version: 66.07
glider: 542
mission: 6
dive: 120
start: 12 27 112 7 51 43
data:
$ID,542
$MISSION,6
$DIVE,120
$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,-10759.077
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,271212,074135,-4632.246,400.310,33,1.1,33,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-40.0
$GPS2,271212,075041,-4632.256,400.355,20,0.9,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.166,-0.051
$KALMAN_X,-68717.6,-483.7,33.1,48120.0,-1660.8
$KALMAN_Y,38289.7,-1301.5,-267.3,-1483.7,4538.7
$MHEAD_RNG_PITCHd_Wd,130.6,4202,-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,-134.32,0.000,6,0.000,0.000,56,2928,3076,0,0,0,0,0,0
$GC,176,-0.91,-140.1,2.9,-1.8,18,203,6.15,1.60,-8.85,0.000,4,0.247,0.080,1562,3900,3393,0,0,0,0,0,0
$GC,472,-0.91,-140.1,70.2,-22.5,66,481,0.00,1.52,0.00,0.000,6,0.000,0.033,1565,2899,3394,0,0,0,0,0,0
$GC,815,-0.91,-140.1,134.5,-18.7,104,818,0.00,1.62,0.00,0.000,4,0.000,0.059,1558,3899,3395,0,0,0,0,0,0
$GC,1077,-0.91,-140.1,185.8,-19.1,119,1081,0.00,1.48,0.00,0.000,6,0.000,0.034,1558,2929,3396,0,0,0,0,0,0
$GC,1404,-0.91,-140.1,248.7,-19.5,140,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3396,0,0,0,0,0,0
$GC,1729,-0.91,-140.1,308.8,-18.4,156,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3396,0,0,0,0,0,0
$GC,2040,-0.91,-140.1,362.2,-16.9,171,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3396,0,0,0,0,0,0
$GC,2357,-0.91,-140.1,416.5,-16.8,185,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3396,0,0,0,0,0,0
$GC,2663,-0.91,-140.1,467.5,-16.6,195,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3396,0,0,0,0,0,0
$GC,2969,-0.91,-140.1,518.8,-16.9,205,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3396,0,0,0,0,0,0
$GC,3276,-0.91,-140.1,569.0,-16.2,215,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3396,0,0,0,0,0,0
$GC,3582,-0.91,-140.1,618.4,-15.9,225,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3395,0,0,0,0,0,0
$GC,3888,-0.91,-140.1,664.6,-14.8,235,3892,0.00,1.58,0.00,0.000,4,0.000,0.062,1552,3902,3395,0,0,0,0,0,0
$GC,3939,-0.91,-140.1,672.9,-15.4,236,3943,0.00,1.48,0.00,0.000,6,0.000,0.035,1552,2928,3395,0,0,0,0,0,0
$GC,4265,-0.91,-140.1,721.3,-14.9,247,4269,0.00,1.58,0.00,0.000,4,0.000,0.061,1544,3903,3394,0,0,0,0,0,0
$GC,4311,-0.91,-140.1,729.2,-16.8,248,4315,0.08,1.50,0.00,0.000,6,0.193,0.034,1565,2916,3394,0,0,0,0,0,0
$GC,4643,-0.91,-140.1,775.4,-14.0,259,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2911,3394,0,0,0,0,0,0
$GC,4952,-0.91,-140.1,817.7,-13.8,269,4956,0.00,1.60,0.00,0.000,4,0.000,0.061,1559,3907,3394,0,0,0,0,0,0
$GC,5003,-0.91,-140.1,826.0,-15.1,270,5007,0.00,1.50,0.00,0.000,6,0.000,0.035,1559,2915,3394,0,0,0,0,0,0
$GC,5329,-0.91,-140.1,872.8,-14.5,281,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2910,3394,0,0,0,0,0,0
$GC,5635,-0.91,-140.1,916.7,-14.2,291,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2910,3394,0,0,0,0,0,0
$GC,5942,-0.91,-140.1,958.5,-13.3,301,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2910,3394,0,0,0,0,0,0
$GC,6248,-0.91,-140.1,998.1,-12.9,311,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2910,3394,0,0,0,0,0,0
$STATE,6274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6274,begin apogee
$GC,6285,-0.19,0.0,1002.2,12.9,312,6429,0.85,0.00,140.93,1.242,6,0.184,0.000,1805,2738,2819,0,0,0,0,0,0
$STATE,6431,end apogee,CONTROL_FINISHED_OK
$STATE,6431,begin climb
$GC,6436,0.91,140.1,1004.3,0.0,317,6592,1.02,2.15,142.10,1.793,4,0.059,0.057,2170,3893,2248,0,0,0,0,1,0
$GC,6619,0.91,140.1,961.8,35.5,323,6623,0.00,2.00,0.00,0.000,6,0.000,0.037,2178,2744,2249,0,0,0,0,0,0
$GC,6962,0.91,140.1,845.3,33.5,334,6966,0.00,2.30,0.00,0.000,4,0.000,0.047,2189,1317,2241,0,0,0,0,0,0
$GC,7014,0.91,140.1,828.5,30.6,335,7018,0.00,2.38,0.00,0.000,6,0.000,0.052,2189,2736,2239,0,0,0,0,0,0
$GC,7337,0.91,140.1,722.4,33.3,346,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2736,2239,0,0,0,0,0,0
$GC,7641,0.91,140.1,622.1,32.7,356,7645,0.00,2.28,0.00,0.000,4,0.000,0.045,2199,1313,2238,0,0,0,0,0,0
$GC,7693,0.91,140.1,605.4,29.5,357,7698,0.15,2.33,0.00,0.000,6,0.273,0.050,2170,2746,2237,0,0,0,0,0,0
$GC,8008,0.91,140.1,510.2,30.3,367,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2746,2237,0,0,0,0,0,0
$GC,8314,0.91,140.1,418.5,30.1,377,8318,0.00,2.22,0.00,0.000,4,0.000,0.044,2179,1320,2236,0,0,0,0,0,0
$GC,8417,0.91,140.1,389.4,28.1,380,8426,0.00,2.30,0.00,0.000,6,0.000,0.052,2172,2735,2235,0,0,0,0,0,0
$GC,8735,0.91,140.1,295.3,29.7,396,8739,0.00,2.22,0.00,0.000,4,0.000,0.045,2182,1317,2235,0,0,0,0,0,0
$GC,8764,0.91,140.1,286.4,28.3,397,8768,0.00,2.28,0.00,0.000,6,0.000,0.052,2182,2745,2235,0,0,0,0,0,0
$GC,9092,0.91,140.1,191.5,28.6,416,9096,0.00,2.25,0.00,0.000,4,0.000,0.045,2193,1313,2235,0,0,0,0,0,0
$GC,9144,0.91,140.1,176.7,25.4,419,9149,0.12,2.28,0.00,0.000,6,0.268,0.051,2169,2735,2234,0,0,0,0,0,0
$GC,9475,0.91,140.1,90.2,28.0,443,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2734,2234,0,0,0,0,0,0
$STATE,9808,end climb,SURFACE_DEPTH_REACHED
$STATE,9808,begin surface coast
$FINISH,0.5,1.016001
$STATE,9822,end surface coast,CONTROL_FINISHED_OK
$STATE,9822,begin surface
$SM_CCo,9844,180.90,0.799,1,0,516,564.18
$SM_GC,0.82,0.00,0.00,180.90,0.000,0.000,0.799,65,2938,516,-5.64,0.42,564.18
$IRIDIUM_FIX,-4613.60,357.79,271212,040433
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.8,25.006
$10V_AH,10.0,10.661
$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,14.125,42.950,283.025,180.900,0.000,28.276,24.704,302.972,0.000,0.000,22.797,1228.746,6681.073,555.110,1660.886,453.579,33.360,1140.518,0.000,1277.375,0.000,1.007,0.000
$DEVICE_MAMPS,273.105,80.325,1793.160,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.578,1011.177,558.026,228.224,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,37005,501
$CAP_FILE_SIZE,75189,0
$CFSIZE,259252224,221470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,271212,104006,-4632.395,402.030,24,0.8,25,-23.3