version: 66.07
glider: 542
mission: 6
dive: 13
start: 12 12 112 2 42 58
data:
$ID,542
$MISSION,6
$DIVE,13
$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,52846
$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,-10292.364
$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,25
$R_STBD_OVSHOOT,17
$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
$GPS1,121212,022834,-4701.722,401.593,23,1.0,24,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-36.4
$GPS2,121212,024200,-4701.797,401.648,16,1.5,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,-0.172
$KALMAN_X,-3360.0,407.6,135.8,-16609.8,-1861.1
$KALMAN_Y,20070.7,-524.1,-228.1,-38787.5,5299.6
$MHEAD_RNG_PITCHd_Wd,209.5,3926,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.81,-63.1,0.0,0.0,0,167,0.00,0.00,-133.35,0.000,6,0.000,0.000,61,2927,3079,0,0,0,0,0,0
$GC,173,-0.88,-119.2,2.8,-4.0,17,192,6.05,1.67,-6.62,0.000,4,0.239,0.093,1573,3904,3308,0,0,0,0,0,0
$GC,417,-0.88,-119.2,51.3,-19.4,55,424,0.00,1.60,0.00,0.000,6,0.000,0.045,1578,2906,3308,0,0,0,0,0,0
$GC,656,-0.88,-119.2,95.4,-16.9,96,665,0.00,2.22,0.00,0.000,4,0.000,0.054,1578,1522,3308,0,0,0,0,0,0
$GC,753,-0.88,-119.2,110.8,-14.9,104,757,0.00,2.33,0.00,0.000,6,0.000,0.068,1568,2925,3309,0,0,0,0,0,0
$GC,1076,-0.88,-119.2,166.6,-17.2,124,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3309,0,0,0,0,0,0
$GC,1386,-0.88,-119.2,220.5,-17.7,144,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3309,0,0,0,0,0,0
$GC,1703,-0.88,-119.2,275.9,-17.6,162,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3310,0,0,0,0,0,0
$GC,2014,-0.88,-119.2,330.7,-17.4,177,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2925,3310,0,0,0,0,0,0
$GC,2321,-0.88,-119.2,383.8,-17.5,192,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2924,3310,0,0,0,0,0,0
$GC,2639,-0.88,-119.2,436.7,-16.5,204,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3310,0,0,0,0,0,0
$GC,2946,-0.88,-119.2,487.0,-16.7,214,2950,0.00,2.20,0.00,0.000,4,0.000,0.055,1568,1522,3310,0,0,0,0,0,0
$GC,2982,-0.88,-119.2,493.0,-15.6,215,2986,0.00,2.30,0.00,0.000,6,0.000,0.070,1558,2927,3310,0,0,0,0,0,0
$GC,3314,-0.88,-119.2,547.8,-16.7,226,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2926,3310,0,0,0,0,0,0
$GC,3620,-0.88,-119.2,597.5,-16.3,236,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2926,3310,0,0,0,0,0,0
$GC,3926,-0.88,-119.2,645.1,-15.2,246,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2926,3309,0,0,0,0,0,0
$GC,4232,-0.88,-119.2,691.4,-15.4,256,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2927,3309,0,0,0,0,0,0
$GC,4538,-0.88,-119.2,739.2,-15.6,266,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2926,3309,0,0,0,0,0,0
$GC,4845,-0.88,-119.2,787.8,-15.8,276,4849,0.00,2.20,0.00,0.000,4,0.000,0.057,1558,1523,3308,0,0,0,0,0,0
$GC,4882,-0.88,-119.2,793.3,-14.8,277,4886,0.15,2.28,0.00,0.000,6,0.212,0.070,1583,2931,3308,0,0,0,0,0,0
$GC,5221,-0.88,-119.2,836.6,-12.3,288,5225,0.00,2.22,0.00,0.000,4,0.000,0.058,1584,1525,3308,0,0,0,0,0,0
$GC,5267,-0.88,-119.2,842.6,-12.2,289,5272,0.00,2.28,0.00,0.000,6,0.000,0.070,1574,2922,3308,0,0,0,0,0,0
$GC,5588,-0.88,-119.2,882.4,-12.4,300,5592,0.00,2.20,0.00,0.000,4,0.000,0.057,1574,1519,3308,0,0,0,0,0,0
$GC,5628,-0.88,-119.2,887.6,-11.8,301,5633,0.00,2.30,0.00,0.000,6,0.000,0.070,1564,2926,3308,0,0,0,0,0,0
$GC,5955,-0.88,-119.2,929.8,-13.1,312,5959,0.00,2.20,0.00,0.000,4,0.000,0.057,1564,1520,3308,0,0,0,0,0,0
$GC,5990,-0.88,-119.2,934.5,-12.2,313,5995,0.12,2.30,0.00,0.000,6,0.216,0.072,1582,2922,3307,0,0,0,0,0,0
$GC,6322,-0.88,-119.2,973.0,-11.3,324,6326,0.00,2.20,0.00,0.000,4,0.000,0.058,1582,1520,3307,0,0,0,0,0,0
$GC,6414,-0.88,-119.2,983.1,-10.6,326,6420,0.00,2.30,0.00,0.000,6,0.000,0.074,1573,2922,3307,0,0,0,0,0,0
$STATE,6571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6571,begin apogee
$GC,6582,-0.19,0.0,1002.3,12.2,332,6709,0.80,0.00,117.97,1.753,6,0.184,0.000,1805,2749,2818,0,0,0,0,1,0
$STATE,6710,end apogee,CONTROL_FINISHED_OK
$STATE,6711,begin climb
$GC,6715,0.88,119.2,1005.7,0.0,336,6854,1.05,2.17,121.45,1.793,4,0.081,0.077,2150,3901,2334,0,0,0,0,1,0
$GC,6874,0.88,119.2,977.7,28.6,341,6878,0.00,2.05,0.00,0.000,6,0.000,0.054,2159,2723,2333,0,0,0,0,0,0
$GC,7195,0.88,119.2,885.6,27.9,352,7199,0.00,2.35,0.00,0.000,4,0.000,0.071,2170,1329,2327,0,0,0,0,0,0
$GC,7235,0.88,119.2,874.0,26.8,353,7239,0.00,2.42,0.00,0.000,6,0.000,0.070,2170,2735,2325,0,0,0,0,0,0
$GC,7561,0.88,119.2,782.6,27.5,364,7566,0.00,2.38,0.00,0.000,4,0.000,0.068,2180,1320,2323,0,0,0,0,0,0
$GC,7594,0.88,119.2,774.1,27.2,365,7598,0.00,2.40,0.00,0.000,6,0.000,0.067,2180,2744,2322,0,0,0,0,0,0
$GC,7932,0.88,119.2,680.3,27.2,376,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2743,2322,0,0,0,0,0,0
$GC,8238,0.88,119.2,594.0,28.0,386,8242,0.00,2.35,0.00,0.000,4,0.000,0.066,2191,1317,2321,0,0,0,0,0,0
$GC,8307,0.88,119.2,575.3,25.0,388,8312,0.17,2.35,0.00,0.000,6,0.303,0.064,2160,2735,2320,0,0,0,0,0,0
$GC,8641,0.88,119.2,488.3,26.3,399,8645,0.00,1.90,0.00,0.000,4,0.000,0.070,2159,3910,2320,0,0,0,0,0,0
$GC,8678,0.88,119.2,477.8,29.0,400,8682,0.00,1.88,0.00,0.000,6,0.000,0.051,2167,2725,2320,0,0,0,0,0,0
$GC,9013,0.88,119.2,389.7,26.1,411,9017,0.00,2.25,0.00,0.000,4,0.000,0.062,2178,1318,2319,0,0,0,0,0,0
$GC,9053,0.88,119.2,378.7,23.5,412,9062,0.00,2.35,0.00,0.000,6,0.000,0.063,2178,2733,2319,0,0,0,0,0,0
$GC,9372,0.88,119.2,296.6,26.0,428,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2733,2319,0,0,0,0,0,0
$GC,9684,0.88,119.2,215.9,26.3,445,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2733,2319,0,0,0,0,0,0
$GC,9996,0.88,119.2,137.8,24.4,465,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2733,2319,0,0,0,0,0,0
$GC,10321,0.88,119.2,63.4,22.6,503,10326,0.00,2.28,0.00,0.000,4,0.000,0.063,2188,1319,2319,0,0,0,0,0,0
$GC,10363,0.88,119.2,54.8,23.2,509,10371,0.15,2.30,0.00,0.000,6,0.297,0.064,2161,2736,2318,0,0,0,0,0,0
$STATE,10587,end climb,SURFACE_DEPTH_REACHED
$STATE,10587,begin surface coast
$FINISH,0.4,1.026593
$STATE,10601,end surface coast,CONTROL_FINISHED_OK
$STATE,10601,begin surface
$SM_CCo,10623,195.30,0.772,1,0,518,564.18
$SM_GC,0.78,0.00,0.00,195.30,0.000,0.000,0.772,58,2933,518,-5.66,0.28,564.18
$IRIDIUM_FIX,-4644.93,403.34,121212,020248
$TT8_MAMPS,0.026215
$HUMID,55.67
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,22.7,4.336
$10V_AH,10.2,1.626
$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,14.400,66.825,239.425,195.300,0.000,52.795,128.021,346.787,0.000,0.000,18.692,1348.987,7279.150,560.885,1917.396,514.734,33.350,1166.404,0.000,1366.832,0.000,1.009,0.000
$DEVICE_MAMPS,302.940,92.565,1793.160,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.323,1101.396,614.118,245.884,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,40435,547
$CAP_FILE_SIZE,85527,0
$CFSIZE,259252224,226988032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,121212,054434,-4702.908,401.078,25,1.0,25,-23.3