version: 66.07
glider: 542
mission: 6
dive: 42
start: 12 16 112 17 57 46
data:
$ID,542
$MISSION,6
$DIVE,42
$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,52816
$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,-10407.602
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,161212,174534,-4629.659,403.412,29,1.1,29,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-26.1
$GPS2,161212,175648,-4629.597,403.454,19,1.5,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.032,0.170
$KALMAN_X,-47989.4,242.9,342.2,30265.5,-4892.1
$KALMAN_Y,-820.0,632.5,264.0,40053.7,-3574.7
$MHEAD_RNG_PITCHd_Wd,33.8,4466,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.81,-63.1,0.0,0.0,0,166,0.00,0.00,-131.48,0.000,6,0.000,0.000,57,2945,3078,0,0,0,0,0,0
$GC,173,-0.91,-138.2,2.9,-2.0,17,199,6.25,2.25,-8.70,0.000,4,0.252,0.054,1578,1522,3385,0,0,0,0,0,0
$GC,325,-0.91,-138.2,29.0,-15.7,39,334,0.00,2.30,0.00,0.000,6,0.000,0.055,1569,2916,3386,0,0,0,0,0,0
$GC,409,-0.91,-138.2,47.3,-21.9,52,418,0.00,2.20,0.00,0.000,4,0.000,0.040,1569,1526,3387,0,0,0,0,0,0
$GC,679,-0.91,-138.2,92.0,-16.6,98,686,0.00,2.28,0.00,0.000,6,0.000,0.056,1558,2935,3387,0,0,0,0,0,0
$GC,1017,-0.91,-138.2,153.7,-18.9,124,1020,0.00,1.52,0.00,0.000,4,0.000,0.060,1551,3893,3387,0,0,0,0,0,0
$GC,1283,-0.91,-138.2,204.2,-18.2,139,1286,0.00,1.50,0.00,0.000,6,0.000,0.036,1551,2914,3387,0,0,0,0,0,0
$GC,1610,-0.91,-138.2,261.0,-17.8,159,1614,0.00,1.60,0.00,0.000,4,0.000,0.061,1544,3898,3387,0,0,0,0,0,0
$GC,1706,-0.91,-138.2,279.0,-19.0,163,1710,0.08,1.50,0.00,0.000,6,0.198,0.036,1565,2921,3387,0,0,0,0,0,0
$GC,2043,-0.91,-138.2,334.7,-16.4,179,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2918,3387,0,0,0,0,0,0
$GC,2351,-0.91,-138.2,386.1,-16.8,194,2355,0.00,2.10,0.00,0.000,4,0.000,0.042,1565,1526,3387,0,0,0,0,0,0
$GC,2375,-0.91,-138.2,390.6,-17.4,195,2379,0.00,2.25,0.00,0.000,6,0.000,0.056,1556,2932,3387,0,0,0,0,0,0
$GC,2696,-0.91,-138.2,445.8,-17.5,207,2700,0.00,2.17,0.00,0.000,4,0.000,0.042,1556,1519,3387,0,0,0,0,0,0
$GC,2761,-0.91,-138.2,456.4,-15.1,209,2766,0.12,2.25,0.00,0.000,6,0.223,0.057,1573,2925,3387,0,0,0,0,0,0
$GC,3100,-0.91,-138.2,510.4,-15.9,220,3104,0.00,1.55,0.00,0.000,4,0.000,0.063,1567,3903,3387,0,0,0,0,0,0
$GC,3123,-0.91,-138.2,514.7,-16.7,220,3127,0.00,1.50,0.00,0.000,6,0.000,0.037,1567,2920,3387,0,0,0,0,0,0
$GC,3443,-0.91,-138.2,565.9,-15.7,231,3447,0.00,1.58,0.00,0.000,4,0.000,0.063,1560,3891,3387,0,0,0,0,0,0
$GC,3472,-0.91,-138.2,570.9,-16.7,231,3479,0.00,1.48,0.00,0.000,6,0.000,0.037,1560,2921,3387,0,0,0,0,0,0
$GC,3789,-0.91,-138.2,621.8,-16.5,242,3793,0.00,2.12,0.00,0.000,4,0.000,0.043,1559,1522,3387,0,0,0,0,0,0
$GC,3858,-0.91,-138.2,632.9,-14.9,244,3862,0.00,2.25,0.00,0.000,6,0.000,0.057,1549,2931,3387,0,0,0,0,0,0
$GC,4189,-0.91,-138.2,687.8,-16.6,255,4193,0.00,2.12,0.00,0.000,4,0.000,0.042,1549,1528,3386,0,0,0,0,0,0
$GC,4221,-0.91,-138.2,692.7,-16.0,256,4225,0.15,2.22,0.00,0.000,6,0.216,0.057,1573,2924,3386,0,0,0,0,0,0
$GC,4559,-0.91,-138.2,741.2,-14.2,267,4563,0.00,1.55,0.00,0.000,4,0.000,0.064,1568,3901,3386,0,0,0,0,0,0
$GC,4582,-0.91,-138.2,745.0,-14.5,267,4586,0.00,1.48,0.00,0.000,6,0.000,0.037,1568,2934,3386,0,0,0,0,0,0
$GC,4903,-0.91,-138.2,791.9,-14.7,278,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2929,3386,0,0,0,0,0,0
$GC,5210,-0.91,-138.2,834.6,-13.4,288,5214,0.00,1.58,0.00,0.000,4,0.000,0.065,1560,3904,3385,0,0,0,0,0,0
$GC,5247,-0.91,-138.2,840.0,-13.7,289,5251,0.00,1.50,0.00,0.000,6,0.000,0.037,1560,2917,3384,0,0,0,0,0,0
$GC,5590,-0.91,-138.2,886.8,-13.6,300,5594,0.00,2.08,0.00,0.000,4,0.000,0.044,1560,1526,3385,0,0,0,0,0,0
$GC,5614,-0.91,-138.2,890.2,-13.7,300,5621,0.00,2.22,0.00,0.000,6,0.000,0.057,1550,2928,3385,0,0,0,0,0,0
$GC,5931,-0.91,-138.2,934.6,-14.3,311,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,1549,2928,3384,0,0,0,0,0,0
$GC,6235,-0.91,-138.2,977.7,-14.1,321,6239,0.00,1.52,0.00,0.000,4,0.000,0.065,1542,3893,3384,0,0,0,0,0,0
$GC,6264,-0.91,-138.2,982.4,-16.2,321,6272,0.10,1.48,0.00,0.000,6,0.198,0.038,1569,2925,3384,0,0,0,0,0,0
$STATE,6422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6422,begin apogee
$GC,6433,-0.19,0.0,1003.3,12.7,327,6577,0.80,0.00,140.52,1.225,6,0.188,0.000,1802,2741,2819,0,0,0,0,0,0
$STATE,6579,end apogee,CONTROL_FINISHED_OK
$STATE,6579,begin climb
$GC,6583,0.91,138.2,1006.6,0.0,332,6733,1.00,2.15,134.93,1.806,4,0.063,0.062,2158,3893,2257,0,0,0,0,1,0
$GC,6781,0.91,138.2,961.7,34.1,338,6785,0.00,1.98,0.00,0.000,6,0.000,0.043,2167,2755,2256,0,0,0,0,0,0
$GC,7120,0.91,138.2,853.1,31.7,349,7124,0.00,2.35,0.00,0.000,4,0.000,0.051,2178,1317,2250,0,0,0,0,0,0
$GC,7153,0.91,138.2,842.4,32.3,350,7157,0.00,2.38,0.00,0.000,6,0.000,0.056,2178,2738,2248,0,0,0,0,0,0
$GC,7490,0.91,138.2,729.7,33.7,361,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2738,2248,0,0,0,0,0,0
$GC,7797,0.91,138.2,629.5,32.2,371,7801,0.00,2.30,0.00,0.000,4,0.000,0.051,2188,1316,2246,0,0,0,0,0,0
$GC,7837,0.91,138.2,616.3,30.2,372,7841,0.00,2.33,0.00,0.000,6,0.000,0.054,2188,2740,2245,0,0,0,0,0,0
$GC,8175,0.91,138.2,508.7,32.4,383,8179,0.00,2.28,0.00,0.000,4,0.000,0.052,2199,1321,2245,0,0,0,0,0,0
$GC,8215,0.91,138.2,495.1,31.4,384,8220,0.15,2.30,0.00,0.000,6,0.285,0.055,2170,2739,2244,0,0,0,0,0,0
$GC,8550,0.91,138.2,396.0,29.5,395,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2739,2244,0,0,0,0,0,0
$GC,8857,0.91,138.2,306.5,28.8,410,8861,0.00,2.28,0.00,0.000,4,0.000,0.051,2180,1316,2244,0,0,0,0,0,0
$GC,8879,0.91,138.2,300.7,28.5,411,8884,0.00,2.28,0.00,0.000,6,0.000,0.054,2173,2736,2243,0,0,0,0,0,0
$GC,9207,0.91,138.2,206.8,28.6,429,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2736,2243,0,0,0,0,0,0
$GC,9521,0.91,138.2,123.4,25.5,449,9525,0.00,2.25,0.00,0.000,4,0.000,0.050,2182,1319,2243,0,0,0,0,0,0
$GC,9570,0.91,138.2,110.1,24.6,452,9574,0.00,2.25,0.00,0.000,6,0.000,0.055,2182,2734,2243,0,0,0,0,0,0
$GC,9924,0.91,138.2,19.0,24.1,508,9932,0.00,2.25,0.00,0.000,4,0.000,0.050,2193,1323,2243,0,0,0,0,0,0
$GC,9945,0.91,138.2,13.8,24.2,510,9955,0.10,2.30,0.00,0.000,6,0.278,0.055,2170,2741,2242,0,0,0,0,0,0
$STATE,9986,end climb,SURFACE_DEPTH_REACHED
$STATE,9986,begin surface coast
$FINISH,0.6,1.026573
$STATE,10000,end surface coast,CONTROL_FINISHED_OK
$STATE,10000,begin surface
$SM_CCo,10022,184.05,0.795,1,0,516,564.18
$SM_GC,0.85,0.00,0.00,184.05,0.000,0.000,0.795,63,2935,516,-5.65,0.37,564.18
$IRIDIUM_FIX,-4613.60,404.25,161212,131354
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.5,10.167
$10V_AH,10.1,4.354
$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,14.600,84.350,275.450,184.050,0.000,27.372,41.717,366.945,0.000,0.000,22.209,1307.805,6575.486,578.021,1866.368,548.191,33.353,1241.981,0.000,1401.973,0.000,1.009,0.000
$DEVICE_MAMPS,285.345,72.675,1806.165,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.615,1046.191,594.285,240.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,37173,518
$CAP_FILE_SIZE,90588,0
$CFSIZE,259252224,225280000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,161212,204922,-4628.621,403.037,37,0.8,37,-23.3