version: 66.07
glider: 542
mission: 6
dive: 132
start: 12 28 112 20 11 25
data:
$ID,542
$MISSION,6
$DIVE,132
$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,-10817.013
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,281212,200105,-4631.639,357.937,35,0.8,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-38.3
$GPS2,281212,201023,-4631.653,358.009,21,0.9,22,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.098,-0.143
$KALMAN_X,-71228.2,-188.7,-502.8,47906.3,1140.6
$KALMAN_Y,40354.2,-883.9,-372.2,-2749.2,5067.0
$MHEAD_RNG_PITCHd_Wd,169.1,3977,-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,-138.45,0.000,6,0.000,0.000,57,2939,3078,0,0,0,0,0,0
$GC,177,-0.91,-144.6,2.5,-1.3,18,203,6.20,2.22,-10.23,0.000,4,0.250,0.048,1578,1518,3409,0,0,0,0,0,0
$GC,409,-0.91,-144.6,42.2,-15.4,54,418,0.00,2.30,0.00,0.000,6,0.000,0.054,1569,2921,3411,0,0,0,0,0,0
$GC,656,-0.91,-144.6,89.3,-17.5,95,660,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2921,3411,0,0,0,0,0,0
$GC,989,-0.91,-144.6,148.4,-18.0,123,993,0.00,1.55,0.00,0.000,4,0.000,0.060,1561,3895,3413,0,0,0,0,0,0
$GC,1064,-0.91,-144.6,163.4,-18.8,127,1068,0.00,1.50,0.00,0.000,6,0.000,0.033,1561,2906,3413,0,0,0,0,0,0
$GC,1392,-0.91,-144.6,220.5,-17.0,148,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2902,3413,0,0,0,0,0,0
$GC,1707,-0.91,-144.6,275.0,-17.1,166,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2901,3413,0,0,0,0,0,0
$GC,2018,-0.91,-144.6,327.3,-17.2,181,2022,0.00,1.60,0.00,0.000,4,0.000,0.060,1554,3894,3413,0,0,0,0,0,0
$GC,2092,-0.91,-144.6,341.7,-17.9,184,2096,0.00,1.48,0.00,0.000,6,0.000,0.034,1553,2918,3413,0,0,0,0,0,0
$GC,2421,-0.91,-144.6,400.1,-18.0,200,2425,0.00,1.60,0.00,0.000,4,0.000,0.060,1546,3903,3413,0,0,0,0,0,0
$GC,2461,-0.91,-144.6,408.1,-19.7,201,2465,0.00,1.48,0.00,0.000,6,0.000,0.034,1546,2928,3413,0,0,0,0,0,0
$GC,2799,-0.91,-144.6,469.6,-18.2,212,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2923,3413,0,0,0,0,0,0
$GC,3105,-0.91,-144.6,525.7,-18.3,222,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2923,3413,0,0,0,0,0,0
$GC,3411,-0.91,-144.6,579.3,-17.4,232,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,2923,3413,0,0,0,0,0,0
$GC,3717,-0.91,-144.6,631.0,-17.0,242,3721,0.00,1.60,0.00,0.000,4,0.000,0.063,1539,3903,3412,0,0,0,0,0,0
$GC,3774,-0.91,-144.6,641.1,-17.4,243,3779,0.10,1.48,0.00,0.000,6,0.194,0.035,1566,2932,3412,0,0,0,0,0,0
$GC,4095,-0.91,-144.6,688.7,-14.7,254,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2930,3412,0,0,0,0,0,0
$GC,4403,-0.91,-144.6,734.7,-15.1,264,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2930,3411,0,0,0,0,0,0
$GC,4708,-0.91,-144.6,778.8,-14.0,274,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2930,3411,0,0,0,0,0,0
$GC,5014,-0.91,-144.6,819.7,-13.0,284,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2930,3411,0,0,0,0,0,0
$GC,5320,-0.91,-144.6,858.3,-12.6,294,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2930,3410,0,0,0,0,0,0
$GC,5627,-0.91,-144.6,896.5,-12.2,304,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2930,3409,0,0,0,0,0,0
$GC,5933,-0.91,-144.6,934.9,-12.5,314,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2930,3409,0,0,0,0,0,0
$GC,6239,-0.91,-144.6,972.6,-12.5,324,6243,0.00,2.12,0.00,0.000,4,0.000,0.039,1566,1521,3408,0,0,0,0,0,0
$GC,6270,-0.91,-144.6,976.7,-13.1,325,6274,0.00,2.22,0.00,0.000,6,0.000,0.056,1557,2935,3408,0,0,0,0,0,0
$STATE,6450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6450,begin apogee
$GC,6461,-0.19,0.0,1001.3,13.7,331,6608,0.85,0.00,144.23,1.224,6,0.187,0.000,1801,2727,2819,0,0,0,0,0,0
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6615,0.91,144.6,1005.3,0.0,336,6776,1.00,2.25,146.52,1.790,4,0.057,0.058,2166,3895,2231,0,0,0,0,1,0
$GC,6818,0.91,144.6,957.7,35.9,342,6822,0.00,1.98,0.00,0.000,6,0.000,0.039,2175,2753,2230,0,0,0,0,0,0
$GC,7150,0.91,144.6,847.4,33.3,353,7154,0.00,2.33,0.00,0.000,4,0.000,0.047,2186,1315,2224,0,0,0,0,0,0
$GC,7207,0.91,144.6,828.9,30.1,354,7214,0.00,2.38,0.00,0.000,6,0.000,0.053,2186,2739,2222,0,0,0,0,0,0
$GC,7524,0.91,144.6,725.4,33.1,365,7528,0.00,2.30,0.00,0.000,4,0.000,0.045,2196,1315,2221,0,0,0,0,0,0
$GC,7576,0.91,144.6,707.9,29.9,366,7581,0.12,2.33,0.00,0.000,6,0.260,0.052,2172,2746,2220,0,0,0,0,0,0
$GC,7900,0.91,144.6,606.5,31.7,377,7904,0.00,2.28,0.00,0.000,4,0.000,0.045,2182,1316,2219,0,0,0,0,0,0
$GC,7931,0.91,144.6,596.2,32.1,378,7935,0.00,2.30,0.00,0.000,6,0.000,0.053,2182,2741,2218,0,0,0,0,0,0
$GC,8276,0.91,144.6,488.6,31.7,389,8280,0.00,2.25,0.00,0.000,4,0.000,0.045,2192,1319,2218,0,0,0,0,0,0
$GC,8344,0.91,144.6,467.3,29.3,391,8348,0.00,2.28,0.00,0.000,6,0.000,0.052,2192,2745,2217,0,0,0,0,0,0
$GC,8669,0.91,144.6,367.3,31.4,403,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2745,2217,0,0,0,0,0,0
$GC,8976,0.91,144.6,272.7,30.0,418,8980,0.00,2.25,0.00,0.000,4,0.000,0.045,2202,1318,2217,0,0,0,0,0,0
$GC,9017,0.91,144.6,260.4,28.8,419,9024,0.15,2.28,0.00,0.000,6,0.255,0.054,2172,2739,2216,0,0,0,0,0,0
$GC,9348,0.91,144.6,167.5,27.5,440,9352,0.00,2.22,0.00,0.000,4,0.000,0.045,2181,1313,2216,0,0,0,0,0,0
$GC,9429,0.91,144.6,146.7,24.9,444,9438,0.00,2.30,0.00,0.000,6,0.000,0.053,2173,2734,2215,0,0,0,0,0,0
$GC,9765,0.91,144.6,53.6,26.6,483,9772,0.00,1.80,0.00,0.000,4,0.000,0.060,2173,3897,2215,0,0,0,0,0,0
$STATE,9941,end climb,SURFACE_DEPTH_REACHED
$STATE,9942,begin surface coast
$FINISH,0.3,1.026417
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9949,begin surface
$SM_CCo,9973,179.35,0.792,1,0,518,564.18
$SM_GC,0.64,0.00,0.00,179.35,0.000,0.000,0.792,55,2887,518,-5.67,-1.02,564.18
$IRIDIUM_FIX,-4616.72,358.00,281212,171700
$TT8_MAMPS,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,21.8,27.201
$10V_AH,10.1,11.580
$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,14.125,56.500,290.750,179.350,0.000,25.489,48.377,291.341,0.000,0.000,24.713,1256.842,6711.284,570.886,1709.731,468.742,33.356,1177.225,0.000,1312.173,0.000,1.007,0.000
$DEVICE_MAMPS,260.100,62.730,1790.100,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.931,1035.929,581.118,237.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,37081,512
$CAP_FILE_SIZE,78827,0
$CFSIZE,259252224,220925952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,281212,230204,-4632.895,359.139,35,0.8,35,-23.3