version: 66.07
glider: 542
mission: 6
dive: 69
start: 12 20 112 11 57 1
data:
$ID,542
$MISSION,6
$DIVE,69
$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,-10522.433
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,201212,114635,-4632.508,402.172,35,1.1,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-29.6
$GPS2,201212,115559,-4632.555,402.268,17,1.1,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.047,0.176
$KALMAN_X,-52148.7,601.3,288.7,32617.3,-3790.4
$KALMAN_Y,19658.1,-48.9,-578.4,15667.7,1189.3
$MHEAD_RNG_PITCHd_Wd,38.1,5546,-26.0,-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,-0.79,-69.2,0.0,0.0,0,169,0.00,0.00,-138.18,0.000,6,0.000,0.000,61,2947,3103,0,0,0,0,0,0
$GC,176,-0.89,-150.3,2.8,-2.1,18,202,6.30,2.30,-9.65,0.000,4,0.254,0.053,1578,1506,3436,0,0,0,0,0,0
$GC,299,-0.89,-150.3,24.7,-16.8,36,308,0.00,2.33,0.00,0.000,6,0.000,0.054,1569,2917,3437,0,0,0,0,0,0
$GC,385,-0.89,-150.3,42.7,-22.2,49,392,0.00,1.58,0.00,0.000,4,0.000,0.059,1561,3893,3437,0,0,0,0,0,0
$GC,405,-0.89,-150.3,47.3,-23.1,51,411,0.00,1.55,0.00,0.000,6,0.000,0.033,1562,2884,3437,0,0,0,0,0,0
$GC,644,-0.89,-150.3,100.3,-20.4,92,648,0.00,1.65,0.00,0.000,4,0.000,0.058,1554,3892,3437,0,0,0,0,0,0
$GC,690,-0.89,-150.3,110.2,-20.9,94,699,0.00,1.48,0.00,0.000,6,0.000,0.033,1554,2920,3438,0,0,0,0,0,0
$GC,1014,-0.89,-150.3,174.6,-19.8,115,1018,0.12,2.12,0.00,0.000,4,0.213,0.038,1587,1535,3438,0,0,0,0,0,0
$GC,1038,-0.89,-150.3,180.1,-19.1,116,1042,0.00,2.22,0.00,0.000,6,0.000,0.054,1579,2923,3438,0,0,0,0,0,0
$GC,1361,-0.89,-150.3,235.0,-17.0,136,1365,0.00,2.15,0.00,0.000,4,0.000,0.038,1579,1529,3438,0,0,0,0,0,0
$GC,1392,-0.89,-150.3,240.5,-16.4,138,1396,0.00,2.22,0.00,0.000,6,0.000,0.054,1568,2923,3438,0,0,0,0,0,0
$GC,1724,-0.89,-150.3,296.5,-16.9,155,1728,0.00,1.55,0.00,0.000,4,0.000,0.060,1561,3900,3438,0,0,0,0,0,0
$GC,1758,-0.89,-150.3,303.4,-18.0,156,1762,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2923,3438,0,0,0,0,0,0
$GC,2084,-0.89,-150.3,359.2,-17.1,172,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2919,3438,0,0,0,0,0,0
$GC,2391,-0.89,-150.3,411.3,-16.8,186,2394,0.00,1.58,0.00,0.000,4,0.000,0.060,1554,3896,3438,0,0,0,0,0,0
$GC,2437,-0.89,-150.3,419.7,-18.3,187,2440,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2923,3438,0,0,0,0,0,0
$GC,2768,-0.89,-150.3,475.6,-16.9,198,2770,0.12,0.00,0.00,0.000,6,0.214,0.000,1581,2919,3438,0,0,0,0,0,0
$GC,3075,-0.89,-150.3,518.8,-14.1,208,3079,0.00,2.10,0.00,0.000,4,0.000,0.040,1582,1528,3438,0,0,0,0,0,0
$GC,3087,-0.89,-150.3,520.9,-14.1,208,3091,0.00,2.22,0.00,0.000,6,0.000,0.054,1572,2928,3438,0,0,0,0,0,0
$GC,3407,-0.89,-150.3,570.4,-15.9,219,3411,0.00,1.52,0.00,0.000,4,0.000,0.062,1565,3892,3438,0,0,0,0,0,0
$GC,3470,-0.89,-150.3,580.9,-15.7,220,3477,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2912,3438,0,0,0,0,0,0
$GC,3785,-0.89,-150.3,630.2,-15.4,231,3789,0.00,2.05,0.00,0.000,4,0.000,0.040,1565,1536,3438,0,0,0,0,0,0
$GC,3798,-0.89,-150.3,632.4,-15.7,231,3802,0.00,2.20,0.00,0.000,6,0.000,0.054,1554,2924,3437,0,0,0,0,0,0
$GC,4120,-0.89,-150.3,682.4,-15.5,242,4124,0.00,1.52,0.00,0.000,4,0.000,0.062,1547,3892,3437,0,0,0,0,0,0
$GC,4190,-0.89,-150.3,694.7,-16.9,244,4195,0.10,1.45,0.00,0.000,6,0.191,0.035,1575,2935,3437,0,0,0,0,0,0
$GC,4534,-0.89,-150.3,744.0,-13.8,255,4538,0.00,2.12,0.00,0.000,4,0.000,0.040,1575,1521,3436,0,0,0,0,0,0
$GC,4552,-0.89,-150.3,746.8,-13.8,255,4556,0.00,2.22,0.00,0.000,6,0.000,0.054,1566,2924,3436,0,0,0,0,0,0
$GC,4874,-0.89,-150.3,793.5,-14.8,266,4877,0.00,1.52,0.00,0.000,4,0.000,0.061,1559,3892,3436,0,0,0,0,0,0
$GC,4914,-0.89,-150.3,800.2,-15.8,267,4917,0.00,1.48,0.00,0.000,6,0.000,0.035,1559,2915,3436,0,0,0,0,0,0
$GC,5251,-0.89,-150.3,851.1,-15.0,278,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2910,3435,0,0,0,0,0,0
$GC,5559,-0.89,-150.3,896.2,-14.5,288,5562,0.00,1.58,0.00,0.000,4,0.000,0.063,1552,3891,3435,0,0,0,0,0,0
$GC,5610,-0.89,-150.3,904.9,-16.1,289,5614,0.08,1.45,0.00,0.000,6,0.190,0.036,1573,2935,3435,0,0,0,0,0,0
$GC,5937,-0.89,-150.3,947.4,-12.9,300,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2932,3435,0,0,0,0,0,0
$GC,6243,-0.89,-150.3,986.6,-12.6,310,6247,0.00,2.12,0.00,0.000,4,0.000,0.040,1573,1517,3435,0,0,0,0,0,0
$GC,6300,-0.89,-150.3,993.9,-12.1,311,6304,0.00,2.25,0.00,0.000,6,0.000,0.056,1564,2934,3434,0,0,0,0,0,0
$STATE,6366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6366,begin apogee
$GC,6377,-0.19,0.0,1002.3,12.5,313,6531,0.82,0.00,150.95,1.227,6,0.187,0.000,1801,2724,2819,0,0,0,0,0,0
$STATE,6533,end apogee,CONTROL_FINISHED_OK
$STATE,6533,begin climb
$GC,6538,0.89,150.3,1006.2,0.0,318,6700,1.00,2.50,149.25,1.793,4,0.063,0.047,2167,1353,2205,0,0,0,0,1,0
$GC,6774,0.89,150.3,950.8,30.6,325,6779,0.00,2.42,0.00,0.000,6,0.000,0.053,2167,2734,2204,0,0,0,0,0,0
$GC,7101,0.89,150.3,839.4,34.2,336,7105,0.00,2.33,0.00,0.000,4,0.000,0.047,2177,1337,2198,0,0,0,0,0,0
$GC,7121,0.89,150.3,832.5,34.5,336,7125,0.00,2.33,0.00,0.000,6,0.000,0.051,2177,2737,2199,0,0,0,0,0,0
$GC,7436,0.89,150.3,725.6,33.9,346,7440,0.00,2.25,0.00,0.000,4,0.000,0.047,2187,1348,2198,0,0,0,0,0,0
$GC,7473,0.89,150.3,713.5,33.6,347,7477,0.12,2.28,0.00,0.000,6,0.257,0.052,2164,2736,2198,0,0,0,0,0,0
$GC,7811,0.89,150.3,603.9,32.0,358,7815,0.00,2.22,0.00,0.000,4,0.000,0.047,2173,1345,2197,0,0,0,0,0,0
$GC,7835,0.89,150.3,595.9,31.2,358,7839,0.00,2.28,0.00,0.000,6,0.000,0.051,2172,2742,2196,0,0,0,0,0,0
$GC,8150,0.89,150.3,496.9,31.5,368,8154,0.00,2.22,0.00,0.000,4,0.000,0.047,2182,1345,2196,0,0,0,0,0,0
$GC,8196,0.89,150.3,482.5,28.4,369,8200,0.00,2.25,0.00,0.000,6,0.000,0.052,2182,2734,2195,0,0,0,0,0,0
$GC,8531,0.89,150.3,380.8,30.6,381,8534,0.00,1.85,0.00,0.000,4,0.000,0.060,2182,3904,2196,0,0,0,0,0,0
$GC,8542,0.89,150.3,375.4,31.4,381,8547,0.15,1.80,0.00,0.000,6,0.272,0.041,2161,2746,2196,0,0,0,0,0,0
$GC,8869,0.89,150.3,279.8,28.5,397,8873,0.00,2.20,0.00,0.000,4,0.000,0.048,2170,1330,2195,0,0,0,0,0,0
$GC,8921,0.89,150.3,264.2,26.6,399,8925,0.00,2.28,0.00,0.000,6,0.000,0.053,2165,2745,2194,0,0,0,0,0,0
$GC,9244,0.89,150.3,175.1,27.2,419,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2745,2195,0,0,0,0,0,0
$GC,9557,0.89,150.3,89.5,27.7,443,9562,0.00,2.22,0.00,0.000,4,0.000,0.048,2174,1331,2194,0,0,0,0,0,0
$GC,9645,0.89,150.3,69.7,23.4,457,9649,0.00,2.25,0.00,0.000,6,0.000,0.053,2173,2737,2194,0,0,0,0,0,0
$STATE,9887,end climb,SURFACE_DEPTH_REACHED
$STATE,9887,begin surface coast
$FINISH,0.3,1.026481
$STATE,9901,end surface coast,CONTROL_FINISHED_OK
$STATE,9901,begin surface
$SM_CCo,9923,177.60,0.794,1,0,516,564.18
$SM_GC,0.80,0.00,0.00,177.60,0.000,0.000,0.794,61,2956,516,-5.65,0.93,564.18
$IRIDIUM_FIX,-4616.72,404.25,201212,080830
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.8,15.243
$10V_AH,10.1,6.577
$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,14.550,91.225,300.200,177.600,0.000,27.298,21.737,313.457,0.000,0.000,23.464,1265.513,6574.852,589.740,1716.870,524.117,33.354,1238.265,0.000,1325.073,0.000,1.009,0.000
$DEVICE_MAMPS,272.340,62.730,1793.160,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.836,1013.635,564.528,230.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,37127,499
$CAP_FILE_SIZE,90284,0
$CFSIZE,259252224,223940608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201212,144652,-4631.427,402.404,38,0.8,38,-23.3