version: 66.07
glider: 542
mission: 6
dive: 71
start: 12 20 112 18 14 56
data:
$ID,542
$MISSION,6
$DIVE,71
$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,-10536.183
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,201212,175152,-4629.951,402.142,37,0.9,37,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-24.8
$GPS2,201212,181354,-4629.954,402.277,18,0.8,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.061,0.162
$KALMAN_X,-51572.9,88.4,213.3,32641.3,-1826.1
$KALMAN_Y,16051.6,-539.4,281.2,23693.2,-2887.0
$MHEAD_RNG_PITCHd_Wd,2.8,2905,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-136.48,0.000,6,0.000,0.000,59,2937,3078,0,0,0,0,0,0
$GC,177,-0.89,-123.5,2.8,-3.6,18,196,6.22,2.30,-7.53,0.000,4,0.249,0.053,1580,1505,3325,0,0,0,0,0,0
$GC,208,-0.89,-123.5,7.9,-12.0,21,217,0.00,2.33,0.00,0.000,6,0.000,0.051,1571,2919,3326,0,0,0,0,0,0
$GC,296,-0.89,-123.5,25.5,-21.8,34,305,0.00,1.58,0.00,0.000,4,0.000,0.057,1564,3897,3327,0,0,0,0,0,0
$GC,318,-0.89,-123.5,29.7,-20.3,36,327,0.00,1.55,0.00,0.000,6,0.000,0.033,1564,2887,3326,0,0,0,0,0,0
$GC,407,-0.89,-123.5,48.4,-22.3,49,414,0.00,2.08,0.00,0.000,4,0.000,0.037,1564,1533,3326,0,0,0,0,0,0
$GC,440,-0.89,-123.5,55.4,-21.2,53,446,0.00,2.25,0.00,0.000,6,0.000,0.052,1554,2924,3326,0,0,0,0,0,0
$GC,679,-0.89,-123.5,102.9,-17.3,92,683,0.12,2.15,0.00,0.000,4,0.222,0.037,1581,1530,3326,0,0,0,0,0,0
$GC,716,-0.89,-123.5,109.1,-15.0,94,720,0.00,2.25,0.00,0.000,6,0.000,0.052,1571,2930,3326,0,0,0,0,0,0
$GC,1045,-0.89,-123.5,165.7,-17.3,115,1049,0.00,1.55,0.00,0.000,4,0.000,0.059,1564,3903,3327,0,0,0,0,0,0
$GC,1065,-0.89,-123.5,169.6,-17.5,116,1069,0.00,1.48,0.00,0.000,6,0.000,0.033,1564,2926,3327,0,0,0,0,0,0
$GC,1400,-0.89,-123.5,229.3,-18.2,137,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2922,3327,0,0,0,0,0,0
$GC,1708,-0.89,-123.5,281.0,-16.2,154,1712,0.00,1.58,0.00,0.000,4,0.000,0.060,1557,3897,3327,0,0,0,0,0,0
$GC,1781,-0.89,-123.5,292.8,-16.9,157,1784,0.00,1.48,0.00,0.000,6,0.000,0.034,1557,2923,3327,0,0,0,0,0,0
$GC,2119,-0.89,-123.5,349.0,-16.7,173,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2920,3327,0,0,0,0,0,0
$GC,2425,-0.89,-123.5,400.3,-16.3,188,2429,0.00,1.58,0.00,0.000,4,0.000,0.060,1549,3899,3326,0,0,0,0,0,0
$GC,2462,-0.89,-123.5,406.6,-17.6,189,2466,0.08,1.48,0.00,0.000,6,0.193,0.034,1571,2929,3327,0,0,0,0,0,0
$GC,2805,-0.89,-123.5,459.2,-15.1,200,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2925,3327,0,0,0,0,0,0
$GC,3112,-0.89,-123.5,504.4,-14.6,210,3116,0.00,2.10,0.00,0.000,4,0.000,0.039,1571,1523,3326,0,0,0,0,0,0
$GC,3149,-0.89,-123.5,509.8,-14.3,211,3153,0.00,2.22,0.00,0.000,6,0.000,0.054,1562,2932,3326,0,0,0,0,0,0
$GC,3492,-0.89,-123.5,561.7,-14.8,222,3496,0.00,1.52,0.00,0.000,4,0.000,0.061,1554,3897,3326,0,0,0,0,0,0
$GC,3504,-0.89,-123.5,563.8,-14.8,222,3508,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2921,3325,0,0,0,0,0,0
$GC,3836,-0.89,-123.5,613.8,-15.3,233,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2917,3325,0,0,0,0,0,0
$GC,4143,-0.89,-123.5,660.9,-15.6,243,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2916,3325,0,0,0,0,0,0
$GC,4448,-0.89,-123.5,707.7,-15.0,253,4451,0.00,1.58,0.00,0.000,4,0.000,0.062,1547,3896,3324,0,0,0,0,0,0
$GC,4485,-0.89,-123.5,713.5,-15.6,254,4489,0.10,1.48,0.00,0.000,6,0.196,0.035,1574,2925,3324,0,0,0,0,0,0
$GC,4828,-0.89,-123.5,758.5,-12.5,265,4832,0.00,2.10,0.00,0.000,4,0.000,0.040,1575,1522,3323,0,0,0,0,0,0
$GC,4898,-0.89,-123.5,766.5,-11.2,267,4902,0.00,2.20,0.00,0.000,6,0.000,0.055,1565,2924,3323,0,0,0,0,0,0
$GC,5236,-0.89,-123.5,809.6,-12.9,278,5240,0.00,2.12,0.00,0.000,4,0.000,0.039,1565,1518,3323,0,0,0,0,0,0
$GC,5259,-0.89,-123.5,812.8,-12.6,278,5266,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2928,3323,0,0,0,0,0,0
$GC,5575,-0.89,-123.5,856.8,-14.1,289,5579,0.00,2.15,0.00,0.000,4,0.000,0.038,1555,1519,3322,0,0,0,0,0,0
$GC,5606,-0.89,-123.5,861.2,-14.5,290,5611,0.15,2.22,0.00,0.000,6,0.210,0.054,1580,2932,3323,0,0,0,0,0,0
$GC,5950,-0.89,-123.5,904.3,-12.6,301,5954,0.00,2.12,0.00,0.000,4,0.000,0.038,1580,1520,3322,0,0,0,0,0,0
$GC,6019,-0.89,-123.5,913.0,-11.8,303,6023,0.00,2.20,0.00,0.000,6,0.000,0.054,1570,2923,3322,0,0,0,0,0,0
$GC,6352,-0.89,-123.5,954.3,-12.5,314,6356,0.00,2.15,0.00,0.000,4,0.000,0.039,1571,1525,3322,0,0,0,0,0,0
$GC,6398,-0.89,-123.5,960.0,-10.9,315,6402,0.00,2.20,0.00,0.000,6,0.000,0.054,1560,2928,3322,0,0,0,0,0,0
$GC,6719,-0.89,-123.5,999.1,-12.2,326,6723,0.00,2.08,0.00,0.000,3,0.000,0.038,1560,1546,3322,0,0,0,0,0,0
$STATE,6725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6725,begin apogee
$GC,6737,-0.19,0.0,1000.2,12.3,326,6866,0.85,0.00,124.75,1.236,6,0.196,0.000,1796,2746,2819,0,0,0,0,0,0
$STATE,6868,end apogee,CONTROL_FINISHED_OK
$STATE,6868,begin climb
$GC,6872,0.89,123.5,1002.1,0.0,330,7014,1.00,2.55,122.90,1.789,4,0.063,0.046,2167,1349,2315,0,0,0,0,1,0
$GC,7023,0.89,123.5,970.8,29.1,334,7027,0.00,2.45,0.00,0.000,6,0.000,0.050,2167,2732,2315,0,0,0,0,0,0
$GC,7338,0.89,123.5,870.2,32.3,344,7342,0.00,2.30,0.00,0.000,4,0.000,0.048,2177,1336,2309,0,0,0,0,0,0
$GC,7356,0.89,123.5,864.0,32.2,344,7360,0.00,2.35,0.00,0.000,6,0.000,0.052,2176,2746,2308,0,0,0,0,0,0
$GC,7677,0.89,123.5,761.3,32.2,355,7681,0.00,2.28,0.00,0.000,4,0.000,0.047,2187,1344,2306,0,0,0,0,0,0
$GC,7695,0.89,123.5,755.0,31.5,355,7700,0.12,2.28,0.00,0.000,6,0.261,0.051,2164,2738,2306,0,0,0,0,0,0
$GC,8010,0.89,123.5,659.7,30.1,365,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2738,2305,0,0,0,0,0,0
$GC,8317,0.89,123.5,567.9,29.1,375,8321,0.00,2.22,0.00,0.000,4,0.000,0.046,2174,1342,2304,0,0,0,0,0,0
$GC,8329,0.89,123.5,563.7,28.8,375,8333,0.00,2.22,0.00,0.000,6,0.000,0.050,2172,2737,2303,0,0,0,0,0,0
$GC,8650,0.89,123.5,471.8,28.1,386,8654,0.00,2.22,0.00,0.000,4,0.000,0.047,2181,1335,2303,0,0,0,0,0,0
$GC,8707,0.89,123.5,456.1,26.5,387,8714,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2738,2302,0,0,0,0,0,0
$GC,9034,0.89,123.5,364.0,28.9,400,9038,0.00,2.22,0.00,0.000,4,0.000,0.047,2192,1334,2301,0,0,0,0,0,0
$GC,9046,0.89,123.5,359.8,28.8,400,9056,0.10,2.28,0.00,0.000,6,0.246,0.051,2167,2737,2302,0,0,0,0,0,0
$GC,9365,0.89,123.5,271.7,28.6,416,9369,0.00,2.22,0.00,0.000,4,0.000,0.048,2176,1331,2301,0,0,0,0,0,0
$GC,9387,0.89,123.5,265.9,27.9,417,9391,0.00,2.22,0.00,0.000,6,0.000,0.053,2171,2734,2301,0,0,0,0,0,0
$GC,9716,0.89,123.5,173.7,26.6,437,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2734,2300,0,0,0,0,0,0
$GC,10029,0.89,123.5,89.6,26.5,461,10034,0.00,2.20,0.00,0.000,4,0.000,0.048,2181,1334,2301,0,0,0,0,0,0
$GC,10071,0.89,123.5,79.0,23.1,468,10080,0.00,2.25,0.00,0.000,6,0.000,0.054,2181,2726,2300,0,0,0,0,0,0
$STATE,10382,end climb,SURFACE_DEPTH_REACHED
$STATE,10383,begin surface coast
$FINISH,0.4,1.026463
$STATE,10396,end surface coast,CONTROL_FINISHED_OK
$STATE,10396,begin surface
$SM_CCo,10419,187.18,0.796,1,0,517,564.18
$SM_GC,0.93,0.00,0.00,187.18,0.000,0.000,0.796,59,2932,517,-5.66,0.25,564.18
$IRIDIUM_FIX,-4616.72,404.25,201212,181815
$TT8_MAMPS,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.3,15.648
$10V_AH,10.1,6.741
$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,14.550,98.500,247.650,187.175,0.000,81.773,130.086,681.343,0.000,0.000,25.016,1314.842,7126.088,576.422,2256.985,659.071,33.361,1225.445,0.000,1344.134,0.000,1.008,0.000
$DEVICE_MAMPS,260.865,67.320,1788.570,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.598,1052.725,577.851,233.212,0.000,0.000,0.000,0.000,0.000,0.000
$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,37134,521
$CAP_FILE_SIZE,99084,0
$CFSIZE,259252224,223830016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201212,211305,-4628.618,401.463,31,1.0,31,-23.3