version: 66.07
glider: 542
mission: 6
dive: 88
start: 12 22 112 23 23 1
data:
$ID,542
$MISSION,6
$DIVE,88
$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,-10605.131
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,221212,231304,-4630.412,359.244,37,0.9,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-44.9
$GPS2,221212,232159,-4630.450,359.234,17,1.3,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.034,-0.233
$KALMAN_X,-55288.7,113.6,-399.7,33106.9,1649.1
$KALMAN_Y,28014.0,-240.3,17.4,10780.3,5478.3
$MHEAD_RNG_PITCHd_Wd,211.7,1283,-19.7,-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,-0.68,-117.4,0.0,0.0,0,170,0.00,0.00,-140.82,0.000,6,0.000,0.000,52,2944,3299,0,0,0,0,0,0
$GC,177,-0.77,-194.7,3.2,-2.3,18,196,6.50,1.58,-7.88,0.000,4,0.256,0.076,1606,3896,3615,0,0,0,0,0,0
$GC,365,-0.77,-194.7,41.3,-17.5,47,371,0.00,1.52,0.00,0.000,6,0.000,0.033,1607,2906,3617,0,0,0,0,0,0
$GC,607,-0.77,-194.7,83.4,-16.7,88,613,0.00,2.10,0.00,0.000,4,0.000,0.038,1607,1528,3617,0,0,0,0,0,0
$GC,657,-0.77,-194.7,91.3,-13.5,96,666,0.00,2.28,0.00,0.000,6,0.000,0.054,1597,2920,3617,0,0,0,0,0,0
$GC,993,-0.77,-194.7,143.6,-15.4,123,999,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2919,3618,0,0,0,0,0,0
$GC,1314,-0.77,-194.7,194.8,-15.9,144,1318,0.00,1.55,0.00,0.000,4,0.000,0.060,1590,3896,3618,0,0,0,0,0,0
$GC,1351,-0.77,-194.7,200.6,-16.1,146,1356,0.08,1.48,0.00,0.000,6,0.174,0.033,1612,2928,3618,0,0,0,0,0,0
$GC,1690,-0.77,-194.7,246.8,-14.0,167,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2925,3618,0,0,0,0,0,0
$GC,2024,-0.77,-194.7,293.9,-13.9,184,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2925,3618,0,0,0,0,0,0
$GC,2335,-0.77,-194.7,335.8,-13.6,199,2339,0.00,2.10,0.00,0.000,4,0.000,0.039,1612,1526,3618,0,0,0,0,0,0
$GC,2364,-0.77,-194.7,340.3,-13.6,200,2369,0.00,2.25,0.00,0.000,6,0.000,0.054,1603,2938,3618,0,0,0,0,0,0
$GC,2688,-0.77,-194.7,385.1,-13.8,216,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2938,3618,0,0,0,0,0,0
$GC,2996,-0.77,-194.7,426.4,-13.4,228,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2938,3618,0,0,0,0,0,0
$GC,3304,-0.77,-194.7,467.1,-13.4,238,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2938,3618,0,0,0,0,0,0
$GC,3608,-0.77,-194.7,507.6,-13.0,248,3612,0.00,2.15,0.00,0.000,4,0.000,0.039,1603,1528,3618,0,0,0,0,0,0
$GC,3640,-0.77,-194.7,511.4,-12.1,249,3644,0.00,2.22,0.00,0.000,6,0.000,0.054,1592,2928,3618,0,0,0,0,0,0
$GC,3977,-0.77,-194.7,557.1,-13.5,260,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2929,3618,0,0,0,0,0,0
$GC,4284,-0.77,-194.7,598.8,-13.6,270,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2928,3618,0,0,0,0,0,0
$GC,4590,-0.77,-194.7,640.4,-13.7,280,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2929,3617,0,0,0,0,0,0
$GC,4896,-0.77,-194.7,681.7,-13.5,290,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2929,3617,0,0,0,0,0,0
$GC,5202,-0.77,-194.7,724.3,-13.9,300,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2929,3617,0,0,0,0,0,0
$GC,5508,-0.77,-194.7,765.4,-13.2,310,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2928,3616,0,0,0,0,0,0
$GC,5815,-0.77,-194.7,804.6,-12.5,320,5819,0.00,2.12,0.00,0.000,4,0.000,0.040,1592,1521,3616,0,0,0,0,0,0
$GC,5849,-0.77,-194.7,809.2,-11.4,321,5854,0.12,2.22,0.00,0.000,6,0.194,0.055,1614,2922,3616,0,0,0,0,0,0
$GC,6182,-0.77,-194.7,844.4,-10.8,332,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2922,3616,0,0,0,0,0,0
$GC,6490,-0.77,-194.7,877.9,-10.9,342,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2922,3616,0,0,0,0,0,0
$GC,6794,-0.77,-194.7,910.8,-10.7,352,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2922,3615,0,0,0,0,0,0
$GC,7102,-0.77,-194.7,942.9,-10.6,362,7106,0.00,2.12,0.00,0.000,4,0.000,0.040,1614,1526,3615,0,0,0,0,0,0
$GC,7137,-0.77,-194.7,946.8,-10.1,363,7141,0.00,2.22,0.00,0.000,6,0.000,0.056,1605,2926,3615,0,0,0,0,0,0
$GC,7469,-0.77,-194.7,984.4,-11.7,374,7473,0.00,1.52,0.00,0.000,4,0.000,0.063,1597,3893,3615,0,0,0,0,0,0
$GC,7520,-0.77,-194.7,990.9,-12.3,375,7524,0.00,1.48,0.00,0.000,6,0.000,0.036,1597,2918,3615,0,0,0,0,0,0
$STATE,7627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7627,begin apogee
$GC,7638,-0.19,0.0,1003.5,11.6,379,7840,0.68,0.00,193.12,1.232,6,0.164,0.000,1801,2741,2814,0,0,0,0,0,0
$STATE,7842,end apogee,CONTROL_FINISHED_OK
$STATE,7842,begin climb
$GC,7846,0.77,194.7,1010.3,0.0,386,8059,0.90,2.62,196.62,1.814,4,0.057,0.047,2134,1348,2027,0,0,0,0,1,0
$GC,8107,0.77,194.7,946.7,32.4,394,8111,0.00,2.47,0.00,0.000,6,0.000,0.052,2134,2730,2025,0,0,0,0,0,0
$GC,8446,0.77,194.7,827.2,35.7,405,8450,0.00,2.30,0.00,0.000,4,0.000,0.047,2144,1343,2020,0,0,0,0,0,0
$GC,8545,0.77,194.7,793.9,31.4,408,8549,0.00,2.35,0.00,0.000,6,0.000,0.053,2144,2743,2019,0,0,0,0,0,0
$GC,8883,0.77,194.7,671.9,36.4,419,8887,0.00,2.28,0.00,0.000,4,0.000,0.049,2154,1340,2018,0,0,0,0,0,0
$GC,8968,0.77,194.7,642.7,31.1,421,8973,0.15,2.30,0.00,0.000,6,0.252,0.053,2125,2737,2018,0,0,0,0,0,0
$GC,9283,0.77,194.7,538.3,33.3,431,9288,0.00,2.25,0.00,0.000,4,0.000,0.047,2134,1337,2017,0,0,0,0,0,0
$GC,9335,0.77,194.7,521.4,29.5,432,9339,0.00,2.28,0.00,0.000,6,0.000,0.053,2125,2736,2017,0,0,0,0,0,0
$GC,9651,0.77,194.7,424.9,30.8,442,9655,0.00,2.22,0.00,0.000,4,0.000,0.047,2134,1340,2016,0,0,0,0,0,0
$GC,9691,0.77,194.7,412.6,28.2,443,9695,0.00,2.28,0.00,0.000,6,0.000,0.053,2131,2743,2016,0,0,0,0,0,0
$GC,10010,0.77,194.7,315.0,31.6,458,10014,0.00,2.22,0.00,0.000,4,0.000,0.047,2140,1340,2016,0,0,0,0,0,0
$GC,10079,0.77,194.7,296.4,26.0,461,10083,0.00,2.25,0.00,0.000,6,0.000,0.053,2139,2737,2016,0,0,0,0,0,0
$GC,10401,0.77,194.7,197.6,30.3,479,10405,0.00,2.20,0.00,0.000,4,0.000,0.046,2151,1338,2016,0,0,0,0,0,0
$GC,10421,0.77,194.7,190.7,31.0,480,10426,0.12,2.25,0.00,0.000,6,0.261,0.054,2126,2737,2015,0,0,0,0,0,0
$GC,10756,0.77,194.7,96.5,27.9,501,10763,0.00,2.22,0.00,0.000,4,0.000,0.048,2136,1342,2016,0,0,0,0,0,0
$GC,10802,0.77,194.7,82.2,25.6,508,10809,0.00,2.22,0.00,0.000,6,0.000,0.054,2127,2735,2015,0,0,0,0,0,0
$STATE,11092,end climb,SURFACE_DEPTH_REACHED
$STATE,11093,begin surface coast
$FINISH,0.6,1.026489
$STATE,11106,end surface coast,CONTROL_FINISHED_OK
$STATE,11106,begin surface
$SM_CCo,11129,159.10,0.788,1,0,519,564.18
$SM_GC,1.07,0.00,0.00,159.10,0.000,0.000,0.788,55,2933,519,-5.67,0.28,564.18
$IRIDIUM_FIX,-4613.60,400.91,221212,202019
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,1
$24V_AH,21.4,18.871
$10V_AH,10.1,8.081
$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,14.125,68.175,389.750,159.100,0.000,26.933,21.383,296.271,0.250,0.000,20.545,1370.169,7512.223,645.547,1788.582,513.133,33.360,1307.556,0.000,1411.130,0.000,1.008,0.000
$DEVICE_MAMPS,260.865,75.735,1813.815,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.776,1118.977,610.841,236.878,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,40544,558
$CAP_FILE_SIZE,87829,0
$CFSIZE,259252224,223039488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,231212,023234,-4632.248,357.689,33,1.1,33,-23.3