version: 66.07
glider: 542
mission: 6
dive: 89
start: 12 23 112 2 43 18
data:
$ID,542
$MISSION,6
$DIVE,89
$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,-10611.669
$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,48
$R_STBD_OVSHOOT,27
$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
$GPS1,231212,023234,-4632.248,357.689,33,1.1,33,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-41.6
$GPS2,231212,024217,-4632.289,357.711,17,1.8,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.131,-0.123
$KALMAN_X,-56455.4,-523.9,-195.2,32786.1,263.1
$KALMAN_Y,29525.1,-267.3,-738.6,6661.4,6680.5
$MHEAD_RNG_PITCHd_Wd,156.5,5146,-26.3,-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,-0.79,-67.8,0.0,0.0,0,163,0.00,0.00,-132.95,0.000,6,0.000,0.000,55,2935,3097,0,0,0,0,0,0
$GC,170,-0.89,-144.8,2.7,-2.4,17,196,6.25,1.60,-9.65,0.000,4,0.251,0.083,1568,3899,3413,0,0,0,0,0,0
$GC,471,-0.89,-144.8,64.4,-20.6,65,475,0.00,1.52,0.00,0.000,6,0.000,0.034,1568,2908,3415,0,0,0,0,0,0
$GC,807,-0.89,-144.8,129.3,-17.8,106,810,0.00,1.62,0.00,0.000,4,0.000,0.059,1560,3900,3416,0,0,0,0,0,0
$GC,1007,-0.89,-144.8,166.0,-18.2,117,1014,0.00,1.50,0.00,0.000,6,0.000,0.034,1560,2911,3416,0,0,0,0,0,0
$GC,1329,-0.89,-144.8,223.7,-18.8,138,1332,0.00,1.60,0.00,0.000,4,0.000,0.058,1553,3900,3416,0,0,0,0,0,0
$GC,1393,-0.89,-144.8,235.7,-18.0,141,1400,0.08,1.48,0.00,0.000,6,0.192,0.034,1574,2931,3416,0,0,0,0,0,0
$GC,1730,-0.89,-144.8,291.4,-16.8,159,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3416,0,0,0,0,0,0
$GC,2037,-0.89,-144.8,345.7,-17.9,174,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3416,0,0,0,0,0,0
$GC,2348,-0.89,-144.8,398.5,-16.7,189,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2930,3416,0,0,0,0,0,0
$GC,2673,-0.89,-144.8,451.2,-15.8,200,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2930,3416,0,0,0,0,0,0
$GC,2981,-0.89,-144.8,498.5,-15.3,210,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2930,3416,0,0,0,0,0,0
$GC,3286,-0.89,-144.8,542.8,-14.5,220,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3416,0,0,0,0,0,0
$GC,3592,-0.89,-144.8,586.4,-14.1,230,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3416,0,0,0,0,0,0
$GC,3898,-0.89,-144.8,630.3,-14.7,240,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3415,0,0,0,0,0,0
$GC,4206,-0.89,-144.8,673.7,-14.0,250,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3415,0,0,0,0,0,0
$GC,4510,-0.89,-144.8,716.7,-14.0,260,4514,0.00,1.55,0.00,0.000,4,0.000,0.062,1568,3894,3415,0,0,0,0,0,0
$GC,4539,-0.89,-144.8,721.4,-15.4,260,4546,0.00,1.48,0.00,0.000,6,0.000,0.035,1568,2916,3415,0,0,0,0,0,0
$GC,4856,-0.89,-144.8,766.2,-14.3,271,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3414,0,0,0,0,0,0
$GC,5161,-0.89,-144.8,808.8,-13.6,281,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3414,0,0,0,0,0,0
$GC,5467,-0.89,-144.8,850.5,-13.4,291,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3414,0,0,0,0,0,0
$GC,5773,-0.89,-144.8,890.3,-12.8,301,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3415,0,0,0,0,0,0
$GC,6079,-0.89,-144.8,930.1,-13.3,311,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3414,0,0,0,0,0,0
$GC,6387,-0.89,-144.8,971.2,-13.5,321,6391,0.00,1.58,0.00,0.000,4,0.000,0.063,1561,3895,3414,0,0,0,0,0,0
$GC,6457,-0.89,-144.8,981.4,-13.9,323,6461,0.00,1.48,0.00,0.000,6,0.000,0.036,1560,2923,3413,0,0,0,0,0,0
$STATE,6612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6612,begin apogee
$GC,6623,-0.19,0.0,1003.3,13.9,328,6772,0.82,0.00,145.95,1.227,6,0.182,0.000,1801,2732,2819,0,0,0,0,0,0
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6774,begin climb
$GC,6779,0.89,144.8,1007.2,0.0,333,6933,1.02,0.00,145.40,1.799,6,0.057,0.000,2165,2732,2229,0,0,0,0,1,0
$GC,7225,0.89,144.8,882.4,32.4,348,7229,0.00,2.30,0.00,0.000,4,0.000,0.047,2176,1340,2223,0,0,0,0,0,0
$GC,7265,0.89,144.8,869.3,30.8,349,7269,0.00,2.38,0.00,0.000,6,0.000,0.052,2173,2740,2222,0,0,0,0,0,0
$GC,7592,0.89,144.8,765.7,31.1,360,7596,0.00,2.30,0.00,0.000,4,0.000,0.047,2183,1330,2220,0,0,0,0,0,0
$GC,7623,0.89,144.8,756.0,30.2,361,7627,0.00,2.33,0.00,0.000,6,0.000,0.052,2183,2739,2219,0,0,0,0,0,0
$GC,7961,0.89,144.8,648.4,31.9,372,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2740,2219,0,0,0,0,0,0
$GC,8267,0.89,144.8,552.9,31.0,382,8271,0.00,2.25,0.00,0.000,4,0.000,0.046,2193,1329,2218,0,0,0,0,0,0
$GC,8319,0.89,144.8,537.2,27.9,383,8324,0.15,2.28,0.00,0.000,6,0.258,0.052,2163,2737,2217,0,0,0,0,0,0
$GC,8634,0.89,144.8,445.3,29.4,393,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2737,2217,0,0,0,0,0,0
$GC,8952,0.89,144.8,350.6,30.0,406,8956,0.00,2.20,0.00,0.000,4,0.000,0.046,2173,1332,2217,0,0,0,0,0,0
$GC,8988,0.89,144.8,339.8,28.2,407,8995,0.00,2.25,0.00,0.000,6,0.000,0.052,2169,2739,2216,0,0,0,0,0,0
$GC,9308,0.89,144.8,248.0,28.3,423,9312,0.00,2.22,0.00,0.000,4,0.000,0.046,2179,1329,2216,0,0,0,0,0,0
$GC,9357,0.89,144.8,234.2,26.0,426,9361,0.00,2.25,0.00,0.000,6,0.000,0.051,2179,2736,2216,0,0,0,0,0,0
$GC,9686,0.89,144.8,140.9,28.4,447,9690,0.00,2.20,0.00,0.000,4,0.000,0.046,2189,1334,2215,0,0,0,0,0,0
$GC,9720,0.89,144.8,131.5,28.1,449,9724,0.12,2.25,0.00,0.000,6,0.257,0.051,2164,2743,2215,0,0,0,0,0,0
$GC,10066,0.89,144.8,42.8,24.1,495,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2743,2215,0,0,0,0,0,0
$STATE,10223,end climb,SURFACE_DEPTH_REACHED
$STATE,10223,begin surface coast
$FINISH,0.6,1.018298
$STATE,10241,end surface coast,CONTROL_FINISHED_OK
$STATE,10241,begin surface
$SM_CCo,10263,181.02,0.791,1,0,519,564.18
$SM_GC,1.01,0.00,0.00,181.02,0.000,0.000,0.791,59,2931,519,-5.66,0.23,564.18
$IRIDIUM_FIX,-4613.60,400.91,221212,232347
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.7,19.056
$10V_AH,10.1,8.157
$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,14.175,43.125,291.350,181.025,0.000,26.407,48.116,305.606,0.000,0.000,23.166,1269.160,7015.907,592.640,1682.360,471.917,33.354,1149.160,0.000,1275.940,0.000,1.009,0.000
$DEVICE_MAMPS,257.805,83.385,1799.280,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.182,1055.474,584.480,233.074,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,37114,523
$CAP_FILE_SIZE,76504,0
$CFSIZE,259252224,223002624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,231212,053853,-4633.375,359.103,38,1.0,38,-23.3