version: 66.07
glider: 542
mission: 6
dive: 93
start: 12 23 112 15 15 26
data:
$ID,542
$MISSION,6
$DIVE,93
$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,-10634.671
$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,34
$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
$GPS1,231212,150453,-4632.256,402.830,41,1.3,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-25.2
$GPS2,231212,151425,-4632.280,402.878,17,1.4,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.156,0.075
$KALMAN_X,-63835.3,744.1,531.0,44689.3,-6039.8
$KALMAN_Y,28348.3,-556.9,-315.2,7718.5,3043.3
$MHEAD_RNG_PITCHd_Wd,87.5,5594,-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,-63.1,0.0,0.0,0,163,0.00,0.00,-132.50,0.000,6,0.000,0.000,59,2938,3078,0,0,0,0,0,0
$GC,169,-0.90,-133.4,2.7,-2.5,17,196,6.20,2.25,-8.75,0.000,4,0.249,0.051,1578,1520,3367,0,0,0,0,0,0
$GC,315,-0.90,-133.4,28.4,-15.9,38,324,0.00,2.28,0.00,0.000,6,0.000,0.054,1569,2907,3369,0,0,0,0,0,0
$GC,402,-0.90,-133.4,46.1,-21.8,51,409,0.00,2.15,0.00,0.000,4,0.000,0.036,1569,1516,3368,0,0,0,0,0,0
$GC,433,-0.90,-133.4,52.6,-20.9,55,440,0.00,2.28,0.00,0.000,6,0.000,0.052,1558,2924,3368,0,0,0,0,0,0
$GC,674,-0.90,-133.4,100.9,-17.4,96,677,0.00,1.55,0.00,0.000,4,0.000,0.058,1551,3892,3369,0,0,0,0,0,0
$GC,766,-0.90,-133.4,119.0,-20.1,101,769,0.00,1.50,0.00,0.000,6,0.000,0.032,1551,2906,3369,0,0,0,0,0,0
$GC,1094,-0.90,-133.4,184.1,-19.6,122,1097,0.00,1.60,0.00,0.000,4,0.000,0.057,1544,3891,3369,0,0,0,0,0,0
$GC,1140,-0.90,-133.4,194.1,-20.9,124,1150,0.08,1.48,0.00,0.000,6,0.196,0.032,1564,2918,3369,0,0,0,0,0,0
$GC,1463,-0.90,-133.4,249.0,-16.2,145,1467,0.00,2.10,0.00,0.000,4,0.000,0.036,1564,1528,3370,0,0,0,0,0,0
$GC,1494,-0.90,-133.4,254.3,-15.9,147,1498,0.00,2.22,0.00,0.000,6,0.000,0.052,1555,2924,3370,0,0,0,0,0,0
$GC,1812,-0.90,-133.4,308.0,-17.1,162,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2924,3370,0,0,0,0,0,0
$GC,2124,-0.90,-133.4,360.9,-17.3,177,2127,0.00,1.52,0.00,0.000,4,0.000,0.059,1548,3893,3370,0,0,0,0,0,0
$GC,2194,-0.90,-133.4,373.7,-18.7,180,2199,0.08,1.48,0.00,0.000,6,0.197,0.034,1569,2922,3370,0,0,0,0,0,0
$GC,2518,-0.90,-133.4,426.3,-16.4,193,2521,0.00,1.58,0.00,0.000,4,0.000,0.060,1563,3897,3370,0,0,0,0,0,0
$GC,2558,-0.90,-133.4,433.6,-17.0,194,2561,0.00,1.48,0.00,0.000,6,0.000,0.034,1563,2922,3370,0,0,0,0,0,0
$GC,2895,-0.90,-133.4,490.2,-16.9,205,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2918,3370,0,0,0,0,0,0
$GC,3203,-0.90,-133.4,541.6,-16.6,215,3206,0.00,1.58,0.00,0.000,4,0.000,0.060,1556,3896,3370,0,0,0,0,0,0
$GC,3259,-0.90,-133.4,552.2,-17.3,216,3262,0.00,1.48,0.00,0.000,6,0.000,0.034,1555,2922,3369,0,0,0,0,0,0
$GC,3579,-0.90,-133.4,606.2,-16.9,227,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2919,3369,0,0,0,0,0,0
$GC,3885,-0.90,-133.4,655.7,-16.2,237,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2919,3369,0,0,0,0,0,0
$GC,4191,-0.90,-133.4,703.4,-15.4,247,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2919,3369,0,0,0,0,0,0
$GC,4498,-0.90,-133.4,750.6,-15.0,257,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2919,3368,0,0,0,0,0,0
$GC,4805,-0.90,-133.4,796.0,-14.7,267,4809,0.00,1.58,0.00,0.000,4,0.000,0.061,1548,3897,3368,0,0,0,0,0,0
$GC,4862,-0.90,-133.4,805.3,-15.9,268,4867,0.08,1.48,0.00,0.000,6,0.190,0.035,1569,2929,3368,0,0,0,0,0,0
$GC,5183,-0.90,-133.4,848.1,-13.4,279,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2926,3368,0,0,0,0,0,0
$GC,5490,-0.90,-133.4,888.0,-13.0,289,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2926,3367,0,0,0,0,0,0
$GC,5796,-0.90,-133.4,927.5,-12.5,299,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2926,3367,0,0,0,0,0,0
$GC,6102,-0.90,-133.4,966.0,-12.5,309,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2926,3367,0,0,0,0,0,0
$STATE,6373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6373,begin apogee
$GC,6384,-0.19,0.0,1000.5,12.5,318,6526,0.80,0.00,134.38,1.242,6,0.183,0.000,1803,2737,2816,0,0,0,0,0,0
$STATE,6528,end apogee,CONTROL_FINISHED_OK
$STATE,6528,begin climb
$GC,6533,0.90,133.4,1003.2,0.0,323,6683,1.02,0.00,134.85,1.805,6,0.056,0.000,2172,2737,2275,0,0,0,0,1,0
$GC,6986,0.90,133.4,875.9,31.9,338,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2268,0,0,0,0,0,0
$GC,7293,0.90,133.4,779.5,31.3,348,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2266,0,0,0,0,0,0
$GC,7599,0.90,133.4,684.7,30.5,358,7603,0.00,2.22,0.00,0.000,4,0.000,0.046,2182,1338,2265,0,0,0,0,0,0
$GC,7656,0.90,133.4,667.3,29.2,359,7663,0.00,2.28,0.00,0.000,6,0.000,0.050,2182,2741,2263,0,0,0,0,0,0
$GC,7971,0.90,133.4,570.8,31.1,370,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2741,2263,0,0,0,0,0,0
$GC,8278,0.90,133.4,475.3,31.1,380,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2741,2263,0,0,0,0,0,0
$GC,8587,0.90,133.4,380.8,30.4,391,8591,0.00,2.22,0.00,0.000,4,0.000,0.045,2193,1333,2263,0,0,0,0,0,0
$GC,8618,0.90,133.4,371.1,29.2,392,8623,0.12,2.25,0.00,0.000,6,0.250,0.050,2167,2735,2261,0,0,0,0,0,0
$GC,8940,0.90,133.4,278.9,29.3,407,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2736,2261,0,0,0,0,0,0
$GC,9260,0.90,133.4,188.9,27.3,426,9264,0.00,2.20,0.00,0.000,4,0.000,0.045,2177,1334,2261,0,0,0,0,0,0
$GC,9311,0.90,133.4,175.8,24.7,429,9315,0.00,2.25,0.00,0.000,6,0.000,0.051,2177,2742,2260,0,0,0,0,0,0
$GC,9637,0.90,133.4,94.1,24.2,451,9642,0.00,1.83,0.00,0.000,4,0.000,0.058,2177,3903,2260,0,0,0,0,0,0
$GC,9658,0.90,133.4,88.2,26.1,454,9666,0.00,1.83,0.00,0.000,6,0.000,0.041,2186,2742,2259,0,0,0,0,0,0
$STATE,9993,end climb,SURFACE_DEPTH_REACHED
$STATE,9993,begin surface coast
$FINISH,0.4,1.010851
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10030,182.02,0.803,1,0,518,564.18
$SM_GC,0.80,0.00,0.00,182.02,0.000,0.000,0.803,61,2948,518,-5.65,0.71,564.18
$IRIDIUM_FIX,-4616.72,404.25,231212,111101
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.9,19.754
$10V_AH,10.1,8.467
$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,14.025,49.200,269.225,182.025,0.000,27.112,43.876,298.710,0.000,0.000,23.472,1247.908,6842.711,572.476,1647.440,478.412,33.358,1134.580,0.000,1255.784,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,61.200,1804.635,803.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.989,1041.844,581.152,230.003,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,37086,512
$CAP_FILE_SIZE,77016,0
$CFSIZE,259252224,222822400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,231212,180704,-4631.388,404.012,34,1.5,34,-23.3