version: 66.07
glider: 542
mission: 6
dive: 17
start: 12 12 112 15 13 49
data:
$ID,542
$MISSION,6
$DIVE,17
$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,3
$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,-10315.694
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,121212,150333,-4701.916,400.312,29,1.0,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-40.3
$GPS2,121212,151247,-4701.919,400.309,18,1.1,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144,-0.158
$KALMAN_X,425.8,116.4,-74.7,-21581.8,2484.9
$KALMAN_Y,24793.9,-898.1,-344.1,-43250.6,6698.0
$MHEAD_RNG_PITCHd_Wd,245.6,3575,-22.0,-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,-0.71,-95.8,0.0,0.0,0,169,0.00,0.00,-134.12,0.000,6,0.000,0.000,61,2932,3212,0,0,0,0,0,0
$GC,176,-0.81,-179.9,3.8,-4.1,18,194,6.30,1.65,-7.85,0.000,4,0.247,0.086,1597,3907,3555,0,0,0,0,0,0
$GC,255,-0.81,-179.9,23.5,-18.2,29,264,0.00,1.60,0.00,0.000,6,0.000,0.042,1596,2903,3556,0,0,0,0,0,0
$GC,339,-0.81,-179.9,39.5,-19.2,42,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2903,3556,0,0,0,0,0,0
$GC,585,-0.81,-179.9,84.9,-18.1,83,589,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2903,3556,0,0,0,0,0,0
$GC,914,-0.81,-179.9,139.2,-16.7,114,918,0.00,2.15,0.00,0.000,4,0.000,0.050,1596,1531,3557,0,0,0,0,0,0
$GC,989,-0.81,-179.9,150.6,-12.9,118,998,0.00,2.30,0.00,0.000,6,0.000,0.062,1586,2920,3557,0,0,0,0,0,0
$GC,1313,-0.81,-179.9,202.3,-16.4,139,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2920,3557,0,0,0,0,0,0
$GC,1630,-0.81,-179.9,255.8,-17.0,159,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2920,3557,0,0,0,0,0,0
$GC,1937,-0.81,-179.9,308.0,-16.8,174,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2920,3557,0,0,0,0,0,0
$GC,2249,-0.81,-179.9,359.4,-16.3,189,2253,0.00,2.20,0.00,0.000,4,0.000,0.051,1586,1520,3557,0,0,0,0,0,0
$GC,2279,-0.81,-179.9,364.8,-16.5,190,2284,0.12,2.28,0.00,0.000,6,0.203,0.062,1606,2926,3557,0,0,0,0,0,0
$GC,2596,-0.81,-179.9,409.0,-14.0,204,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2926,3557,0,0,0,0,0,0
$GC,2903,-0.81,-179.9,451.7,-13.9,214,2907,0.00,2.17,0.00,0.000,4,0.000,0.052,1605,1529,3557,0,0,0,0,0,0
$GC,2965,-0.81,-179.9,459.9,-11.6,215,2972,0.00,2.25,0.00,0.000,6,0.000,0.063,1596,2925,3556,0,0,0,0,0,0
$GC,3281,-0.81,-179.9,505.2,-14.7,226,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2925,3557,0,0,0,0,0,0
$GC,3587,-0.81,-179.9,548.7,-13.9,236,3591,0.00,2.17,0.00,0.000,4,0.000,0.052,1596,1527,3556,0,0,0,0,0,0
$GC,3633,-0.81,-179.9,555.0,-12.2,237,3637,0.00,2.25,0.00,0.000,6,0.000,0.063,1586,2925,3556,0,0,0,0,0,0
$GC,3965,-0.81,-179.9,603.3,-14.9,248,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2925,3556,0,0,0,0,0,0
$GC,4271,-0.81,-179.9,648.3,-14.7,258,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2925,3556,0,0,0,0,0,0
$GC,4577,-0.81,-179.9,691.8,-14.1,268,4581,0.00,2.20,0.00,0.000,4,0.000,0.053,1586,1523,3555,0,0,0,0,0,0
$GC,4612,-0.81,-179.9,696.6,-12.9,269,4616,0.12,2.28,0.00,0.000,6,0.207,0.064,1606,2932,3555,0,0,0,0,0,0
$GC,4944,-0.81,-179.9,736.5,-12.5,280,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2933,3555,0,0,0,0,0,0
$GC,5252,-0.81,-179.9,775.0,-12.4,290,5256,0.00,2.20,0.00,0.000,4,0.000,0.054,1606,1529,3555,0,0,0,0,0,0
$GC,5287,-0.81,-179.9,779.7,-11.6,291,5291,0.00,2.25,0.00,0.000,6,0.000,0.064,1597,2925,3555,0,0,0,0,0,0
$GC,5619,-0.81,-179.9,823.5,-13.5,302,5623,0.00,2.20,0.00,0.000,4,0.000,0.053,1597,1521,3554,0,0,0,0,0,0
$GC,5665,-0.81,-179.9,829.7,-12.5,303,5669,0.00,2.28,0.00,0.000,6,0.000,0.064,1587,2932,3554,0,0,0,0,0,0
$GC,5986,-0.81,-179.9,874.2,-14.2,314,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2934,3554,0,0,0,0,0,0
$GC,6292,-0.81,-179.9,914.6,-12.9,324,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,1587,2934,3554,0,0,0,0,0,0
$GC,6598,-0.81,-179.9,952.5,-12.3,334,6602,0.00,2.20,0.00,0.000,4,0.000,0.053,1587,1525,3554,0,0,0,0,0,0
$GC,6644,-0.81,-179.9,957.9,-10.7,335,6649,0.12,2.25,0.00,0.000,6,0.204,0.063,1607,2924,3553,0,0,0,0,0,0
$GC,6966,-0.82,-188.3,988.5,-9.4,346,6970,0.00,2.20,0.00,0.000,4,0.000,0.054,1607,1524,3553,0,0,0,0,0,0
$GC,7007,-0.83,-194.7,992.5,-8.7,347,7011,0.00,2.25,0.00,0.000,6,0.000,0.064,1598,2925,3553,0,0,0,0,0,0
$STATE,7084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7084,begin apogee
$GC,7095,-0.19,0.0,1000.1,9.8,350,7282,0.68,0.00,183.90,1.198,6,0.170,0.000,1800,2730,2819,0,0,0,0,0,0
$STATE,7284,end apogee,CONTROL_FINISHED_OK
$STATE,7284,begin climb
$GC,7288,0.83,194.7,1004.8,0.0,356,7490,0.98,2.20,186.25,1.755,4,0.075,0.066,2133,3896,2026,0,0,0,0,1,0
$GC,7754,0.83,194.7,870.0,35.4,370,7758,0.00,1.92,0.00,0.000,6,0.000,0.051,2141,2749,2025,0,0,0,0,0,0
$GC,8097,0.83,194.7,753.3,32.8,381,8101,0.00,2.35,0.00,0.000,4,0.000,0.062,2152,1323,2023,0,0,0,0,0,0
$GC,8138,0.83,194.7,739.9,30.7,382,8142,0.00,2.38,0.00,0.000,6,0.000,0.060,2152,2738,2022,0,0,0,0,0,0
$GC,8464,0.83,194.7,634.7,32.6,393,8468,0.00,2.33,0.00,0.000,4,0.000,0.062,2162,1315,2022,0,0,0,0,0,0
$GC,8495,0.83,194.7,624.6,31.2,394,8499,0.00,2.35,0.00,0.000,6,0.000,0.060,2163,2733,2021,0,0,0,0,0,0
$GC,8833,0.83,194.7,514.9,32.0,405,8837,0.00,2.30,0.00,0.000,4,0.000,0.060,2173,1320,2021,0,0,0,0,0,0
$GC,8868,0.83,194.7,503.5,31.0,406,8873,0.15,2.33,0.00,0.000,6,0.290,0.060,2146,2734,2021,0,0,0,0,0,0
$GC,9201,0.83,194.7,401.7,31.4,417,9205,0.00,2.30,0.00,0.000,4,0.000,0.060,2155,1319,2021,0,0,0,0,0,0
$GC,9247,0.83,194.7,387.2,29.7,419,9251,0.00,2.33,0.00,0.000,6,0.000,0.060,2155,2737,2020,0,0,0,0,0,0
$GC,9573,0.83,194.7,284.5,31.6,435,9577,0.00,2.28,0.00,0.000,4,0.000,0.060,2165,1319,2020,0,0,0,0,0,0
$GC,9608,0.83,194.7,272.5,29.9,436,9617,0.00,2.33,0.00,0.000,6,0.000,0.060,2166,2727,2021,0,0,0,0,0,0
$GC,9934,0.83,194.7,168.0,32.1,456,9938,0.00,2.28,0.00,0.000,4,0.000,0.061,2176,1321,2020,0,0,0,0,0,0
$GC,9952,0.83,194.7,161.5,32.1,457,9957,0.17,2.30,0.00,0.000,6,0.285,0.060,2142,2734,2020,0,0,0,0,0,0
$GC,10283,0.83,194.7,68.8,28.3,489,10290,0.00,2.33,0.00,0.000,4,0.000,0.060,2152,1318,2020,0,0,0,0,0,0
$GC,10313,0.83,194.7,61.1,27.7,493,10318,0.00,2.30,0.00,0.000,6,0.000,0.060,2152,2735,2020,0,0,0,0,0,0
$STATE,10514,end climb,SURFACE_DEPTH_REACHED
$STATE,10515,begin surface coast
$FINISH,1.0,1.026531
$STATE,10523,end surface coast,CONTROL_FINISHED_OK
$STATE,10523,begin surface
$SM_CCo,10545,167.18,0.783,1,0,517,564.18
$SM_GC,0.98,0.00,0.00,167.18,0.000,0.000,0.783,67,2930,517,-5.64,0.20,564.18
$IRIDIUM_FIX,-4644.93,400.19,121212,121246
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,22.5,5.076
$10V_AH,10.2,1.935
$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,14.400,80.500,370.150,167.175,0.000,28.794,44.389,293.730,0.000,0.000,20.652,1317.664,7032.539,637.683,1790.613,495.072,33.353,1311.223,0.000,1386.545,0.000,4.715,0.000
$DEVICE_MAMPS,289.935,85.680,1754.910,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.740,1044.955,561.149,223.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354304
$DATA_FILE_SIZE,37227,527
$CAP_FILE_SIZE,89532,0
$CFSIZE,259252224,226795520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,121212,181353,-4702.400,358.259,40,0.9,40,-23.2