version: 66.07
glider: 542
mission: 6
dive: 65
start: 12 19 112 23 23 1
data:
$ID,542
$MISSION,6
$DIVE,65
$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,-10502.448
$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,23
$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
$GPS1,191212,231122,-4631.484,359.149,37,1.1,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-38.7
$GPS2,191212,232200,-4631.601,359.278,19,1.3,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.030,-0.171
$KALMAN_X,-47910.8,-877.5,-273.4,26662.2,675.0
$KALMAN_Y,20653.3,-656.8,-259.4,16710.9,4231.4
$MHEAD_RNG_PITCHd_Wd,193.4,3105,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.81,-63.1,0.0,0.0,0,170,0.00,0.00,-136.10,0.000,6,0.000,0.000,62,2943,3078,0,0,0,0,0,0
$GC,176,-0.91,-142.8,2.7,-1.5,18,203,6.25,1.60,-9.18,0.000,4,0.252,0.090,1565,3891,3404,0,0,0,0,0,0
$GC,472,-0.91,-142.8,68.7,-20.7,66,481,0.00,1.55,0.00,0.000,6,0.000,0.036,1565,2893,3406,0,0,0,0,0,0
$GC,821,-0.91,-142.8,130.1,-18.0,108,824,0.00,1.65,0.00,0.000,4,0.000,0.068,1558,3904,3407,0,0,0,0,0,0
$GC,1037,-0.91,-142.8,171.1,-19.4,120,1046,0.00,1.52,0.00,0.000,6,0.000,0.037,1559,2910,3407,0,0,0,0,0,0
$GC,1360,-0.91,-142.8,229.3,-17.9,141,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2910,3407,0,0,0,0,0,0
$GC,1669,-0.91,-142.8,284.5,-18.0,158,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2910,3407,0,0,0,0,0,0
$GC,1980,-0.91,-142.8,339.4,-18.1,173,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2910,3407,0,0,0,0,0,0
$GC,2287,-0.91,-142.8,394.6,-17.8,188,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2910,3407,0,0,0,0,0,0
$GC,2604,-0.91,-142.8,450.8,-17.6,199,2608,0.00,2.08,0.00,0.000,4,0.000,0.042,1558,1532,3407,0,0,0,0,0,0
$GC,2636,-0.91,-142.8,456.3,-17.1,200,2640,0.00,2.22,0.00,0.000,6,0.000,0.063,1549,2920,3407,0,0,0,0,0,0
$GC,2973,-0.91,-142.8,517.3,-17.9,211,2977,0.00,1.58,0.00,0.000,4,0.000,0.070,1541,3902,3407,0,0,0,0,0,0
$GC,3019,-0.91,-142.8,526.2,-19.0,212,3024,0.10,1.50,0.00,0.000,6,0.192,0.038,1569,2932,3407,0,0,0,0,0,0
$GC,3352,-0.91,-142.8,577.7,-15.3,223,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3407,0,0,0,0,0,0
$GC,3658,-0.91,-142.8,624.2,-15.1,233,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3407,0,0,0,0,0,0
$GC,3964,-0.91,-142.8,669.9,-15.0,243,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3406,0,0,0,0,0,0
$GC,4270,-0.91,-142.8,716.2,-14.9,253,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3407,0,0,0,0,0,0
$GC,4577,-0.91,-142.8,762.3,-15.0,263,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3406,0,0,0,0,0,0
$GC,4883,-0.91,-142.8,808.2,-15.2,273,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3406,0,0,0,0,0,0
$GC,5189,-0.91,-142.8,854.6,-15.1,283,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3406,0,0,0,0,0,0
$GC,5495,-0.91,-142.8,899.5,-14.2,293,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2931,3406,0,0,0,0,0,0
$GC,5802,-0.91,-142.8,942.0,-13.9,303,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2931,3406,0,0,0,0,0,0
$GC,6108,-0.91,-142.8,983.4,-13.5,313,6112,0.00,2.12,0.00,0.000,4,0.000,0.044,1569,1519,3405,0,0,0,0,0,0
$GC,6173,-0.91,-142.8,991.8,-13.1,315,6177,0.00,2.28,0.00,0.000,6,0.000,0.063,1560,2932,3405,0,0,0,0,0,0
$STATE,6230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6230,begin apogee
$GC,6241,-0.19,0.0,1000.1,13.8,317,6392,0.82,0.00,142.73,1.776,6,0.183,0.000,1800,2741,2820,0,0,0,0,1,0
$STATE,6394,end apogee,CONTROL_FINISHED_OK
$STATE,6394,begin climb
$GC,6399,0.91,142.8,1004.9,0.0,322,6557,1.02,0.00,149.43,1.800,6,0.058,0.000,2163,2741,2236,0,0,0,0,1,0
$GC,6859,0.91,142.8,877.7,32.0,337,6863,0.00,2.38,0.00,0.000,4,0.000,0.050,2174,1322,2229,0,0,0,0,0,0
$GC,6891,0.91,142.8,867.6,32.3,338,6895,0.00,2.40,0.00,0.000,6,0.000,0.059,2174,2732,2228,0,0,0,0,0,0
$GC,7229,0.91,142.8,759.9,32.2,349,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2733,2226,0,0,0,0,0,0
$GC,7537,0.91,142.8,659.9,32.8,359,7541,0.00,2.28,0.00,0.000,4,0.000,0.050,2184,1328,2224,0,0,0,0,0,0
$GC,7555,0.91,142.8,652.8,33.0,359,7559,0.00,2.33,0.00,0.000,6,0.000,0.057,2184,2746,2224,0,0,0,0,0,0
$GC,7870,0.91,142.8,551.7,32.0,369,7874,0.00,2.28,0.00,0.000,4,0.000,0.050,2195,1327,2224,0,0,0,0,0,0
$GC,7901,0.91,142.8,541.7,33.4,370,7906,0.12,2.30,0.00,0.000,6,0.262,0.058,2171,2741,2223,0,0,0,0,0,0
$GC,8240,0.91,142.8,438.3,29.9,381,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2742,2223,0,0,0,0,0,0
$GC,8558,0.91,142.8,344.2,28.8,394,8562,0.00,2.25,0.00,0.000,4,0.000,0.050,2180,1327,2222,0,0,0,0,0,0
$GC,8601,0.91,142.8,332.0,27.6,396,8605,0.00,2.28,0.00,0.000,6,0.000,0.058,2172,2739,2222,0,0,0,0,0,0
$GC,8920,0.91,142.8,239.6,30.0,412,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2740,2222,0,0,0,0,0,0
$GC,9234,0.91,142.8,152.8,28.1,432,9238,0.00,2.25,0.00,0.000,4,0.000,0.049,2182,1321,2221,0,0,0,0,0,0
$GC,9309,0.91,142.8,132.2,24.8,436,9318,0.00,2.30,0.00,0.000,6,0.000,0.058,2182,2726,2220,0,0,0,0,0,0
$GC,9656,0.91,142.8,40.5,23.2,481,9663,0.00,1.88,0.00,0.000,4,0.000,0.064,2182,3908,2220,0,0,0,0,0,0
$STATE,9786,end climb,SURFACE_DEPTH_REACHED
$STATE,9786,begin surface coast
$FINISH,0.4,1.026503
$STATE,9799,end surface coast,CONTROL_FINISHED_OK
$STATE,9799,begin surface
$SM_CCo,9823,178.65,0.799,1,0,515,564.18
$SM_GC,0.48,0.00,0.00,178.65,0.000,0.000,0.799,57,2914,515,-5.66,-0.25,564.18
$IRIDIUM_FIX,-4613.60,354.67,191212,202017
$TT8_MAMPS,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,21.6,14.532
$10V_AH,10.1,6.262
$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,14.225,44.875,292.150,178.650,0.000,25.453,48.014,357.437,0.000,0.000,24.942,1217.480,6675.889,603.046,1688.992,460.359,33.352,1145.912,0.000,1226.075,0.000,1.009,0.000
$DEVICE_MAMPS,262.395,89.505,1800.045,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.355,1012.817,561.279,226.108,0.000,0.000,0.000,0.000,0.000,0.000
$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,37147,503
$CAP_FILE_SIZE,73476,0
$CFSIZE,259252224,224141312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,201212,021104,-4632.982,359.407,29,1.1,29,-23.3