version: 66.07
glider: 542
mission: 6
dive: 82
start: 12 22 112 4 23 41
data:
$ID,542
$MISSION,6
$DIVE,82
$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,-10581.686
$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,48
$R_STBD_OVSHOOT,28
$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
$GPS1,221212,041034,-4631.741,403.959,30,1.1,30,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-26.2
$GPS2,221212,042243,-4631.604,403.975,16,1.7,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.108,0.136
$KALMAN_X,-58848.3,214.7,451.9,41695.1,-5079.3
$KALMAN_Y,22168.7,-399.9,-94.1,14762.4,2883.0
$MHEAD_RNG_PITCHd_Wd,61.7,5874,-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,-63.1,0.0,0.0,0,163,0.00,0.00,-132.93,0.000,6,0.000,0.000,63,2934,3078,0,0,0,0,0,0
$GC,169,-0.91,-139.1,2.7,-1.9,17,195,6.20,1.58,-9.23,0.000,4,0.251,0.080,1562,3890,3389,0,0,0,0,0,0
$GC,470,-0.91,-139.1,68.4,-21.5,65,475,0.00,1.50,0.00,0.000,6,0.000,0.034,1563,2914,3390,0,0,0,0,0,0
$GC,812,-0.91,-139.1,130.5,-17.6,105,816,0.00,1.60,0.00,0.000,4,0.000,0.058,1555,3894,3390,0,0,0,0,0,0
$GC,1074,-0.91,-139.1,180.4,-19.4,120,1078,0.00,1.48,0.00,0.000,6,0.000,0.034,1555,2922,3391,0,0,0,0,0,0
$GC,1403,-0.91,-139.1,241.7,-19.1,141,1407,0.00,1.58,0.00,0.000,4,0.000,0.058,1548,3893,3391,0,0,0,0,0,0
$GC,1570,-0.91,-139.1,273.8,-18.7,149,1574,0.00,1.48,0.00,0.000,6,0.000,0.034,1548,2918,3391,0,0,0,0,0,0
$GC,1906,-0.91,-139.1,336.3,-18.0,165,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2913,3391,0,0,0,0,0,0
$GC,2214,-0.91,-139.1,391.1,-17.6,180,2216,0.12,0.00,0.00,0.000,6,0.211,0.000,1576,2913,3391,0,0,0,0,0,0
$GC,2521,-0.91,-139.1,436.9,-14.8,191,2524,0.00,1.58,0.00,0.000,4,0.000,0.060,1569,3892,3392,0,0,0,0,0,0
$GC,2544,-0.91,-139.1,440.9,-16.1,191,2547,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2916,3391,0,0,0,0,0,0
$GC,2865,-0.91,-139.1,489.6,-15.3,202,2868,0.00,1.58,0.00,0.000,4,0.000,0.060,1562,3892,3391,0,0,0,0,0,0
$GC,2910,-0.91,-139.1,497.4,-16.0,203,2914,0.00,1.48,0.00,0.000,6,0.000,0.034,1562,2915,3391,0,0,0,0,0,0
$GC,3242,-0.91,-139.1,549.0,-15.5,214,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2911,3391,0,0,0,0,0,0
$GC,3548,-0.91,-139.1,598.4,-16.3,224,3552,0.00,1.58,0.00,0.000,4,0.000,0.060,1555,3892,3391,0,0,0,0,0,0
$GC,3611,-0.91,-139.1,609.5,-17.2,225,3618,0.00,1.45,0.00,0.000,6,0.000,0.035,1555,2931,3391,0,0,0,0,0,0
$GC,3928,-0.91,-139.1,659.9,-15.8,236,3931,0.00,1.55,0.00,0.000,4,0.000,0.060,1547,3896,3390,0,0,0,0,0,0
$GC,3951,-0.91,-139.1,664.1,-16.4,236,3956,0.05,1.48,0.00,0.000,6,0.196,0.034,1562,2928,3390,0,0,0,0,0,0
$GC,4272,-0.91,-139.1,713.5,-15.4,247,4276,0.00,2.12,0.00,0.000,4,0.000,0.040,1562,1518,3390,0,0,0,0,0,0
$GC,4329,-0.91,-139.1,722.2,-14.7,248,4336,0.00,2.22,0.00,0.000,6,0.000,0.055,1552,2923,3390,0,0,0,0,0,0
$GC,4645,-0.91,-139.1,770.9,-15.7,259,4649,0.00,1.52,0.00,0.000,4,0.000,0.061,1545,3891,3390,0,0,0,0,0,0
$GC,4691,-0.91,-139.1,779.0,-17.0,260,4695,0.08,1.48,0.00,0.000,6,0.196,0.035,1565,2920,3389,0,0,0,0,0,0
$GC,5023,-0.91,-139.1,826.1,-13.8,271,5027,0.00,1.58,0.00,0.000,4,0.000,0.061,1560,3897,3389,0,0,0,0,0,0
$GC,5060,-0.91,-139.1,831.3,-14.4,272,5064,0.00,1.48,0.00,0.000,6,0.000,0.035,1559,2919,3389,0,0,0,0,0,0
$GC,5405,-0.91,-139.1,879.1,-13.7,283,5408,0.00,1.58,0.00,0.000,4,0.000,0.062,1552,3896,3389,0,0,0,0,0,0
$GC,5428,-0.91,-139.1,882.8,-13.9,283,5432,0.00,1.48,0.00,0.000,6,0.000,0.035,1552,2920,3388,0,0,0,0,0,0
$GC,5749,-0.91,-139.1,928.3,-14.1,294,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2915,3388,0,0,0,0,0,0
$GC,6055,-0.91,-139.1,970.1,-13.7,304,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2915,3387,0,0,0,0,0,0
$STATE,6295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6295,begin apogee
$GC,6306,-0.19,0.0,1002.3,13.1,312,6450,0.88,0.00,139.90,1.226,6,0.189,0.000,1803,2740,2817,0,0,0,0,0,0
$STATE,6452,end apogee,CONTROL_FINISHED_OK
$STATE,6452,begin climb
$GC,6457,0.91,139.1,1003.7,0.0,317,6614,1.02,2.17,138.93,1.789,4,0.056,0.059,2169,3887,2252,0,0,0,0,1,0
$GC,6623,0.91,139.1,966.0,32.7,322,6626,0.00,2.00,0.00,0.000,6,0.000,0.040,2179,2754,2253,0,0,0,0,0,0
$GC,6950,0.91,139.1,854.0,34.4,333,6954,0.00,2.35,0.00,0.000,4,0.000,0.048,2189,1318,2245,0,0,0,0,0,0
$GC,6968,0.91,139.1,846.5,34.1,333,6973,0.00,2.40,0.00,0.000,6,0.000,0.052,2189,2738,2244,0,0,0,0,0,0
$GC,7283,0.91,139.1,738.8,34.4,343,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2739,2243,0,0,0,0,0,0
$GC,7590,0.91,139.1,636.6,33.1,353,7594,0.00,2.28,0.00,0.000,4,0.000,0.047,2199,1313,2242,0,0,0,0,0,0
$GC,7627,0.91,139.1,624.7,31.9,354,7632,0.15,2.33,0.00,0.000,6,0.259,0.052,2170,2738,2241,0,0,0,0,0,0
$GC,7965,0.91,139.1,520.1,30.7,365,7970,0.00,2.28,0.00,0.000,4,0.000,0.047,2180,1315,2241,0,0,0,0,0,0
$GC,8006,0.91,139.1,507.9,27.5,366,8010,0.00,2.30,0.00,0.000,6,0.000,0.051,2172,2734,2239,0,0,0,0,0,0
$GC,8332,0.91,139.1,411.1,29.9,377,8336,0.00,2.25,0.00,0.000,4,0.000,0.047,2182,1313,2239,0,0,0,0,0,0
$GC,8356,0.91,139.1,403.6,30.1,377,8363,0.00,2.30,0.00,0.000,6,0.000,0.051,2182,2745,2239,0,0,0,0,0,0
$GC,8687,0.91,139.1,306.1,29.7,393,8691,0.00,2.28,0.00,0.000,4,0.000,0.047,2192,1310,2239,0,0,0,0,0,0
$GC,8711,0.91,139.1,297.6,31.0,394,8715,0.00,2.28,0.00,0.000,6,0.000,0.051,2193,2740,2238,0,0,0,0,0,0
$GC,9043,0.91,139.1,197.8,30.4,413,9047,0.00,2.25,0.00,0.000,4,0.000,0.047,2202,1316,2238,0,0,0,0,0,0
$GC,9130,0.91,139.1,172.7,27.0,418,9135,0.17,2.28,0.00,0.000,6,0.253,0.051,2166,2734,2238,0,0,0,0,0,0
$GC,9456,0.91,139.1,83.1,26.7,444,9465,0.00,1.85,0.00,0.000,4,0.000,0.059,2165,3890,2238,0,0,0,0,0,0
$GC,9506,0.91,139.1,70.0,27.5,451,9511,0.00,1.83,0.00,0.000,6,0.000,0.041,2173,2720,2238,0,0,0,0,0,0
$STATE,9749,end climb,SURFACE_DEPTH_REACHED
$STATE,9749,begin surface coast
$FINISH,0.5,1.014539
$STATE,9763,end surface coast,CONTROL_FINISHED_OK
$STATE,9763,begin surface
$SM_CCo,9786,181.77,0.794,1,0,516,564.18
$SM_GC,0.97,0.00,0.00,181.77,0.000,0.000,0.794,53,2934,516,-5.68,0.31,564.18
$IRIDIUM_FIX,-4613.60,404.02,221212,040419
$TT8_MAMPS,0.026215
$HUMID,56.69
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,1
$24V_AH,21.9,17.665
$10V_AH,10.1,7.597
$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,14.400,70.775,278.825,181.775,0.000,51.843,123.550,302.892,0.250,0.000,19.147,1245.555,6561.640,570.451,1835.085,488.071,33.358,1200.520,0.000,1329.263,0.000,1.008,0.000
$DEVICE_MAMPS,259.335,80.325,1788.570,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.489,995.938,551.448,219.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,37187,493
$CAP_FILE_SIZE,84388,0
$CFSIZE,259252224,223330304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,071122,-4630.550,404.483,41,1.0,41,-23.3