version: 66.07
glider: 542
mission: 6
dive: 16
start: 12 12 112 12 12 31
data:
$ID,542
$MISSION,6
$DIVE,16
$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,-10312.605
$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,29
$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
$GPS1,121212,120153,-4702.315,402.013,40,1.1,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-41.5
$GPS2,121212,121129,-4702.270,402.014,15,1.6,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.164,-0.057
$KALMAN_X,-1319.4,211.0,366.3,-18226.6,336.2
$KALMAN_Y,23041.9,-662.2,-248.7,-42474.2,5186.2
$MHEAD_RNG_PITCHd_Wd,274.0,4914,-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,-130.10,0.000,6,0.000,0.000,59,2941,3079,0,0,0,0,0,0
$GC,168,-0.91,-142.0,2.7,-1.6,17,187,5.90,0.00,-9.25,0.000,6,0.230,0.000,1567,2941,3401,0,0,0,0,0,0
$GC,265,-0.91,-142.0,21.6,-21.1,31,274,0.00,2.30,0.00,0.000,4,0.000,0.052,1567,1528,3402,0,0,0,0,0,0
$GC,334,-0.91,-142.0,35.0,-17.4,41,341,0.00,2.30,0.00,0.000,6,0.000,0.062,1559,2915,3402,0,0,0,0,0,0
$GC,577,-0.91,-142.0,85.9,-19.3,82,583,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2915,3402,0,0,0,0,0,0
$GC,918,-0.91,-142.0,152.2,-20.1,111,922,0.00,2.22,0.00,0.000,4,0.000,0.050,1558,1520,3402,0,0,0,0,0,0
$GC,966,-0.91,-142.0,161.4,-17.1,114,971,0.00,2.30,0.00,0.000,6,0.000,0.061,1548,2928,3402,0,0,0,0,0,0
$GC,1295,-0.91,-142.0,225.3,-20.3,135,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2928,3402,0,0,0,0,0,0
$GC,1621,-0.91,-142.0,289.1,-19.7,153,1625,0.00,2.22,0.00,0.000,4,0.000,0.052,1548,1522,3403,0,0,0,0,0,0
$GC,1647,-0.91,-142.0,294.6,-19.6,154,1652,0.15,2.28,0.00,0.000,6,0.200,0.062,1573,2924,3403,0,0,0,0,0,0
$GC,1977,-0.91,-142.0,349.5,-16.2,170,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2924,3403,0,0,0,0,0,0
$GC,2289,-0.91,-142.0,398.3,-15.2,185,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2924,3403,0,0,0,0,0,0
$GC,2615,-0.91,-142.0,448.3,-15.4,196,2619,0.00,2.22,0.00,0.000,4,0.000,0.054,1574,1523,3403,0,0,0,0,0,0
$GC,2650,-0.91,-142.0,454.1,-14.9,197,2654,0.00,2.28,0.00,0.000,6,0.000,0.063,1565,2926,3403,0,0,0,0,0,0
$GC,2982,-0.91,-142.0,509.8,-17.1,208,2986,0.00,2.22,0.00,0.000,4,0.000,0.054,1565,1519,3403,0,0,0,0,0,0
$GC,3005,-0.91,-142.0,514.2,-17.3,208,3012,0.00,2.28,0.00,0.000,6,0.000,0.063,1554,2932,3402,0,0,0,0,0,0
$GC,3321,-0.91,-142.0,570.8,-18.5,219,3324,0.00,2.22,0.00,0.000,4,0.000,0.054,1554,1518,3402,0,0,0,0,0,0
$GC,3378,-0.91,-142.0,580.9,-16.1,220,3382,0.12,2.28,0.00,0.000,6,0.208,0.063,1573,2925,3403,0,0,0,0,0,0
$GC,3694,-0.91,-142.0,629.0,-15.1,230,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,3402,0,0,0,0,0,0
$GC,3999,-0.91,-142.0,672.6,-14.0,240,4003,0.00,1.55,0.00,0.000,4,0.000,0.071,1567,3893,3402,0,0,0,0,0,0
$GC,4028,-0.91,-142.0,677.2,-14.9,240,4035,0.00,1.52,0.00,0.000,6,0.000,0.047,1567,2919,3402,0,0,0,0,0,0
$GC,4343,-0.91,-142.0,721.6,-14.0,251,4347,0.00,2.17,0.00,0.000,4,0.000,0.057,1567,1527,3402,0,0,0,0,0,0
$GC,4389,-0.91,-142.0,728.2,-13.5,252,4393,0.00,2.28,0.00,0.000,6,0.000,0.068,1556,2922,3402,0,0,0,0,0,0
$GC,4710,-0.91,-142.0,776.7,-15.2,263,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3402,0,0,0,0,0,0
$GC,5016,-0.91,-142.0,824.4,-15.6,273,5020,0.00,2.20,0.00,0.000,4,0.000,0.055,1557,1525,3402,0,0,0,0,0,0
$GC,5052,-0.91,-142.0,830.2,-15.3,274,5057,0.12,2.28,0.00,0.000,6,0.207,0.067,1575,2928,3401,0,0,0,0,0,0
$GC,5385,-0.91,-142.0,876.3,-14.1,285,5388,0.00,1.55,0.00,0.000,4,0.000,0.073,1569,3894,3401,0,0,0,0,0,0
$GC,5415,-0.91,-142.0,880.9,-14.3,285,5422,0.00,1.52,0.00,0.000,6,0.000,0.048,1569,2920,3401,0,0,0,0,0,0
$GC,5732,-0.91,-142.0,923.9,-13.5,296,5736,0.00,2.17,0.00,0.000,4,0.000,0.057,1569,1527,3401,0,0,0,0,0,0
$GC,5783,-0.91,-142.0,931.0,-12.6,297,5787,0.00,2.28,0.00,0.000,6,0.000,0.070,1559,2922,3401,0,0,0,0,0,0
$GC,6099,-0.91,-142.0,973.5,-13.6,307,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2922,3401,0,0,0,0,0,0
$STATE,6308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6308,begin apogee
$GC,6319,-0.19,0.0,1002.7,13.7,314,6464,0.85,0.00,136.32,1.833,6,0.184,0.000,1805,2736,2818,0,0,0,0,1,0
$STATE,6466,end apogee,CONTROL_FINISHED_OK
$STATE,6466,begin climb
$GC,6471,0.91,142.0,1006.5,0.0,319,6629,1.05,2.15,143.10,1.799,4,0.072,0.069,2163,3904,2242,0,0,0,0,1,0
$GC,6643,0.91,142.0,972.4,31.7,324,6647,0.00,2.05,0.00,0.000,6,0.000,0.050,2173,2731,2242,0,0,0,0,0,0
$GC,6975,0.91,142.0,867.1,31.5,335,6979,0.00,2.38,0.00,0.000,4,0.000,0.067,2183,1321,2234,0,0,0,0,0,0
$GC,6993,0.91,142.0,860.8,31.6,335,6997,0.00,2.42,0.00,0.000,6,0.000,0.063,2183,2740,2233,0,0,0,0,0,0
$GC,7313,0.91,142.0,759.6,31.8,346,7317,0.00,2.38,0.00,0.000,4,0.000,0.063,2193,1322,2232,0,0,0,0,0,0
$GC,7331,0.91,142.0,753.3,31.3,346,7336,0.00,2.38,0.00,0.000,6,0.000,0.062,2193,2739,2231,0,0,0,0,0,0
$GC,7652,0.91,142.0,652.6,31.8,357,7656,0.00,2.35,0.00,0.000,4,0.000,0.063,2203,1317,2230,0,0,0,0,0,0
$GC,7683,0.91,142.0,643.0,31.3,358,7688,0.17,2.35,0.00,0.000,6,0.285,0.061,2171,2734,2228,0,0,0,0,0,0
$GC,8022,0.91,142.0,541.9,29.5,369,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2734,2229,0,0,0,0,0,0
$GC,8330,0.91,142.0,453.8,28.6,379,8334,0.00,2.30,0.00,0.000,4,0.000,0.060,2181,1315,2228,0,0,0,0,0,0
$GC,8362,0.91,142.0,444.5,28.3,380,8367,0.00,2.33,0.00,0.000,6,0.000,0.060,2181,2736,2227,0,0,0,0,0,0
$GC,8694,0.91,142.0,350.1,28.7,393,8698,0.00,2.30,0.00,0.000,4,0.000,0.060,2191,1312,2227,0,0,0,0,0,0
$GC,8717,0.91,142.0,342.3,28.4,394,8721,0.00,2.33,0.00,0.000,6,0.000,0.060,2191,2736,2227,0,0,0,0,0,0
$GC,9047,0.91,142.0,249.0,29.0,410,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2736,2227,0,0,0,0,0,0
$GC,9359,0.91,142.0,160.1,28.3,430,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2736,2227,0,0,0,0,0,0
$GC,9682,0.91,142.0,72.7,26.4,462,9691,0.00,2.30,0.00,0.000,4,0.000,0.059,2201,1318,2226,0,0,0,0,0,0
$GC,9722,0.91,142.0,61.5,25.2,468,9732,0.12,2.33,0.00,0.000,6,0.269,0.061,2171,2734,2226,0,0,0,0,0,0
$STATE,9959,end climb,SURFACE_DEPTH_REACHED
$STATE,9959,begin surface coast
$FINISH,0.6,1.026525
$STATE,9973,end surface coast,CONTROL_FINISHED_OK
$STATE,9973,begin surface
$SM_CCo,9995,183.73,0.783,1,0,518,564.18
$SM_GC,0.93,0.00,0.00,183.73,0.000,0.000,0.783,61,2930,518,-5.65,0.20,564.18
$IRIDIUM_FIX,-4648.08,413.02,121212,080804
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.6,4.865
$10V_AH,10.2,1.856
$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,14.200,79.575,279.425,183.725,0.000,24.942,21.258,329.264,0.000,0.000,22.104,1262.542,6731.382,582.119,1681.952,504.008,33.353,1191.179,0.000,1280.503,0.000,1.011,0.000
$DEVICE_MAMPS,285.345,78.030,1832.940,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.732,1026.262,570.979,233.365,0.000,0.000,0.000,0.000,0.000,0.000
$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,37070,508
$CAP_FILE_SIZE,84749,0
$CFSIZE,259252224,226844672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,121212,150333,-4701.916,400.312,29,1.0,31,-23.3