version: 66.07
glider: 542
mission: 6
dive: 66
start: 12 20 112 2 21 17
data:
$ID,542
$MISSION,6
$DIVE,66
$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,-10505.721
$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,34
$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
$GPS1,201212,021104,-4632.982,359.407,29,1.1,29,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-31.1
$GPS2,201212,022015,-4632.969,359.537,21,0.8,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.173,-0.016
$KALMAN_X,-49089.6,-333.3,-35.2,27374.4,-577.8
$KALMAN_Y,21778.9,-1315.5,-259.8,13714.0,5591.3
$MHEAD_RNG_PITCHd_Wd,118.6,5530,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-136.30,0.000,6,0.000,0.000,55,2914,3078,0,0,0,0,0,0
$GC,176,-0.91,-144.0,2.7,-1.4,18,203,6.25,2.25,-9.35,0.000,4,0.252,0.060,1575,1517,3410,0,0,0,0,0,0
$GC,333,-0.91,-144.0,30.9,-16.0,41,340,0.00,2.33,0.00,0.000,6,0.000,0.060,1565,2925,3411,0,0,0,0,0,0
$GC,579,-0.91,-144.0,79.8,-18.9,82,586,0.00,1.58,0.00,0.000,4,0.000,0.066,1558,3894,3411,0,0,0,0,0,0
$GC,659,-0.91,-144.0,96.0,-20.7,95,664,0.00,1.52,0.00,0.000,6,0.000,0.036,1559,2907,3411,0,0,0,0,0,0
$GC,994,-0.91,-144.0,161.9,-19.7,118,995,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2903,3411,0,0,0,0,0,0
$GC,1305,-0.91,-144.0,223.5,-19.4,138,1308,0.00,1.62,0.00,0.000,4,0.000,0.063,1552,3899,3411,0,0,0,0,0,0
$GC,1334,-0.91,-144.0,229.4,-19.1,139,1341,0.00,1.50,0.00,0.000,6,0.000,0.037,1552,2919,3412,0,0,0,0,0,0
$GC,1660,-0.91,-144.0,290.8,-18.5,157,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2919,3412,0,0,0,0,0,0
$GC,1968,-0.91,-144.0,344.0,-17.3,172,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2919,3412,0,0,0,0,0,0
$GC,2279,-0.91,-144.0,397.6,-17.4,187,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2919,3412,0,0,0,0,0,0
$GC,2605,-0.91,-144.0,456.2,-18.2,198,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2918,3412,0,0,0,0,0,0
$GC,2910,-0.91,-144.0,512.0,-18.0,208,2914,0.00,1.60,0.00,0.000,4,0.000,0.064,1545,3904,3411,0,0,0,0,0,0
$GC,2946,-0.91,-144.0,518.6,-19.2,209,2951,0.08,1.50,0.00,0.000,6,0.193,0.036,1566,2924,3411,0,0,0,0,0,0
$GC,3290,-0.91,-144.0,574.6,-16.2,220,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2922,3411,0,0,0,0,0,0
$GC,3596,-0.91,-144.0,624.8,-16.2,230,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2922,3411,0,0,0,0,0,0
$GC,3902,-0.91,-144.0,671.6,-14.9,240,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2922,3411,0,0,0,0,0,0
$GC,4209,-0.91,-144.0,718.2,-15.1,250,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2922,3411,0,0,0,0,0,0
$GC,4515,-0.91,-144.0,761.6,-13.9,260,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2922,3411,0,0,0,0,0,0
$GC,4821,-0.91,-144.0,803.0,-13.5,270,4825,0.00,2.12,0.00,0.000,4,0.000,0.041,1566,1521,3410,0,0,0,0,0,0
$GC,4854,-0.91,-144.0,807.0,-13.0,271,4858,0.00,2.25,0.00,0.000,6,0.000,0.059,1557,2930,3410,0,0,0,0,0,0
$GC,5192,-0.91,-144.0,854.5,-14.2,282,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3410,0,0,0,0,0,0
$GC,5499,-0.91,-144.0,898.0,-14.3,292,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3410,0,0,0,0,0,0
$GC,5804,-0.91,-144.0,943.1,-15.0,302,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3410,0,0,0,0,0,0
$GC,6112,-0.91,-144.0,986.9,-14.5,312,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3410,0,0,0,0,0,0
$STATE,6228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6228,begin apogee
$GC,6239,-0.19,0.0,1004.1,14.0,316,6388,0.85,0.00,145.15,1.238,6,0.192,0.000,1799,2731,2819,0,0,0,0,0,0
$STATE,6389,end apogee,CONTROL_FINISHED_OK
$STATE,6390,begin climb
$GC,6394,0.91,144.0,1007.3,0.0,321,6551,1.05,2.15,143.45,1.803,4,0.057,0.060,2175,3894,2233,0,0,0,0,1,0
$GC,6600,0.91,144.0,957.2,35.8,328,6604,0.00,2.00,0.00,0.000,6,0.000,0.040,2184,2730,2233,0,0,0,0,0,0
$GC,6945,0.91,144.0,841.4,33.1,339,6949,0.00,2.30,0.00,0.000,4,0.000,0.049,2194,1319,2226,0,0,0,0,0,0
$GC,6978,0.91,144.0,830.5,33.0,340,6982,0.00,2.40,0.00,0.000,6,0.000,0.054,2194,2742,2225,0,0,0,0,0,0
$GC,7316,0.91,144.0,717.2,33.9,351,7320,0.00,2.33,0.00,0.000,4,0.000,0.049,2204,1317,2223,0,0,0,0,0,0
$GC,7339,0.91,144.0,708.5,34.0,351,7347,0.17,2.35,0.00,0.000,6,0.260,0.056,2169,2736,2223,0,0,0,0,0,0
$GC,7655,0.91,144.0,609.4,31.3,362,7659,0.00,2.28,0.00,0.000,4,0.000,0.048,2179,1318,2222,0,0,0,0,0,0
$GC,7672,0.91,144.0,603.2,31.7,362,7677,0.00,2.33,0.00,0.000,6,0.000,0.054,2172,2736,2222,0,0,0,0,0,0
$GC,7993,0.91,144.0,504.7,31.0,373,7998,0.00,2.28,0.00,0.000,4,0.000,0.050,2182,1318,2222,0,0,0,0,0,0
$GC,8025,0.91,144.0,495.0,30.8,374,8029,0.00,2.30,0.00,0.000,6,0.000,0.056,2182,2741,2221,0,0,0,0,0,0
$GC,8356,0.91,144.0,392.8,31.0,385,8360,0.00,2.28,0.00,0.000,4,0.000,0.050,2192,1317,2220,0,0,0,0,0,0
$GC,8391,0.91,144.0,380.5,31.0,386,8400,0.00,2.33,0.00,0.000,6,0.000,0.055,2192,2732,2220,0,0,0,0,0,0
$GC,8710,0.91,144.0,282.2,30.7,402,8714,0.00,2.25,0.00,0.000,4,0.000,0.050,2202,1319,2220,0,0,0,0,0,0
$GC,8732,0.91,144.0,275.9,30.8,403,8737,0.15,2.30,0.00,0.000,6,0.262,0.057,2172,2736,2219,0,0,0,0,0,0
$GC,9058,0.91,144.0,181.6,28.9,422,9062,0.00,2.25,0.00,0.000,4,0.000,0.049,2181,1319,2219,0,0,0,0,0,0
$GC,9127,0.91,144.0,160.8,27.0,426,9131,0.00,2.30,0.00,0.000,6,0.000,0.057,2172,2744,2218,0,0,0,0,0,0
$GC,9456,0.91,144.0,69.1,26.5,458,9462,0.00,1.83,0.00,0.000,4,0.000,0.063,2172,3897,2219,0,0,0,0,0,0
$GC,9577,0.91,144.0,34.9,30.4,478,9586,0.00,1.85,0.00,0.000,6,0.000,0.042,2180,2723,2219,0,0,0,0,0,0
$STATE,9691,end climb,SURFACE_DEPTH_REACHED
$STATE,9691,begin surface coast
$FINISH,0.4,1.026511
$STATE,9699,end surface coast,CONTROL_FINISHED_OK
$STATE,9703,begin surface
$SM_CCo,9726,178.90,0.804,1,0,518,564.18
$SM_GC,0.53,0.00,0.00,178.90,0.000,0.000,0.804,68,2948,518,-5.63,0.71,564.18
$IRIDIUM_FIX,-4613.60,401.12,191212,232321
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.0,14.716
$10V_AH,10.1,6.335
$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,14.500,59.000,288.600,178.900,0.000,26.155,45.380,289.183,0.000,0.000,23.921,1214.300,6594.527,578.948,1604.351,471.907,33.358,1150.255,0.000,1219.051,0.000,1.008,0.000
$DEVICE_MAMPS,261.630,65.790,1803.105,804.015,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.912,1008.714,561.311,231.906,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,37118,497
$CAP_FILE_SIZE,77333,0
$CFSIZE,259252224,224096256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201212,050753,-4632.439,401.455,39,0.8,39,-23.3