version: 66.07
glider: 542
mission: 6
dive: 125
start: 12 27 112 23 1 6
data:
$ID,542
$MISSION,6
$DIVE,125
$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,-10785.996
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,271212,224958,-4629.234,404.708,37,1.2,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-47.3
$GPS2,271212,230005,-4629.292,404.611,19,1.2,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.064,0.161
$KALMAN_X,-74658.9,231.6,438.1,58302.7,-5424.9
$KALMAN_Y,33992.9,-348.6,144.6,6923.0,-2293.9
$MHEAD_RNG_PITCHd_Wd,1.6,6022,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-135.70,0.000,6,0.000,0.000,57,2931,3075,0,0,0,0,0,0
$GC,177,-0.91,-142.4,2.7,-1.6,18,203,6.20,1.58,-9.50,0.000,4,0.251,0.080,1562,3890,3403,0,0,0,0,0,0
$GC,321,-0.91,-142.4,33.4,-22.4,39,328,0.00,1.52,0.00,0.000,6,0.000,0.033,1562,2895,3404,0,0,0,0,0,0
$GC,566,-0.91,-142.4,84.8,-19.3,80,572,0.00,1.62,0.00,0.000,4,0.000,0.060,1556,3890,3404,0,0,0,0,0,0
$GC,690,-0.91,-142.4,108.8,-19.3,96,694,0.00,1.48,0.00,0.000,6,0.000,0.032,1557,2918,3404,0,0,0,0,0,0
$GC,1024,-0.91,-142.4,171.9,-20.0,117,1028,0.00,1.60,0.00,0.000,4,0.000,0.060,1549,3900,3405,0,0,0,0,0,0
$GC,1115,-0.91,-142.4,191.5,-20.2,122,1119,0.00,1.48,0.00,0.000,6,0.000,0.033,1549,2926,3405,0,0,0,0,0,0
$GC,1449,-0.91,-142.4,255.0,-19.4,143,1452,0.00,1.60,0.00,0.000,4,0.000,0.060,1542,3897,3405,0,0,0,0,0,0
$GC,1478,-0.91,-142.4,261.5,-20.2,144,1482,0.10,1.48,0.00,0.000,6,0.189,0.033,1570,2930,3405,0,0,0,0,0,0
$GC,1807,-0.91,-142.4,317.9,-16.6,160,1811,0.00,1.55,0.00,0.000,4,0.000,0.060,1563,3889,3405,0,0,0,0,0,0
$GC,1825,-0.91,-142.4,321.1,-16.8,160,1834,0.00,1.48,0.00,0.000,6,0.000,0.034,1563,2912,3405,0,0,0,0,0,0
$GC,2144,-0.91,-142.4,376.2,-16.8,176,2148,0.00,1.58,0.00,0.000,4,0.000,0.060,1556,3890,3405,0,0,0,0,0,0
$GC,2184,-0.91,-142.4,384.0,-18.3,177,2191,0.00,1.45,0.00,0.000,6,0.000,0.034,1556,2928,3405,0,0,0,0,0,0
$GC,2511,-0.91,-142.4,441.1,-17.7,190,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2928,3405,0,0,0,0,0,0
$GC,2817,-0.91,-142.4,494.8,-17.3,200,2821,0.00,1.55,0.00,0.000,4,0.000,0.061,1549,3891,3405,0,0,0,0,0,0
$GC,2840,-0.91,-142.4,499.2,-17.1,200,2844,0.00,1.45,0.00,0.000,6,0.000,0.034,1549,2932,3405,0,0,0,0,0,0
$GC,3161,-0.91,-142.4,551.9,-16.3,211,3165,0.00,1.55,0.00,0.000,4,0.000,0.061,1542,3891,3404,0,0,0,0,0,0
$GC,3201,-0.91,-142.4,559.2,-18.3,212,3205,0.10,1.48,0.00,0.000,6,0.189,0.034,1570,2923,3404,0,0,0,0,0,0
$GC,3539,-0.91,-142.4,608.5,-14.6,223,3543,0.00,1.58,0.00,0.000,4,0.000,0.063,1563,3896,3404,0,0,0,0,0,0
$GC,3576,-0.91,-142.4,614.1,-15.8,224,3580,0.00,1.48,0.00,0.000,6,0.000,0.034,1563,2919,3404,0,0,0,0,0,0
$GC,3920,-0.91,-142.4,666.9,-14.9,235,3924,0.00,2.10,0.00,0.000,4,0.000,0.038,1563,1523,3403,0,0,0,0,0,0
$GC,3938,-0.91,-142.4,670.2,-15.0,235,3942,0.00,2.20,0.00,0.000,6,0.000,0.055,1554,2918,3403,0,0,0,0,0,0
$GC,4254,-0.91,-142.4,719.7,-15.9,245,4257,0.00,1.55,0.00,0.000,4,0.000,0.063,1545,3898,3403,0,0,0,0,0,0
$GC,4294,-0.91,-142.4,726.9,-16.8,246,4298,0.08,1.48,0.00,0.000,6,0.193,0.034,1567,2928,3403,0,0,0,0,0,0
$GC,4632,-0.91,-142.4,776.9,-15.0,257,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2925,3403,0,0,0,0,0,0
$GC,4941,-0.91,-142.4,822.7,-15.1,267,4944,0.00,1.58,0.00,0.000,4,0.000,0.064,1561,3901,3403,0,0,0,0,0,0
$GC,4958,-0.91,-142.4,826.2,-14.9,267,4962,0.00,1.50,0.00,0.000,6,0.000,0.035,1561,2916,3402,0,0,0,0,0,0
$GC,5284,-0.91,-142.4,875.5,-15.1,278,5288,0.00,1.60,0.00,0.000,4,0.000,0.063,1553,3903,3402,0,0,0,0,0,0
$GC,5307,-0.91,-142.4,879.4,-15.2,278,5311,0.00,1.50,0.00,0.000,6,0.000,0.034,1553,2914,3401,0,0,0,0,0,0
$GC,5628,-0.91,-142.4,927.7,-14.9,289,5632,0.00,1.60,0.00,0.000,4,0.000,0.064,1546,3903,3401,0,0,0,0,0,0
$GC,5668,-0.91,-142.4,934.5,-15.6,290,5672,0.00,1.48,0.00,0.000,6,0.000,0.034,1546,2933,3401,0,0,0,0,0,0
$GC,6005,-0.91,-142.4,984.4,-14.4,301,6007,0.12,0.00,0.00,0.000,6,0.210,0.000,1574,2929,3400,0,0,0,0,0,0
$STATE,6123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6123,begin apogee
$GC,6134,-0.19,0.0,1000.1,12.7,305,6280,0.80,0.00,142.55,1.229,6,0.186,0.000,1806,2747,2819,0,0,0,0,0,0
$STATE,6282,end apogee,CONTROL_FINISHED_OK
$STATE,6282,begin climb
$GC,6287,0.91,142.4,1003.3,0.0,310,6447,1.00,2.17,143.50,1.789,4,0.060,0.062,2164,3893,2240,0,0,0,0,1,0
$GC,6461,0.91,142.4,964.4,33.8,315,6465,0.00,2.05,0.00,0.000,6,0.000,0.040,2173,2734,2241,0,0,0,0,0,0
$GC,6787,0.91,142.4,852.2,34.4,326,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2728,2234,0,0,0,0,0,0
$GC,7093,0.91,142.4,747.2,34.8,336,7097,0.00,2.25,0.00,0.000,4,0.000,0.046,2184,1318,2232,0,0,0,0,0,0
$GC,7134,0.91,142.4,733.2,33.0,337,7138,0.00,2.35,0.00,0.000,6,0.000,0.057,2183,2735,2230,0,0,0,0,0,0
$GC,7471,0.91,142.4,620.4,33.6,348,7475,0.00,2.25,0.00,0.000,4,0.000,0.046,2194,1318,2229,0,0,0,0,0,0
$GC,7546,0.91,142.4,596.5,29.5,350,7551,0.12,2.33,0.00,0.000,6,0.264,0.056,2171,2748,2228,0,0,0,0,0,0
$GC,7879,0.91,142.4,493.5,31.0,361,7883,0.00,2.28,0.00,0.000,4,0.000,0.046,2180,1317,2228,0,0,0,0,0,0
$GC,7896,0.91,142.4,487.3,30.7,361,7901,0.00,2.33,0.00,0.000,6,0.000,0.055,2180,2746,2227,0,0,0,0,0,0
$GC,8214,0.91,142.4,390.7,30.6,371,8218,0.00,2.25,0.00,0.000,4,0.000,0.047,2191,1317,2227,0,0,0,0,0,0
$GC,8233,0.91,142.4,383.6,31.1,372,8237,0.00,2.30,0.00,0.000,6,0.000,0.054,2191,2740,2227,0,0,0,0,0,0
$GC,8569,0.91,142.4,280.2,30.9,388,8573,0.00,2.25,0.00,0.000,4,0.000,0.046,2200,1316,2227,0,0,0,0,0,0
$GC,8591,0.91,142.4,273.7,31.8,389,8596,0.15,2.28,0.00,0.000,6,0.264,0.055,2171,2737,2227,0,0,0,0,0,0
$GC,8931,0.91,142.4,178.3,27.8,409,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2737,2226,0,0,0,0,0,0
$GC,9257,0.91,142.4,84.4,26.4,436,9264,0.00,2.22,0.00,0.000,4,0.000,0.044,2181,1317,2226,0,0,0,0,0,0
$GC,9332,0.91,142.4,65.9,22.9,448,9339,0.00,2.28,0.00,0.000,6,0.000,0.056,2172,2735,2225,0,0,0,0,0,0
$STATE,9577,end climb,SURFACE_DEPTH_REACHED
$STATE,9577,begin surface coast
$FINISH,0.4,1.013681
$STATE,9591,end surface coast,CONTROL_FINISHED_OK
$STATE,9591,begin surface
$SM_CCo,9613,180.45,0.791,1,0,517,564.18
$SM_GC,1.11,0.00,0.00,180.45,0.000,0.000,0.791,54,2929,517,-5.68,0.17,564.18
$IRIDIUM_FIX,-4613.60,358.00,271212,191914
$TT8_MAMPS,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.8,25.910
$10V_AH,10.1,11.043
$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,14.275,76.200,286.050,180.450,0.000,28.648,51.051,320.373,0.000,0.000,24.972,1229.542,6363.752,581.242,1720.173,511.580,33.359,1207.650,0.000,1291.710,0.000,1.010,0.000
$DEVICE_MAMPS,263.925,79.560,1789.335,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.132,991.776,554.792,229.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,37056,490
$CAP_FILE_SIZE,85720,0
$CFSIZE,259252224,221237248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,281212,014551,-4628.246,403.966,25,1.2,39,-23.3