version: 66.07
glider: 542
mission: 6
dive: 23
start: 12 13 112 9 50 20
data:
$ID,542
$MISSION,6
$DIVE,23
$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,-10345.188
$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,23
$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
$GPS1,131212,093935,-4701.389,359.304,39,1.1,39,-23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-35.1
$GPS2,131212,094918,-4701.418,359.308,17,1.4,17,-23.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.129,0.115
$KALMAN_X,-1058.5,513.2,-83.8,-21748.2,47.5
$KALMAN_Y,24941.0,-867.1,-394.0,-42444.8,1868.5
$MHEAD_RNG_PITCHd_Wd,71.5,2769,-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,-132.05,0.000,6,0.000,0.000,59,2939,3078,0,0,0,0,0,0
$GC,169,-0.91,-139.9,2.6,-1.8,17,195,6.10,1.60,-8.95,0.000,4,0.243,0.086,1566,3893,3392,0,0,0,0,0,0
$GC,207,-0.91,-139.9,10.2,-17.4,21,217,0.00,1.55,0.00,0.000,6,0.000,0.039,1571,2910,3393,0,0,0,0,0,0
$GC,295,-0.91,-139.9,27.7,-19.1,34,304,0.00,2.20,0.00,0.000,4,0.000,0.047,1572,1526,3393,0,0,0,0,0,0
$GC,334,-0.91,-139.9,35.6,-20.4,39,341,0.00,2.30,0.00,0.000,6,0.000,0.059,1563,2922,3393,0,0,0,0,0,0
$GC,576,-0.91,-139.9,85.6,-20.4,80,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2922,3393,0,0,0,0,0,0
$GC,917,-0.91,-139.9,148.1,-17.9,109,921,0.00,1.58,0.00,0.000,4,0.000,0.064,1555,3900,3394,0,0,0,0,0,0
$GC,998,-0.91,-139.9,164.0,-18.9,113,1005,0.00,1.52,0.00,0.000,6,0.000,0.039,1555,2916,3394,0,0,0,0,0,0
$GC,1321,-0.91,-139.9,221.7,-18.2,134,1325,0.00,2.12,0.00,0.000,4,0.000,0.047,1555,1525,3394,0,0,0,0,0,0
$GC,1373,-0.91,-139.9,231.5,-16.5,137,1378,0.12,2.28,0.00,0.000,6,0.209,0.059,1573,2930,3394,0,0,0,0,0,0
$GC,1698,-0.91,-139.9,284.2,-16.2,154,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2930,3394,0,0,0,0,0,0
$GC,2009,-0.91,-139.9,335.0,-16.3,169,2013,0.00,2.15,0.00,0.000,4,0.000,0.046,1573,1532,3394,0,0,0,0,0,0
$GC,2045,-0.91,-139.9,341.1,-15.5,170,2053,0.00,2.28,0.00,0.000,6,0.000,0.060,1564,2922,3395,0,0,0,0,0,0
$GC,2363,-0.91,-139.9,394.1,-17.2,186,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2923,3394,0,0,0,0,0,0
$GC,2680,-0.91,-139.9,448.6,-17.1,197,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2922,3394,0,0,0,0,0,0
$GC,2986,-0.91,-139.9,499.8,-16.7,207,2990,0.00,2.15,0.00,0.000,4,0.000,0.047,1564,1528,3394,0,0,0,0,0,0
$GC,2998,-0.91,-139.9,502.2,-16.2,207,3002,0.00,2.25,0.00,0.000,6,0.000,0.059,1554,2931,3395,0,0,0,0,0,0
$GC,3325,-0.91,-139.9,557.4,-17.0,218,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2931,3394,0,0,0,0,0,0
$GC,3631,-0.91,-139.9,609.5,-17.5,228,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2931,3394,0,0,0,0,0,0
$GC,3937,-0.91,-139.9,663.1,-17.6,238,3941,0.00,2.17,0.00,0.000,4,0.000,0.047,1554,1524,3394,0,0,0,0,0,0
$GC,3977,-0.91,-139.9,670.4,-16.3,239,3982,0.12,2.25,0.00,0.000,6,0.209,0.061,1573,2925,3394,0,0,0,0,0,0
$GC,4304,-0.91,-139.9,721.9,-15.7,250,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,3394,0,0,0,0,0,0
$GC,4612,-0.91,-139.9,768.9,-15.3,260,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,3394,0,0,0,0,0,0
$GC,4917,-0.91,-139.9,813.1,-14.3,270,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,3394,0,0,0,0,0,0
$GC,5223,-0.91,-139.9,856.3,-13.9,280,5227,0.00,1.55,0.00,0.000,4,0.000,0.068,1566,3896,3394,0,0,0,0,0,0
$GC,5263,-0.91,-139.9,862.6,-14.9,281,5267,0.00,1.50,0.00,0.000,6,0.000,0.043,1566,2924,3394,0,0,0,0,0,0
$GC,5600,-0.91,-139.9,910.5,-14.0,292,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3394,0,0,0,0,0,0
$GC,5907,-0.91,-139.9,952.2,-13.3,302,5911,0.00,2.15,0.00,0.000,4,0.000,0.049,1566,1521,3393,0,0,0,0,0,0
$GC,5936,-0.91,-139.9,956.3,-13.4,302,5943,0.00,2.25,0.00,0.000,6,0.000,0.062,1556,2923,3393,0,0,0,0,0,0
$GC,6251,-0.91,-139.9,999.6,-13.8,313,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3393,0,0,0,0,0,0
$STATE,6277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6277,begin apogee
$GC,6288,-0.19,0.0,1003.6,13.6,314,6437,0.85,0.00,145.02,1.206,6,0.186,0.000,1802,2731,2819,0,0,0,0,0,0
$STATE,6438,end apogee,CONTROL_FINISHED_OK
$STATE,6439,begin climb
$GC,6443,0.91,139.9,1006.6,0.0,319,6592,1.02,2.17,134.40,1.795,4,0.067,0.064,2163,3901,2250,0,0,0,0,1,0
$GC,6640,0.91,139.9,960.7,34.6,325,6644,0.00,2.00,0.00,0.000,6,0.000,0.047,2172,2743,2250,0,0,0,0,0,0
$GC,6979,0.91,139.9,849.7,33.0,336,6983,0.00,2.33,0.00,0.000,4,0.000,0.058,2183,1323,2245,0,0,0,0,0,0
$GC,7014,0.91,139.9,837.1,31.9,337,7018,0.00,2.38,0.00,0.000,6,0.000,0.060,2183,2733,2243,0,0,0,0,0,0
$GC,7346,0.91,139.9,728.4,33.2,348,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2733,2243,0,0,0,0,0,0
$GC,7652,0.91,139.9,627.7,32.5,358,7656,0.00,2.30,0.00,0.000,4,0.000,0.056,2193,1313,2242,0,0,0,0,0,0
$GC,7704,0.91,139.9,611.4,30.9,359,7709,0.12,2.35,0.00,0.000,6,0.280,0.059,2170,2738,2241,0,0,0,0,0,0
$GC,8026,0.91,139.9,514.1,29.7,370,8030,0.00,2.30,0.00,0.000,4,0.000,0.054,2180,1314,2240,0,0,0,0,0,0
$GC,8078,0.91,139.9,498.8,28.0,371,8082,0.00,2.33,0.00,0.000,6,0.000,0.058,2180,2735,2239,0,0,0,0,0,0
$GC,8394,0.91,139.9,405.8,29.8,381,8398,0.00,2.28,0.00,0.000,4,0.000,0.057,2190,1320,2239,0,0,0,0,0,0
$GC,8417,0.91,139.9,398.3,29.1,381,8424,0.00,2.30,0.00,0.000,6,0.000,0.059,2190,2736,2239,0,0,0,0,0,0
$GC,8737,0.91,139.9,307.3,29.1,397,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2736,2239,0,0,0,0,0,0
$GC,9051,0.91,139.9,215.6,29.0,414,9055,0.00,2.28,0.00,0.000,4,0.000,0.056,2200,1313,2239,0,0,0,0,0,0
$GC,9075,0.91,139.9,208.3,28.9,415,9080,0.15,2.30,0.00,0.000,6,0.272,0.058,2170,2734,2238,0,0,0,0,0,0
$GC,9402,0.91,139.9,120.1,27.5,435,9406,0.00,2.25,0.00,0.000,4,0.000,0.054,2180,1313,2238,0,0,0,0,0,0
$GC,9414,0.91,139.9,114.6,27.7,435,9421,0.00,2.30,0.00,0.000,6,0.000,0.057,2180,2743,2238,0,0,0,0,0,0
$GC,9770,0.91,139.9,20.7,26.8,490,9779,0.00,2.28,0.00,0.000,4,0.000,0.054,2190,1320,2238,0,0,0,0,0,0
$GC,9840,0.91,139.9,3.8,26.5,500,9849,0.00,2.28,0.00,0.000,6,0.000,0.055,2190,2722,2236,0,0,0,0,0,0
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9857,begin surface coast
$FINISH,0.4,1.011232
$STATE,9870,end surface coast,CONTROL_FINISHED_OK
$STATE,9870,begin surface
$SM_CCo,9893,185.30,0.783,1,0,516,564.18
$SM_GC,0.76,0.00,0.00,185.30,0.000,0.000,0.783,56,2945,516,-5.67,0.59,564.18
$IRIDIUM_FIX,-4644.93,350.74,131212,060619
$TT8_MAMPS,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.7,6.154
$10V_AH,10.2,2.398
$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,14.350,72.875,279.425,185.300,0.000,26.444,20.659,334.890,0.000,0.000,24.080,1235.904,6667.883,588.309,1675.761,499.414,33.351,1195.307,0.000,1267.066,0.000,1.009,0.000
$DEVICE_MAMPS,279.990,86.445,1794.690,783.360,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.091,1022.710,574.461,229.424,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,37026,504
$CAP_FILE_SIZE,82738,0
$CFSIZE,259252224,226521088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,131212,123934,-4700.154,400.100,23,1.0,23,-23.3