version: 66.07
glider: 542
mission: 6
dive: 76
start: 12 21 112 9 53 2
data:
$ID,542
$MISSION,6
$DIVE,76
$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,-10555.621
$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,51
$R_STBD_OVSHOOT,28
$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
$GPS1,211212,094034,-4628.792,402.050,28,0.8,28,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-35.8
$GPS2,211212,095200,-4628.820,402.159,14,1.9,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.050,-0.166
$KALMAN_X,-52834.7,-323.1,225.9,34160.8,-2185.7
$KALMAN_Y,17992.1,0.4,433.7,23147.6,-362.0
$MHEAD_RNG_PITCHd_Wd,220.1,3515,-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,-135.95,0.000,6,0.000,0.000,60,2923,3075,0,0,0,0,0,0
$GC,177,-0.90,-134.7,2.9,-2.4,18,203,6.18,2.22,-8.25,0.000,4,0.248,0.055,1578,1522,3373,0,0,0,0,0,0
$GC,477,-0.90,-134.7,55.5,-17.1,66,486,0.00,2.28,0.00,0.000,6,0.000,0.053,1569,2918,3374,0,0,0,0,0,0
$GC,726,-0.90,-134.7,103.0,-18.4,106,730,0.00,2.15,0.00,0.000,4,0.000,0.037,1569,1519,3375,0,0,0,0,0,0
$GC,784,-0.90,-134.7,113.5,-16.4,109,791,0.00,2.25,0.00,0.000,6,0.000,0.051,1558,2929,3375,0,0,0,0,0,0
$GC,1107,-0.90,-134.7,171.0,-17.9,130,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2929,3375,0,0,0,0,0,0
$GC,1418,-0.90,-134.7,228.1,-18.5,150,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2929,3376,0,0,0,0,0,0
$GC,1730,-0.90,-134.7,285.4,-18.8,167,1734,0.00,1.52,0.00,0.000,4,0.000,0.059,1552,3896,3376,0,0,0,0,0,0
$GC,1810,-0.90,-134.7,302.0,-19.9,170,1814,0.00,1.48,0.00,0.000,6,0.000,0.033,1552,2918,3376,0,0,0,0,0,0
$GC,2134,-0.90,-134.7,362.2,-18.5,186,2138,0.00,1.58,0.00,0.000,4,0.000,0.059,1544,3896,3376,0,0,0,0,0,0
$GC,2197,-0.90,-134.7,374.9,-18.9,188,2207,0.10,1.48,0.00,0.000,6,0.195,0.034,1571,2920,3376,0,0,0,0,0,0
$GC,2526,-0.90,-134.7,427.3,-15.5,202,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2921,3376,0,0,0,0,0,0
$GC,2830,-0.90,-134.7,475.1,-15.6,212,2834,0.00,1.58,0.00,0.000,4,0.000,0.060,1565,3898,3377,0,0,0,0,0,0
$GC,2887,-0.90,-134.7,484.8,-16.4,213,2891,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2922,3376,0,0,0,0,0,0
$GC,3208,-0.90,-134.7,534.6,-15.5,224,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2917,3376,0,0,0,0,0,0
$GC,3514,-0.90,-134.7,580.0,-14.6,234,3517,0.00,1.58,0.00,0.000,4,0.000,0.060,1558,3897,3376,0,0,0,0,0,0
$GC,3584,-0.90,-134.7,590.9,-15.6,236,3588,0.00,1.48,0.00,0.000,6,0.000,0.034,1558,2921,3376,0,0,0,0,0,0
$GC,3929,-0.90,-134.7,643.1,-15.1,247,3932,0.00,1.58,0.00,0.000,4,0.000,0.060,1550,3899,3375,0,0,0,0,0,0
$GC,4003,-0.90,-134.7,655.6,-16.2,249,4006,0.00,1.48,0.00,0.000,6,0.000,0.034,1550,2923,3375,0,0,0,0,0,0
$GC,4340,-0.90,-134.7,707.2,-15.1,260,4344,0.00,1.58,0.00,0.000,4,0.000,0.060,1543,3901,3374,0,0,0,0,0,0
$GC,4392,-0.90,-134.7,715.9,-17.1,261,4396,0.10,1.48,0.00,0.000,6,0.197,0.035,1570,2929,3374,0,0,0,0,0,0
$GC,4719,-0.90,-134.7,760.8,-13.6,272,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2926,3374,0,0,0,0,0,0
$GC,5025,-0.90,-134.7,801.7,-13.2,282,5028,0.00,2.12,0.00,0.000,4,0.000,0.041,1571,1519,3373,0,0,0,0,0,0
$GC,5048,-0.90,-134.7,805.0,-12.8,282,5055,0.00,2.22,0.00,0.000,6,0.000,0.054,1561,2928,3373,0,0,0,0,0,0
$GC,5364,-0.90,-134.7,848.4,-14.0,293,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2928,3373,0,0,0,0,0,0
$GC,5670,-0.90,-134.7,890.5,-13.9,303,5673,0.00,1.52,0.00,0.000,4,0.000,0.062,1554,3896,3372,0,0,0,0,0,0
$GC,5710,-0.90,-134.7,897.0,-15.4,304,5713,0.00,1.48,0.00,0.000,6,0.000,0.035,1554,2919,3372,0,0,0,0,0,0
$GC,6047,-0.90,-134.7,944.6,-14.0,315,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2915,3372,0,0,0,0,0,0
$GC,6353,-0.90,-134.7,988.0,-13.9,325,6357,0.00,2.08,0.00,0.000,4,0.000,0.040,1554,1523,3371,0,0,0,0,0,0
$GC,6404,-0.90,-134.7,995.2,-13.5,326,6409,0.12,2.22,0.00,0.000,6,0.214,0.054,1572,2932,3371,0,0,0,0,0,0
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6481,-0.19,0.0,1003.6,12.6,328,6623,0.80,0.00,135.23,1.229,6,0.189,0.000,1802,2739,2817,0,0,0,0,0,0
$STATE,6625,end apogee,CONTROL_FINISHED_OK
$STATE,6625,begin climb
$GC,6630,0.90,134.7,1006.5,0.0,333,6779,1.00,2.58,134.82,1.794,4,0.058,0.047,2175,1342,2270,0,0,0,0,1,0
$GC,6827,0.90,134.7,962.0,28.5,339,6832,0.00,2.47,0.00,0.000,6,0.000,0.051,2173,2737,2268,0,0,0,0,0,0
$GC,7159,0.90,134.7,856.8,32.0,350,7164,0.00,2.30,0.00,0.000,4,0.000,0.047,2182,1339,2262,0,0,0,0,0,0
$GC,7189,0.90,134.7,847.0,31.6,350,7196,0.00,2.35,0.00,0.000,6,0.000,0.051,2182,2745,2261,0,0,0,0,0,0
$GC,7504,0.90,134.7,747.2,32.2,361,7508,0.00,2.28,0.00,0.000,4,0.000,0.046,2193,1341,2260,0,0,0,0,0,0
$GC,7544,0.90,134.7,734.1,30.8,362,7549,0.15,2.30,0.00,0.000,6,0.255,0.052,2164,2737,2259,0,0,0,0,0,0
$GC,7872,0.90,134.7,635.8,30.4,373,7876,0.00,2.25,0.00,0.000,4,0.000,0.047,2173,1332,2258,0,0,0,0,0,0
$GC,7895,0.90,134.7,628.2,30.0,373,7902,0.00,2.28,0.00,0.000,6,0.000,0.051,2172,2736,2258,0,0,0,0,0,0
$GC,8211,0.90,134.7,534.9,30.2,384,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2258,0,0,0,0,0,0
$GC,8517,0.90,134.7,441.9,30.4,394,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2258,0,0,0,0,0,0
$GC,8837,0.90,134.7,346.9,29.8,407,8841,0.00,2.20,0.00,0.000,4,0.000,0.046,2181,1342,2258,0,0,0,0,0,0
$GC,8857,0.90,134.7,340.1,30.2,408,8861,0.00,2.22,0.00,0.000,6,0.000,0.051,2182,2736,2257,0,0,0,0,0,0
$GC,9189,0.90,134.7,241.0,30.1,424,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2736,2257,0,0,0,0,0,0
$GC,9499,0.90,134.7,151.0,27.8,444,9503,0.00,2.20,0.00,0.000,4,0.000,0.047,2192,1336,2257,0,0,0,0,0,0
$GC,9531,0.90,134.7,142.3,27.5,446,9536,0.12,2.25,0.00,0.000,6,0.255,0.053,2167,2740,2256,0,0,0,0,0,0
$GC,9868,0.90,134.7,51.4,25.9,486,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2741,2256,0,0,0,0,0,0
$STATE,10061,end climb,SURFACE_DEPTH_REACHED
$STATE,10061,begin surface coast
$FINISH,0.4,1.026403
$STATE,10075,end surface coast,CONTROL_FINISHED_OK
$STATE,10075,begin surface
$SM_CCo,10097,181.70,0.796,1,0,518,564.18
$SM_GC,0.78,0.00,0.00,181.70,0.000,0.000,0.796,60,2934,518,-5.66,0.31,564.18
$IRIDIUM_FIX,-4613.60,404.02,211212,060645
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.0,16.560
$10V_AH,10.1,7.132
$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,14.300,67.050,270.050,181.700,0.000,26.995,23.446,436.056,0.000,0.000,17.331,1291.583,6745.116,569.276,1809.509,555.971,33.385,1207.434,0.000,1356.707,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,77.265,1793.925,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.855,1048.695,587.733,250.306,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,37260,519
$CAP_FILE_SIZE,85612,0
$CFSIZE,259252224,223604736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,124551,-4629.870,400.732,38,1.4,38,-23.3