version: 66.07
glider: 542
mission: 6
dive: 117
start: 12 26 112 22 21 31
data:
$ID,542
$MISSION,6
$DIVE,117
$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,-10742.461
$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,51
$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
$GPS1,261212,221134,-4630.168,357.573,37,1.0,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-31.3
$GPS2,261212,222029,-4630.142,357.638,18,1.2,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.035,-0.170
$KALMAN_X,-63869.2,-360.8,-296.2,40047.5,2479.7
$KALMAN_Y,35744.4,784.8,-89.2,2699.1,2692.4
$MHEAD_RNG_PITCHd_Wd,191.7,3023,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.81,-63.1,0.0,0.0,0,170,0.00,0.00,-135.77,0.000,6,0.000,0.000,63,2937,3080,0,0,0,0,0,0
$GC,176,-0.88,-119.5,3.4,-4.0,18,195,6.15,1.60,-6.45,0.000,4,0.247,0.078,1570,3901,3307,0,0,0,0,0,0
$GC,368,-0.88,-119.5,42.1,-18.2,48,377,0.00,1.52,0.00,0.000,6,0.000,0.034,1574,2910,3310,0,0,0,0,0,0
$GC,614,-0.88,-119.5,86.0,-15.9,89,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2910,3310,0,0,0,0,0,0
$GC,952,-0.88,-119.5,140.1,-16.6,120,954,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2909,3311,0,0,0,0,0,0
$GC,1265,-0.88,-119.5,192.8,-16.7,140,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2909,3312,0,0,0,0,0,0
$GC,1577,-0.88,-119.5,244.4,-15.6,160,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2910,3312,0,0,0,0,0,0
$GC,1892,-0.88,-119.5,294.0,-15.6,176,1896,0.00,1.58,0.00,0.000,4,0.000,0.060,1569,3889,3312,0,0,0,0,0,0
$GC,1999,-0.88,-119.5,312.5,-17.2,180,2008,0.00,1.45,0.00,0.000,6,0.000,0.034,1569,2922,3312,0,0,0,0,0,0
$GC,2318,-0.88,-119.5,362.6,-15.6,196,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2922,3312,0,0,0,0,0,0
$GC,2626,-0.88,-119.5,409.8,-15.3,210,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,3312,0,0,0,0,0,0
$GC,2933,-0.88,-119.5,457.5,-15.8,220,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,3312,0,0,0,0,0,0
$GC,3239,-0.88,-119.5,503.9,-15.0,230,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,3312,0,0,0,0,0,0
$GC,3545,-0.88,-119.5,548.1,-14.6,240,3549,0.00,1.55,0.00,0.000,4,0.000,0.062,1561,3887,3311,0,0,0,0,0,0
$GC,3597,-0.88,-119.5,556.6,-15.5,241,3601,0.00,1.45,0.00,0.000,6,0.000,0.034,1561,2925,3311,0,0,0,0,0,0
$GC,3925,-0.88,-119.5,604.6,-14.7,252,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2922,3310,0,0,0,0,0,0
$GC,4229,-0.88,-119.5,649.4,-14.6,262,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2922,3310,0,0,0,0,0,0
$GC,4537,-0.88,-119.5,694.5,-14.7,272,4541,0.00,1.55,0.00,0.000,4,0.000,0.062,1554,3887,3309,0,0,0,0,0,0
$GC,4574,-0.88,-119.5,700.1,-15.4,273,4578,0.08,1.45,0.00,0.000,6,0.195,0.034,1574,2930,3309,0,0,0,0,0,0
$GC,4917,-0.88,-119.5,746.2,-13.1,284,4921,0.00,2.10,0.00,0.000,4,0.000,0.039,1575,1517,3309,0,0,0,0,0,0
$GC,4969,-0.88,-119.5,753.3,-12.4,285,4973,0.00,2.20,0.00,0.000,6,0.000,0.055,1566,2915,3308,0,0,0,0,0,0
$GC,5284,-0.88,-119.5,796.4,-13.9,295,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2915,3308,0,0,0,0,0,0
$GC,5590,-0.88,-119.5,837.4,-13.0,305,5594,0.00,2.12,0.00,0.000,4,0.000,0.038,1565,1519,3308,0,0,0,0,0,0
$GC,5665,-0.88,-119.5,846.9,-12.0,307,5669,0.12,2.22,0.00,0.000,6,0.212,0.054,1583,2934,3308,0,0,0,0,0,0
$GC,5997,-0.88,-119.5,884.5,-11.4,318,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2934,3308,0,0,0,0,0,0
$GC,6304,-0.88,-119.5,918.5,-11.0,328,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2933,3308,0,0,0,0,0,0
$GC,6610,-0.88,-119.5,951.7,-10.7,338,6614,0.00,2.15,0.00,0.000,4,0.000,0.038,1583,1518,3307,0,0,0,0,0,0
$GC,6656,-0.88,-120.0,956.6,-9.9,339,6660,0.00,2.25,0.00,0.000,6,0.000,0.056,1574,2935,3307,0,0,0,0,0,0
$GC,6977,-0.88,-120.0,990.2,-10.5,350,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2935,3307,0,0,0,0,0,0
$STATE,7094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7095,begin apogee
$GC,7105,-0.19,0.0,1003.1,10.4,354,7230,0.80,0.00,121.20,1.241,6,0.187,0.000,1804,2726,2819,0,0,0,0,0,0
$STATE,7231,end apogee,CONTROL_FINISHED_OK
$STATE,7232,begin climb
$GC,7236,0.88,120.0,1003.6,0.0,358,7368,1.00,0.00,121.75,1.789,6,0.057,0.000,2162,2726,2330,0,0,0,0,1,0
$GC,7676,0.88,120.0,881.3,31.3,373,7680,0.00,2.28,0.00,0.000,4,0.000,0.047,2173,1334,2323,0,0,0,0,0,0
$GC,7741,0.88,120.0,862.6,27.6,375,7745,0.00,2.35,0.00,0.000,6,0.000,0.051,2173,2738,2321,0,0,0,0,0,0
$GC,8085,0.88,120.0,759.5,29.8,386,8089,0.00,2.25,0.00,0.000,4,0.000,0.045,2183,1339,2319,0,0,0,0,0,0
$GC,8137,0.88,120.0,743.7,26.8,387,8141,0.00,2.30,0.00,0.000,6,0.000,0.052,2183,2741,2318,0,0,0,0,0,0
$GC,8453,0.88,120.0,651.7,29.2,397,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2741,2318,0,0,0,0,0,0
$GC,8758,0.88,120.0,561.9,29.6,407,8762,0.00,2.22,0.00,0.000,4,0.000,0.044,2193,1334,2317,0,0,0,0,0,0
$GC,8810,0.88,120.0,546.9,27.2,408,8815,0.17,2.25,0.00,0.000,6,0.290,0.051,2160,2743,2316,0,0,0,0,0,0
$GC,9125,0.88,120.0,460.5,27.6,418,9129,0.00,2.20,0.00,0.000,4,0.000,0.044,2169,1335,2316,0,0,0,0,0,0
$GC,9157,0.88,120.0,452.2,26.6,419,9161,0.00,2.25,0.00,0.000,6,0.000,0.051,2169,2737,2315,0,0,0,0,0,0
$GC,9477,0.88,120.0,367.1,26.8,431,9481,0.00,2.20,0.00,0.000,4,0.000,0.045,2179,1340,2315,0,0,0,0,0,0
$GC,9512,0.88,120.0,356.8,26.3,432,9516,0.00,2.22,0.00,0.000,6,0.000,0.051,2178,2734,2315,0,0,0,0,0,0
$GC,9836,0.88,120.0,267.4,28.3,448,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2735,2315,0,0,0,0,0,0
$GC,10150,0.88,120.0,181.6,25.7,467,10154,0.00,2.17,0.00,0.000,4,0.000,0.044,2189,1335,2315,0,0,0,0,0,0
$GC,10198,0.88,120.0,169.0,24.6,470,10203,0.15,2.22,0.00,0.000,6,0.285,0.050,2161,2735,2314,0,0,0,0,0,0
$GC,10526,0.88,120.0,88.4,24.2,496,10535,0.00,2.17,0.00,0.000,4,0.000,0.044,2170,1330,2314,0,0,0,0,0,0
$GC,10553,0.88,120.0,82.6,23.0,499,10558,0.00,2.25,0.00,0.000,6,0.000,0.051,2170,2745,2315,0,0,0,0,0,0
$STATE,10917,end climb,SURFACE_DEPTH_REACHED
$STATE,10917,begin surface coast
$FINISH,0.5,1.012623
$STATE,10935,end surface coast,CONTROL_FINISHED_OK
$STATE,10935,begin surface
$SM_CCo,10957,188.82,0.795,1,0,517,564.18
$SM_GC,1.05,0.00,0.00,188.82,0.000,0.000,0.795,59,2927,517,-5.66,0.11,564.18
$IRIDIUM_FIX,-4610.49,357.79,261212,191915
$TT8_MAMPS,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.0,24.476
$10V_AH,10.1,10.433
$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,14.250,57.125,242.950,188.825,0.000,26.316,22.252,295.507,0.000,0.000,21.378,1380.702,7489.207,570.323,1757.315,490.533,33.359,1168.547,0.000,1382.730,0.000,1.009,0.000
$DEVICE_MAMPS,289.935,78.030,1788.570,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.057,1129.241,627.348,254.504,0.000,0.000,0.000,0.000,0.000,0.000
$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,40413,562
$CAP_FILE_SIZE,83062,0
$CFSIZE,259252224,221601792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,271212,012835,-4631.596,357.369,25,1.0,25,-23.3