version: 66.07
glider: 542
mission: 6
dive: 151
start: 12 31 112 9 45 49
data:
$ID,542
$MISSION,6
$DIVE,151
$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,353
$T_MISSION,368
$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,150
$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,250
$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,-10915.245
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,311212,093505,-4629.950,358.696,35,1.0,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-35.5
$GPS2,311212,094453,-4629.947,358.811,18,1.1,19,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.253,0.036
$KALMAN_X,-84353.9,15.9,61.0,61275.7,-4097.9
$KALMAN_Y,40563.7,471.2,-51.7,-1485.2,-777.3
$MHEAD_RNG_PITCHd_Wd,105.1,14265,-16.5,-9.443
$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,-0.61,-146.1,0.0,0.0,0,164,0.00,0.00,-134.23,0.000,2,0.000,0.000,64,2931,3204,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.2,-3.3,17,189,6.53,1.60,-5.65,0.000,4,0.252,0.074,1641,3903,3418,0,0,0,0,0,0
$GC,466,-0.61,-146.1,50.0,-15.2,64,476,0.00,1.62,0.00,0.000,6,0.000,0.034,1641,2845,3420,0,0,0,0,0,0
$GC,712,-0.61,-146.1,82.9,-13.4,105,719,0.00,1.70,0.00,0.000,4,0.000,0.060,1633,3891,3420,0,0,0,0,0,0
$GC,820,-0.61,-146.1,96.9,-12.3,123,828,0.00,1.55,0.00,0.000,6,0.000,0.033,1632,2865,3421,0,0,0,0,0,0
$GC,1146,-0.61,-146.1,138.3,-12.5,146,1149,0.00,1.65,0.00,0.000,4,0.000,0.060,1624,3900,3421,0,0,0,0,0,0
$GC,1192,-0.61,-146.1,144.6,-12.8,148,1200,0.00,1.55,0.00,0.000,6,0.000,0.032,1625,2872,3421,0,0,0,0,0,0
$GC,1515,-0.61,-146.1,185.9,-12.9,169,1519,0.00,2.08,0.00,0.000,4,0.000,0.037,1624,1500,3421,0,0,0,0,0,0
$GC,1539,-0.61,-146.1,189.4,-12.8,170,1543,0.12,2.20,0.00,0.000,6,0.190,0.052,1646,2883,3421,0,0,0,0,0,0
$GC,1866,-0.61,-146.1,223.8,-10.9,190,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2883,3421,0,0,0,0,0,0
$GC,2192,-0.61,-146.1,259.5,-10.7,210,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2883,3421,0,0,0,0,0,0
$GC,2503,-0.61,-146.1,291.4,-10.1,225,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3421,0,0,0,0,0,0
$GC,2811,-0.61,-146.1,323.5,-10.6,240,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2882,3421,0,0,0,0,0,0
$GC,3121,-0.61,-146.1,357.2,-10.8,255,3125,0.00,2.10,0.00,0.000,4,0.000,0.037,1646,1502,3421,0,0,0,0,0,0
$GC,3151,-0.61,-146.1,360.9,-10.6,256,3155,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2888,3421,0,0,0,0,0,0
$GC,3475,-0.61,-146.1,397.4,-11.1,272,3478,0.00,1.58,0.00,0.000,4,0.000,0.061,1628,3885,3421,0,0,0,0,0,0
$GC,3537,-0.61,-146.1,404.9,-11.2,274,3544,0.00,1.50,0.00,0.000,6,0.000,0.034,1629,2884,3421,0,0,0,0,0,0
$GC,3852,-0.61,-146.1,439.3,-10.8,285,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3420,0,0,0,0,0,0
$GC,4159,-0.61,-146.1,471.7,-10.6,295,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3420,0,0,0,0,0,0
$GC,4465,-0.61,-146.1,504.3,-10.6,305,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3420,0,0,0,0,0,0
$GC,4771,-0.61,-146.1,537.1,-10.7,315,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2883,3420,0,0,0,0,0,0
$GC,5077,-0.61,-146.1,569.4,-10.4,325,5081,0.00,1.62,0.00,0.000,4,0.000,0.062,1621,3892,3420,0,0,0,0,0,0
$GC,5108,-0.61,-146.1,572.8,-11.1,325,5115,0.08,1.52,0.00,0.000,6,0.165,0.034,1645,2877,3419,0,0,0,0,0,0
$GC,5425,-0.61,-146.1,600.5,-8.7,336,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2877,3419,0,0,0,0,0,0
$GC,5730,-0.61,-146.1,626.5,-8.5,346,5734,0.00,2.08,0.00,0.000,4,0.000,0.038,1645,1492,3419,0,0,0,0,0,0
$GC,5782,-0.61,-146.1,631.0,-8.1,347,5786,0.00,2.20,0.00,0.000,6,0.000,0.054,1636,2889,3418,0,0,0,0,0,0
$GC,6103,-0.61,-146.1,659.5,-9.1,358,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2889,3418,0,0,0,0,0,0
$GC,6409,-0.61,-146.1,686.8,-8.8,368,6413,0.00,2.10,0.00,0.000,4,0.000,0.037,1636,1500,3418,0,0,0,0,0,0
$GC,6450,-0.61,-146.1,690.5,-8.7,369,6454,0.00,2.20,0.00,0.000,6,0.000,0.054,1626,2885,3418,0,0,0,0,0,0
$GC,6776,-0.61,-146.1,720.7,-9.5,380,6780,0.00,1.60,0.00,0.000,4,0.000,0.063,1618,3896,3417,0,0,0,0,0,0
$GC,6805,-0.61,-146.1,723.7,-9.9,380,6813,0.08,1.52,0.00,0.000,6,0.163,0.034,1642,2882,3418,0,0,0,0,0,0
$GC,7122,-0.61,-146.1,748.8,-8.1,391,7126,0.00,2.08,0.00,0.000,4,0.000,0.039,1642,1496,3418,0,0,0,0,0,0
$GC,7154,-0.61,-146.1,751.4,-7.3,392,7158,0.00,2.20,0.00,0.000,6,0.000,0.055,1634,2885,3417,0,0,0,0,0,0
$GC,7499,-0.61,-146.1,780.3,-8.4,403,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2887,3417,0,0,0,0,0,0
$GC,7803,-0.61,-146.1,806.5,-8.5,413,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2887,3417,0,0,0,0,0,0
$GC,8110,-0.61,-146.1,832.3,-8.4,423,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2887,3417,0,0,0,0,0,0
$GC,8416,-0.61,-146.1,858.6,-8.6,433,8420,0.00,2.12,0.00,0.000,4,0.000,0.038,1633,1491,3417,0,0,0,0,0,0
$GC,8457,-0.61,-146.1,862.1,-7.9,434,8461,0.00,2.20,0.00,0.000,6,0.000,0.055,1624,2887,3417,0,0,0,0,0,0
$GC,8794,-0.61,-146.1,893.2,-9.6,445,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2887,3417,0,0,0,0,0,0
$GC,9101,-0.61,-146.1,922.7,-9.6,455,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2887,3417,0,0,0,0,0,0
$GC,9407,-0.61,-146.1,951.4,-9.3,465,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2887,3417,0,0,0,0,0,0
$GC,9713,-0.61,-146.1,979.7,-8.9,475,9717,0.00,2.12,0.00,0.000,4,0.000,0.037,1624,1485,3417,0,0,0,0,0,0
$GC,9745,-0.61,-146.1,982.5,-8.0,476,9750,0.12,2.22,0.00,0.000,6,0.187,0.055,1645,2888,3417,0,0,0,0,0,0
$STATE,9987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9987,begin apogee
$GC,9998,-0.18,0.0,1000.1,6.9,484,10150,0.45,0.00,148.65,1.244,6,0.152,0.000,1783,2700,2819,0,0,0,0,0,0
$STATE,10152,end apogee,CONTROL_FINISHED_OK
$STATE,10152,begin climb
$GC,10157,0.61,146.1,1002.6,0.0,489,10319,0.80,0.00,148.52,1.806,6,0.083,0.000,2051,2700,2223,0,0,0,0,1,0
$GC,10605,0.61,146.1,907.3,24.5,504,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2700,2218,0,0,0,0,0,0
$GC,10911,0.61,146.1,835.0,23.4,514,10915,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1306,2216,0,0,0,0,0,0
$GC,10940,0.61,146.1,827.9,23.6,514,10947,0.00,2.30,0.00,0.000,6,0.000,0.052,2061,2708,2215,0,0,0,0,0,0
$GC,11255,0.61,146.1,753.3,23.7,525,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2709,2215,0,0,0,0,0,0
$GC,11562,0.61,146.1,681.4,23.5,535,11566,0.00,2.22,0.00,0.000,4,0.000,0.044,2072,1295,2215,0,0,0,0,0,0
$GC,11608,0.61,146.1,670.8,21.5,536,11612,0.00,2.28,0.00,0.000,6,0.000,0.052,2072,2708,2213,0,0,0,0,0,0
$GC,11940,0.61,146.1,593.1,23.9,547,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2708,2213,0,0,0,0,0,0
$GC,12246,0.61,146.1,519.8,23.7,557,12250,0.00,2.22,0.00,0.000,4,0.000,0.044,2082,1295,2213,0,0,0,0,0,0
$GC,12298,0.61,146.1,507.7,20.4,558,12303,0.12,2.28,0.00,0.000,6,0.231,0.053,2056,2710,2212,0,0,0,0,0,0
$GC,12613,0.61,146.1,438.6,22.1,568,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2711,2212,0,0,0,0,0,0
$GC,12921,0.61,146.1,371.4,21.5,580,12925,0.00,2.22,0.00,0.000,4,0.000,0.044,2065,1293,2212,0,0,0,0,0,0
$GC,12956,0.61,146.1,363.9,19.4,581,12963,0.00,2.25,0.00,0.000,6,0.000,0.053,2065,2707,2211,0,0,0,0,0,0
$GC,13277,0.61,146.1,296.9,21.2,597,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2707,2211,0,0,0,0,0,0
$GC,13595,0.61,146.1,228.1,21.2,614,13599,0.00,2.20,0.00,0.000,4,0.000,0.044,2075,1303,2211,0,0,0,0,0,0
$GC,13627,0.61,146.1,221.5,21.3,616,13631,0.00,2.22,0.00,0.000,6,0.000,0.053,2075,2699,2210,0,0,0,0,0,0
$GC,13956,0.61,146.1,150.1,21.9,637,13959,0.00,1.88,0.00,0.000,4,0.000,0.060,2075,3896,2211,0,0,0,0,0,0
$GC,13996,0.61,146.1,141.2,25.8,639,14000,0.15,1.83,0.00,0.000,6,0.248,0.040,2052,2708,2211,0,0,0,0,0,0
$GC,14332,0.61,146.1,76.1,17.0,674,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2702,2211,0,0,0,0,0,0
$GC,14702,0.61,146.1,14.8,17.7,735,14710,0.00,2.17,0.00,0.000,4,0.000,0.042,2061,1304,2210,0,0,0,0,0,0
$GC,14759,0.61,146.1,4.7,17.0,743,14768,0.00,2.25,0.00,0.000,6,0.000,0.054,2062,2700,2209,0,0,0,0,0,0
$STATE,14778,end climb,SURFACE_DEPTH_REACHED
$STATE,14778,begin surface coast
$FINISH,0.7,1.026440
$STATE,14798,end surface coast,CONTROL_FINISHED_OK
$STATE,14798,begin surface
$SM_CCo,14820,51.40,0.790,1,0,1797,250.20
$SM_GC,1.57,0.00,0.00,51.40,0.000,0.000,0.790,51,2897,1797,-5.62,0.45,250.20
$IRIDIUM_FIX,-4613.60,400.91,311212,030327
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.8,30.521
$10V_AH,10.1,13.144
$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,13.700,80.225,297.175,51.400,0.000,32.713,27.942,314.664,0.000,0.000,21.302,1819.875,10316.064,494.685,2213.172,614.687,33.366,1271.108,0.000,1774.699,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,74.205,1806.165,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.649,1490.214,802.304,320.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,53721,748
$CAP_FILE_SIZE,109131,0
$CFSIZE,259252224,219934720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,311212,135505,-4628.961,400.548,32,1.1,32,-23.3