version: 66.07
glider: 542
mission: 6
dive: 130
start: 12 28 112 14 1 1
data:
$ID,542
$MISSION,6
$DIVE,130
$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,-10806.377
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,281212,135128,-4629.307,400.744,38,0.8,38,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-32.8
$GPS2,281212,135959,-4629.322,400.757,15,1.5,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.101,-0.141
$KALMAN_X,-70488.6,-276.1,465.8,49740.4,515.9
$KALMAN_Y,36710.7,526.7,97.4,3319.3,771.6
$MHEAD_RNG_PITCHd_Wd,239.1,1584,-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,-136.12,0.000,6,0.000,0.000,49,2942,3078,0,0,0,0,0,0
$GC,176,-0.90,-131.7,3.0,-2.7,18,195,6.32,1.60,-7.57,0.000,4,0.255,0.082,1565,3901,3358,0,0,0,0,0,0
$GC,274,-0.90,-131.7,24.7,-20.9,32,283,0.00,1.52,0.00,0.000,6,0.000,0.033,1565,2902,3360,0,0,0,0,0,0
$GC,362,-0.90,-131.7,42.0,-20.4,45,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2902,3361,0,0,0,0,0,0
$GC,606,-0.90,-131.7,90.8,-17.4,86,612,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2902,3361,0,0,0,0,0,0
$GC,939,-0.90,-131.7,149.0,-16.4,112,943,0.00,1.62,0.00,0.000,4,0.000,0.063,1558,3896,3362,0,0,0,0,0,0
$GC,1168,-0.90,-131.7,190.5,-17.2,125,1172,0.00,1.48,0.00,0.000,6,0.000,0.033,1558,2922,3362,0,0,0,0,0,0
$GC,1495,-0.90,-131.7,244.4,-17.0,146,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2918,3362,0,0,0,0,0,0
$GC,1809,-0.90,-131.7,297.2,-16.4,162,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2918,3363,0,0,0,0,0,0
$GC,2121,-0.90,-131.7,348.8,-16.6,177,2124,0.00,1.60,0.00,0.000,4,0.000,0.064,1553,3903,3363,0,0,0,0,0,0
$GC,2192,-0.90,-131.7,361.1,-16.9,180,2195,0.00,1.48,0.00,0.000,6,0.000,0.034,1552,2936,3363,0,0,0,0,0,0
$GC,2515,-0.90,-131.7,416.4,-17.2,194,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2934,3363,0,0,0,0,0,0
$GC,2823,-0.90,-131.7,467.2,-16.3,204,2826,0.00,1.55,0.00,0.000,4,0.000,0.063,1545,3894,3362,0,0,0,0,0,0
$GC,2860,-0.90,-131.7,473.7,-17.4,205,2864,0.10,1.48,0.00,0.000,6,0.195,0.034,1572,2925,3362,0,0,0,0,0,0
$GC,3203,-0.90,-131.7,524.7,-14.7,216,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2922,3362,0,0,0,0,0,0
$GC,3509,-0.90,-131.7,570.5,-15.0,226,3513,0.00,1.58,0.00,0.000,4,0.000,0.065,1565,3896,3361,0,0,0,0,0,0
$GC,3555,-0.90,-131.7,578.2,-15.7,227,3559,0.00,1.48,0.00,0.000,6,0.000,0.034,1566,2925,3361,0,0,0,0,0,0
$GC,3887,-0.90,-131.7,629.6,-15.4,238,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3360,0,0,0,0,0,0
$GC,4193,-0.90,-131.7,675.4,-14.7,248,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3359,0,0,0,0,0,0
$GC,4500,-0.90,-131.7,719.1,-14.2,258,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3359,0,0,0,0,0,0
$GC,4807,-0.90,-131.7,760.3,-13.2,268,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3359,0,0,0,0,0,0
$GC,5112,-0.90,-131.7,799.6,-12.8,278,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3359,0,0,0,0,0,0
$GC,5418,-0.90,-131.7,840.3,-13.3,288,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2921,3358,0,0,0,0,0,0
$GC,5724,-0.90,-131.7,882.2,-13.9,298,5728,0.00,2.10,0.00,0.000,4,0.000,0.040,1565,1519,3357,0,0,0,0,0,0
$GC,5787,-0.90,-131.7,891.1,-12.7,299,5794,0.00,2.25,0.00,0.000,6,0.000,0.058,1555,2931,3357,0,0,0,0,0,0
$GC,6103,-0.90,-131.7,936.8,-14.6,310,6106,0.00,2.15,0.00,0.000,4,0.000,0.039,1555,1521,3357,0,0,0,0,0,0
$GC,6160,-0.90,-131.7,945.2,-13.8,311,6167,0.12,2.25,0.00,0.000,6,0.208,0.057,1573,2935,3357,0,0,0,0,0,0
$GC,6475,-0.90,-131.7,984.7,-12.5,322,6479,0.00,2.15,0.00,0.000,4,0.000,0.038,1573,1522,3357,0,0,0,0,0,0
$GC,6510,-0.90,-131.7,989.3,-12.7,323,6514,0.00,2.25,0.00,0.000,6,0.000,0.057,1564,2932,3357,0,0,0,0,0,0
$STATE,6623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6623,begin apogee
$GC,6634,-0.19,0.0,1003.7,12.7,327,6769,0.85,0.00,132.12,1.253,6,0.191,0.000,1805,2726,2819,0,0,0,0,0,0
$STATE,6771,end apogee,CONTROL_FINISHED_OK
$STATE,6771,begin climb
$GC,6776,0.90,131.7,1005.9,0.0,331,6922,0.98,2.53,132.80,1.792,4,0.059,0.046,2170,1337,2283,0,0,0,0,1,0
$GC,6970,0.90,131.7,961.6,30.5,337,6974,0.00,2.50,0.00,0.000,6,0.000,0.054,2170,2739,2281,0,0,0,0,0,0
$GC,7302,0.90,131.7,852.9,33.2,348,7306,0.00,2.30,0.00,0.000,4,0.000,0.047,2180,1338,2276,0,0,0,0,0,0
$GC,7382,0.90,131.7,827.0,30.7,350,7386,0.00,2.35,0.00,0.000,6,0.000,0.054,2180,2745,2275,0,0,0,0,0,0
$GC,7708,0.90,131.7,718.4,33.7,361,7713,0.00,2.28,0.00,0.000,4,0.000,0.047,2191,1333,2274,0,0,0,0,0,0
$GC,7749,0.90,131.7,705.2,31.6,362,7754,0.12,2.30,0.00,0.000,6,0.257,0.054,2167,2733,2272,0,0,0,0,0,0
$GC,8076,0.90,131.7,602.0,31.6,373,8080,0.00,2.22,0.00,0.000,4,0.000,0.047,2176,1336,2271,0,0,0,0,0,0
$GC,8117,0.90,131.7,589.1,30.2,374,8121,0.00,2.28,0.00,0.000,6,0.000,0.053,2169,2739,2271,0,0,0,0,0,0
$GC,8443,0.90,131.7,490.8,30.5,385,8447,0.00,2.22,0.00,0.000,4,0.000,0.045,2179,1335,2271,0,0,0,0,0,0
$GC,8478,0.90,131.7,479.9,28.6,386,8482,0.00,2.28,0.00,0.000,6,0.000,0.054,2179,2743,2270,0,0,0,0,0,0
$GC,8810,0.90,131.7,381.0,29.6,398,8814,0.00,2.22,0.00,0.000,4,0.000,0.047,2189,1330,2270,0,0,0,0,0,0
$GC,8854,0.90,131.7,368.3,28.8,400,8858,0.00,2.28,0.00,0.000,6,0.000,0.054,2190,2745,2270,0,0,0,0,0,0
$GC,9183,0.90,131.7,272.6,27.5,416,9187,0.00,2.22,0.00,0.000,4,0.000,0.045,2200,1334,2270,0,0,0,0,0,0
$GC,9201,0.90,131.7,266.8,29.1,416,9211,0.12,2.28,0.00,0.000,6,0.247,0.053,2169,2737,2270,0,0,0,0,0,0
$GC,9524,0.90,131.7,176.5,28.5,436,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2737,2270,0,0,0,0,0,0
$GC,9835,0.90,131.7,91.9,26.8,458,9842,0.00,1.83,0.00,0.000,4,0.000,0.060,2166,3903,2269,0,0,0,0,0,0
$GC,9906,0.90,131.7,72.7,28.1,469,9910,0.00,1.83,0.00,0.000,6,0.000,0.041,2173,2747,2269,0,0,0,0,0,0
$STATE,10175,end climb,SURFACE_DEPTH_REACHED
$STATE,10175,begin surface coast
$FINISH,0.5,1.012892
$STATE,10189,end surface coast,CONTROL_FINISHED_OK
$STATE,10189,begin surface
$SM_CCo,10212,183.00,0.786,1,0,517,564.18
$SM_GC,0.92,0.00,0.00,183.00,0.000,0.000,0.786,56,2930,517,-5.67,0.20,564.18
$IRIDIUM_FIX,-4613.60,404.02,281212,101021
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.9,26.817
$10V_AH,10.1,11.425
$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,14.425,65.050,264.925,183.000,0.000,26.390,19.214,279.649,0.000,0.000,17.802,1288.884,6870.996,560.632,1710.294,481.811,33.361,1190.572,0.000,1356.195,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,81.855,1792.395,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.845,1045.043,577.900,227.590,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,37050,516
$CAP_FILE_SIZE,84259,0
$CFSIZE,259252224,221016064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,281212,165534,-4630.041,358.771,26,0.9,26,-23.3