version: 66.07
glider: 542
mission: 6
dive: 119
start: 12 27 112 4 50 20
data:
$ID,542
$MISSION,6
$DIVE,119
$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,-10755.692
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,271212,043934,-4631.419,358.616,38,0.9,38,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-41.3
$GPS2,271212,044919,-4631.486,358.674,16,1.2,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.146,-0.094
$KALMAN_X,-66943.6,-1080.4,-243.5,45104.3,98.0
$KALMAN_Y,37745.6,-802.2,-290.7,8.3,3748.2
$MHEAD_RNG_PITCHd_Wd,146.1,3230,-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,-63.1,0.0,0.0,0,171,0.00,0.00,-134.12,0.000,6,0.000,0.000,52,2932,3079,0,0,0,0,0,0
$GC,178,-0.90,-130.8,3.1,-2.8,18,197,6.35,1.60,-7.60,0.000,4,0.257,0.080,1565,3894,3356,0,0,0,0,0,0
$GC,469,-0.90,-130.8,67.1,-21.0,65,474,0.00,1.50,0.00,0.000,6,0.000,0.034,1565,2911,3358,0,0,0,0,0,0
$GC,811,-0.90,-130.8,132.9,-17.7,105,812,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2907,3358,0,0,0,0,0,0
$GC,1123,-0.90,-130.8,191.2,-18.8,125,1127,0.00,1.60,0.00,0.000,4,0.000,0.060,1558,3896,3358,0,0,0,0,0,0
$GC,1163,-0.90,-130.8,198.7,-20.4,127,1166,0.00,1.48,0.00,0.000,6,0.000,0.033,1559,2919,3359,0,0,0,0,0,0
$GC,1491,-0.90,-130.8,257.8,-17.3,147,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2914,3359,0,0,0,0,0,0
$GC,1799,-0.90,-130.8,310.4,-17.5,162,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2914,3359,0,0,0,0,0,0
$GC,2110,-0.90,-130.8,362.1,-16.2,177,2114,0.00,1.58,0.00,0.000,4,0.000,0.060,1552,3892,3359,0,0,0,0,0,0
$GC,2139,-0.90,-130.8,367.9,-17.6,178,2142,0.00,1.45,0.00,0.000,6,0.000,0.034,1552,2935,3359,0,0,0,0,0,0
$GC,2467,-0.90,-130.8,424.6,-17.3,192,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2930,3359,0,0,0,0,0,0
$GC,2773,-0.90,-130.8,477.5,-17.5,202,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2931,3359,0,0,0,0,0,0
$GC,3080,-0.90,-130.8,529.1,-16.8,212,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2931,3359,0,0,0,0,0,0
$GC,3385,-0.90,-130.8,579.9,-16.7,222,3389,0.00,1.55,0.00,0.000,4,0.000,0.060,1544,3894,3358,0,0,0,0,0,0
$GC,3442,-0.90,-130.8,590.5,-18.1,223,3446,0.10,1.48,0.00,0.000,6,0.197,0.034,1572,2922,3358,0,0,0,0,0,0
$GC,3763,-0.90,-130.8,638.4,-14.7,234,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2920,3358,0,0,0,0,0,0
$GC,4069,-0.90,-130.8,682.0,-14.3,244,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2920,3358,0,0,0,0,0,0
$GC,4375,-0.90,-130.8,724.2,-13.5,254,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2920,3357,0,0,0,0,0,0
$GC,4682,-0.90,-130.8,765.6,-13.4,264,4685,0.00,1.58,0.00,0.000,4,0.000,0.062,1565,3897,3357,0,0,0,0,0,0
$GC,4718,-0.90,-130.8,770.8,-14.4,265,4722,0.00,1.48,0.00,0.000,6,0.000,0.034,1566,2922,3357,0,0,0,0,0,0
$GC,5061,-0.90,-130.8,818.0,-14.1,276,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2918,3357,0,0,0,0,0,0
$GC,5369,-0.90,-130.8,860.3,-13.6,286,5372,0.00,2.08,0.00,0.000,4,0.000,0.039,1565,1525,3357,0,0,0,0,0,0
$GC,5404,-0.90,-130.8,865.4,-12.7,287,5408,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2925,3356,0,0,0,0,0,0
$GC,5736,-0.90,-130.8,910.9,-13.9,298,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2925,3356,0,0,0,0,0,0
$GC,6042,-0.90,-130.8,953.4,-13.7,308,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2925,3356,0,0,0,0,0,0
$GC,6348,-0.90,-130.8,994.4,-13.2,318,6352,0.00,2.12,0.00,0.000,4,0.000,0.038,1555,1525,3356,0,0,0,0,0,0
$STATE,6390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6390,begin apogee
$GC,6402,-0.19,0.0,1000.5,12.9,319,6540,0.88,0.00,131.85,1.232,6,0.191,0.000,1801,2738,2816,0,0,0,0,0,0
$STATE,6542,end apogee,CONTROL_FINISHED_OK
$STATE,6542,begin climb
$GC,6547,0.90,130.8,1002.7,0.0,324,6693,1.02,2.58,133.52,1.785,4,0.057,0.044,2179,1349,2286,0,0,0,0,1,0
$GC,6713,0.90,130.8,966.4,30.2,329,6718,0.00,2.50,0.00,0.000,6,0.000,0.050,2179,2732,2285,0,0,0,0,0,0
$GC,7030,0.90,130.8,859.6,34.0,339,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2732,2278,0,0,0,0,0,0
$GC,7335,0.90,130.8,759.6,32.5,349,7338,0.00,1.90,0.00,0.000,4,0.000,0.058,2179,3904,2276,0,0,0,0,0,0
$GC,7375,0.90,130.8,745.1,35.0,350,7379,0.00,1.85,0.00,0.000,6,0.000,0.040,2188,2744,2276,0,0,0,0,0,0
$GC,7712,0.90,130.8,635.0,32.4,361,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2739,2275,0,0,0,0,0,0
$GC,8018,0.90,130.8,539.5,30.9,371,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2739,2274,0,0,0,0,0,0
$GC,8325,0.90,130.8,447.5,29.6,381,8329,0.00,2.22,0.00,0.000,4,0.000,0.044,2198,1316,2274,0,0,0,0,0,0
$GC,8343,0.90,130.8,441.5,29.7,381,8348,0.17,2.30,0.00,0.000,6,0.271,0.050,2163,2748,2273,0,0,0,0,0,0
$GC,8678,0.90,130.8,350.7,26.9,395,8682,0.00,2.25,0.00,0.000,4,0.000,0.045,2173,1313,2272,0,0,0,0,0,0
$GC,8736,0.90,130.8,334.3,25.9,397,8740,0.00,2.30,0.00,0.000,6,0.000,0.052,2172,2745,2272,0,0,0,0,0,0
$GC,9054,0.90,130.8,247.4,28.5,412,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2745,2272,0,0,0,0,0,0
$GC,9367,0.90,130.8,160.9,27.0,432,9371,0.00,2.22,0.00,0.000,4,0.000,0.045,2182,1314,2272,0,0,0,0,0,0
$GC,9402,0.90,130.8,151.0,25.1,434,9406,0.00,2.28,0.00,0.000,6,0.000,0.053,2182,2734,2271,0,0,0,0,0,0
$GC,9735,0.90,130.8,62.6,25.7,470,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2734,2271,0,0,0,0,0,0
$STATE,9968,end climb,SURFACE_DEPTH_REACHED
$STATE,9968,begin surface coast
$FINISH,0.4,1.014024
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9982,begin surface
$SM_CCo,10004,184.55,0.796,1,0,517,564.18
$SM_GC,0.99,0.00,0.00,184.55,0.000,0.000,0.796,57,2927,517,-5.67,0.11,564.18
$IRIDIUM_FIX,-4616.72,354.88,271212,010135
$TT8_MAMPS,0.026215
$HUMID,56.89
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.9,24.825
$10V_AH,10.1,10.587
$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,14.375,46.350,265.375,184.550,0.000,29.122,42.550,309.814,0.000,0.000,21.371,1245.423,6864.165,573.471,1619.732,475.436,33.360,1107.415,0.000,1223.007,0.000,1.008,0.000
$DEVICE_MAMPS,270.810,79.560,1784.745,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.148,1027.177,571.192,229.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354244
$DATA_FILE_SIZE,37175,510
$CAP_FILE_SIZE,74422,0
$CFSIZE,259252224,221511680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,271212,074135,-4632.246,400.310,33,1.1,33,-23.3