OK
$STATE,10223,begin surface
$SM_CCo,10248,183.00,0.789,1,0,517,564.18
$SM_GC,1.02,0.00,0.00,183.00,0.000,0.000,0.789,62,2934,517,-5.65,0.31,564.18
$IRIDIUM_FIX,-4613.60,407.14,191212,030334
$TT8_MAMPS,0.026964
$HUMID,56.22
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,22.2,13.523
$10V_AH,10.1,5.856
$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,14.725,93.650,274.825,183.000,0.000,27.916,22.276,320.686,0.000,0.000,20.909,1284.776,6909.765,603.899,1688.937,539.586,33.359,1218.013,0.000,1288.364,0.000,1.008,0.000
$DEVICE_MAMPS,263.925,62.730,1791.630,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.851,1032.523,564.541,230.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,37161,512
$CAP_FILE_SIZE,89045,0
$CFSIZE,259252224,224370688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,094805,-4629.255,401.970,23,1.5,23,-23.3