version: 66.07
glider: 542
mission: 6
dive: 131
start: 12 28 112 17 12 44
data:
$ID,542
$MISSION,6
$DIVE,131
$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,-10813.562
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,281212,165534,-4630.041,358.771,26,0.9,26,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-26.9
$GPS2,281212,171142,-4630.134,358.836,20,0.9,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.012,-0.173
$KALMAN_X,-70146.5,-437.2,-225.7,47836.8,1647.7
$KALMAN_Y,38939.7,-346.5,119.7,437.0,2735.0
$MHEAD_RNG_PITCHd_Wd,207.4,1505,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-136.52,0.000,6,0.000,0.000,55,2931,3077,0,0,0,0,0,0
$GC,177,-0.91,-144.0,2.7,-1.4,18,203,6.32,1.60,-9.20,0.000,4,0.257,0.083,1562,3900,3407,0,0,0,0,0,0
$GC,380,-0.91,-144.0,45.4,-20.6,49,387,0.00,1.55,0.00,0.000,6,0.000,0.034,1563,2895,3409,0,0,0,0,0,0
$GC,618,-0.91,-144.0,94.6,-17.8,90,626,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2893,3409,0,0,0,0,0,0
$GC,951,-0.91,-144.0,155.8,-17.8,114,954,0.00,1.65,0.00,0.000,4,0.000,0.062,1555,3923,3410,0,0,0,0,0,0
$GC,1048,-0.91,-144.0,174.7,-19.5,119,1055,0.00,1.52,0.00,0.000,6,0.000,0.034,1555,2915,3410,0,0,0,0,0,0
$GC,1370,-0.91,-144.0,231.8,-17.6,140,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2915,3410,0,0,0,0,0,0
$GC,1687,-0.91,-144.0,287.0,-17.5,157,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2915,3410,0,0,0,0,0,0
$GC,1995,-0.91,-144.0,341.6,-17.7,172,1999,0.00,1.60,0.00,0.000,4,0.000,0.061,1547,3904,3410,0,0,0,0,0,0
$GC,2044,-0.91,-144.0,350.4,-19.2,174,2048,0.00,1.48,0.00,0.000,6,0.000,0.034,1547,2929,3410,0,0,0,0,0,0
$GC,2368,-0.91,-144.0,409.3,-18.3,189,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2926,3410,0,0,0,0,0,0
$GC,2674,-0.91,-144.0,462.9,-17.1,199,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2926,3410,0,0,0,0,0,0
$GC,2981,-0.91,-144.0,515.5,-16.9,209,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2926,3410,0,0,0,0,0,0
$GC,3287,-0.91,-144.0,567.9,-17.5,219,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2926,3410,0,0,0,0,0,0
$GC,3593,-0.91,-144.0,619.8,-16.6,229,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2925,3409,0,0,0,0,0,0
$GC,3899,-0.91,-144.0,669.8,-16.1,239,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2925,3409,0,0,0,0,0,0
$GC,4206,-0.91,-144.0,719.1,-16.0,249,4209,0.00,1.58,0.00,0.000,4,0.000,0.063,1540,3900,3408,0,0,0,0,0,0
$GC,4257,-0.91,-144.0,728.4,-17.1,250,4261,0.10,1.48,0.00,0.000,6,0.195,0.036,1568,2932,3408,0,0,0,0,0,0
$GC,4583,-0.91,-144.0,773.7,-13.9,261,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2931,3407,0,0,0,0,0,0
$GC,4890,-0.91,-144.0,817.0,-14.0,271,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2930,3407,0,0,0,0,0,0
$GC,5196,-0.91,-144.0,858.5,-13.4,281,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2931,3407,0,0,0,0,0,0
$GC,5504,-0.91,-144.0,896.8,-12.3,291,5508,0.00,2.12,0.00,0.000,4,0.000,0.039,1568,1521,3406,0,0,0,0,0,0
$GC,5550,-0.91,-144.0,902.6,-11.1,292,5554,0.00,2.25,0.00,0.000,6,0.000,0.056,1558,2934,3406,0,0,0,0,0,0
$GC,5871,-0.91,-144.0,944.3,-13.3,303,5875,0.00,2.12,0.00,0.000,4,0.000,0.038,1559,1525,3406,0,0,0,0,0,0
$GC,5911,-0.91,-144.0,949.7,-11.7,304,5915,0.00,2.22,0.00,0.000,6,0.000,0.055,1548,2924,3406,0,0,0,0,0,0
$GC,6237,-0.91,-144.0,995.1,-14.1,315,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,1549,2923,3406,0,0,0,0,0,0
$STATE,6294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6294,begin apogee
$GC,6305,-0.19,0.0,1003.8,14.3,317,6452,0.90,0.00,143.15,1.234,6,0.193,0.000,1803,2736,2819,0,0,0,0,0,0
$STATE,6453,end apogee,CONTROL_FINISHED_OK
$STATE,6454,begin climb
$GC,6458,0.91,144.0,1007.5,0.0,322,6617,1.02,2.53,145.82,1.792,4,0.057,0.044,2178,1346,2235,0,0,0,0,1,0
$GC,6648,0.91,144.0,964.3,31.0,328,6653,0.00,2.47,0.00,0.000,6,0.000,0.053,2173,2730,2233,0,0,0,0,0,0
$GC,6969,0.91,144.0,861.3,32.0,339,6973,0.00,2.30,0.00,0.000,4,0.000,0.047,2181,1331,2226,0,0,0,0,0,0
$GC,7021,0.91,144.0,844.6,30.7,340,7025,0.00,2.35,0.00,0.000,6,0.000,0.053,2182,2737,2225,0,0,0,0,0,0
$GC,7336,0.91,144.0,741.5,33.0,350,7340,0.00,2.25,0.00,0.000,4,0.000,0.045,2192,1336,2224,0,0,0,0,0,0
$GC,7360,0.91,144.0,733.2,32.7,350,7367,0.00,2.30,0.00,0.000,6,0.000,0.052,2192,2742,2223,0,0,0,0,0,0
$GC,7675,0.91,144.0,630.7,32.9,361,7679,0.00,2.22,0.00,0.000,4,0.000,0.045,2202,1339,2223,0,0,0,0,0,0
$GC,7693,0.91,144.0,624.4,31.8,361,7698,0.15,2.25,0.00,0.000,6,0.262,0.052,2172,2739,2222,0,0,0,0,0,0
$GC,8014,0.91,144.0,525.6,30.6,372,8018,0.00,2.22,0.00,0.000,4,0.000,0.045,2182,1335,2222,0,0,0,0,0,0
$GC,8049,0.91,144.0,514.7,28.9,373,8054,0.00,2.28,0.00,0.000,6,0.000,0.051,2181,2746,2222,0,0,0,0,0,0
$GC,8381,0.91,144.0,414.0,30.2,384,8385,0.00,2.22,0.00,0.000,4,0.000,0.045,2192,1332,2222,0,0,0,0,0,0
$GC,8413,0.91,144.0,404.6,30.2,385,8417,0.00,2.25,0.00,0.000,6,0.000,0.052,2192,2735,2221,0,0,0,0,0,0
$GC,8733,0.91,144.0,305.6,31.1,400,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2734,2221,0,0,0,0,0,0
$GC,9045,0.91,144.0,211.6,30.1,417,9049,0.00,2.20,0.00,0.000,4,0.000,0.046,2202,1331,2221,0,0,0,0,0,0
$GC,9068,0.91,144.0,203.3,30.4,418,9073,0.15,2.25,0.00,0.000,6,0.258,0.053,2172,2734,2221,0,0,0,0,0,0
$GC,9396,0.91,144.0,112.3,29.1,438,9400,0.00,2.20,0.00,0.000,4,0.000,0.044,2181,1333,2221,0,0,0,0,0,0
$GC,9437,0.91,144.0,99.0,26.5,440,9445,0.00,2.28,0.00,0.000,6,0.000,0.054,2181,2736,2219,0,0,0,0,0,0
$STATE,9795,end climb,SURFACE_DEPTH_REACHED
$STATE,9795,begin surface coast
$FINISH,0.4,1.007387
$STATE,9813,end surface coast,CONTROL_FINISHED_OK
$STATE,9813,begin surface
$SM_CCo,9835,178.00,0.782,1,0,518,564.18
$SM_GC,0.68,0.00,0.00,178.00,0.000,0.000,0.782,58,2938,518,-5.66,0.42,564.18
$IRIDIUM_FIX,-4610.49,400.91,281212,161631
$TT8_MAMPS,0.026215
$HUMID,57.44
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,21.8,27.017
$10V_AH,10.1,11.503
$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,14.400,58.325,288.975,178.000,0.000,56.118,84.593,538.006,0.000,0.000,26.903,1230.282,6716.427,572.177,1927.835,541.244,33.369,1157.913,0.000,1252.693,0.000,1.008,0.000
$DEVICE_MAMPS,261.630,82.620,1791.630,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.493,1011.351,561.339,229.178,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354188
$DATA_FILE_SIZE,37237,502
$CAP_FILE_SIZE,83028,0
$CFSIZE,259252224,220966912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,281212,200105,-4631.639,357.937,35,0.8,35,-23.3