version: 66.07
glider: 542
mission: 6
dive: 72
start: 12 20 112 21 23 58
data:
$ID,542
$MISSION,6
$DIVE,72
$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,-10539.406
$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,52
$R_STBD_OVSHOOT,30
$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
$GPS1,201212,211305,-4628.618,401.463,31,1.0,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-29.1
$GPS2,201212,212300,-4628.616,401.498,19,1.0,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.169,-0.038
$KALMAN_X,-51062.8,129.3,150.7,31168.5,-927.6
$KALMAN_Y,15420.6,-230.1,93.9,26670.2,-2340.5
$MHEAD_RNG_PITCHd_Wd,280.8,3196,-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,-63.1,0.0,0.0,0,169,0.00,0.00,-136.48,0.000,6,0.000,0.000,58,2933,3077,0,0,0,0,0,0
$GC,176,-0.91,-140.7,2.6,-1.8,18,202,6.32,1.58,-9.48,0.000,4,0.256,0.082,1567,3888,3395,0,0,0,0,0,0
$GC,251,-0.91,-140.7,17.1,-20.0,28,260,0.00,1.50,0.00,0.000,6,0.000,0.034,1567,2914,3397,0,0,0,0,0,0
$GC,338,-0.91,-140.7,35.2,-22.1,41,345,0.00,2.12,0.00,0.000,4,0.000,0.037,1567,1536,3397,0,0,0,0,0,0
$GC,369,-0.91,-140.7,41.9,-21.7,45,376,0.00,2.25,0.00,0.000,6,0.000,0.053,1556,2919,3397,0,0,0,0,0,0
$GC,612,-0.91,-140.7,93.2,-19.8,86,620,0.00,2.15,0.00,0.000,4,0.000,0.037,1556,1527,3397,0,0,0,0,0,0
$GC,672,-0.91,-140.7,103.5,-17.3,93,676,0.12,2.25,0.00,0.000,6,0.209,0.053,1574,2924,3397,0,0,0,0,0,0
$GC,1008,-0.91,-140.7,161.3,-16.9,114,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2925,3398,0,0,0,0,0,0
$GC,1317,-0.91,-140.7,214.7,-17.3,134,1321,0.00,1.55,0.00,0.000,4,0.000,0.059,1568,3901,3398,0,0,0,0,0,0
$GC,1339,-0.91,-140.7,218.4,-18.1,135,1343,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2926,3399,0,0,0,0,0,0
$GC,1675,-0.91,-140.7,275.3,-16.7,154,1679,0.00,1.58,0.00,0.000,4,0.000,0.060,1560,3897,3399,0,0,0,0,0,0
$GC,1704,-0.91,-140.7,279.7,-17.0,155,1707,0.00,1.48,0.00,0.000,6,0.000,0.034,1560,2922,3399,0,0,0,0,0,0
$GC,2041,-0.91,-140.7,338.0,-16.8,171,2044,0.00,1.58,0.00,0.000,4,0.000,0.060,1553,3896,3399,0,0,0,0,0,0
$GC,2090,-0.91,-140.7,346.8,-17.4,173,2094,0.00,1.48,0.00,0.000,6,0.000,0.034,1553,2921,3398,0,0,0,0,0,0
$GC,2435,-0.91,-140.7,408.2,-17.7,189,2439,0.00,1.58,0.00,0.000,4,0.000,0.059,1546,3896,3399,0,0,0,0,0,0
$GC,2472,-0.91,-140.7,415.0,-18.9,190,2476,0.08,1.48,0.00,0.000,6,0.195,0.034,1567,2926,3399,0,0,0,0,0,0
$GC,2815,-0.91,-140.7,471.9,-16.4,201,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2923,3398,0,0,0,0,0,0
$GC,3121,-0.91,-140.7,519.1,-15.1,211,3125,0.00,2.15,0.00,0.000,4,0.000,0.040,1567,1521,3398,0,0,0,0,0,0
$GC,3139,-0.91,-140.7,522.2,-15.2,211,3143,0.00,2.22,0.00,0.000,6,0.000,0.054,1558,2928,3398,0,0,0,0,0,0
$GC,3460,-0.91,-140.7,573.0,-16.1,222,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2928,3398,0,0,0,0,0,0
$GC,3766,-0.91,-140.7,621.5,-15.5,232,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2928,3397,0,0,0,0,0,0
$GC,4072,-0.91,-140.7,668.4,-15.1,242,4076,0.00,1.52,0.00,0.000,4,0.000,0.061,1550,3894,3397,0,0,0,0,0,0
$GC,4129,-0.91,-140.7,677.8,-17.0,243,4133,0.00,1.48,0.00,0.000,6,0.000,0.035,1550,2917,3396,0,0,0,0,0,0
$GC,4451,-0.91,-140.7,726.1,-15.2,254,4455,0.00,1.58,0.00,0.000,4,0.000,0.061,1543,3894,3397,0,0,0,0,0,0
$GC,4538,-0.91,-140.7,740.1,-16.5,256,4542,0.10,1.48,0.00,0.000,6,0.196,0.035,1570,2922,3396,0,0,0,0,0,0
$GC,4866,-0.91,-140.7,783.8,-13.4,267,4870,0.00,1.58,0.00,0.000,4,0.000,0.062,1564,3900,3396,0,0,0,0,0,0
$GC,4895,-0.91,-140.7,788.3,-13.9,267,4902,0.00,1.48,0.00,0.000,6,0.000,0.035,1564,2920,3396,0,0,0,0,0,0
$GC,5210,-0.91,-140.7,832.1,-13.7,278,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2920,3396,0,0,0,0,0,0
$GC,5516,-0.91,-140.7,875.7,-14.4,288,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2920,3395,0,0,0,0,0,0
$GC,5823,-0.91,-140.7,919.4,-14.1,298,5827,0.00,2.08,0.00,0.000,4,0.000,0.040,1564,1530,3395,0,0,0,0,0,0
$GC,5863,-0.91,-140.7,925.2,-13.0,299,5867,0.00,2.22,0.00,0.000,6,0.000,0.055,1554,2934,3395,0,0,0,0,0,0
$GC,6202,-0.91,-140.7,972.4,-14.1,310,6206,0.00,1.52,0.00,0.000,4,0.000,0.062,1546,3901,3395,0,0,0,0,0,0
$GC,6239,-0.91,-140.7,977.9,-15.3,311,6244,0.08,1.48,0.00,0.000,6,0.200,0.035,1568,2926,3394,0,0,0,0,0,0
$STATE,6425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6425,begin apogee
$GC,6436,-0.19,0.0,1003.1,13.1,317,6581,0.80,0.00,141.60,1.236,6,0.184,0.000,1801,2735,2819,0,0,0,0,0,0
$STATE,6583,end apogee,CONTROL_FINISHED_OK
$STATE,6583,begin climb
$GC,6587,0.91,140.7,1006.6,0.0,322,6741,1.05,2.50,140.18,1.794,4,0.059,0.047,2184,1344,2245,0,0,0,0,1,0
$GC,6769,0.91,140.7,966.7,31.8,328,6773,0.00,2.50,0.00,0.000,6,0.000,0.052,2184,2732,2245,0,0,0,0,0,0
$GC,7107,0.91,140.7,854.3,33.3,339,7111,0.00,2.33,0.00,0.000,4,0.000,0.047,2194,1334,2239,0,0,0,0,0,0
$GC,7138,0.91,140.7,843.9,33.0,340,7143,0.15,2.35,0.00,0.000,6,0.256,0.052,2166,2736,2238,0,0,0,0,0,0
$GC,7477,0.91,140.7,734.8,32.1,351,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2736,2236,0,0,0,0,0,0
$GC,7783,0.91,140.7,635.9,32.3,361,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2736,2235,0,0,0,0,0,0
$GC,8089,0.91,140.7,537.8,31.5,371,8093,0.00,2.22,0.00,0.000,4,0.000,0.047,2175,1332,2234,0,0,0,0,0,0
$GC,8107,0.91,140.7,531.5,31.1,371,8111,0.00,2.28,0.00,0.000,6,0.000,0.050,2170,2739,2234,0,0,0,0,0,0
$GC,8428,0.91,140.7,434.6,29.9,382,8432,0.00,2.22,0.00,0.000,4,0.000,0.046,2179,1338,2233,0,0,0,0,0,0
$GC,8493,0.91,140.7,416.0,27.3,384,8497,0.00,2.25,0.00,0.000,6,0.000,0.052,2179,2745,2232,0,0,0,0,0,0
$GC,8830,0.91,140.7,315.4,30.6,399,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2746,2232,0,0,0,0,0,0
$GC,9149,0.91,140.7,221.0,29.5,416,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2746,2232,0,0,0,0,0,0
$GC,9461,0.91,140.7,134.5,26.9,436,9465,0.00,2.22,0.00,0.000,4,0.000,0.047,2189,1331,2232,0,0,0,0,0,0
$GC,9491,0.91,140.7,126.2,26.6,437,9497,0.00,2.25,0.00,0.000,6,0.000,0.052,2189,2745,2232,0,0,0,0,0,0
$GC,9836,0.91,140.7,31.9,27.3,486,9845,0.00,2.22,0.00,0.000,4,0.000,0.047,2199,1340,2232,0,0,0,0,0,0
$GC,9913,0.91,140.7,12.2,25.0,497,9923,0.12,2.25,0.00,0.000,6,0.243,0.051,2168,2739,2231,0,0,0,0,0,0
$STATE,9949,end climb,SURFACE_DEPTH_REACHED
$STATE,9949,begin surface coast
$FINISH,0.4,1.014702
$STATE,9963,end surface coast,CONTROL_FINISHED_OK
$STATE,9963,begin surface
$SM_CCo,9985,181.32,0.796,1,0,517,564.18
$SM_GC,0.85,0.00,0.00,181.32,0.000,0.000,0.796,60,2929,517,-5.65,0.17,564.18
$IRIDIUM_FIX,-4613.60,404.02,201212,181847
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.0,15.830
$10V_AH,10.1,6.817
$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,14.550,72.925,281.775,181.325,0.000,26.578,20.633,325.522,0.000,0.000,21.993,1261.074,6697.442,580.503,1702.149,522.067,33.363,1207.545,0.000,1296.502,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,81.855,1793.925,796.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.755,1020.536,564.582,223.276,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,37202,504
$CAP_FILE_SIZE,86369,0
$CFSIZE,259252224,223784960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,001452,-4628.209,359.318,35,1.0,35,-23.3