version: 66.07
glider: 542
mission: 6
dive: 145
start: 12 30 112 13 45 53
data:
$ID,542
$MISSION,6
$DIVE,145
$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,-10884.867
$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,69
$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
$GPS1,301212,133449,-4631.909,400.438,19,0.8,19,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-33.3
$GPS2,301212,134452,-4631.872,400.288,40,0.8,41,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.115,0.130
$KALMAN_X,-80595.2,523.0,79.2,58852.4,-1663.2
$KALMAN_Y,42607.4,145.5,89.5,-6897.1,1981.2
$MHEAD_RNG_PITCHd_Wd,64.7,3486,-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,-132.00,0.000,6,0.000,0.000,56,2933,3078,0,0,0,0,0,0
$GC,169,-0.90,-131.8,2.8,-2.7,17,196,6.18,2.20,-8.52,0.000,4,0.248,0.053,1577,1535,3360,0,0,0,0,0,0
$GC,336,-0.90,-131.8,33.3,-18.3,42,345,0.00,2.25,0.00,0.000,6,0.000,0.051,1568,2920,3361,0,0,0,0,0,0
$GC,582,-0.90,-131.8,81.4,-17.8,83,587,0.00,1.55,0.00,0.000,4,0.000,0.057,1561,3893,3361,0,0,0,0,0,0
$GC,724,-0.90,-131.8,108.5,-19.2,103,728,0.00,1.45,0.00,0.000,6,0.000,0.033,1561,2936,3361,0,0,0,0,0,0
$GC,1058,-0.90,-131.8,168.2,-17.3,124,1062,0.00,2.10,0.00,0.000,4,0.000,0.035,1561,1527,3362,0,0,0,0,0,0
$GC,1077,-0.90,-131.8,172.2,-17.2,125,1081,0.00,2.22,0.00,0.000,6,0.000,0.050,1551,2927,3362,0,0,0,0,0,0
$GC,1400,-0.90,-131.8,229.9,-18.1,145,1405,0.12,2.12,0.00,0.000,4,0.216,0.035,1579,1528,3363,0,0,0,0,0,0
$GC,1436,-0.90,-131.8,235.7,-16.4,147,1440,0.00,2.22,0.00,0.000,6,0.000,0.051,1571,2930,3363,0,0,0,0,0,0
$GC,1755,-0.90,-131.8,288.4,-16.4,164,1758,0.00,1.52,0.00,0.000,4,0.000,0.058,1563,3896,3363,0,0,0,0,0,0
$GC,1783,-0.90,-131.8,292.7,-16.9,165,1786,0.00,1.48,0.00,0.000,6,0.000,0.032,1563,2913,3363,0,0,0,0,0,0
$GC,2119,-0.90,-131.8,349.9,-17.4,181,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2909,3363,0,0,0,0,0,0
$GC,2426,-0.90,-131.8,402.8,-16.6,196,2430,0.00,1.60,0.00,0.000,4,0.000,0.059,1556,3901,3363,0,0,0,0,0,0
$GC,2450,-0.90,-131.8,407.4,-18.3,196,2454,0.00,1.48,0.00,0.000,6,0.000,0.033,1555,2923,3363,0,0,0,0,0,0
$GC,2772,-0.90,-131.8,462.5,-17.3,207,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2920,3363,0,0,0,0,0,0
$GC,3076,-0.90,-131.8,513.5,-16.5,217,3080,0.00,1.58,0.00,0.000,4,0.000,0.059,1548,3902,3363,0,0,0,0,0,0
$GC,3094,-0.90,-131.8,516.7,-16.4,217,3098,0.08,1.48,0.00,0.000,6,0.186,0.033,1570,2929,3363,0,0,0,0,0,0
$GC,3421,-0.90,-131.8,567.0,-15.3,228,3424,0.00,1.55,0.00,0.000,4,0.000,0.060,1565,3891,3363,0,0,0,0,0,0
$GC,3466,-0.90,-131.8,574.6,-15.9,229,3470,0.00,1.48,0.00,0.000,6,0.000,0.034,1564,2911,3363,0,0,0,0,0,0
$GC,3798,-0.90,-131.8,623.4,-14.4,240,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2906,3363,0,0,0,0,0,0
$GC,4106,-0.90,-131.8,667.8,-14.6,250,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2906,3362,0,0,0,0,0,0
$GC,4410,-0.90,-131.8,713.6,-15.1,260,4414,0.00,1.60,0.00,0.000,4,0.000,0.060,1556,3901,3363,0,0,0,0,0,0
$GC,4456,-0.90,-131.8,721.3,-16.8,261,4459,0.00,1.48,0.00,0.000,6,0.000,0.034,1556,2928,3362,0,0,0,0,0,0
$GC,4788,-0.90,-131.8,771.0,-14.7,272,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2923,3362,0,0,0,0,0,0
$GC,5095,-0.90,-131.8,815.7,-14.4,282,5099,0.00,1.60,0.00,0.000,4,0.000,0.062,1549,3903,3361,0,0,0,0,0,0
$GC,5124,-0.90,-131.8,820.7,-15.7,282,5131,0.08,1.48,0.00,0.000,6,0.182,0.034,1571,2928,3361,0,0,0,0,0,0
$GC,5439,-0.90,-131.8,861.1,-12.7,293,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2928,3361,0,0,0,0,0,0
$GC,5745,-0.90,-131.8,901.0,-13.2,303,5749,0.00,2.10,0.00,0.000,4,0.000,0.038,1571,1520,3361,0,0,0,0,0,0
$GC,5786,-0.90,-131.8,906.7,-12.7,304,5790,0.00,2.22,0.00,0.000,6,0.000,0.054,1562,2923,3360,0,0,0,0,0,0
$GC,6112,-0.90,-131.8,952.2,-14.2,315,6116,0.00,2.12,0.00,0.000,4,0.000,0.037,1562,1525,3360,0,0,0,0,0,0
$GC,6147,-0.90,-131.8,957.4,-13.3,316,6151,0.00,2.22,0.00,0.000,6,0.000,0.054,1551,2930,3360,0,0,0,0,0,0
$STATE,6443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6443,begin apogee
$GC,6454,-0.19,0.0,1000.1,14.4,326,6596,0.88,0.00,133.77,1.258,6,0.186,0.000,1802,2740,2815,0,0,0,0,0,0
$STATE,6598,end apogee,CONTROL_FINISHED_OK
$STATE,6598,begin climb
$GC,6603,0.90,131.8,1004.1,0.0,331,6755,1.02,2.15,133.88,1.810,4,0.059,0.056,2167,3892,2283,0,0,0,0,1,0
$GC,6794,0.90,131.8,962.7,34.2,337,6797,0.00,1.98,0.00,0.000,6,0.000,0.039,2176,2744,2282,0,0,0,0,0,0
$GC,7136,0.90,131.8,853.7,31.7,348,7140,0.00,2.28,0.00,0.000,4,0.000,0.046,2187,1325,2276,0,0,0,0,0,0
$GC,7160,0.90,131.8,845.7,31.5,348,7164,0.00,2.35,0.00,0.000,6,0.000,0.051,2187,2733,2275,0,0,0,0,0,0
$GC,7475,0.90,131.8,745.4,32.2,358,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2734,2274,0,0,0,0,0,0
$GC,7781,0.90,131.8,648.7,31.1,368,7785,0.00,2.22,0.00,0.000,4,0.000,0.046,2197,1322,2273,0,0,0,0,0,0
$GC,7827,0.90,131.8,634.7,29.3,369,7832,0.15,2.30,0.00,0.000,6,0.254,0.052,2167,2745,2271,0,0,0,0,0,0
$GC,8155,0.90,131.8,542.4,28.0,380,8159,0.00,2.28,0.00,0.000,4,0.000,0.045,2177,1314,2271,0,0,0,0,0,0
$GC,8172,0.90,131.8,536.9,27.7,380,8177,0.00,2.30,0.00,0.000,6,0.000,0.050,2172,2745,2271,0,0,0,0,0,0
$GC,8493,0.90,131.8,447.2,28.7,391,8497,0.00,2.25,0.00,0.000,4,0.000,0.046,2182,1320,2271,0,0,0,0,0,0
$GC,8518,0.90,131.8,440.1,27.9,391,8524,0.00,2.28,0.00,0.000,6,0.000,0.051,2182,2742,2270,0,0,0,0,0,0
$GC,8847,0.90,131.8,346.0,28.2,405,8851,0.00,2.25,0.00,0.000,4,0.000,0.046,2192,1315,2270,0,0,0,0,0,0
$GC,8891,0.90,131.8,333.8,26.3,407,8896,0.12,2.28,0.00,0.000,6,0.254,0.052,2167,2736,2269,0,0,0,0,0,0
$GC,9218,0.90,131.8,245.2,27.0,423,9222,0.00,2.22,0.00,0.000,4,0.000,0.046,2176,1316,2269,0,0,0,0,0,0
$GC,9238,0.90,131.8,239.2,27.7,424,9242,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2739,2269,0,0,0,0,0,0
$GC,9567,0.90,131.8,150.2,28.1,445,9571,0.00,2.22,0.00,0.000,4,0.000,0.045,2181,1313,2268,0,0,0,0,0,0
$GC,9585,0.90,131.8,144.4,26.7,446,9589,0.00,2.28,0.00,0.000,6,0.000,0.051,2182,2737,2268,0,0,0,0,0,0
$GC,9920,0.90,131.8,54.2,26.1,486,9929,0.00,2.25,0.00,0.000,4,0.000,0.045,2192,1317,2268,0,0,0,0,0,0
$GC,9951,0.90,131.8,46.1,27.0,490,9960,0.10,2.30,0.00,0.000,6,0.241,0.054,2167,2741,2268,0,0,0,0,0,0
$STATE,10139,end climb,SURFACE_DEPTH_REACHED
$STATE,10139,begin surface coast
$FINISH,0.5,1.026675
$STATE,10159,end surface coast,CONTROL_FINISHED_OK
$STATE,10159,begin surface
$SM_CCo,10181,185.40,0.799,1,0,516,564.18
$SM_GC,1.14,0.00,0.00,185.40,0.000,0.000,0.799,61,2943,516,-5.65,0.57,564.18
$IRIDIUM_FIX,-4613.60,404.02,301212,101036
$TT8_MAMPS,0.026215
$HUMID,57.28
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.9,29.460
$10V_AH,10.1,12.622
$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,14.650,84.100,267.650,185.400,0.000,24.943,25.768,322.980,0.000,0.000,46.829,1306.116,6810.531,578.986,1754.583,524.131,33.360,1206.149,0.000,1333.731,0.000,1.009,0.000
$DEVICE_MAMPS,253.980,63.495,1809.990,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.099,1065.647,597.723,243.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,37059,523
$CAP_FILE_SIZE,87706,0
$CFSIZE,259252224,220282880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301212,164004,-4630.780,400.427,31,1.3,31,-23.3