version: 66.07
glider: 542
mission: 6
dive: 150
start: 12 31 112 6 25 54
data:
$ID,542
$MISSION,6
$DIVE,150
$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,-10911.781
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,311212,061505,-4630.940,357.932,29,1.0,29,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-26.3
$GPS2,311212,062453,-4630.962,357.881,17,1.1,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.191,0.108
$KALMAN_X,-81892.1,749.0,-319.0,57285.0,-1136.6
$KALMAN_Y,40816.3,126.3,316.3,-3641.3,-384.4
$MHEAD_RNG_PITCHd_Wd,83.7,3237,-21.3,-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,-0.70,-101.3,0.0,0.0,0,147,0.00,0.00,-118.00,0.000,2,0.000,0.000,55,2926,2860,0,0,0,0,0,0
$GC,154,-0.79,-175.2,3.1,-5.1,15,188,6.45,1.60,-19.40,0.000,4,0.252,0.080,1603,3899,3534,0,0,0,0,0,0
$GC,404,-0.79,-175.2,50.5,-18.3,54,413,0.00,1.50,0.00,0.000,6,0.000,0.033,1603,2914,3535,0,0,0,0,0,0
$GC,646,-0.79,-175.2,92.6,-16.5,95,650,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2914,3535,0,0,0,0,0,0
$GC,978,-0.79,-175.2,145.4,-15.2,121,982,0.00,2.08,0.00,0.000,4,0.000,0.036,1604,1528,3536,0,0,0,0,0,0
$GC,1002,-0.79,-175.2,149.8,-15.8,122,1010,0.00,2.25,0.00,0.000,6,0.000,0.053,1593,2922,3536,0,0,0,0,0,0
$GC,1325,-0.79,-175.2,201.8,-16.3,143,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2922,3536,0,0,0,0,0,0
$GC,1638,-0.79,-175.2,252.3,-16.0,163,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2922,3536,0,0,0,0,0,0
$GC,1945,-0.79,-175.2,301.4,-15.6,178,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2922,3537,0,0,0,0,0,0
$GC,2256,-0.79,-175.2,349.0,-15.3,193,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2922,3536,0,0,0,0,0,0
$GC,2564,-0.79,-175.2,395.1,-14.9,208,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2922,3536,0,0,0,0,0,0
$GC,2880,-0.79,-175.2,442.1,-14.8,219,2884,0.00,1.55,0.00,0.000,4,0.000,0.060,1585,3903,3536,0,0,0,0,0,0
$GC,2911,-0.79,-175.2,446.8,-15.7,219,2919,0.00,1.48,0.00,0.000,6,0.000,0.034,1585,2923,3536,0,0,0,0,0,0
$GC,3228,-0.79,-175.2,494.5,-15.1,230,3231,0.00,2.10,0.00,0.000,4,0.000,0.038,1585,1527,3536,0,0,0,0,0,0
$GC,3268,-0.79,-175.2,501.1,-14.0,231,3273,0.15,2.22,0.00,0.000,6,0.186,0.054,1613,2928,3536,0,0,0,0,0,0
$GC,3595,-0.79,-175.2,542.1,-12.5,242,3599,0.00,1.52,0.00,0.000,4,0.000,0.062,1606,3893,3537,0,0,0,0,0,0
$GC,3626,-0.79,-175.2,546.2,-13.9,242,3632,0.00,1.45,0.00,0.000,6,0.000,0.034,1607,2925,3536,0,0,0,0,0,0
$GC,3941,-0.79,-175.2,586.5,-12.7,253,3945,0.00,2.10,0.00,0.000,4,0.000,0.038,1607,1523,3536,0,0,0,0,0,0
$GC,3977,-0.79,-175.2,591.3,-12.6,254,3982,0.00,2.22,0.00,0.000,6,0.000,0.055,1597,2928,3536,0,0,0,0,0,0
$GC,4322,-0.79,-175.2,637.7,-13.4,265,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2928,3536,0,0,0,0,0,0
$GC,4627,-0.79,-175.2,678.0,-13.2,275,4630,0.00,1.52,0.00,0.000,4,0.000,0.063,1589,3894,3536,0,0,0,0,0,0
$GC,4672,-0.79,-175.2,684.7,-13.7,276,4676,0.00,1.45,0.00,0.000,6,0.000,0.034,1589,2930,3535,0,0,0,0,0,0
$GC,5004,-0.79,-175.2,727.6,-12.9,287,5008,0.00,2.10,0.00,0.000,4,0.000,0.038,1589,1528,3535,0,0,0,0,0,0
$GC,5035,-0.79,-175.2,731.5,-12.9,288,5040,0.12,2.22,0.00,0.000,6,0.192,0.054,1610,2931,3535,0,0,0,0,0,0
$GC,5373,-0.79,-175.2,768.3,-11.0,299,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2931,3535,0,0,0,0,0,0
$GC,5680,-0.79,-175.2,802.5,-11.5,309,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2931,3534,0,0,0,0,0,0
$GC,5986,-0.79,-175.2,837.5,-11.3,319,5990,0.00,2.12,0.00,0.000,4,0.000,0.039,1610,1527,3534,0,0,0,0,0,0
$GC,6009,-0.79,-175.2,840.4,-11.4,319,6013,0.00,2.22,0.00,0.000,6,0.000,0.055,1601,2927,3534,0,0,0,0,0,0
$GC,6324,-0.79,-175.2,876.6,-11.6,329,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2927,3533,0,0,0,0,0,0
$GC,6631,-0.79,-175.2,912.3,-11.6,339,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2927,3533,0,0,0,0,0,0
$GC,6937,-0.79,-175.2,946.7,-11.0,349,6941,0.00,2.12,0.00,0.000,4,0.000,0.038,1601,1526,3532,0,0,0,0,0,0
$GC,6955,-0.79,-175.2,948.9,-11.0,349,6959,0.00,2.22,0.00,0.000,6,0.000,0.055,1590,2932,3532,0,0,0,0,0,0
$GC,7275,-0.79,-175.2,985.5,-11.8,360,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2933,3533,0,0,0,0,0,0
$STATE,7424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7424,begin apogee
$GC,7435,-0.19,0.0,1003.6,11.8,365,7613,0.70,0.00,174.65,1.237,6,0.164,0.000,1800,2740,2819,0,0,0,0,0,0
$STATE,7615,end apogee,CONTROL_FINISHED_OK
$STATE,7615,begin climb
$GC,7620,0.79,175.2,1008.9,0.0,371,7812,0.90,2.15,179.07,1.808,4,0.058,0.058,2125,3891,2106,0,0,0,0,1,0
$GC,7916,0.79,175.2,934.3,35.4,380,7920,0.00,1.95,0.00,0.000,6,0.000,0.039,2134,2745,2102,0,0,0,0,0,0
$GC,8253,0.79,175.2,827.6,31.4,391,8258,0.00,2.30,0.00,0.000,4,0.000,0.047,2145,1322,2097,0,0,0,0,0,0
$GC,8339,0.79,175.2,802.0,27.9,393,8343,0.00,2.35,0.00,0.000,6,0.000,0.054,2144,2737,2096,0,0,0,0,0,0
$GC,8654,0.79,175.2,702.6,32.1,403,8658,0.00,2.28,0.00,0.000,4,0.000,0.046,2155,1321,2095,0,0,0,0,0,0
$GC,8678,0.79,175.2,694.6,30.6,403,8682,0.00,2.33,0.00,0.000,6,0.000,0.051,2155,2747,2094,0,0,0,0,0,0
$GC,8993,0.79,175.2,593.2,32.7,413,8997,0.00,2.28,0.00,0.000,4,0.000,0.045,2165,1319,2094,0,0,0,0,0,0
$GC,9058,0.79,175.2,573.1,30.3,415,9063,0.15,2.28,0.00,0.000,6,0.259,0.052,2133,2734,2093,0,0,0,0,0,0
$GC,9402,0.79,175.2,469.7,30.3,426,9406,0.00,2.22,0.00,0.000,4,0.000,0.046,2142,1315,2093,0,0,0,0,0,0
$GC,9435,0.79,175.2,460.4,28.7,427,9439,0.00,2.28,0.00,0.000,6,0.000,0.052,2133,2744,2093,0,0,0,0,0,0
$GC,9756,0.79,175.2,366.6,28.3,439,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2744,2093,0,0,0,0,0,0
$GC,10063,0.79,175.2,278.5,29.0,454,10067,0.00,2.25,0.00,0.000,4,0.000,0.045,2143,1316,2092,0,0,0,0,0,0
$GC,10153,0.79,175.2,254.7,25.6,458,10157,0.00,2.25,0.00,0.000,6,0.000,0.052,2143,2734,2092,0,0,0,0,0,0
$GC,10488,0.79,175.2,159.7,28.6,479,10492,0.00,2.20,0.00,0.000,4,0.000,0.045,2153,1314,2091,0,0,0,0,0,0
$GC,10570,0.79,175.2,136.5,26.2,484,10574,0.00,2.28,0.00,0.000,6,0.000,0.052,2153,2737,2091,0,0,0,0,0,0
$GC,10910,0.79,175.2,39.6,28.5,528,10919,0.00,2.25,0.00,0.000,4,0.000,0.044,2163,1316,2091,0,0,0,0,0,0
$GC,10993,0.79,175.2,18.9,23.4,540,11002,0.12,2.30,0.00,0.000,6,0.239,0.053,2132,2741,2090,0,0,0,0,0,0
$STATE,11058,end climb,SURFACE_DEPTH_REACHED
$STATE,11058,begin surface coast
$FINISH,0.8,1.026275
$STATE,11072,end surface coast,CONTROL_FINISHED_OK
$STATE,11072,begin surface
$SM_CCo,11095,168.27,0.801,1,0,517,564.18
$SM_GC,1.15,0.00,0.00,168.27,0.000,0.000,0.801,64,2930,517,-5.65,0.20,564.18
$IRIDIUM_FIX,-4613.60,400.91,311212,030327
$TT8_MAMPS,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.8,30.361
$10V_AH,10.1,13.042
$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,14.325,74.550,353.725,168.275,0.000,24.694,41.628,315.635,0.000,0.000,22.983,1369.896,7505.389,614.344,1843.507,522.095,33.359,1289.797,0.000,1423.105,0.000,1.008,0.000
$DEVICE_MAMPS,258.570,79.560,1807.695,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.755,1106.592,600.857,231.532,0.000,0.000,0.000,0.000,0.000,0.000
$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,40536,552
$CAP_FILE_SIZE,90254,0
$CFSIZE,259252224,220016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,311212,093505,-4629.950,358.696,35,1.0,35,-23.3