version: 66.07
glider: 542
mission: 6
dive: 54
start: 12 18 112 11 46 55
data:
$ID,542
$MISSION,6
$DIVE,54
$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,-10449.38
$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,36
$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
$GPS1,181212,113548,-4632.370,402.195,24,1.5,24,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-32.5
$GPS2,181212,114553,-4632.362,402.245,37,1.2,37,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.149,0.089
$KALMAN_X,-49509.7,332.0,196.4,30317.2,-4985.1
$KALMAN_Y,14090.6,-220.5,-447.6,21625.4,3059.1
$MHEAD_RNG_PITCHd_Wd,82.2,5228,-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,-133.93,0.000,6,0.000,0.000,66,2954,3079,0,0,0,0,0,0
$GC,169,-0.89,-122.7,2.7,-3.7,17,188,6.10,1.58,-7.68,0.000,4,0.243,0.080,1573,3894,3323,0,0,0,0,0,0
$GC,464,-0.89,-122.7,59.8,-19.9,64,473,0.00,1.55,0.00,0.000,6,0.000,0.034,1577,2891,3325,0,0,0,0,0,0
$GC,710,-0.89,-122.7,103.3,-16.8,104,713,0.00,1.62,0.00,0.000,4,0.000,0.060,1571,3913,3325,0,0,0,0,0,0
$GC,971,-0.89,-122.7,149.8,-16.6,119,975,0.00,1.52,0.00,0.000,6,0.000,0.035,1573,2919,3325,0,0,0,0,0,0
$GC,1298,-0.89,-122.7,202.7,-15.8,140,1302,0.00,1.58,0.00,0.000,4,0.000,0.060,1567,3889,3326,0,0,0,0,0,0
$GC,1328,-0.89,-122.7,208.2,-18.1,141,1334,0.00,1.48,0.00,0.000,6,0.000,0.034,1567,2917,3326,0,0,0,0,0,0
$GC,1664,-0.89,-122.7,261.0,-14.7,162,1668,0.00,2.10,0.00,0.000,4,0.000,0.040,1567,1529,3325,0,0,0,0,0,0
$GC,1693,-0.89,-122.7,264.9,-15.4,163,1697,0.00,2.22,0.00,0.000,6,0.000,0.054,1556,2921,3326,0,0,0,0,0,0
$GC,2025,-0.89,-122.7,318.4,-16.3,179,2028,0.00,1.55,0.00,0.000,4,0.000,0.060,1549,3899,3326,0,0,0,0,0,0
$GC,2055,-0.89,-122.7,324.1,-17.9,180,2059,0.10,1.48,0.00,0.000,6,0.194,0.035,1576,2932,3326,0,0,0,0,0,0
$GC,2385,-0.89,-122.7,372.5,-14.3,196,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2930,3325,0,0,0,0,0,0
$GC,2713,-0.89,-122.7,419.0,-14.2,210,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2930,3326,0,0,0,0,0,0
$GC,3020,-0.89,-122.7,463.3,-14.3,220,3024,0.00,2.12,0.00,0.000,4,0.000,0.041,1578,1524,3325,0,0,0,0,0,0
$GC,3038,-0.89,-122.7,466.1,-14.0,220,3042,0.00,2.22,0.00,0.000,6,0.000,0.054,1569,2923,3326,0,0,0,0,0,0
$GC,3353,-0.89,-122.7,511.7,-14.7,230,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3325,0,0,0,0,0,0
$GC,3659,-0.89,-122.7,556.1,-14.5,240,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3325,0,0,0,0,0,0
$GC,3965,-0.89,-122.7,599.8,-14.2,250,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3325,0,0,0,0,0,0
$GC,4272,-0.89,-122.7,643.4,-14.4,260,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3324,0,0,0,0,0,0
$GC,4578,-0.89,-122.7,684.6,-13.4,270,4582,0.00,2.17,0.00,0.000,4,0.000,0.041,1569,1519,3324,0,0,0,0,0,0
$GC,4618,-0.89,-122.7,690.1,-11.7,271,4622,0.00,2.22,0.00,0.000,6,0.000,0.056,1559,2930,3323,0,0,0,0,0,0
$GC,4944,-0.89,-122.7,735.0,-14.1,282,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2930,3323,0,0,0,0,0,0
$GC,5252,-0.89,-122.7,778.6,-14.1,292,5256,0.00,2.15,0.00,0.000,4,0.000,0.041,1558,1523,3322,0,0,0,0,0,0
$GC,5287,-0.89,-122.7,783.9,-13.5,293,5292,0.12,2.22,0.00,0.000,6,0.211,0.056,1576,2925,3323,0,0,0,0,0,0
$GC,5620,-0.89,-122.7,826.0,-12.3,304,5624,0.00,2.12,0.00,0.000,4,0.000,0.041,1577,1519,3322,0,0,0,0,0,0
$GC,5672,-0.89,-122.7,832.3,-11.4,305,5676,0.00,2.25,0.00,0.000,6,0.000,0.057,1568,2932,3322,0,0,0,0,0,0
$GC,5987,-0.89,-122.7,871.1,-12.5,315,5991,0.00,2.15,0.00,0.000,4,0.000,0.040,1568,1520,3322,0,0,0,0,0,0
$GC,6018,-0.89,-122.7,875.0,-12.3,316,6022,0.00,2.22,0.00,0.000,6,0.000,0.056,1557,2935,3322,0,0,0,0,0,0
$GC,6356,-0.89,-122.7,919.1,-13.2,327,6360,0.00,2.12,0.00,0.000,4,0.000,0.040,1557,1522,3322,0,0,0,0,0,0
$GC,6437,-0.89,-122.7,928.9,-11.5,329,6441,0.15,2.22,0.00,0.000,6,0.209,0.057,1581,2923,3322,0,0,0,0,0,0
$GC,6760,-0.89,-122.7,964.0,-10.9,340,6764,0.00,2.15,0.00,0.000,4,0.000,0.041,1582,1515,3322,0,0,0,0,0,0
$GC,6806,-0.89,-122.7,969.3,-10.6,341,6810,0.00,2.22,0.00,0.000,6,0.000,0.057,1573,2927,3321,0,0,0,0,0,0
$STATE,7093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7093,begin apogee
$GC,7103,-0.19,0.0,1001.5,11.2,351,7231,0.80,0.00,118.97,1.856,6,0.184,0.000,1804,2739,2820,0,0,0,0,1,0
$STATE,7233,end apogee,CONTROL_FINISHED_OK
$STATE,7233,begin climb
$GC,7237,0.89,122.7,1003.1,0.0,355,7380,1.00,2.10,127.20,1.809,4,0.065,0.059,2154,3891,2318,0,0,0,0,1,0
$GC,7456,0.89,122.7,950.5,32.3,361,7460,0.00,1.95,0.00,0.000,6,0.000,0.041,2163,2747,2316,0,0,0,0,0,0
$GC,7777,0.89,122.7,849.9,31.3,372,7781,0.00,2.35,0.00,0.000,4,0.000,0.050,2174,1318,2309,0,0,0,0,0,0
$GC,7828,0.89,122.7,833.7,29.2,373,7833,0.00,2.40,0.00,0.000,6,0.000,0.054,2173,2740,2308,0,0,0,0,0,0
$GC,8144,0.89,122.7,736.2,31.2,383,8148,0.00,2.33,0.00,0.000,4,0.000,0.049,2181,1315,2307,0,0,0,0,0,0
$GC,8179,0.89,122.7,725.2,29.1,384,8183,0.00,2.33,0.00,0.000,6,0.000,0.054,2182,2734,2306,0,0,0,0,0,0
$GC,8510,0.89,122.7,625.5,29.9,395,8515,0.00,2.28,0.00,0.000,4,0.000,0.050,2193,1318,2306,0,0,0,0,0,0
$GC,8542,0.89,122.7,616.4,29.9,396,8547,0.15,2.30,0.00,0.000,6,0.267,0.054,2164,2736,2305,0,0,0,0,0,0
$GC,8880,0.89,122.7,521.5,28.3,407,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2736,2304,0,0,0,0,0,0
$GC,9188,0.89,122.7,437.5,27.3,417,9192,0.00,2.25,0.00,0.000,4,0.000,0.048,2173,1319,2303,0,0,0,0,0,0
$GC,9229,0.89,122.7,425.8,27.2,418,9233,0.00,2.30,0.00,0.000,6,0.000,0.054,2172,2736,2302,0,0,0,0,0,0
$GC,9547,0.89,122.7,338.6,27.8,432,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2736,2302,0,0,0,0,0,0
$GC,9859,0.89,122.7,253.2,27.2,447,9863,0.00,2.25,0.00,0.000,4,0.000,0.049,2182,1316,2302,0,0,0,0,0,0
$GC,9883,0.89,122.7,245.8,26.5,448,9892,0.00,2.33,0.00,0.000,6,0.000,0.054,2181,2739,2302,0,0,0,0,0,0
$GC,10206,0.89,122.7,162.6,24.9,469,10210,0.00,1.85,0.00,0.000,4,0.000,0.062,2182,3907,2301,0,0,0,0,0,0
$GC,10229,0.89,122.7,155.1,27.8,470,10234,0.12,1.88,0.00,0.000,6,0.270,0.043,2162,2725,2302,0,0,0,0,0,0
$GC,10566,0.89,122.7,75.6,22.7,502,10573,0.00,2.17,0.00,0.000,4,0.000,0.049,2171,1318,2301,0,0,0,0,0,0
$GC,10671,0.89,122.7,52.4,21.8,519,10678,0.00,2.28,0.00,0.000,6,0.000,0.054,2172,2737,2300,0,0,0,0,0,0
$STATE,10876,end climb,SURFACE_DEPTH_REACHED
$STATE,10876,begin surface coast
$FINISH,0.4,1.026548
$STATE,10890,end surface coast,CONTROL_FINISHED_OK
$STATE,10890,begin surface
$SM_CCo,10912,187.75,0.796,1,0,517,564.18
$SM_GC,0.81,0.00,0.00,187.75,0.000,0.000,0.796,56,2940,517,-5.67,0.48,564.18
$IRIDIUM_FIX,-4616.72,401.12,181212,080830
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.1,12.474
$10V_AH,10.1,5.384
$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,14.375,83.175,246.175,187.750,0.000,34.891,20.207,326.324,0.000,0.000,44.238,1396.172,7345.427,554.626,1886.211,528.300,33.354,1219.302,0.000,1451.416,0.000,1.009,0.000
$DEVICE_MAMPS,270.045,80.325,1855.890,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.051,1116.950,617.367,253.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354176
$DATA_FILE_SIZE,40485,554
$CAP_FILE_SIZE,91562,0
$CFSIZE,259252224,224661504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,181212,145322,-4631.315,403.372,35,0.9,35,-23.3