version: 66.07
glider: 542
mission: 6
dive: 147
start: 12 30 112 20 25 12
data:
$ID,542
$MISSION,6
$DIVE,147
$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,-10898.207
$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,50
$R_STBD_OVSHOOT,28
$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
$GPS1,301212,201452,-4631.521,402.042,38,1.1,38,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-33.1
$GPS2,301212,202411,-4631.497,402.143,13,1.4,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131,0.114
$KALMAN_X,-82716.7,-350.9,330.9,63944.0,-2472.4
$KALMAN_Y,43114.1,-601.3,-175.5,-5701.1,2558.9
$MHEAD_RNG_PITCHd_Wd,334.3,3892,-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,-128.50,0.000,6,0.000,0.000,55,2943,3077,0,0,0,0,0,0
$GC,169,-0.89,-122.4,3.4,-3.7,17,188,6.38,2.30,-6.15,0.000,4,0.257,0.061,1578,1528,3321,0,0,0,0,0,0
$GC,207,-0.89,-122.4,13.3,-23.7,21,216,0.00,2.30,0.00,0.000,6,0.000,0.054,1569,2919,3322,0,0,0,0,0,0
$GC,292,-0.89,-122.4,34.9,-24.0,34,301,0.00,2.20,0.00,0.000,4,0.000,0.036,1569,1520,3323,0,0,0,0,0,0
$GC,312,-0.89,-122.4,39.0,-21.4,36,321,0.00,2.30,0.00,0.000,6,0.000,0.054,1558,2922,3323,0,0,0,0,0,0
$GC,559,-0.89,-122.4,90.7,-20.3,77,564,0.00,2.20,0.00,0.000,4,0.000,0.036,1559,1520,3324,0,0,0,0,0,0
$GC,642,-0.89,-122.4,106.7,-17.4,87,650,0.12,2.28,0.00,0.000,6,0.203,0.054,1576,2936,3323,0,0,0,0,0,0
$GC,963,-0.89,-122.4,159.4,-16.7,108,967,0.00,2.17,0.00,0.000,4,0.000,0.036,1576,1518,3324,0,0,0,0,0,0
$GC,1000,-0.89,-122.4,165.2,-14.7,110,1004,0.00,2.25,0.00,0.000,6,0.000,0.053,1567,2922,3324,0,0,0,0,0,0
$GC,1329,-0.89,-122.4,218.6,-16.1,131,1333,0.00,1.58,0.00,0.000,4,0.000,0.060,1560,3900,3324,0,0,0,0,0,0
$GC,1420,-0.89,-122.4,234.9,-17.2,136,1424,0.00,1.50,0.00,0.000,6,0.000,0.032,1560,2903,3324,0,0,0,0,0,0
$GC,1755,-0.89,-122.4,290.1,-16.8,154,1759,0.00,1.60,0.00,0.000,4,0.000,0.060,1552,3893,3324,0,0,0,0,0,0
$GC,1790,-0.89,-122.4,296.9,-19.2,155,1795,0.08,1.45,0.00,0.000,6,0.181,0.033,1574,2935,3324,0,0,0,0,0,0
$GC,2117,-0.89,-122.4,348.7,-16.5,171,2120,0.00,1.55,0.00,0.000,4,0.000,0.060,1568,3893,3325,0,0,0,0,0,0
$GC,2202,-0.89,-122.4,363.7,-16.8,174,2211,0.00,1.48,0.00,0.000,6,0.000,0.033,1568,2909,3324,0,0,0,0,0,0
$GC,2530,-0.89,-122.4,416.4,-16.1,189,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2909,3325,0,0,0,0,0,0
$GC,2836,-0.89,-122.4,464.2,-15.3,199,2840,0.00,2.08,0.00,0.000,4,0.000,0.037,1568,1529,3324,0,0,0,0,0,0
$GC,2888,-0.89,-122.4,472.0,-13.4,200,2892,0.00,2.20,0.00,0.000,6,0.000,0.054,1557,2925,3324,0,0,0,0,0,0
$GC,3203,-0.89,-122.4,518.9,-14.8,210,3207,0.00,2.10,0.00,0.000,4,0.000,0.037,1557,1529,3324,0,0,0,0,0,0
$GC,3464,-0.89,-122.4,554.8,-13.2,217,3473,0.15,2.20,0.00,0.000,6,0.201,0.054,1583,2923,3323,0,0,0,0,0,0
$GC,3779,-0.89,-122.4,593.6,-12.4,228,3783,0.00,2.12,0.00,0.000,4,0.000,0.037,1583,1543,3323,0,0,0,0,0,0
$GC,4039,-0.89,-122.4,623.6,-11.8,235,4043,0.00,2.22,0.00,0.000,6,0.000,0.057,1574,2930,3322,0,0,0,0,0,0
$GC,4354,-0.89,-122.4,663.8,-13.0,245,4358,0.00,2.12,0.00,0.000,4,0.000,0.037,1574,1530,3322,0,0,0,0,0,0
$GC,4616,-0.89,-122.4,695.8,-11.8,252,4623,0.00,2.22,0.00,0.000,6,0.000,0.056,1563,2933,3321,0,0,0,0,0,0
$GC,4932,-0.89,-122.4,738.1,-13.5,263,4935,0.00,1.50,0.00,0.000,4,0.000,0.061,1556,3885,3321,0,0,0,0,0,0
$GC,5123,-0.89,-122.4,765.5,-14.2,268,5127,0.00,1.42,0.00,0.000,6,0.000,0.034,1556,2941,3321,0,0,0,0,0,0
$GC,5444,-0.89,-122.4,808.3,-13.3,279,5448,0.00,2.10,0.00,0.000,4,0.000,0.038,1556,1525,3320,0,0,0,0,0,0
$GC,5706,-0.89,-122.4,840.6,-12.0,286,5713,0.15,2.22,0.00,0.000,6,0.202,0.054,1581,2932,3320,0,0,0,0,0,0
$GC,6021,-0.89,-122.4,875.8,-11.3,297,6025,0.00,2.15,0.00,0.000,4,0.000,0.037,1581,1515,3320,0,0,0,0,0,0
$GC,6266,-0.89,-122.4,901.2,-10.3,304,6270,0.00,2.25,0.00,0.000,6,0.000,0.055,1572,2927,3320,0,0,0,0,0,0
$GC,6592,-0.89,-122.4,938.8,-11.6,315,6596,0.00,2.12,0.00,0.000,4,0.000,0.037,1572,1522,3319,0,0,0,0,0,0
$GC,6691,-0.89,-122.4,949.4,-10.1,318,6695,0.00,2.20,0.00,0.000,6,0.000,0.055,1561,2922,3319,0,0,0,0,0,0
$GC,7028,-0.89,-122.4,990.4,-12.3,329,7032,0.00,2.12,0.00,0.000,4,0.000,0.037,1561,1517,3319,0,0,0,0,0,0
$GC,7075,-0.89,-122.4,996.1,-11.5,330,7079,0.12,2.22,0.00,0.000,6,0.203,0.055,1579,2927,3319,0,0,0,0,0,0
$STATE,7127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7127,begin apogee
$GC,7138,-0.19,0.0,1001.9,10.6,332,7266,0.77,0.00,119.30,1.842,6,0.179,0.000,1806,2735,2819,0,0,0,0,1,0
$STATE,7267,end apogee,CONTROL_FINISHED_OK
$STATE,7268,begin climb
$GC,7272,0.89,122.4,1003.8,0.0,336,7416,1.00,2.50,130.52,1.801,4,0.058,0.044,2170,1344,2320,0,0,0,0,1,0
$GC,7430,0.89,122.4,972.4,28.9,341,7435,0.00,2.53,0.00,0.000,6,0.000,0.050,2170,2732,2320,0,0,0,0,0,0
$GC,7747,0.89,122.4,874.3,31.5,351,7751,0.00,2.30,0.00,0.000,4,0.000,0.046,2180,1337,2314,0,0,0,0,0,0
$GC,7782,0.89,122.4,862.2,31.0,352,7787,0.00,2.35,0.00,0.000,6,0.000,0.052,2180,2736,2312,0,0,0,0,0,0
$GC,8115,0.89,122.4,759.3,30.8,363,8119,0.00,2.25,0.00,0.000,4,0.000,0.046,2191,1338,2311,0,0,0,0,0,0
$GC,8146,0.89,122.4,750.0,29.8,364,8151,0.15,2.30,0.00,0.000,6,0.253,0.052,2161,2740,2310,0,0,0,0,0,0
$GC,8484,0.89,122.4,654.2,27.8,375,8488,0.00,2.25,0.00,0.000,4,0.000,0.045,2170,1329,2309,0,0,0,0,0,0
$GC,8503,0.89,122.4,648.5,28.4,375,8507,0.00,2.30,0.00,0.000,6,0.000,0.052,2170,2746,2308,0,0,0,0,0,0
$GC,8820,0.89,122.4,561.0,28.1,385,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2746,2308,0,0,0,0,0,0
$GC,9124,0.89,122.4,476.2,27.7,395,9128,0.00,2.22,0.00,0.000,4,0.000,0.044,2179,1334,2307,0,0,0,0,0,0
$GC,9137,0.89,122.4,472.1,27.6,395,9141,0.00,2.25,0.00,0.000,6,0.000,0.050,2173,2738,2307,0,0,0,0,0,0
$GC,9470,0.89,122.4,382.1,27.4,407,9474,0.00,2.20,0.00,0.000,4,0.000,0.045,2183,1338,2307,0,0,0,0,0,0
$GC,9494,0.89,122.4,374.6,27.3,408,9498,0.00,2.25,0.00,0.000,6,0.000,0.053,2183,2737,2305,0,0,0,0,0,0
$GC,9818,0.89,122.4,285.3,27.9,424,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2738,2305,0,0,0,0,0,0
$GC,10136,0.89,122.4,196.0,28.5,442,10140,0.00,2.20,0.00,0.000,4,0.000,0.045,2193,1334,2305,0,0,0,0,0,0
$GC,10152,0.89,122.4,191.4,28.7,443,10157,0.15,2.22,0.00,0.000,6,0.251,0.051,2162,2736,2304,0,0,0,0,0,0
$GC,10486,0.89,122.4,106.3,24.4,464,10490,0.00,2.17,0.00,0.000,4,0.000,0.046,2171,1338,2304,0,0,0,0,0,0
$GC,10557,0.89,122.4,88.7,22.7,473,10562,0.00,2.22,0.00,0.000,6,0.000,0.051,2171,2736,2303,0,0,0,0,0,0
$GC,10923,0.89,122.4,6.6,29.2,534,10932,0.00,2.22,0.00,0.000,4,0.000,0.050,2181,1345,2303,0,0,0,0,0,0
$STATE,10940,end climb,SURFACE_DEPTH_REACHED
$STATE,10940,begin surface coast
$FINISH,0.8,1.026503
$STATE,10954,end surface coast,CONTROL_FINISHED_OK
$STATE,10954,begin surface
$SM_CCo,10978,189.93,0.788,1,0,518,564.18
$SM_GC,1.10,0.00,0.00,189.93,0.000,0.000,0.788,59,2929,518,-5.66,0.17,564.18
$IRIDIUM_FIX,-4616.72,401.12,301212,161604
$TT8_MAMPS,0.026215
$HUMID,56.69
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,21.8,29.810
$10V_AH,10.1,12.792
$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,14.875,106.350,249.825,189.925,0.000,26.047,20.108,310.656,0.000,0.000,19.905,1424.835,7116.810,579.272,2042.727,566.924,33.359,1364.358,0.000,1649.716,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,61.200,1842.120,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.256,1070.115,567.885,226.493,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,40383,538
$CAP_FILE_SIZE,103629,0
$CFSIZE,259252224,220168192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,301212,233251,-4631.010,401.165,38,1.4,38,-23.3