version: 66.07
glider: 542
mission: 6
dive: 67
start: 12 20 112 5 17 55
data:
$ID,542
$MISSION,6
$DIVE,67
$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,-10508.938
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,201212,050753,-4632.439,401.455,39,0.8,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-29.5
$GPS2,201212,051653,-4632.426,401.475,16,1.6,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.083,-0.152
$KALMAN_X,-50890.8,302.3,80.3,30875.4,-2865.0
$KALMAN_Y,22523.4,-1125.4,-390.1,13917.8,6308.3
$MHEAD_RNG_PITCHd_Wd,174.8,4870,-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,-63.1,0.0,0.0,0,163,0.00,0.00,-134.05,0.000,2,0.000,0.000,67,2949,2974,0,0,0,0,0,0
$GC,169,-0.85,-95.6,3.2,-6.6,17,188,6.30,1.60,-6.97,0.000,4,0.254,0.086,1579,3890,3210,0,0,0,0,0,0
$GC,463,-0.85,-95.6,55.1,-16.2,64,473,0.00,1.52,0.00,0.000,6,0.000,0.034,1585,2899,3212,0,0,0,0,0,0
$GC,704,-0.85,-95.6,92.5,-15.5,105,710,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2899,3212,0,0,0,0,0,0
$GC,1038,-0.85,-95.6,143.2,-14.9,131,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2899,3212,0,0,0,0,0,0
$GC,1351,-0.85,-95.6,187.3,-13.6,151,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2899,3212,0,0,0,0,0,0
$GC,1663,-0.85,-95.6,229.0,-13.1,171,1666,0.00,1.60,0.00,0.000,4,0.000,0.062,1579,3887,3213,0,0,0,0,0,0
$GC,1750,-0.85,-95.6,241.7,-14.3,176,1754,0.00,1.45,0.00,0.000,6,0.000,0.034,1579,2930,3213,0,0,0,0,0,0
$GC,2087,-0.85,-95.6,287.2,-13.3,193,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2926,3213,0,0,0,0,0,0
$GC,2394,-0.85,-95.6,329.6,-14.0,208,2398,0.00,2.10,0.00,0.000,4,0.000,0.038,1579,1525,3213,0,0,0,0,0,0
$GC,2446,-0.85,-95.6,337.0,-13.2,210,2451,0.00,2.22,0.00,0.000,6,0.000,0.056,1569,2922,3214,0,0,0,0,0,0
$GC,2770,-0.85,-95.6,382.8,-14.3,226,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2923,3213,0,0,0,0,0,0
$GC,3078,-0.85,-95.6,427.0,-14.2,238,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2923,3213,0,0,0,0,0,0
$GC,3384,-0.85,-95.6,469.0,-13.4,248,3388,0.00,2.15,0.00,0.000,4,0.000,0.040,1569,1527,3213,0,0,0,0,0,0
$GC,3475,-0.85,-95.6,480.9,-12.4,250,3480,0.12,2.22,0.00,0.000,6,0.218,0.056,1586,2934,3213,0,0,0,0,0,0
$GC,3796,-0.85,-95.6,519.2,-12.2,261,3800,0.00,2.15,0.00,0.000,4,0.000,0.037,1587,1525,3213,0,0,0,0,0,0
$GC,3859,-0.85,-95.6,526.7,-10.9,262,3866,0.00,2.22,0.00,0.000,6,0.000,0.055,1578,2930,3213,0,0,0,0,0,0
$GC,4174,-0.85,-95.6,566.1,-12.4,273,4178,0.00,2.15,0.00,0.000,4,0.000,0.038,1578,1520,3213,0,0,0,0,0,0
$GC,4256,-0.85,-95.6,575.8,-11.7,275,4260,0.00,2.22,0.00,0.000,6,0.000,0.055,1567,2934,3212,0,0,0,0,0,0
$GC,4578,-0.85,-95.6,614.5,-11.9,286,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2935,3212,0,0,0,0,0,0
$GC,4883,-0.85,-95.6,650.3,-11.8,296,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2934,3212,0,0,0,0,0,0
$GC,5191,-0.85,-95.6,685.4,-11.5,306,5195,0.00,2.12,0.00,0.000,4,0.000,0.038,1567,1525,3212,0,0,0,0,0,0
$GC,5214,-0.85,-95.6,688.4,-11.0,306,5222,0.15,2.22,0.00,0.000,6,0.215,0.054,1592,2934,3212,0,0,0,0,0,0
$GC,5530,-0.86,-97.3,719.2,-9.8,317,5533,0.00,2.15,0.00,0.000,4,0.000,0.039,1593,1523,3212,0,0,0,0,0,0
$GC,5570,-0.86,-104.1,723.3,-9.3,318,5574,0.00,2.22,0.00,0.000,6,0.000,0.055,1583,2935,3212,0,0,0,0,0,0
$GC,5909,-0.86,-104.1,758.9,-10.8,329,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2935,3212,0,0,0,0,0,0
$GC,6214,-0.86,-104.1,793.5,-11.1,339,6218,0.00,2.12,0.00,0.000,4,0.000,0.038,1584,1524,3211,0,0,0,0,0,0
$GC,6260,-0.86,-104.1,798.8,-10.9,340,6264,0.00,2.20,0.00,0.000,6,0.000,0.055,1573,2925,3211,0,0,0,0,0,0
$GC,6581,-0.86,-104.1,835.9,-11.7,351,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2925,3211,0,0,0,0,0,0
$GC,6890,-0.86,-104.1,870.4,-10.9,361,6894,0.00,2.12,0.00,0.000,4,0.000,0.039,1573,1526,3211,0,0,0,0,0,0
$GC,6925,-0.86,-104.1,874.7,-10.7,362,6929,0.00,2.20,0.00,0.000,6,0.000,0.056,1562,2926,3210,0,0,0,0,0,0
$GC,7257,-0.86,-104.1,911.3,-11.2,373,7261,0.00,2.12,0.00,0.000,4,0.000,0.039,1562,1526,3210,0,0,0,0,0,0
$GC,7343,-0.86,-104.1,920.7,-10.7,375,7348,0.15,2.20,0.00,0.000,6,0.213,0.055,1587,2928,3210,0,0,0,0,0,0
$GC,7658,-0.88,-113.5,949.2,-9.0,385,7662,0.00,2.12,0.00,0.000,4,0.000,0.039,1587,1522,3210,0,0,0,0,0,0
$GC,7705,-0.89,-122.2,953.6,-9.1,386,7709,0.00,2.22,0.00,0.000,6,0.000,0.056,1578,2927,3210,0,0,0,0,0,0
$GC,8037,-0.90,-129.1,984.4,-9.3,397,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2927,3210,0,0,0,0,0,0
$STATE,8216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8216,begin apogee
$GC,8226,-0.19,0.0,1001.4,9.3,403,8330,0.77,0.00,99.78,1.242,6,0.189,0.000,1800,2743,2819,0,0,0,0,0,0
$STATE,8331,end apogee,CONTROL_FINISHED_OK
$STATE,8332,begin climb
$GC,8336,0.90,129.1,1002.5,0.0,406,8475,1.02,0.00,130.12,1.812,6,0.073,0.000,2161,2743,2293,0,0,0,0,1,0
$GC,8772,0.90,129.1,880.9,31.2,421,8776,0.00,2.30,0.00,0.000,4,0.000,0.047,2171,1335,2287,0,0,0,0,0,0
$GC,8795,0.90,129.1,872.9,30.3,421,8802,0.00,2.35,0.00,0.000,6,0.000,0.052,2171,2732,2285,0,0,0,0,0,0
$GC,9110,0.90,129.1,775.1,31.2,432,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2733,2283,0,0,0,0,0,0
$GC,9417,0.90,129.1,679.2,31.3,442,9421,0.00,2.25,0.00,0.000,4,0.000,0.047,2182,1333,2282,0,0,0,0,0,0
$GC,9469,0.90,129.1,663.0,28.9,443,9473,0.00,2.30,0.00,0.000,6,0.000,0.054,2182,2737,2281,0,0,0,0,0,0
$GC,9784,0.90,129.1,566.1,30.5,453,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2738,2281,0,0,0,0,0,0
$GC,10090,0.90,129.1,474.1,29.9,463,10094,0.00,2.22,0.00,0.000,4,0.000,0.047,2192,1331,2280,0,0,0,0,0,0
$GC,10153,0.90,129.1,455.6,26.8,464,10161,0.15,2.28,0.00,0.000,6,0.253,0.054,2161,2744,2278,0,0,0,0,0,0
$GC,10481,0.90,129.1,362.9,28.1,477,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2743,2278,0,0,0,0,0,0
$GC,10789,0.90,129.1,276.1,27.6,492,10793,0.00,2.22,0.00,0.000,4,0.000,0.047,2171,1333,2278,0,0,0,0,0,0
$GC,10825,0.90,129.1,265.8,26.7,493,10831,0.00,2.25,0.00,0.000,6,0.000,0.054,2171,2737,2277,0,0,0,0,0,0
$GC,11147,0.90,129.1,178.6,26.7,513,11151,0.00,1.85,0.00,0.000,4,0.000,0.060,2171,3892,2276,0,0,0,0,0,0
$GC,11202,0.90,129.1,162.8,29.7,516,11205,0.00,1.80,0.00,0.000,6,0.000,0.041,2180,2727,2277,0,0,0,0,0,0
$GC,11538,0.90,129.1,76.6,24.6,547,11543,0.00,2.17,0.00,0.000,4,0.000,0.047,2190,1319,2277,0,0,0,0,0,0
$GC,11699,0.90,129.1,38.8,23.3,573,11706,0.12,2.25,0.00,0.000,6,0.258,0.054,2165,2737,2276,0,0,0,0,0,0
$STATE,11845,end climb,SURFACE_DEPTH_REACHED
$STATE,11845,begin surface coast
$FINISH,0.3,1.026564
$STATE,11859,end surface coast,CONTROL_FINISHED_OK
$STATE,11859,begin surface
$SM_CCo,11882,186.57,0.792,1,0,516,564.18
$SM_GC,0.80,0.00,0.00,186.57,0.000,0.000,0.792,61,2942,516,-5.65,0.54,564.18
$IRIDIUM_FIX,-4616.72,401.12,201212,020244
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,1
$24V_AH,22.5,14.879
$10V_AH,10.1,6.420
$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,14.575,76.500,229.900,186.575,0.000,26.050,30.705,293.404,0.250,0.000,18.638,1486.803,8162.307,569.216,1878.730,519.268,33.357,1220.604,0.000,1488.883,0.000,1.009,0.000
$DEVICE_MAMPS,257.805,86.445,1812.285,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.852,1193.053,650.459,255.010,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,43747,598
$CAP_FILE_SIZE,92193,0
$CFSIZE,259252224,224034816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201212,084035,-4633.422,402.318,39,1.1,39,-23.3