version: 66.07
glider: 542
mission: 6
dive: 64
start: 12 19 112 20 16 32
data:
$ID,542
$MISSION,6
$DIVE,64
$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,-10495.979
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,191212,200522,-4631.436,357.527,35,1.3,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-33.4
$GPS2,191212,201530,-4631.598,357.539,14,1.1,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.171,-0.028
$KALMAN_X,-46245.3,-931.5,-254.7,22828.9,2198.2
$KALMAN_Y,19355.1,358.3,-214.5,16952.4,3094.7
$MHEAD_RNG_PITCHd_Wd,122.4,4313,-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,-133.65,0.000,6,0.000,0.000,59,2929,3079,0,0,0,0,0,0
$GC,169,-0.90,-136.6,2.6,-2.2,17,195,6.25,2.28,-9.43,0.000,4,0.253,0.057,1578,1517,3378,0,0,0,0,0,0
$GC,314,-0.90,-136.6,25.0,-16.6,38,323,0.00,2.35,0.00,0.000,6,0.000,0.061,1569,2920,3380,0,0,0,0,0,0
$GC,403,-0.90,-136.6,42.1,-20.1,51,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2921,3380,0,0,0,0,0,0
$GC,644,-0.90,-136.6,91.8,-17.9,92,651,0.00,2.20,0.00,0.000,4,0.000,0.040,1569,1508,3380,0,0,0,0,0,0
$GC,717,-0.90,-136.6,103.4,-15.9,102,721,0.00,2.33,0.00,0.000,6,0.000,0.060,1558,2928,3381,0,0,0,0,0,0
$GC,1046,-0.90,-136.6,165.5,-18.6,123,1050,0.00,2.17,0.00,0.000,4,0.000,0.039,1558,1510,3381,0,0,0,0,0,0
$GC,1079,-0.90,-136.6,171.8,-18.8,125,1084,0.12,2.30,0.00,0.000,6,0.209,0.060,1576,2926,3381,0,0,0,0,0,0
$GC,1411,-0.90,-136.6,227.4,-16.0,146,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3382,0,0,0,0,0,0
$GC,1728,-0.90,-136.6,278.4,-15.8,164,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3382,0,0,0,0,0,0
$GC,2040,-0.90,-136.6,326.5,-15.3,179,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3381,0,0,0,0,0,0
$GC,2347,-0.90,-136.6,371.9,-14.7,194,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3382,0,0,0,0,0,0
$GC,2675,-0.90,-136.6,418.1,-14.1,208,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3382,0,0,0,0,0,0
$GC,2982,-0.90,-136.6,462.2,-14.8,218,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3381,0,0,0,0,0,0
$GC,3288,-0.90,-136.6,505.9,-14.2,228,3292,0.00,2.15,0.00,0.000,4,0.000,0.041,1576,1517,3381,0,0,0,0,0,0
$GC,3311,-0.90,-136.6,509.7,-15.0,228,3315,0.00,2.28,0.00,0.000,6,0.000,0.061,1567,2925,3381,0,0,0,0,0,0
$GC,3626,-0.90,-136.6,557.0,-15.3,238,3630,0.00,2.17,0.00,0.000,4,0.000,0.040,1567,1508,3381,0,0,0,0,0,0
$GC,3650,-0.90,-136.6,560.9,-15.1,238,3657,0.00,2.28,0.00,0.000,6,0.000,0.061,1556,2922,3381,0,0,0,0,0,0
$GC,3965,-0.90,-136.6,611.5,-16.3,249,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3381,0,0,0,0,0,0
$GC,4272,-0.90,-136.6,659.9,-15.7,259,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3381,0,0,0,0,0,0
$GC,4578,-0.90,-136.6,706.7,-15.4,269,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3380,0,0,0,0,0,0
$GC,4884,-0.90,-136.6,753.3,-15.2,279,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3380,0,0,0,0,0,0
$GC,5190,-0.90,-136.6,800.6,-15.3,289,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2922,3380,0,0,0,0,0,0
$GC,5496,-0.90,-136.6,845.1,-14.3,299,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3380,0,0,0,0,0,0
$GC,5803,-0.90,-136.6,888.6,-14.1,309,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3380,0,0,0,0,0,0
$GC,6110,-0.90,-136.6,931.2,-13.9,319,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3380,0,0,0,0,0,0
$GC,6415,-0.90,-136.6,972.6,-13.4,329,6419,0.00,2.17,0.00,0.000,4,0.000,0.042,1556,1506,3379,0,0,0,0,0,0
$GC,6452,-0.90,-136.6,977.4,-12.2,330,6457,0.12,2.28,0.00,0.000,6,0.213,0.062,1574,2930,3379,0,0,0,0,0,0
$STATE,6640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6640,begin apogee
$GC,6650,-0.19,0.0,1000.3,11.8,336,6792,0.77,0.00,138.27,1.226,6,0.183,0.000,1801,2731,2819,0,0,0,0,0,0
$STATE,6794,end apogee,CONTROL_FINISHED_OK
$STATE,6794,begin climb
$GC,6799,0.90,136.6,1002.2,0.0,341,6952,1.02,2.22,135.20,1.789,4,0.058,0.065,2164,3896,2264,0,0,0,0,1,0
$GC,7000,0.90,136.6,952.8,35.7,347,7004,0.00,2.00,0.00,0.000,6,0.000,0.042,2173,2734,2262,0,0,0,0,0,0
$GC,7327,0.90,136.6,843.4,33.7,358,7331,0.00,2.30,0.00,0.000,4,0.000,0.050,2184,1318,2256,0,0,0,0,0,0
$GC,7367,0.90,136.6,829.5,32.1,359,7371,0.00,2.40,0.00,0.000,6,0.000,0.059,2184,2737,2254,0,0,0,0,0,0
$GC,7699,0.90,136.6,720.8,32.6,370,7703,0.00,2.30,0.00,0.000,4,0.000,0.050,2194,1321,2253,0,0,0,0,0,0
$GC,7740,0.90,136.6,707.6,30.9,371,7744,0.15,2.35,0.00,0.000,6,0.259,0.058,2165,2735,2253,0,0,0,0,0,0
$GC,8074,0.90,136.6,605.7,30.7,382,8078,0.00,2.28,0.00,0.000,4,0.000,0.049,2174,1319,2252,0,0,0,0,0,0
$GC,8114,0.90,136.6,592.4,29.6,383,8119,0.00,2.35,0.00,0.000,6,0.000,0.057,2165,2745,2251,0,0,0,0,0,0
$GC,8441,0.90,136.6,492.9,30.4,394,8445,0.00,2.28,0.00,0.000,4,0.000,0.049,2175,1319,2250,0,0,0,0,0,0
$GC,8493,0.90,136.6,477.0,29.7,395,8497,0.00,2.33,0.00,0.000,6,0.000,0.057,2170,2740,2250,0,0,0,0,0,0
$GC,8808,0.90,136.6,380.6,30.0,406,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2741,2250,0,0,0,0,0,0
$GC,9120,0.90,136.6,288.2,29.6,421,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2741,2249,0,0,0,0,0,0
$GC,9436,0.90,136.6,197.0,28.8,439,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2741,2249,0,0,0,0,0,0
$GC,9748,0.90,136.6,113.4,26.4,459,9752,0.00,2.25,0.00,0.000,4,0.000,0.050,2180,1315,2249,0,0,0,0,0,0
$GC,9795,0.90,136.6,100.5,25.1,461,9802,0.00,2.30,0.00,0.000,6,0.000,0.058,2180,2740,2248,0,0,0,0,0,0
$GC,10162,0.90,136.6,6.0,26.1,522,10171,0.00,2.25,0.00,0.000,4,0.000,0.050,2191,1326,2247,0,0,0,0,0,0
$STATE,10179,end climb,SURFACE_DEPTH_REACHED
$STATE,10179,begin surface coast
$FINISH,0.4,1.013988
$STATE,10193,end surface coast,CONTROL_FINISHED_OK
$STATE,10193,begin surface
$SM_CCo,10217,182.73,0.790,1,0,519,564.18
$SM_GC,0.72,0.00,0.00,182.73,0.000,0.000,0.790,63,2940,519,-5.65,0.48,564.18
$IRIDIUM_FIX,-4610.49,357.79,191212,171708
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.60
$XPDR_PINGS,0
$24V_AH,22.2,14.321
$10V_AH,10.1,6.187
$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,14.350,59.450,273.475,182.725,0.000,27.846,43.671,332.585,0.000,0.000,20.855,1273.938,6964.068,570.317,1718.076,489.416,33.359,1152.207,0.000,1284.200,0.000,1.008,0.000
$DEVICE_MAMPS,259.335,65.025,1788.570,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.533,1068.887,600.903,239.363,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,37040,526
$CAP_FILE_SIZE,78591,0
$CFSIZE,259252224,224178176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,231122,-4631.484,359.149,37,1.1,37,-23.3