version: 66.07
glider: 542
mission: 6
dive: 79
start: 12 21 112 19 5 46
data:
$ID,542
$MISSION,6
$DIVE,79
$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,-10568.607
$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,24
$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
$GPS1,211212,185523,-4632.407,401.757,37,1.0,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-33.5
$GPS2,211212,190444,-4632.391,401.716,17,1.9,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.152,0.084
$KALMAN_X,-55789.4,605.6,219.3,35628.6,-4076.1
$KALMAN_Y,21186.5,-117.4,-288.7,14209.4,3350.0
$MHEAD_RNG_PITCHd_Wd,84.2,4939,-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,-135.62,0.000,6,0.000,0.000,50,2929,3078,0,0,0,0,0,0
$GC,176,-0.90,-135.8,2.9,-2.3,18,203,6.40,1.60,-8.45,0.000,4,0.259,0.079,1563,3898,3376,0,0,0,0,0,0
$GC,475,-0.90,-135.8,65.3,-20.7,66,484,0.00,1.52,0.00,0.000,6,0.000,0.034,1563,2907,3378,0,0,0,0,0,0
$GC,826,-0.90,-135.8,130.0,-18.0,107,830,0.00,1.62,0.00,0.000,4,0.000,0.058,1556,3905,3378,0,0,0,0,0,0
$GC,952,-0.90,-135.8,153.9,-18.6,114,955,0.00,1.50,0.00,0.000,6,0.000,0.033,1556,2922,3378,0,0,0,0,0,0
$GC,1280,-0.90,-135.8,211.5,-17.9,135,1284,0.00,1.58,0.00,0.000,4,0.000,0.058,1548,3893,3379,0,0,0,0,0,0
$GC,1334,-0.90,-135.8,221.9,-18.3,138,1338,0.00,1.48,0.00,0.000,6,0.000,0.034,1548,2919,3379,0,0,0,0,0,0
$GC,1660,-0.90,-135.8,282.2,-18.3,156,1662,0.12,0.00,0.00,0.000,6,0.216,0.000,1576,2915,3379,0,0,0,0,0,0
$GC,1971,-0.90,-135.8,333.5,-16.6,171,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2915,3379,0,0,0,0,0,0
$GC,2279,-0.90,-135.8,383.2,-15.9,186,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2915,3379,0,0,0,0,0,0
$GC,2586,-0.90,-135.8,431.4,-15.4,198,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2915,3379,0,0,0,0,0,0
$GC,2892,-0.90,-135.8,478.1,-15.4,208,2896,0.00,1.58,0.00,0.000,4,0.000,0.061,1570,3894,3379,0,0,0,0,0,0
$GC,3005,-0.90,-135.8,497.3,-16.8,211,3009,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2922,3379,0,0,0,0,0,0
$GC,3338,-0.90,-135.8,551.4,-16.4,222,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2918,3378,0,0,0,0,0,0
$GC,3643,-0.90,-135.8,600.5,-15.6,232,3647,0.00,1.58,0.00,0.000,4,0.000,0.060,1562,3898,3378,0,0,0,0,0,0
$GC,3701,-0.90,-135.8,610.6,-17.6,233,3704,0.00,1.48,0.00,0.000,6,0.000,0.034,1562,2919,3378,0,0,0,0,0,0
$GC,4021,-0.90,-135.8,660.9,-15.6,244,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2915,3377,0,0,0,0,0,0
$GC,4327,-0.90,-135.8,708.0,-15.1,254,4330,0.00,1.58,0.00,0.000,4,0.000,0.060,1555,3896,3377,0,0,0,0,0,0
$GC,4390,-0.90,-135.8,718.3,-16.0,255,4396,0.00,1.45,0.00,0.000,6,0.000,0.035,1555,2936,3377,0,0,0,0,0,0
$GC,4705,-0.90,-135.8,767.4,-15.6,266,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2936,3376,0,0,0,0,0,0
$GC,5011,-0.90,-135.8,816.3,-16.1,276,5015,0.00,1.55,0.00,0.000,4,0.000,0.061,1547,3903,3376,0,0,0,0,0,0
$GC,5034,-0.90,-135.8,820.4,-16.2,276,5039,0.08,1.48,0.00,0.000,6,0.200,0.035,1568,2933,3376,0,0,0,0,0,0
$GC,5355,-0.90,-135.8,867.5,-14.7,287,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2929,3376,0,0,0,0,0,0
$GC,5663,-0.90,-135.8,911.1,-14.3,297,5667,0.00,2.12,0.00,0.000,4,0.000,0.040,1568,1521,3375,0,0,0,0,0,0
$GC,5686,-0.90,-135.8,914.9,-14.0,297,5693,0.00,2.22,0.00,0.000,6,0.000,0.054,1559,2932,3375,0,0,0,0,0,0
$GC,6002,-0.90,-135.8,959.1,-14.0,308,6006,0.00,2.15,0.00,0.000,4,0.000,0.039,1559,1522,3374,0,0,0,0,0,0
$GC,6036,-0.90,-135.8,964.0,-13.1,309,6040,0.00,2.22,0.00,0.000,6,0.000,0.054,1548,2927,3375,0,0,0,0,0,0
$STATE,6334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6334,begin apogee
$GC,6345,-0.19,0.0,1004.1,13.4,319,6486,0.90,0.00,136.15,1.245,6,0.194,0.000,1803,2734,2817,0,0,0,0,0,0
$STATE,6488,end apogee,CONTROL_FINISHED_OK
$STATE,6488,begin climb
$GC,6493,0.90,135.8,1005.1,0.0,324,6639,1.00,0.00,136.98,1.810,6,0.057,0.000,2167,2734,2266,0,0,0,0,1,0
$GC,6929,0.90,135.8,878.6,33.5,338,6933,0.00,2.33,0.00,0.000,4,0.000,0.047,2177,1342,2260,0,0,0,0,0,0
$GC,6960,0.90,135.8,867.0,33.1,339,6965,0.00,2.35,0.00,0.000,6,0.000,0.051,2173,2731,2258,0,0,0,0,0,0
$GC,7298,0.90,135.8,756.1,32.4,350,7302,0.00,2.28,0.00,0.000,4,0.000,0.045,2182,1330,2257,0,0,0,0,0,0
$GC,7329,0.90,135.8,746.5,30.5,351,7333,0.00,2.33,0.00,0.000,6,0.000,0.053,2182,2737,2256,0,0,0,0,0,0
$GC,7667,0.90,135.8,640.7,31.7,362,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2737,2256,0,0,0,0,0,0
$GC,7973,0.90,135.8,544.5,31.0,372,7977,0.00,2.22,0.00,0.000,4,0.000,0.046,2193,1339,2255,0,0,0,0,0,0
$GC,8030,0.90,135.8,526.7,29.9,373,8038,0.12,2.25,0.00,0.000,6,0.258,0.051,2169,2737,2254,0,0,0,0,0,0
$GC,8346,0.90,135.8,432.9,29.7,384,8350,0.00,2.22,0.00,0.000,4,0.000,0.046,2178,1335,2254,0,0,0,0,0,0
$GC,8397,0.90,135.8,417.4,29.6,385,8402,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2743,2253,0,0,0,0,0,0
$GC,8717,0.90,135.8,323.4,29.5,399,8721,0.00,2.22,0.00,0.000,4,0.000,0.046,2182,1337,2253,0,0,0,0,0,0
$GC,8764,0.90,135.8,309.2,27.4,401,8768,0.00,2.25,0.00,0.000,6,0.000,0.052,2182,2739,2253,0,0,0,0,0,0
$GC,9096,0.90,135.8,213.4,29.1,419,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2739,2252,0,0,0,0,0,0
$GC,9409,0.90,135.8,125.8,28.3,439,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2739,2253,0,0,0,0,0,0
$GC,9747,0.90,135.8,34.7,28.1,487,9753,0.00,2.20,0.00,0.000,4,0.000,0.045,2192,1329,2252,0,0,0,0,0,0
$GC,9876,0.90,135.8,4.9,18.8,507,9886,0.10,2.25,0.00,0.000,6,0.239,0.052,2167,2727,2250,0,0,0,0,0,0
$STATE,9894,end climb,SURFACE_DEPTH_REACHED
$STATE,9894,begin surface coast
$FINISH,0.5,1.006000
$STATE,9914,end surface coast,CONTROL_FINISHED_OK
$STATE,9914,begin surface
$SM_CCo,9937,183.55,0.795,1,0,518,564.18
$SM_GC,0.80,0.00,0.00,183.55,0.000,0.000,0.795,57,2939,518,-5.66,0.45,564.18
$IRIDIUM_FIX,-4613.60,358.00,211212,151534
$TT8_MAMPS,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.9,17.114
$10V_AH,10.1,7.363
$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,14.700,57.900,273.125,183.550,0.000,28.152,52.326,289.749,0.000,0.000,20.016,1257.744,6669.297,597.813,1697.253,466.428,33.357,1173.821,0.000,1299.925,0.000,1.008,0.000
$DEVICE_MAMPS,259.335,78.795,1809.990,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.293,1043.492,591.062,234.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,37264,512
$CAP_FILE_SIZE,78819,0
$CFSIZE,259252224,223469568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,215601,-4631.381,402.608,42,1.0,42,-23.3