version: 66.07
glider: 542
mission: 6
dive: 90
start: 12 23 112 5 48 51
data:
$ID,542
$MISSION,6
$DIVE,90
$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,-10614.997
$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,31
$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
$GPS1,231212,053853,-4633.375,359.103,38,1.0,38,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-34.0
$GPS2,231212,054749,-4633.396,359.146,17,0.8,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.142,0.099
$KALMAN_X,-57246.7,-918.7,47.1,35539.1,-214.5
$KALMAN_Y,29282.7,-615.9,-482.0,4955.3,5363.0
$MHEAD_RNG_PITCHd_Wd,78.5,6383,-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,-131.98,0.000,6,0.000,0.000,58,2933,3078,0,0,0,0,0,0
$GC,169,-0.89,-126.7,2.9,-3.2,17,195,6.28,2.25,-8.02,0.000,4,0.253,0.053,1578,1521,3337,0,0,0,0,0,0
$GC,292,-0.89,-126.7,23.4,-15.7,35,301,0.00,2.28,0.00,0.000,6,0.000,0.052,1570,2910,3339,0,0,0,0,0,0
$GC,377,-0.89,-126.7,39.6,-20.1,48,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2910,3339,0,0,0,0,0,0
$GC,626,-0.89,-126.7,86.3,-17.7,89,631,0.00,2.12,0.00,0.000,4,0.000,0.036,1570,1522,3339,0,0,0,0,0,0
$GC,664,-0.89,-126.7,93.0,-16.6,95,669,0.00,2.25,0.00,0.000,6,0.000,0.052,1559,2921,3339,0,0,0,0,0,0
$GC,989,-0.89,-126.7,150.6,-18.6,120,990,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2922,3339,0,0,0,0,0,0
$GC,1301,-0.89,-126.7,208.4,-18.6,140,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2922,3340,0,0,0,0,0,0
$GC,1615,-0.89,-126.7,263.0,-17.6,159,1619,0.00,1.55,0.00,0.000,4,0.000,0.058,1551,3901,3340,0,0,0,0,0,0
$GC,1633,-0.89,-126.7,266.9,-17.2,159,1640,0.00,1.50,0.00,0.000,6,0.000,0.034,1552,2906,3340,0,0,0,0,0,0
$GC,1955,-0.89,-126.7,321.9,-17.8,175,1957,0.12,0.00,0.00,0.000,6,0.215,0.000,1579,2905,3340,0,0,0,0,0,0
$GC,2261,-0.89,-126.7,370.9,-15.8,190,2264,0.00,1.60,0.00,0.000,4,0.000,0.060,1573,3897,3340,0,0,0,0,0,0
$GC,2312,-0.89,-126.7,379.9,-16.6,192,2316,0.00,1.48,0.00,0.000,6,0.000,0.034,1573,2926,3340,0,0,0,0,0,0
$GC,2639,-0.89,-126.7,431.3,-15.4,205,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2922,3340,0,0,0,0,0,0
$GC,2946,-0.89,-126.7,477.1,-14.7,215,2950,0.00,1.58,0.00,0.000,4,0.000,0.060,1566,3901,3339,0,0,0,0,0,0
$GC,2975,-0.89,-126.7,481.7,-15.6,215,2981,0.00,1.48,0.00,0.000,6,0.000,0.034,1566,2925,3339,0,0,0,0,0,0
$GC,3290,-0.89,-126.7,527.0,-14.0,226,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2924,3339,0,0,0,0,0,0
$GC,3596,-0.89,-126.7,569.7,-13.8,236,3600,0.00,2.10,0.00,0.000,4,0.000,0.039,1566,1525,3339,0,0,0,0,0,0
$GC,3620,-0.89,-126.7,573.4,-14.2,236,3624,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2930,3338,0,0,0,0,0,0
$GC,3935,-0.89,-126.7,619.4,-14.8,246,3939,0.00,2.15,0.00,0.000,4,0.000,0.037,1555,1522,3338,0,0,0,0,0,0
$GC,3959,-0.89,-126.7,623.2,-15.2,246,3966,0.15,2.22,0.00,0.000,6,0.208,0.054,1580,2929,3338,0,0,0,0,0,0
$GC,4274,-0.89,-126.7,664.8,-13.4,257,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2929,3338,0,0,0,0,0,0
$GC,4580,-0.89,-126.7,705.8,-13.4,267,4583,0.00,1.52,0.00,0.000,4,0.000,0.062,1574,3894,3338,0,0,0,0,0,0
$GC,4625,-0.89,-126.7,712.7,-14.7,268,4629,0.00,1.48,0.00,0.000,6,0.000,0.035,1574,2922,3337,0,0,0,0,0,0
$GC,4957,-0.89,-126.7,757.6,-13.2,279,4961,0.00,1.58,0.00,0.000,4,0.000,0.062,1567,3896,3337,0,0,0,0,0,0
$GC,4980,-0.89,-126.7,761.1,-14.2,279,4984,0.00,1.48,0.00,0.000,6,0.000,0.034,1567,2923,3337,0,0,0,0,0,0
$GC,5301,-0.89,-126.7,803.8,-13.2,290,5305,0.00,2.10,0.00,0.000,4,0.000,0.038,1567,1523,3337,0,0,0,0,0,0
$GC,5319,-0.89,-126.7,806.5,-13.2,290,5323,0.00,2.20,0.00,0.000,6,0.000,0.054,1556,2924,3336,0,0,0,0,0,0
$GC,5635,-0.89,-126.7,849.9,-13.8,300,5638,0.00,1.52,0.00,0.000,4,0.000,0.061,1549,3893,3336,0,0,0,0,0,0
$GC,5652,-0.89,-126.7,852.7,-14.4,300,5657,0.08,1.48,0.00,0.000,6,0.200,0.035,1570,2921,3336,0,0,0,0,0,0
$GC,5979,-0.89,-126.7,893.8,-12.5,311,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2918,3336,0,0,0,0,0,0
$GC,6285,-0.89,-126.7,932.5,-12.5,321,6289,0.00,2.10,0.00,0.000,4,0.000,0.039,1570,1521,3335,0,0,0,0,0,0
$GC,6316,-0.89,-126.7,936.5,-12.7,322,6320,0.00,2.22,0.00,0.000,6,0.000,0.055,1561,2922,3335,0,0,0,0,0,0
$GC,6654,-0.89,-126.7,981.7,-13.7,333,6657,0.00,1.52,0.00,0.000,4,0.000,0.062,1554,3892,3335,0,0,0,0,0,0
$GC,6677,-0.89,-126.7,985.3,-14.2,333,6681,0.00,1.48,0.00,0.000,6,0.000,0.035,1554,2916,3335,0,0,0,0,0,0
$STATE,6809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6809,begin apogee
$GC,6819,-0.19,0.0,1004.0,13.8,338,6952,0.88,0.00,128.55,1.231,6,0.187,0.000,1805,2739,2819,0,0,0,0,0,0
$STATE,6953,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6958,0.89,126.7,1006.7,0.0,342,7094,1.00,0.00,127.38,1.799,6,0.060,0.000,2165,2739,2303,0,0,0,0,1,0
$GC,7394,0.89,126.7,886.9,31.0,357,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2739,2297,0,0,0,0,0,0
$GC,7700,0.89,126.7,794.2,30.1,367,7704,0.00,2.25,0.00,0.000,4,0.000,0.045,2176,1340,2294,0,0,0,0,0,0
$GC,7753,0.89,126.7,779.0,27.6,368,7757,0.00,2.28,0.00,0.000,6,0.000,0.052,2176,2733,2293,0,0,0,0,0,0
$GC,8073,0.89,126.7,682.6,30.2,379,8077,0.00,2.22,0.00,0.000,4,0.000,0.046,2187,1341,2292,0,0,0,0,0,0
$GC,8091,0.89,126.7,676.6,30.3,379,8095,0.00,2.28,0.00,0.000,6,0.000,0.051,2186,2736,2292,0,0,0,0,0,0
$GC,8412,0.89,126.7,579.9,29.8,390,8416,0.00,2.22,0.00,0.000,4,0.000,0.046,2197,1339,2291,0,0,0,0,0,0
$GC,8477,0.89,126.7,561.1,27.9,392,8482,0.15,2.25,0.00,0.000,6,0.253,0.053,2165,2734,2290,0,0,0,0,0,0
$GC,8821,0.89,126.7,462.5,28.7,403,8825,0.00,2.22,0.00,0.000,4,0.000,0.046,2174,1331,2290,0,0,0,0,0,0
$GC,8854,0.89,126.7,453.8,28.1,404,8858,0.00,2.25,0.00,0.000,6,0.000,0.052,2169,2743,2290,0,0,0,0,0,0
$GC,9172,0.89,126.7,363.1,28.2,416,9173,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2743,2289,0,0,0,0,0,0
$GC,9483,0.89,126.7,277.1,27.8,431,9487,0.00,2.20,0.00,0.000,4,0.000,0.046,2179,1338,2289,0,0,0,0,0,0
$GC,9541,0.89,126.7,260.6,26.1,433,9545,0.00,2.22,0.00,0.000,6,0.000,0.052,2179,2739,2289,0,0,0,0,0,0
$GC,9878,0.89,126.7,170.7,26.4,453,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2739,2289,0,0,0,0,0,0
$GC,10202,0.89,126.7,84.9,23.8,480,10211,0.00,2.22,0.00,0.000,4,0.000,0.045,2190,1334,2289,0,0,0,0,0,0
$GC,10272,0.89,126.7,69.5,21.4,491,10277,0.12,2.22,0.00,0.000,6,0.251,0.053,2164,2741,2288,0,0,0,0,0,0
$STATE,10554,end climb,SURFACE_DEPTH_REACHED
$STATE,10554,begin surface coast
$FINISH,0.5,1.017317
$STATE,10570,end surface coast,CONTROL_FINISHED_OK
$STATE,10570,begin surface
$SM_CCo,10592,187.02,0.796,1,0,518,564.18
$SM_GC,0.79,0.00,0.00,187.02,0.000,0.000,0.796,58,2953,518,-5.66,0.85,564.18
$IRIDIUM_FIX,-4616.72,351.76,231212,020237
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.0,19.227
$10V_AH,10.1,8.236
$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,14.500,74.800,255.925,187.025,0.000,25.802,23.073,293.937,0.000,0.000,21.169,1332.634,7193.251,590.814,1705.905,500.722,33.359,1194.532,0.000,1328.282,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,61.965,1799.280,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.702,1087.872,607.562,249.795,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,40502,540
$CAP_FILE_SIZE,86059,0
$CFSIZE,259252224,222949376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,231212,085004,-4632.231,359.900,41,0.9,41,-23.3