version: 66.07
glider: 542
mission: 6
dive: 118
start: 12 27 112 1 39 13
data:
$ID,542
$MISSION,6
$DIVE,118
$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,-10749.073
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,271212,012835,-4631.596,357.369,25,1.0,25,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-36.8
$GPS2,271212,013812,-4631.601,357.339,18,1.1,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.173,0.006
$KALMAN_X,-64642.2,-964.5,-426.0,41177.4,2114.0
$KALMAN_Y,36927.5,183.0,-215.0,-450.2,2912.2
$MHEAD_RNG_PITCHd_Wd,111.3,4506,-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,-135.12,0.000,6,0.000,0.000,58,2930,3077,0,0,0,0,0,0
$GC,177,-0.89,-127.5,3.2,-3.2,18,196,6.28,1.60,-7.50,0.000,4,0.253,0.077,1568,3899,3341,0,0,0,0,0,0
$GC,473,-0.89,-127.5,60.8,-20.3,65,477,0.00,1.50,0.00,0.000,6,0.000,0.034,1573,2917,3343,0,0,0,0,0,0
$GC,825,-0.89,-127.5,121.2,-16.3,112,828,0.00,1.60,0.00,0.000,4,0.000,0.059,1567,3899,3344,0,0,0,0,0,0
$GC,995,-0.89,-127.5,152.0,-18.7,121,1001,0.00,1.50,0.00,0.000,6,0.000,0.033,1568,2906,3344,0,0,0,0,0,0
$GC,1316,-0.89,-127.5,210.1,-18.1,142,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2906,3344,0,0,0,0,0,0
$GC,1630,-0.89,-127.5,263.3,-17.3,161,1634,0.00,1.60,0.00,0.000,4,0.000,0.060,1561,3897,3344,0,0,0,0,0,0
$GC,1771,-0.89,-127.5,289.0,-17.4,167,1774,0.00,1.45,0.00,0.000,6,0.000,0.033,1562,2941,3344,0,0,0,0,0,0
$GC,2108,-0.89,-127.5,345.1,-16.2,183,2112,0.00,2.12,0.00,0.000,4,0.000,0.037,1562,1519,3344,0,0,0,0,0,0
$GC,2137,-0.89,-127.5,350.7,-16.5,184,2142,0.12,2.25,0.00,0.000,6,0.206,0.053,1581,2934,3344,0,0,0,0,0,0
$GC,2457,-0.89,-127.5,396.5,-14.8,199,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2934,3344,0,0,0,0,0,0
$GC,2772,-0.89,-127.5,443.8,-15.1,210,2776,0.00,1.52,0.00,0.000,4,0.000,0.060,1575,3902,3344,0,0,0,0,0,0
$GC,2812,-0.89,-127.5,450.5,-16.2,211,2816,0.00,1.50,0.00,0.000,6,0.000,0.034,1576,2903,3344,0,0,0,0,0,0
$GC,3149,-0.89,-127.5,500.8,-14.7,222,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2899,3344,0,0,0,0,0,0
$GC,3456,-0.89,-127.5,544.0,-13.9,232,3460,0.00,1.60,0.00,0.000,4,0.000,0.060,1569,3894,3343,0,0,0,0,0,0
$GC,3530,-0.89,-127.5,555.3,-15.3,234,3534,0.00,1.45,0.00,0.000,6,0.000,0.034,1569,2932,3343,0,0,0,0,0,0
$GC,3867,-0.89,-127.5,602.5,-14.0,245,3871,0.00,1.55,0.00,0.000,4,0.000,0.060,1562,3894,3343,0,0,0,0,0,0
$GC,3908,-0.89,-127.5,608.7,-14.7,246,3912,0.00,1.48,0.00,0.000,6,0.000,0.034,1562,2914,3343,0,0,0,0,0,0
$GC,4247,-0.89,-127.5,656.6,-14.2,257,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2909,3343,0,0,0,0,0,0
$GC,4551,-0.89,-127.5,700.2,-14.4,267,4555,0.00,1.58,0.00,0.000,4,0.000,0.060,1555,3893,3342,0,0,0,0,0,0
$GC,4608,-0.89,-127.5,709.4,-16.1,268,4612,0.00,1.45,0.00,0.000,6,0.000,0.034,1554,2931,3342,0,0,0,0,0,0
$GC,4929,-0.89,-127.5,757.0,-14.9,279,4932,0.00,2.08,0.00,0.000,4,0.000,0.038,1555,1526,3341,0,0,0,0,0,0
$GC,4952,-0.89,-127.5,760.9,-15.5,279,4959,0.15,2.20,0.00,0.000,6,0.205,0.054,1580,2922,3341,0,0,0,0,0,0
$GC,5267,-0.89,-127.5,802.0,-12.9,290,5271,0.00,2.12,0.00,0.000,4,0.000,0.038,1580,1525,3341,0,0,0,0,0,0
$GC,5302,-0.89,-127.5,806.9,-13.0,291,5306,0.00,2.22,0.00,0.000,6,0.000,0.054,1571,2928,3341,0,0,0,0,0,0
$GC,5634,-0.89,-127.5,850.7,-13.3,302,5638,0.00,2.10,0.00,0.000,4,0.000,0.037,1571,1527,3341,0,0,0,0,0,0
$GC,5665,-0.89,-127.5,854.7,-12.8,303,5670,0.00,2.22,0.00,0.000,6,0.000,0.054,1561,2931,3341,0,0,0,0,0,0
$GC,6003,-0.89,-127.5,899.2,-13.0,314,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2932,3341,0,0,0,0,0,0
$GC,6309,-0.89,-127.5,938.7,-12.7,324,6313,0.00,2.12,0.00,0.000,4,0.000,0.038,1560,1526,3341,0,0,0,0,0,0
$GC,6384,-0.89,-127.5,947.5,-10.7,326,6388,0.12,2.22,0.00,0.000,6,0.209,0.054,1579,2930,3341,0,0,0,0,0,0
$GC,6716,-0.89,-127.5,984.6,-11.4,337,6720,0.00,2.12,0.00,0.000,4,0.000,0.037,1579,1525,3341,0,0,0,0,0,0
$GC,6757,-0.89,-127.5,989.5,-11.0,338,6761,0.00,2.22,0.00,0.000,6,0.000,0.055,1570,2925,3340,0,0,0,0,0,0
$STATE,6864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6875,-0.19,0.0,1002.2,11.9,342,7007,0.80,0.00,128.88,1.242,6,0.188,0.000,1799,2741,2819,0,0,0,0,0,0
$STATE,7009,end apogee,CONTROL_FINISHED_OK
$STATE,7009,begin climb
$GC,7014,0.89,127.5,1004.4,0.0,346,7153,1.00,0.00,130.30,1.799,6,0.058,0.000,2163,2740,2299,0,0,0,0,1,0
$GC,7449,0.89,127.5,883.1,31.7,361,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2740,2294,0,0,0,0,0,0
$GC,7755,0.89,127.5,786.0,31.3,371,7759,0.00,2.25,0.00,0.000,4,0.000,0.045,2174,1334,2290,0,0,0,0,0,0
$GC,7813,0.89,127.5,768.2,28.7,372,7817,0.00,2.33,0.00,0.000,6,0.000,0.052,2174,2743,2288,0,0,0,0,0,0
$GC,8129,0.89,127.5,671.8,30.6,382,8133,0.00,2.25,0.00,0.000,4,0.000,0.045,2185,1335,2288,0,0,0,0,0,0
$GC,8153,0.89,127.5,663.3,31.1,382,8160,0.00,2.28,0.00,0.000,6,0.000,0.052,2185,2736,2287,0,0,0,0,0,0
$GC,8468,0.89,127.5,566.5,31.0,393,8472,0.00,2.20,0.00,0.000,4,0.000,0.046,2195,1335,2286,0,0,0,0,0,0
$GC,8497,0.89,127.5,557.1,29.6,393,8505,0.15,2.25,0.00,0.000,6,0.269,0.051,2165,2734,2286,0,0,0,0,0,0
$GC,8813,0.89,127.5,466.2,28.3,404,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2735,2285,0,0,0,0,0,0
$GC,9121,0.89,127.5,380.7,28.0,415,9125,0.00,2.20,0.00,0.000,4,0.000,0.044,2174,1332,2285,0,0,0,0,0,0
$GC,9147,0.89,127.5,373.0,27.7,416,9151,0.00,2.25,0.00,0.000,6,0.000,0.053,2170,2734,2285,0,0,0,0,0,0
$GC,9476,0.89,127.5,279.9,28.5,432,9480,0.00,2.20,0.00,0.000,4,0.000,0.045,2179,1325,2285,0,0,0,0,0,0
$GC,9494,0.89,127.5,274.3,28.8,432,9503,0.00,2.28,0.00,0.000,6,0.000,0.053,2179,2730,2284,0,0,0,0,0,0
$GC,9823,0.89,127.5,182.6,27.1,452,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2730,2284,0,0,0,0,0,0
$GC,10132,0.89,127.5,98.1,26.8,472,10139,0.00,2.17,0.00,0.000,4,0.000,0.045,2189,1331,2284,0,0,0,0,0,0
$GC,10283,0.89,127.5,60.8,25.7,497,10288,0.12,2.25,0.00,0.000,6,0.272,0.052,2166,2743,2283,0,0,0,0,0,0
$STATE,10508,end climb,SURFACE_DEPTH_REACHED
$STATE,10508,begin surface coast
$FINISH,0.4,1.012381
$STATE,10522,end surface coast,CONTROL_FINISHED_OK
$STATE,10522,begin surface
$SM_CCo,10544,185.45,0.789,1,0,516,564.18
$SM_GC,0.80,0.00,0.00,185.45,0.000,0.000,0.789,52,2930,516,-5.68,0.20,564.18
$IRIDIUM_FIX,-4613.60,422.72,261212,222219
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.9,24.650
$10V_AH,10.1,10.513
$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,14.500,74.850,259.175,185.450,0.000,28.603,43.246,301.597,0.000,0.000,24.339,1342.246,7075.605,594.818,1793.925,505.613,33.354,1211.239,0.000,1387.799,0.000,1.008,0.000
$DEVICE_MAMPS,272.340,77.265,1798.515,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.990,1084.589,600.960,243.681,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,37122,536
$CAP_FILE_SIZE,87446,0
$CFSIZE,259252224,221548544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,271212,043934,-4631.419,358.616,38,0.9,38,-23.3