version: 66.07
glider: 542
mission: 6
dive: 98
start: 12 24 112 7 2 17
data:
$ID,542
$MISSION,6
$DIVE,98
$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,-10661.56
$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,50
$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
$GPS1,241212,065105,-4628.167,403.861,36,1.0,36,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-29.1
$GPS2,241212,070119,-4628.231,403.939,16,1.0,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.233,0.025
$KALMAN_X,-62331.3,573.8,321.8,44898.9,-314.9
$KALMAN_Y,21658.6,-245.2,380.5,20871.3,-3755.7
$MHEAD_RNG_PITCHd_Wd,299.3,5996,-19.8,-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,22,begin dive
$GC,26,-0.68,-116.2,0.0,0.0,0,171,0.00,0.00,-141.60,0.000,2,0.000,0.000,60,2938,3247,0,0,0,0,0,0
$GC,177,-0.78,-194.7,3.1,-3.0,18,196,6.38,0.00,-9.25,0.000,6,0.250,0.000,1611,2938,3615,0,0,0,0,0,0
$GC,275,-0.78,-194.7,24.9,-19.1,32,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2938,3618,0,0,0,0,0,0
$GC,362,-0.78,-194.7,39.8,-15.8,45,369,0.00,2.20,0.00,0.000,4,0.000,0.037,1619,1521,3618,0,0,0,0,0,0
$GC,381,-0.78,-194.7,43.4,-17.1,47,388,0.00,2.28,0.00,0.000,6,0.000,0.052,1609,2924,3618,0,0,0,0,0,0
$GC,628,-0.78,-194.7,86.6,-18.5,88,635,0.00,2.17,0.00,0.000,4,0.000,0.036,1609,1525,3618,0,0,0,0,0,0
$GC,656,-0.78,-194.7,91.2,-15.4,92,663,0.00,2.25,0.00,0.000,6,0.000,0.053,1599,2926,3618,0,0,0,0,0,0
$GC,986,-0.78,-194.7,146.0,-16.9,119,990,0.00,1.55,0.00,0.000,4,0.000,0.059,1591,3898,3619,0,0,0,0,0,0
$GC,1032,-0.78,-194.7,154.7,-16.8,121,1039,0.00,1.50,0.00,0.000,6,0.000,0.033,1592,2905,3619,0,0,0,0,0,0
$GC,1354,-0.78,-194.7,209.4,-17.1,142,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2905,3619,0,0,0,0,0,0
$GC,1681,-0.78,-194.7,262.1,-15.7,162,1685,0.00,2.05,0.00,0.000,4,0.000,0.037,1592,1538,3619,0,0,0,0,0,0
$GC,1708,-0.78,-194.7,266.0,-16.0,163,1713,0.15,2.22,0.00,0.000,6,0.193,0.054,1618,2925,3619,0,0,0,0,0,0
$GC,2041,-0.78,-194.7,306.2,-11.7,179,2045,0.00,1.55,0.00,0.000,4,0.000,0.061,1612,3903,3619,0,0,0,0,0,0
$GC,2070,-0.78,-194.7,310.2,-12.3,180,2073,0.00,1.48,0.00,0.000,6,0.000,0.034,1612,2929,3619,0,0,0,0,0,0
$GC,2399,-0.78,-194.7,349.6,-12.3,196,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2925,3619,0,0,0,0,0,0
$GC,2710,-0.78,-194.7,389.1,-13.1,211,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2925,3619,0,0,0,0,0,0
$GC,3025,-0.78,-194.7,430.3,-12.8,223,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2925,3618,0,0,0,0,0,0
$GC,3332,-0.78,-194.7,468.8,-12.7,233,3336,0.00,2.10,0.00,0.000,4,0.000,0.038,1612,1530,3618,0,0,0,0,0,0
$GC,3366,-0.78,-194.7,473.2,-12.1,234,3370,0.00,2.22,0.00,0.000,6,0.000,0.055,1602,2926,3618,0,0,0,0,0,0
$GC,3698,-0.78,-194.7,517.2,-13.6,245,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2926,3618,0,0,0,0,0,0
$GC,4004,-0.78,-194.7,560.0,-14.2,255,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2927,3618,0,0,0,0,0,0
$GC,4311,-0.78,-194.7,604.8,-14.7,265,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2927,3618,0,0,0,0,0,0
$GC,4616,-0.78,-194.7,647.3,-13.7,275,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2927,3617,0,0,0,0,0,0
$GC,4923,-0.78,-194.7,687.7,-13.0,285,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2926,3617,0,0,0,0,0,0
$GC,5229,-0.78,-194.7,729.6,-13.9,295,5233,0.00,1.52,0.00,0.000,4,0.000,0.063,1594,3893,3616,0,0,0,0,0,0
$GC,5266,-0.78,-194.7,734.9,-14.6,296,5270,0.00,1.45,0.00,0.000,6,0.000,0.035,1594,2932,3616,0,0,0,0,0,0
$GC,5610,-0.78,-194.7,784.9,-14.6,307,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,1594,2928,3616,0,0,0,0,0,0
$GC,5915,-0.78,-194.7,827.7,-13.7,317,5918,0.00,1.55,0.00,0.000,4,0.000,0.063,1587,3892,3615,0,0,0,0,0,0
$GC,5938,-0.78,-194.7,831.3,-14.3,317,5942,0.08,1.48,0.00,0.000,6,0.180,0.035,1610,2921,3616,0,0,0,0,0,0
$GC,6259,-0.78,-194.7,867.3,-10.7,328,6263,0.00,2.10,0.00,0.000,4,0.000,0.039,1610,1520,3615,0,0,0,0,0,0
$GC,6300,-0.78,-194.7,871.6,-9.0,329,6304,0.00,2.22,0.00,0.000,6,0.000,0.055,1600,2923,3615,0,0,0,0,0,0
$GC,6626,-0.78,-194.7,907.1,-11.1,340,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2924,3615,0,0,0,0,0,0
$GC,6932,-0.78,-194.7,940.8,-10.8,350,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2924,3615,0,0,0,0,0,0
$GC,7239,-0.78,-194.7,973.4,-10.5,360,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3614,0,0,0,0,0,0
$STATE,7509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7510,begin apogee
$GC,7520,-0.19,0.0,1002.2,10.3,369,7715,0.68,0.00,191.70,1.224,6,0.167,0.000,1802,2734,2820,0,0,0,0,0,0
$STATE,7717,end apogee,CONTROL_FINISHED_OK
$STATE,7717,begin climb
$GC,7722,0.78,194.7,1007.5,0.0,375,7934,0.90,2.22,197.80,1.802,4,0.058,0.057,2126,3888,2026,0,0,0,0,1,0
$GC,8196,0.78,194.7,861.9,36.3,389,8200,0.00,1.92,0.00,0.000,6,0.000,0.040,2135,2747,2022,0,0,0,0,0,0
$GC,8528,0.78,194.7,748.2,34.4,400,8532,0.00,2.30,0.00,0.000,4,0.000,0.046,2146,1315,2018,0,0,0,0,0,0
$GC,8568,0.78,194.7,733.9,32.2,401,8572,0.00,2.35,0.00,0.000,6,0.000,0.053,2146,2741,2017,0,0,0,0,0,0
$GC,8906,0.78,194.7,618.5,34.0,412,8910,0.00,2.28,0.00,0.000,4,0.000,0.047,2157,1319,2017,0,0,0,0,0,0
$GC,8958,0.78,194.7,600.8,31.3,413,8963,0.15,2.33,0.00,0.000,6,0.256,0.051,2126,2743,2017,0,0,0,0,0,0
$GC,9273,0.78,194.7,500.9,31.8,423,9277,0.00,2.28,0.00,0.000,4,0.000,0.047,2136,1321,2017,0,0,0,0,0,0
$GC,9354,0.78,194.7,477.3,27.3,425,9358,0.00,2.30,0.00,0.000,6,0.000,0.052,2136,2740,2016,0,0,0,0,0,0
$GC,9679,0.78,194.7,378.5,31.0,437,9683,0.00,2.25,0.00,0.000,4,0.000,0.048,2146,1314,2016,0,0,0,0,0,0
$GC,9738,0.78,194.7,360.1,27.5,439,9745,0.00,2.28,0.00,0.000,6,0.000,0.052,2146,2733,2015,0,0,0,0,0,0
$GC,10059,0.78,194.7,258.6,32.2,455,10063,0.00,2.25,0.00,0.000,4,0.000,0.048,2157,1315,2016,0,0,0,0,0,0
$GC,10083,0.78,194.7,249.7,32.3,456,10088,0.15,2.28,0.00,0.000,6,0.251,0.051,2125,2734,2015,0,0,0,0,0,0
$GC,10416,0.78,194.7,153.3,28.7,477,10420,0.00,2.22,0.00,0.000,4,0.000,0.047,2135,1320,2015,0,0,0,0,0,0
$GC,10499,0.78,194.7,129.1,25.5,482,10503,0.00,2.28,0.00,0.000,6,0.000,0.053,2135,2739,2014,0,0,0,0,0,0
$GC,10846,0.78,194.7,29.4,28.2,530,10855,0.00,2.25,0.00,0.000,4,0.000,0.047,2145,1326,2015,0,0,0,0,0,0
$STATE,10937,end climb,SURFACE_DEPTH_REACHED
$STATE,10937,begin surface coast
$FINISH,0.5,1.026439
$STATE,10945,end surface coast,CONTROL_FINISHED_OK
$STATE,10945,begin surface
$SM_CCo,10970,158.32,0.799,1,0,518,564.18
$SM_GC,0.69,0.00,0.00,158.32,0.000,0.000,0.799,65,2937,518,-5.65,0.42,564.18
$IRIDIUM_FIX,-4610.49,407.14,241212,030331
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.5,20.672
$10V_AH,10.1,8.870
$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,14.000,70.550,389.500,158.325,0.000,25.604,42.230,322.295,0.000,0.000,20.088,1345.938,7373.322,647.112,1840.085,535.979,33.358,1317.144,0.000,1414.663,0.000,1.009,0.000
$DEVICE_MAMPS,256.275,62.730,1801.575,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.494,1086.279,587.663,222.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,40317,545
$CAP_FILE_SIZE,89515,0
$CFSIZE,259252224,222556160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,241212,100921,-4627.212,402.276,44,1.0,44,-23.3