version: 66.07
glider: 542
mission: 6
dive: 83
start: 12 22 112 7 24 21
data:
$ID,542
$MISSION,6
$DIVE,83
$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,-10584.942
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,221212,071122,-4630.550,404.483,41,1.0,41,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-28.8
$GPS2,221212,072323,-4630.504,404.455,15,1.8,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.096,-0.144
$KALMAN_X,-59864.3,383.2,226.1,43380.6,-5120.4
$KALMAN_Y,21183.7,-311.6,-334.3,17944.9,1675.8
$MHEAD_RNG_PITCHd_Wd,237.1,5756,-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,-132.62,0.000,6,0.000,0.000,52,2937,3078,0,0,0,0,0,0
$GC,169,-0.89,-122.7,2.9,-3.7,17,188,6.32,2.28,-7.20,0.000,4,0.253,0.052,1578,1515,3322,0,0,0,0,0,0
$GC,236,-0.89,-122.7,16.4,-21.1,26,245,0.00,2.33,0.00,0.000,6,0.000,0.054,1569,2921,3324,0,0,0,0,0,0
$GC,325,-0.89,-122.7,35.1,-22.4,39,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2921,3324,0,0,0,0,0,0
$GC,567,-0.89,-122.7,86.1,-20.9,80,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2921,3324,0,0,0,0,0,0
$GC,908,-0.89,-122.7,147.6,-17.1,109,912,0.00,2.15,0.00,0.000,4,0.000,0.037,1569,1521,3324,0,0,0,0,0,0
$GC,937,-0.89,-122.7,152.9,-16.6,110,946,0.00,2.28,0.00,0.000,6,0.000,0.051,1559,2928,3325,0,0,0,0,0,0
$GC,1262,-0.89,-122.7,203.6,-15.3,131,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2928,3325,0,0,0,0,0,0
$GC,1578,-0.89,-122.7,254.4,-17.1,151,1582,0.00,1.52,0.00,0.000,4,0.000,0.058,1551,3893,3325,0,0,0,0,0,0
$GC,1652,-0.89,-122.7,267.9,-16.9,154,1657,0.08,1.50,0.00,0.000,6,0.193,0.033,1572,2905,3325,0,0,0,0,0,0
$GC,1983,-0.89,-122.7,319.7,-16.1,170,1986,0.00,1.60,0.00,0.000,4,0.000,0.059,1566,3894,3325,0,0,0,0,0,0
$GC,2031,-0.89,-122.7,327.9,-17.4,172,2035,0.00,1.48,0.00,0.000,6,0.000,0.033,1566,2912,3325,0,0,0,0,0,0
$GC,2366,-0.89,-122.7,382.8,-16.3,188,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2908,3325,0,0,0,0,0,0
$GC,2673,-0.89,-122.7,431.8,-15.8,200,2677,0.00,1.60,0.00,0.000,4,0.000,0.060,1559,3902,3325,0,0,0,0,0,0
$GC,2713,-0.89,-122.7,438.9,-16.6,201,2717,0.00,1.48,0.00,0.000,6,0.000,0.034,1558,2931,3325,0,0,0,0,0,0
$GC,3050,-0.89,-122.7,492.4,-15.8,212,3054,0.00,1.55,0.00,0.000,4,0.000,0.060,1552,3892,3325,0,0,0,0,0,0
$GC,3113,-0.89,-122.7,503.1,-16.5,213,3121,0.10,1.48,0.00,0.000,6,0.198,0.034,1578,2920,3325,0,0,0,0,0,0
$GC,3428,-0.89,-122.7,546.9,-13.6,224,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,3325,0,0,0,0,0,0
$GC,3734,-0.89,-122.7,589.6,-14.2,234,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2920,3325,0,0,0,0,0,0
$GC,4041,-0.89,-122.7,632.2,-14.0,244,4045,0.00,1.58,0.00,0.000,4,0.000,0.060,1572,3900,3325,0,0,0,0,0,0
$GC,4064,-0.89,-122.7,635.9,-14.7,244,4068,0.00,1.48,0.00,0.000,6,0.000,0.034,1573,2927,3325,0,0,0,0,0,0
$GC,4384,-0.89,-122.7,681.2,-13.8,255,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2923,3324,0,0,0,0,0,0
$GC,4691,-0.89,-122.7,720.5,-12.5,265,4695,0.00,2.12,0.00,0.000,4,0.000,0.040,1573,1523,3324,0,0,0,0,0,0
$GC,4761,-0.89,-122.7,728.8,-10.8,267,4765,0.00,2.22,0.00,0.000,6,0.000,0.054,1562,2927,3324,0,0,0,0,0,0
$GC,5099,-0.89,-122.7,771.4,-12.8,278,5103,0.00,2.15,0.00,0.000,4,0.000,0.038,1562,1517,3324,0,0,0,0,0,0
$GC,5130,-0.89,-122.7,775.4,-13.0,279,5135,0.12,2.22,0.00,0.000,6,0.216,0.054,1579,2924,3324,0,0,0,0,0,0
$GC,5468,-0.89,-122.7,815.0,-11.5,290,5472,0.00,2.12,0.00,0.000,4,0.000,0.039,1579,1519,3324,0,0,0,0,0,0
$GC,5514,-0.89,-122.7,820.4,-10.1,291,5518,0.00,2.22,0.00,0.000,6,0.000,0.054,1570,2929,3324,0,0,0,0,0,0
$GC,5846,-0.89,-122.7,859.8,-12.0,302,5850,0.00,2.12,0.00,0.000,4,0.000,0.038,1570,1522,3323,0,0,0,0,0,0
$GC,5870,-0.89,-122.7,863.0,-13.2,302,5874,0.00,2.22,0.00,0.000,6,0.000,0.054,1560,2927,3323,0,0,0,0,0,0
$GC,6185,-0.89,-122.7,902.6,-12.6,312,6189,0.00,2.12,0.00,0.000,4,0.000,0.037,1559,1525,3323,0,0,0,0,0,0
$GC,6249,-0.89,-122.7,910.4,-11.5,314,6254,0.12,2.22,0.00,0.000,6,0.217,0.054,1577,2932,3323,0,0,0,0,0,0
$GC,6587,-0.89,-122.7,949.6,-11.6,325,6591,0.00,2.12,0.00,0.000,4,0.000,0.037,1577,1521,3322,0,0,0,0,0,0
$GC,6650,-0.89,-122.7,956.9,-10.4,326,6657,0.00,2.22,0.00,0.000,6,0.000,0.054,1567,2931,3322,0,0,0,0,0,0
$GC,6966,-0.89,-122.7,994.0,-12.2,337,6970,0.00,2.12,0.00,0.000,4,0.000,0.037,1568,1524,3322,0,0,0,0,0,0
$STATE,7013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7013,begin apogee
$GC,7025,-0.19,0.0,1000.1,11.5,338,7158,0.82,0.00,125.38,1.237,6,0.194,0.000,1797,2737,2815,0,0,0,0,0,0
$STATE,7160,end apogee,CONTROL_FINISHED_OK
$STATE,7160,begin climb
$GC,7164,0.89,122.7,1001.3,0.0,343,7304,1.02,2.50,122.85,1.799,4,0.061,0.045,2172,1350,2318,0,0,0,0,1,0
$GC,7352,0.89,122.7,959.3,30.4,349,7356,0.00,2.42,0.00,0.000,6,0.000,0.051,2172,2728,2317,0,0,0,0,0,0
$GC,7684,0.89,122.7,857.3,30.7,360,7688,0.00,2.28,0.00,0.000,4,0.000,0.047,2182,1348,2312,0,0,0,0,0,0
$GC,7741,0.89,122.7,839.8,29.4,361,7746,0.00,2.33,0.00,0.000,6,0.000,0.053,2182,2737,2310,0,0,0,0,0,0
$GC,8057,0.89,122.7,744.1,30.6,371,8061,0.00,2.25,0.00,0.000,4,0.000,0.046,2193,1345,2309,0,0,0,0,0,0
$GC,8075,0.89,122.7,737.9,30.6,371,8080,0.15,2.30,0.00,0.000,6,0.259,0.051,2163,2745,2309,0,0,0,0,0,0
$GC,8390,0.89,122.7,646.1,28.7,381,8394,0.00,2.25,0.00,0.000,4,0.000,0.044,2173,1339,2308,0,0,0,0,0,0
$GC,8425,0.89,122.7,635.9,27.7,382,8429,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2736,2307,0,0,0,0,0,0
$GC,8757,0.89,122.7,538.9,29.7,393,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2736,2307,0,0,0,0,0,0
$GC,9063,0.89,122.7,450.6,28.9,403,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2736,2307,0,0,0,0,0,0
$GC,9372,0.89,122.7,363.4,27.5,415,9376,0.00,2.20,0.00,0.000,4,0.000,0.045,2181,1336,2306,0,0,0,0,0,0
$GC,9390,0.89,122.7,357.6,27.1,415,9397,0.00,2.25,0.00,0.000,6,0.000,0.051,2181,2743,2305,0,0,0,0,0,0
$GC,9711,0.89,122.7,269.1,27.9,431,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2743,2305,0,0,0,0,0,0
$GC,10027,0.89,122.7,182.3,27.6,450,10031,0.00,2.20,0.00,0.000,4,0.000,0.046,2192,1337,2305,0,0,0,0,0,0
$GC,10059,0.89,122.7,173.6,26.2,452,10064,0.15,2.22,0.00,0.000,6,0.252,0.052,2160,2735,2304,0,0,0,0,0,0
$GC,10383,0.89,122.7,92.8,23.5,476,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2736,2304,0,0,0,0,0,0
$GC,10745,0.89,122.7,9.9,24.7,537,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2736,2304,0,0,0,0,0,0
$STATE,10775,end climb,SURFACE_DEPTH_REACHED
$STATE,10775,begin surface coast
$FINISH,0.5,1.014054
$STATE,10788,end surface coast,CONTROL_FINISHED_OK
$STATE,10788,begin surface
$SM_CCo,10811,188.75,0.796,1,0,518,564.18
$SM_GC,0.92,0.00,0.00,188.75,0.000,0.000,0.796,65,2932,518,-5.64,0.23,564.18
$IRIDIUM_FIX,-4613.60,404.02,221212,040400
$TT8_MAMPS,0.026964
$HUMID,56.10
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.2,17.838
$10V_AH,10.1,7.679
$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,14.525,82.250,248.225,188.750,0.000,51.042,122.987,298.236,0.000,0.000,17.807,1363.742,7355.306,572.721,1922.026,510.422,33.363,1233.413,0.000,1416.924,0.000,1.009,0.000
$DEVICE_MAMPS,258.570,73.440,1799.280,796.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.401,1091.527,597.674,237.811,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,40540,543
$CAP_FILE_SIZE,92187,0
$CFSIZE,259252224,223277056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,102904,-4631.049,402.567,31,1.3,31,-23.3