version: 66.07
glider: 542
mission: 6
dive: 114
start: 12 26 112 11 51 40
data:
$ID,542
$MISSION,6
$DIVE,114
$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,-10732.457
$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,53
$R_STBD_OVSHOOT,37
$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
$GPS1,261212,114034,-4629.310,403.005,38,1.1,38,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-26.3
$GPS2,261212,115042,-4629.307,403.094,15,1.1,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.203,-0.022
$KALMAN_X,-67426.7,15.3,389.5,49415.9,162.9
$KALMAN_Y,30855.4,-472.6,182.9,10118.0,-843.7
$MHEAD_RNG_PITCHd_Wd,287.1,4148,-23.0,-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,-0.73,-87.3,0.0,0.0,0,163,0.00,0.00,-134.00,0.000,2,0.000,0.000,55,2941,3040,0,0,0,0,0,0
$GC,170,-0.79,-136.0,3.3,-6.3,17,196,6.28,2.25,-9.62,0.000,4,0.244,0.050,1619,1520,3377,0,0,0,0,0,0
$GC,297,-0.79,-139.2,17.1,-9.8,35,306,0.00,2.28,0.00,0.000,6,0.000,0.055,1610,2906,3379,0,0,0,0,0,0
$GC,386,-0.79,-139.2,29.3,-17.2,48,396,0.00,1.62,-0.17,0.000,4,0.000,0.080,1602,3903,3390,0,0,0,0,0,0
$GC,438,-0.79,-139.2,39.9,-20.2,55,444,0.00,1.50,0.00,0.000,6,0.000,0.031,1602,2912,3390,0,0,0,0,0,0
$GC,680,-0.79,-139.2,82.7,-19.1,96,689,0.00,2.10,0.00,0.000,4,0.000,0.036,1602,1544,3390,0,0,0,0,0,0
$GC,766,-0.79,-139.2,95.8,-14.2,110,773,0.00,2.22,0.00,0.000,6,0.000,0.052,1591,2935,3390,0,0,0,0,0,0
$GC,1097,-0.79,-139.2,149.6,-16.4,134,1101,0.00,1.52,0.00,0.000,4,0.000,0.058,1584,3897,3391,0,0,0,0,0,0
$GC,1161,-0.79,-139.2,161.0,-17.3,137,1167,0.00,1.45,0.00,0.000,6,0.000,0.031,1584,2936,3391,0,0,0,0,0,0
$GC,1482,-0.79,-139.2,214.0,-16.8,158,1486,0.12,2.12,0.00,0.000,4,0.207,0.037,1619,1528,3391,0,0,0,0,0,0
$GC,1505,-0.79,-139.2,217.2,-16.3,159,1509,0.00,2.22,0.00,0.000,6,0.000,0.052,1609,2932,3391,0,0,0,0,0,0
$GC,1844,-0.79,-139.2,262.4,-13.6,179,1847,0.00,1.52,0.00,0.000,4,0.000,0.060,1602,3895,3391,0,0,0,0,0,0
$GC,1901,-0.79,-139.2,271.1,-14.1,181,1904,0.00,1.48,0.00,0.000,6,0.000,0.033,1602,2917,3391,0,0,0,0,0,0
$GC,2226,-0.79,-139.2,313.2,-13.4,197,2230,0.00,2.05,0.00,0.000,4,0.000,0.037,1602,1537,3391,0,0,0,0,0,0
$GC,2252,-0.79,-139.2,316.8,-13.0,198,2256,0.00,2.22,0.00,0.000,6,0.000,0.053,1591,2935,3391,0,0,0,0,0,0
$GC,2587,-0.79,-139.2,364.4,-14.5,214,2591,0.00,1.52,0.00,0.000,4,0.000,0.060,1584,3901,3391,0,0,0,0,0,0
$GC,2637,-0.79,-139.2,372.1,-15.3,216,2641,0.08,1.48,0.00,0.000,6,0.185,0.033,1605,2926,3391,0,0,0,0,0,0
$GC,2971,-0.79,-139.2,416.5,-13.0,230,2975,0.00,1.60,0.00,0.000,4,0.000,0.063,1598,3901,3391,0,0,0,0,0,0
$GC,3000,-0.79,-139.2,420.5,-13.6,230,3007,0.00,1.48,0.00,0.000,6,0.000,0.034,1599,2919,3390,0,0,0,0,0,0
$GC,3317,-0.79,-139.2,462.0,-13.0,241,3320,0.00,1.58,0.00,0.000,4,0.000,0.061,1591,3897,3390,0,0,0,0,0,0
$GC,3346,-0.79,-139.2,466.3,-14.0,241,3353,0.00,1.48,0.00,0.000,6,0.000,0.033,1591,2915,3390,0,0,0,0,0,0
$GC,3661,-0.79,-139.2,507.5,-12.8,252,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3390,0,0,0,0,0,0
$GC,3970,-0.79,-139.2,545.3,-12.3,262,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3389,0,0,0,0,0,0
$GC,4273,-0.79,-139.2,583.6,-12.4,272,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3389,0,0,0,0,0,0
$GC,4581,-0.79,-139.2,622.1,-12.7,282,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3389,0,0,0,0,0,0
$GC,4886,-0.79,-139.2,661.0,-12.8,292,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3388,0,0,0,0,0,0
$GC,5194,-0.79,-139.2,699.7,-12.7,302,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3388,0,0,0,0,0,0
$GC,5498,-0.79,-139.2,737.7,-12.2,312,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3388,0,0,0,0,0,0
$GC,5805,-0.79,-139.2,774.6,-12.1,322,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2915,3388,0,0,0,0,0,0
$GC,6111,-0.79,-139.2,810.9,-11.8,332,6114,0.00,2.08,0.00,0.000,4,0.000,0.039,1591,1537,3388,0,0,0,0,0,0
$GC,6140,-0.79,-139.2,814.7,-12.1,332,6147,0.12,2.20,0.00,0.000,6,0.205,0.055,1610,2922,3387,0,0,0,0,0,0
$GC,6455,-0.80,-147.2,844.8,-9.4,343,6459,0.00,2.12,0.00,0.000,4,0.000,0.038,1610,1524,3387,0,0,0,0,0,0
$GC,6490,-0.82,-163.9,848.2,-8.7,344,6494,0.00,2.22,0.00,0.000,6,0.000,0.055,1601,2924,3387,0,0,0,0,0,0
$GC,6822,-0.82,-163.9,881.4,-10.3,355,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2925,3387,0,0,0,0,0,0
$GC,7128,-0.82,-163.9,914.7,-11.0,365,7132,0.00,2.10,0.00,0.000,4,0.000,0.038,1601,1530,3387,0,0,0,0,0,0
$GC,7192,-0.83,-167.2,921.4,-9.8,366,7198,0.00,2.20,0.00,0.000,6,0.000,0.056,1590,2922,3387,0,0,0,0,0,0
$GC,7507,-0.83,-167.2,955.3,-11.0,377,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2922,3387,0,0,0,0,0,0
$GC,7813,-0.83,-167.2,988.3,-10.8,387,7817,0.00,2.10,0.00,0.000,4,0.000,0.038,1590,1526,3387,0,0,0,0,0,0
$GC,7843,-0.83,-167.2,991.6,-10.9,387,7849,0.00,2.22,0.00,0.000,6,0.000,0.055,1579,2934,3387,0,0,0,0,0,0
$STATE,7939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7939,begin apogee
$GC,7949,-0.19,0.0,1002.5,11.0,391,8094,0.77,0.00,140.75,1.246,6,0.183,0.000,1803,2741,2819,0,0,0,0,0,0
$STATE,8095,end apogee,CONTROL_FINISHED_OK
$STATE,8096,begin climb
$GC,8100,0.83,167.2,1005.0,0.0,396,8288,0.93,2.62,169.90,1.821,4,0.058,0.046,2149,1342,2138,0,0,0,0,1,0
$GC,8302,0.83,167.2,959.6,32.8,402,8307,0.00,2.55,0.00,0.000,6,0.000,0.050,2149,2737,2138,0,0,0,0,0,0
$GC,8629,0.83,167.2,848.4,34.7,413,8634,0.00,2.33,0.00,0.000,4,0.000,0.049,2158,1337,2131,0,0,0,0,0,0
$GC,8698,0.83,167.2,825.6,30.7,415,8702,0.00,2.35,0.00,0.000,6,0.000,0.053,2159,2742,2129,0,0,0,0,0,0
$GC,9037,0.83,167.2,710.3,35.1,426,9041,0.00,2.28,0.00,0.000,4,0.000,0.047,2169,1339,2128,0,0,0,0,0,0
$GC,9106,0.83,167.2,687.5,30.1,428,9111,0.12,2.30,0.00,0.000,6,0.256,0.052,2145,2742,2127,0,0,0,0,0,0
$GC,9439,0.83,167.2,580.3,32.4,439,9443,0.00,2.25,0.00,0.000,4,0.000,0.047,2154,1338,2126,0,0,0,0,0,0
$GC,9490,0.83,167.2,564.0,28.3,440,9494,0.00,2.28,0.00,0.000,6,0.000,0.052,2155,2741,2125,0,0,0,0,0,0
$GC,9811,0.83,167.2,463.0,31.8,451,9815,0.00,2.22,0.00,0.000,4,0.000,0.047,2165,1334,2125,0,0,0,0,0,0
$GC,9840,0.83,167.2,453.3,30.7,451,9847,0.00,2.25,0.00,0.000,6,0.000,0.051,2164,2736,2125,0,0,0,0,0,0
$GC,10157,0.83,167.2,354.4,31.6,464,10161,0.00,2.20,0.00,0.000,4,0.000,0.047,2174,1342,2124,0,0,0,0,0,0
$GC,10175,0.83,167.2,348.3,31.2,464,10184,0.10,2.25,0.00,0.000,6,0.248,0.051,2147,2730,2124,0,0,0,0,0,0
$GC,10493,0.83,167.2,254.8,29.1,480,10497,0.00,2.20,0.00,0.000,4,0.000,0.047,2156,1338,2124,0,0,0,0,0,0
$GC,10543,0.83,167.2,240.5,27.7,483,10547,0.00,2.22,0.00,0.000,6,0.000,0.054,2156,2733,2123,0,0,0,0,0,0
$GC,10876,0.83,167.2,145.1,28.8,504,10880,0.00,2.20,0.00,0.000,4,0.000,0.047,2166,1337,2124,0,0,0,0,0,0
$GC,10911,0.83,167.2,134.9,27.8,506,10915,0.00,2.25,0.00,0.000,6,0.000,0.052,2166,2741,2123,0,0,0,0,0,0
$GC,11255,0.83,167.2,35.0,31.4,550,11264,0.00,2.22,0.00,0.000,4,0.000,0.045,2176,1339,2123,0,0,0,0,0,0
$GC,11294,0.83,167.2,24.0,32.0,555,11303,0.10,2.25,0.00,0.000,6,0.242,0.051,2146,2738,2123,0,0,0,0,0,0
$STATE,11359,end climb,SURFACE_DEPTH_REACHED
$STATE,11360,begin surface coast
$FINISH,0.6,1.026430
$STATE,11367,end surface coast,CONTROL_FINISHED_OK
$STATE,11367,begin surface
$SM_CCo,11391,169.90,0.795,1,0,517,564.18
$SM_GC,0.77,0.00,0.00,169.90,0.000,0.000,0.795,72,2941,517,-5.62,0.51,564.18
$IRIDIUM_FIX,-4613.60,400.91,261212,080844
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,21.6,23.886
$10V_AH,10.1,10.179
$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,15.475,94.750,310.650,169.900,0.000,28.301,24.255,331.350,0.000,0.000,19.593,1410.076,7703.814,626.175,1860.902,569.007,33.363,1321.550,0.000,1436.787,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,79.560,1821.465,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.361,1140.204,617.488,242.253,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354208
$DATA_FILE_SIZE,40474,566
$CAP_FILE_SIZE,97679,0
$CFSIZE,259252224,221753344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,261212,150552,-4628.809,401.103,39,0.9,39,-23.3