version: 66.07
glider: 542
mission: 6
dive: 53
start: 12 18 112 8 40 3
data:
$ID,542
$MISSION,6
$DIVE,53
$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,-10442.46
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,181212,082934,-4633.367,401.455,37,1.0,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-25.0
$GPS2,181212,083901,-4633.359,401.524,16,1.0,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.139,0.104
$KALMAN_X,-47532.6,354.5,-78.5,27688.3,-3166.5
$KALMAN_Y,15096.5,-398.7,-419.3,18926.8,5275.7
$MHEAD_RNG_PITCHd_Wd,76.6,6517,-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,-134.52,0.000,6,0.000,0.000,61,2932,3076,0,0,0,0,0,0
$GC,176,-0.90,-133.7,2.9,-2.5,18,203,5.93,2.33,-8.05,0.000,4,0.232,0.054,1578,1495,3368,0,0,0,0,0,0
$GC,328,-0.90,-133.7,29.5,-16.8,40,337,0.00,2.35,0.00,0.000,6,0.000,0.055,1569,2918,3369,0,0,0,0,0,0
$GC,415,-0.90,-133.7,48.0,-20.7,53,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2918,3369,0,0,0,0,0,0
$GC,657,-0.90,-133.7,96.7,-18.5,94,663,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2918,3369,0,0,0,0,0,0
$GC,993,-0.90,-133.7,159.9,-19.1,117,997,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3903,3370,0,0,0,0,0,0
$GC,1051,-0.90,-133.7,172.3,-20.8,120,1054,0.00,1.55,0.00,0.000,6,0.000,0.034,1561,2890,3371,0,0,0,0,0,0
$GC,1379,-0.90,-133.7,231.5,-17.5,141,1383,0.00,2.05,0.00,0.000,4,0.000,0.039,1561,1524,3371,0,0,0,0,0,0
$GC,1443,-0.90,-133.7,242.5,-15.0,144,1451,0.00,2.28,0.00,0.000,6,0.000,0.054,1551,2927,3371,0,0,0,0,0,0
$GC,1768,-0.90,-133.7,298.4,-17.1,161,1772,0.00,2.12,0.00,0.000,4,0.000,0.039,1551,1526,3371,0,0,0,0,0,0
$GC,1797,-0.90,-133.7,304.3,-18.0,162,1802,0.15,2.22,0.00,0.000,6,0.202,0.054,1576,2933,3371,0,0,0,0,0,0
$GC,2118,-0.90,-133.7,354.1,-15.9,177,2122,0.00,2.15,0.00,0.000,4,0.000,0.039,1576,1529,3371,0,0,0,0,0,0
$GC,2140,-0.90,-133.7,357.6,-16.1,178,2144,0.00,2.22,0.00,0.000,6,0.000,0.054,1567,2923,3371,0,0,0,0,0,0
$GC,2469,-0.90,-133.7,411.1,-16.5,193,2472,0.00,2.15,0.00,0.000,4,0.000,0.040,1567,1530,3371,0,0,0,0,0,0
$GC,2492,-0.90,-133.7,415.3,-16.4,193,2499,0.00,2.22,0.00,0.000,6,0.000,0.054,1556,2930,3371,0,0,0,0,0,0
$GC,2807,-0.90,-133.7,466.5,-16.4,204,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2930,3371,0,0,0,0,0,0
$GC,3113,-0.90,-133.7,515.3,-15.9,214,3117,0.00,2.15,0.00,0.000,4,0.000,0.039,1556,1525,3371,0,0,0,0,0,0
$GC,3148,-0.90,-133.7,520.9,-14.9,215,3153,0.12,2.22,0.00,0.000,6,0.209,0.054,1574,2924,3370,0,0,0,0,0,0
$GC,3481,-0.90,-133.7,568.8,-14.4,226,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2923,3370,0,0,0,0,0,0
$GC,3787,-0.90,-133.7,612.3,-14.3,236,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2924,3370,0,0,0,0,0,0
$GC,4093,-0.90,-133.7,656.1,-14.5,246,4097,0.00,2.12,0.00,0.000,4,0.000,0.041,1575,1523,3370,0,0,0,0,0,0
$GC,4111,-0.90,-133.7,659.2,-14.4,246,4115,0.00,2.22,0.00,0.000,6,0.000,0.056,1565,2922,3369,0,0,0,0,0,0
$GC,4432,-0.90,-133.7,706.0,-14.6,257,4435,0.00,1.55,0.00,0.000,4,0.000,0.063,1558,3903,3369,0,0,0,0,0,0
$GC,4455,-0.90,-133.7,709.9,-15.5,257,4459,0.00,1.48,0.00,0.000,6,0.000,0.036,1558,2931,3369,0,0,0,0,0,0
$GC,4777,-0.90,-133.7,756.5,-14.2,268,4781,0.00,2.12,0.00,0.000,4,0.000,0.041,1557,1521,3368,0,0,0,0,0,0
$GC,4808,-0.90,-133.7,761.4,-14.6,269,4813,0.12,2.22,0.00,0.000,6,0.208,0.056,1576,2923,3368,0,0,0,0,0,0
$GC,5152,-0.90,-133.7,806.3,-13.1,280,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2924,3368,0,0,0,0,0,0
$GC,5458,-0.90,-133.7,845.9,-12.8,290,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2924,3368,0,0,0,0,0,0
$GC,5766,-0.90,-133.7,884.7,-12.6,300,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2924,3367,0,0,0,0,0,0
$GC,6070,-0.90,-133.7,923.6,-12.6,310,6074,0.00,2.17,0.00,0.000,4,0.000,0.042,1576,1518,3367,0,0,0,0,0,0
$GC,6122,-0.90,-133.7,930.1,-11.2,311,6126,0.00,2.22,0.00,0.000,6,0.000,0.057,1567,2924,3367,0,0,0,0,0,0
$GC,6443,-0.90,-133.7,971.5,-13.2,322,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2924,3367,0,0,0,0,0,0
$STATE,6652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6653,begin apogee
$GC,6663,-0.19,0.0,1000.3,13.3,329,6806,0.82,0.00,135.65,1.227,6,0.185,0.000,1805,2737,2817,0,0,0,0,0,0
$STATE,6807,end apogee,CONTROL_FINISHED_OK
$STATE,6807,begin climb
$GC,6812,0.90,133.7,1003.3,0.0,334,6964,1.02,2.10,132.05,1.804,4,0.062,0.060,2165,3893,2274,0,0,0,0,1,0
$GC,7012,0.90,133.7,957.3,34.7,340,7016,0.00,1.98,0.00,0.000,6,0.000,0.041,2174,2753,2273,0,0,0,0,0,0
$GC,7343,0.90,133.7,848.2,33.3,351,7347,0.00,2.35,0.00,0.000,4,0.000,0.050,2184,1316,2267,0,0,0,0,0,0
$GC,7395,0.90,133.7,831.4,30.5,352,7400,0.00,2.40,0.00,0.000,6,0.000,0.055,2184,2740,2265,0,0,0,0,0,0
$GC,7717,0.90,133.7,725.7,33.4,363,7721,0.00,2.33,0.00,0.000,4,0.000,0.048,2195,1313,2264,0,0,0,0,0,0
$GC,7750,0.90,133.7,715.6,32.3,364,7755,0.15,2.33,0.00,0.000,6,0.263,0.054,2166,2735,2263,0,0,0,0,0,0
$GC,8088,0.90,133.7,609.0,30.9,375,8092,0.00,2.28,0.00,0.000,4,0.000,0.049,2175,1317,2263,0,0,0,0,0,0
$GC,8108,0.90,133.7,602.9,30.4,375,8112,0.00,2.33,0.00,0.000,6,0.000,0.054,2172,2737,2262,0,0,0,0,0,0
$GC,8423,0.90,133.7,507.2,29.9,385,8427,0.00,2.28,0.00,0.000,4,0.000,0.049,2182,1315,2262,0,0,0,0,0,0
$GC,8446,0.90,133.7,499.5,30.0,385,8450,0.00,2.33,0.00,0.000,6,0.000,0.054,2182,2746,2261,0,0,0,0,0,0
$GC,8762,0.90,133.7,405.7,29.8,395,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2746,2261,0,0,0,0,0,0
$GC,9081,0.90,133.7,311.7,29.2,410,9085,0.00,2.28,0.00,0.000,4,0.000,0.050,2193,1314,2261,0,0,0,0,0,0
$GC,9093,0.90,133.7,307.8,28.5,410,9103,0.08,2.30,0.00,0.000,6,0.262,0.053,2174,2730,2261,0,0,0,0,0,0
$GC,9418,0.90,133.7,218.4,27.1,428,9422,0.00,2.22,0.00,0.000,4,0.000,0.049,2184,1318,2261,0,0,0,0,0,0
$GC,9440,0.90,133.7,213.1,27.2,429,9444,0.00,2.28,0.00,0.000,6,0.000,0.055,2184,2737,2260,0,0,0,0,0,0
$GC,9772,0.90,133.7,121.8,27.4,450,9776,0.00,2.25,0.00,0.000,4,0.000,0.049,2193,1314,2260,0,0,0,0,0,0
$GC,9788,0.90,133.7,117.8,28.0,451,9793,0.12,2.25,0.00,0.000,6,0.267,0.054,2168,2735,2260,0,0,0,0,0,0
$GC,10142,0.90,133.7,28.2,25.1,503,10151,0.00,2.28,0.00,0.000,4,0.000,0.048,2178,1310,2259,0,0,0,0,0,0
$GC,10194,0.90,133.7,15.6,24.4,510,10203,0.00,2.30,0.00,0.000,6,0.000,0.055,2172,2728,2258,0,0,0,0,0,0
$STATE,10246,end climb,SURFACE_DEPTH_REACHED
$STATE,10246,begin surface coast
$FINISH,0.4,1.026481
$STATE,10260,end surface coast,CONTROL_FINISHED_OK
$STATE,10260,begin surface
$SM_CCo,10283,185.45,0.793,1,0,517,564.18
$SM_GC,0.99,0.00,0.00,185.45,0.000,0.000,0.793,67,2953,517,-5.63,0.85,564.18
$IRIDIUM_FIX,-4616.72,358.00,181212,050543
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.4,12.283
$10V_AH,10.1,5.302
$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,14.275,87.150,267.700,185.450,0.000,37.773,35.318,302.526,0.000,0.000,19.417,1293.287,6938.229,593.659,1719.127,498.912,33.356,1222.706,0.000,1308.209,0.000,1.008,0.000
$DEVICE_MAMPS,266.985,62.730,1803.870,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.333,1051.734,584.833,238.490,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,37191,520
$CAP_FILE_SIZE,87272,0
$CFSIZE,259252224,224714752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,181212,113548,-4632.370,402.195,24,1.5,24,-23.3