version: 66.07
glider: 542
mission: 6
dive: 86
start: 12 22 112 17 11 9
data:
$ID,542
$MISSION,6
$DIVE,86
$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,-10598.564
$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,38
$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
$GPS1,221212,165203,-4630.633,403.701,33,1.8,33,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-37.2
$GPS2,221212,171011,-4630.583,403.763,16,1.9,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.164,-0.081
$KALMAN_X,-57648.2,795.0,513.6,39574.0,-1460.9
$KALMAN_Y,23363.5,-52.8,-437.5,15457.4,2698.1
$MHEAD_RNG_PITCHd_Wd,266.9,4917,-25.8,-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,-0.78,-70.1,0.0,0.0,0,163,0.00,0.00,-131.88,0.000,6,0.000,0.000,51,2936,3108,0,0,0,0,0,0
$GC,169,-0.88,-148.5,2.8,-2.5,17,195,6.28,2.28,-9.57,0.000,4,0.250,0.053,1581,1512,3427,0,0,0,0,0,0
$GC,220,-0.88,-148.5,11.7,-18.5,23,229,0.00,2.33,0.00,0.000,6,0.000,0.050,1571,2927,3428,0,0,0,0,0,0
$GC,308,-0.88,-148.5,29.3,-20.7,36,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2928,3428,0,0,0,0,0,0
$GC,392,-0.88,-148.5,47.0,-20.9,49,399,0.00,2.20,0.00,0.000,4,0.000,0.036,1572,1514,3428,0,0,0,0,0,0
$GC,415,-0.88,-148.5,52.4,-21.1,52,425,0.00,2.30,0.00,0.000,6,0.000,0.051,1562,2922,3428,0,0,0,0,0,0
$GC,659,-0.88,-148.5,98.9,-18.4,93,666,0.00,2.20,0.00,0.000,4,0.000,0.036,1562,1517,3428,0,0,0,0,0,0
$GC,737,-0.88,-148.5,113.2,-16.9,98,742,0.12,2.28,0.00,0.000,6,0.213,0.051,1578,2931,3428,0,0,0,0,0,0
$GC,1060,-0.88,-148.5,168.8,-17.2,118,1063,0.00,1.52,0.00,0.000,4,0.000,0.058,1573,3892,3428,0,0,0,0,0,0
$GC,1097,-0.88,-148.5,175.8,-18.3,120,1100,0.00,1.50,0.00,0.000,6,0.000,0.032,1577,2899,3429,0,0,0,0,0,0
$GC,1431,-0.88,-148.5,234.1,-17.8,141,1434,0.00,1.62,0.00,0.000,4,0.000,0.058,1571,3929,3429,0,0,0,0,0,0
$GC,1547,-0.88,-148.5,254.9,-16.8,148,1550,0.00,1.52,0.00,0.000,6,0.000,0.034,1572,2923,3429,0,0,0,0,0,0
$GC,1881,-0.88,-148.5,310.9,-16.4,164,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2919,3429,0,0,0,0,0,0
$GC,2193,-0.88,-148.5,360.9,-16.1,179,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2919,3429,0,0,0,0,0,0
$GC,2500,-0.88,-148.5,411.3,-16.2,193,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2919,3428,0,0,0,0,0,0
$GC,2806,-0.88,-148.5,461.2,-16.1,203,2809,0.00,1.58,0.00,0.000,4,0.000,0.061,1565,3896,3428,0,0,0,0,0,0
$GC,2834,-0.88,-148.5,466.4,-17.5,203,2841,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2919,3428,0,0,0,0,0,0
$GC,3150,-0.88,-148.5,517.7,-16.3,214,3153,0.00,1.58,0.00,0.000,4,0.000,0.060,1558,3897,3428,0,0,0,0,0,0
$GC,3180,-0.88,-148.5,523.0,-17.5,214,3187,0.00,1.48,0.00,0.000,6,0.000,0.034,1558,2920,3428,0,0,0,0,0,0
$GC,3495,-0.88,-148.5,575.9,-16.6,225,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2921,3428,0,0,0,0,0,0
$GC,3802,-0.88,-148.5,624.2,-15.6,235,3805,0.00,1.58,0.00,0.000,4,0.000,0.060,1550,3900,3427,0,0,0,0,0,0
$GC,3832,-0.88,-148.5,629.2,-16.8,235,3840,0.10,1.48,0.00,0.000,6,0.193,0.034,1578,2928,3427,0,0,0,0,0,0
$GC,4149,-0.88,-148.5,673.9,-13.8,246,4153,0.00,2.12,0.00,0.000,4,0.000,0.040,1578,1521,3427,0,0,0,0,0,0
$GC,4189,-0.88,-148.5,679.7,-12.7,247,4193,0.00,2.22,0.00,0.000,6,0.000,0.055,1569,2923,3427,0,0,0,0,0,0
$GC,4516,-0.88,-148.5,726.0,-14.7,258,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3426,0,0,0,0,0,0
$GC,4822,-0.88,-148.5,770.1,-14.2,268,4826,0.00,1.55,0.00,0.000,4,0.000,0.062,1561,3892,3425,0,0,0,0,0,0
$GC,4860,-0.88,-148.5,775.6,-15.2,269,4864,0.00,1.48,0.00,0.000,6,0.000,0.035,1561,2914,3425,0,0,0,0,0,0
$GC,5205,-0.88,-148.5,827.3,-15.4,280,5208,0.00,1.58,0.00,0.000,4,0.000,0.061,1554,3891,3425,0,0,0,0,0,0
$GC,5245,-0.88,-148.5,834.4,-16.5,281,5249,0.08,1.48,0.00,0.000,6,0.190,0.035,1575,2921,3425,0,0,0,0,0,0
$GC,5583,-0.88,-148.5,881.4,-14.0,292,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2917,3425,0,0,0,0,0,0
$GC,5889,-0.88,-148.5,922.4,-13.2,302,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2917,3425,0,0,0,0,0,0
$GC,6195,-0.88,-148.5,962.0,-12.9,312,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2917,3425,0,0,0,0,0,0
$STATE,6497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6497,begin apogee
$GC,6508,-0.19,0.0,1000.1,12.4,322,6659,0.77,0.00,147.93,1.220,6,0.185,0.000,1800,2730,2818,0,0,0,0,0,0
$STATE,6661,end apogee,CONTROL_FINISHED_OK
$STATE,6661,begin climb
$GC,6666,0.88,148.5,1003.6,0.0,327,6828,1.00,2.58,147.85,1.794,4,0.057,0.047,2167,1341,2214,0,0,0,0,1,0
$GC,6883,0.88,148.5,953.6,29.6,334,6888,0.00,2.47,0.00,0.000,6,0.000,0.052,2168,2729,2211,0,0,0,0,0,0
$GC,7210,0.88,148.5,846.9,33.4,345,7214,0.00,2.30,0.00,0.000,4,0.000,0.047,2178,1341,2208,0,0,0,0,0,0
$GC,7234,0.88,148.5,838.5,32.0,345,7241,0.00,2.35,0.00,0.000,6,0.000,0.052,2173,2743,2207,0,0,0,0,0,0
$GC,7549,0.88,148.5,734.8,33.2,356,7553,0.00,2.28,0.00,0.000,4,0.000,0.047,2182,1340,2206,0,0,0,0,0,0
$GC,7595,0.88,148.5,719.7,30.0,357,7599,0.00,2.30,0.00,0.000,6,0.000,0.053,2182,2739,2204,0,0,0,0,0,0
$GC,7927,0.88,148.5,613.9,32.4,368,7931,0.00,2.22,0.00,0.000,4,0.000,0.047,2193,1341,2204,0,0,0,0,0,0
$GC,7984,0.88,148.5,596.1,28.7,369,7989,0.15,2.28,0.00,0.000,6,0.252,0.052,2161,2738,2203,0,0,0,0,0,0
$GC,8301,0.88,148.5,501.9,30.5,379,8305,0.00,2.20,0.00,0.000,4,0.000,0.046,2170,1342,2202,0,0,0,0,0,0
$GC,8314,0.88,148.5,497.0,30.4,379,8318,0.00,2.25,0.00,0.000,6,0.000,0.050,2165,2737,2202,0,0,0,0,0,0
$GC,8634,0.88,148.5,401.0,29.9,390,8638,0.00,2.22,0.00,0.000,4,0.000,0.047,2174,1339,2202,0,0,0,0,0,0
$GC,8653,0.88,148.5,395.3,28.8,390,8657,0.00,2.25,0.00,0.000,6,0.000,0.052,2173,2737,2202,0,0,0,0,0,0
$GC,8973,0.88,148.5,301.2,29.3,405,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2202,0,0,0,0,0,0
$GC,9281,0.88,148.5,210.4,28.7,422,9285,0.00,2.20,0.00,0.000,4,0.000,0.047,2182,1337,2201,0,0,0,0,0,0
$GC,9303,0.88,148.5,204.7,28.3,423,9307,0.00,2.22,0.00,0.000,6,0.000,0.051,2182,2733,2201,0,0,0,0,0,0
$GC,9636,0.88,148.5,109.6,28.0,444,9639,0.00,1.83,0.00,0.000,4,0.000,0.060,2182,3895,2201,0,0,0,0,0,0
$GC,9657,0.88,148.5,104.2,26.8,445,9662,0.15,1.77,0.00,0.000,6,0.268,0.042,2160,2747,2201,0,0,0,0,0,0
$GC,10017,0.88,148.5,11.7,24.7,504,10026,0.00,2.22,0.00,0.000,4,0.000,0.047,2170,1326,2200,0,0,0,0,0,0
$STATE,10046,end climb,SURFACE_DEPTH_REACHED
$STATE,10046,begin surface coast
$FINISH,0.6,1.026508
$STATE,10060,end surface coast,CONTROL_FINISHED_OK
$STATE,10060,begin surface
$SM_CCo,10084,177.90,0.792,1,0,517,564.18
$SM_GC,1.06,0.00,0.00,177.90,0.000,0.000,0.792,61,2923,517,-5.65,0.00,564.18
$IRIDIUM_FIX,-4616.72,401.12,221212,161606
$TT8_MAMPS,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.8,18.426
$10V_AH,10.1,7.922
$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,14.425,80.100,295.775,177.900,0.000,86.810,148.611,491.646,0.000,0.000,19.601,1275.289,6871.881,594.564,2029.648,580.176,33.360,1229.257,0.000,1308.855,0.000,1.009,0.000
$DEVICE_MAMPS,267.750,61.965,1793.925,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.484,1024.526,567.879,221.821,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,37053,510
$CAP_FILE_SIZE,91679,0
$CFSIZE,259252224,223125504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,200334,-4630.122,401.921,30,1.1,30,-23.3