version: 66.07
glider: 542
mission: 6
dive: 85
start: 12 22 112 14 1 2
data:
$ID,542
$MISSION,6
$DIVE,85
$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,-10595.172
$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,43
$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
$GPS1,221212,133623,-4631.532,404.368,39,1.0,39,-23.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-27.3
$GPS2,221212,140004,-4631.507,404.631,33,0.9,33,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.155,0.078
$KALMAN_X,-60271.4,795.9,388.7,43433.8,-4283.9
$KALMAN_Y,23011.3,-41.3,-16.1,13662.6,1990.1
$MHEAD_RNG_PITCHd_Wd,320.2,6531,-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,-63.1,0.0,0.0,0,163,0.00,0.00,-130.73,0.000,6,0.000,0.000,65,2938,3079,0,0,0,0,0,0
$GC,169,-0.91,-138.9,2.7,-1.9,17,195,6.15,2.25,-9.60,0.000,4,0.249,0.050,1578,1504,3387,0,0,0,0,0,0
$GC,419,-0.91,-138.9,44.8,-17.9,56,428,0.00,2.33,0.00,0.000,6,0.000,0.053,1568,2928,3388,0,0,0,0,0,0
$GC,665,-0.91,-138.9,90.5,-16.0,97,670,0.00,2.17,0.00,0.000,4,0.000,0.036,1568,1519,3388,0,0,0,0,0,0
$GC,680,-0.91,-138.9,93.2,-15.6,99,687,0.00,2.28,0.00,0.000,6,0.000,0.050,1558,2922,3388,0,0,0,0,0,0
$GC,1017,-0.91,-138.9,155.4,-19.1,124,1021,0.00,2.15,0.00,0.000,4,0.000,0.037,1558,1516,3388,0,0,0,0,0,0
$GC,1039,-0.91,-138.9,159.0,-19.0,125,1043,0.00,2.25,0.00,0.000,6,0.000,0.051,1548,2931,3388,0,0,0,0,0,0
$GC,1372,-0.91,-138.9,224.8,-19.5,146,1375,0.00,1.52,0.00,0.000,4,0.000,0.058,1541,3895,3388,0,0,0,0,0,0
$GC,1464,-0.91,-138.9,243.6,-19.6,151,1468,0.10,1.50,0.00,0.000,6,0.197,0.033,1568,2907,3388,0,0,0,0,0,0
$GC,1798,-0.91,-138.9,300.5,-17.3,168,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2903,3388,0,0,0,0,0,0
$GC,2109,-0.91,-138.9,351.6,-16.3,183,2113,0.00,1.60,0.00,0.000,4,0.000,0.060,1562,3894,3388,0,0,0,0,0,0
$GC,2138,-0.91,-138.9,357.3,-17.0,184,2142,0.00,1.48,0.00,0.000,6,0.000,0.033,1562,2919,3388,0,0,0,0,0,0
$GC,2467,-0.91,-138.9,411.8,-16.5,199,2471,0.00,1.58,0.00,0.000,4,0.000,0.060,1555,3895,3388,0,0,0,0,0,0
$GC,2507,-0.91,-138.9,419.0,-16.7,200,2511,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2920,3388,0,0,0,0,0,0
$GC,2844,-0.91,-138.9,474.8,-16.5,211,2848,0.00,1.58,0.00,0.000,4,0.000,0.060,1547,3896,3388,0,0,0,0,0,0
$GC,2890,-0.91,-138.9,483.5,-18.4,212,2894,0.00,1.48,0.00,0.000,6,0.000,0.034,1547,2923,3387,0,0,0,0,0,0
$GC,3222,-0.91,-138.9,539.4,-16.7,223,3226,0.12,1.58,0.00,0.000,4,0.216,0.060,1568,3904,3387,0,0,0,0,0,0
$GC,3268,-0.91,-138.9,547.3,-15.6,224,3271,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2913,3387,0,0,0,0,0,0
$GC,3599,-0.91,-138.9,596.5,-15.3,235,3603,0.00,1.60,0.00,0.000,4,0.000,0.060,1561,3903,3387,0,0,0,0,0,0
$GC,3628,-0.91,-138.9,601.5,-15.8,235,3635,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2925,3387,0,0,0,0,0,0
$GC,3944,-0.91,-138.9,649.5,-15.0,246,3948,0.00,2.10,0.00,0.000,4,0.000,0.039,1561,1528,3386,0,0,0,0,0,0
$GC,3995,-0.91,-138.9,657.2,-13.6,247,3999,0.00,2.22,0.00,0.000,6,0.000,0.054,1551,2931,3386,0,0,0,0,0,0
$GC,4311,-0.91,-138.9,705.4,-15.3,257,4314,0.00,1.52,0.00,0.000,4,0.000,0.060,1543,3899,3385,0,0,0,0,0,0
$GC,4415,-0.91,-138.9,722.4,-15.8,260,4419,0.10,1.48,0.00,0.000,6,0.202,0.034,1570,2928,3385,0,0,0,0,0,0
$GC,4758,-0.91,-138.9,770.9,-14.2,271,4762,0.00,1.55,0.00,0.000,4,0.000,0.061,1564,3891,3385,0,0,0,0,0,0
$GC,4795,-0.91,-138.9,776.4,-15.5,272,4798,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2910,3385,0,0,0,0,0,0
$GC,5137,-0.91,-138.9,824.2,-13.7,283,5141,0.00,2.08,0.00,0.000,4,0.000,0.039,1564,1526,3384,0,0,0,0,0,0
$GC,5155,-0.91,-138.9,827.1,-13.7,283,5160,0.00,2.22,0.00,0.000,6,0.000,0.054,1553,2929,3384,0,0,0,0,0,0
$GC,5476,-0.91,-138.9,873.2,-14.5,294,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2930,3384,0,0,0,0,0,0
$GC,5782,-0.91,-138.9,917.3,-14.6,304,5786,0.00,1.52,0.00,0.000,4,0.000,0.061,1545,3897,3383,0,0,0,0,0,0
$GC,5823,-0.91,-138.9,923.7,-16.5,305,5827,0.08,1.48,0.00,0.000,6,0.199,0.034,1567,2926,3384,0,0,0,0,0,0
$GC,6161,-0.91,-138.9,967.9,-12.8,316,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2922,3383,0,0,0,0,0,0
$STATE,6432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6432,begin apogee
$GC,6443,-0.19,0.0,1001.8,12.3,325,6585,0.82,0.00,138.32,1.246,6,0.188,0.000,1804,2733,2817,0,0,0,0,0,0
$STATE,6587,end apogee,CONTROL_FINISHED_OK
$STATE,6587,begin climb
$GC,6592,0.91,138.9,1003.2,0.0,330,6749,1.00,2.58,139.20,1.809,4,0.056,0.047,2178,1349,2254,0,0,0,0,1,0
$GC,6788,0.91,138.9,957.6,30.8,336,6792,0.00,2.47,0.00,0.000,6,0.000,0.052,2178,2731,2251,0,0,0,0,0,0
$GC,7126,0.91,138.9,844.6,33.5,347,7130,0.00,2.30,0.00,0.000,4,0.000,0.047,2188,1338,2246,0,0,0,0,0,0
$GC,7155,0.91,138.9,834.5,33.4,347,7162,0.00,2.35,0.00,0.000,6,0.000,0.053,2188,2740,2244,0,0,0,0,0,0
$GC,7470,0.91,138.9,730.6,33.1,358,7474,0.00,2.28,0.00,0.000,4,0.000,0.047,2198,1341,2243,0,0,0,0,0,0
$GC,7522,0.91,138.9,713.4,31.5,359,7527,0.15,2.30,0.00,0.000,6,0.259,0.052,2169,2737,2242,0,0,0,0,0,0
$GC,7837,0.91,138.9,614.0,31.4,369,7841,0.00,2.25,0.00,0.000,4,0.000,0.047,2179,1338,2242,0,0,0,0,0,0
$GC,7861,0.91,138.9,606.1,31.8,369,7868,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2740,2241,0,0,0,0,0,0
$GC,8178,0.91,138.9,508.1,31.0,380,8182,0.00,2.22,0.00,0.000,4,0.000,0.045,2182,1343,2241,0,0,0,0,0,0
$GC,8190,0.91,138.9,503.2,30.5,380,8194,0.00,2.25,0.00,0.000,6,0.000,0.050,2181,2736,2241,0,0,0,0,0,0
$GC,8511,0.91,138.9,404.8,30.7,391,8515,0.00,2.22,0.00,0.000,4,0.000,0.047,2192,1336,2241,0,0,0,0,0,0
$GC,8529,0.91,138.9,398.6,30.5,391,8533,0.00,2.25,0.00,0.000,6,0.000,0.050,2192,2733,2240,0,0,0,0,0,0
$GC,8848,0.91,138.9,300.6,30.8,406,8852,0.00,2.20,0.00,0.000,4,0.000,0.046,2202,1335,2240,0,0,0,0,0,0
$GC,8866,0.91,138.9,294.7,29.9,406,8875,0.12,2.28,0.00,0.000,6,0.243,0.051,2171,2737,2239,0,0,0,0,0,0
$GC,9198,0.91,138.9,202.0,27.3,425,9202,0.00,2.20,0.00,0.000,4,0.000,0.046,2180,1337,2239,0,0,0,0,0,0
$GC,9227,0.91,138.9,193.3,27.3,426,9236,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2725,2238,0,0,0,0,0,0
$GC,9550,0.91,138.9,107.7,26.1,447,9554,0.00,1.88,0.00,0.000,4,0.000,0.059,2172,3896,2238,0,0,0,0,0,0
$GC,9574,0.91,138.9,100.1,28.1,448,9577,0.00,1.77,0.00,0.000,6,0.000,0.041,2180,2747,2238,0,0,0,0,0,0
$GC,9938,0.91,138.9,6.1,27.3,508,9947,0.00,2.22,0.00,0.000,4,0.000,0.046,2191,1327,2238,0,0,0,0,0,0
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9955,begin surface coast
$FINISH,0.6,1.026459
$STATE,9969,end surface coast,CONTROL_FINISHED_OK
$STATE,9969,begin surface
$SM_CCo,9993,181.55,0.783,1,0,516,564.18
$SM_GC,0.89,0.00,0.00,181.55,0.000,0.000,0.783,52,2934,516,-5.68,0.31,564.18
$IRIDIUM_FIX,-4613.60,404.02,221212,131304
$TT8_MAMPS,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.80
$XPDR_PINGS,0
$24V_AH,21.9,18.222
$10V_AH,10.1,7.842
$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,14.350,94.825,277.525,181.550,0.000,136.167,310.754,489.244,0.000,0.000,35.837,1291.518,6823.250,582.419,2329.468,572.608,33.361,1246.912,0.000,1371.494,0.000,1.008,0.000
$DEVICE_MAMPS,258.570,61.200,1809.225,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.157,1041.434,591.025,241.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,37053,512
$CAP_FILE_SIZE,95867,0
$CFSIZE,259252224,223174656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,165203,-4630.633,403.701,33,1.8,33,-23.3