version: 66.07
glider: 542
mission: 6
dive: 142
start: 12 30 112 3 47 14
data:
$ID,542
$MISSION,6
$DIVE,142
$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,-10867.975
$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,52
$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
$GPS1,301212,033652,-4629.875,402.345,40,1.3,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-32.1
$GPS2,301212,034612,-4629.857,402.399,17,1.4,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.098,-0.143
$KALMAN_X,-81853.3,362.8,543.5,62461.5,-4426.9
$KALMAN_Y,40564.1,-448.2,375.3,-836.7,1795.2
$MHEAD_RNG_PITCHd_Wd,168.8,3069,-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,-132.88,0.000,6,0.000,0.000,60,2945,3078,0,0,0,0,0,0
$GC,169,-0.90,-130.1,2.8,-2.9,17,188,6.22,1.58,-8.12,0.000,4,0.252,0.076,1566,3899,3352,0,0,0,0,0,0
$GC,463,-0.90,-130.1,63.3,-20.5,64,470,0.00,1.50,0.00,0.000,6,0.000,0.032,1567,2920,3354,0,0,0,0,0,0
$GC,806,-0.90,-130.1,126.2,-18.0,107,807,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2916,3355,0,0,0,0,0,0
$GC,1119,-0.90,-130.1,180.9,-17.2,127,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2916,3356,0,0,0,0,0,0
$GC,1431,-0.90,-130.1,233.4,-16.1,147,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2916,3356,0,0,0,0,0,0
$GC,1745,-0.90,-130.1,284.1,-16.3,164,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2916,3356,0,0,0,0,0,0
$GC,2056,-0.90,-130.1,333.7,-16.1,179,2060,0.00,1.58,0.00,0.000,4,0.000,0.060,1559,3894,3355,0,0,0,0,0,0
$GC,2091,-0.90,-130.1,340.3,-17.4,180,2094,0.00,1.48,0.00,0.000,6,0.000,0.034,1559,2918,3356,0,0,0,0,0,0
$GC,2414,-0.90,-130.1,394.8,-16.9,196,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2913,3355,0,0,0,0,0,0
$GC,2731,-0.90,-130.1,446.9,-16.5,207,2735,0.00,1.58,0.00,0.000,4,0.000,0.060,1552,3893,3355,0,0,0,0,0,0
$GC,2822,-0.90,-130.1,462.9,-17.9,209,2825,0.00,1.45,0.00,0.000,6,0.000,0.034,1552,2935,3355,0,0,0,0,0,0
$GC,3144,-0.90,-130.1,516.5,-16.8,220,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2931,3355,0,0,0,0,0,0
$GC,3449,-0.90,-130.1,567.7,-16.4,230,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2931,3354,0,0,0,0,0,0
$GC,3754,-0.90,-130.1,616.3,-15.6,240,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2930,3354,0,0,0,0,0,0
$GC,4061,-0.90,-130.1,662.8,-15.1,250,4065,0.00,1.55,0.00,0.000,4,0.000,0.060,1545,3897,3353,0,0,0,0,0,0
$GC,4101,-0.90,-130.1,669.4,-15.9,251,4106,0.10,1.48,0.00,0.000,6,0.191,0.034,1572,2925,3353,0,0,0,0,0,0
$GC,4441,-0.90,-130.1,713.6,-13.1,262,4445,0.00,1.55,0.00,0.000,4,0.000,0.061,1566,3889,3353,0,0,0,0,0,0
$GC,4481,-0.90,-130.1,719.8,-14.1,263,4485,0.00,1.48,0.00,0.000,6,0.000,0.034,1566,2908,3352,0,0,0,0,0,0
$GC,4818,-0.90,-130.1,763.8,-12.8,274,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2903,3352,0,0,0,0,0,0
$GC,5124,-0.90,-130.1,803.8,-13.3,284,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2904,3352,0,0,0,0,0,0
$GC,5431,-0.90,-130.1,845.1,-13.6,294,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2903,3351,0,0,0,0,0,0
$GC,5737,-0.90,-130.1,887.1,-13.9,304,5741,0.00,2.05,0.00,0.000,4,0.000,0.040,1566,1529,3351,0,0,0,0,0,0
$GC,5811,-0.90,-130.1,897.3,-12.5,306,5815,0.00,2.17,0.00,0.000,6,0.000,0.055,1556,2915,3351,0,0,0,0,0,0
$GC,6145,-0.90,-130.1,946.5,-15.0,317,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2916,3351,0,0,0,0,0,0
$GC,6450,-0.90,-130.1,991.5,-14.6,327,6454,0.00,2.10,0.00,0.000,4,0.000,0.039,1556,1534,3350,0,0,0,0,0,0
$GC,6496,-0.90,-130.1,998.4,-13.3,328,6501,0.12,2.17,0.00,0.000,6,0.207,0.054,1574,2925,3350,0,0,0,0,0,0
$STATE,6507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6507,begin apogee
$GC,6517,-0.19,0.0,1000.1,12.7,329,6653,0.77,0.00,132.10,1.239,6,0.184,0.000,1800,2748,2819,0,0,0,0,0,0
$STATE,6655,end apogee,CONTROL_FINISHED_OK
$STATE,6655,begin climb
$GC,6660,0.90,130.1,1004.5,0.0,333,6801,1.00,0.00,132.10,1.804,6,0.058,0.000,2162,2748,2287,0,0,0,0,1,0
$GC,7097,0.90,130.1,892.2,29.7,348,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2748,2284,0,0,0,0,0,0
$GC,7403,0.90,130.1,801.5,29.6,358,7407,0.00,2.25,0.00,0.000,4,0.000,0.045,2173,1336,2280,0,0,0,0,0,0
$GC,7483,0.90,130.1,778.2,26.8,360,7487,0.00,2.28,0.00,0.000,6,0.000,0.051,2173,2736,2279,0,0,0,0,0,0
$GC,7810,0.90,130.1,678.8,31.0,371,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2736,2279,0,0,0,0,0,0
$GC,8116,0.90,130.1,585.3,30.3,381,8120,0.00,2.22,0.00,0.000,4,0.000,0.044,2184,1333,2278,0,0,0,0,0,0
$GC,8151,0.90,130.1,574.7,28.0,382,8155,0.00,2.25,0.00,0.000,6,0.000,0.050,2183,2745,2277,0,0,0,0,0,0
$GC,8483,0.90,130.1,476.5,30.0,393,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2745,2277,0,0,0,0,0,0
$GC,8800,0.90,130.1,380.8,30.2,404,8804,0.00,2.22,0.00,0.000,4,0.000,0.044,2194,1328,2277,0,0,0,0,0,0
$GC,8824,0.90,130.1,373.2,29.6,405,8828,0.15,2.22,0.00,0.000,6,0.249,0.050,2163,2734,2276,0,0,0,0,0,0
$GC,9150,0.90,130.1,282.1,28.7,421,9154,0.00,2.20,0.00,0.000,4,0.000,0.045,2172,1325,2276,0,0,0,0,0,0
$GC,9201,0.90,130.1,268.7,26.3,423,9205,0.00,2.22,0.00,0.000,6,0.000,0.051,2165,2737,2275,0,0,0,0,0,0
$GC,9535,0.90,130.1,177.9,27.0,443,9539,0.00,2.20,0.00,0.000,4,0.000,0.046,2174,1338,2275,0,0,0,0,0,0
$GC,9581,0.90,130.1,165.2,24.6,445,9588,0.00,2.22,0.00,0.000,6,0.000,0.051,2172,2738,2274,0,0,0,0,0,0
$GC,9912,0.90,130.1,81.3,26.6,474,9921,0.00,2.22,0.00,0.000,4,0.000,0.045,2181,1336,2274,0,0,0,0,0,0
$GC,9937,0.90,130.1,74.5,23.7,477,9943,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2736,2274,0,0,0,0,0,0
$STATE,10230,end climb,SURFACE_DEPTH_REACHED
$STATE,10230,begin surface coast
$FINISH,0.6,1.013720
$STATE,10243,end surface coast,CONTROL_FINISHED_OK
$STATE,10243,begin surface
$SM_CCo,10266,187.12,0.781,1,0,518,564.18
$SM_GC,1.01,0.00,0.00,187.12,0.000,0.000,0.781,58,2935,518,-5.66,0.31,564.18
$IRIDIUM_FIX,-4613.60,407.14,301212,000034
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.9,28.929
$10V_AH,10.1,12.373
$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,14.025,51.025,264.200,187.125,0.000,25.958,45.382,297.947,0.000,0.000,20.242,1298.306,6980.691,564.301,1700.737,474.979,33.355,1137.530,0.000,1304.811,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,75.735,1803.870,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.785,1068.194,594.379,239.798,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,37076,528
$CAP_FILE_SIZE,78671,0
$CFSIZE,259252224,220442624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301212,064303,-4631.237,403.203,43,2.0,43,-23.3