version: 66.07
glider: 542
mission: 6
dive: 51
start: 12 18 112 2 35 17
data:
$ID,542
$MISSION,6
$DIVE,51
$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,-10436.159
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,181212,022534,-4633.729,358.103,28,1.0,28,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-41.5
$GPS2,181212,023415,-4633.719,358.145,20,1.1,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.159,-0.070
$KALMAN_X,-43790.2,-623.7,-221.6,20797.9,1389.0
$KALMAN_Y,14758.4,-1276.6,-575.3,19638.1,7272.0
$MHEAD_RNG_PITCHd_Wd,137.0,7283,-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,-134.75,0.000,6,0.000,0.000,60,2936,3078,0,0,0,0,0,0
$GC,176,-0.91,-139.9,2.9,-1.8,18,203,6.15,2.28,-9.07,0.000,4,0.246,0.053,1578,1517,3393,0,0,0,0,0,0
$GC,381,-0.91,-139.9,38.6,-17.0,49,388,0.00,2.30,0.00,0.000,6,0.000,0.056,1569,2922,3394,0,0,0,0,0,0
$GC,624,-0.91,-139.9,84.6,-17.8,90,633,0.00,1.60,0.00,0.000,4,0.000,0.060,1561,3900,3394,0,0,0,0,0,0
$GC,689,-0.91,-139.9,96.5,-18.3,100,696,0.00,1.52,0.00,0.000,6,0.000,0.034,1562,2906,3394,0,0,0,0,0,0
$GC,1026,-0.91,-139.9,157.4,-18.2,123,1030,0.00,1.62,0.00,0.000,4,0.000,0.060,1556,3903,3395,0,0,0,0,0,0
$GC,1080,-0.91,-139.9,168.0,-18.5,126,1084,0.00,1.50,0.00,0.000,6,0.000,0.034,1555,2922,3395,0,0,0,0,0,0
$GC,1415,-0.91,-139.9,229.8,-18.7,147,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2919,3395,0,0,0,0,0,0
$GC,1723,-0.91,-139.9,285.3,-18.2,164,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2919,3395,0,0,0,0,0,0
$GC,2035,-0.91,-139.9,341.8,-17.8,179,2039,0.00,2.12,0.00,0.000,4,0.000,0.040,1555,1524,3395,0,0,0,0,0,0
$GC,2087,-0.91,-139.9,351.5,-16.2,181,2092,0.12,2.25,0.00,0.000,6,0.213,0.054,1573,2932,3395,0,0,0,0,0,0
$GC,2415,-0.91,-139.9,405.6,-16.5,196,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2932,3395,0,0,0,0,0,0
$GC,2723,-0.91,-139.9,455.3,-16.2,206,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2932,3395,0,0,0,0,0,0
$GC,3028,-0.91,-139.9,503.0,-15.3,216,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2932,3395,0,0,0,0,0,0
$GC,3334,-0.91,-139.9,547.1,-14.1,226,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2932,3395,0,0,0,0,0,0
$GC,3640,-0.91,-139.9,590.3,-13.9,236,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2932,3395,0,0,0,0,0,0
$GC,3948,-0.91,-139.9,634.1,-14.3,246,3951,0.00,1.52,0.00,0.000,4,0.000,0.063,1568,3894,3394,0,0,0,0,0,0
$GC,3988,-0.91,-139.9,640.8,-15.3,247,3991,0.00,1.48,0.00,0.000,6,0.000,0.037,1567,2928,3394,0,0,0,0,0,0
$GC,4325,-0.91,-139.9,690.1,-14.8,258,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2924,3394,0,0,0,0,0,0
$GC,4631,-0.91,-139.9,735.3,-14.8,268,4635,0.00,1.58,0.00,0.000,4,0.000,0.063,1560,3900,3394,0,0,0,0,0,0
$GC,4669,-0.91,-139.9,741.1,-16.2,269,4673,0.00,1.48,0.00,0.000,6,0.000,0.037,1560,2931,3394,0,0,0,0,0,0
$GC,5014,-0.91,-139.9,795.7,-15.9,280,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2927,3393,0,0,0,0,0,0
$GC,5319,-0.91,-139.9,843.6,-15.4,290,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2927,3393,0,0,0,0,0,0
$GC,5626,-0.91,-139.9,889.2,-14.6,300,5630,0.00,2.12,0.00,0.000,4,0.000,0.042,1560,1525,3393,0,0,0,0,0,0
$GC,5650,-0.91,-139.9,893.2,-14.6,300,5657,0.00,2.22,0.00,0.000,6,0.000,0.056,1550,2931,3393,0,0,0,0,0,0
$GC,5965,-0.91,-139.9,938.4,-14.4,311,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,1549,2931,3393,0,0,0,0,0,0
$GC,6271,-0.91,-139.9,981.6,-14.2,321,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2931,3393,0,0,0,0,0,0
$STATE,6420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6420,begin apogee
$GC,6430,-0.19,0.0,1003.1,14.0,326,6576,0.88,0.00,142.07,1.209,6,0.190,0.000,1801,2726,2819,0,0,0,0,0,0
$STATE,6578,end apogee,CONTROL_FINISHED_OK
$STATE,6578,begin climb
$GC,6583,0.91,139.9,1006.1,0.0,331,6742,1.02,2.40,142.62,1.164,4,0.063,0.047,2177,1334,2238,0,0,0,0,0,0
$GC,6756,0.91,139.9,966.5,32.1,336,6760,0.00,2.45,0.00,0.000,6,0.000,0.055,2177,2730,2234,0,0,0,0,0,0
$GC,7082,0.91,139.9,857.7,33.3,347,7086,0.00,2.30,0.00,0.000,4,0.000,0.050,2187,1341,2227,0,0,0,0,0,0
$GC,7123,0.91,139.9,844.4,29.9,348,7127,0.00,2.35,0.00,0.000,6,0.000,0.055,2187,2742,2225,0,0,0,0,0,0
$GC,7450,0.91,139.9,739.7,32.5,359,7454,0.00,2.28,0.00,0.000,4,0.000,0.049,2197,1340,2224,0,0,0,0,0,0
$GC,7501,0.91,139.9,722.9,30.1,360,7506,0.15,2.30,0.00,0.000,6,0.263,0.055,2169,2734,2223,0,0,0,0,0,0
$GC,7817,0.91,139.9,625.9,31.0,370,7820,0.00,1.88,0.00,0.000,4,0.000,0.061,2168,3907,2223,0,0,0,0,0,0
$GC,7853,0.91,139.9,613.8,33.0,371,7857,0.00,1.85,0.00,0.000,6,0.000,0.043,2176,2733,2222,0,0,0,0,0,0
$GC,8196,0.91,139.9,503.7,32.0,382,8200,0.00,2.22,0.00,0.000,4,0.000,0.049,2187,1322,2222,0,0,0,0,0,0
$GC,8248,0.91,139.9,487.3,28.8,383,8252,0.00,2.30,0.00,0.000,6,0.000,0.055,2186,2741,2221,0,0,0,0,0,0
$GC,8581,0.91,139.9,383.0,31.8,395,8585,0.00,2.25,0.00,0.000,4,0.000,0.051,2196,1331,2221,0,0,0,0,0,0
$GC,8616,0.91,139.9,370.8,31.1,396,8625,0.10,2.30,0.00,0.000,6,0.252,0.055,2171,2736,2221,0,0,0,0,0,0
$GC,8935,0.91,139.9,275.8,29.9,412,8939,0.00,2.25,0.00,0.000,4,0.000,0.050,2180,1321,2221,0,0,0,0,0,0
$GC,8987,0.91,139.9,260.4,26.8,414,8991,0.00,2.28,0.00,0.000,6,0.000,0.055,2173,2737,2220,0,0,0,0,0,0
$GC,9309,0.91,139.9,167.8,29.6,434,9313,0.00,2.22,0.00,0.000,4,0.000,0.050,2182,1321,2220,0,0,0,0,0,0
$GC,9359,0.91,139.9,154.1,27.2,437,9364,0.00,2.28,0.00,0.000,6,0.000,0.055,2182,2734,2219,0,0,0,0,0,0
$GC,9700,0.91,139.9,52.9,27.3,475,9707,0.00,1.83,0.00,0.000,4,0.000,0.063,2182,3897,2220,0,0,0,0,0,0
$GC,9755,0.91,139.9,37.0,30.9,483,9762,0.00,1.80,0.00,0.000,6,0.000,0.044,2191,2735,2220,0,0,0,0,0,0
$STATE,9873,end climb,SURFACE_DEPTH_REACHED
$STATE,9873,begin surface coast
$FINISH,0.3,1.025930
$STATE,9891,end surface coast,CONTROL_FINISHED_OK
$STATE,9892,begin surface
$SM_CCo,9914,183.02,0.759,1,0,516,564.18
$SM_GC,0.74,0.00,0.00,183.02,0.000,0.000,0.759,64,2936,516,-5.64,0.37,564.18
$IRIDIUM_FIX,-4613.60,401.12,171212,232322
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,23.2,11.934
$10V_AH,10.1,5.149
$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,14.375,65.750,284.700,183.025,0.000,25.139,20.817,285.292,0.000,0.000,23.337,1240.724,6694.403,590.688,1623.786,476.165,33.357,1179.898,0.000,1264.057,0.000,1.009,0.000
$DEVICE_MAMPS,263.160,68.085,1209.465,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.847,1024.525,567.931,233.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,36970,504
$CAP_FILE_SIZE,80490,0
$CFSIZE,259252224,224808960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,181212,052504,-4633.670,400.127,37,1.0,37,-23.3