version: 66.07
glider: 542
mission: 6
dive: 128
start: 12 28 112 8 3 28
data:
$ID,542
$MISSION,6
$DIVE,128
$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,-10799.464
$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,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
$GPS1,281212,074734,-4629.397,400.554,33,1.0,33,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-50.5
$GPS2,281212,080230,-4629.411,400.539,19,1.1,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.141,-0.100
$KALMAN_X,-72481.8,853.0,-72.1,50876.4,-1668.5
$KALMAN_Y,34779.3,707.4,215.5,4780.6,-377.9
$MHEAD_RNG_PITCHd_Wd,148.7,1289,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.81,-63.1,0.0,0.0,0,175,0.00,0.00,-135.32,0.000,6,0.000,0.000,55,2933,3077,0,0,0,0,0,0
$GC,181,-0.91,-139.2,2.9,-1.9,18,208,6.10,1.60,-8.60,0.000,4,0.244,0.080,1565,3899,3388,0,0,0,0,0,0
$GC,477,-0.91,-139.2,69.0,-22.3,66,486,0.00,1.52,0.00,0.000,6,0.000,0.034,1564,2905,3388,0,0,0,0,0,0
$GC,822,-0.91,-139.2,131.9,-18.1,106,825,0.00,1.60,0.00,0.000,4,0.000,0.061,1558,3887,3389,0,0,0,0,0,0
$GC,1063,-0.91,-139.2,177.3,-17.6,120,1067,0.00,1.45,0.00,0.000,6,0.000,0.034,1558,2935,3390,0,0,0,0,0,0
$GC,1398,-0.91,-139.2,235.7,-17.8,141,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2931,3389,0,0,0,0,0,0
$GC,1716,-0.91,-139.2,292.0,-17.6,158,1720,0.00,1.55,0.00,0.000,4,0.000,0.061,1550,3890,3390,0,0,0,0,0,0
$GC,1781,-0.91,-139.2,304.1,-19.2,160,1789,0.00,1.48,0.00,0.000,6,0.000,0.033,1550,2907,3389,0,0,0,0,0,0
$GC,2099,-0.91,-139.2,360.2,-17.5,176,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2907,3389,0,0,0,0,0,0
$GC,2408,-0.91,-139.2,413.9,-17.7,190,2411,0.00,1.60,0.00,0.000,4,0.000,0.062,1543,3898,3389,0,0,0,0,0,0
$GC,2470,-0.91,-139.2,425.7,-18.3,191,2478,0.10,1.48,0.00,0.000,6,0.190,0.034,1571,2930,3389,0,0,0,0,0,0
$GC,2785,-0.91,-139.2,474.3,-15.0,202,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2929,3389,0,0,0,0,0,0
$GC,3091,-0.91,-139.2,520.0,-14.8,212,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2929,3389,0,0,0,0,0,0
$GC,3399,-0.91,-139.2,566.2,-15.3,222,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2929,3389,0,0,0,0,0,0
$GC,3704,-0.91,-139.2,612.1,-15.0,232,3708,0.00,1.55,0.00,0.000,4,0.000,0.063,1565,3890,3389,0,0,0,0,0,0
$GC,3735,-0.91,-139.2,617.2,-16.9,232,3741,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2910,3389,0,0,0,0,0,0
$GC,4050,-0.91,-139.2,665.4,-15.4,243,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2910,3388,0,0,0,0,0,0
$GC,4356,-0.91,-139.2,711.2,-14.9,253,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2910,3388,0,0,0,0,0,0
$GC,4662,-0.91,-139.2,756.7,-14.6,263,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2910,3388,0,0,0,0,0,0
$GC,4968,-0.91,-139.2,799.1,-13.5,273,4972,0.00,1.58,0.00,0.000,4,0.000,0.064,1557,3887,3388,0,0,0,0,0,0
$GC,5031,-0.91,-139.2,808.3,-14.6,274,5038,0.00,1.45,0.00,0.000,6,0.000,0.035,1557,2931,3387,0,0,0,0,0,0
$GC,5346,-0.91,-139.2,851.6,-14.0,285,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3387,0,0,0,0,0,0
$GC,5654,-0.91,-139.2,893.4,-13.7,295,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2930,3387,0,0,0,0,0,0
$GC,5958,-0.91,-139.2,934.1,-13.3,305,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3387,0,0,0,0,0,0
$GC,6267,-0.91,-139.2,974.1,-13.3,315,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2931,3386,0,0,0,0,0,0
$STATE,6474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6475,begin apogee
$GC,6485,-0.19,0.0,1001.1,12.6,322,6628,0.85,0.00,139.00,1.245,6,0.187,0.000,1802,2744,2818,0,0,0,0,0,0
$STATE,6630,end apogee,CONTROL_FINISHED_OK
$STATE,6630,begin climb
$GC,6635,0.91,139.2,1002.7,0.0,327,6785,1.02,0.00,141.23,1.795,6,0.059,0.000,2166,2744,2252,0,0,0,0,1,0
$GC,7086,0.91,139.2,870.4,33.3,342,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2745,2247,0,0,0,0,0,0
$GC,7393,0.91,139.2,769.7,32.2,352,7397,0.00,2.25,0.00,0.000,4,0.000,0.044,2177,1333,2245,0,0,0,0,0,0
$GC,7445,0.91,139.2,753.0,29.4,353,7449,0.00,2.30,0.00,0.000,6,0.000,0.053,2177,2728,2242,0,0,0,0,0,0
$GC,7767,0.91,139.2,651.1,31.6,364,7771,0.00,2.22,0.00,0.000,4,0.000,0.044,2186,1337,2242,0,0,0,0,0,0
$GC,7819,0.91,139.2,634.6,29.4,365,7823,0.00,2.28,0.00,0.000,6,0.000,0.054,2187,2734,2241,0,0,0,0,0,0
$GC,8134,0.91,139.2,537.4,31.4,375,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2734,2241,0,0,0,0,0,0
$GC,8440,0.91,139.2,443.0,30.6,385,8444,0.00,2.20,0.00,0.000,4,0.000,0.045,2197,1327,2241,0,0,0,0,0,0
$GC,8486,0.91,139.2,428.9,28.0,386,8491,0.15,2.25,0.00,0.000,6,0.254,0.053,2166,2734,2240,0,0,0,0,0,0
$GC,8811,0.91,139.2,334.9,29.4,400,8815,0.00,2.22,0.00,0.000,4,0.000,0.046,2175,1327,2240,0,0,0,0,0,0
$GC,8857,0.91,139.2,321.2,28.8,402,8861,0.00,2.28,0.00,0.000,6,0.000,0.053,2172,2744,2239,0,0,0,0,0,0
$GC,9184,0.91,139.2,227.4,29.0,419,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2743,2239,0,0,0,0,0,0
$GC,9497,0.91,139.2,138.7,27.5,439,9501,0.00,2.20,0.00,0.000,4,0.000,0.044,2181,1334,2239,0,0,0,0,0,0
$GC,9545,0.91,139.2,124.7,27.1,442,9549,0.00,2.25,0.00,0.000,6,0.000,0.054,2182,2739,2238,0,0,0,0,0,0
$GC,9893,0.91,139.2,31.5,26.6,492,9904,0.00,2.22,0.00,0.000,4,0.000,0.046,2192,1332,2238,0,0,0,0,0,0
$GC,9940,0.91,139.2,19.6,25.3,498,9949,0.10,2.28,0.00,0.000,6,0.243,0.054,2167,2743,2237,0,0,0,0,0,0
$STATE,10005,end climb,SURFACE_DEPTH_REACHED
$STATE,10006,begin surface coast
$FINISH,0.5,1.026389
$STATE,10019,end surface coast,CONTROL_FINISHED_OK
$STATE,10019,begin surface
$SM_CCo,10042,179.40,0.796,1,0,517,564.18
$SM_GC,0.96,0.00,0.00,179.40,0.000,0.000,0.796,58,2933,517,-5.66,0.28,564.18
$IRIDIUM_FIX,-4610.49,400.69,281212,070722
$TT8_MAMPS,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.8,26.459
$10V_AH,10.0,11.273
$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,14.075,45.800,280.225,179.400,0.000,87.944,207.060,290.293,0.000,0.000,21.055,1245.212,6952.708,594.866,1857.548,470.269,33.365,1159.028,0.000,1255.944,0.000,1.009,0.000
$DEVICE_MAMPS,253.980,79.560,1795.455,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.218,1025.453,561.350,227.090,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354256
$DATA_FILE_SIZE,37070,510
$CAP_FILE_SIZE,76979,0
$CFSIZE,259252224,221110272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,281212,105523,-4630.156,402.207,41,1.2,41,-23.3