version: 66.07
glider: 542
mission: 6
dive: 84
start: 12 22 112 10 39 20
data:
$ID,542
$MISSION,6
$DIVE,84
$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,-10591.922
$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,54
$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
$GPS1,221212,102904,-4631.049,402.567,31,1.3,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-38.1
$GPS2,221212,103818,-4631.042,402.637,16,1.8,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.154,-0.080
$KALMAN_X,-59983.2,664.2,306.0,40830.6,-4265.5
$KALMAN_Y,22510.0,-159.8,78.7,15041.3,2420.5
$MHEAD_RNG_PITCHd_Wd,140.7,3876,-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,-131.45,0.000,6,0.000,0.000,64,2933,3078,0,0,0,0,0,0
$GC,169,-0.90,-132.4,2.9,-2.6,17,195,6.32,1.62,-8.35,0.000,4,0.256,0.080,1570,3904,3362,0,0,0,0,0,0
$GC,469,-0.90,-132.4,63.2,-19.0,65,474,0.00,1.52,0.00,0.000,6,0.000,0.033,1574,2910,3363,0,0,0,0,0,0
$GC,814,-0.90,-132.4,124.7,-17.0,109,818,0.00,2.10,0.00,0.000,4,0.000,0.037,1574,1528,3364,0,0,0,0,0,0
$GC,896,-0.90,-132.4,138.0,-15.0,114,900,0.00,2.25,0.00,0.000,6,0.000,0.052,1565,2932,3364,0,0,0,0,0,0
$GC,1225,-0.90,-132.4,198.5,-18.7,135,1229,0.00,1.52,0.00,0.000,4,0.000,0.058,1558,3894,3364,0,0,0,0,0,0
$GC,1322,-0.90,-132.4,217.4,-18.0,140,1331,0.00,1.48,0.00,0.000,6,0.000,0.033,1558,2913,3364,0,0,0,0,0,0
$GC,1644,-0.90,-132.4,271.5,-16.5,159,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2913,3364,0,0,0,0,0,0
$GC,1952,-0.90,-132.4,321.7,-16.2,174,1955,0.00,1.58,0.00,0.000,4,0.000,0.058,1551,3893,3364,0,0,0,0,0,0
$GC,2002,-0.90,-132.4,330.2,-17.5,176,2006,0.00,1.45,0.00,0.000,6,0.000,0.034,1551,2936,3364,0,0,0,0,0,0
$GC,2337,-0.90,-132.4,386.3,-16.7,192,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2933,3364,0,0,0,0,0,0
$GC,2664,-0.90,-132.4,441.0,-16.7,204,2668,0.00,1.55,0.00,0.000,4,0.000,0.059,1544,3897,3364,0,0,0,0,0,0
$GC,2761,-0.90,-132.4,458.7,-18.1,206,2768,0.10,1.48,0.00,0.000,6,0.200,0.034,1571,2925,3364,0,0,0,0,0,0
$GC,3076,-0.90,-132.4,505.0,-14.5,217,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2924,3364,0,0,0,0,0,0
$GC,3382,-0.90,-132.4,548.8,-14.3,227,3386,0.00,1.55,0.00,0.000,4,0.000,0.060,1564,3890,3364,0,0,0,0,0,0
$GC,3445,-0.90,-132.4,558.8,-15.8,228,3452,0.00,1.48,0.00,0.000,6,0.000,0.035,1565,2909,3364,0,0,0,0,0,0
$GC,3760,-0.90,-132.4,605.7,-14.9,239,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2909,3364,0,0,0,0,0,0
$GC,4068,-0.90,-132.4,650.9,-14.5,249,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2909,3364,0,0,0,0,0,0
$GC,4373,-0.90,-132.4,694.4,-14.1,259,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2909,3364,0,0,0,0,0,0
$GC,4682,-0.90,-132.4,737.9,-14.1,269,4685,0.00,1.58,0.00,0.000,4,0.000,0.060,1558,3891,3363,0,0,0,0,0,0
$GC,4778,-0.90,-132.4,753.4,-14.8,271,4785,0.00,1.45,0.00,0.000,6,0.000,0.035,1557,2931,3363,0,0,0,0,0,0
$GC,5095,-0.90,-132.4,799.1,-14.7,282,5099,0.00,2.12,0.00,0.000,4,0.000,0.038,1557,1523,3363,0,0,0,0,0,0
$GC,5152,-0.90,-132.4,807.6,-13.3,283,5160,0.12,2.20,0.00,0.000,6,0.215,0.053,1575,2923,3363,0,0,0,0,0,0
$GC,5467,-0.90,-132.4,848.9,-13.2,294,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,3362,0,0,0,0,0,0
$GC,5774,-0.90,-132.4,889.5,-13.2,304,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,3362,0,0,0,0,0,0
$GC,6080,-0.90,-132.4,929.3,-12.9,314,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,3363,0,0,0,0,0,0
$GC,6386,-0.90,-132.4,966.8,-12.1,324,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,3362,0,0,0,0,0,0
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6669,-0.19,0.0,1000.5,12.5,333,6810,0.80,0.00,133.98,1.242,6,0.190,0.000,1805,2734,2816,0,0,0,0,0,0
$STATE,6812,end apogee,CONTROL_FINISHED_OK
$STATE,6812,begin climb
$GC,6817,0.90,132.4,1003.0,0.0,338,6964,1.02,2.55,133.73,1.813,4,0.057,0.047,2181,1343,2281,0,0,0,0,1,0
$GC,6972,0.90,132.4,970.6,28.1,343,6977,0.00,2.53,0.00,0.000,6,0.000,0.050,2181,2729,2280,0,0,0,0,0,0
$GC,7300,0.90,132.4,864.1,32.7,354,7304,0.00,2.30,0.00,0.000,4,0.000,0.047,2191,1339,2273,0,0,0,0,0,0
$GC,7323,0.90,132.4,855.9,31.2,354,7331,0.15,2.35,0.00,0.000,6,0.254,0.051,2163,2739,2272,0,0,0,0,0,0
$GC,7640,0.90,132.4,760.8,30.2,365,7644,0.00,2.28,0.00,0.000,4,0.000,0.046,2173,1334,2271,0,0,0,0,0,0
$GC,7686,0.90,132.4,746.3,28.7,366,7690,0.00,2.33,0.00,0.000,6,0.000,0.052,2172,2746,2269,0,0,0,0,0,0
$GC,8018,0.90,132.4,644.3,30.4,377,8022,0.00,2.25,0.00,0.000,4,0.000,0.046,2182,1339,2269,0,0,0,0,0,0
$GC,8070,0.90,132.4,628.6,28.3,378,8074,0.00,2.28,0.00,0.000,6,0.000,0.051,2182,2737,2268,0,0,0,0,0,0
$GC,8393,0.90,132.4,529.9,31.1,389,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2737,2268,0,0,0,0,0,0
$GC,8697,0.90,132.4,437.9,29.5,399,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2737,2268,0,0,0,0,0,0
$GC,9015,0.90,132.4,345.3,28.7,412,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2737,2268,0,0,0,0,0,0
$GC,9327,0.90,132.4,257.1,28.3,427,9331,0.00,2.20,0.00,0.000,4,0.000,0.046,2192,1334,2267,0,0,0,0,0,0
$GC,9381,0.90,132.4,241.6,26.8,430,9386,0.12,2.25,0.00,0.000,6,0.253,0.053,2167,2739,2266,0,0,0,0,0,0
$GC,9714,0.90,132.4,153.0,26.3,451,9718,0.00,1.85,0.00,0.000,4,0.000,0.059,2167,3894,2266,0,0,0,0,0,0
$GC,9743,0.90,132.4,143.2,28.4,452,9752,0.00,1.83,0.00,0.000,6,0.000,0.041,2175,2732,2266,0,0,0,0,0,0
$GC,10081,0.90,132.4,59.7,25.1,491,10088,0.00,2.17,0.00,0.000,4,0.000,0.047,2186,1331,2265,0,0,0,0,0,0
$GC,10135,0.90,132.4,47.1,23.6,499,10142,0.00,2.25,0.00,0.000,6,0.000,0.052,2185,2743,2264,0,0,0,0,0,0
$STATE,10311,end climb,SURFACE_DEPTH_REACHED
$STATE,10311,begin surface coast
$FINISH,0.5,1.013062
$STATE,10325,end surface coast,CONTROL_FINISHED_OK
$STATE,10325,begin surface
$SM_CCo,10347,184.12,0.802,1,0,519,564.18
$SM_GC,1.07,0.00,0.00,184.12,0.000,0.000,0.802,66,2935,519,-5.64,0.31,564.18
$IRIDIUM_FIX,-4613.60,400.91,221212,070747
$TT8_MAMPS,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.9,18.015
$10V_AH,10.1,7.756
$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,14.475,58.900,267.700,184.125,0.000,28.732,20.811,300.534,0.000,0.000,22.885,1297.867,7011.066,606.462,1682.020,492.340,33.362,1185.147,0.000,1310.079,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,79.560,1813.050,801.720,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.242,1060.613,587.746,232.202,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354304
$DATA_FILE_SIZE,37259,529
$CAP_FILE_SIZE,80419,0
$CFSIZE,259252224,223240192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,133623,-4631.532,404.368,39,1.0,39,-23.3