version: 66.07
glider: 542
mission: 6
dive: 140
start: 12 29 112 21 41 2
data:
$ID,542
$MISSION,6
$DIVE,140
$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,-10857.317
$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,41
$R_STBD_OVSHOOT,37
$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
$GPS1,291212,213104,-4630.770,404.488,26,1.2,26,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-28.2
$GPS2,291212,214000,-4630.765,404.477,19,1.1,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.049,0.166
$KALMAN_X,-81807.4,727.4,205.0,65026.1,-5818.6
$KALMAN_Y,39377.2,296.6,-147.0,-1534.9,849.1
$MHEAD_RNG_PITCHd_Wd,39.8,5881,-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,-63.1,0.0,0.0,0,162,0.00,0.00,-132.00,0.000,6,0.000,0.000,63,2940,3078,0,0,0,0,0,0
$GC,169,-0.90,-129.9,2.9,-2.9,17,195,6.05,2.30,-7.93,0.000,4,0.240,0.052,1577,1504,3352,0,0,0,0,0,0
$GC,332,-0.90,-129.9,31.0,-16.7,41,339,0.00,2.28,0.00,0.000,6,0.000,0.052,1568,2914,3353,0,0,0,0,0,0
$GC,579,-0.90,-129.9,78.9,-17.8,82,586,0.00,1.58,0.00,0.000,4,0.000,0.057,1561,3900,3353,0,0,0,0,0,0
$GC,708,-0.90,-129.9,103.6,-18.4,102,712,0.00,1.52,0.00,0.000,6,0.000,0.031,1562,2898,3353,0,0,0,0,0,0
$GC,1037,-0.90,-129.9,160.9,-17.5,123,1041,0.00,1.62,0.00,0.000,4,0.000,0.057,1555,3900,3354,0,0,0,0,0,0
$GC,1077,-0.90,-129.9,169.4,-19.3,125,1081,0.00,1.48,0.00,0.000,6,0.000,0.032,1555,2925,3354,0,0,0,0,0,0
$GC,1404,-0.90,-129.9,225.9,-16.9,146,1408,0.00,2.08,0.00,0.000,4,0.000,0.037,1555,1530,3354,0,0,0,0,0,0
$GC,1420,-0.90,-129.9,228.4,-17.3,147,1425,0.12,2.22,0.00,0.000,6,0.207,0.050,1574,2934,3354,0,0,0,0,0,0
$GC,1748,-0.90,-129.9,281.6,-16.5,165,1752,0.00,1.52,0.00,0.000,4,0.000,0.058,1568,3900,3354,0,0,0,0,0,0
$GC,1798,-0.90,-129.9,289.8,-16.7,167,1802,0.00,1.48,0.00,0.000,6,0.000,0.032,1568,2917,3354,0,0,0,0,0,0
$GC,2135,-0.90,-129.9,346.4,-16.9,183,2139,0.00,1.58,0.00,0.000,4,0.000,0.058,1562,3895,3354,0,0,0,0,0,0
$GC,2193,-0.90,-129.9,357.4,-17.6,185,2196,0.00,1.45,0.00,0.000,6,0.000,0.032,1562,2931,3354,0,0,0,0,0,0
$GC,2515,-0.90,-129.9,410.9,-16.4,200,2519,0.00,1.55,0.00,0.000,4,0.000,0.059,1554,3892,3354,0,0,0,0,0,0
$GC,2533,-0.90,-129.9,414.4,-16.3,200,2537,0.00,1.48,0.00,0.000,6,0.000,0.033,1554,2914,3354,0,0,0,0,0,0
$GC,2861,-0.90,-129.9,467.2,-16.0,211,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2909,3354,0,0,0,0,0,0
$GC,3165,-0.90,-129.9,517.0,-16.6,221,3169,0.00,1.58,0.00,0.000,4,0.000,0.059,1547,3893,3354,0,0,0,0,0,0
$GC,3262,-0.90,-129.9,534.8,-18.4,223,3269,0.10,1.45,0.00,0.000,6,0.190,0.033,1575,2930,3354,0,0,0,0,0,0
$GC,3577,-0.90,-129.9,582.7,-15.0,234,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2929,3354,0,0,0,0,0,0
$GC,3883,-0.90,-129.9,628.3,-14.6,244,3887,0.00,1.55,0.00,0.000,4,0.000,0.060,1569,3894,3354,0,0,0,0,0,0
$GC,3907,-0.90,-129.9,632.3,-16.0,244,3910,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2915,3354,0,0,0,0,0,0
$GC,4227,-0.90,-129.9,679.0,-14.3,255,4231,0.00,2.08,0.00,0.000,4,0.000,0.038,1569,1531,3353,0,0,0,0,0,0
$GC,4239,-0.90,-129.9,681.0,-14.0,255,4243,0.00,2.17,0.00,0.000,6,0.000,0.052,1558,2922,3353,0,0,0,0,0,0
$GC,4565,-0.90,-129.9,730.5,-15.8,266,4569,0.00,1.55,0.00,0.000,4,0.000,0.060,1551,3894,3353,0,0,0,0,0,0
$GC,4639,-0.90,-129.9,743.2,-16.6,268,4643,0.08,1.45,0.00,0.000,6,0.187,0.034,1572,2934,3352,0,0,0,0,0,0
$GC,4977,-0.90,-129.9,793.6,-15.1,279,4981,0.00,2.10,0.00,0.000,4,0.000,0.038,1572,1522,3352,0,0,0,0,0,0
$GC,5034,-0.90,-129.9,802.0,-14.0,280,5038,0.00,2.22,0.00,0.000,6,0.000,0.054,1563,2928,3352,0,0,0,0,0,0
$GC,5351,-0.90,-129.9,848.3,-14.5,290,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2928,3351,0,0,0,0,0,0
$GC,5656,-0.90,-129.9,892.5,-14.4,300,5659,0.00,2.12,0.00,0.000,4,0.000,0.037,1563,1519,3351,0,0,0,0,0,0
$GC,5696,-0.90,-129.9,898.5,-13.0,301,5700,0.00,2.22,0.00,0.000,6,0.000,0.054,1552,2922,3351,0,0,0,0,0,0
$GC,6022,-0.90,-129.9,945.1,-14.2,312,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2922,3351,0,0,0,0,0,0
$GC,6329,-0.90,-129.9,987.2,-13.3,322,6333,0.00,2.12,0.00,0.000,4,0.000,0.038,1552,1514,3351,0,0,0,0,0,0
$GC,6362,-0.90,-129.9,991.3,-12.6,323,6366,0.15,2.22,0.00,0.000,6,0.203,0.053,1578,2923,3350,0,0,0,0,0,0
$STATE,6450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6450,begin apogee
$GC,6461,-0.19,0.0,1002.7,11.8,326,6596,0.77,0.00,131.88,1.234,6,0.179,0.000,1804,2732,2819,0,0,0,0,0,0
$STATE,6598,end apogee,CONTROL_FINISHED_OK
$STATE,6598,begin climb
$GC,6603,0.90,129.9,1004.9,0.0,330,6741,0.98,0.00,134.52,1.191,6,0.057,0.000,2161,2732,2289,0,0,0,0,0,0
$GC,7039,0.90,129.9,882.7,32.3,345,7043,0.00,2.28,0.00,0.000,4,0.000,0.046,2171,1341,2270,0,0,0,0,0,0
$GC,7074,0.90,129.9,871.5,29.7,346,7078,0.00,2.33,0.00,0.000,6,0.000,0.050,2171,2732,2269,0,0,0,0,0,0
$GC,7406,0.90,129.9,767.5,31.3,357,7410,0.00,2.22,0.00,0.000,4,0.000,0.044,2182,1341,2267,0,0,0,0,0,0
$GC,7441,0.90,129.9,756.3,29.5,358,7445,0.00,2.28,0.00,0.000,6,0.000,0.051,2182,2734,2267,0,0,0,0,0,0
$GC,7773,0.90,129.9,651.6,31.6,369,7777,0.00,2.22,0.00,0.000,4,0.000,0.045,2192,1330,2266,0,0,0,0,0,0
$GC,7813,0.90,129.9,638.5,30.8,370,7818,0.15,2.28,0.00,0.000,6,0.254,0.051,2162,2734,2266,0,0,0,0,0,0
$GC,8140,0.90,129.9,540.4,30.1,381,8144,0.00,2.17,0.00,0.000,4,0.000,0.044,2171,1341,2265,0,0,0,0,0,0
$GC,8158,0.90,129.9,534.4,30.0,381,8163,0.00,2.25,0.00,0.000,6,0.000,0.050,2163,2739,2265,0,0,0,0,0,0
$GC,8474,0.90,129.9,441.4,29.8,391,8478,0.00,2.20,0.00,0.000,4,0.000,0.045,2172,1338,2264,0,0,0,0,0,0
$GC,8531,0.90,129.9,424.5,26.6,392,8535,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2739,2264,0,0,0,0,0,0
$GC,8861,0.90,129.9,328.5,29.2,406,8865,0.00,2.20,0.00,0.000,4,0.000,0.045,2182,1334,2264,0,0,0,0,0,0
$GC,8901,0.90,129.9,316.3,27.0,407,8908,0.00,2.25,0.00,0.000,6,0.000,0.052,2182,2744,2263,0,0,0,0,0,0
$GC,9232,0.90,129.9,223.6,28.4,425,9236,0.00,2.20,0.00,0.000,4,0.000,0.047,2193,1332,2263,0,0,0,0,0,0
$GC,9290,0.90,129.9,207.4,26.0,428,9295,0.15,2.25,0.00,0.000,6,0.251,0.052,2161,2739,2263,0,0,0,0,0,0
$GC,9619,0.90,129.9,125.6,25.2,448,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2740,2263,0,0,0,0,0,0
$GC,9971,0.90,129.9,37.5,22.2,497,9978,0.00,2.15,0.00,0.000,4,0.000,0.044,2170,1339,2263,0,0,0,0,0,0
$GC,9992,0.90,129.9,33.2,22.8,499,9999,0.00,2.20,0.00,0.000,6,0.000,0.053,2169,2734,2262,0,0,0,0,0,0
$STATE,10109,end climb,SURFACE_DEPTH_REACHED
$STATE,10109,begin surface coast
$FINISH,0.5,1.026482
$STATE,10127,end surface coast,CONTROL_FINISHED_OK
$STATE,10127,begin surface
$SM_CCo,10149,185.07,0.772,1,0,517,564.18
$SM_GC,0.77,0.00,0.00,185.07,0.000,0.000,0.772,63,2936,517,-5.65,0.37,564.18
$IRIDIUM_FIX,-4613.60,400.91,291212,181824
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.8,28.574
$10V_AH,10.1,12.220
$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,14.475,86.750,266.400,185.075,0.000,26.611,19.124,296.535,0.000,0.000,22.899,1310.192,6721.634,596.080,1733.891,515.487,33.358,1214.075,0.000,1356.253,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,68.850,1233.945,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.136,1059.599,597.694,244.706,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,37100,520
$CAP_FILE_SIZE,88614,0
$CFSIZE,259252224,220528640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,301212,003435,-4629.574,404.461,26,1.0,26,-23.3