version: 66.07
glider: 542
mission: 6
dive: 116
start: 12 26 112 19 16 57
data:
$ID,542
$MISSION,6
$DIVE,116
$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,-10739.153
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,261212,190502,-4629.033,358.567,42,0.9,42,-23.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-31.5
$GPS2,261212,191559,-4629.042,358.712,18,1.0,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045,-0.190
$KALMAN_X,-63914.4,302.6,-141.7,40627.5,2523.5
$KALMAN_Y,34182.8,474.1,44.5,6464.7,2028.6
$MHEAD_RNG_PITCHd_Wd,216.6,2417,-24.2,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.75,-79.5,0.0,0.0,0,174,0.00,0.00,-138.93,0.000,6,0.000,0.000,60,2939,3145,0,0,0,0,0,0
$GC,181,-0.85,-159.3,3.2,-3.3,18,207,6.12,2.28,-8.45,0.000,4,0.242,0.054,1598,1506,3473,0,0,0,0,0,0
$GC,481,-0.85,-159.3,54.6,-15.0,66,490,0.00,2.33,0.00,0.000,6,0.000,0.055,1589,2921,3474,0,0,0,0,0,0
$GC,738,-0.85,-159.3,103.1,-16.4,107,742,0.00,2.17,0.00,0.000,4,0.000,0.035,1591,1500,3474,0,0,0,0,0,0
$GC,820,-0.85,-159.3,115.6,-13.3,112,825,0.00,2.30,0.00,0.000,6,0.000,0.051,1582,2934,3474,0,0,0,0,0,0
$GC,1150,-0.85,-159.3,172.5,-17.0,133,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2933,3475,0,0,0,0,0,0
$GC,1462,-0.85,-159.3,223.9,-16.2,153,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2934,3475,0,0,0,0,0,0
$GC,1778,-0.85,-159.3,274.8,-15.9,171,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2934,3475,0,0,0,0,0,0
$GC,2086,-0.85,-159.3,323.0,-15.4,186,2089,0.00,1.50,0.00,0.000,4,0.000,0.059,1575,3888,3475,0,0,0,0,0,0
$GC,2171,-0.85,-159.3,337.1,-16.3,189,2178,0.00,1.50,0.00,0.000,6,0.000,0.033,1575,2887,3475,0,0,0,0,0,0
$GC,2492,-0.85,-159.3,387.5,-16.2,205,2495,0.00,1.62,0.00,0.000,4,0.000,0.060,1567,3897,3475,0,0,0,0,0,0
$GC,2550,-0.85,-159.3,398.1,-17.0,207,2554,0.00,1.45,0.00,0.000,6,0.000,0.034,1567,2933,3475,0,0,0,0,0,0
$GC,2872,-0.85,-159.3,453.1,-17.4,218,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2929,3475,0,0,0,0,0,0
$GC,3177,-0.85,-159.3,505.7,-16.9,228,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2929,3475,0,0,0,0,0,0
$GC,3483,-0.85,-159.3,556.7,-16.6,238,3487,0.00,1.55,0.00,0.000,4,0.000,0.060,1560,3894,3474,0,0,0,0,0,0
$GC,3564,-0.85,-159.3,570.8,-16.9,240,3569,0.10,1.45,0.00,0.000,6,0.186,0.034,1588,2934,3474,0,0,0,0,0,0
$GC,3896,-0.85,-159.3,619.5,-14.4,251,3900,0.00,1.55,0.00,0.000,4,0.000,0.061,1582,3894,3474,0,0,0,0,0,0
$GC,3942,-0.85,-159.3,626.7,-15.0,252,3946,0.00,1.48,0.00,0.000,6,0.000,0.034,1582,2915,3473,0,0,0,0,0,0
$GC,4274,-0.85,-159.3,672.8,-13.7,263,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2909,3473,0,0,0,0,0,0
$GC,4580,-0.85,-159.3,713.9,-13.3,273,4584,0.00,1.58,0.00,0.000,4,0.000,0.060,1575,3893,3473,0,0,0,0,0,0
$GC,4631,-0.85,-159.3,721.2,-13.6,274,4635,0.00,1.45,0.00,0.000,6,0.000,0.034,1575,2929,3473,0,0,0,0,0,0
$GC,4957,-0.85,-159.3,765.6,-13.7,285,4961,0.00,1.55,0.00,0.000,4,0.000,0.061,1568,3891,3472,0,0,0,0,0,0
$GC,4997,-0.85,-159.3,771.7,-14.0,286,5001,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2914,3472,0,0,0,0,0,0
$GC,5335,-0.85,-159.3,819.0,-14.1,297,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2910,3472,0,0,0,0,0,0
$GC,5642,-0.85,-159.3,862.2,-14.2,307,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2909,3472,0,0,0,0,0,0
$GC,5948,-0.85,-159.3,905.8,-14.4,317,5952,0.00,1.58,0.00,0.000,4,0.000,0.061,1560,3893,3471,0,0,0,0,0,0
$GC,6022,-0.85,-159.3,917.7,-15.0,319,6027,0.10,1.45,0.00,0.000,6,0.183,0.034,1589,2932,3471,0,0,0,0,0,0
$GC,6360,-0.85,-159.3,959.8,-12.2,330,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2929,3471,0,0,0,0,0,0
$GC,6668,-0.85,-159.3,996.3,-11.5,340,6672,0.00,1.55,0.00,0.000,4,0.000,0.063,1583,3893,3471,0,0,0,0,0,0
$STATE,6692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6693,begin apogee
$GC,6705,-0.19,0.0,1000.2,12.0,340,6867,0.73,0.00,158.82,1.240,6,0.177,0.000,1800,2715,2819,0,0,0,0,0,0
$STATE,6869,end apogee,CONTROL_FINISHED_OK
$STATE,6869,begin climb
$GC,6874,0.85,159.3,1003.2,0.0,346,7045,0.95,0.00,162.10,1.800,6,0.057,0.000,2144,2714,2169,0,0,0,0,1,0
$GC,7335,0.85,159.3,869.7,33.5,361,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2715,2165,0,0,0,0,0,0
$GC,7642,0.85,159.3,768.5,32.4,371,7646,0.00,2.20,0.00,0.000,4,0.000,0.046,2154,1335,2163,0,0,0,0,0,0
$GC,7721,0.85,159.3,744.3,27.9,373,7726,0.00,2.33,0.00,0.000,6,0.000,0.052,2154,2743,2161,0,0,0,0,0,0
$GC,8048,0.85,159.3,638.8,32.9,384,8052,0.00,2.25,0.00,0.000,4,0.000,0.045,2165,1338,2160,0,0,0,0,0,0
$GC,8088,0.85,159.3,625.6,30.1,385,8093,0.00,2.28,0.00,0.000,6,0.000,0.052,2165,2736,2159,0,0,0,0,0,0
$GC,8415,0.85,159.3,520.8,32.4,396,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2736,2159,0,0,0,0,0,0
$GC,8723,0.85,159.3,422.8,31.9,406,8727,0.00,2.22,0.00,0.000,4,0.000,0.046,2175,1332,2159,0,0,0,0,0,0
$GC,8769,0.85,159.3,407.9,28.9,407,8774,0.12,2.25,0.00,0.000,6,0.256,0.052,2150,2736,2157,0,0,0,0,0,0
$GC,9106,0.85,159.3,310.2,28.1,423,9110,0.00,2.20,0.00,0.000,4,0.000,0.047,2159,1344,2157,0,0,0,0,0,0
$GC,9150,0.85,159.3,297.8,27.0,425,9154,0.00,2.25,0.00,0.000,6,0.000,0.053,2157,2745,2157,0,0,0,0,0,0
$GC,9473,0.85,159.3,204.6,27.6,443,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2745,2157,0,0,0,0,0,0
$GC,9785,0.85,159.3,116.2,28.3,463,9789,0.00,2.20,0.00,0.000,4,0.000,0.046,2167,1335,2157,0,0,0,0,0,0
$GC,9849,0.85,159.3,97.6,26.2,466,9857,0.00,2.25,0.00,0.000,6,0.000,0.052,2167,2728,2156,0,0,0,0,0,0
$STATE,10182,end climb,SURFACE_DEPTH_REACHED
$STATE,10182,begin surface coast
$FINISH,0.5,1.026446
$STATE,10190,end surface coast,CONTROL_FINISHED_OK
$STATE,10190,begin surface
$SM_CCo,10213,174.12,0.796,1,0,517,564.18
$SM_GC,0.83,0.00,0.00,174.12,0.000,0.000,0.796,65,2934,517,-5.64,0.31,564.18
$IRIDIUM_FIX,-4613.60,400.91,261212,151504
$TT8_MAMPS,0.026964
$HUMID,57.24
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,9.80
$XPDR_PINGS,1
$24V_AH,21.6,24.311
$10V_AH,10.1,10.352
$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,13.850,56.325,320.925,174.125,0.000,25.289,20.271,388.814,0.250,0.000,21.422,1300.014,6821.269,613.930,1803.069,503.695,33.358,1216.689,0.000,1347.900,0.000,1.009,0.000
$DEVICE_MAMPS,256.275,68.850,1800.045,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.585,1058.639,587.750,241.871,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,37046,523
$CAP_FILE_SIZE,82111,0
$CFSIZE,259252224,221646848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,261212,221134,-4630.168,357.573,37,1.0,37,-23.3