version: 66.07
glider: 542
mission: 6
dive: 112
start: 12 26 112 5 39 51
data:
$ID,542
$MISSION,6
$DIVE,112
$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,-10725.678
$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,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
$GPS1,261212,052831,-4631.301,404.118,37,0.8,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-27.5
$GPS2,261212,053853,-4631.375,404.247,20,0.8,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.046,0.167
$KALMAN_X,-71748.7,1027.6,148.8,54432.5,-5258.7
$KALMAN_Y,33195.0,-62.8,-422.9,4159.1,2158.7
$MHEAD_RNG_PITCHd_Wd,7.8,5983,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-135.32,0.000,6,0.000,0.000,58,2954,3075,0,0,0,0,0,0
$GC,176,-0.90,-130.8,3.0,-2.8,18,195,6.40,1.55,-7.60,0.000,4,0.261,0.076,1566,3893,3355,0,0,0,0,0,0
$GC,344,-0.90,-130.8,39.3,-25.4,43,351,0.00,1.50,0.00,0.000,6,0.000,0.033,1568,2915,3356,0,0,0,0,0,0
$GC,585,-0.90,-130.8,88.4,-19.4,84,596,0.00,2.15,0.00,0.000,4,0.000,0.036,1568,1519,3357,0,0,0,0,0,0
$GC,627,-0.90,-130.8,96.1,-17.2,90,636,0.00,2.28,0.00,0.000,6,0.000,0.053,1558,2920,3357,0,0,0,0,0,0
$GC,966,-0.90,-130.8,162.4,-19.4,113,970,0.00,1.55,0.00,0.000,4,0.000,0.058,1551,3897,3358,0,0,0,0,0,0
$GC,995,-0.90,-130.8,169.3,-21.1,114,1005,0.00,1.50,0.00,0.000,6,0.000,0.032,1551,2900,3358,0,0,0,0,0,0
$GC,1319,-0.90,-130.8,230.9,-18.1,135,1323,0.00,1.60,0.00,0.000,4,0.000,0.059,1545,3893,3358,0,0,0,0,0,0
$GC,1359,-0.90,-130.8,238.3,-20.2,137,1363,0.10,1.45,0.00,0.000,6,0.198,0.033,1572,2939,3358,0,0,0,0,0,0
$GC,1694,-0.90,-130.8,296.1,-16.7,154,1698,0.00,2.15,0.00,0.000,4,0.000,0.037,1578,1517,3358,0,0,0,0,0,0
$GC,1741,-0.90,-130.8,303.9,-15.1,156,1745,0.00,2.25,0.00,0.000,6,0.000,0.053,1568,2930,3358,0,0,0,0,0,0
$GC,2072,-0.90,-130.8,358.1,-16.1,172,2076,0.00,1.52,0.00,0.000,4,0.000,0.060,1561,3895,3358,0,0,0,0,0,0
$GC,2100,-0.90,-130.8,362.6,-16.5,173,2103,0.00,1.48,0.00,0.000,6,0.000,0.033,1561,2915,3358,0,0,0,0,0,0
$GC,2423,-0.90,-130.8,416.2,-16.2,187,2427,0.00,1.58,0.00,0.000,4,0.000,0.060,1554,3892,3358,0,0,0,0,0,0
$GC,2460,-0.90,-130.8,422.4,-17.1,188,2464,0.00,1.45,0.00,0.000,6,0.000,0.034,1554,2926,3358,0,0,0,0,0,0
$GC,2805,-0.90,-130.8,476.8,-15.4,199,2808,0.00,1.58,0.00,0.000,4,0.000,0.060,1546,3903,3358,0,0,0,0,0,0
$GC,2828,-0.90,-130.8,481.1,-16.0,199,2833,0.10,1.48,0.00,0.000,6,0.200,0.033,1573,2932,3358,0,0,0,0,0,0
$GC,3149,-0.90,-130.8,526.7,-13.8,210,3153,0.00,1.55,0.00,0.000,4,0.000,0.060,1567,3894,3358,0,0,0,0,0,0
$GC,3178,-0.90,-130.8,531.3,-15.5,210,3185,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2912,3357,0,0,0,0,0,0
$GC,3493,-0.90,-130.8,577.7,-14.7,221,3497,0.00,1.58,0.00,0.000,4,0.000,0.060,1560,3893,3358,0,0,0,0,0,0
$GC,3530,-0.90,-130.8,583.7,-16.4,222,3533,0.00,1.45,0.00,0.000,6,0.000,0.034,1560,2930,3357,0,0,0,0,0,0
$GC,3872,-0.90,-130.8,637.3,-15.8,233,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2926,3357,0,0,0,0,0,0
$GC,4181,-0.90,-130.8,685.6,-15.7,243,4185,0.00,2.12,0.00,0.000,4,0.000,0.038,1560,1519,3356,0,0,0,0,0,0
$GC,4198,-0.90,-130.8,689.1,-15.7,243,4203,0.12,2.22,0.00,0.000,6,0.212,0.054,1578,2935,3356,0,0,0,0,0,0
$GC,4514,-0.90,-130.8,732.6,-13.7,253,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2936,3356,0,0,0,0,0,0
$GC,4820,-0.90,-130.8,773.0,-12.8,263,4824,0.00,2.12,0.00,0.000,4,0.000,0.038,1578,1525,3355,0,0,0,0,0,0
$GC,4832,-0.90,-130.8,774.9,-12.7,263,4836,0.00,2.22,0.00,0.000,6,0.000,0.053,1568,2929,3355,0,0,0,0,0,0
$GC,5159,-0.90,-130.8,816.8,-13.1,274,5162,0.00,1.52,0.00,0.000,4,0.000,0.061,1561,3896,3355,0,0,0,0,0,0
$GC,5176,-0.90,-130.8,819.3,-12.7,274,5180,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2918,3356,0,0,0,0,0,0
$GC,5504,-0.90,-130.8,861.7,-12.9,285,5508,0.00,1.58,0.00,0.000,4,0.000,0.061,1553,3896,3355,0,0,0,0,0,0
$GC,5541,-0.90,-130.8,866.8,-14.2,286,5544,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2916,3355,0,0,0,0,0,0
$GC,5884,-0.90,-130.8,913.1,-13.5,297,5887,0.00,2.05,0.00,0.000,4,0.000,0.038,1553,1534,3355,0,0,0,0,0,0
$GC,5907,-0.90,-130.8,916.6,-13.9,297,5912,0.15,2.20,0.00,0.000,6,0.208,0.054,1578,2931,3355,0,0,0,0,0,0
$GC,6228,-0.90,-130.8,953.1,-11.1,308,6232,0.00,2.12,0.00,0.000,4,0.000,0.037,1578,1523,3355,0,0,0,0,0,0
$GC,6265,-0.90,-130.8,957.2,-11.0,309,6269,0.00,2.20,0.00,0.000,6,0.000,0.054,1569,2924,3354,0,0,0,0,0,0
$GC,6609,-0.90,-130.8,999.3,-12.6,320,6613,0.00,2.08,0.00,0.000,3,0.000,0.037,1569,1541,3354,0,0,0,0,0,0
$STATE,6614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6614,begin apogee
$GC,6627,-0.19,0.0,1000.4,12.5,320,6763,0.82,0.00,132.52,1.242,6,0.190,0.000,1800,2740,2820,0,0,0,0,0,0
$STATE,6765,end apogee,CONTROL_FINISHED_OK
$STATE,6765,begin climb
$GC,6770,0.90,130.8,1003.7,0.0,324,6916,1.00,2.60,132.65,1.804,4,0.056,0.046,2181,1350,2287,0,0,0,0,1,0
$GC,6929,0.90,130.8,969.9,30.6,329,6936,0.00,2.50,0.00,0.000,6,0.000,0.050,2180,2730,2286,0,0,0,0,0,0
$GC,7246,0.90,130.8,864.9,33.1,340,7250,0.00,2.28,0.00,0.000,4,0.000,0.046,2191,1351,2280,0,0,0,0,0,0
$GC,7279,0.90,130.8,854.4,33.4,341,7284,0.12,2.33,0.00,0.000,6,0.256,0.052,2167,2747,2279,0,0,0,0,0,0
$GC,7617,0.90,130.8,744.2,32.4,352,7621,0.00,2.28,0.00,0.000,4,0.000,0.046,2177,1341,2276,0,0,0,0,0,0
$GC,7652,0.90,130.8,732.7,30.8,353,7657,0.00,2.28,0.00,0.000,6,0.000,0.051,2176,2740,2276,0,0,0,0,0,0
$GC,7985,0.90,130.8,628.3,31.0,364,7989,0.00,2.22,0.00,0.000,4,0.000,0.045,2185,1345,2276,0,0,0,0,0,0
$GC,8008,0.90,130.8,620.4,30.3,364,8015,0.00,2.25,0.00,0.000,6,0.000,0.051,2185,2737,2275,0,0,0,0,0,0
$GC,8323,0.90,130.8,523.8,30.5,375,8327,0.00,2.22,0.00,0.000,4,0.000,0.047,2196,1339,2274,0,0,0,0,0,0
$GC,8336,0.90,130.8,519.2,31.0,375,8341,0.15,2.25,0.00,0.000,6,0.259,0.050,2166,2740,2274,0,0,0,0,0,0
$GC,8657,0.90,130.8,423.4,29.3,386,8661,0.00,2.20,0.00,0.000,4,0.000,0.046,2175,1349,2273,0,0,0,0,0,0
$GC,8681,0.90,130.8,416.1,28.8,386,8688,0.00,2.22,0.00,0.000,6,0.000,0.051,2170,2740,2273,0,0,0,0,0,0
$GC,9001,0.90,130.8,325.2,29.1,401,9005,0.00,2.20,0.00,0.000,4,0.000,0.046,2179,1348,2273,0,0,0,0,0,0
$GC,9032,0.90,130.8,315.9,28.2,402,9036,0.00,2.20,0.00,0.000,6,0.000,0.052,2179,2733,2272,0,0,0,0,0,0
$GC,9363,0.90,130.8,220.0,29.9,419,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2733,2272,0,0,0,0,0,0
$GC,9676,0.90,130.8,133.1,28.1,439,9680,0.00,2.17,0.00,0.000,4,0.000,0.046,2189,1342,2273,0,0,0,0,0,0
$GC,9756,0.90,130.8,109.7,27.6,443,9763,0.00,2.22,0.00,0.000,6,0.000,0.053,2189,2739,2272,0,0,0,0,0,0
$GC,10113,0.90,130.8,17.1,23.1,500,10122,0.00,2.20,0.00,0.000,4,0.000,0.047,2199,1351,2272,0,0,0,0,0,0
$STATE,10167,end climb,SURFACE_DEPTH_REACHED
$STATE,10167,begin surface coast
$FINISH,0.4,1.026412
$STATE,10180,end surface coast,CONTROL_FINISHED_OK
$STATE,10181,begin surface
$SM_CCo,10205,183.90,0.803,1,0,517,564.18
$SM_GC,0.83,0.00,0.00,183.90,0.000,0.000,0.803,61,2924,517,-5.65,0.03,564.18
$IRIDIUM_FIX,-4613.60,401.12,261212,020205
$TT8_MAMPS,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,21.8,23.507
$10V_AH,10.1,10.015
$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,14.750,101.575,265.175,183.900,0.000,27.331,44.579,326.359,0.000,0.000,22.850,1292.640,6820.607,605.571,1742.658,551.810,33.359,1238.982,0.000,1312.425,0.000,1.009,0.000
$DEVICE_MAMPS,260.865,75.735,1803.870,803.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.272,1030.175,564.616,228.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,37036,510
$CAP_FILE_SIZE,91754,0
$CFSIZE,259252224,221863936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,261212,083434,-4630.367,403.909,41,0.9,41,-23.3