version: 66.07
glider: 542
mission: 6
dive: 77
start: 12 21 112 12 59 55
data:
$ID,542
$MISSION,6
$DIVE,77
$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,-10558.865
$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,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
$GPS1,211212,124551,-4629.870,400.732,38,1.4,38,-23.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-31.8
$GPS2,211212,125853,-4629.815,400.827,19,1.4,19,-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,-53337.0,-209.0,113.6,32971.6,-1941.7
$KALMAN_Y,20489.9,-552.6,200.9,19596.4,2654.8
$MHEAD_RNG_PITCHd_Wd,186.5,1109,-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,-63.1,0.0,0.0,0,169,0.00,0.00,-135.90,0.000,6,0.000,0.000,59,2936,3077,0,0,0,0,0,0
$GC,176,-0.90,-134.1,2.8,-2.5,18,202,6.22,1.58,-8.80,0.000,4,0.250,0.080,1565,3892,3368,0,0,0,0,0,0
$GC,474,-0.90,-134.1,63.9,-20.3,66,483,0.00,1.50,0.00,0.000,6,0.000,0.033,1568,2909,3369,0,0,0,0,0,0
$GC,830,-0.90,-134.1,128.6,-18.0,109,834,0.00,1.60,0.00,0.000,4,0.000,0.058,1561,3895,3370,0,0,0,0,0,0
$GC,884,-0.90,-134.1,139.1,-18.8,112,887,0.00,1.48,0.00,0.000,6,0.000,0.033,1562,2926,3370,0,0,0,0,0,0
$GC,1218,-0.90,-134.1,199.9,-17.8,133,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2922,3371,0,0,0,0,0,0
$GC,1535,-0.90,-134.1,255.1,-17.1,153,1539,0.00,1.58,0.00,0.000,4,0.000,0.059,1555,3898,3371,0,0,0,0,0,0
$GC,1593,-0.90,-134.1,266.0,-18.0,155,1596,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2925,3372,0,0,0,0,0,0
$GC,1918,-0.90,-134.1,321.1,-17.1,171,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2921,3372,0,0,0,0,0,0
$GC,2225,-0.90,-134.1,372.4,-16.6,186,2229,0.00,1.58,0.00,0.000,4,0.000,0.059,1547,3899,3371,0,0,0,0,0,0
$GC,2267,-0.90,-134.1,380.0,-18.4,187,2274,0.08,1.48,0.00,0.000,6,0.198,0.034,1568,2928,3371,0,0,0,0,0,0
$GC,2584,-0.90,-134.1,428.9,-15.4,200,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2927,3371,0,0,0,0,0,0
$GC,2891,-0.90,-134.1,475.2,-14.9,210,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2927,3371,0,0,0,0,0,0
$GC,3197,-0.90,-134.1,519.7,-14.5,220,3201,0.00,1.55,0.00,0.000,4,0.000,0.060,1562,3893,3370,0,0,0,0,0,0
$GC,3249,-0.90,-134.1,528.1,-15.6,221,3253,0.00,1.48,0.00,0.000,6,0.000,0.034,1562,2915,3370,0,0,0,0,0,0
$GC,3575,-0.90,-134.1,576.7,-15.1,232,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2911,3369,0,0,0,0,0,0
$GC,3881,-0.90,-134.1,622.8,-15.2,242,3885,0.00,1.58,0.00,0.000,4,0.000,0.060,1554,3892,3369,0,0,0,0,0,0
$GC,3972,-0.90,-134.1,638.0,-16.8,244,3975,0.00,1.45,0.00,0.000,6,0.000,0.035,1554,2932,3368,0,0,0,0,0,0
$GC,4294,-0.90,-134.1,688.9,-15.8,255,4297,0.00,1.55,0.00,0.000,4,0.000,0.060,1547,3895,3369,0,0,0,0,0,0
$GC,4372,-0.90,-134.1,702.8,-16.9,257,4377,0.08,1.48,0.00,0.000,6,0.200,0.035,1567,2925,3368,0,0,0,0,0,0
$GC,4706,-0.90,-134.1,750.7,-14.3,268,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2922,3368,0,0,0,0,0,0
$GC,5011,-0.90,-134.1,793.7,-13.9,278,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2921,3367,0,0,0,0,0,0
$GC,5317,-0.90,-134.1,835.2,-13.4,288,5321,0.00,2.10,0.00,0.000,4,0.000,0.040,1568,1523,3367,0,0,0,0,0,0
$GC,5358,-0.90,-134.1,840.8,-13.0,289,5362,0.00,2.22,0.00,0.000,6,0.000,0.055,1558,2927,3367,0,0,0,0,0,0
$GC,5697,-0.90,-134.1,888.4,-14.8,300,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2927,3366,0,0,0,0,0,0
$GC,6001,-0.90,-134.1,932.4,-14.3,310,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2927,3366,0,0,0,0,0,0
$GC,6308,-0.90,-134.1,975.1,-14.2,320,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2927,3366,0,0,0,0,0,0
$STATE,6487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6487,begin apogee
$GC,6498,-0.19,0.0,1000.4,13.6,326,6640,0.85,0.00,134.20,1.239,6,0.190,0.000,1801,2738,2817,0,0,0,0,0,0
$STATE,6642,end apogee,CONTROL_FINISHED_OK
$STATE,6642,begin climb
$GC,6646,0.90,134.1,1003.8,0.0,331,6790,1.02,0.00,135.35,1.801,6,0.057,0.000,2170,2738,2273,0,0,0,0,1,0
$GC,7098,0.90,134.1,879.6,31.3,346,7102,0.00,2.30,0.00,0.000,4,0.000,0.047,2180,1339,2266,0,0,0,0,0,0
$GC,7121,0.90,134.1,871.6,30.5,346,7128,0.00,2.35,0.00,0.000,6,0.000,0.053,2180,2730,2265,0,0,0,0,0,0
$GC,7437,0.90,134.1,773.0,31.7,357,7441,0.00,2.25,0.00,0.000,4,0.000,0.047,2191,1342,2263,0,0,0,0,0,0
$GC,7477,0.90,134.1,759.8,30.5,358,7482,0.12,2.30,0.00,0.000,6,0.257,0.052,2168,2742,2263,0,0,0,0,0,0
$GC,7810,0.90,134.1,656.5,31.5,369,7815,0.00,2.25,0.00,0.000,4,0.000,0.046,2176,1339,2262,0,0,0,0,0,0
$GC,7834,0.90,134.1,648.6,30.9,369,7841,0.00,2.28,0.00,0.000,6,0.000,0.051,2172,2736,2261,0,0,0,0,0,0
$GC,8149,0.90,134.1,552.3,30.8,380,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2260,0,0,0,0,0,0
$GC,8455,0.90,134.1,459.7,30.1,390,8459,0.00,2.22,0.00,0.000,4,0.000,0.046,2181,1334,2260,0,0,0,0,0,0
$GC,8501,0.90,134.1,445.4,28.8,391,8506,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2743,2259,0,0,0,0,0,0
$GC,8836,0.90,134.1,346.0,30.2,405,8840,0.00,2.22,0.00,0.000,4,0.000,0.047,2192,1332,2259,0,0,0,0,0,0
$GC,8865,0.90,134.1,336.6,28.5,406,8870,0.12,2.25,0.00,0.000,6,0.258,0.052,2168,2746,2258,0,0,0,0,0,0
$GC,9185,0.90,134.1,248.8,27.2,421,9189,0.00,2.22,0.00,0.000,4,0.000,0.047,2177,1336,2258,0,0,0,0,0,0
$GC,9221,0.90,134.1,238.5,26.6,423,9225,0.00,2.22,0.00,0.000,6,0.000,0.053,2172,2740,2257,0,0,0,0,0,0
$GC,9544,0.90,134.1,151.7,27.7,443,9548,0.00,2.22,0.00,0.000,4,0.000,0.047,2182,1330,2258,0,0,0,0,0,0
$GC,9592,0.90,134.1,138.3,26.3,446,9596,0.00,2.22,0.00,0.000,6,0.000,0.053,2182,2734,2257,0,0,0,0,0,0
$GC,9933,0.90,134.1,44.7,26.1,490,9942,0.00,2.20,0.00,0.000,4,0.000,0.047,2192,1346,2257,0,0,0,0,0,0
$GC,10025,0.90,134.1,22.0,24.9,504,10034,0.10,2.25,0.00,0.000,6,0.237,0.054,2167,2740,2256,0,0,0,0,0,0
$STATE,10102,end climb,SURFACE_DEPTH_REACHED
$STATE,10102,begin surface coast
$FINISH,0.3,1.026535
$STATE,10116,end surface coast,CONTROL_FINISHED_OK
$STATE,10120,begin surface
$SM_CCo,10143,183.82,0.798,1,0,516,564.18
$SM_GC,1.04,0.00,0.00,183.82,0.000,0.000,0.798,60,2942,516,-5.66,0.54,564.18
$IRIDIUM_FIX,-4610.49,400.69,211212,090930
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.0,16.750
$10V_AH,10.0,7.211
$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,14.425,62.250,269.550,183.825,0.000,26.425,41.956,507.052,0.000,0.000,21.654,1276.979,6856.761,603.808,1827.261,550.939,33.383,1179.304,0.000,1284.392,0.000,1.007,0.000
$DEVICE_MAMPS,257.805,80.325,1800.810,797.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.413,1048.985,584.398,238.811,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,37107,518
$CAP_FILE_SIZE,82313,0
$CFSIZE,259252224,223555584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,155334,-4631.327,400.821,40,1.2,40,-23.3