version: 66.07
glider: 542
mission: 6
dive: 111
start: 12 26 112 2 26 24
data:
$ID,542
$MISSION,6
$DIVE,111
$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,-10722.229
$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,42
$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
$GPS1,261212,021603,-4631.945,402.927,30,1.2,36,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-35.3
$GPS2,261212,022523,-4631.973,403.001,17,1.5,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.068
$KALMAN_X,-70911.5,1280.0,247.1,51665.0,-5157.8
$KALMAN_Y,33801.2,-232.1,-229.8,2416.1,3063.9
$MHEAD_RNG_PITCHd_Wd,90.4,5290,-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,-136.23,0.000,6,0.000,0.000,58,2945,3079,0,0,0,0,0,0
$GC,177,-0.89,-123.7,3.0,-3.6,18,196,6.38,2.30,-6.95,0.000,4,0.259,0.055,1581,1518,3326,0,0,0,0,0,0
$GC,315,-0.89,-123.7,28.9,-14.4,38,324,0.00,2.30,0.00,0.000,6,0.000,0.052,1572,2919,3328,0,0,0,0,0,0
$GC,403,-0.89,-123.7,45.1,-19.1,51,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2920,3328,0,0,0,0,0,0
$GC,644,-0.89,-123.7,91.6,-17.1,92,651,0.00,2.17,0.00,0.000,4,0.000,0.036,1575,1514,3328,0,0,0,0,0,0
$GC,680,-0.89,-123.7,97.1,-16.7,97,685,0.00,2.28,0.00,0.000,6,0.000,0.051,1565,2936,3328,0,0,0,0,0,0
$GC,1015,-0.89,-123.7,154.2,-16.9,120,1019,0.00,1.52,0.00,0.000,4,0.000,0.057,1558,3898,3329,0,0,0,0,0,0
$GC,1056,-0.89,-123.7,161.9,-17.8,122,1059,0.00,1.50,0.00,0.000,6,0.000,0.032,1558,2904,3329,0,0,0,0,0,0
$GC,1384,-0.89,-123.7,216.4,-17.1,143,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2899,3330,0,0,0,0,0,0
$GC,1704,-0.89,-123.7,269.4,-16.4,162,1708,0.00,1.60,0.00,0.000,4,0.000,0.058,1550,3894,3330,0,0,0,0,0,0
$GC,1761,-0.89,-123.7,280.1,-17.7,164,1766,0.08,1.45,0.00,0.000,6,0.192,0.032,1572,2938,3330,0,0,0,0,0,0
$GC,2086,-0.89,-123.7,330.6,-15.5,180,2090,0.00,2.12,0.00,0.000,4,0.000,0.037,1571,1519,3330,0,0,0,0,0,0
$GC,2115,-0.89,-123.7,334.7,-15.9,181,2119,0.00,2.22,0.00,0.000,6,0.000,0.052,1562,2924,3330,0,0,0,0,0,0
$GC,2447,-0.89,-123.7,387.5,-15.8,197,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2924,3329,0,0,0,0,0,0
$GC,2772,-0.89,-123.7,438.1,-15.5,209,2775,0.00,1.52,0.00,0.000,4,0.000,0.060,1555,3893,3330,0,0,0,0,0,0
$GC,2823,-0.89,-123.7,446.7,-16.4,210,2827,0.00,1.48,0.00,0.000,6,0.000,0.033,1555,2915,3329,0,0,0,0,0,0
$GC,3150,-0.89,-123.7,496.8,-15.8,221,3153,0.00,1.58,0.00,0.000,4,0.000,0.060,1547,3894,3330,0,0,0,0,0,0
$GC,3201,-0.89,-123.7,505.9,-17.1,222,3205,0.10,1.48,0.00,0.000,6,0.198,0.034,1574,2923,3330,0,0,0,0,0,0
$GC,3528,-0.89,-123.7,552.5,-14.2,233,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2920,3330,0,0,0,0,0,0
$GC,3834,-0.89,-123.7,596.0,-14.0,243,3838,0.00,2.10,0.00,0.000,4,0.000,0.038,1575,1516,3330,0,0,0,0,0,0
$GC,3863,-0.89,-123.7,600.3,-14.0,243,3870,0.00,2.22,0.00,0.000,6,0.000,0.054,1565,2924,3329,0,0,0,0,0,0
$GC,4178,-0.89,-123.7,646.0,-14.7,254,4182,0.00,2.15,0.00,0.000,4,0.000,0.038,1565,1525,3329,0,0,0,0,0,0
$GC,4202,-0.89,-123.7,649.9,-15.0,254,4209,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2934,3328,0,0,0,0,0,0
$GC,4517,-0.89,-123.7,696.5,-14.9,265,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2933,3329,0,0,0,0,0,0
$GC,4823,-0.89,-123.7,742.0,-15.0,275,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2934,3328,0,0,0,0,0,0
$GC,5129,-0.89,-123.7,786.1,-14.4,285,5133,0.00,1.52,0.00,0.000,4,0.000,0.061,1547,3903,3328,0,0,0,0,0,0
$GC,5176,-0.89,-123.7,793.4,-15.6,286,5180,0.10,1.48,0.00,0.000,6,0.202,0.034,1575,2925,3328,0,0,0,0,0,0
$GC,5508,-0.89,-123.7,836.3,-12.8,297,5512,0.00,2.10,0.00,0.000,4,0.000,0.039,1575,1522,3327,0,0,0,0,0,0
$GC,5537,-0.89,-123.7,840.3,-12.8,297,5544,0.00,2.22,0.00,0.000,6,0.000,0.054,1565,2931,3327,0,0,0,0,0,0
$GC,5852,-0.89,-123.7,881.8,-13.4,308,5856,0.00,2.15,0.00,0.000,4,0.000,0.037,1565,1517,3327,0,0,0,0,0,0
$GC,5884,-0.89,-123.7,885.9,-13.4,309,5888,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2923,3327,0,0,0,0,0,0
$GC,6221,-0.89,-123.7,932.2,-13.7,320,6225,0.00,2.10,0.00,0.000,4,0.000,0.037,1555,1523,3326,0,0,0,0,0,0
$GC,6253,-0.89,-123.7,936.1,-12.9,321,6257,0.15,2.22,0.00,0.000,6,0.209,0.054,1579,2932,3326,0,0,0,0,0,0
$GC,6591,-0.89,-123.7,974.7,-11.3,332,6595,0.00,2.15,0.00,0.000,4,0.000,0.038,1581,1517,3326,0,0,0,0,0,0
$GC,6642,-0.89,-123.7,980.6,-10.8,333,6646,0.00,2.22,0.00,0.000,6,0.000,0.055,1571,2922,3326,0,0,0,0,0,0
$STATE,6836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6836,begin apogee
$GC,6847,-0.19,0.0,1003.1,11.6,340,6976,0.80,0.00,125.75,1.245,6,0.181,0.000,1804,2730,2819,0,0,0,0,0,0
$STATE,6978,end apogee,CONTROL_FINISHED_OK
$STATE,6978,begin climb
$GC,6983,0.89,123.7,1004.7,0.0,344,7117,0.98,0.00,125.70,1.796,6,0.057,0.000,2160,2730,2314,0,0,0,0,1,0
$GC,7417,0.89,123.7,888.4,31.0,358,7421,0.00,2.28,0.00,0.000,4,0.000,0.045,2171,1348,2308,0,0,0,0,0,0
$GC,7452,0.89,123.7,876.3,30.5,359,7456,0.00,2.33,0.00,0.000,6,0.000,0.050,2171,2742,2307,0,0,0,0,0,0
$GC,7784,0.89,123.7,773.4,31.9,370,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2742,2305,0,0,0,0,0,0
$GC,8090,0.89,123.7,678.7,30.3,380,8094,0.00,2.25,0.00,0.000,4,0.000,0.044,2181,1338,2304,0,0,0,0,0,0
$GC,8114,0.89,123.7,671.1,29.1,380,8118,0.00,2.28,0.00,0.000,6,0.000,0.052,2182,2736,2303,0,0,0,0,0,0
$GC,8429,0.89,123.7,579.1,29.3,390,8433,0.00,2.22,0.00,0.000,4,0.000,0.045,2192,1332,2302,0,0,0,0,0,0
$GC,8441,0.89,123.7,575.2,29.0,390,8446,0.15,2.28,0.00,0.000,6,0.257,0.050,2162,2742,2302,0,0,0,0,0,0
$GC,8763,0.89,123.7,486.9,27.6,401,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2742,2302,0,0,0,0,0,0
$GC,9069,0.89,123.7,401.3,27.6,411,9073,0.00,2.22,0.00,0.000,4,0.000,0.045,2171,1332,2301,0,0,0,0,0,0
$GC,9119,0.89,123.7,388.4,26.6,413,9123,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2736,2300,0,0,0,0,0,0
$GC,9451,0.89,123.7,296.8,27.6,429,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2736,2300,0,0,0,0,0,0
$GC,9759,0.89,123.7,211.5,28.5,446,9763,0.00,2.20,0.00,0.000,4,0.000,0.045,2181,1334,2300,0,0,0,0,0,0
$GC,9783,0.89,123.7,204.6,26.3,447,9790,0.00,2.22,0.00,0.000,6,0.000,0.051,2182,2734,2299,0,0,0,0,0,0
$GC,10106,0.89,123.7,119.6,26.6,468,10110,0.00,2.17,0.00,0.000,4,0.000,0.045,2192,1337,2299,0,0,0,0,0,0
$GC,10176,0.89,123.7,100.9,25.2,472,10181,0.15,2.22,0.00,0.000,6,0.248,0.053,2160,2743,2299,0,0,0,0,0,0
$GC,10542,0.89,123.7,19.0,23.3,532,10551,0.00,2.22,0.00,0.000,4,0.000,0.047,2169,1341,2298,0,0,0,0,0,0
$GC,10589,0.89,123.7,8.2,22.9,538,10599,0.00,2.25,0.00,0.000,6,0.000,0.055,2169,2730,2298,0,0,0,0,0,0
$STATE,10613,end climb,SURFACE_DEPTH_REACHED
$STATE,10613,begin surface coast
$FINISH,0.4,1.003190
$STATE,10627,end surface coast,CONTROL_FINISHED_OK
$STATE,10627,begin surface
$SM_CCo,10649,187.82,0.799,1,0,519,564.18
$SM_GC,0.86,0.00,0.00,187.82,0.000,0.000,0.799,58,2952,519,-5.66,0.82,564.18
$IRIDIUM_FIX,-4613.60,401.12,251212,232357
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.0,23.329
$10V_AH,10.1,9.937
$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,14.650,86.625,251.450,187.825,0.000,25.367,25.942,304.977,0.000,0.000,23.010,1354.594,7170.511,597.080,1742.225,536.738,33.354,1219.000,0.000,1355.763,0.000,1.010,0.000
$DEVICE_MAMPS,259.335,66.555,1796.220,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.397,1092.535,604.198,246.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,40413,543
$CAP_FILE_SIZE,90184,0
$CFSIZE,259252224,221917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,261212,052831,-4631.301,404.118,37,0.8,37,-23.3