version: 66.07
glider: 542
mission: 6
dive: 57
start: 12 18 112 21 11 26
data:
$ID,542
$MISSION,6
$DIVE,57
$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,-10466.401
$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,19
$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
$GPS1,181212,210104,-4631.171,403.165,24,1.2,24,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-46.6
$GPS2,181212,211024,-4631.128,403.180,18,1.7,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093,-0.146
$KALMAN_X,-52526.5,561.0,315.0,34157.2,-5232.9
$KALMAN_Y,16234.9,-291.2,-167.7,21540.1,4001.9
$MHEAD_RNG_PITCHd_Wd,170.7,4560,-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,-132.60,0.000,6,0.000,0.000,58,2931,3078,0,0,0,0,0,0
$GC,169,-0.90,-129.9,2.7,-2.9,17,188,6.20,1.62,-8.40,0.000,4,0.248,0.080,1571,3904,3351,0,0,0,0,0,0
$GC,465,-0.90,-129.9,60.1,-20.0,64,472,0.00,1.52,0.00,0.000,6,0.000,0.034,1577,2913,3353,0,0,0,0,0,0
$GC,811,-0.90,-129.9,119.0,-17.3,111,813,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,1126,-0.90,-129.9,174.7,-18.3,131,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,1436,-0.90,-129.9,229.7,-17.3,151,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,1745,-0.90,-129.9,282.3,-17.0,168,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,2056,-0.90,-129.9,332.1,-15.9,183,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2913,3354,0,0,0,0,0,0
$GC,2363,-0.90,-129.9,379.4,-15.1,198,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3355,0,0,0,0,0,0
$GC,2681,-0.90,-129.9,424.2,-13.8,211,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3355,0,0,0,0,0,0
$GC,2989,-0.90,-129.9,466.6,-13.8,221,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,3294,-0.90,-129.9,508.6,-14.0,231,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,3600,-0.90,-129.9,551.9,-14.4,241,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2912,3354,0,0,0,0,0,0
$GC,3906,-0.90,-129.9,597.1,-15.0,251,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2913,3353,0,0,0,0,0,0
$GC,4212,-0.90,-129.9,642.7,-14.6,261,4216,0.00,2.08,0.00,0.000,4,0.000,0.041,1577,1528,3353,0,0,0,0,0,0
$GC,4253,-0.90,-129.9,648.7,-13.7,262,4257,0.00,2.22,0.00,0.000,6,0.000,0.056,1568,2930,3353,0,0,0,0,0,0
$GC,4591,-0.90,-129.9,697.4,-14.4,273,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2931,3352,0,0,0,0,0,0
$GC,4896,-0.90,-129.9,740.4,-14.0,283,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2930,3352,0,0,0,0,0,0
$GC,5204,-0.90,-129.9,781.7,-13.5,293,5208,0.00,2.15,0.00,0.000,4,0.000,0.040,1568,1522,3352,0,0,0,0,0,0
$GC,5262,-0.90,-129.9,789.4,-11.8,294,5268,0.00,2.22,0.00,0.000,6,0.000,0.055,1558,2930,3351,0,0,0,0,0,0
$GC,5577,-0.90,-129.9,832.8,-14.1,305,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2931,3351,0,0,0,0,0,0
$GC,5883,-0.90,-129.9,876.1,-14.1,315,5887,0.00,2.12,0.00,0.000,4,0.000,0.040,1558,1525,3351,0,0,0,0,0,0
$GC,5957,-0.90,-129.9,886.7,-13.3,317,5961,0.12,2.22,0.00,0.000,6,0.214,0.055,1575,2928,3350,0,0,0,0,0,0
$GC,6289,-0.90,-129.9,930.0,-13.1,328,6293,0.00,2.12,0.00,0.000,4,0.000,0.041,1576,1520,3350,0,0,0,0,0,0
$GC,6324,-0.90,-129.9,934.8,-13.1,329,6328,0.00,2.22,0.00,0.000,6,0.000,0.056,1566,2934,3350,0,0,0,0,0,0
$GC,6656,-0.90,-129.9,979.0,-13.6,340,6660,0.00,2.15,0.00,0.000,4,0.000,0.039,1566,1522,3350,0,0,0,0,0,0
$GC,6702,-0.90,-129.9,985.4,-13.1,341,6706,0.00,2.22,0.00,0.000,6,0.000,0.055,1556,2926,3350,0,0,0,0,0,0
$STATE,6835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6835,begin apogee
$GC,6845,-0.19,0.0,1003.2,13.5,346,6986,0.85,0.00,132.57,1.229,6,0.188,0.000,1800,2736,2814,0,0,0,0,0,0
$STATE,6988,end apogee,CONTROL_FINISHED_OK
$STATE,6988,begin climb
$GC,6993,0.90,129.9,1005.4,0.0,351,7136,1.02,0.00,129.05,1.796,6,0.060,0.000,2165,2736,2290,0,0,0,0,1,0
$GC,7444,0.90,129.9,881.2,31.6,366,7448,0.00,2.28,0.00,0.000,4,0.000,0.047,2175,1345,2284,0,0,0,0,0,0
$GC,7489,0.90,129.9,866.5,30.9,367,7493,0.00,2.33,0.00,0.000,6,0.000,0.051,2175,2743,2282,0,0,0,0,0,0
$GC,7810,0.90,129.9,764.0,32.1,378,7814,0.00,2.28,0.00,0.000,4,0.000,0.046,2185,1340,2280,0,0,0,0,0,0
$GC,7845,0.90,129.9,752.5,30.6,379,7849,0.00,2.30,0.00,0.000,6,0.000,0.051,2185,2735,2279,0,0,0,0,0,0
$GC,8177,0.90,129.9,646.7,32.2,390,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2735,2279,0,0,0,0,0,0
$GC,8483,0.90,129.9,553.7,30.2,400,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2735,2278,0,0,0,0,0,0
$GC,8789,0.90,129.9,462.8,29.4,410,8793,0.00,2.20,0.00,0.000,4,0.000,0.046,2196,1338,2278,0,0,0,0,0,0
$GC,8863,0.90,129.9,441.3,27.4,412,8868,0.15,2.25,0.00,0.000,6,0.257,0.052,2165,2741,2277,0,0,0,0,0,0
$GC,9198,0.90,129.9,347.0,28.2,426,9202,0.00,2.20,0.00,0.000,4,0.000,0.047,2174,1340,2277,0,0,0,0,0,0
$GC,9228,0.90,129.9,338.3,27.7,427,9232,0.00,2.22,0.00,0.000,6,0.000,0.054,2172,2735,2276,0,0,0,0,0,0
$GC,9547,0.90,129.9,247.7,28.7,442,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2735,2276,0,0,0,0,0,0
$GC,9859,0.90,129.9,162.1,26.8,462,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2736,2276,0,0,0,0,0,0
$GC,10180,0.90,129.9,75.2,28.5,492,10189,0.00,2.22,0.00,0.000,4,0.000,0.048,2181,1342,2276,0,0,0,0,0,0
$GC,10264,0.90,129.9,54.7,24.3,505,10271,0.00,2.20,0.00,0.000,6,0.000,0.054,2182,2734,2274,0,0,0,0,0,0
$STATE,10474,end climb,SURFACE_DEPTH_REACHED
$STATE,10474,begin surface coast
$FINISH,0.4,1.013449
$STATE,10488,end surface coast,CONTROL_FINISHED_OK
$STATE,10488,begin surface
$SM_CCo,10511,186.73,0.793,1,0,518,564.18
$SM_GC,0.88,0.00,0.00,186.73,0.000,0.000,0.793,56,2936,518,-5.67,0.37,564.18
$IRIDIUM_FIX,-4616.72,404.25,181212,171716
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.4,13.000
$10V_AH,10.1,5.613
$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,14.100,47.950,261.625,186.725,0.000,25.770,27.292,303.965,0.000,0.000,25.086,1307.865,7219.994,587.233,1678.120,471.622,33.360,1133.959,0.000,1292.164,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,79.560,1796.220,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.777,1094.205,610.807,244.884,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,40319,541
$CAP_FILE_SIZE,76397,0
$CFSIZE,259252224,224542720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,001105,-4632.425,404.181,29,1.7,29,-23.3