version: 66.07
glider: 542
mission: 6
dive: 70
start: 12 20 112 14 57 16
data:
$ID,542
$MISSION,6
$DIVE,70
$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,-10528.965
$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,41
$R_STBD_OVSHOOT,55
$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
$GPS1,201212,144652,-4631.427,402.404,38,0.8,38,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-30.8
$GPS2,201212,145615,-4631.410,402.483,18,1.8,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.006,0.210
$KALMAN_X,-52010.5,292.1,206.9,33140.6,-3020.3
$KALMAN_Y,17594.8,-258.7,-52.6,19518.3,-1587.4
$MHEAD_RNG_PITCHd_Wd,21.8,4103,-22.4,-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,-0.72,-92.0,0.0,0.0,0,178,0.00,0.00,-142.27,0.000,6,0.000,0.000,60,2958,3196,0,0,0,0,0,0
$GC,185,-0.82,-177.1,3.4,-3.8,19,211,6.35,2.30,-8.62,0.000,4,0.252,0.051,1606,1517,3545,0,0,0,0,0,0
$GC,272,-0.82,-177.1,21.5,-14.7,31,281,0.00,2.28,0.00,0.000,6,0.000,0.055,1597,2893,3546,0,0,0,0,0,0
$GC,358,-0.82,-177.1,37.2,-19.2,44,367,0.00,2.17,0.00,0.000,4,0.000,0.038,1598,1524,3546,0,0,0,0,0,0
$GC,389,-0.82,-177.1,43.2,-19.3,48,398,0.00,2.30,0.00,0.000,6,0.000,0.053,1589,2923,3546,0,0,0,0,0,0
$GC,632,-0.82,-177.1,93.0,-19.3,89,637,0.00,1.58,0.00,0.000,4,0.000,0.059,1582,3903,3546,0,0,0,0,0,0
$GC,649,-0.82,-177.1,95.8,-18.5,91,654,0.00,1.52,0.00,0.000,6,0.000,0.032,1581,2901,3546,0,0,0,0,0,0
$GC,983,-0.82,-177.1,156.6,-18.3,114,986,0.00,2.08,0.00,0.000,4,0.000,0.038,1582,1528,3547,0,0,0,0,0,0
$GC,1004,-0.82,-177.1,160.3,-18.4,115,1009,0.12,2.25,0.00,0.000,6,0.202,0.053,1600,2935,3547,0,0,0,0,0,0
$GC,1341,-0.82,-177.1,216.5,-16.5,136,1345,0.00,1.52,0.00,0.000,4,0.000,0.061,1594,3893,3548,0,0,0,0,0,0
$GC,1378,-0.82,-177.1,223.1,-17.0,138,1382,0.00,1.48,0.00,0.000,6,0.000,0.034,1594,2922,3548,0,0,0,0,0,0
$GC,1698,-0.82,-177.1,276.6,-16.9,156,1702,0.00,2.10,0.00,0.000,4,0.000,0.038,1594,1528,3548,0,0,0,0,0,0
$GC,1733,-0.82,-177.1,282.7,-15.3,157,1738,0.00,2.22,0.00,0.000,6,0.000,0.054,1583,2922,3548,0,0,0,0,0,0
$GC,2053,-0.82,-177.1,336.7,-17.1,172,2057,0.00,1.55,0.00,0.000,4,0.000,0.061,1576,3899,3547,0,0,0,0,0,0
$GC,2089,-0.82,-177.1,343.6,-18.5,173,2093,0.00,1.48,0.00,0.000,6,0.000,0.034,1576,2925,3548,0,0,0,0,0,0
$GC,2415,-0.82,-177.1,402.3,-18.2,189,2419,0.00,2.12,0.00,0.000,4,0.000,0.039,1576,1522,3547,0,0,0,0,0,0
$GC,2450,-0.82,-177.1,409.3,-17.6,190,2455,0.15,2.25,0.00,0.000,6,0.197,0.054,1602,2932,3548,0,0,0,0,0,0
$GC,2783,-0.82,-177.1,459.3,-15.2,201,2787,0.00,1.52,0.00,0.000,4,0.000,0.062,1596,3895,3548,0,0,0,0,0,0
$GC,2813,-0.82,-177.1,464.1,-15.9,201,2820,0.00,1.48,0.00,0.000,6,0.000,0.034,1596,2920,3548,0,0,0,0,0,0
$GC,3129,-0.82,-177.1,511.9,-15.1,212,3133,0.00,2.10,0.00,0.000,4,0.000,0.039,1596,1522,3548,0,0,0,0,0,0
$GC,3141,-0.82,-177.1,514.2,-15.3,212,3145,0.00,2.22,0.00,0.000,6,0.000,0.054,1586,2925,3548,0,0,0,0,0,0
$GC,3467,-0.82,-177.1,565.7,-15.9,223,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2925,3547,0,0,0,0,0,0
$GC,3773,-0.82,-177.1,611.0,-14.7,233,3777,0.00,2.12,0.00,0.000,4,0.000,0.039,1586,1524,3547,0,0,0,0,0,0
$GC,3803,-0.82,-177.1,615.6,-15.1,233,3809,0.00,2.22,0.00,0.000,6,0.000,0.055,1576,2925,3547,0,0,0,0,0,0
$GC,4118,-0.82,-177.1,664.5,-15.5,244,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2926,3546,0,0,0,0,0,0
$GC,4424,-0.82,-177.1,710.2,-14.7,254,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2926,3545,0,0,0,0,0,0
$GC,4730,-0.82,-177.1,753.9,-14.1,264,4734,0.00,2.10,0.00,0.000,4,0.000,0.039,1575,1529,3545,0,0,0,0,0,0
$GC,4748,-0.82,-177.1,756.9,-14.6,264,4753,0.15,2.20,0.00,0.000,6,0.195,0.055,1602,2926,3546,0,0,0,0,0,0
$GC,5069,-0.82,-177.1,793.8,-11.6,275,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2926,3546,0,0,0,0,0,0
$GC,5376,-0.82,-177.1,830.0,-11.8,285,5380,0.00,2.10,0.00,0.000,4,0.000,0.039,1602,1528,3545,0,0,0,0,0,0
$GC,5394,-0.82,-177.1,832.4,-11.9,285,5398,0.00,2.20,0.00,0.000,6,0.000,0.056,1593,2923,3545,0,0,0,0,0,0
$GC,5714,-0.82,-177.1,872.7,-12.7,296,5718,0.00,1.55,0.00,0.000,4,0.000,0.063,1585,3903,3545,0,0,0,0,0,0
$GC,5754,-0.82,-177.1,878.3,-13.2,297,5759,0.00,1.48,0.00,0.000,6,0.000,0.035,1585,2928,3545,0,0,0,0,0,0
$GC,6094,-0.82,-177.1,921.6,-12.7,308,6098,0.00,2.10,0.00,0.000,4,0.000,0.040,1586,1519,3545,0,0,0,0,0,0
$GC,6125,-0.82,-177.1,925.5,-11.8,309,6129,0.00,2.22,0.00,0.000,6,0.000,0.057,1575,2924,3544,0,0,0,0,0,0
$GC,6468,-0.82,-177.1,968.9,-13.0,320,6472,0.00,1.52,0.00,0.000,4,0.000,0.063,1568,3891,3544,0,0,0,0,0,0
$GC,6486,-0.82,-177.1,971.6,-13.6,320,6490,0.10,1.48,0.00,0.000,6,0.181,0.035,1597,2920,3544,0,0,0,0,0,0
$STATE,6747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6747,begin apogee
$GC,6758,-0.19,0.0,1002.5,11.7,329,6937,0.68,0.00,175.95,1.226,6,0.167,0.000,1801,2731,2819,0,0,0,0,0,0
$STATE,6939,end apogee,CONTROL_FINISHED_OK
$STATE,6939,begin climb
$GC,6944,0.82,177.1,1008.6,0.0,335,7134,0.95,2.25,176.60,1.795,4,0.060,0.058,2139,3892,2097,0,0,0,0,1,0
$GC,7255,0.82,177.1,926.4,34.3,344,7259,0.00,1.92,0.00,0.000,6,0.000,0.041,2148,2753,2094,0,0,0,0,0,0
$GC,7581,0.82,177.1,813.8,34.7,355,7585,0.00,2.35,0.00,0.000,4,0.000,0.049,2159,1315,2090,0,0,0,0,0,0
$GC,7612,0.82,177.1,803.2,32.7,356,7616,0.00,2.35,0.00,0.000,6,0.000,0.052,2159,2734,2090,0,0,0,0,0,0
$GC,7950,0.82,177.1,683.3,36.2,367,7954,0.00,2.30,0.00,0.000,4,0.000,0.049,2169,1316,2088,0,0,0,0,0,0
$GC,8002,0.82,177.1,664.7,33.2,368,8007,0.15,2.33,0.00,0.000,6,0.261,0.053,2140,2739,2088,0,0,0,0,0,0
$GC,8317,0.82,177.1,561.2,32.6,378,8321,0.00,2.30,0.00,0.000,4,0.000,0.047,2150,1313,2087,0,0,0,0,0,0
$GC,8349,0.82,177.1,551.2,32.3,379,8353,0.00,2.30,0.00,0.000,6,0.000,0.052,2149,2737,2086,0,0,0,0,0,0
$GC,8686,0.82,177.1,441.3,32.8,390,8690,0.00,2.28,0.00,0.000,4,0.000,0.049,2158,1317,2086,0,0,0,0,0,0
$GC,8727,0.82,177.1,428.2,30.4,391,8731,0.00,2.28,0.00,0.000,6,0.000,0.052,2158,2737,2085,0,0,0,0,0,0
$GC,9049,0.82,177.1,331.0,30.7,405,9053,0.00,2.28,0.00,0.000,4,0.000,0.050,2169,1317,2086,0,0,0,0,0,0
$GC,9079,0.82,177.1,320.5,29.9,406,9084,0.15,2.30,0.00,0.000,6,0.259,0.054,2139,2740,2085,0,0,0,0,0,0
$GC,9411,0.82,177.1,222.3,28.7,423,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2740,2085,0,0,0,0,0,0
$GC,9723,0.82,177.1,131.5,28.9,443,9727,0.00,2.22,0.00,0.000,4,0.000,0.047,2148,1318,2085,0,0,0,0,0,0
$GC,9747,0.82,177.1,123.6,28.9,444,9751,0.00,2.25,0.00,0.000,6,0.000,0.051,2148,2737,2085,0,0,0,0,0,0
$GC,10099,0.82,177.1,25.0,27.1,494,10108,0.00,2.28,0.00,0.000,4,0.000,0.048,2158,1314,2085,0,0,0,0,0,0
$STATE,10182,end climb,SURFACE_DEPTH_REACHED
$STATE,10183,begin surface coast
$FINISH,0.5,1.026483
$STATE,10196,end surface coast,CONTROL_FINISHED_OK
$STATE,10196,begin surface
$SM_CCo,10221,165.77,0.799,1,0,519,564.18
$SM_GC,0.75,0.00,0.00,165.77,0.000,0.000,0.799,60,2934,519,-5.66,0.31,564.18
$IRIDIUM_FIX,-4616.72,404.47,201212,111131
$TT8_MAMPS,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,21.5,15.451
$10V_AH,10.1,6.655
$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,14.425,98.675,352.550,165.775,0.000,28.677,20.035,310.578,0.000,0.000,24.915,1282.505,6777.745,633.924,1727.535,533.686,33.357,1303.087,0.000,1335.606,0.000,1.008,0.000
$DEVICE_MAMPS,260.865,63.495,1795.455,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.143,1026.794,564.594,224.007,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354328
$DATA_FILE_SIZE,37108,509
$CAP_FILE_SIZE,91865,0
$CFSIZE,259252224,223891456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,201212,175152,-4629.951,402.142,37,0.9,37,-23.3