version: 66.07
glider: 542
mission: 6
dive: 137
start: 12 29 112 12 13 52
data:
$ID,542
$MISSION,6
$DIVE,137
$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,-10840.622
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,291212,120304,-4629.677,403.225,31,1.1,31,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-34.6
$GPS2,291212,121251,-4629.623,403.206,24,1.2,25,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.162,-0.063
$KALMAN_X,-79372.0,416.1,273.0,61227.8,-5571.7
$KALMAN_Y,37921.4,-271.3,207.7,2241.8,-106.5
$MHEAD_RNG_PITCHd_Wd,134.5,4146,-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,-135.15,0.000,6,0.000,0.000,56,2924,3076,0,0,0,0,0,0
$GC,177,-0.90,-129.0,3.0,-3.0,18,196,6.32,1.62,-7.65,0.000,4,0.256,0.078,1567,3899,3348,0,0,0,0,0,0
$GC,468,-0.90,-129.0,66.0,-17.7,65,473,0.00,1.55,0.00,0.000,6,0.000,0.032,1568,2895,3350,0,0,0,0,0,0
$GC,813,-0.90,-129.0,127.6,-17.4,107,817,0.00,1.62,0.00,0.000,4,0.000,0.057,1561,3896,3351,0,0,0,0,0,0
$GC,902,-0.90,-129.0,143.2,-17.3,112,905,0.00,1.50,0.00,0.000,6,0.000,0.031,1562,2906,3351,0,0,0,0,0,0
$GC,1236,-0.90,-129.0,202.3,-17.9,133,1239,0.00,1.60,0.00,0.000,4,0.000,0.057,1554,3896,3351,0,0,0,0,0,0
$GC,1310,-0.90,-129.0,217.0,-19.0,137,1314,0.00,1.48,0.00,0.000,6,0.000,0.031,1554,2919,3351,0,0,0,0,0,0
$GC,1641,-0.90,-129.0,277.3,-17.8,156,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2915,3352,0,0,0,0,0,0
$GC,1952,-0.90,-129.0,332.9,-17.5,171,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2915,3352,0,0,0,0,0,0
$GC,2260,-0.90,-129.0,385.9,-16.8,186,2264,0.00,1.58,0.00,0.000,4,0.000,0.058,1547,3897,3351,0,0,0,0,0,0
$GC,2295,-0.90,-129.0,392.6,-18.5,187,2299,0.10,1.48,0.00,0.000,6,0.192,0.033,1574,2927,3351,0,0,0,0,0,0
$GC,2628,-0.90,-129.0,443.8,-15.2,199,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2923,3352,0,0,0,0,0,0
$GC,2933,-0.90,-129.0,490.3,-15.0,209,2936,0.00,1.58,0.00,0.000,4,0.000,0.060,1568,3891,3351,0,0,0,0,0,0
$GC,2995,-0.90,-129.0,500.6,-15.4,210,3002,0.00,1.48,0.00,0.000,6,0.000,0.034,1568,2908,3352,0,0,0,0,0,0
$GC,3311,-0.90,-129.0,547.5,-14.8,221,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2907,3351,0,0,0,0,0,0
$GC,3617,-0.90,-129.0,593.1,-15.1,231,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2906,3351,0,0,0,0,0,0
$GC,3923,-0.90,-129.0,639.3,-15.0,241,3927,0.00,1.60,0.00,0.000,4,0.000,0.060,1561,3903,3351,0,0,0,0,0,0
$GC,3969,-0.90,-129.0,647.0,-17.4,242,3972,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2928,3351,0,0,0,0,0,0
$GC,4300,-0.90,-129.0,698.6,-15.8,253,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2923,3350,0,0,0,0,0,0
$GC,4608,-0.90,-129.0,745.8,-15.3,263,4612,0.00,1.58,0.00,0.000,4,0.000,0.061,1554,3891,3349,0,0,0,0,0,0
$GC,4654,-0.90,-129.0,753.9,-16.7,264,4657,0.00,1.45,0.00,0.000,6,0.000,0.034,1554,2928,3349,0,0,0,0,0,0
$GC,4985,-0.90,-129.0,803.9,-15.0,275,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2925,3350,0,0,0,0,0,0
$GC,5292,-0.90,-129.0,849.6,-14.7,285,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2925,3349,0,0,0,0,0,0
$GC,5598,-0.90,-129.0,894.2,-14.5,295,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2925,3349,0,0,0,0,0,0
$GC,5904,-0.90,-129.0,937.8,-14.0,305,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2924,3348,0,0,0,0,0,0
$GC,6210,-0.90,-129.0,980.7,-13.9,315,6214,0.00,2.10,0.00,0.000,4,0.000,0.040,1553,1529,3347,0,0,0,0,0,0
$GC,6245,-0.90,-129.0,985.6,-13.3,316,6250,0.15,2.20,0.00,0.000,6,0.207,0.054,1578,2923,3347,0,0,0,0,0,0
$STATE,6389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6389,begin apogee
$GC,6400,-0.19,0.0,1003.6,12.2,321,6535,0.77,0.00,131.45,1.246,6,0.186,0.000,1802,2732,2819,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6542,0.90,129.0,1006.5,0.0,325,6682,1.00,0.00,130.98,1.802,6,0.056,0.000,2168,2732,2293,0,0,0,0,1,0
$GC,6976,0.90,129.0,888.0,32.1,339,6980,0.00,2.28,0.00,0.000,4,0.000,0.047,2178,1346,2288,0,0,0,0,0,0
$GC,7011,0.90,129.0,875.2,31.6,340,7016,0.00,2.33,0.00,0.000,6,0.000,0.050,2173,2732,2286,0,0,0,0,0,0
$GC,7343,0.90,129.0,769.3,31.8,351,7347,0.00,2.25,0.00,0.000,4,0.000,0.045,2183,1339,2286,0,0,0,0,0,0
$GC,7429,0.90,129.0,742.6,30.8,353,7433,0.00,2.30,0.00,0.000,6,0.000,0.050,2183,2746,2284,0,0,0,0,0,0
$GC,7747,0.90,129.0,642.3,31.8,363,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2747,2284,0,0,0,0,0,0
$GC,8050,0.90,129.0,548.2,30.2,373,8054,0.00,2.22,0.00,0.000,4,0.000,0.045,2193,1339,2283,0,0,0,0,0,0
$GC,8117,0.90,129.0,529.7,28.4,375,8122,0.15,2.25,0.00,0.000,6,0.251,0.050,2163,2740,2281,0,0,0,0,0,0
$GC,8455,0.90,129.0,436.2,27.2,386,8459,0.00,2.22,0.00,0.000,4,0.000,0.044,2172,1332,2281,0,0,0,0,0,0
$GC,8487,0.90,129.0,427.8,26.0,387,8491,0.00,2.25,0.00,0.000,6,0.000,0.051,2172,2737,2280,0,0,0,0,0,0
$GC,8818,0.90,129.0,339.1,27.0,401,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2737,2280,0,0,0,0,0,0
$GC,9126,0.90,129.0,255.1,27.6,416,9130,0.00,2.17,0.00,0.000,4,0.000,0.045,2182,1338,2280,0,0,0,0,0,0
$GC,9176,0.90,129.0,242.3,25.9,419,9180,0.00,2.22,0.00,0.000,6,0.000,0.051,2182,2734,2279,0,0,0,0,0,0
$GC,9505,0.90,129.0,152.2,27.0,440,9509,0.00,2.20,0.00,0.000,4,0.000,0.047,2192,1329,2279,0,0,0,0,0,0
$GC,9575,0.90,129.0,133.3,25.5,444,9580,0.15,2.25,0.00,0.000,6,0.249,0.052,2161,2739,2279,0,0,0,0,0,0
$GC,9914,0.90,129.0,53.0,22.2,486,9923,0.00,2.20,0.00,0.000,4,0.000,0.044,2170,1344,2279,0,0,0,0,0,0
$GC,9956,0.90,129.0,43.8,21.5,492,9965,0.00,2.25,0.00,0.000,6,0.000,0.053,2170,2738,2279,0,0,0,0,0,0
$STATE,10140,end climb,SURFACE_DEPTH_REACHED
$STATE,10140,begin surface coast
$FINISH,0.4,1.026577
$STATE,10154,end surface coast,CONTROL_FINISHED_OK
$STATE,10154,begin surface
$SM_CCo,10176,187.35,0.793,1,0,519,564.18
$SM_GC,0.81,0.00,0.00,187.35,0.000,0.000,0.793,64,2951,519,-5.64,0.79,564.18
$IRIDIUM_FIX,-4613.60,401.12,291212,080827
$TT8_MAMPS,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.9,28.082
$10V_AH,10.1,11.984
$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,14.225,57.850,262.425,187.350,0.000,43.416,21.541,309.834,0.000,0.000,30.161,1301.468,6857.680,579.438,1724.126,492.511,33.362,1160.396,0.000,1318.239,0.000,1.009,0.000
$DEVICE_MAMPS,255.510,78.030,1802.340,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.788,1050.196,587.800,242.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,37197,523
$CAP_FILE_SIZE,81147,0
$CFSIZE,259252224,220680192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,291212,150804,-4629.952,404.824,36,0.9,36,-23.3