version: 66.07
glider: 542
mission: 6
dive: 68
start: 12 20 112 8 51 0
data:
$ID,542
$MISSION,6
$DIVE,68
$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,-10515.449
$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,33
$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
$GPS1,201212,084035,-4633.422,402.318,39,1.1,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-24.5
$GPS2,201212,084959,-4633.466,402.339,19,1.2,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.033,0.170
$KALMAN_X,-51673.7,693.7,183.0,32248.3,-3257.0
$KALMAN_Y,22396.0,-456.6,-444.9,11508.1,4832.8
$MHEAD_RNG_PITCHd_Wd,34.3,7079,-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,-136.52,0.000,6,0.000,0.000,60,2945,3077,0,0,0,0,0,0
$GC,177,-0.90,-134.9,2.7,-2.4,18,203,6.22,2.28,-8.85,0.000,4,0.250,0.053,1578,1517,3373,0,0,0,0,0,0
$GC,478,-0.90,-134.9,54.5,-15.9,66,487,0.00,2.30,0.00,0.000,6,0.000,0.054,1569,2918,3374,0,0,0,0,0,0
$GC,724,-0.90,-134.9,99.7,-16.9,107,728,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3900,3374,0,0,0,0,0,0
$GC,987,-0.90,-134.9,148.0,-18.6,123,991,0.00,1.52,0.00,0.000,6,0.000,0.034,1561,2902,3375,0,0,0,0,0,0
$GC,1316,-0.90,-134.9,205.6,-17.1,144,1319,0.00,1.62,0.00,0.000,4,0.000,0.060,1553,3900,3375,0,0,0,0,0,0
$GC,1362,-0.90,-134.9,215.0,-18.8,146,1370,0.00,1.50,0.00,0.000,6,0.000,0.034,1554,2912,3375,0,0,0,0,0,0
$GC,1697,-0.90,-134.9,273.5,-17.4,166,1701,0.00,2.08,0.00,0.000,4,0.000,0.038,1554,1529,3375,0,0,0,0,0,0
$GC,1733,-0.90,-134.9,280.0,-17.4,167,1740,0.12,2.22,0.00,0.000,6,0.210,0.054,1572,2926,3375,0,0,0,0,0,0
$GC,2053,-0.90,-134.9,331.6,-16.0,183,2057,0.00,1.55,0.00,0.000,4,0.000,0.062,1565,3901,3375,0,0,0,0,0,0
$GC,2127,-0.90,-134.9,344.7,-16.8,186,2131,0.00,1.48,0.00,0.000,6,0.000,0.034,1566,2931,3375,0,0,0,0,0,0
$GC,2456,-0.90,-134.9,396.6,-16.0,202,2460,0.00,2.10,0.00,0.000,4,0.000,0.039,1565,1526,3375,0,0,0,0,0,0
$GC,2470,-0.90,-134.9,398.9,-15.8,202,2479,0.00,2.25,0.00,0.000,6,0.000,0.054,1556,2921,3375,0,0,0,0,0,0
$GC,2785,-0.90,-134.9,451.6,-17.0,213,2789,0.00,1.55,0.00,0.000,4,0.000,0.061,1548,3900,3375,0,0,0,0,0,0
$GC,2816,-0.90,-134.9,457.0,-17.8,213,2823,0.08,1.48,0.00,0.000,6,0.195,0.034,1569,2929,3375,0,0,0,0,0,0
$GC,3131,-0.90,-134.9,507.7,-15.8,224,3135,0.00,1.58,0.00,0.000,4,0.000,0.063,1563,3903,3375,0,0,0,0,0,0
$GC,3171,-0.90,-134.9,514.6,-16.4,225,3175,0.00,1.50,0.00,0.000,6,0.000,0.034,1563,2909,3374,0,0,0,0,0,0
$GC,3509,-0.90,-134.9,568.0,-15.6,236,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2905,3374,0,0,0,0,0,0
$GC,3815,-0.90,-134.9,613.9,-15.0,246,3819,0.00,1.60,0.00,0.000,4,0.000,0.062,1555,3896,3374,0,0,0,0,0,0
$GC,3872,-0.90,-134.9,623.5,-16.9,247,3876,0.00,1.48,0.00,0.000,6,0.000,0.034,1555,2925,3373,0,0,0,0,0,0
$GC,4194,-0.90,-134.9,671.5,-15.0,258,4197,0.00,1.58,0.00,0.000,4,0.000,0.063,1548,3897,3373,0,0,0,0,0,0
$GC,4234,-0.90,-134.9,678.3,-15.7,259,4238,0.08,1.48,0.00,0.000,6,0.198,0.035,1568,2929,3373,0,0,0,0,0,0
$GC,4572,-0.90,-134.9,725.6,-14.3,270,4575,0.00,1.58,0.00,0.000,4,0.000,0.063,1562,3903,3372,0,0,0,0,0,0
$GC,4623,-0.90,-134.9,733.8,-16.2,271,4627,0.00,1.50,0.00,0.000,6,0.000,0.035,1562,2914,3372,0,0,0,0,0,0
$GC,4949,-0.90,-134.9,781.2,-14.6,282,4953,0.00,1.60,0.00,0.000,4,0.000,0.063,1555,3900,3372,0,0,0,0,0,0
$GC,4985,-0.90,-134.9,786.7,-15.0,283,4989,0.00,1.48,0.00,0.000,6,0.000,0.034,1555,2924,3372,0,0,0,0,0,0
$GC,5328,-0.90,-134.9,836.6,-14.6,294,5332,0.00,2.10,0.00,0.000,4,0.000,0.040,1555,1524,3372,0,0,0,0,0,0
$GC,5346,-0.90,-134.9,839.4,-14.8,294,5351,0.12,2.22,0.00,0.000,6,0.216,0.055,1572,2924,3372,0,0,0,0,0,0
$GC,5668,-0.90,-134.9,881.8,-13.0,305,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2925,3372,0,0,0,0,0,0
$GC,5974,-0.90,-134.9,920.2,-12.5,315,5978,0.00,2.12,0.00,0.000,4,0.000,0.040,1572,1526,3371,0,0,0,0,0,0
$GC,6026,-0.90,-134.9,927.0,-11.8,316,6030,0.00,2.22,0.00,0.000,6,0.000,0.056,1563,2926,3371,0,0,0,0,0,0
$GC,6341,-0.90,-134.9,967.8,-13.3,326,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2926,3371,0,0,0,0,0,0
$STATE,6612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6612,begin apogee
$GC,6623,-0.19,0.0,1003.8,13.1,335,6765,0.82,0.00,136.10,1.232,6,0.187,0.000,1800,2737,2816,0,0,0,0,0,0
$STATE,6767,end apogee,CONTROL_FINISHED_OK
$STATE,6767,begin climb
$GC,6772,0.90,134.9,1006.1,0.0,340,6919,1.00,2.15,133.95,1.791,4,0.063,0.058,2160,3900,2270,0,0,0,0,1,0
$GC,6933,0.90,134.9,972.2,30.8,345,6937,0.00,2.03,0.00,0.000,6,0.000,0.040,2169,2742,2270,0,0,0,0,0,0
$GC,7270,0.90,134.9,862.9,32.2,356,7274,0.00,2.33,0.00,0.000,4,0.000,0.047,2179,1316,2263,0,0,0,0,0,0
$GC,7301,0.90,134.9,853.4,30.2,357,7306,0.00,2.38,0.00,0.000,6,0.000,0.054,2179,2736,2261,0,0,0,0,0,0
$GC,7639,0.90,134.9,747.9,31.2,368,7643,0.00,2.30,0.00,0.000,4,0.000,0.047,2189,1322,2260,0,0,0,0,0,0
$GC,7657,0.90,134.9,741.6,31.5,368,7662,0.00,2.35,0.00,0.000,6,0.000,0.052,2190,2745,2260,0,0,0,0,0,0
$GC,7974,0.90,134.9,641.5,32.1,378,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2745,2259,0,0,0,0,0,0
$GC,8279,0.90,134.9,543.6,32.0,388,8283,0.00,2.28,0.00,0.000,4,0.000,0.047,2200,1321,2258,0,0,0,0,0,0
$GC,8297,0.90,134.9,537.2,31.9,388,8302,0.17,2.30,0.00,0.000,6,0.256,0.051,2164,2743,2258,0,0,0,0,0,0
$GC,8613,0.90,134.9,444.7,29.2,398,8618,0.00,2.25,0.00,0.000,4,0.000,0.047,2173,1315,2256,0,0,0,0,0,0
$GC,8679,0.90,134.9,426.2,27.0,400,8683,0.00,2.28,0.00,0.000,6,0.000,0.053,2172,2739,2256,0,0,0,0,0,0
$GC,8998,0.90,134.9,333.1,29.3,414,9002,0.00,2.25,0.00,0.000,4,0.000,0.047,2182,1320,2256,0,0,0,0,0,0
$GC,9022,0.90,134.9,325.6,29.8,415,9026,0.00,2.28,0.00,0.000,6,0.000,0.053,2182,2736,2255,0,0,0,0,0,0
$GC,9352,0.90,134.9,231.8,27.8,432,9356,0.00,2.25,0.00,0.000,4,0.000,0.049,2192,1317,2256,0,0,0,0,0,0
$GC,9385,0.90,134.9,223.3,26.5,434,9390,0.12,2.28,0.00,0.000,6,0.257,0.052,2167,2736,2256,0,0,0,0,0,0
$GC,9719,0.90,134.9,137.5,27.0,455,9723,0.00,2.22,0.00,0.000,4,0.000,0.047,2177,1314,2255,0,0,0,0,0,0
$GC,9804,0.90,134.9,113.6,25.1,460,9808,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2735,2254,0,0,0,0,0,0
$GC,10157,0.90,134.9,21.7,27.2,514,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2735,2254,0,0,0,0,0,0
$STATE,10227,end climb,SURFACE_DEPTH_REACHED
$STATE,10227,begin surface coast
$FINISH,0.3,1.026496
$STATE,10241,end surface coast,CONTROL_FINISHED_OK
$STATE,10241,begin surface
$SM_CCo,10264,183.43,0.791,1,0,516,564.18
$SM_GC,0.61,0.00,0.00,183.43,0.000,0.000,0.791,62,2944,516,-5.65,0.59,564.18
$IRIDIUM_FIX,-4613.60,413.61,201212,050538
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,22.1,15.055
$10V_AH,10.1,6.501
$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,14.475,86.275,270.050,183.425,0.000,25.125,22.749,311.277,0.000,0.000,25.029,1337.412,6748.209,576.100,1826.865,527.092,33.358,1255.167,0.000,1436.224,0.000,1.009,0.000
$DEVICE_MAMPS,257.040,65.025,1790.865,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.211,1070.697,604.263,251.556,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354316
$DATA_FILE_SIZE,37038,527
$CAP_FILE_SIZE,91918,0
$CFSIZE,259252224,223989760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201212,114635,-4632.508,402.172,35,1.1,35,-23.3