version: 66.07
glider: 542
mission: 6
dive: 109
start: 12 25 112 19 54 20
data:
$ID,542
$MISSION,6
$DIVE,109
$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,-10712.239
$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,34
$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
$GPS1,251212,194338,-4630.097,405.940,40,0.8,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-28.9
$GPS2,251212,195319,-4630.141,405.978,18,1.2,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.134,-0.110
$KALMAN_X,-70883.5,321.6,529.0,56071.6,-6974.6
$KALMAN_Y,31378.0,-215.7,21.6,7957.3,724.7
$MHEAD_RNG_PITCHd_Wd,253.9,7625,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-136.25,0.000,6,0.000,0.000,46,2940,3076,0,0,0,0,0,0
$GC,177,-0.89,-124.1,3.1,-3.5,18,195,6.35,1.60,-6.95,0.000,4,0.253,0.082,1572,3895,3328,0,0,0,0,0,0
$GC,274,-0.89,-124.1,22.6,-21.2,32,283,0.00,1.52,0.00,0.000,6,0.000,0.032,1572,2895,3329,0,0,0,0,0,0
$GC,360,-0.89,-124.1,39.1,-18.5,45,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2895,3329,0,0,0,0,0,0
$GC,602,-0.89,-124.1,85.5,-16.0,86,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2895,3329,0,0,0,0,0,0
$GC,940,-0.89,-124.1,143.2,-16.5,116,944,0.00,1.60,0.00,0.000,4,0.000,0.057,1565,3887,3330,0,0,0,0,0,0
$GC,1011,-0.89,-124.1,155.9,-17.1,120,1015,0.00,1.45,0.00,0.000,6,0.000,0.032,1565,2924,3330,0,0,0,0,0,0
$GC,1345,-0.89,-124.1,213.6,-17.2,141,1349,0.00,1.58,0.00,0.000,4,0.000,0.059,1558,3896,3330,0,0,0,0,0,0
$GC,1369,-0.89,-124.1,218.2,-16.9,142,1372,0.00,1.48,0.00,0.000,6,0.000,0.032,1558,2921,3330,0,0,0,0,0,0
$GC,1696,-0.89,-124.1,272.6,-16.9,161,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2917,3330,0,0,0,0,0,0
$GC,2003,-0.89,-124.1,323.7,-16.6,176,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2916,3330,0,0,0,0,0,0
$GC,2314,-0.89,-124.1,373.0,-15.5,191,2318,0.00,1.58,0.00,0.000,4,0.000,0.060,1550,3897,3330,0,0,0,0,0,0
$GC,2364,-0.89,-124.1,381.3,-16.8,193,2369,0.10,1.48,0.00,0.000,6,0.191,0.034,1578,2925,3330,0,0,0,0,0,0
$GC,2708,-0.89,-124.1,430.4,-14.3,206,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2922,3330,0,0,0,0,0,0
$GC,3014,-0.89,-124.1,473.9,-14.3,216,3018,0.00,1.55,0.00,0.000,4,0.000,0.061,1573,3887,3330,0,0,0,0,0,0
$GC,3071,-0.89,-124.1,483.1,-15.6,217,3075,0.00,1.48,0.00,0.000,6,0.000,0.034,1572,2909,3330,0,0,0,0,0,0
$GC,3391,-0.89,-124.1,530.4,-14.8,228,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2905,3330,0,0,0,0,0,0
$GC,3697,-0.89,-124.1,576.0,-14.6,238,3701,0.00,1.58,0.00,0.000,4,0.000,0.060,1565,3887,3329,0,0,0,0,0,0
$GC,3794,-0.89,-124.1,591.7,-16.5,240,3801,0.00,1.45,0.00,0.000,6,0.000,0.034,1565,2924,3328,0,0,0,0,0,0
$GC,4109,-0.89,-124.1,641.4,-16.1,251,4113,0.00,1.55,0.00,0.000,4,0.000,0.061,1558,3890,3328,0,0,0,0,0,0
$GC,4180,-0.89,-124.1,653.5,-16.7,253,4183,0.00,1.45,0.00,0.000,6,0.000,0.034,1558,2928,3329,0,0,0,0,0,0
$GC,4522,-0.89,-124.1,708.1,-15.5,264,4526,0.00,2.10,0.00,0.000,4,0.000,0.039,1557,1528,3328,0,0,0,0,0,0
$GC,4557,-0.89,-124.1,713.7,-14.5,265,4562,0.12,2.20,0.00,0.000,6,0.210,0.054,1576,2919,3327,0,0,0,0,0,0
$GC,4890,-0.89,-124.1,757.6,-13.1,276,4894,0.00,2.12,0.00,0.000,4,0.000,0.037,1576,1521,3327,0,0,0,0,0,0
$GC,4936,-0.89,-124.1,763.4,-12.1,277,4940,0.00,2.22,0.00,0.000,6,0.000,0.054,1567,2924,3327,0,0,0,0,0,0
$GC,5257,-0.89,-124.1,806.6,-13.8,288,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2925,3327,0,0,0,0,0,0
$GC,5563,-0.89,-124.1,847.8,-13.4,298,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2925,3327,0,0,0,0,0,0
$GC,5869,-0.89,-124.1,888.5,-13.3,308,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2925,3327,0,0,0,0,0,0
$GC,6177,-0.89,-124.1,927.6,-12.7,318,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2925,3326,0,0,0,0,0,0
$GC,6482,-0.89,-124.1,966.8,-13.0,328,6485,0.00,2.12,0.00,0.000,4,0.000,0.038,1567,1525,3326,0,0,0,0,0,0
$GC,6550,-0.89,-124.1,975.5,-12.0,330,6554,0.00,2.22,0.00,0.000,6,0.000,0.054,1556,2933,3326,0,0,0,0,0,0
$STATE,6761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6761,begin apogee
$GC,6772,-0.19,0.0,1003.2,13.2,337,6901,0.88,0.00,126.32,1.236,6,0.192,0.000,1805,2740,2818,0,0,0,0,0,0
$STATE,6903,end apogee,CONTROL_FINISHED_OK
$STATE,6903,begin climb
$GC,6908,0.89,124.1,1005.8,0.0,341,7051,0.98,2.55,124.43,1.791,4,0.057,0.044,2171,1342,2315,0,0,0,0,1,0
$GC,7070,0.89,124.1,972.5,27.6,346,7077,0.00,2.50,0.00,0.000,6,0.000,0.050,2171,2735,2313,0,0,0,0,0,0
$GC,7386,0.89,124.1,875.4,31.2,357,7390,0.00,2.30,0.00,0.000,4,0.000,0.047,2181,1342,2307,0,0,0,0,0,0
$GC,7418,0.89,124.1,865.7,29.2,358,7423,0.00,2.35,0.00,0.000,6,0.000,0.052,2181,2742,2306,0,0,0,0,0,0
$GC,7756,0.89,124.1,759.6,31.2,369,7760,0.00,2.28,0.00,0.000,4,0.000,0.046,2191,1336,2304,0,0,0,0,0,0
$GC,7803,0.89,124.1,745.2,29.3,370,7807,0.15,2.30,0.00,0.000,6,0.257,0.052,2162,2737,2303,0,0,0,0,0,0
$GC,8124,0.89,124.1,651.1,29.1,381,8128,0.00,2.22,0.00,0.000,4,0.000,0.045,2172,1339,2302,0,0,0,0,0,0
$GC,8165,0.89,124.1,639.4,26.2,382,8169,0.00,2.28,0.00,0.000,6,0.000,0.051,2172,2741,2301,0,0,0,0,0,0
$GC,8491,0.89,124.1,545.5,28.8,393,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2741,2301,0,0,0,0,0,0
$GC,8799,0.89,124.1,456.8,29.1,403,8803,0.00,2.20,0.00,0.000,4,0.000,0.045,2182,1341,2301,0,0,0,0,0,0
$GC,8817,0.89,124.1,450.5,28.7,403,8821,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2742,2300,0,0,0,0,0,0
$GC,9136,0.89,124.1,360.6,28.0,415,9140,0.00,2.22,0.00,0.000,4,0.000,0.047,2192,1335,2300,0,0,0,0,0,0
$GC,9170,0.89,124.1,349.8,26.7,416,9175,0.15,2.22,0.00,0.000,6,0.256,0.052,2162,2733,2299,0,0,0,0,0,0
$GC,9495,0.89,124.1,266.0,25.4,432,9499,0.00,2.20,0.00,0.000,4,0.000,0.045,2171,1336,2300,0,0,0,0,0,0
$GC,9517,0.89,124.1,260.8,25.5,433,9521,0.00,2.25,0.00,0.000,6,0.000,0.051,2169,2744,2299,0,0,0,0,0,0
$GC,9848,0.89,124.1,178.2,25.3,453,9852,0.00,2.17,0.00,0.000,4,0.000,0.046,2180,1341,2299,0,0,0,0,0,0
$GC,9871,0.89,124.1,171.3,23.4,454,9875,0.00,2.22,0.00,0.000,6,0.000,0.052,2180,2734,2299,0,0,0,0,0,0
$GC,10200,0.89,124.1,89.1,26.0,478,10207,0.00,2.17,0.00,0.000,4,0.000,0.045,2191,1333,2299,0,0,0,0,0,0
$GC,10216,0.89,124.1,83.7,25.5,480,10226,0.10,2.28,0.00,0.000,6,0.240,0.053,2165,2743,2298,0,0,0,0,0,0
$STATE,10551,end climb,SURFACE_DEPTH_REACHED
$STATE,10551,begin surface coast
$FINISH,0.5,1.026461
$STATE,10570,end surface coast,CONTROL_FINISHED_OK
$STATE,10571,begin surface
$SM_CCo,10593,188.15,0.796,1,0,516,564.18
$SM_GC,0.73,0.00,0.00,188.15,0.000,0.000,0.796,66,2936,516,-5.64,0.37,564.18
$IRIDIUM_FIX,-4616.72,404.25,251212,161648
$TT8_MAMPS,0.027713
$HUMID,56.53
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,22.0,22.970
$10V_AH,10.1,9.773
$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,14.500,75.850,250.750,188.150,0.000,28.228,42.352,306.534,0.000,0.000,24.676,1343.870,7142.426,570.683,1789.207,520.651,33.360,1207.363,0.000,1380.539,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,81.855,1790.865,796.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.010,1080.007,597.593,238.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,40452,538
$CAP_FILE_SIZE,89297,0
$CFSIZE,259252224,222019584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,251212,225533,-4630.375,403.954,36,1.5,39,-23.3