version: 66.07
glider: 542
mission: 6
dive: 63
start: 12 19 112 17 8 59
data:
$ID,542
$MISSION,6
$DIVE,63
$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,-10489.053
$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,29
$R_STBD_OVSHOOT,19
$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
$GPS1,191212,165653,-4630.093,357.546,36,1.0,36,-23.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-39.8
$GPS2,191212,170801,-4630.217,357.416,14,0.7,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.042,-0.168
$KALMAN_X,-45544.3,-462.8,-381.1,21627.2,2654.7
$KALMAN_Y,18224.9,793.1,-111.8,20094.2,2824.3
$MHEAD_RNG_PITCHd_Wd,189.3,3319,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.81,-63.1,0.0,0.0,0,167,0.00,0.00,-132.80,0.000,6,0.000,0.000,58,2930,3079,0,0,0,0,0,0
$GC,174,-0.89,-128.3,2.8,-3.1,17,200,6.18,2.28,-8.65,0.000,4,0.247,0.056,1578,1510,3346,0,0,0,0,0,0
$GC,453,-0.89,-128.3,47.8,-16.8,61,460,0.00,2.33,0.00,0.000,6,0.000,0.057,1569,2935,3347,0,0,0,0,0,0
$GC,693,-0.89,-128.3,96.5,-19.8,102,702,0.00,2.25,0.00,0.000,4,0.000,0.040,1569,1508,3347,0,0,0,0,0,0
$GC,756,-0.89,-128.3,107.2,-15.3,107,761,0.00,2.28,0.00,0.000,6,0.000,0.057,1559,2921,3347,0,0,0,0,0,0
$GC,1080,-0.89,-128.3,165.9,-18.7,127,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2922,3348,0,0,0,0,0,0
$GC,1392,-0.89,-128.3,223.5,-18.5,147,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2922,3349,0,0,0,0,0,0
$GC,1714,-0.89,-128.3,277.5,-16.5,165,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2922,3349,0,0,0,0,0,0
$GC,2021,-0.89,-128.3,328.4,-16.2,180,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2922,3349,0,0,0,0,0,0
$GC,2333,-0.89,-128.3,378.9,-16.5,195,2336,0.00,1.55,0.00,0.000,4,0.000,0.065,1552,3894,3349,0,0,0,0,0,0
$GC,2382,-0.89,-128.3,387.6,-17.5,197,2386,0.00,1.52,0.00,0.000,6,0.000,0.037,1552,2898,3349,0,0,0,0,0,0
$GC,2715,-0.89,-128.3,443.1,-16.6,209,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2894,3349,0,0,0,0,0,0
$GC,3021,-0.89,-128.3,494.3,-16.6,219,3025,0.10,1.60,0.00,0.000,4,0.216,0.067,1567,3900,3349,0,0,0,0,0,0
$GC,3067,-0.89,-128.3,502.6,-16.7,220,3071,0.00,1.50,0.00,0.000,6,0.000,0.037,1567,2922,3349,0,0,0,0,0,0
$GC,3399,-0.89,-128.3,555.3,-16.0,231,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2918,3349,0,0,0,0,0,0
$GC,3707,-0.89,-128.3,602.8,-15.5,241,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2918,3348,0,0,0,0,0,0
$GC,4011,-0.89,-128.3,648.3,-14.8,251,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2918,3348,0,0,0,0,0,0
$GC,4319,-0.89,-128.3,693.4,-14.7,261,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2918,3346,0,0,0,0,0,0
$GC,4624,-0.89,-128.3,737.4,-14.5,271,4628,0.00,2.10,0.00,0.000,4,0.000,0.042,1567,1522,3346,0,0,0,0,0,0
$GC,4659,-0.89,-128.3,742.8,-14.0,272,4663,0.00,2.25,0.00,0.000,6,0.000,0.060,1557,2922,3346,0,0,0,0,0,0
$GC,4991,-0.89,-128.3,793.0,-15.4,283,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2922,3345,0,0,0,0,0,0
$GC,5299,-0.89,-128.3,838.9,-14.9,293,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2922,3345,0,0,0,0,0,0
$GC,5603,-0.89,-128.3,884.2,-14.6,303,5607,0.00,2.12,0.00,0.000,4,0.000,0.041,1557,1521,3345,0,0,0,0,0,0
$GC,5638,-0.89,-128.3,889.4,-13.9,304,5643,0.12,2.22,0.00,0.000,6,0.213,0.060,1575,2925,3345,0,0,0,0,0,0
$GC,5971,-0.89,-128.3,932.0,-12.6,315,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2925,3344,0,0,0,0,0,0
$GC,6277,-0.89,-128.3,968.5,-11.9,325,6281,0.00,2.12,0.00,0.000,4,0.000,0.042,1575,1524,3344,0,0,0,0,0,0
$GC,6310,-0.89,-128.3,972.3,-12.0,326,6314,0.00,2.25,0.00,0.000,6,0.000,0.060,1566,2928,3344,0,0,0,0,0,0
$STATE,6551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6551,begin apogee
$GC,6562,-0.19,0.0,1001.7,12.0,334,6696,0.82,0.00,130.43,1.227,6,0.187,0.000,1803,2748,2819,0,0,0,0,0,0
$STATE,6698,end apogee,CONTROL_FINISHED_OK
$STATE,6698,begin climb
$GC,6702,0.89,128.3,1003.7,0.0,338,6842,1.00,0.00,126.70,1.788,6,0.059,0.000,2164,2748,2295,0,0,0,0,1,0
$GC,7135,0.89,128.3,881.6,32.0,352,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2748,2291,0,0,0,0,0,0
$GC,7441,0.89,128.3,785.5,31.2,362,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2747,2287,0,0,0,0,0,0
$GC,7747,0.89,128.3,694.6,29.9,372,7751,0.00,2.28,0.00,0.000,4,0.000,0.047,2175,1326,2286,0,0,0,0,0,0
$GC,7805,0.89,128.3,677.8,26.6,373,7812,0.00,2.33,0.00,0.000,6,0.000,0.057,2173,2745,2285,0,0,0,0,0,0
$GC,8120,0.89,128.3,586.2,29.2,384,8124,0.00,2.28,0.00,0.000,4,0.000,0.049,2183,1326,2285,0,0,0,0,0,0
$GC,8189,0.89,128.3,566.6,26.5,386,8193,0.00,2.30,0.00,0.000,6,0.000,0.057,2183,2743,2284,0,0,0,0,0,0
$GC,8521,0.89,128.3,470.8,30.0,397,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2743,2284,0,0,0,0,0,0
$GC,8827,0.89,128.3,380.3,29.3,408,8831,0.00,2.25,0.00,0.000,4,0.000,0.047,2193,1325,2283,0,0,0,0,0,0
$GC,8870,0.89,128.3,368.0,28.4,410,8875,0.15,2.30,0.00,0.000,6,0.259,0.057,2163,2740,2282,0,0,0,0,0,0
$GC,9201,0.89,128.3,276.4,27.5,426,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2740,2282,0,0,0,0,0,0
$GC,9524,0.89,128.3,189.3,26.5,445,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2740,2282,0,0,0,0,0,0
$GC,9837,0.89,128.3,109.4,25.1,465,9841,0.00,2.22,0.00,0.000,4,0.000,0.047,2173,1319,2281,0,0,0,0,0,0
$GC,9913,0.89,128.3,90.5,22.3,474,9922,0.00,2.30,0.00,0.000,6,0.000,0.057,2172,2734,2281,0,0,0,0,0,0
$STATE,10270,end climb,SURFACE_DEPTH_REACHED
$STATE,10270,begin surface coast
$FINISH,0.5,1.015303
$STATE,10288,end surface coast,CONTROL_FINISHED_OK
$STATE,10288,begin surface
$SM_CCo,10310,184.68,0.787,1,0,517,564.18
$SM_GC,0.66,0.00,0.00,184.68,0.000,0.000,0.787,59,2927,517,-5.66,0.11,564.18
$IRIDIUM_FIX,-4613.60,400.91,191212,121251
$TT8_MAMPS,0.026215
$HUMID,56.89
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.3,14.142
$10V_AH,10.1,6.109
$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,14.275,47.200,257.125,184.675,0.000,26.467,21.197,399.418,0.000,0.000,17.812,1303.453,7033.834,554.005,1773.281,494.361,33.357,1122.243,0.000,1307.603,0.000,1.009,0.000
$DEVICE_MAMPS,258.570,81.090,1787.805,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.713,1089.211,614.220,256.059,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,37051,536
$CAP_FILE_SIZE,77750,0
$CFSIZE,259252224,224227328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,200522,-4631.436,357.527,35,1.3,35,-23.3