version: 66.07
glider: 542
mission: 6
dive: 61
start: 12 19 112 9 59 30
data:
$ID,542
$MISSION,6
$DIVE,61
$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,-10482.519
$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,45
$R_STBD_OVSHOOT,21
$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
$GPS1,191212,094805,-4629.255,401.970,23,1.5,23,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-36.9
$GPS2,191212,095829,-4629.220,402.068,20,0.9,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.195,-0.098
$KALMAN_X,-47422.9,425.6,156.4,27944.8,1284.6
$KALMAN_Y,14172.5,-592.4,305.5,26954.3,512.1
$MHEAD_RNG_PITCHd_Wd,266.7,3006,-21.5,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.70,-99.7,0.0,0.0,0,170,0.00,0.00,-138.23,0.000,6,0.000,0.000,61,2936,3228,0,0,0,0,0,0
$GC,177,-0.82,-194.7,3.1,-2.6,18,203,6.40,2.25,-9.82,0.000,4,0.254,0.053,1610,1522,3616,0,0,0,0,0,0
$GC,246,-0.82,-194.7,18.4,-17.2,27,254,0.00,2.33,0.00,0.000,6,0.000,0.056,1600,2919,3617,0,0,0,0,0,0
$GC,331,-0.82,-194.7,34.9,-20.8,40,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2919,3617,0,0,0,0,0,0
$GC,577,-0.82,-194.7,79.6,-15.5,81,584,0.00,2.20,0.00,0.000,4,0.000,0.041,1605,1525,3617,0,0,0,0,0,0
$GC,641,-0.82,-194.7,88.7,-12.8,91,646,0.00,2.28,0.00,0.000,6,0.000,0.055,1595,2934,3617,0,0,0,0,0,0
$GC,973,-0.82,-194.7,141.9,-16.7,120,974,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2935,3618,0,0,0,0,0,0
$GC,1281,-0.82,-194.7,193.6,-17.1,140,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2935,3619,0,0,0,0,0,0
$GC,1594,-0.82,-194.7,244.3,-16.3,160,1598,0.00,2.17,0.00,0.000,4,0.000,0.040,1595,1519,3619,0,0,0,0,0,0
$GC,1631,-0.82,-194.7,250.1,-14.9,162,1635,0.00,2.28,0.00,0.000,6,0.000,0.056,1585,2934,3618,0,0,0,0,0,0
$GC,1951,-0.82,-194.7,304.8,-17.6,177,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2934,3618,0,0,0,0,0,0
$GC,2258,-0.82,-194.7,359.3,-17.5,192,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2934,3618,0,0,0,0,0,0
$GC,2567,-0.82,-194.7,412.5,-17.3,206,2571,0.00,2.15,0.00,0.000,4,0.000,0.041,1585,1517,3617,0,0,0,0,0,0
$GC,2619,-0.82,-194.7,421.2,-15.1,207,2624,0.12,2.25,0.00,0.000,6,0.202,0.055,1604,2925,3618,0,0,0,0,0,0
$GC,2944,-0.82,-194.7,466.9,-14.1,218,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2925,3618,0,0,0,0,0,0
$GC,3247,-0.82,-194.7,508.0,-13.4,228,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2925,3618,0,0,0,0,0,0
$GC,3555,-0.82,-194.7,548.6,-13.2,238,3559,0.00,2.15,0.00,0.000,4,0.000,0.041,1604,1524,3617,0,0,0,0,0,0
$GC,3612,-0.82,-194.7,556.2,-11.4,239,3619,0.00,2.22,0.00,0.000,6,0.000,0.056,1594,2923,3617,0,0,0,0,0,0
$GC,3927,-0.82,-194.7,599.8,-14.2,250,3931,0.00,2.17,0.00,0.000,4,0.000,0.041,1595,1522,3617,0,0,0,0,0,0
$GC,3962,-0.82,-194.7,604.8,-12.9,251,3966,0.00,2.25,0.00,0.000,6,0.000,0.056,1584,2933,3616,0,0,0,0,0,0
$GC,4294,-0.82,-194.7,654.7,-15.5,262,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2932,3616,0,0,0,0,0,0
$GC,4600,-0.82,-194.7,701.6,-15.2,272,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2932,3616,0,0,0,0,0,0
$GC,4906,-0.82,-194.7,746.9,-14.7,282,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2932,3616,0,0,0,0,0,0
$GC,5213,-0.82,-194.7,791.7,-14.5,292,5217,0.00,2.15,0.00,0.000,4,0.000,0.041,1585,1520,3616,0,0,0,0,0,0
$GC,5249,-0.82,-194.7,797.1,-13.7,293,5254,0.12,2.25,0.00,0.000,6,0.200,0.058,1604,2934,3615,0,0,0,0,0,0
$GC,5593,-0.82,-194.7,840.5,-12.7,304,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2934,3615,0,0,0,0,0,0
$GC,5901,-0.82,-194.7,879.0,-12.6,314,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2934,3615,0,0,0,0,0,0
$GC,6206,-0.82,-194.7,915.7,-11.6,324,6210,0.00,2.17,0.00,0.000,4,0.000,0.042,1604,1516,3614,0,0,0,0,0,0
$GC,6238,-0.82,-194.7,919.2,-11.1,325,6242,0.00,2.25,0.00,0.000,6,0.000,0.059,1594,2925,3614,0,0,0,0,0,0
$GC,6576,-0.82,-194.7,959.4,-12.0,336,6580,0.00,1.55,0.00,0.000,4,0.000,0.065,1587,3903,3614,0,0,0,0,0,0
$GC,6622,-0.82,-194.7,965.2,-12.3,337,6625,0.00,1.50,0.00,0.000,6,0.000,0.037,1587,2917,3614,0,0,0,0,0,0
$STATE,6918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6918,begin apogee
$GC,6929,-0.19,0.0,1001.9,12.4,347,7124,0.73,0.00,192.25,1.213,6,0.168,0.000,1805,2731,2819,0,0,0,0,0,0
$STATE,7126,end apogee,CONTROL_FINISHED_OK
$STATE,7126,begin climb
$GC,7131,0.82,194.7,1008.5,0.0,353,7344,0.93,2.20,194.98,1.786,4,0.063,0.058,2132,3894,2029,0,0,0,0,2,0
$GC,7447,0.82,194.7,923.2,36.2,361,7455,0.00,1.98,0.00,0.000,6,0.000,0.042,2141,2747,2026,0,0,0,0,0,0
$GC,7762,0.82,194.7,810.8,36.0,372,7766,0.00,2.35,0.00,0.000,4,0.000,0.052,2152,1321,2023,0,0,0,0,0,0
$GC,7843,0.82,194.7,783.0,31.7,374,7847,0.00,2.38,0.00,0.000,6,0.000,0.054,2152,2733,2020,0,0,0,0,0,0
$GC,8165,0.82,194.7,665.0,37.9,385,8169,0.00,2.30,0.00,0.000,4,0.000,0.052,2162,1320,2020,0,0,0,0,0,0
$GC,8211,0.82,194.7,647.1,35.1,386,8215,0.00,2.35,0.00,0.000,6,0.000,0.054,2162,2737,2019,0,0,0,0,0,0
$GC,8532,0.82,194.7,529.5,36.2,397,8536,0.00,2.30,0.00,0.000,4,0.000,0.051,2173,1314,2019,0,0,0,0,0,0
$GC,8597,0.82,194.7,507.8,32.3,399,8602,0.15,2.33,0.00,0.000,6,0.265,0.055,2142,2738,2018,0,0,0,0,0,0
$GC,8936,0.82,194.7,395.9,33.2,410,8940,0.00,2.28,0.00,0.000,4,0.000,0.051,2151,1319,2018,0,0,0,0,0,0
$GC,8971,0.82,194.7,383.7,31.5,411,8978,0.00,2.30,0.00,0.000,6,0.000,0.054,2152,2738,2018,0,0,0,0,0,0
$GC,9292,0.82,194.7,280.4,32.5,427,9296,0.00,2.28,0.00,0.000,4,0.000,0.052,2162,1316,2018,0,0,0,0,0,0
$GC,9316,0.82,194.7,271.3,33.2,428,9320,0.00,2.30,0.00,0.000,6,0.000,0.054,2162,2736,2018,0,0,0,0,0,0
$GC,9642,0.82,194.7,164.8,32.3,448,9646,0.00,2.25,0.00,0.000,4,0.000,0.051,2172,1319,2018,0,0,0,0,0,0
$GC,9679,0.82,194.7,152.5,31.4,450,9684,0.15,2.30,0.00,0.000,6,0.260,0.055,2142,2743,2018,0,0,0,0,0,0
$GC,10014,0.82,194.7,54.1,30.8,488,10023,0.00,2.28,0.00,0.000,4,0.000,0.051,2151,1328,2017,0,0,0,0,0,0
$GC,10119,0.82,194.7,26.1,27.3,504,10128,0.00,2.30,0.00,0.000,6,0.000,0.056,2151,2740,2016,0,0,0,0,0,0
$STATE,10197,end climb,SURFACE_DEPTH_REACHED
$STATE,10197,begin surface coast
$FINISH,0.5,1.003193
$STATE,10204,end surface coast,CONTROL_FINISHED_OK
$STATE,10205,begin surface
$SM_CCo,10227,159.68,0.800,1,0,516,564.18
$SM_GC,0.92,0.00,0.00,159.68,0.000,0.000,0.800,62,2946,516,-5.65,0.65,564.18
$IRIDIUM_FIX,-4613.60,407.14,191212,030334
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.5,13.745
$10V_AH,10.1,5.933
$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,14.300,75.575,387.225,159.675,0.000,40.145,70.535,305.738,0.000,0.000,26.873,1271.518,6809.929,650.466,1779.774,505.176,33.360,1301.625,0.000,1329.400,0.000,1.008,0.000
$DEVICE_MAMPS,264.690,65.025,1785.510,800.190,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.977,1026.974,561.124,223.523,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,37041,517
$CAP_FILE_SIZE,85861,0
$CFSIZE,259252224,224325632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,191212,125404,-4629.085,359.732,34,0.9,34,-23.3