version: 66.07
glider: 542
mission: 6
dive: 78
start: 12 21 112 16 4 19
data:
$ID,542
$MISSION,6
$DIVE,78
$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,-10565.327
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,211212,155334,-4631.327,400.821,40,1.2,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-35.1
$GPS2,211212,160318,-4631.288,400.818,18,1.7,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.100,-0.141
$KALMAN_X,-54551.2,254.4,-23.4,33850.3,-2611.7
$KALMAN_Y,21473.3,-422.0,-570.8,16544.5,4605.0
$MHEAD_RNG_PITCHd_Wd,168.0,2603,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-136.65,0.000,6,0.000,0.000,59,2944,3078,0,0,0,0,0,0
$GC,177,-0.91,-140.1,2.7,-1.8,18,203,6.12,1.55,-9.38,0.000,4,0.246,0.080,1562,3887,3394,0,0,0,0,0,0
$GC,473,-0.91,-140.1,66.1,-21.0,66,482,0.00,1.50,0.00,0.000,6,0.000,0.033,1563,2905,3395,0,0,0,0,0,0
$GC,823,-0.91,-140.1,132.2,-18.1,107,827,0.00,1.60,0.00,0.000,4,0.000,0.058,1555,3891,3396,0,0,0,0,0,0
$GC,847,-0.91,-140.1,137.7,-19.6,108,850,0.00,1.48,0.00,0.000,6,0.000,0.033,1555,2920,3396,0,0,0,0,0,0
$GC,1175,-0.91,-140.1,200.7,-19.9,129,1179,0.00,1.58,0.00,0.000,4,0.000,0.057,1548,3890,3396,0,0,0,0,0,0
$GC,1204,-0.91,-140.1,207.4,-21.0,130,1213,0.00,1.48,0.00,0.000,6,0.000,0.033,1548,2916,3396,0,0,0,0,0,0
$GC,1535,-0.91,-140.1,271.0,-18.2,150,1539,0.12,1.58,0.00,0.000,4,0.220,0.060,1568,3897,3396,0,0,0,0,0,0
$GC,1584,-0.91,-140.1,279.9,-17.0,152,1587,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2925,3396,0,0,0,0,0,0
$GC,1918,-0.91,-140.1,332.1,-15.4,168,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2922,3396,0,0,0,0,0,0
$GC,2230,-0.91,-140.1,378.7,-14.9,183,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2922,3396,0,0,0,0,0,0
$GC,2556,-0.91,-140.1,427.3,-14.5,196,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2922,3396,0,0,0,0,0,0
$GC,2863,-0.91,-140.1,472.6,-15.3,206,2867,0.00,1.58,0.00,0.000,4,0.000,0.060,1564,3898,3396,0,0,0,0,0,0
$GC,2909,-0.91,-140.1,480.6,-16.3,207,2913,0.00,1.48,0.00,0.000,6,0.000,0.035,1563,2924,3396,0,0,0,0,0,0
$GC,3241,-0.91,-140.1,532.6,-15.9,218,3245,0.00,1.55,0.00,0.000,4,0.000,0.060,1556,3887,3396,0,0,0,0,0,0
$GC,3287,-0.91,-140.1,540.8,-17.4,219,3291,0.00,1.45,0.00,0.000,6,0.000,0.034,1557,2929,3396,0,0,0,0,0,0
$GC,3619,-0.91,-140.1,594.1,-15.8,230,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2925,3396,0,0,0,0,0,0
$GC,3926,-0.91,-140.1,641.7,-15.3,240,3930,0.00,1.55,0.00,0.000,4,0.000,0.061,1549,3890,3395,0,0,0,0,0,0
$GC,3963,-0.91,-140.1,647.7,-15.6,241,3967,0.08,1.48,0.00,0.000,6,0.198,0.035,1569,2918,3395,0,0,0,0,0,0
$GC,4306,-0.91,-140.1,697.3,-14.4,252,4310,0.00,1.58,0.00,0.000,4,0.000,0.062,1564,3894,3395,0,0,0,0,0,0
$GC,4346,-0.91,-140.1,703.6,-15.4,253,4350,0.00,1.48,0.00,0.000,6,0.000,0.034,1563,2917,3394,0,0,0,0,0,0
$GC,4683,-0.91,-140.1,752.4,-14.7,264,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2912,3394,0,0,0,0,0,0
$GC,4990,-0.91,-140.1,796.4,-14.2,274,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2913,3394,0,0,0,0,0,0
$GC,5296,-0.91,-140.1,837.5,-13.2,284,5299,0.00,1.58,0.00,0.000,4,0.000,0.061,1556,3894,3393,0,0,0,0,0,0
$GC,5353,-0.91,-140.1,845.9,-14.7,285,5357,0.00,1.48,0.00,0.000,6,0.000,0.035,1556,2915,3393,0,0,0,0,0,0
$GC,5673,-0.91,-140.1,889.9,-13.8,296,5677,0.00,1.58,0.00,0.000,4,0.000,0.061,1548,3892,3393,0,0,0,0,0,0
$GC,5710,-0.91,-140.1,895.2,-14.8,297,5713,0.00,1.45,0.00,0.000,6,0.000,0.035,1548,2930,3393,0,0,0,0,0,0
$GC,6053,-0.91,-140.1,945.5,-14.9,308,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2926,3393,0,0,0,0,0,0
$GC,6359,-0.91,-140.1,991.0,-14.8,318,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2926,3393,0,0,0,0,0,0
$STATE,6446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6446,begin apogee
$GC,6457,-0.19,0.0,1004.6,14.8,321,6601,0.90,0.00,140.70,1.254,6,0.192,0.000,1805,2737,2819,0,0,0,0,0,0
$STATE,6603,end apogee,CONTROL_FINISHED_OK
$STATE,6603,begin climb
$GC,6608,0.91,140.1,1008.7,0.0,326,6758,1.02,0.00,140.85,1.825,6,0.057,0.000,2170,2737,2248,0,0,0,0,1,0
$GC,7058,0.91,140.1,878.1,33.7,341,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2737,2242,0,0,0,0,0,0
$GC,7364,0.91,140.1,774.1,33.9,351,7368,0.00,2.25,0.00,0.000,4,0.000,0.047,2180,1339,2239,0,0,0,0,0,0
$GC,7404,0.91,140.1,760.5,31.2,352,7408,0.00,2.30,0.00,0.000,6,0.000,0.052,2181,2728,2238,0,0,0,0,0,0
$GC,7742,0.91,140.1,649.6,33.0,363,7746,0.00,2.22,0.00,0.000,4,0.000,0.047,2191,1342,2237,0,0,0,0,0,0
$GC,7766,0.91,140.1,641.1,33.3,363,7770,0.00,2.25,0.00,0.000,6,0.000,0.051,2191,2736,2237,0,0,0,0,0,0
$GC,8081,0.91,140.1,539.0,32.6,373,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2736,2237,0,0,0,0,0,0
$GC,8387,0.91,140.1,440.0,33.0,383,8391,0.00,2.22,0.00,0.000,4,0.000,0.047,2201,1340,2236,0,0,0,0,0,0
$GC,8433,0.91,140.1,424.6,31.5,384,8438,0.15,2.25,0.00,0.000,6,0.259,0.051,2171,2739,2235,0,0,0,0,0,0
$GC,8765,0.91,140.1,325.9,29.8,399,8769,0.00,2.22,0.00,0.000,4,0.000,0.047,2180,1334,2235,0,0,0,0,0,0
$GC,8815,0.91,140.1,311.9,26.8,401,8819,0.00,2.22,0.00,0.000,6,0.000,0.051,2172,2734,2234,0,0,0,0,0,0
$GC,9135,0.91,140.1,220.6,28.7,418,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2735,2234,0,0,0,0,0,0
$GC,9448,0.91,140.1,134.6,26.7,438,9452,0.00,2.17,0.00,0.000,4,0.000,0.046,2182,1337,2234,0,0,0,0,0,0
$GC,9485,0.91,140.1,124.7,26.1,440,9489,0.00,2.22,0.00,0.000,6,0.000,0.052,2182,2742,2233,0,0,0,0,0,0
$GC,9830,0.91,140.1,34.8,27.6,490,9841,0.00,2.22,0.00,0.000,4,0.000,0.049,2192,1346,2233,0,0,0,0,0,0
$STATE,9952,end climb,SURFACE_DEPTH_REACHED
$STATE,9952,begin surface coast
$FINISH,0.4,1.016509
$STATE,9969,end surface coast,CONTROL_FINISHED_OK
$STATE,9969,begin surface
$SM_CCo,9994,180.18,0.813,1,0,517,564.18
$SM_GC,0.78,0.00,0.00,180.18,0.000,0.000,0.813,51,2927,517,-5.69,0.11,564.18
$IRIDIUM_FIX,-4610.49,400.91,211212,121246
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.8,16.934
$10V_AH,10.1,7.287
$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,14.150,57.825,281.550,180.175,0.000,28.172,46.199,306.854,0.000,0.000,24.299,1259.084,6747.892,588.889,1685.511,482.996,33.357,1169.155,0.000,1277.876,0.000,1.008,0.000
$DEVICE_MAMPS,258.570,79.560,1824.525,813.195,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.104,1030.865,574.554,231.651,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,37059,511
$CAP_FILE_SIZE,79369,0
$CFSIZE,259252224,223510528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,185523,-4632.407,401.757,37,1.0,37,-23.3