version: 66.07
glider: 542
mission: 6
dive: 14
start: 12 12 112 5 55 8
data:
$ID,542
$MISSION,6
$DIVE,14
$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,-10299.081
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,121212,054434,-4702.908,401.078,25,1.0,25,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-34.0
$GPS2,121212,055406,-4702.897,401.141,15,0.7,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.141,-0.100
$KALMAN_X,-3630.8,561.1,90.9,-17087.4,-2007.1
$KALMAN_Y,21199.7,-176.7,-551.5,-41972.7,5747.4
$MHEAD_RNG_PITCHd_Wd,148.7,5555,-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,-131.38,0.000,6,0.000,0.000,57,2935,3080,0,0,0,0,0,0
$GC,168,-0.89,-128.9,2.8,-3.0,17,187,6.07,1.65,-7.35,0.000,4,0.241,0.092,1567,3898,3348,0,0,0,0,0,0
$GC,448,-0.89,-128.9,60.8,-20.9,61,452,0.00,1.55,0.00,0.000,6,0.000,0.045,1567,2925,3349,0,0,0,0,0,0
$GC,785,-0.89,-128.9,125.8,-18.3,104,789,0.00,2.20,0.00,0.000,4,0.000,0.054,1567,1524,3349,0,0,0,0,0,0
$GC,860,-0.89,-128.9,138.6,-15.9,108,869,0.00,2.35,0.00,0.000,6,0.000,0.070,1557,2920,3349,0,0,0,0,0,0
$GC,1183,-0.89,-128.9,196.9,-18.4,129,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2919,3350,0,0,0,0,0,0
$GC,1496,-0.89,-128.9,252.8,-17.6,149,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2919,3350,0,0,0,0,0,0
$GC,1803,-0.89,-128.9,307.3,-17.7,164,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2919,3350,0,0,0,0,0,0
$GC,2114,-0.89,-128.9,360.7,-17.0,179,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2919,3350,0,0,0,0,0,0
$GC,2421,-0.89,-128.9,413.9,-17.5,193,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2919,3350,0,0,0,0,0,0
$GC,2729,-0.89,-128.9,466.5,-17.0,203,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2919,3350,0,0,0,0,0,0
$GC,3034,-0.89,-128.9,516.7,-16.6,213,3037,0.00,2.20,0.00,0.000,4,0.000,0.054,1557,1525,3350,0,0,0,0,0,0
$GC,3065,-0.89,-128.9,521.6,-15.8,214,3070,0.12,2.30,0.00,0.000,6,0.209,0.070,1575,2929,3349,0,0,0,0,0,0
$GC,3403,-0.89,-128.9,569.5,-14.2,225,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2930,3350,0,0,0,0,0,0
$GC,3709,-0.89,-128.9,612.3,-13.8,235,3713,0.00,2.22,0.00,0.000,4,0.000,0.056,1576,1525,3349,0,0,0,0,0,0
$GC,3750,-0.89,-128.9,618.1,-12.5,236,3754,0.00,2.30,0.00,0.000,6,0.000,0.070,1566,2932,3349,0,0,0,0,0,0
$GC,4076,-0.89,-128.9,665.3,-14.9,247,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2932,3349,0,0,0,0,0,0
$GC,4384,-0.89,-128.9,711.5,-15.0,257,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2932,3349,0,0,0,0,0,0
$GC,4688,-0.89,-128.9,757.9,-15.1,267,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2932,3348,0,0,0,0,0,0
$GC,4995,-0.89,-128.9,801.7,-14.2,277,4999,0.00,2.20,0.00,0.000,4,0.000,0.056,1566,1525,3347,0,0,0,0,0,0
$GC,5041,-0.89,-128.9,808.2,-13.3,278,5045,0.00,2.28,0.00,0.000,6,0.000,0.068,1556,2923,3347,0,0,0,0,0,0
$GC,5362,-0.89,-128.9,853.9,-14.3,289,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2923,3347,0,0,0,0,0,0
$GC,5668,-0.89,-128.9,897.4,-14.0,299,5672,0.00,2.20,0.00,0.000,4,0.000,0.056,1556,1524,3347,0,0,0,0,0,0
$GC,5705,-0.89,-128.9,902.5,-13.7,300,5710,0.12,2.28,0.00,0.000,6,0.212,0.068,1574,2928,3347,0,0,0,0,0,0
$GC,6043,-0.89,-128.9,943.7,-12.0,311,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2928,3346,0,0,0,0,0,0
$GC,6349,-0.89,-128.9,980.4,-12.0,321,6353,0.00,2.22,0.00,0.000,4,0.000,0.058,1575,1523,3346,0,0,0,0,0,0
$GC,6390,-0.89,-128.9,985.2,-11.3,322,6394,0.00,2.28,0.00,0.000,6,0.000,0.069,1565,2923,3346,0,0,0,0,0,0
$STATE,6528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6528,begin apogee
$GC,6538,-0.19,0.0,1002.6,12.7,327,6681,0.80,0.00,134.57,1.194,6,0.182,0.000,1800,2737,2813,0,0,0,0,0,0
$STATE,6683,end apogee,CONTROL_FINISHED_OK
$STATE,6683,begin climb
$GC,6688,0.89,128.9,1005.8,0.0,332,6821,1.05,0.00,123.72,1.777,6,0.073,0.000,2159,2737,2293,0,0,0,0,1,0
$GC,7110,0.89,128.9,896.9,29.9,346,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2737,2290,0,0,0,0,0,0
$GC,7417,0.89,128.9,807.1,29.1,356,7421,0.00,2.33,0.00,0.000,4,0.000,0.067,2169,1323,2288,0,0,0,0,0,0
$GC,7469,0.89,128.9,792.3,26.5,357,7473,0.00,2.38,0.00,0.000,6,0.000,0.064,2169,2735,2286,0,0,0,0,0,0
$GC,7790,0.89,128.9,700.8,28.6,368,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2735,2285,0,0,0,0,0,0
$GC,8096,0.89,128.9,614.6,28.3,378,8100,0.00,2.30,0.00,0.000,4,0.000,0.063,2180,1329,2285,0,0,0,0,0,0
$GC,8153,0.89,128.9,598.5,27.4,379,8160,0.00,2.33,0.00,0.000,6,0.000,0.063,2180,2741,2284,0,0,0,0,0,0
$GC,8468,0.89,128.9,509.8,28.3,390,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2741,2284,0,0,0,0,0,0
$GC,8774,0.89,128.9,423.0,28.2,400,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2741,2284,0,0,0,0,0,0
$GC,9093,0.89,128.9,335.1,27.4,414,9097,0.00,2.30,0.00,0.000,4,0.000,0.064,2191,1324,2284,0,0,0,0,0,0
$GC,9130,0.89,128.9,325.6,26.2,415,9137,0.15,2.30,0.00,0.000,6,0.289,0.063,2163,2736,2283,0,0,0,0,0,0
$GC,9459,0.89,128.9,241.1,26.1,432,9463,0.00,2.30,0.00,0.000,4,0.000,0.063,2172,1319,2283,0,0,0,0,0,0
$GC,9490,0.89,128.9,233.1,25.0,434,9495,0.00,2.33,0.00,0.000,6,0.000,0.063,2172,2745,2282,0,0,0,0,0,0
$GC,9819,0.89,128.9,147.9,26.3,455,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2745,2283,0,0,0,0,0,0
$GC,10144,0.89,128.9,69.4,20.1,489,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2745,2283,0,0,0,0,0,0
$STATE,10422,end climb,SURFACE_DEPTH_REACHED
$STATE,10422,begin surface coast
$FINISH,0.5,1.013917
$STATE,10436,end surface coast,CONTROL_FINISHED_OK
$STATE,10436,begin surface
$SM_CCo,10459,194.25,0.779,1,0,518,564.18
$SM_GC,0.83,0.00,0.00,194.25,0.000,0.000,0.779,63,2938,518,-5.65,0.42,564.18
$IRIDIUM_FIX,-4644.93,403.34,121212,020233
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.8,4.507
$10V_AH,10.2,1.703
$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,14.025,49.375,258.300,194.250,0.000,25.034,42.799,302.212,0.000,0.000,22.330,1304.635,7202.531,572.264,1683.938,468.296,33.349,1130.062,0.000,1283.077,0.000,1.009,0.000
$DEVICE_MAMPS,289.170,91.800,1777.095,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.537,1082.740,597.596,241.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,37126,537
$CAP_FILE_SIZE,77155,0
$CFSIZE,259252224,226947072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,121212,085404,-4703.257,403.229,31,1.7,31,-23.3