version: 66.07
glider: 542
mission: 6
dive: 127
start: 12 28 112 4 59 48
data:
$ID,542
$MISSION,6
$DIVE,127
$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,-10796.058
$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,44
$R_STBD_OVSHOOT,22
$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
$GPS1,281212,044928,-4628.365,402.098,36,0.8,36,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-52.5
$GPS2,281212,045847,-4628.354,402.104,16,1.6,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.073,-0.157
$KALMAN_X,-72372.7,766.8,260.3,52491.4,-1661.4
$KALMAN_Y,33949.1,-44.6,340.1,8190.8,-922.4
$MHEAD_RNG_PITCHd_Wd,228.3,4061,-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,-135.60,0.000,6,0.000,0.000,54,2926,3077,0,0,0,0,0,0
$GC,177,-0.91,-138.5,2.9,-2.0,18,203,6.12,1.60,-8.62,0.000,4,0.246,0.080,1562,3897,3387,0,0,0,0,0,0
$GC,468,-0.91,-138.5,67.1,-22.4,65,473,0.00,1.52,0.00,0.000,6,0.000,0.033,1562,2900,3387,0,0,0,0,0,0
$GC,810,-0.91,-138.5,132.4,-17.9,105,811,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2896,3388,0,0,0,0,0,0
$GC,1122,-0.91,-138.5,186.8,-17.0,125,1126,0.00,1.62,0.00,0.000,4,0.000,0.061,1555,3897,3388,0,0,0,0,0,0
$GC,1161,-0.91,-138.5,193.7,-18.5,127,1165,0.00,1.48,0.00,0.000,6,0.000,0.033,1555,2923,3388,0,0,0,0,0,0
$GC,1495,-0.91,-138.5,252.7,-17.8,148,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2919,3389,0,0,0,0,0,0
$GC,1805,-0.91,-138.5,307.6,-18.0,163,1809,0.00,1.58,0.00,0.000,4,0.000,0.061,1548,3895,3389,0,0,0,0,0,0
$GC,1857,-0.91,-138.5,318.1,-18.9,165,1860,0.00,1.48,0.00,0.000,6,0.000,0.033,1548,2922,3389,0,0,0,0,0,0
$GC,2188,-0.91,-138.5,380.2,-18.7,181,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2918,3389,0,0,0,0,0,0
$GC,2493,-0.91,-138.5,437.4,-18.7,193,2497,0.10,1.60,0.00,0.000,4,0.217,0.062,1564,3912,3389,0,0,0,0,0,0
$GC,2540,-0.91,-138.5,446.2,-17.2,194,2543,0.00,1.50,0.00,0.000,6,0.000,0.034,1563,2925,3389,0,0,0,0,0,0
$GC,2871,-0.91,-138.5,498.8,-15.7,205,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2921,3389,0,0,0,0,0,0
$GC,3179,-0.91,-138.5,547.8,-15.9,215,3182,0.00,1.58,0.00,0.000,4,0.000,0.063,1556,3897,3388,0,0,0,0,0,0
$GC,3241,-0.91,-138.5,559.0,-17.4,216,3248,0.00,1.48,0.00,0.000,6,0.000,0.034,1556,2924,3388,0,0,0,0,0,0
$GC,3557,-0.91,-138.5,610.3,-16.3,227,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3388,0,0,0,0,0,0
$GC,3863,-0.91,-138.5,660.0,-16.1,237,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3388,0,0,0,0,0,0
$GC,4169,-0.91,-138.5,707.2,-15.3,247,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3387,0,0,0,0,0,0
$GC,4475,-0.91,-138.5,752.6,-14.8,257,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3387,0,0,0,0,0,0
$GC,4782,-0.91,-138.5,797.2,-14.4,267,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3386,0,0,0,0,0,0
$GC,5088,-0.91,-138.5,841.4,-14.6,277,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3387,0,0,0,0,0,0
$GC,5394,-0.91,-138.5,884.7,-14.0,287,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3386,0,0,0,0,0,0
$GC,5700,-0.91,-138.5,927.3,-14.0,297,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2923,3386,0,0,0,0,0,0
$GC,6006,-0.91,-138.5,968.6,-13.3,307,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2924,3385,0,0,0,0,0,0
$STATE,6247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6247,begin apogee
$GC,6257,-0.19,0.0,1000.3,12.8,315,6400,0.85,0.00,138.65,1.243,6,0.185,0.000,1801,2742,2817,0,0,0,0,0,0
$STATE,6402,end apogee,CONTROL_FINISHED_OK
$STATE,6402,begin climb
$GC,6407,0.91,138.5,1001.8,0.0,320,6561,1.02,2.53,140.30,1.795,4,0.058,0.046,2178,1338,2255,0,0,0,0,1,0
$GC,6586,0.91,138.5,960.2,31.4,325,6593,0.00,2.53,0.00,0.000,6,0.000,0.053,2178,2732,2254,0,0,0,0,0,0
$GC,6901,0.91,138.5,853.6,33.9,336,6906,0.00,2.30,0.00,0.000,4,0.000,0.047,2188,1335,2248,0,0,0,0,0,0
$GC,6942,0.91,138.5,839.5,32.4,337,6946,0.00,2.38,0.00,0.000,6,0.000,0.053,2189,2748,2246,0,0,0,0,0,0
$GC,7268,0.91,138.5,729.6,33.6,348,7272,0.00,2.28,0.00,0.000,4,0.000,0.045,2199,1333,2245,0,0,0,0,0,0
$GC,7360,0.91,138.5,700.3,29.9,350,7367,0.15,2.30,0.00,0.000,6,0.259,0.053,2170,2741,2243,0,0,0,0,0,0
$GC,7675,0.91,138.5,601.4,31.4,361,7679,0.00,2.25,0.00,0.000,4,0.000,0.045,2179,1330,2242,0,0,0,0,0,0
$GC,7706,0.91,138.5,591.9,31.0,362,7711,0.00,2.28,0.00,0.000,6,0.000,0.053,2173,2734,2242,0,0,0,0,0,0
$GC,8044,0.91,138.5,487.2,31.1,373,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2735,2241,0,0,0,0,0,0
$GC,8350,0.91,138.5,395.0,29.9,383,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2735,2242,0,0,0,0,0,0
$GC,8660,0.91,138.5,305.0,28.7,398,8664,0.00,2.20,0.00,0.000,4,0.000,0.045,2183,1332,2241,0,0,0,0,0,0
$GC,8740,0.91,138.5,282.6,26.8,401,8747,0.00,2.25,0.00,0.000,6,0.000,0.052,2183,2742,2240,0,0,0,0,0,0
$GC,9061,0.91,138.5,189.7,28.4,420,9064,0.00,2.20,0.00,0.000,4,0.000,0.044,2193,1325,2240,0,0,0,0,0,0
$GC,9082,0.91,138.5,184.0,27.9,421,9087,0.12,2.25,0.00,0.000,6,0.258,0.054,2169,2736,2240,0,0,0,0,0,0
$GC,9412,0.91,138.5,95.0,26.1,443,9416,0.00,2.20,0.00,0.000,4,0.000,0.045,2178,1331,2240,0,0,0,0,0,0
$GC,9463,0.91,138.5,80.6,26.3,451,9468,0.00,2.25,0.00,0.000,6,0.000,0.054,2178,2745,2239,0,0,0,0,0,0
$STATE,9763,end climb,SURFACE_DEPTH_REACHED
$STATE,9764,begin surface coast
$FINISH,0.3,1.014764
$STATE,9777,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9800,180.48,0.797,1,0,519,564.18
$SM_GC,1.01,0.00,0.00,180.48,0.000,0.000,0.797,56,2933,519,-5.67,0.28,564.18
$IRIDIUM_FIX,-4610.49,400.69,281212,010136
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.8,26.270
$10V_AH,10.1,11.196
$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,14.150,48.125,278.950,180.475,0.000,24.755,22.789,307.566,0.000,0.000,22.669,1220.440,6676.267,561.275,1618.073,467.312,33.364,1126.111,0.000,1241.540,0.000,1.008,0.000
$DEVICE_MAMPS,258.570,79.560,1794.690,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.354,1018.555,571.244,234.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,37067,503
$CAP_FILE_SIZE,75002,0
$CFSIZE,259252224,221151232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,281212,074734,-4629.397,400.554,33,1.0,33,-23.3