version: 66.07
glider: 542
mission: 6
dive: 139
start: 12 29 112 18 38 0
data:
$ID,542
$MISSION,6
$DIVE,139
$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,-10853.932
$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,27
$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
$GPS1,291212,182722,-4631.118,403.243,25,0.8,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-36.5
$GPS2,291212,183659,-4631.106,403.248,20,1.0,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.170,0.034
$KALMAN_X,-80799.6,787.4,516.4,62085.5,-5616.4
$KALMAN_Y,39667.6,235.8,-119.7,-2434.3,1744.2
$MHEAD_RNG_PITCHd_Wd,101.9,4620,-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,-63.1,0.0,0.0,0,163,0.00,0.00,-133.80,0.000,6,0.000,0.000,55,2940,3078,0,0,0,0,0,0
$GC,170,-0.90,-131.4,2.7,-2.7,17,196,6.30,1.58,-8.75,0.000,4,0.254,0.073,1568,3906,3358,0,0,0,0,0,0
$GC,469,-0.90,-131.4,67.3,-20.3,65,474,0.00,1.52,0.00,0.000,6,0.000,0.033,1568,2908,3359,0,0,0,0,0,0
$GC,811,-0.90,-131.4,131.6,-18.1,105,815,0.00,1.60,0.00,0.000,4,0.000,0.057,1561,3893,3361,0,0,0,0,0,0
$GC,1073,-0.90,-131.4,182.6,-18.9,120,1076,0.00,1.48,0.00,0.000,6,0.000,0.033,1561,2917,3360,0,0,0,0,0,0
$GC,1401,-0.90,-131.4,240.6,-18.1,141,1405,0.00,1.58,0.00,0.000,4,0.000,0.058,1554,3892,3361,0,0,0,0,0,0
$GC,1455,-0.90,-131.4,251.0,-18.7,144,1459,0.00,1.45,0.00,0.000,6,0.000,0.032,1554,2932,3361,0,0,0,0,0,0
$GC,1784,-0.90,-131.4,311.5,-18.3,160,1788,0.00,1.55,0.00,0.000,4,0.000,0.057,1547,3894,3361,0,0,0,0,0,0
$GC,1832,-0.90,-131.4,320.6,-20.2,162,1837,0.10,1.48,0.00,0.000,6,0.192,0.032,1574,2921,3361,0,0,0,0,0,0
$GC,2168,-0.90,-131.4,375.3,-15.9,178,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2916,3361,0,0,0,0,0,0
$GC,2486,-0.90,-131.4,425.4,-15.8,191,2489,0.00,1.58,0.00,0.000,4,0.000,0.059,1568,3897,3361,0,0,0,0,0,0
$GC,2526,-0.90,-131.4,432.3,-17.2,192,2529,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2922,3361,0,0,0,0,0,0
$GC,2863,-0.90,-131.4,487.5,-16.6,203,2867,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3897,3361,0,0,0,0,0,0
$GC,2903,-0.90,-131.4,494.8,-18.1,204,2907,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2921,3360,0,0,0,0,0,0
$GC,3240,-0.90,-131.4,550.9,-16.2,215,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2917,3360,0,0,0,0,0,0
$GC,3546,-0.90,-131.4,600.4,-15.6,225,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2917,3359,0,0,0,0,0,0
$GC,3853,-0.90,-131.4,646.7,-14.7,235,3857,0.00,1.58,0.00,0.000,4,0.000,0.060,1554,3897,3359,0,0,0,0,0,0
$GC,3882,-0.90,-131.4,651.5,-15.6,235,3889,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2918,3358,0,0,0,0,0,0
$GC,4197,-0.90,-131.4,701.0,-15.9,246,4201,0.00,1.58,0.00,0.000,4,0.000,0.060,1546,3899,3358,0,0,0,0,0,0
$GC,4243,-0.90,-131.4,708.9,-17.1,247,4247,0.08,1.48,0.00,0.000,6,0.187,0.034,1567,2928,3358,0,0,0,0,0,0
$GC,4575,-0.90,-131.4,757.2,-14.6,258,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3358,0,0,0,0,0,0
$GC,4884,-0.90,-131.4,800.7,-14.2,268,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3357,0,0,0,0,0,0
$GC,5187,-0.90,-131.4,842.4,-13.3,278,5191,0.00,2.12,0.00,0.000,4,0.000,0.040,1568,1519,3357,0,0,0,0,0,0
$GC,5211,-0.90,-131.4,845.8,-13.9,278,5218,0.00,2.22,0.00,0.000,6,0.000,0.054,1558,2925,3357,0,0,0,0,0,0
$GC,5527,-0.90,-131.4,889.2,-14.1,289,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2925,3357,0,0,0,0,0,0
$GC,5832,-0.90,-131.4,932.0,-14.0,299,5836,0.00,2.12,0.00,0.000,4,0.000,0.038,1558,1519,3356,0,0,0,0,0,0
$GC,5867,-0.90,-131.4,937.0,-13.7,300,5872,0.12,2.22,0.00,0.000,6,0.207,0.054,1576,2923,3356,0,0,0,0,0,0
$GC,6200,-0.90,-131.4,976.8,-11.7,311,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2923,3356,0,0,0,0,0,0
$STATE,6409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6409,begin apogee
$GC,6420,-0.19,0.0,1001.8,11.8,318,6562,0.77,0.00,133.50,1.229,6,0.181,0.000,1802,2733,2814,0,0,0,0,0,0
$STATE,6564,end apogee,CONTROL_FINISHED_OK
$STATE,6564,begin climb
$GC,6568,0.90,131.4,1003.5,0.0,323,6714,0.98,2.17,132.48,1.788,4,0.057,0.058,2159,3896,2284,0,0,0,0,1,0
$GC,6778,0.90,131.4,953.6,33.8,329,6782,0.00,1.95,0.00,0.000,6,0.000,0.038,2168,2749,2282,0,0,0,0,0,0
$GC,7105,0.90,131.4,852.1,30.9,340,7109,0.00,2.33,0.00,0.000,4,0.000,0.046,2179,1315,2276,0,0,0,0,0,0
$GC,7173,0.90,131.4,831.3,28.7,342,7178,0.00,2.35,0.00,0.000,6,0.000,0.051,2179,2732,2275,0,0,0,0,0,0
$GC,7506,0.90,131.4,730.3,30.5,353,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2731,2274,0,0,0,0,0,0
$GC,7814,0.90,131.4,635.0,31.4,363,7818,0.00,2.25,0.00,0.000,4,0.000,0.045,2189,1318,2273,0,0,0,0,0,0
$GC,7848,0.90,131.4,625.0,29.5,364,7852,0.00,2.30,0.00,0.000,6,0.000,0.050,2189,2741,2271,0,0,0,0,0,0
$GC,8185,0.90,131.4,521.3,30.3,375,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2741,2271,0,0,0,0,0,0
$GC,8492,0.90,131.4,428.5,29.9,385,8496,0.00,2.25,0.00,0.000,4,0.000,0.045,2200,1319,2271,0,0,0,0,0,0
$GC,8515,0.90,131.4,421.1,28.7,385,8520,0.17,2.28,0.00,0.000,6,0.252,0.051,2163,2742,2271,0,0,0,0,0,0
$GC,8845,0.90,131.4,329.7,27.8,399,8849,0.00,2.25,0.00,0.000,4,0.000,0.045,2172,1314,2270,0,0,0,0,0,0
$GC,8897,0.90,131.4,314.9,24.6,401,8901,0.00,2.28,0.00,0.000,6,0.000,0.050,2172,2737,2269,0,0,0,0,0,0
$GC,9227,0.90,131.4,223.8,28.2,418,9231,0.00,2.22,0.00,0.000,4,0.000,0.045,2182,1322,2269,0,0,0,0,0,0
$GC,9245,0.90,131.4,218.2,28.0,419,9249,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2735,2269,0,0,0,0,0,0
$GC,9569,0.90,131.4,129.9,27.1,439,9573,0.00,2.20,0.00,0.000,4,0.000,0.045,2192,1316,2269,0,0,0,0,0,0
$GC,9623,0.90,131.4,115.4,26.2,442,9628,0.12,2.28,0.00,0.000,6,0.254,0.051,2167,2743,2269,0,0,0,0,0,0
$GC,9978,0.90,131.4,27.5,23.8,496,9987,0.00,1.83,0.00,0.000,4,0.000,0.056,2167,3894,2269,0,0,0,0,0,0
$GC,10066,0.90,131.4,5.1,27.6,509,10074,0.00,1.83,0.00,0.000,6,0.000,0.039,2175,2725,2268,0,0,0,0,0,0
$STATE,10083,end climb,SURFACE_DEPTH_REACHED
$STATE,10083,begin surface coast
$FINISH,0.5,1.026420
$STATE,10097,end surface coast,CONTROL_FINISHED_OK
$STATE,10097,begin surface
$SM_CCo,10119,186.02,0.789,1,0,516,564.18
$SM_GC,1.03,0.00,0.00,186.02,0.000,0.000,0.789,63,2938,516,-5.65,0.40,564.18
$IRIDIUM_FIX,-4613.60,404.25,291212,121221
$TT8_MAMPS,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.9,28.423
$10V_AH,10.1,12.142
$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,14.400,68.725,265.975,186.025,0.000,32.357,21.560,315.732,0.000,0.000,26.111,1288.582,6780.283,559.926,1761.495,496.932,33.361,1194.023,0.000,1358.066,0.000,1.012,0.000
$DEVICE_MAMPS,253.980,73.440,1787.805,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.270,1029.382,571.256,231.093,0.000,0.000,0.000,0.000,0.000,0.000
$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,37081,513
$CAP_FILE_SIZE,85514,0
$CFSIZE,259252224,220577792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,291212,213104,-4630.770,404.488,26,1.2,26,-23.3