version: 66.07
glider: 542
mission: 6
dive: 149
start: 12 31 112 3 9 2
data:
$ID,542
$MISSION,6
$DIVE,149
$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,-10905.124
$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,38
$R_STBD_OVSHOOT,30
$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
$GPS1,311212,025716,-4629.781,359.877,44,1.0,44,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-43.3
$GPS2,311212,030804,-4629.747,359.802,37,1.0,38,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.060,-0.162
$KALMAN_X,-80388.1,561.6,-200.3,58267.2,738.6
$KALMAN_Y,40941.9,-398.8,-291.6,-374.8,817.1
$MHEAD_RNG_PITCHd_Wd,223.7,533,-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,-63.1,0.0,0.0,0,155,0.00,0.00,-125.78,0.000,2,0.000,0.000,54,2942,3038,0,0,0,0,0,0
$GC,162,-0.88,-119.2,3.2,-4.0,16,181,6.07,1.60,-8.05,0.000,4,0.239,0.079,1573,3903,3308,0,0,0,0,0,0
$GC,241,-0.88,-119.2,17.5,-20.1,27,250,0.00,1.55,0.00,0.000,6,0.000,0.031,1573,2889,3309,0,0,0,0,0,0
$GC,326,-0.88,-119.2,34.7,-21.0,40,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2888,3309,0,0,0,0,0,0
$GC,572,-0.88,-119.2,81.6,-18.2,81,579,0.00,2.08,0.00,0.000,4,0.000,0.035,1573,1539,3309,0,0,0,0,0,0
$GC,671,-0.88,-119.2,96.2,-14.5,97,676,0.00,2.22,0.00,0.000,6,0.000,0.052,1562,2925,3309,0,0,0,0,0,0
$GC,996,-0.88,-119.2,152.9,-18.3,120,997,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2926,3309,0,0,0,0,0,0
$GC,1307,-0.88,-119.2,208.1,-17.2,140,1310,0.00,1.52,0.00,0.000,4,0.000,0.058,1555,3893,3311,0,0,0,0,0,0
$GC,1344,-0.88,-119.2,214.6,-18.0,142,1347,0.00,1.45,0.00,0.000,6,0.000,0.032,1555,2928,3311,0,0,0,0,0,0
$GC,1677,-0.88,-119.2,271.7,-17.1,161,1681,0.12,1.58,0.00,0.000,4,0.205,0.059,1577,3893,3311,0,0,0,0,0,0
$GC,1712,-0.88,-119.2,278.3,-16.8,162,1716,0.00,1.45,0.00,0.000,6,0.000,0.032,1578,2929,3311,0,0,0,0,0,0
$GC,2036,-0.88,-119.2,326.8,-15.2,178,2040,0.00,2.10,0.00,0.000,4,0.000,0.037,1578,1529,3311,0,0,0,0,0,0
$GC,2072,-0.88,-119.2,332.4,-15.1,179,2078,0.00,2.22,0.00,0.000,6,0.000,0.052,1568,2934,3311,0,0,0,0,0,0
$GC,2393,-0.88,-119.2,381.6,-15.5,195,2396,0.00,1.52,0.00,0.000,4,0.000,0.059,1561,3900,3311,0,0,0,0,0,0
$GC,2427,-0.88,-119.2,388.0,-16.5,196,2430,0.00,1.48,0.00,0.000,6,0.000,0.033,1561,2922,3311,0,0,0,0,0,0
$GC,2768,-0.88,-119.2,439.7,-14.9,209,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2919,3311,0,0,0,0,0,0
$GC,3075,-0.88,-119.2,485.8,-15.2,219,3079,0.00,1.58,0.00,0.000,4,0.000,0.060,1554,3900,3311,0,0,0,0,0,0
$GC,3113,-0.88,-119.2,491.7,-16.1,220,3117,0.08,1.48,0.00,0.000,6,0.184,0.033,1575,2926,3311,0,0,0,0,0,0
$GC,3456,-0.88,-119.2,539.7,-13.7,231,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2922,3311,0,0,0,0,0,0
$GC,3765,-0.88,-119.2,580.5,-13.1,241,3768,0.00,1.58,0.00,0.000,4,0.000,0.061,1569,3900,3311,0,0,0,0,0,0
$GC,3801,-0.88,-119.2,586.0,-14.9,242,3805,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2922,3310,0,0,0,0,0,0
$GC,4144,-0.88,-119.2,634.7,-14.1,253,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2918,3310,0,0,0,0,0,0
$GC,4451,-0.88,-119.2,678.0,-13.9,263,4455,0.00,2.08,0.00,0.000,4,0.000,0.037,1569,1525,3309,0,0,0,0,0,0
$GC,4491,-0.88,-119.2,683.6,-11.9,264,4495,0.00,2.22,0.00,0.000,6,0.000,0.054,1558,2934,3309,0,0,0,0,0,0
$GC,4829,-0.88,-119.2,731.9,-14.2,275,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2934,3309,0,0,0,0,0,0
$GC,5135,-0.88,-119.2,774.6,-13.9,285,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2934,3309,0,0,0,0,0,0
$GC,5443,-0.88,-119.2,817.2,-13.8,295,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2934,3308,0,0,0,0,0,0
$GC,5747,-0.88,-119.2,860.0,-14.2,305,5751,0.00,2.15,0.00,0.000,4,0.000,0.037,1558,1520,3308,0,0,0,0,0,0
$GC,5782,-0.88,-119.2,865.4,-14.2,306,5787,0.15,2.22,0.00,0.000,6,0.200,0.054,1583,2926,3308,0,0,0,0,0,0
$GC,6115,-0.88,-119.2,906.5,-12.2,317,6119,0.00,2.12,0.00,0.000,4,0.000,0.038,1584,1525,3308,0,0,0,0,0,0
$GC,6181,-0.88,-119.2,914.0,-10.8,319,6185,0.00,2.22,0.00,0.000,6,0.000,0.054,1575,2927,3308,0,0,0,0,0,0
$GC,6519,-0.88,-119.2,954.6,-11.8,330,6523,0.00,2.12,0.00,0.000,4,0.000,0.037,1574,1525,3308,0,0,0,0,0,0
$GC,6564,-0.88,-119.2,960.3,-11.6,331,6568,0.00,2.22,0.00,0.000,6,0.000,0.054,1564,2926,3308,0,0,0,0,0,0
$GC,6885,-0.88,-119.2,999.6,-12.2,342,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2926,3308,0,0,0,0,0,0
$STATE,6911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6911,begin apogee
$GC,6922,-0.19,0.0,1003.3,12.1,343,7048,0.82,0.00,122.53,1.239,6,0.185,0.000,1800,2736,2819,0,0,0,0,0,0
$STATE,7050,end apogee,CONTROL_FINISHED_OK
$STATE,7050,begin climb
$GC,7054,0.88,119.2,1005.6,0.0,347,7185,1.00,0.00,121.88,1.798,6,0.057,0.000,2162,2736,2332,0,0,0,0,1,0
$GC,7492,0.88,119.2,890.0,30.2,362,7496,0.00,2.28,0.00,0.000,4,0.000,0.044,2173,1338,2327,0,0,0,0,0,0
$GC,7533,0.88,119.2,877.7,27.9,363,7537,0.00,2.35,0.00,0.000,6,0.000,0.050,2173,2743,2325,0,0,0,0,0,0
$GC,7859,0.88,119.2,780.7,30.1,374,7863,0.00,2.25,0.00,0.000,4,0.000,0.045,2183,1338,2323,0,0,0,0,0,0
$GC,7890,0.88,119.2,771.5,30.2,375,7895,0.00,2.30,0.00,0.000,6,0.000,0.051,2183,2746,2323,0,0,0,0,0,0
$GC,8228,0.88,119.2,671.0,29.6,386,8232,0.00,2.25,0.00,0.000,4,0.000,0.044,2194,1333,2322,0,0,0,0,0,0
$GC,8286,0.88,119.2,654.8,26.5,387,8293,0.17,2.28,0.00,0.000,6,0.249,0.051,2157,2745,2321,0,0,0,0,0,0
$GC,8601,0.88,119.2,569.5,27.2,398,8605,0.00,2.22,0.00,0.000,4,0.000,0.044,2166,1335,2321,0,0,0,0,0,0
$GC,8625,0.88,119.2,562.7,25.8,398,8632,0.00,2.25,0.00,0.000,6,0.000,0.051,2163,2737,2320,0,0,0,0,0,0
$GC,8941,0.88,119.2,478.9,26.5,409,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2737,2320,0,0,0,0,0,0
$GC,9246,0.88,119.2,398.7,26.4,419,9250,0.00,2.20,0.00,0.000,4,0.000,0.044,2172,1335,2320,0,0,0,0,0,0
$GC,9336,0.88,119.2,376.8,24.2,423,9340,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2741,2318,0,0,0,0,0,0
$GC,9668,0.88,119.2,289.5,26.2,439,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2741,2318,0,0,0,0,0,0
$GC,9989,0.88,119.2,205.1,26.1,457,9993,0.00,2.20,0.00,0.000,4,0.000,0.046,2182,1330,2318,0,0,0,0,0,0
$GC,10047,0.88,119.2,189.3,24.7,460,10051,0.00,2.25,0.00,0.000,6,0.000,0.052,2182,2741,2317,0,0,0,0,0,0
$GC,10370,0.88,119.2,109.0,25.2,480,10374,0.00,2.20,0.00,0.000,4,0.000,0.044,2192,1330,2318,0,0,0,0,0,0
$GC,10386,0.88,119.2,104.9,25.3,481,10391,0.15,2.22,0.00,0.000,6,0.248,0.051,2161,2734,2318,0,0,0,0,0,0
$GC,10746,0.88,119.2,28.0,17.3,539,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2735,2317,0,0,0,0,0,0
$GC,10834,0.88,119.2,7.7,23.2,552,10843,0.00,2.17,0.00,0.000,4,0.000,0.040,2171,1319,2316,0,0,0,0,0,0
$STATE,10851,end climb,SURFACE_DEPTH_REACHED
$STATE,10851,begin surface coast
$FINISH,0.9,1.026439
$STATE,10865,end surface coast,CONTROL_FINISHED_OK
$STATE,10865,begin surface
$SM_CCo,10889,191.57,0.793,1,0,516,564.18
$SM_GC,1.14,0.00,0.00,191.57,0.000,0.000,0.793,56,2925,516,-5.67,0.06,564.18
$IRIDIUM_FIX,-4616.72,401.12,301212,202050
$TT8_MAMPS,0.026964
$HUMID,56.26
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.0,30.150
$10V_AH,10.1,12.960
$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,14.150,80.775,244.400,191.575,0.000,25.468,24.079,354.253,0.000,0.000,40.079,1390.533,7361.633,589.916,1836.311,550.609,33.364,1211.633,0.000,1385.422,0.000,1.009,0.000
$DEVICE_MAMPS,249.390,78.795,1797.750,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.466,1107.915,610.910,247.949,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,40418,556
$CAP_FILE_SIZE,91212,0
$CFSIZE,259252224,220065792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,311212,061505,-4630.940,357.932,29,1.0,29,-23.3