version: 66.07
glider: 542
mission: 6
dive: 134
start: 12 29 112 2 27 18
data:
$ID,542
$MISSION,6
$DIVE,134
$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,-10827.067
$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,55
$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
$GPS1,291212,021634,-4632.303,400.684,30,1.3,30,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-32.1
$GPS2,291212,022617,-4632.282,400.674,19,1.5,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.160,0.066
$KALMAN_X,-74223.0,-40.8,82.4,53533.7,-2758.4
$KALMAN_Y,40134.7,-453.8,-209.9,-4278.8,3427.7
$MHEAD_RNG_PITCHd_Wd,91.0,4313,-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,-136.48,0.000,6,0.000,0.000,61,2967,3078,0,0,0,0,0,0
$GC,177,-0.90,-132.5,3.2,-2.6,18,196,6.30,2.33,-7.40,0.000,4,0.255,0.051,1581,1514,3363,0,0,0,0,0,0
$GC,334,-0.90,-132.5,32.2,-15.5,41,341,0.00,2.25,0.00,0.000,6,0.000,0.052,1573,2903,3365,0,0,0,0,0,0
$GC,577,-0.90,-132.5,80.3,-19.8,82,584,0.00,1.58,0.00,0.000,4,0.000,0.058,1565,3890,3365,0,0,0,0,0,0
$GC,660,-0.90,-132.5,96.4,-17.9,96,669,0.00,1.50,0.00,0.000,6,0.000,0.032,1565,2896,3365,0,0,0,0,0,0
$GC,1000,-0.90,-132.5,155.8,-17.8,119,1003,0.00,1.62,0.00,0.000,4,0.000,0.058,1557,3899,3366,0,0,0,0,0,0
$GC,1108,-0.90,-132.5,177.8,-19.7,125,1111,0.00,1.48,0.00,0.000,6,0.000,0.032,1558,2922,3366,0,0,0,0,0,0
$GC,1434,-0.90,-132.5,237.6,-17.9,146,1438,0.00,1.58,0.00,0.000,4,0.000,0.058,1550,3896,3366,0,0,0,0,0,0
$GC,1490,-0.90,-132.5,247.9,-19.6,149,1495,0.08,1.48,0.00,0.000,6,0.189,0.033,1570,2926,3366,0,0,0,0,0,0
$GC,1822,-0.90,-132.5,303.3,-16.3,165,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2922,3367,0,0,0,0,0,0
$GC,2129,-0.90,-132.5,352.0,-15.8,180,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2922,3367,0,0,0,0,0,0
$GC,2440,-0.90,-132.5,400.1,-15.4,195,2444,0.00,1.58,0.00,0.000,4,0.000,0.060,1565,3897,3366,0,0,0,0,0,0
$GC,2487,-0.90,-132.5,408.3,-16.2,196,2491,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2919,3366,0,0,0,0,0,0
$GC,2819,-0.90,-132.5,460.2,-15.7,207,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2915,3367,0,0,0,0,0,0
$GC,3125,-0.90,-132.5,507.1,-15.3,217,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2915,3367,0,0,0,0,0,0
$GC,3431,-0.90,-132.5,552.7,-14.8,227,3435,0.00,1.58,0.00,0.000,4,0.000,0.061,1557,3895,3367,0,0,0,0,0,0
$GC,3468,-0.90,-132.5,558.4,-15.8,228,3472,0.00,1.48,0.00,0.000,6,0.000,0.034,1557,2919,3366,0,0,0,0,0,0
$GC,3813,-0.90,-132.5,609.9,-14.9,239,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2915,3366,0,0,0,0,0,0
$GC,4117,-0.90,-132.5,654.5,-14.6,249,4121,0.00,1.58,0.00,0.000,4,0.000,0.060,1550,3896,3365,0,0,0,0,0,0
$GC,4141,-0.90,-132.5,658.3,-15.3,249,4145,0.08,1.48,0.00,0.000,6,0.190,0.034,1571,2927,3365,0,0,0,0,0,0
$GC,4462,-0.90,-132.5,701.5,-13.6,260,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2923,3365,0,0,0,0,0,0
$GC,4768,-0.90,-132.5,742.0,-13.0,270,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2923,3364,0,0,0,0,0,0
$GC,5074,-0.90,-132.5,781.3,-12.7,280,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2923,3364,0,0,0,0,0,0
$GC,5380,-0.90,-132.5,818.9,-12.2,290,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2923,3364,0,0,0,0,0,0
$GC,5687,-0.90,-132.5,858.6,-13.0,300,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2923,3363,0,0,0,0,0,0
$GC,5993,-0.90,-132.5,898.8,-13.1,310,5997,0.00,2.12,0.00,0.000,4,0.000,0.041,1571,1519,3363,0,0,0,0,0,0
$GC,6034,-0.90,-132.5,904.3,-12.8,311,6038,0.00,2.22,0.00,0.000,6,0.000,0.056,1562,2927,3363,0,0,0,0,0,0
$GC,6371,-0.90,-132.5,949.4,-13.4,322,6375,0.00,2.12,0.00,0.000,4,0.000,0.037,1561,1519,3362,0,0,0,0,0,0
$GC,6406,-0.90,-132.5,954.3,-12.9,323,6410,0.00,2.22,0.00,0.000,6,0.000,0.054,1551,2922,3362,0,0,0,0,0,0
$GC,6738,-0.90,-132.5,999.1,-13.7,334,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2923,3362,0,0,0,0,0,0
$STATE,6764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6764,begin apogee
$GC,6775,-0.19,0.0,1003.2,13.6,335,6917,0.88,0.00,128.45,1.768,6,0.190,0.000,1800,2733,2821,0,0,0,0,1,0
$STATE,6919,end apogee,CONTROL_FINISHED_OK
$STATE,6919,begin climb
$GC,6924,0.90,132.5,1006.1,0.0,340,7083,1.05,2.25,140.68,1.797,4,0.055,0.058,2169,3898,2279,0,0,0,0,1,0
$GC,7125,0.90,132.5,958.6,34.9,346,7129,0.00,1.98,0.00,0.000,6,0.000,0.038,2178,2752,2279,0,0,0,0,0,0
$GC,7451,0.90,132.5,852.4,32.5,357,7456,0.00,2.33,0.00,0.000,4,0.000,0.047,2189,1315,2273,0,0,0,0,0,0
$GC,7483,0.90,132.5,842.5,32.0,358,7487,0.00,2.38,0.00,0.000,6,0.000,0.052,2189,2734,2272,0,0,0,0,0,0
$GC,7821,0.90,132.5,732.0,32.6,369,7825,0.00,2.28,0.00,0.000,4,0.000,0.046,2199,1317,2270,0,0,0,0,0,0
$GC,7872,0.90,132.5,715.2,29.8,370,7877,0.17,2.30,0.00,0.000,6,0.256,0.051,2164,2735,2269,0,0,0,0,0,0
$GC,8188,0.90,132.5,620.7,29.9,380,8192,0.00,2.25,0.00,0.000,4,0.000,0.045,2173,1320,2268,0,0,0,0,0,0
$GC,8239,0.90,132.5,605.7,27.6,381,8243,0.00,2.28,0.00,0.000,6,0.000,0.052,2164,2735,2267,0,0,0,0,0,0
$GC,8560,0.90,132.5,515.9,28.1,392,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2736,2267,0,0,0,0,0,0
$GC,8866,0.90,132.5,430.6,28.0,402,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2736,2266,0,0,0,0,0,0
$GC,9176,0.90,132.5,344.6,27.5,415,9180,0.00,2.22,0.00,0.000,4,0.000,0.044,2174,1320,2266,0,0,0,0,0,0
$GC,9234,0.90,132.5,328.0,26.0,417,9241,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2746,2266,0,0,0,0,0,0
$GC,9563,0.90,132.5,236.6,29.2,434,9567,0.00,2.25,0.00,0.000,4,0.000,0.044,2182,1315,2265,0,0,0,0,0,0
$GC,9582,0.90,132.5,231.0,27.8,435,9586,0.00,2.25,0.00,0.000,6,0.000,0.051,2181,2735,2265,0,0,0,0,0,0
$GC,9905,0.90,132.5,141.0,27.7,455,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2736,2265,0,0,0,0,0,0
$GC,10238,0.90,132.5,51.2,24.0,495,10244,0.00,2.22,0.00,0.000,4,0.000,0.044,2192,1315,2265,0,0,0,0,0,0
$GC,10382,0.90,132.5,16.7,24.8,518,10391,0.10,2.30,0.00,0.000,6,0.247,0.054,2168,2740,2264,0,0,0,0,0,0
$STATE,10436,end climb,SURFACE_DEPTH_REACHED
$STATE,10436,begin surface coast
$FINISH,0.4,1.026434
$STATE,10449,end surface coast,CONTROL_FINISHED_OK
$STATE,10449,begin surface
$SM_CCo,10472,184.93,0.784,1,0,517,564.18
$SM_GC,0.64,0.00,0.00,184.93,0.000,0.000,0.784,54,2945,517,-5.68,0.62,564.18
$IRIDIUM_FIX,-4619.84,358.22,281212,232346
$TT8_MAMPS,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,21.7,27.565
$10V_AH,10.1,11.739
$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,14.400,63.775,269.125,184.925,0.000,25.426,45.950,305.769,0.000,0.000,25.030,1300.682,7125.270,577.509,1733.371,507.317,33.366,1192.730,0.000,1327.339,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,67.320,1796.985,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.190,1067.247,587.802,238.013,0.000,0.000,0.000,0.000,0.000,0.000
$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,37031,528
$CAP_FILE_SIZE,83877,0
$CFSIZE,259252224,220831744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,291212,052623,-4631.596,401.736,36,0.9,36,-23.3