version: 66.07
glider: 542
mission: 6
dive: 141
start: 12 30 112 0 45 27
data:
$ID,542
$MISSION,6
$DIVE,141
$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,-10864.529
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,301212,003435,-4629.574,404.461,26,1.0,26,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-34.7
$GPS2,301212,004425,-4629.604,404.440,23,1.2,23,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.116,-0.129
$KALMAN_X,-82178.7,518.3,355.7,65405.9,-5235.2
$KALMAN_Y,38379.7,-87.9,-189.0,2041.1,-334.6
$MHEAD_RNG_PITCHd_Wd,245.3,5708,-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,-63.1,0.0,0.0,0,162,0.00,0.00,-131.73,0.000,6,0.000,0.000,62,2938,3078,0,0,0,0,0,0
$GC,169,-0.90,-136.4,2.9,-2.2,17,187,6.20,0.00,-8.25,0.000,6,0.252,0.000,1571,2938,3378,0,0,0,0,0,0
$GC,266,-0.90,-136.4,24.0,-21.9,31,275,0.00,2.22,0.00,0.000,4,0.000,0.037,1575,1520,3380,0,0,0,0,0,0
$GC,303,-0.90,-136.4,32.0,-19.7,36,313,0.00,2.28,0.00,0.000,6,0.000,0.051,1565,2914,3380,0,0,0,0,0,0
$GC,553,-0.90,-136.4,82.6,-18.4,77,557,0.00,1.58,0.00,0.000,4,0.000,0.057,1558,3901,3381,0,0,0,0,0,0
$GC,639,-0.90,-136.4,99.4,-18.3,92,646,0.00,1.50,0.00,0.000,6,0.000,0.032,1558,2910,3380,0,0,0,0,0,0
$GC,963,-0.90,-136.4,158.8,-18.2,113,964,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2909,3381,0,0,0,0,0,0
$GC,1275,-0.90,-136.4,216.1,-18.3,133,1279,0.00,1.60,0.00,0.000,4,0.000,0.057,1552,3904,3381,0,0,0,0,0,0
$GC,1338,-0.90,-136.4,228.4,-18.5,136,1347,0.00,1.48,0.00,0.000,6,0.000,0.032,1552,2923,3381,0,0,0,0,0,0
$GC,1658,-0.90,-136.4,287.8,-19.0,154,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2923,3381,0,0,0,0,0,0
$GC,1969,-0.90,-136.4,344.9,-17.9,169,1973,0.00,1.58,0.00,0.000,4,0.000,0.059,1545,3901,3381,0,0,0,0,0,0
$GC,1998,-0.90,-136.4,351.1,-19.1,170,2003,0.10,1.48,0.00,0.000,6,0.189,0.033,1572,2931,3381,0,0,0,0,0,0
$GC,2338,-0.90,-136.4,406.1,-15.9,186,2342,0.00,1.55,0.00,0.000,4,0.000,0.059,1566,3893,3381,0,0,0,0,0,0
$GC,2378,-0.90,-136.4,413.4,-17.6,187,2382,0.00,1.48,0.00,0.000,6,0.000,0.033,1568,2913,3381,0,0,0,0,0,0
$GC,2718,-0.90,-136.4,467.1,-15.7,198,2721,0.00,1.60,0.00,0.000,4,0.000,0.060,1561,3903,3381,0,0,0,0,0,0
$GC,2804,-0.90,-136.4,482.1,-16.8,200,2808,0.00,1.48,0.00,0.000,6,0.000,0.034,1562,2926,3381,0,0,0,0,0,0
$GC,3132,-0.90,-136.4,535.8,-16.4,211,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2923,3381,0,0,0,0,0,0
$GC,3436,-0.90,-136.4,586.1,-16.1,221,3440,0.00,1.60,0.00,0.000,4,0.000,0.061,1554,3900,3381,0,0,0,0,0,0
$GC,3473,-0.90,-136.4,592.0,-16.5,222,3476,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2925,3381,0,0,0,0,0,0
$GC,3816,-0.90,-136.4,646.1,-15.3,233,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2921,3381,0,0,0,0,0,0
$GC,4122,-0.90,-136.4,692.1,-14.8,243,4125,0.00,1.58,0.00,0.000,4,0.000,0.060,1547,3900,3381,0,0,0,0,0,0
$GC,4167,-0.90,-136.4,699.7,-16.2,244,4172,0.08,1.48,0.00,0.000,6,0.190,0.034,1568,2928,3380,0,0,0,0,0,0
$GC,4500,-0.90,-136.4,745.8,-13.9,255,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3380,0,0,0,0,0,0
$GC,4807,-0.90,-136.4,788.1,-14.0,265,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2925,3380,0,0,0,0,0,0
$GC,5112,-0.90,-136.4,831.2,-14.0,275,5115,0.00,1.58,0.00,0.000,4,0.000,0.062,1562,3903,3379,0,0,0,0,0,0
$GC,5169,-0.90,-136.4,840.2,-16.0,276,5173,0.00,1.50,0.00,0.000,6,0.000,0.034,1562,2905,3379,0,0,0,0,0,0
$GC,5490,-0.90,-136.4,886.4,-14.8,287,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2901,3378,0,0,0,0,0,0
$GC,5796,-0.90,-136.4,930.9,-14.4,297,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2901,3379,0,0,0,0,0,0
$GC,6102,-0.90,-136.4,974.1,-13.9,307,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2901,3378,0,0,0,0,0,0
$STATE,6312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6312,begin apogee
$GC,6323,-0.19,0.0,1003.8,13.7,314,6465,0.82,0.00,138.00,1.229,6,0.186,0.000,1801,2741,2817,0,0,0,0,0,0
$STATE,6467,end apogee,CONTROL_FINISHED_OK
$STATE,6467,begin climb
$GC,6472,0.90,136.4,1006.8,0.0,319,6626,1.02,2.53,137.55,1.796,4,0.055,0.047,2181,1348,2263,0,0,0,0,1,0
$GC,6668,0.90,136.4,963.2,30.0,325,6672,0.00,2.47,0.00,0.000,6,0.000,0.052,2181,2736,2262,0,0,0,0,0,0
$GC,6995,0.90,136.4,859.5,31.9,336,6999,0.00,2.30,0.00,0.000,4,0.000,0.046,2191,1335,2258,0,0,0,0,0,0
$GC,7047,0.90,136.4,843.0,30.0,337,7051,0.00,2.33,0.00,0.000,6,0.000,0.052,2192,2737,2256,0,0,0,0,0,0
$GC,7367,0.90,136.4,740.8,32.2,348,7371,0.00,2.25,0.00,0.000,4,0.000,0.045,2202,1335,2254,0,0,0,0,0,0
$GC,7408,0.90,136.4,727.7,31.1,349,7413,0.15,2.30,0.00,0.000,6,0.253,0.052,2169,2746,2254,0,0,0,0,0,0
$GC,7741,0.90,136.4,627.4,29.8,360,7745,0.00,2.22,0.00,0.000,4,0.000,0.045,2179,1343,2253,0,0,0,0,0,0
$GC,7764,0.90,136.4,619.6,29.6,360,7768,0.00,2.25,0.00,0.000,6,0.000,0.051,2172,2735,2253,0,0,0,0,0,0
$GC,8080,0.90,136.4,527.4,29.5,370,8084,0.00,2.20,0.00,0.000,4,0.000,0.045,2181,1342,2253,0,0,0,0,0,0
$GC,8104,0.90,136.4,520.0,29.0,370,8110,0.00,2.25,0.00,0.000,6,0.000,0.052,2181,2744,2252,0,0,0,0,0,0
$GC,8420,0.90,136.4,427.0,30.0,381,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2744,2252,0,0,0,0,0,0
$GC,8739,0.90,136.4,334.2,28.9,395,8743,0.00,2.20,0.00,0.000,4,0.000,0.045,2192,1343,2251,0,0,0,0,0,0
$GC,8774,0.90,136.4,323.3,27.6,396,8779,0.12,2.22,0.00,0.000,6,0.256,0.051,2167,2737,2250,0,0,0,0,0,0
$GC,9106,0.90,136.4,232.3,27.6,413,9110,0.00,2.17,0.00,0.000,4,0.000,0.045,2176,1337,2251,0,0,0,0,0,0
$GC,9174,0.90,136.4,214.2,26.3,417,9178,0.00,2.22,0.00,0.000,6,0.000,0.051,2170,2736,2250,0,0,0,0,0,0
$GC,9501,0.90,136.4,123.9,26.9,438,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2736,2250,0,0,0,0,0,0
$GC,9836,0.90,136.4,36.5,26.8,486,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2736,2250,0,0,0,0,0,0
$STATE,9968,end climb,SURFACE_DEPTH_REACHED
$STATE,9968,begin surface coast
$FINISH,0.6,1.026439
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9986,begin surface
$SM_CCo,10008,184.23,0.789,1,0,516,564.18
$SM_GC,1.06,0.00,0.00,184.23,0.000,0.000,0.789,61,2942,516,-5.66,0.54,564.18
$IRIDIUM_FIX,-4616.72,404.25,291212,212147
$TT8_MAMPS,0.026215
$HUMID,57.28
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.9,28.754
$10V_AH,10.1,12.296
$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,14.325,61.425,275.550,184.225,0.000,28.516,34.309,319.304,0.000,0.000,28.977,1265.950,6749.957,567.652,1706.383,499.366,33.360,1180.117,0.000,1293.332,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,65.790,1796.220,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.891,1023.901,561.322,231.434,0.000,0.000,0.000,0.000,0.000,0.000
$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,37063,509
$CAP_FILE_SIZE,82482,0
$CFSIZE,259252224,220483584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301212,033652,-4629.875,402.345,40,1.3,40,-23.3