version: 66.07
glider: 542
mission: 6
dive: 146
start: 12 30 112 16 50 57
data:
$ID,542
$MISSION,6
$DIVE,146
$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,-10891.538
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,301212,164004,-4630.780,400.427,31,1.3,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-34.9
$GPS2,301212,164956,-4630.799,400.508,18,1.3,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.144,-0.096
$KALMAN_X,-81779.9,82.7,-347.3,61187.8,-1774.1
$KALMAN_Y,42564.1,-254.6,-395.4,-3981.0,2222.5
$MHEAD_RNG_PITCHd_Wd,147.1,1616,-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,-63.1,0.0,0.0,0,163,0.00,0.00,-132.40,0.000,6,0.000,0.000,60,2945,3079,0,0,0,0,0,0
$GC,169,-0.87,-105.0,3.4,-5.6,17,188,6.30,1.48,-4.75,0.000,4,0.252,0.068,1577,3890,3246,0,0,0,0,0,0
$GC,367,-0.87,-105.0,43.2,-19.2,47,373,0.00,1.52,0.00,0.000,6,0.000,0.032,1578,2897,3247,0,0,0,0,0,0
$GC,609,-0.87,-105.0,86.8,-15.9,88,616,0.00,2.08,0.00,0.000,4,0.000,0.036,1578,1525,3248,0,0,0,0,0,0
$GC,650,-0.87,-105.0,93.6,-16.3,94,657,0.00,2.22,0.00,0.000,6,0.000,0.053,1569,2915,3248,0,0,0,0,0,0
$GC,979,-0.87,-105.0,146.8,-17.3,119,980,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2915,3248,0,0,0,0,0,0
$GC,1291,-0.87,-105.0,198.7,-15.8,139,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2915,3249,0,0,0,0,0,0
$GC,1603,-0.87,-105.0,247.0,-15.2,159,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2915,3249,0,0,0,0,0,0
$GC,1923,-0.87,-105.0,294.7,-14.8,175,1927,0.00,1.55,0.00,0.000,4,0.000,0.060,1561,3896,3249,0,0,0,0,0,0
$GC,1973,-0.87,-105.0,302.1,-15.3,177,1976,0.00,1.48,0.00,0.000,6,0.000,0.033,1561,2919,3249,0,0,0,0,0,0
$GC,2310,-0.87,-105.0,353.2,-15.3,193,2314,0.12,1.55,0.00,0.000,4,0.207,0.060,1583,3897,3249,0,0,0,0,0,0
$GC,2390,-0.87,-105.0,366.0,-14.6,196,2394,0.00,1.48,0.00,0.000,6,0.000,0.034,1586,2925,3250,0,0,0,0,0,0
$GC,2713,-0.87,-105.0,408.7,-13.2,211,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2921,3249,0,0,0,0,0,0
$GC,3019,-0.87,-105.0,448.6,-13.0,221,3023,0.00,2.10,0.00,0.000,4,0.000,0.037,1586,1525,3249,0,0,0,0,0,0
$GC,3085,-0.87,-105.0,456.9,-12.6,223,3089,0.00,2.22,0.00,0.000,6,0.000,0.054,1576,2925,3249,0,0,0,0,0,0
$GC,3423,-0.87,-105.0,504.0,-14.0,234,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2925,3248,0,0,0,0,0,0
$GC,3729,-0.87,-105.0,545.4,-13.4,244,3733,0.00,2.10,0.00,0.000,4,0.000,0.037,1577,1525,3248,0,0,0,0,0,0
$GC,3809,-0.87,-105.0,555.8,-11.7,246,3813,0.00,2.22,0.00,0.000,6,0.000,0.054,1566,2926,3248,0,0,0,0,0,0
$GC,4135,-0.87,-105.0,597.7,-12.8,257,4139,0.00,2.10,0.00,0.000,4,0.000,0.037,1566,1525,3247,0,0,0,0,0,0
$GC,4170,-0.87,-105.0,602.1,-11.3,258,4175,0.12,2.22,0.00,0.000,6,0.207,0.054,1584,2931,3247,0,0,0,0,0,0
$GC,4503,-0.87,-105.0,638.6,-11.0,269,4506,0.00,2.12,0.00,0.000,4,0.000,0.037,1584,1525,3247,0,0,0,0,0,0
$GC,4549,-0.87,-105.0,643.9,-10.2,270,4553,0.00,2.22,0.00,0.000,6,0.000,0.054,1575,2926,3246,0,0,0,0,0,0
$GC,4869,-0.87,-105.0,681.6,-12.2,281,4873,0.00,2.12,0.00,0.000,4,0.000,0.037,1575,1524,3246,0,0,0,0,0,0
$GC,4900,-0.87,-105.0,685.0,-10.7,282,4904,0.00,2.22,0.00,0.000,6,0.000,0.054,1564,2927,3245,0,0,0,0,0,0
$GC,5238,-0.87,-105.0,726.7,-12.5,293,5242,0.00,2.12,0.00,0.000,4,0.000,0.037,1565,1523,3245,0,0,0,0,0,0
$GC,5323,-0.87,-105.0,737.3,-11.4,295,5328,0.15,2.22,0.00,0.000,6,0.200,0.054,1589,2925,3246,0,0,0,0,0,0
$GC,5639,-0.87,-105.0,769.9,-10.3,305,5643,0.00,2.12,0.00,0.000,4,0.000,0.037,1589,1523,3245,0,0,0,0,0,0
$GC,5680,-0.87,-105.1,774.2,-10.0,306,5684,0.00,2.22,0.00,0.000,6,0.000,0.054,1580,2922,3245,0,0,0,0,0,0
$GC,6006,-0.87,-105.1,808.9,-10.8,317,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2923,3245,0,0,0,0,0,0
$GC,6312,-0.87,-105.1,842.6,-11.0,327,6316,0.00,2.12,0.00,0.000,4,0.000,0.037,1580,1517,3245,0,0,0,0,0,0
$GC,6353,-0.87,-105.1,847.1,-10.7,328,6357,0.00,2.22,0.00,0.000,6,0.000,0.054,1569,2931,3244,0,0,0,0,0,0
$GC,6692,-0.87,-105.1,885.1,-11.4,339,6696,0.00,2.12,0.00,0.000,4,0.000,0.037,1569,1518,3244,0,0,0,0,0,0
$GC,6715,-0.87,-105.1,888.1,-10.9,339,6723,0.12,2.22,0.00,0.000,6,0.207,0.054,1587,2925,3244,0,0,0,0,0,0
$GC,7031,-0.87,-106.9,919.7,-9.8,350,7035,0.00,2.12,0.00,0.000,4,0.000,0.038,1587,1524,3244,0,0,0,0,0,0
$GC,7077,-0.87,-106.9,924.7,-10.3,351,7081,0.00,2.22,0.00,0.000,6,0.000,0.054,1578,2931,3244,0,0,0,0,0,0
$GC,7409,-0.87,-106.9,959.7,-10.7,362,7413,0.00,2.12,0.00,0.000,4,0.000,0.037,1578,1525,3244,0,0,0,0,0,0
$GC,7447,-0.87,-106.9,963.7,-11.1,363,7451,0.00,2.20,0.00,0.000,6,0.000,0.054,1567,2925,3243,0,0,0,0,0,0
$STATE,7787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7787,begin apogee
$GC,7798,-0.19,0.0,1002.6,11.3,374,7909,0.82,0.00,107.35,1.255,6,0.187,0.000,1802,2734,2818,0,0,0,0,0,0
$STATE,7911,end apogee,CONTROL_FINISHED_OK
$STATE,7911,begin climb
$GC,7916,0.87,106.9,1004.0,0.0,378,8038,0.98,0.00,108.80,1.812,6,0.057,0.000,2157,2734,2383,0,0,0,0,1,0
$GC,8339,0.87,106.9,896.2,29.4,392,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2734,2378,0,0,0,0,0,0
$GC,8646,0.87,106.9,809.0,28.7,402,8650,0.00,2.22,0.00,0.000,4,0.000,0.045,2167,1338,2376,0,0,0,0,0,0
$GC,8675,0.87,106.9,800.1,27.7,402,8681,0.00,2.30,0.00,0.000,6,0.000,0.052,2167,2743,2375,0,0,0,0,0,0
$GC,8990,0.87,106.9,709.5,28.8,413,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2743,2374,0,0,0,0,0,0
$GC,9296,0.87,106.9,623.1,27.8,423,9300,0.00,2.22,0.00,0.000,4,0.000,0.044,2177,1331,2373,0,0,0,0,0,0
$GC,9326,0.87,106.9,614.6,26.6,423,9332,0.00,2.25,0.00,0.000,6,0.000,0.052,2178,2733,2372,0,0,0,0,0,0
$GC,9641,0.87,106.9,529.0,26.7,434,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2733,2372,0,0,0,0,0,0
$GC,9947,0.87,106.9,448.9,25.9,444,9951,0.00,2.17,0.00,0.000,4,0.000,0.044,2188,1332,2371,0,0,0,0,0,0
$GC,9965,0.87,106.9,444.0,24.7,444,9970,0.15,2.25,0.00,0.000,6,0.252,0.051,2157,2737,2370,0,0,0,0,0,0
$GC,10291,0.87,106.9,366.6,24.0,457,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2737,2370,0,0,0,0,0,0
$GC,10597,0.87,106.9,293.5,23.6,472,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2737,2370,0,0,0,0,0,0
$GC,10915,0.87,106.9,220.7,22.8,489,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2737,2369,0,0,0,0,0,0
$GC,11227,0.87,106.9,150.1,22.1,509,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2737,2369,0,0,0,0,0,0
$GC,11550,0.87,106.9,79.6,24.5,539,11554,0.00,2.17,0.00,0.000,4,0.000,0.044,2166,1332,2369,0,0,0,0,0,0
$GC,11584,0.87,106.9,71.2,20.6,544,11591,0.00,2.22,0.00,0.000,6,0.000,0.050,2163,2740,2368,0,0,0,0,0,0
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.7,1.026511
$STATE,11925,end surface coast,CONTROL_FINISHED_OK
$STATE,11925,begin surface
$SM_CCo,11948,196.32,0.795,1,0,517,564.18
$SM_GC,1.17,0.00,0.00,196.32,0.000,0.000,0.795,56,2942,517,-5.67,0.54,564.18
$IRIDIUM_FIX,-4616.72,538.59,301212,131352
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.2,29.619
$10V_AH,10.1,12.708
$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,14.625,79.500,216.150,196.325,0.000,26.741,46.461,310.719,0.000,0.000,24.011,1494.847,8229.348,542.992,1927.870,545.528,33.361,1211.228,0.000,1505.140,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,68.850,1811.520,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.613,1200.656,650.475,255.031,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354204
$DATA_FILE_SIZE,43850,600
$CAP_FILE_SIZE,94363,0
$CFSIZE,259252224,220221440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301212,201452,-4631.521,402.042,38,1.1,38,-23.3