version: 66.07
glider: 542
mission: 6
dive: 56
start: 12 18 112 18 3 40
data:
$ID,542
$MISSION,6
$DIVE,56
$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,-10459.512
$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,49
$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
$GPS1,181212,175336,-4630.215,404.730,32,1.5,32,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-31.4
$GPS2,181212,180238,-4630.191,404.781,16,0.8,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.050,-0.166
$KALMAN_X,-51738.7,273.1,252.5,35750.3,-5371.1
$KALMAN_Y,14769.9,-540.2,97.9,24723.9,2548.5
$MHEAD_RNG_PITCHd_Wd,220.2,6106,-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,-132.60,0.000,6,0.000,0.000,61,2931,3078,0,0,0,0,0,0
$GC,169,-0.90,-132.8,2.8,-2.6,17,187,6.22,0.00,-8.52,0.000,6,0.250,0.000,1574,2931,3364,0,0,0,0,0,0
$GC,265,-0.90,-132.8,20.8,-21.1,31,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3366,0,0,0,0,0,0
$GC,349,-0.90,-132.8,37.4,-20.2,44,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3366,0,0,0,0,0,0
$GC,597,-0.90,-132.8,84.7,-17.2,85,601,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2931,3366,0,0,0,0,0,0
$GC,935,-0.90,-132.8,143.8,-17.8,116,939,0.00,2.17,0.00,0.000,4,0.000,0.038,1578,1521,3366,0,0,0,0,0,0
$GC,970,-0.90,-132.8,150.3,-16.5,118,974,0.00,2.25,0.00,0.000,6,0.000,0.052,1569,2922,3366,0,0,0,0,0,0
$GC,1293,-0.90,-132.8,207.0,-18.0,138,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3367,0,0,0,0,0,0
$GC,1619,-0.90,-132.8,262.7,-16.8,158,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3368,0,0,0,0,0,0
$GC,1930,-0.90,-132.8,312.7,-16.2,173,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3367,0,0,0,0,0,0
$GC,2238,-0.90,-132.8,360.5,-15.1,188,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3367,0,0,0,0,0,0
$GC,2567,-0.90,-132.8,410.3,-15.4,203,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3367,0,0,0,0,0,0
$GC,2873,-0.90,-132.8,456.8,-15.1,213,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3367,0,0,0,0,0,0
$GC,3179,-0.90,-132.8,502.6,-14.9,223,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3366,0,0,0,0,0,0
$GC,3486,-0.90,-132.8,548.7,-15.0,233,3490,0.00,2.17,0.00,0.000,4,0.000,0.040,1569,1517,3366,0,0,0,0,0,0
$GC,3526,-0.90,-132.8,554.7,-13.5,234,3530,0.00,2.22,0.00,0.000,6,0.000,0.054,1559,2925,3366,0,0,0,0,0,0
$GC,3865,-0.90,-132.8,606.4,-15.6,245,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3366,0,0,0,0,0,0
$GC,4170,-0.90,-132.8,651.4,-14.4,255,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3365,0,0,0,0,0,0
$GC,4477,-0.90,-132.8,694.3,-13.9,265,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3365,0,0,0,0,0,0
$GC,4782,-0.90,-132.8,736.8,-14.1,275,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3365,0,0,0,0,0,0
$GC,5088,-0.90,-132.8,779.1,-13.5,285,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3364,0,0,0,0,0,0
$GC,5395,-0.90,-132.8,822.0,-14.1,295,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3364,0,0,0,0,0,0
$GC,5701,-0.90,-132.8,865.6,-14.3,305,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3364,0,0,0,0,0,0
$GC,6007,-0.90,-132.8,909.6,-14.2,315,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2925,3363,0,0,0,0,0,0
$GC,6313,-0.90,-132.8,951.8,-13.6,325,6317,0.00,2.12,0.00,0.000,4,0.000,0.040,1559,1519,3363,0,0,0,0,0,0
$GC,6382,-0.90,-132.8,960.5,-11.8,327,6386,0.12,2.22,0.00,0.000,6,0.210,0.054,1577,2930,3362,0,0,0,0,0,0
$GC,6721,-0.90,-132.8,999.2,-11.5,338,6725,0.00,2.08,0.00,0.000,3,0.000,0.040,1577,1550,3362,0,0,0,0,0,0
$STATE,6727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6727,begin apogee
$GC,6740,-0.19,0.0,1000.3,11.5,338,6878,0.77,0.00,134.93,1.229,6,0.185,0.000,1798,2748,2819,0,0,0,0,0,0
$STATE,6880,end apogee,CONTROL_FINISHED_OK
$STATE,6880,begin climb
$GC,6885,0.90,132.8,1003.1,0.0,342,7025,1.00,0.00,131.88,1.795,6,0.060,0.000,2158,2748,2277,0,0,0,0,1,0
$GC,7319,0.90,132.8,883.4,31.4,356,7323,0.00,2.33,0.00,0.000,4,0.000,0.045,2169,1342,2272,0,0,0,0,0,0
$GC,7388,0.90,132.8,860.8,29.8,358,7392,0.00,2.35,0.00,0.000,6,0.000,0.051,2170,2742,2270,0,0,0,0,0,0
$GC,7726,0.90,132.8,755.3,31.9,369,7730,0.00,2.28,0.00,0.000,4,0.000,0.046,2180,1340,2269,0,0,0,0,0,0
$GC,7766,0.90,132.8,742.2,30.3,370,7770,0.00,2.30,0.00,0.000,6,0.000,0.051,2180,2736,2268,0,0,0,0,0,0
$GC,8093,0.90,132.8,640.7,31.3,381,8097,0.00,2.25,0.00,0.000,4,0.000,0.047,2190,1337,2267,0,0,0,0,0,0
$GC,8116,0.90,132.8,632.9,30.3,381,8124,0.12,2.28,0.00,0.000,6,0.262,0.052,2167,2736,2266,0,0,0,0,0,0
$GC,8431,0.90,132.8,540.5,29.4,392,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2736,2267,0,0,0,0,0,0
$GC,8737,0.90,132.8,451.3,29.4,402,8741,0.00,2.22,0.00,0.000,4,0.000,0.046,2176,1335,2266,0,0,0,0,0,0
$GC,8802,0.90,132.8,433.2,27.1,404,8806,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2745,2265,0,0,0,0,0,0
$GC,9132,0.90,132.8,336.9,29.2,418,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2746,2265,0,0,0,0,0,0
$GC,9443,0.90,132.8,246.4,29.2,433,9447,0.00,2.20,0.00,0.000,4,0.000,0.046,2181,1339,2265,0,0,0,0,0,0
$GC,9516,0.90,132.8,226.1,27.4,437,9520,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2743,2264,0,0,0,0,0,0
$GC,9845,0.90,132.8,133.2,27.8,458,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2743,2264,0,0,0,0,0,0
$GC,10181,0.90,132.8,41.0,25.5,502,10190,0.00,2.22,0.00,0.000,4,0.000,0.046,2192,1343,2264,0,0,0,0,0,0
$GC,10237,0.90,132.8,27.6,22.9,510,10247,0.12,2.25,0.00,0.000,6,0.245,0.054,2161,2736,2263,0,0,0,0,0,0
$GC,10326,0.90,132.8,5.6,25.7,523,10335,0.00,2.20,0.00,0.000,4,0.000,0.043,2170,1340,2263,0,0,0,0,0,0
$STATE,10343,end climb,SURFACE_DEPTH_REACHED
$STATE,10344,begin surface coast
$FINISH,0.5,1.022605
$STATE,10357,end surface coast,CONTROL_FINISHED_OK
$STATE,10357,begin surface
$SM_CCo,10382,186.10,0.795,1,0,517,564.18
$SM_GC,1.00,0.00,0.00,186.10,0.000,0.000,0.795,59,2929,517,-5.66,0.17,564.18
$IRIDIUM_FIX,-4613.60,407.37,181212,141422
$TT8_MAMPS,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.4,12.827
$10V_AH,10.1,5.535
$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,14.225,49.150,266.800,186.100,0.000,25.894,42.503,287.112,0.000,0.000,19.666,1284.948,7140.067,582.619,1640.665,468.427,33.360,1143.979,0.000,1262.073,0.000,1.008,0.000
$DEVICE_MAMPS,262.395,54.315,1794.690,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.282,1064.246,587.667,230.397,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,37184,527
$CAP_FILE_SIZE,76541,0
$CFSIZE,259252224,224587776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,181212,210104,-4631.171,403.165,24,1.2,24,-23.3