version: 66.07
glider: 542
mission: 6
dive: 124
start: 12 27 112 20 2 0
data:
$ID,542
$MISSION,6
$DIVE,124
$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,-10779.347
$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,33
$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
$GPS1,271212,195104,-4630.401,404.829,35,0.9,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-52.4
$GPS2,271212,200059,-4630.402,404.784,19,1.1,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.040,0.169
$KALMAN_X,-74631.6,500.4,447.3,58218.3,-6531.1
$KALMAN_Y,35028.4,145.6,-66.3,3555.0,-1321.2
$MHEAD_RNG_PITCHd_Wd,36.8,6144,-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,-135.68,0.000,6,0.000,0.000,60,2945,3077,0,0,0,0,0,0
$GC,177,-0.91,-145.2,2.7,-1.3,18,195,6.18,0.00,-9.68,0.000,6,0.250,0.000,1565,2945,3414,0,0,0,0,0,0
$GC,274,-0.91,-145.2,23.3,-22.7,32,283,0.00,1.55,0.00,0.000,4,0.000,0.060,1560,3893,3416,0,0,0,0,0,0
$GC,326,-0.91,-145.2,35.0,-22.3,39,333,0.00,1.52,0.00,0.000,6,0.000,0.032,1559,2895,3417,0,0,0,0,0,0
$GC,570,-0.91,-145.2,88.3,-19.2,80,576,0.00,1.62,0.00,0.000,4,0.000,0.059,1552,3890,3417,0,0,0,0,0,0
$GC,634,-0.91,-145.2,101.5,-19.3,90,643,0.00,1.48,0.00,0.000,6,0.000,0.032,1552,2914,3417,0,0,0,0,0,0
$GC,958,-0.91,-145.2,161.5,-18.2,111,962,0.00,1.58,0.00,0.000,4,0.000,0.059,1545,3886,3418,0,0,0,0,0,0
$GC,997,-0.91,-145.2,168.7,-18.9,113,1001,0.08,1.45,0.00,0.000,6,0.193,0.033,1566,2937,3418,0,0,0,0,0,0
$GC,1335,-0.91,-145.2,227.1,-17.3,134,1339,0.00,1.55,0.00,0.000,4,0.000,0.060,1560,3890,3418,0,0,0,0,0,0
$GC,1364,-0.91,-145.2,233.5,-18.2,135,1371,0.00,1.48,0.00,0.000,6,0.000,0.033,1560,2913,3418,0,0,0,0,0,0
$GC,1696,-0.91,-145.2,292.1,-18.3,153,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2912,3418,0,0,0,0,0,0
$GC,2003,-0.91,-145.2,345.7,-17.3,168,2007,0.00,1.58,0.00,0.000,4,0.000,0.061,1553,3887,3418,0,0,0,0,0,0
$GC,2038,-0.91,-145.2,352.4,-18.2,169,2042,0.00,1.45,0.00,0.000,6,0.000,0.034,1553,2933,3418,0,0,0,0,0,0
$GC,2381,-0.91,-145.2,411.1,-17.2,185,2385,0.00,1.55,0.00,0.000,4,0.000,0.061,1546,3890,3417,0,0,0,0,0,0
$GC,2410,-0.91,-145.2,416.7,-18.9,185,2417,0.00,1.48,0.00,0.000,6,0.000,0.034,1546,2912,3418,0,0,0,0,0,0
$GC,2725,-0.91,-145.2,473.0,-18.0,196,2730,0.12,1.58,0.00,0.000,4,0.212,0.062,1567,3891,3418,0,0,0,0,0,0
$GC,2744,-0.91,-145.2,476.8,-18.7,196,2748,0.00,1.45,0.00,0.000,6,0.000,0.034,1567,2936,3418,0,0,0,0,0,0
$GC,3070,-0.91,-145.2,526.9,-15.5,207,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2932,3418,0,0,0,0,0,0
$GC,3376,-0.91,-145.2,574.3,-15.4,217,3380,0.00,1.55,0.00,0.000,4,0.000,0.062,1560,3891,3418,0,0,0,0,0,0
$GC,3399,-0.91,-145.2,578.3,-15.6,217,3403,0.00,1.48,0.00,0.000,6,0.000,0.034,1560,2915,3417,0,0,0,0,0,0
$GC,3720,-0.91,-145.2,629.0,-15.8,228,3724,0.00,1.58,0.00,0.000,4,0.000,0.062,1553,3889,3417,0,0,0,0,0,0
$GC,3743,-0.91,-145.2,633.3,-16.5,228,3747,0.00,1.45,0.00,0.000,6,0.000,0.034,1553,2931,3417,0,0,0,0,0,0
$GC,4064,-0.91,-145.2,685.5,-16.1,239,4067,0.00,1.55,0.00,0.000,4,0.000,0.062,1545,3890,3417,0,0,0,0,0,0
$GC,4092,-0.91,-145.2,690.8,-17.3,239,4099,0.00,1.48,0.00,0.000,6,0.000,0.034,1545,2905,3417,0,0,0,0,0,0
$GC,4409,-0.91,-145.2,742.1,-16.1,250,4413,0.12,1.58,0.00,0.000,4,0.209,0.063,1567,3890,3416,0,0,0,0,0,0
$GC,4467,-0.91,-145.2,751.8,-15.8,251,4470,0.00,1.45,0.00,0.000,6,0.000,0.034,1567,2933,3416,0,0,0,0,0,0
$GC,4787,-0.91,-145.2,797.1,-14.0,262,4791,0.00,2.10,0.00,0.000,4,0.000,0.038,1567,1522,3416,0,0,0,0,0,0
$GC,4811,-0.91,-145.2,800.7,-14.3,262,4818,0.00,2.20,0.00,0.000,6,0.000,0.054,1557,2916,3415,0,0,0,0,0,0
$GC,5126,-0.91,-145.2,846.7,-14.8,273,5130,0.00,2.10,0.00,0.000,4,0.000,0.037,1557,1522,3415,0,0,0,0,0,0
$GC,5139,-0.91,-145.2,848.8,-14.7,273,5143,0.00,2.22,0.00,0.000,6,0.000,0.054,1546,2924,3415,0,0,0,0,0,0
$GC,5459,-0.91,-145.2,895.5,-14.7,284,5463,0.00,1.52,0.00,0.000,4,0.000,0.062,1539,3892,3415,0,0,0,0,0,0
$GC,5496,-0.91,-145.2,901.1,-15.2,285,5500,0.10,1.45,0.00,0.000,6,0.194,0.034,1566,2932,3415,0,0,0,0,0,0
$GC,5839,-0.91,-145.2,944.6,-12.3,296,5843,0.00,2.12,0.00,0.000,4,0.000,0.038,1567,1515,3415,0,0,0,0,0,0
$GC,5863,-0.91,-145.2,947.9,-12.9,296,5867,0.00,2.25,0.00,0.000,6,0.000,0.055,1557,2930,3414,0,0,0,0,0,0
$GC,6178,-0.91,-145.2,987.7,-12.7,306,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2930,3414,0,0,0,0,0,0
$STATE,6296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6296,begin apogee
$GC,6307,-0.19,0.0,1003.7,13.0,310,6457,0.85,0.00,146.70,1.226,6,0.188,0.000,1801,2737,2819,0,0,0,0,0,0
$STATE,6459,end apogee,CONTROL_FINISHED_OK
$STATE,6459,begin climb
$GC,6464,0.91,145.2,1006.8,0.0,315,6624,1.00,2.22,146.02,1.791,4,0.059,0.058,2164,3891,2226,0,0,0,0,1,0
$GC,6672,0.91,145.2,954.7,37.9,321,6676,0.00,2.00,0.00,0.000,6,0.000,0.040,2172,2755,2227,0,0,0,0,0,0
$GC,7004,0.91,145.2,840.6,34.3,332,7008,0.00,2.33,0.00,0.000,4,0.000,0.047,2183,1319,2221,0,0,0,0,0,0
$GC,7033,0.91,145.2,830.4,33.3,332,7040,0.00,2.38,0.00,0.000,6,0.000,0.053,2183,2740,2220,0,0,0,0,0,0
$GC,7348,0.91,145.2,726.7,33.3,343,7352,0.00,2.30,0.00,0.000,4,0.000,0.047,2194,1317,2219,0,0,0,0,0,0
$GC,7400,0.91,145.2,709.5,30.7,344,7404,0.00,2.35,0.00,0.000,6,0.000,0.054,2194,2743,2218,0,0,0,0,0,0
$GC,7715,0.91,145.2,606.0,33.3,354,7719,0.00,2.28,0.00,0.000,4,0.000,0.046,2204,1316,2218,0,0,0,0,0,0
$GC,7780,0.91,145.2,585.6,30.5,356,7785,0.17,2.30,0.00,0.000,6,0.261,0.054,2169,2742,2216,0,0,0,0,0,0
$GC,8119,0.91,145.2,480.9,30.4,367,8123,0.00,2.25,0.00,0.000,4,0.000,0.044,2178,1317,2215,0,0,0,0,0,0
$GC,8143,0.91,145.2,473.1,30.2,367,8150,0.00,2.30,0.00,0.000,6,0.000,0.052,2173,2745,2215,0,0,0,0,0,0
$GC,8461,0.91,145.2,378.0,30.6,379,8465,0.00,2.25,0.00,0.000,4,0.000,0.045,2182,1315,2215,0,0,0,0,0,0
$GC,8532,0.91,145.2,356.8,28.3,382,8536,0.00,2.28,0.00,0.000,6,0.000,0.053,2182,2741,2214,0,0,0,0,0,0
$GC,8861,0.91,145.2,259.2,30.1,398,8865,0.00,2.22,0.00,0.000,4,0.000,0.045,2192,1317,2214,0,0,0,0,0,0
$GC,8890,0.91,145.2,251.6,29.2,399,8894,0.00,2.28,0.00,0.000,6,0.000,0.054,2192,2733,2213,0,0,0,0,0,0
$GC,9223,0.91,145.2,152.6,29.0,420,9227,0.00,2.20,0.00,0.000,4,0.000,0.046,2202,1316,2213,0,0,0,0,0,0
$GC,9245,0.91,145.2,147.0,28.9,421,9249,0.15,2.28,0.00,0.000,6,0.260,0.054,2172,2734,2213,0,0,0,0,0,0
$GC,9581,0.91,145.2,53.1,25.6,460,9590,0.00,1.85,0.00,0.000,4,0.000,0.061,2172,3894,2213,0,0,0,0,0,0
$GC,9624,0.91,145.2,41.2,28.8,466,9633,0.00,1.85,0.00,0.000,6,0.000,0.041,2180,2716,2213,0,0,0,0,0,0
$STATE,9768,end climb,SURFACE_DEPTH_REACHED
$STATE,9768,begin surface coast
$FINISH,0.4,1.026480
$STATE,9786,end surface coast,CONTROL_FINISHED_OK
$STATE,9786,begin surface
$SM_CCo,9808,179.77,0.796,1,0,516,564.18
$SM_GC,0.93,0.00,0.00,179.77,0.000,0.000,0.796,58,2930,516,-5.66,0.20,564.18
$IRIDIUM_FIX,-4616.72,401.12,271212,161648
$TT8_MAMPS,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.7,25.725
$10V_AH,10.1,10.967
$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,14.450,89.900,292.725,179.775,0.000,28.394,54.289,306.781,0.000,0.000,24.976,1239.716,6500.428,601.519,1712.273,534.824,33.362,1247.234,0.000,1294.293,0.000,1.010,0.000
$DEVICE_MAMPS,260.865,66.555,1790.865,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.146,998.003,554.707,218.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,37151,491
$CAP_FILE_SIZE,90272,0
$CFSIZE,259252224,221278208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,271212,224958,-4629.234,404.708,37,1.2,37,-23.3