version: 66.07
glider: 542
mission: 6
dive: 106
start: 12 25 112 10 33 40
data:
$ID,542
$MISSION,6
$DIVE,106
$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,-10695.514
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,251212,102205,-4632.125,401.582,26,1.4,26,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-30.5
$GPS2,251212,103242,-4632.191,401.721,16,1.7,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.215,0.068
$KALMAN_X,-67091.4,1029.0,175.4,46555.9,-6461.4
$KALMAN_Y,31670.1,-207.8,-206.9,4104.5,2678.0
$MHEAD_RNG_PITCHd_Wd,95.7,4614,-20.7,-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,-0.69,-107.1,0.0,0.0,0,171,0.00,0.00,-141.48,0.000,2,0.000,0.000,55,2945,3242,0,0,0,0,0,0
$GC,177,-0.80,-194.7,3.3,-3.0,18,204,6.28,2.25,-9.23,0.000,4,0.245,0.049,1618,1511,3616,0,0,0,0,0,0
$GC,317,-0.80,-194.7,28.0,-11.9,38,326,0.00,2.30,0.00,0.000,6,0.000,0.057,1608,2902,3618,0,0,0,0,0,0
$GC,404,-0.80,-194.7,41.8,-17.9,51,411,0.00,1.60,0.00,0.000,4,0.000,0.055,1601,3904,3617,0,0,0,0,0,0
$GC,424,-0.80,-194.7,45.9,-19.0,53,430,0.00,1.52,0.00,0.000,6,0.000,0.031,1601,2898,3618,0,0,0,0,0,0
$GC,670,-0.80,-194.7,94.5,-18.4,94,676,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2898,3618,0,0,0,0,0,0
$GC,1000,-0.80,-194.7,152.8,-16.6,118,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2898,3618,0,0,0,0,0,0
$GC,1314,-0.80,-194.7,203.8,-16.7,138,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2898,3619,0,0,0,0,0,0
$GC,1625,-0.80,-194.7,252.4,-14.9,158,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2898,3619,0,0,0,0,0,0
$GC,1939,-0.80,-194.7,298.2,-14.7,173,1943,0.00,2.05,0.00,0.000,4,0.000,0.037,1601,1541,3619,0,0,0,0,0,0
$GC,1974,-0.80,-194.7,304.0,-13.7,174,1979,0.00,2.22,0.00,0.000,6,0.000,0.054,1590,2930,3619,0,0,0,0,0,0
$GC,2295,-0.80,-194.7,350.5,-15.0,189,2299,0.00,1.52,0.00,0.000,4,0.000,0.061,1583,3893,3619,0,0,0,0,0,0
$GC,2329,-0.80,-194.7,356.4,-15.6,190,2333,0.00,1.45,0.00,0.000,6,0.000,0.034,1583,2938,3619,0,0,0,0,0,0
$GC,2663,-0.80,-194.7,408.0,-15.7,206,2667,0.00,2.12,0.00,0.000,4,0.000,0.038,1583,1522,3619,0,0,0,0,0,0
$GC,2687,-0.80,-194.7,412.0,-15.4,206,2691,0.15,2.22,0.00,0.000,6,0.197,0.054,1609,2923,3619,0,0,0,0,0,0
$GC,3002,-0.80,-194.7,454.6,-13.7,216,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2923,3618,0,0,0,0,0,0
$GC,3308,-0.80,-194.7,496.3,-13.5,226,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2923,3618,0,0,0,0,0,0
$GC,3614,-0.80,-194.7,536.8,-13.0,236,3618,0.00,2.15,0.00,0.000,4,0.000,0.038,1610,1526,3618,0,0,0,0,0,0
$GC,3646,-0.80,-194.7,540.8,-12.4,237,3650,0.00,2.22,0.00,0.000,6,0.000,0.055,1600,2924,3618,0,0,0,0,0,0
$GC,3983,-0.80,-194.7,588.0,-14.3,248,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3618,0,0,0,0,0,0
$GC,4290,-0.80,-194.7,631.1,-13.8,258,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3618,0,0,0,0,0,0
$GC,4596,-0.80,-194.7,674.8,-14.7,268,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3617,0,0,0,0,0,0
$GC,4902,-0.80,-194.7,718.8,-14.3,278,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3617,0,0,0,0,0,0
$GC,5208,-0.80,-194.7,760.3,-13.4,288,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3617,0,0,0,0,0,0
$GC,5514,-0.80,-194.7,800.2,-13.0,298,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3616,0,0,0,0,0,0
$GC,5820,-0.80,-194.7,838.4,-12.4,308,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2924,3616,0,0,0,0,0,0
$GC,6127,-0.80,-194.7,876.1,-12.2,318,6131,0.00,2.12,0.00,0.000,4,0.000,0.039,1600,1521,3616,0,0,0,0,0,0
$GC,6167,-0.80,-194.7,881.2,-11.9,319,6171,0.00,2.22,0.00,0.000,6,0.000,0.056,1590,2930,3616,0,0,0,0,0,0
$GC,6506,-0.80,-194.7,923.5,-12.7,330,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2931,3615,0,0,0,0,0,0
$GC,6811,-0.80,-194.7,960.1,-11.9,340,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2931,3615,0,0,0,0,0,0
$GC,7119,-0.80,-194.7,996.9,-11.8,350,7123,0.00,2.12,0.00,0.000,4,0.000,0.039,1590,1526,3615,0,0,0,0,0,0
$STATE,7138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7138,begin apogee
$GC,7150,-0.19,0.0,1000.1,12.2,350,7344,0.70,0.00,184.70,1.854,6,0.171,0.000,1795,2736,2820,0,0,0,0,1,0
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7346,begin climb
$GC,7350,0.80,194.7,1005.4,0.0,357,7580,0.98,2.58,207.02,1.789,4,0.056,0.046,2142,1350,2027,0,0,0,0,2,0
$GC,7723,0.80,194.7,908.6,30.4,368,7728,0.00,2.38,0.00,0.000,6,0.000,0.050,2142,2732,2022,0,0,0,0,0,0
$GC,8044,0.80,194.7,795.4,35.7,379,8048,0.00,2.28,0.00,0.000,4,0.000,0.048,2152,1347,2019,0,0,0,0,0,0
$GC,8102,0.80,194.7,775.5,31.9,380,8109,0.00,2.30,0.00,0.000,6,0.000,0.053,2151,2734,2019,0,0,0,0,0,0
$GC,8417,0.80,194.7,662.5,35.6,391,8421,0.00,2.25,0.00,0.000,4,0.000,0.048,2162,1339,2018,0,0,0,0,0,0
$GC,8458,0.80,194.7,647.8,34.4,392,8462,0.15,2.30,0.00,0.000,6,0.255,0.052,2132,2744,2017,0,0,0,0,0,0
$GC,8785,0.80,194.7,542.9,31.1,403,8789,0.00,2.25,0.00,0.000,4,0.000,0.047,2142,1338,2016,0,0,0,0,0,0
$GC,8865,0.80,194.7,519.5,27.5,405,8869,0.00,2.25,0.00,0.000,6,0.000,0.052,2137,2738,2016,0,0,0,0,0,0
$GC,9185,0.80,194.7,423.7,30.1,416,9189,0.00,2.22,0.00,0.000,4,0.000,0.047,2146,1338,2016,0,0,0,0,0,0
$GC,9232,0.80,194.7,410.0,27.6,417,9236,0.00,2.25,0.00,0.000,6,0.000,0.053,2147,2745,2016,0,0,0,0,0,0
$GC,9568,0.80,194.7,305.6,31.6,433,9572,0.00,2.22,0.00,0.000,4,0.000,0.047,2157,1339,2015,0,0,0,0,0,0
$GC,9620,0.80,194.7,288.8,28.4,435,9624,0.00,2.22,0.00,0.000,6,0.000,0.054,2157,2733,2015,0,0,0,0,0,0
$GC,9942,0.80,194.7,187.4,32.7,453,9946,0.00,2.17,0.00,0.000,4,0.000,0.047,2167,1346,2015,0,0,0,0,0,0
$GC,9972,0.80,194.7,177.4,29.5,454,9981,0.15,2.25,0.00,0.000,6,0.238,0.052,2129,2734,2015,0,0,0,0,0,0
$GC,10301,0.80,194.7,84.2,26.8,481,10306,0.00,2.15,0.00,0.000,4,0.000,0.044,2138,1348,2015,0,0,0,0,0,0
$GC,10317,0.80,194.7,79.6,25.5,483,10324,0.00,2.22,0.00,0.000,6,0.000,0.053,2137,2730,2014,0,0,0,0,0,0
$STATE,10589,end climb,SURFACE_DEPTH_REACHED
$STATE,10589,begin surface coast
$FINISH,0.4,1.015081
$STATE,10603,end surface coast,CONTROL_FINISHED_OK
$STATE,10603,begin surface
$SM_CCo,10626,159.98,0.782,1,0,518,564.18
$SM_GC,0.85,0.00,0.00,159.98,0.000,0.000,0.782,60,2940,518,-5.66,0.48,564.18
$IRIDIUM_FIX,-4616.72,401.12,251212,060638
$TT8_MAMPS,0.026964
$HUMID,57.16
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.5,22.419
$10V_AH,10.1,9.541
$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,14.025,68.675,391.725,159.975,0.000,27.066,56.651,329.671,0.000,0.000,19.268,1300.415,7153.047,650.684,1790.698,526.665,33.354,1299.954,0.000,1347.057,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,64.260,1854.360,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.586,1072.990,581.173,230.964,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,37092,530
$CAP_FILE_SIZE,85534,0
$CFSIZE,259252224,222167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2
$GPS,251212,133458,-4631.213,402.930,40,0.8,40,-23.3