version: 66.07
glider: 542
mission: 6
dive: 113
start: 12 26 112 8 46 23
data:
$ID,542
$MISSION,6
$DIVE,113
$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,-10729.084
$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,58
$R_STBD_OVSHOOT,23
$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
$GPS1,261212,083434,-4630.367,403.909,41,0.9,41,-23.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-28.2
$GPS2,261212,084525,-4630.387,404.055,22,1.0,22,-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,-70237.9,352.1,729.4,52763.4,-3649.6
$KALMAN_Y,31185.0,-251.1,-192.2,7958.5,-495.9
$MHEAD_RNG_PITCHd_Wd,332.7,5219,-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,-137.52,0.000,6,0.000,0.000,59,2926,3077,0,0,0,0,0,0
$GC,177,-0.90,-133.3,2.7,-2.5,18,203,6.28,2.22,-9.07,0.000,4,0.254,0.051,1581,1512,3367,0,0,0,0,0,0
$GC,245,-0.90,-133.3,12.9,-14.4,27,254,0.00,2.33,0.00,0.000,6,0.000,0.052,1571,2932,3367,0,0,0,0,0,0
$GC,333,-0.90,-133.3,26.9,-18.0,40,342,0.00,1.55,0.00,0.000,4,0.000,0.057,1564,3899,3367,0,0,0,0,0,0
$GC,374,-0.90,-133.3,35.0,-19.6,45,381,0.00,1.50,0.00,0.000,6,0.000,0.032,1564,2914,3367,0,0,0,0,0,0
$GC,621,-0.90,-133.3,87.1,-19.0,86,628,0.00,2.10,0.00,0.000,4,0.000,0.036,1564,1525,3368,0,0,0,0,0,0
$GC,681,-0.90,-133.3,97.9,-16.6,96,690,0.00,2.28,0.00,0.000,6,0.000,0.053,1553,2925,3368,0,0,0,0,0,0
$GC,1013,-0.90,-133.3,161.4,-20.0,118,1017,0.00,1.55,0.00,0.000,4,0.000,0.058,1546,3903,3368,0,0,0,0,0,0
$GC,1035,-0.90,-133.3,165.5,-20.2,119,1039,0.10,1.48,0.00,0.000,6,0.201,0.032,1573,2931,3369,0,0,0,0,0,0
$GC,1372,-0.90,-133.3,225.1,-17.2,140,1375,0.00,2.12,0.00,0.000,4,0.000,0.037,1573,1523,3369,0,0,0,0,0,0
$GC,1407,-0.90,-133.3,231.9,-15.6,142,1411,0.00,2.25,0.00,0.000,6,0.000,0.053,1564,2932,3369,0,0,0,0,0,0
$GC,1734,-0.90,-133.3,289.2,-17.9,159,1737,0.00,1.52,0.00,0.000,4,0.000,0.059,1556,3897,3369,0,0,0,0,0,0
$GC,1849,-0.90,-133.3,310.8,-18.2,164,1853,0.00,1.48,0.00,0.000,6,0.000,0.033,1556,2920,3369,0,0,0,0,0,0
$GC,2184,-0.90,-133.3,367.3,-16.8,180,2188,0.00,2.08,0.00,0.000,4,0.000,0.038,1556,1528,3369,0,0,0,0,0,0
$GC,2202,-0.90,-133.3,370.6,-17.0,180,2212,0.10,2.25,0.00,0.000,6,0.197,0.052,1573,2927,3369,0,0,0,0,0,0
$GC,2540,-0.90,-133.3,420.8,-15.0,195,2543,0.00,1.52,0.00,0.000,4,0.000,0.060,1567,3893,3369,0,0,0,0,0,0
$GC,2591,-0.90,-133.3,429.4,-16.9,196,2595,0.00,1.48,0.00,0.000,6,0.000,0.034,1567,2914,3369,0,0,0,0,0,0
$GC,2917,-0.90,-133.3,479.5,-15.5,207,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2909,3369,0,0,0,0,0,0
$GC,3223,-0.90,-133.3,528.0,-15.9,217,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2909,3368,0,0,0,0,0,0
$GC,3530,-0.90,-133.3,575.4,-15.2,227,3534,0.00,1.60,0.00,0.000,4,0.000,0.061,1559,3903,3368,0,0,0,0,0,0
$GC,3615,-0.90,-133.3,589.6,-15.8,229,3619,0.00,1.48,0.00,0.000,6,0.000,0.034,1559,2928,3368,0,0,0,0,0,0
$GC,3941,-0.90,-133.3,637.8,-14.6,240,3945,0.00,1.58,0.00,0.000,4,0.000,0.061,1552,3904,3367,0,0,0,0,0,0
$GC,4012,-0.90,-133.3,648.8,-15.0,242,4015,0.00,1.48,0.00,0.000,6,0.000,0.034,1552,2928,3367,0,0,0,0,0,0
$GC,4354,-0.90,-133.3,701.5,-15.2,253,4358,0.00,1.58,0.00,0.000,4,0.000,0.061,1545,3891,3367,0,0,0,0,0,0
$GC,4383,-0.90,-133.3,706.5,-16.5,253,4390,0.10,1.48,0.00,0.000,6,0.198,0.034,1572,2914,3367,0,0,0,0,0,0
$GC,4700,-0.90,-133.3,750.7,-14.2,264,4704,0.00,2.10,0.00,0.000,4,0.000,0.039,1572,1519,3367,0,0,0,0,0,0
$GC,4718,-0.90,-133.3,753.9,-14.7,264,4722,0.00,2.22,0.00,0.000,6,0.000,0.054,1563,2924,3366,0,0,0,0,0,0
$GC,5033,-0.90,-133.3,799.6,-14.7,274,5037,0.00,2.12,0.00,0.000,4,0.000,0.037,1563,1524,3366,0,0,0,0,0,0
$GC,5051,-0.90,-133.3,802.5,-14.4,274,5055,0.00,2.22,0.00,0.000,6,0.000,0.054,1552,2933,3366,0,0,0,0,0,0
$GC,5372,-0.90,-133.3,851.3,-15.5,285,5376,0.00,1.52,0.00,0.000,4,0.000,0.060,1544,3901,3365,0,0,0,0,0,0
$GC,5424,-0.90,-133.3,860.4,-16.6,286,5428,0.10,1.48,0.00,0.000,6,0.196,0.034,1572,2928,3365,0,0,0,0,0,0
$GC,5752,-0.90,-133.3,904.7,-13.2,297,5756,0.00,2.10,0.00,0.000,4,0.000,0.039,1572,1524,3364,0,0,0,0,0,0
$GC,5792,-0.90,-133.3,910.3,-11.8,298,5796,0.00,2.20,0.00,0.000,6,0.000,0.054,1562,2924,3364,0,0,0,0,0,0
$GC,6119,-0.90,-133.3,954.6,-13.7,309,6122,0.00,2.10,0.00,0.000,4,0.000,0.037,1562,1524,3364,0,0,0,0,0,0
$GC,6137,-0.90,-133.3,957.4,-13.7,309,6141,0.00,2.22,0.00,0.000,6,0.000,0.054,1552,2934,3364,0,0,0,0,0,0
$STATE,6453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6453,begin apogee
$GC,6463,-0.19,0.0,1001.8,13.8,320,6606,0.88,0.00,134.43,1.252,6,0.188,0.000,1802,2724,2815,0,0,0,0,0,0
$STATE,6607,end apogee,CONTROL_FINISHED_OK
$STATE,6608,begin climb
$GC,6612,0.90,133.3,1004.5,0.0,325,6759,1.00,2.47,134.02,1.814,4,0.057,0.044,2176,1350,2279,0,0,0,0,1,0
$GC,6803,0.90,133.3,961.6,31.2,331,6808,0.00,2.47,0.00,0.000,6,0.000,0.050,2176,2737,2277,0,0,0,0,0,0
$GC,7143,0.90,133.3,852.0,32.0,342,7147,0.00,2.30,0.00,0.000,4,0.000,0.047,2187,1338,2271,0,0,0,0,0,0
$GC,7167,0.90,133.3,843.6,31.2,342,7174,0.00,2.33,0.00,0.000,6,0.000,0.050,2186,2738,2270,0,0,0,0,0,0
$GC,7482,0.90,133.3,743.7,31.6,353,7486,0.00,2.25,0.00,0.000,4,0.000,0.046,2196,1336,2269,0,0,0,0,0,0
$GC,7522,0.90,133.3,730.3,30.0,354,7527,0.15,2.28,0.00,0.000,6,0.260,0.051,2167,2734,2268,0,0,0,0,0,0
$GC,7856,0.90,133.3,632.3,29.3,365,7860,0.00,2.22,0.00,0.000,4,0.000,0.046,2177,1333,2267,0,0,0,0,0,0
$GC,7873,0.90,133.3,626.3,29.2,365,7878,0.00,2.28,0.00,0.000,6,0.000,0.051,2170,2736,2267,0,0,0,0,0,0
$GC,8189,0.90,133.3,534.9,29.3,375,8193,0.00,2.22,0.00,0.000,4,0.000,0.046,2179,1335,2266,0,0,0,0,0,0
$GC,8207,0.90,133.3,529.0,28.9,375,8211,0.00,2.25,0.00,0.000,6,0.000,0.050,2173,2740,2266,0,0,0,0,0,0
$GC,8527,0.90,133.3,436.3,29.1,386,8531,0.00,2.20,0.00,0.000,4,0.000,0.047,2183,1342,2266,0,0,0,0,0,0
$GC,8557,0.90,133.3,427.4,28.1,386,8563,0.00,2.25,0.00,0.000,6,0.000,0.052,2183,2745,2265,0,0,0,0,0,0
$GC,8886,0.90,133.3,332.4,28.8,401,8890,0.00,2.22,0.00,0.000,4,0.000,0.045,2193,1333,2265,0,0,0,0,0,0
$GC,8906,0.90,133.3,326.0,29.4,402,8911,0.12,2.25,0.00,0.000,6,0.259,0.052,2168,2737,2265,0,0,0,0,0,0
$GC,9226,0.90,133.3,237.4,27.6,418,9230,0.00,2.20,0.00,0.000,4,0.000,0.046,2178,1339,2265,0,0,0,0,0,0
$GC,9243,0.90,133.3,233.5,26.9,419,9247,0.00,2.22,0.00,0.000,6,0.000,0.051,2169,2735,2264,0,0,0,0,0,0
$GC,9571,0.90,133.3,147.1,25.5,440,9575,0.00,2.17,0.00,0.000,4,0.000,0.046,2179,1341,2264,0,0,0,0,0,0
$GC,9590,0.90,133.3,141.5,26.1,441,9594,0.00,2.22,0.00,0.000,6,0.000,0.052,2179,2735,2264,0,0,0,0,0,0
$GC,9932,0.90,133.3,55.2,25.6,481,9939,0.00,2.20,0.00,0.000,4,0.000,0.047,2189,1339,2264,0,0,0,0,0,0
$GC,9988,0.90,133.3,40.4,26.8,489,9995,0.00,2.22,0.00,0.000,6,0.000,0.049,2189,2743,2262,0,0,0,0,0,0
$STATE,10134,end climb,SURFACE_DEPTH_REACHED
$STATE,10134,begin surface coast
$FINISH,0.3,1.026430
$STATE,10154,end surface coast,CONTROL_FINISHED_OK
$STATE,10154,begin surface
$SM_CCo,10176,184.48,0.801,1,0,517,564.18
$SM_GC,0.62,0.00,0.00,184.48,0.000,0.000,0.801,57,2938,517,-5.67,0.42,564.18
$IRIDIUM_FIX,-4616.72,407.37,261212,050544
$TT8_MAMPS,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.8,23.689
$10V_AH,10.1,10.095
$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,14.625,105.000,268.450,184.475,0.000,25.786,44.567,352.766,0.000,0.000,24.528,1307.731,6720.717,596.032,1831.596,557.799,33.360,1266.535,0.000,1368.941,0.000,1.009,0.000
$DEVICE_MAMPS,260.100,62.730,1813.815,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.867,1048.479,591.072,234.222,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,37114,515
$CAP_FILE_SIZE,95413,0
$CFSIZE,259252224,221806592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3
$GPS,261212,114034,-4629.310,403.005,38,1.1,38,-23.3