version: 66.07
glider: 542
mission: 6
dive: 74
start: 12 21 112 3 40 14
data:
$ID,542
$MISSION,6
$DIVE,74
$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,-10549.209
$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,49
$R_STBD_OVSHOOT,21
$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
$GPS1,211212,032923,-4629.753,359.846,37,1.1,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-36.4
$GPS2,211212,033912,-4629.770,359.870,15,2.0,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.091,0.147
$KALMAN_X,-51013.3,283.0,-152.1,29219.4,-768.7
$KALMAN_Y,16412.1,1130.1,168.4,22109.0,-1918.0
$MHEAD_RNG_PITCHd_Wd,55.1,458,-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,-136.80,0.000,6,0.000,0.000,55,2926,3078,0,0,0,0,0,0
$GC,176,-0.91,-139.5,2.5,-1.9,18,202,6.28,2.25,-9.25,0.000,4,0.252,0.056,1578,1522,3389,0,0,0,0,0,0
$GC,214,-0.91,-139.5,10.4,-18.4,22,224,0.00,2.30,0.00,0.000,6,0.000,0.052,1569,2919,3390,0,0,0,0,0,0
$GC,303,-0.91,-139.5,28.4,-20.4,35,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2920,3391,0,0,0,0,0,0
$GC,387,-0.91,-139.5,46.7,-20.4,48,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2920,3391,0,0,0,0,0,0
$GC,632,-0.91,-139.5,96.0,-18.6,89,636,0.00,1.58,0.00,0.000,4,0.000,0.058,1561,3903,3391,0,0,0,0,0,0
$GC,656,-0.91,-139.5,101.2,-19.9,92,660,0.00,1.52,0.00,0.000,6,0.000,0.033,1561,2908,3391,0,0,0,0,0,0
$GC,985,-0.91,-139.5,162.4,-18.1,113,989,0.00,1.62,0.00,0.000,4,0.000,0.058,1555,3931,3392,0,0,0,0,0,0
$GC,1032,-0.91,-139.5,172.2,-19.9,115,1039,0.00,1.55,0.00,0.000,6,0.000,0.034,1554,2916,3392,0,0,0,0,0,0
$GC,1354,-0.91,-139.5,234.3,-19.4,136,1358,0.00,1.58,0.00,0.000,4,0.000,0.058,1547,3893,3392,0,0,0,0,0,0
$GC,1391,-0.91,-139.5,241.9,-20.6,138,1395,0.08,1.48,0.00,0.000,6,0.191,0.034,1568,2927,3393,0,0,0,0,0,0
$GC,1711,-0.91,-139.5,297.0,-16.2,154,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2922,3393,0,0,0,0,0,0
$GC,2022,-0.91,-139.5,348.1,-16.4,169,2026,0.00,2.10,0.00,0.000,4,0.000,0.039,1568,1526,3393,0,0,0,0,0,0
$GC,2047,-0.91,-139.5,352.7,-16.9,170,2051,0.00,2.20,0.00,0.000,6,0.000,0.053,1559,2925,3393,0,0,0,0,0,0
$GC,2366,-0.91,-139.5,408.1,-17.8,185,2370,0.00,1.52,0.00,0.000,4,0.000,0.060,1552,3891,3393,0,0,0,0,0,0
$GC,2389,-0.91,-139.5,412.7,-18.2,185,2393,0.00,1.48,0.00,0.000,6,0.000,0.034,1552,2913,3393,0,0,0,0,0,0
$GC,2710,-0.91,-139.5,472.3,-18.9,196,2713,0.00,1.60,0.00,0.000,4,0.000,0.060,1545,3903,3393,0,0,0,0,0,0
$GC,2761,-0.91,-139.5,483.0,-21.1,197,2766,0.08,1.48,0.00,0.000,6,0.194,0.034,1565,2932,3393,0,0,0,0,0,0
$GC,3088,-0.91,-139.5,539.0,-16.9,208,3092,0.00,1.55,0.00,0.000,4,0.000,0.060,1560,3894,3393,0,0,0,0,0,0
$GC,3159,-0.91,-139.5,551.4,-16.9,210,3162,0.00,1.48,0.00,0.000,6,0.000,0.034,1559,2915,3393,0,0,0,0,0,0
$GC,3503,-0.91,-139.5,608.9,-16.7,221,3506,0.00,1.58,0.00,0.000,4,0.000,0.060,1552,3892,3393,0,0,0,0,0,0
$GC,3565,-0.91,-139.5,620.6,-17.7,222,3572,0.00,1.45,0.00,0.000,6,0.000,0.034,1552,2928,3392,0,0,0,0,0,0
$GC,3880,-0.91,-139.5,671.9,-16.1,233,3884,0.00,1.55,0.00,0.000,4,0.000,0.060,1545,3894,3392,0,0,0,0,0,0
$GC,3909,-0.91,-139.5,677.1,-16.7,233,3917,0.08,1.48,0.00,0.000,6,0.192,0.034,1566,2921,3392,0,0,0,0,0,0
$GC,4225,-0.91,-139.5,722.1,-14.1,244,4228,0.00,2.08,0.00,0.000,4,0.000,0.040,1566,1527,3391,0,0,0,0,0,0
$GC,4259,-0.91,-139.5,727.2,-13.0,245,4263,0.00,2.22,0.00,0.000,6,0.000,0.054,1557,2930,3391,0,0,0,0,0,0
$GC,4591,-0.91,-139.5,775.4,-14.8,256,4595,0.00,2.15,0.00,0.000,4,0.000,0.038,1557,1524,3391,0,0,0,0,0,0
$GC,4623,-0.91,-139.5,780.0,-14.6,257,4627,0.12,2.20,0.00,0.000,6,0.214,0.054,1574,2928,3391,0,0,0,0,0,0
$GC,4962,-0.91,-139.5,823.9,-13.1,268,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2928,3391,0,0,0,0,0,0
$GC,5267,-0.91,-139.5,864.5,-13.1,278,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2927,3390,0,0,0,0,0,0
$GC,5573,-0.91,-139.5,903.9,-12.7,288,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2928,3390,0,0,0,0,0,0
$GC,5879,-0.91,-139.5,942.4,-12.7,298,5883,0.00,2.12,0.00,0.000,4,0.000,0.039,1575,1525,3390,0,0,0,0,0,0
$GC,5903,-0.91,-139.5,945.6,-12.6,298,5907,0.00,2.22,0.00,0.000,6,0.000,0.054,1565,2931,3390,0,0,0,0,0,0
$GC,6218,-0.91,-139.5,986.6,-13.2,308,6222,0.00,2.12,0.00,0.000,4,0.000,0.038,1566,1522,3390,0,0,0,0,0,0
$GC,6259,-0.91,-139.5,992.1,-12.1,309,6263,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2927,3389,0,0,0,0,0,0
$STATE,6335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6335,begin apogee
$GC,6346,-0.19,0.0,1002.2,13.1,312,6490,0.88,0.00,140.02,1.226,6,0.190,0.000,1805,2736,2816,0,0,0,0,0,0
$STATE,6492,end apogee,CONTROL_FINISHED_OK
$STATE,6492,begin climb
$GC,6497,0.91,139.5,1004.5,0.0,317,6654,1.02,2.17,139.05,1.784,4,0.060,0.057,2167,3892,2251,0,0,0,0,1,0
$GC,6663,0.91,139.5,967.6,32.2,322,6667,0.00,2.00,0.00,0.000,6,0.000,0.040,2177,2752,2251,0,0,0,0,0,0
$GC,6991,0.91,139.5,857.6,34.0,333,6995,0.00,2.35,0.00,0.000,4,0.000,0.048,2187,1317,2244,0,0,0,0,0,0
$GC,7003,0.91,139.5,852.3,33.8,333,7007,0.00,2.38,0.00,0.000,6,0.000,0.050,2186,2731,2244,0,0,0,0,0,0
$GC,7324,0.91,139.5,746.3,33.0,344,7328,0.00,2.30,0.00,0.000,4,0.000,0.047,2195,1319,2242,0,0,0,0,0,0
$GC,7381,0.91,139.5,727.6,30.8,345,7389,0.15,2.33,0.00,0.000,6,0.256,0.051,2166,2735,2240,0,0,0,0,0,0
$GC,7697,0.91,139.5,630.0,31.3,356,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2735,2239,0,0,0,0,0,0
$GC,8003,0.91,139.5,534.6,31.0,366,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2735,2239,0,0,0,0,0,0
$GC,8309,0.91,139.5,441.0,30.0,376,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2735,2238,0,0,0,0,0,0
$GC,8629,0.91,139.5,348.9,28.6,389,8633,0.00,2.22,0.00,0.000,4,0.000,0.047,2176,1320,2238,0,0,0,0,0,0
$GC,8674,0.91,139.5,336.5,28.7,391,8678,0.00,2.28,0.00,0.000,6,0.000,0.052,2170,2736,2236,0,0,0,0,0,0
$GC,9001,0.91,139.5,244.5,28.4,407,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2736,2237,0,0,0,0,0,0
$GC,9313,0.91,139.5,154.8,29.0,427,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2736,2236,0,0,0,0,0,0
$GC,9635,0.91,139.5,66.7,26.9,461,9640,0.00,2.22,0.00,0.000,4,0.000,0.046,2179,1318,2236,0,0,0,0,0,0
$GC,9802,0.91,139.5,27.5,23.9,488,9812,0.00,2.28,0.00,0.000,6,0.000,0.052,2173,2730,2235,0,0,0,0,0,0
$STATE,9886,end climb,SURFACE_DEPTH_REACHED
$STATE,9886,begin surface coast
$FINISH,0.4,1.026529
$STATE,9900,end surface coast,CONTROL_FINISHED_OK
$STATE,9900,begin surface
$SM_CCo,9923,179.25,0.789,1,0,518,564.18
$SM_GC,0.67,0.00,0.00,179.25,0.000,0.000,0.789,62,2942,518,-5.65,0.54,564.18
$IRIDIUM_FIX,-4610.49,400.69,211212,000056
$TT8_MAMPS,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.0,16.196
$10V_AH,10.1,6.972
$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,14.400,73.775,279.075,179.250,0.000,25.941,57.188,304.128,0.000,0.000,21.435,1249.937,6659.562,587.091,1692.220,509.394,33.359,1211.348,0.000,1277.958,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,61.200,1783.980,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.945,1009.694,554.754,224.522,0.000,0.000,0.000,0.000,0.000,0.000
$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,37099,503
$CAP_FILE_SIZE,85902,0
$CFSIZE,259252224,223698944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,063005,-4628.583,400.237,37,0.9,37,-23.3