version: 66.07
glider: 542
mission: 6
dive: 92
start: 12 23 112 12 5 26
data:
$ID,542
$MISSION,6
$DIVE,92
$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,-10628.114
$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,33
$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
$GPS1,231212,115505,-4631.512,401.055,29,1.5,29,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-37.1
$GPS2,231212,120425,-4631.554,401.120,17,1.0,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.154,-0.080
$KALMAN_X,-62181.1,138.6,-59.5,42021.0,-3997.3
$KALMAN_Y,29085.7,-1051.0,-308.1,8811.6,4205.6
$MHEAD_RNG_PITCHd_Wd,140.8,3212,-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,-63.1,0.0,0.0,0,162,0.00,0.00,-131.88,0.000,6,0.000,0.000,64,2948,3078,0,0,0,0,0,0
$GC,169,-0.89,-125.8,2.9,-3.3,17,188,6.20,2.30,-7.55,0.000,4,0.249,0.052,1578,1520,3334,0,0,0,0,0,0
$GC,438,-0.89,-125.8,48.2,-16.4,59,444,0.00,2.28,0.00,0.000,6,0.000,0.052,1569,2925,3336,0,0,0,0,0,0
$GC,678,-0.89,-125.8,94.2,-16.7,100,685,0.00,1.55,0.00,0.000,4,0.000,0.058,1562,3894,3337,0,0,0,0,0,0
$GC,774,-0.89,-125.8,112.7,-20.1,109,777,0.00,1.50,0.00,0.000,6,0.000,0.032,1562,2908,3337,0,0,0,0,0,0
$GC,1102,-0.89,-125.8,172.7,-18.5,130,1105,0.00,1.60,0.00,0.000,4,0.000,0.057,1554,3894,3337,0,0,0,0,0,0
$GC,1132,-0.89,-125.8,179.4,-19.7,131,1139,0.00,1.48,0.00,0.000,6,0.000,0.032,1554,2921,3337,0,0,0,0,0,0
$GC,1455,-0.89,-125.8,238.7,-18.2,152,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2921,3338,0,0,0,0,0,0
$GC,1781,-0.89,-125.8,293.9,-16.9,169,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2921,3337,0,0,0,0,0,0
$GC,2089,-0.89,-125.8,345.1,-16.0,184,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2921,3337,0,0,0,0,0,0
$GC,2400,-0.89,-125.8,395.4,-16.2,199,2404,0.00,1.58,0.00,0.000,4,0.000,0.060,1547,3898,3337,0,0,0,0,0,0
$GC,2451,-0.89,-125.8,403.8,-17.9,201,2456,0.10,1.48,0.00,0.000,6,0.197,0.034,1574,2932,3337,0,0,0,0,0,0
$GC,2784,-0.89,-125.8,452.6,-14.4,212,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2929,3337,0,0,0,0,0,0
$GC,3090,-0.89,-125.8,496.8,-14.4,222,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2929,3337,0,0,0,0,0,0
$GC,3396,-0.89,-125.8,541.0,-14.6,232,3400,0.00,1.55,0.00,0.000,4,0.000,0.060,1568,3893,3337,0,0,0,0,0,0
$GC,3442,-0.89,-125.8,548.3,-15.2,233,3445,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2919,3337,0,0,0,0,0,0
$GC,3773,-0.89,-125.8,594.8,-14.1,244,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3337,0,0,0,0,0,0
$GC,4081,-0.89,-125.8,637.7,-13.9,254,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2915,3337,0,0,0,0,0,0
$GC,4386,-0.89,-125.8,679.4,-13.4,264,4389,0.00,1.58,0.00,0.000,4,0.000,0.062,1561,3894,3336,0,0,0,0,0,0
$GC,4437,-0.89,-125.8,687.3,-15.2,265,4441,0.00,1.48,0.00,0.000,6,0.000,0.035,1561,2925,3336,0,0,0,0,0,0
$GC,4763,-0.89,-125.8,733.3,-14.1,276,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2921,3336,0,0,0,0,0,0
$GC,5069,-0.89,-125.8,776.3,-13.9,286,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2921,3336,0,0,0,0,0,0
$GC,5376,-0.89,-125.8,817.7,-13.5,296,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2921,3335,0,0,0,0,0,0
$GC,5682,-0.89,-125.8,858.7,-13.2,306,5685,0.00,1.58,0.00,0.000,4,0.000,0.062,1554,3900,3334,0,0,0,0,0,0
$GC,5739,-0.89,-125.8,867.1,-14.6,307,5743,0.00,1.48,0.00,0.000,6,0.000,0.035,1553,2927,3334,0,0,0,0,0,0
$GC,6059,-0.89,-125.8,910.0,-13.4,318,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2923,3334,0,0,0,0,0,0
$GC,6367,-0.89,-125.8,952.4,-13.9,328,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2922,3334,0,0,0,0,0,0
$GC,6671,-0.89,-125.8,995.8,-14.4,338,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2923,3333,0,0,0,0,0,0
$STATE,6699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6699,begin apogee
$GC,6710,-0.19,0.0,1000.2,14.7,339,6841,0.88,0.00,127.47,1.239,6,0.193,0.000,1802,2735,2820,0,0,0,0,0,0
$STATE,6843,end apogee,CONTROL_FINISHED_OK
$STATE,6843,begin climb
$GC,6848,0.89,125.8,1003.4,0.0,343,6983,0.98,0.00,127.10,1.804,6,0.060,0.000,2156,2735,2306,0,0,0,0,1,0
$GC,7283,0.89,125.8,888.1,30.4,358,7287,0.00,2.30,0.00,0.000,4,0.000,0.047,2166,1342,2300,0,0,0,0,0,0
$GC,7348,0.89,125.8,869.1,28.0,360,7352,0.00,2.33,0.00,0.000,6,0.000,0.052,2165,2734,2298,0,0,0,0,0,0
$GC,7691,0.89,125.8,764.0,31.3,371,7695,0.00,2.25,0.00,0.000,4,0.000,0.046,2174,1341,2297,0,0,0,0,0,0
$GC,7715,0.89,125.8,756.2,30.0,371,7722,0.00,2.30,0.00,0.000,6,0.000,0.052,2173,2742,2296,0,0,0,0,0,0
$GC,8030,0.89,125.8,659.5,31.0,382,8034,0.00,2.25,0.00,0.000,4,0.000,0.045,2183,1329,2296,0,0,0,0,0,0
$GC,8060,0.89,125.8,650.0,30.0,382,8067,0.00,2.28,0.00,0.000,6,0.000,0.050,2183,2736,2295,0,0,0,0,0,0
$GC,8375,0.89,125.8,556.1,29.7,393,8379,0.00,2.22,0.00,0.000,4,0.000,0.045,2193,1339,2295,0,0,0,0,0,0
$GC,8443,0.89,125.8,536.7,27.5,395,8448,0.15,2.25,0.00,0.000,6,0.249,0.052,2162,2741,2294,0,0,0,0,0,0
$GC,8783,0.89,125.8,443.4,27.8,406,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2741,2294,0,0,0,0,0,0
$GC,9088,0.89,125.8,360.0,27.1,418,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2741,2293,0,0,0,0,0,0
$GC,9400,0.89,125.8,275.7,27.1,433,9404,0.00,2.20,0.00,0.000,4,0.000,0.045,2171,1339,2293,0,0,0,0,0,0
$GC,9486,0.89,125.8,252.6,24.6,436,9494,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2728,2291,0,0,0,0,0,0
$GC,9814,0.89,125.8,165.5,27.2,457,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2728,2291,0,0,0,0,0,0
$GC,10135,0.89,125.8,81.8,26.1,485,10140,0.00,1.85,0.00,0.000,4,0.000,0.060,2171,3890,2291,0,0,0,0,0,0
$GC,10221,0.89,125.8,58.6,26.3,499,10227,0.00,1.77,0.00,0.000,6,0.000,0.039,2180,2728,2291,0,0,0,0,0,0
$STATE,10448,end climb,SURFACE_DEPTH_REACHED
$STATE,10448,begin surface coast
$FINISH,0.5,1.018405
$STATE,10463,end surface coast,CONTROL_FINISHED_OK
$STATE,10463,begin surface
$SM_CCo,10486,187.32,0.799,1,0,519,564.18
$SM_GC,0.99,0.00,0.00,187.32,0.000,0.000,0.799,60,2936,519,-5.66,0.37,564.18
$IRIDIUM_FIX,-4613.60,357.79,231212,080805
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.0,19.577
$10V_AH,10.1,8.392
$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,13.950,49.700,254.575,187.325,0.000,27.797,22.277,307.282,0.000,0.000,24.741,1319.878,7162.138,579.742,1692.997,484.913,33.359,1140.525,0.000,1309.777,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,64.260,1803.870,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.805,1090.043,607.497,254.236,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,40421,538
$CAP_FILE_SIZE,78753,0
$CFSIZE,259252224,222863360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,231212,150453,-4632.256,402.830,41,1.3,41,-23.3