version: 66.07
glider: 542
mission: 6
dive: 50
start: 12 17 112 23 26 28
data:
$ID,542
$MISSION,6
$DIVE,50
$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,-10432.92
$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,29
$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
$GPS1,171212,231503,-4632.401,357.894,36,1.1,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-37.3
$GPS2,171212,232530,-4632.394,358.015,18,1.6,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.022,-0.172
$KALMAN_X,-42849.0,-1002.4,-309.7,20159.0,2204.4
$KALMAN_Y,14046.9,-1216.2,-472.7,22634.4,6680.2
$MHEAD_RNG_PITCHd_Wd,195.9,5104,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-133.98,0.000,6,0.000,0.000,62,2934,3079,0,0,0,0,0,0
$GC,176,-0.90,-130.2,3.3,-2.9,18,195,6.18,1.62,-7.38,0.000,4,0.249,0.083,1567,3897,3354,0,0,0,0,0,0
$GC,439,-0.90,-130.2,59.6,-20.2,60,448,0.00,1.55,0.00,0.000,6,0.000,0.035,1572,2895,3355,0,0,0,0,0,0
$GC,683,-0.90,-130.2,103.5,-17.0,99,687,0.00,1.65,0.00,0.000,4,0.000,0.060,1565,3916,3355,0,0,0,0,0,0
$GC,757,-0.90,-130.2,117.0,-18.7,103,761,0.00,1.52,0.00,0.000,6,0.000,0.035,1566,2926,3355,0,0,0,0,0,0
$GC,1089,-0.90,-130.2,177.2,-17.6,124,1093,0.00,1.58,0.00,0.000,4,0.000,0.061,1558,3891,3356,0,0,0,0,0,0
$GC,1135,-0.90,-130.2,186.2,-18.1,126,1144,0.00,1.48,0.00,0.000,6,0.000,0.035,1558,2922,3356,0,0,0,0,0,0
$GC,1459,-0.90,-130.2,243.0,-17.1,147,1463,0.00,2.10,0.00,0.000,4,0.000,0.040,1558,1530,3356,0,0,0,0,0,0
$GC,1493,-0.90,-130.2,248.5,-16.1,149,1498,0.12,2.22,0.00,0.000,6,0.211,0.054,1576,2923,3356,0,0,0,0,0,0
$GC,1820,-0.90,-130.2,298.7,-15.4,165,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,3356,0,0,0,0,0,0
$GC,2127,-0.90,-130.2,346.5,-15.5,180,2131,0.00,2.15,0.00,0.000,4,0.000,0.041,1576,1528,3356,0,0,0,0,0,0
$GC,2157,-0.90,-130.2,351.4,-14.8,181,2161,0.00,2.22,0.00,0.000,6,0.000,0.055,1567,2922,3356,0,0,0,0,0,0
$GC,2485,-0.90,-130.2,405.8,-17.1,196,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2922,3356,0,0,0,0,0,0
$GC,2791,-0.90,-130.2,456.4,-16.3,206,2795,0.00,2.12,0.00,0.000,4,0.000,0.040,1567,1521,3356,0,0,0,0,0,0
$GC,2822,-0.90,-130.2,461.2,-15.7,207,2826,0.00,2.22,0.00,0.000,6,0.000,0.056,1557,2931,3356,0,0,0,0,0,0
$GC,3160,-0.90,-130.2,516.0,-16.1,218,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3356,0,0,0,0,0,0
$GC,3466,-0.90,-130.2,564.7,-15.5,228,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3356,0,0,0,0,0,0
$GC,3772,-0.90,-130.2,612.9,-15.9,238,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3356,0,0,0,0,0,0
$GC,4080,-0.90,-130.2,661.5,-15.9,248,4084,0.00,1.52,0.00,0.000,4,0.000,0.063,1550,3894,3356,0,0,0,0,0,0
$GC,4117,-0.90,-130.2,667.8,-17.2,249,4121,0.08,1.48,0.00,0.000,6,0.197,0.037,1571,2929,3355,0,0,0,0,0,0
$GC,4460,-0.90,-130.2,715.2,-13.4,260,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2926,3355,0,0,0,0,0,0
$GC,4767,-0.90,-130.2,754.8,-12.6,270,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2926,3355,0,0,0,0,0,0
$GC,5073,-0.90,-130.2,793.8,-12.5,280,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2926,3355,0,0,0,0,0,0
$GC,5379,-0.90,-130.2,830.9,-12.0,290,5383,0.00,2.12,0.00,0.000,4,0.000,0.042,1571,1521,3355,0,0,0,0,0,0
$GC,5464,-0.90,-130.2,840.6,-10.8,292,5468,0.00,2.25,0.00,0.000,6,0.000,0.057,1561,2933,3355,0,0,0,0,0,0
$GC,5785,-0.90,-130.2,880.3,-12.5,303,5789,0.00,2.15,0.00,0.000,4,0.000,0.041,1562,1525,3354,0,0,0,0,0,0
$GC,5837,-0.90,-130.2,886.8,-12.0,304,5841,0.00,2.22,0.00,0.000,6,0.000,0.057,1552,2924,3354,0,0,0,0,0,0
$GC,6152,-0.90,-130.2,927.7,-13.1,314,6157,0.12,2.17,0.00,0.000,4,0.232,0.041,1580,1519,3354,0,0,0,0,0,0
$GC,6204,-0.90,-130.2,933.8,-10.3,315,6208,0.00,2.22,0.00,0.000,6,0.000,0.057,1571,2931,3354,0,0,0,0,0,0
$GC,6520,-0.90,-130.2,969.1,-11.4,325,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2931,3354,0,0,0,0,0,0
$STATE,6791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6791,begin apogee
$GC,6801,-0.19,0.0,1000.2,11.4,334,6943,0.80,0.00,133.45,1.222,6,0.187,0.000,1801,2727,2814,0,0,0,0,0,0
$STATE,6945,end apogee,CONTROL_FINISHED_OK
$STATE,6945,begin climb
$GC,6950,0.90,130.2,1001.7,0.0,339,7094,1.02,2.17,128.12,1.788,4,0.063,0.060,2163,3894,2288,0,0,0,0,1,0
$GC,7124,0.90,130.2,963.9,33.6,344,7127,0.00,1.95,0.00,0.000,6,0.000,0.041,2171,2754,2288,0,0,0,0,0,0
$GC,7444,0.90,130.2,857.6,32.9,355,7448,0.00,2.35,0.00,0.000,4,0.000,0.051,2182,1316,2281,0,0,0,0,0,0
$GC,7501,0.90,130.2,839.3,30.4,356,7508,0.00,2.38,0.00,0.000,6,0.000,0.055,2182,2733,2280,0,0,0,0,0,0
$GC,7817,0.90,130.2,738.8,32.3,367,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2733,2278,0,0,0,0,0,0
$GC,8123,0.90,130.2,642.1,31.4,377,8127,0.00,2.28,0.00,0.000,4,0.000,0.049,2193,1320,2277,0,0,0,0,0,0
$GC,8163,0.90,130.2,629.5,29.2,378,8168,0.15,2.30,0.00,0.000,6,0.267,0.056,2164,2734,2276,0,0,0,0,0,0
$GC,8491,0.90,130.2,535.1,29.1,389,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2734,2276,0,0,0,0,0,0
$GC,8797,0.90,130.2,447.6,28.5,399,8801,0.00,2.22,0.00,0.000,4,0.000,0.049,2173,1319,2276,0,0,0,0,0,0
$GC,8820,0.90,130.2,440.4,27.5,399,8825,0.00,2.28,0.00,0.000,6,0.000,0.055,2173,2736,2275,0,0,0,0,0,0
$GC,9147,0.90,130.2,346.8,29.0,412,9151,0.00,2.25,0.00,0.000,4,0.000,0.049,2182,1319,2275,0,0,0,0,0,0
$GC,9194,0.90,130.2,333.1,26.8,414,9199,0.00,2.30,0.00,0.000,6,0.000,0.054,2182,2744,2274,0,0,0,0,0,0
$GC,9520,0.90,130.2,240.9,29.0,430,9524,0.00,2.25,0.00,0.000,4,0.000,0.050,2192,1321,2274,0,0,0,0,0,0
$GC,9573,0.90,130.2,226.3,24.7,433,9578,0.15,2.25,0.00,0.000,6,0.264,0.055,2163,2733,2273,0,0,0,0,0,0
$GC,9900,0.90,130.2,144.5,25.6,453,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2733,2273,0,0,0,0,0,0
$GC,10235,0.90,130.2,56.5,25.0,492,10246,0.00,1.85,0.00,0.000,4,0.000,0.062,2163,3892,2273,0,0,0,0,0,0
$GC,10365,0.90,130.2,23.3,28.5,512,10374,0.00,1.83,0.00,0.000,6,0.000,0.043,2170,2725,2273,0,0,0,0,0,0
$STATE,10442,end climb,SURFACE_DEPTH_REACHED
$STATE,10442,begin surface coast
$FINISH,0.3,1.026637
$STATE,10456,end surface coast,CONTROL_FINISHED_OK
$STATE,10456,begin surface
$SM_CCo,10478,187.05,0.780,1,0,516,564.18
$SM_GC,0.87,0.00,0.00,187.05,0.000,0.000,0.780,61,2935,516,-5.65,0.31,564.18
$IRIDIUM_FIX,-4613.60,358.00,171212,191957
$TT8_MAMPS,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.5,11.780
$10V_AH,10.1,5.074
$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,14.400,69.875,261.575,187.050,0.000,26.136,25.852,344.235,0.000,0.000,21.312,1301.551,7136.033,600.971,1736.568,514.381,33.359,1195.877,0.000,1308.255,0.000,1.009,0.000
$DEVICE_MAMPS,266.985,82.620,1787.805,780.300,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.540,1057.532,584.332,227.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,37020,526
$CAP_FILE_SIZE,84552,0
$CFSIZE,259252224,224849920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,181212,022534,-4633.729,358.103,28,1.0,28,-23.3