version: 66.07
glider: 542
mission: 6
dive: 5
start: 12 10 112 18 17 39
data:
$ID,542
$MISSION,6
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$T_MISSION,148
$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,52846
$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,-10222.896
$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,22
$R_STBD_OVSHOOT,14
$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
$GPS1,101212,181059,-4651.848,415.994,17,0.8,17,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-35.3
$GPS2,101212,181642,-4651.895,416.026,16,1.8,16,-23.4
$SPEED_LIMITS,0.174,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.253,-0.152
$KALMAN_X,842.8,336.0,13.1,-2403.8,539.6
$KALMAN_Y,477.4,246.7,107.2,-1978.2,121.3
$MHEAD_RNG_PITCHd_Wd,262.3,25201,-14.9,-10.025
$D_GRID,400
$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,-0.64,-194.7,0.0,0.0,0,201,0.00,0.00,-166.20,0.000,6,0.000,0.000,59,2927,3614,0,0,0,0,0,0
$GC,211,-0.64,-194.7,3.9,-7.4,22,222,6.40,1.65,0.00,0.000,4,0.246,0.072,1648,3910,3614,0,0,0,0,0,0
$GC,312,-0.64,-194.7,30.1,-14.5,37,319,0.00,1.62,0.00,0.000,6,0.000,0.057,1648,2917,3615,0,0,0,0,0,0
$GC,558,-0.64,-194.7,63.5,-12.8,78,567,0.00,2.30,0.00,0.000,4,0.000,0.071,1648,1509,3614,0,0,0,0,0,0
$GC,594,-0.64,-194.7,67.9,-12.1,83,599,0.00,2.40,0.00,0.000,6,0.000,0.086,1638,2924,3614,0,0,0,0,0,0
$GC,941,-0.64,-194.7,110.1,-12.2,134,942,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2924,3614,0,0,0,0,0,0
$GC,1255,-0.64,-194.7,148.2,-11.9,154,1259,0.00,2.30,0.00,0.000,4,0.000,0.068,1638,1512,3614,0,0,0,0,0,0
$GC,1279,-0.64,-194.7,151.7,-12.7,155,1287,0.12,2.38,0.00,0.000,6,0.177,0.083,1662,2928,3614,0,0,0,0,0,0
$GC,1606,-0.64,-194.7,181.7,-8.9,176,1610,0.00,2.30,0.00,0.000,4,0.000,0.069,1662,1509,3614,0,0,0,0,0,0
$GC,1657,-0.64,-194.7,186.2,-8.2,179,1661,0.00,2.38,0.00,0.000,6,0.000,0.081,1652,2929,3614,0,0,0,0,0,0
$GC,1986,-0.64,-194.7,219.2,-10.1,200,1990,0.00,2.30,0.00,0.000,4,0.000,0.070,1652,1512,3614,0,0,0,0,0,0
$GC,2017,-0.64,-194.7,222.5,-10.6,202,2022,0.00,2.35,0.00,0.000,6,0.000,0.081,1643,2925,3614,0,0,0,0,0,0
$GC,2344,-0.64,-194.7,257.3,-11.0,222,2348,0.00,2.30,0.00,0.000,4,0.000,0.071,1643,1511,3614,0,0,0,0,0,0
$GC,2391,-0.64,-194.7,262.5,-9.6,224,2395,0.00,2.38,0.00,0.000,6,0.000,0.083,1634,2929,3614,0,0,0,0,0,0
$GC,2721,-0.64,-194.7,301.0,-11.9,240,2725,0.00,2.28,0.00,0.000,4,0.000,0.069,1634,1519,3614,0,0,0,0,0,0
$GC,2750,-0.64,-194.7,304.7,-11.8,241,2755,0.12,2.35,0.00,0.000,6,0.181,0.083,1657,2924,3614,0,0,0,0,0,0
$GC,3069,-0.64,-194.7,333.4,-8.9,256,3073,0.00,2.28,0.00,0.000,4,0.000,0.071,1657,1517,3614,0,0,0,0,0,0
$GC,3105,-0.64,-194.7,336.7,-8.0,257,3112,0.00,2.35,0.00,0.000,6,0.000,0.084,1649,2924,3614,0,0,0,0,0,0
$GC,3426,-0.64,-194.7,366.6,-9.3,273,3430,0.00,2.30,0.00,0.000,4,0.000,0.070,1649,1517,3614,0,0,0,0,0,0
$GC,3461,-0.64,-194.7,370.5,-9.8,274,3470,0.00,2.38,0.00,0.000,6,0.000,0.082,1639,2925,3614,0,0,0,0,0,0
$STATE,3775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3775,begin apogee
$GC,3786,-0.19,0.0,401.6,9.7,290,3977,0.55,0.00,187.80,0.871,6,0.157,0.000,1806,2730,2819,0,0,0,0,0,0
$STATE,3978,end apogee,CONTROL_FINISHED_OK
$STATE,3979,begin climb
$GC,3983,0.64,194.7,408.2,0.0,296,4181,0.75,2.12,189.70,0.814,4,0.065,0.083,2081,3907,2017,0,0,0,0,0,0
$GC,4366,0.64,194.7,328.7,27.3,311,4370,0.00,1.98,0.00,0.000,6,0.000,0.063,2090,2733,1999,0,0,0,0,0,0
$GC,4692,0.64,194.7,246.5,25.7,327,4696,0.00,2.38,0.00,0.000,4,0.000,0.083,2101,1326,1996,0,0,0,0,0,0
$GC,4749,0.64,194.7,231.4,22.7,330,4758,0.00,2.47,0.00,0.000,6,0.000,0.086,2101,2734,1995,0,0,0,0,0,0
$GC,5072,0.64,194.7,150.2,24.9,351,5076,0.00,2.38,0.00,0.000,4,0.000,0.080,2111,1316,1994,0,0,0,0,0,0
$GC,5126,0.64,194.7,136.9,23.3,354,5131,0.12,2.45,0.00,0.000,6,0.235,0.088,2084,2736,1994,0,0,0,0,0,0
$GC,5466,0.64,194.7,61.6,20.8,394,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2736,1993,0,0,0,0,0,0
$STATE,5709,end climb,SURFACE_DEPTH_REACHED
$STATE,5709,begin surface coast
$FINISH,-0.0,1.026577
$STATE,5724,end surface coast,CONTROL_FINISHED_OK
$STATE,5724,begin surface
$SM_CCo,5746,156.55,0.786,1,0,516,564.18
$SM_GC,0.29,0.00,0.00,156.55,0.000,0.000,0.786,64,2940,516,-5.65,0.48,564.18
$IRIDIUM_FIX,-4635.50,418.37,101212,181839
$TT8_MAMPS,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,23.8,2.519
$10V_AH,10.2,0.803
$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,13.525,55.025,377.500,156.550,0.000,0.000,0.000,0.000,0.000,0.000,19.274,1008.022,2809.950,622.966,1304.437,245.900,33.325,1157.356,0.000,1258.673,0.000,1.010,0.000
$DEVICE_MAMPS,245.565,103.275,871.335,785.655,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.756,982.975,746.161,276.028,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,33768,436
$CAP_FILE_SIZE,79793,0
$CFSIZE,259252224,227495936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,101212,195733,-4651.986,414.733,39,0.9,39,-23.4