version: 66.07
glider: 542
mission: 6
dive: 152
start: 12 31 112 14 6 41
data:
$ID,542
$MISSION,6
$DIVE,152
$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,-10918.717
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,311212,135505,-4628.961,400.548,32,1.1,32,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.9
$GPS2,311212,140548,-4628.863,400.609,16,0.9,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,-0.024
$KALMAN_X,-86555.6,-823.0,126.9,66517.1,-3387.6
$KALMAN_Y,41905.4,448.5,98.5,-953.6,155.5
$MHEAD_RNG_PITCHd_Wd,118.7,12155,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.61,-146.1,0.0,0.0,0,99,0.00,0.00,-71.00,0.000,2,0.000,0.000,50,2897,3181,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.1,-2.4,9,125,6.70,1.65,-6.28,0.000,4,0.258,0.076,1636,3894,3418,0,0,0,0,0,0
$GC,400,-0.61,-146.1,49.8,-14.0,56,409,0.00,1.60,0.00,0.000,6,0.000,0.033,1636,2850,3420,0,0,0,0,0,0
$GC,648,-0.61,-146.1,81.7,-11.5,97,652,0.00,1.65,0.00,0.000,4,0.000,0.059,1628,3896,3421,0,0,0,0,0,0
$GC,780,-0.61,-146.1,98.7,-12.4,120,789,0.00,1.55,0.00,0.000,6,0.000,0.032,1628,2873,3421,0,0,0,0,0,0
$GC,1111,-0.61,-146.1,142.1,-13.9,142,1115,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3908,3422,0,0,0,0,0,0
$GC,1141,-0.61,-146.1,146.5,-14.1,143,1148,0.08,1.55,0.00,0.000,6,0.165,0.032,1643,2882,3423,0,0,0,0,0,0
$GC,1468,-0.61,-146.1,183.1,-10.7,164,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2883,3423,0,0,0,0,0,0
$GC,1791,-0.61,-146.1,217.4,-10.3,185,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2883,3423,0,0,0,0,0,0
$GC,2104,-0.61,-146.1,247.9,-9.6,205,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2883,3423,0,0,0,0,0,0
$GC,2424,-0.61,-146.1,279.9,-10.1,221,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2883,3423,0,0,0,0,0,0
$GC,2731,-0.61,-146.1,311.5,-10.3,236,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2882,3423,0,0,0,0,0,0
$GC,3043,-0.61,-146.1,343.8,-10.3,251,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2882,3423,0,0,0,0,0,0
$GC,3350,-0.61,-146.1,375.2,-10.2,266,3353,0.00,1.62,0.00,0.000,4,0.000,0.061,1636,3891,3423,0,0,0,0,0,0
$GC,3379,-0.61,-146.1,378.4,-10.1,267,3383,0.00,1.52,0.00,0.000,6,0.000,0.034,1637,2881,3423,0,0,0,0,0,0
$GC,3697,-0.61,-146.1,411.2,-10.4,281,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3423,0,0,0,0,0,0
$GC,4005,-0.61,-146.1,442.4,-10.3,291,4008,0.00,2.08,0.00,0.000,4,0.000,0.038,1637,1492,3423,0,0,0,0,0,0
$GC,4036,-0.61,-146.1,445.9,-10.6,292,4040,0.00,2.20,0.00,0.000,6,0.000,0.054,1626,2883,3423,0,0,0,0,0,0
$GC,4381,-0.61,-146.1,484.9,-11.4,303,4384,0.00,1.60,0.00,0.000,4,0.000,0.062,1618,3894,3423,0,0,0,0,0,0
$GC,4427,-0.61,-146.1,490.9,-12.5,304,4431,0.08,1.52,0.00,0.000,6,0.165,0.034,1642,2883,3423,0,0,0,0,0,0
$GC,4759,-0.61,-146.1,522.1,-9.1,315,4763,0.00,2.10,0.00,0.000,4,0.000,0.039,1642,1493,3423,0,0,0,0,0,0
$GC,4791,-0.61,-146.1,525.0,-9.3,316,4795,0.00,2.20,0.00,0.000,6,0.000,0.054,1633,2880,3423,0,0,0,0,0,0
$GC,5128,-0.61,-146.1,559.7,-10.6,327,5132,0.00,1.60,0.00,0.000,4,0.000,0.063,1625,3893,3423,0,0,0,0,0,0
$GC,5165,-0.61,-146.1,563.8,-12.0,328,5168,0.00,1.52,0.00,0.000,6,0.000,0.034,1625,2878,3423,0,0,0,0,0,0
$GC,5508,-0.61,-146.1,600.9,-10.9,339,5512,0.00,2.08,0.00,0.000,4,0.000,0.039,1625,1495,3423,0,0,0,0,0,0
$GC,5537,-0.61,-146.1,604.4,-11.2,339,5544,0.12,2.20,0.00,0.000,6,0.189,0.054,1647,2886,3423,0,0,0,0,0,0
$GC,5853,-0.61,-146.1,630.8,-8.1,350,5856,0.00,2.12,0.00,0.000,4,0.000,0.037,1647,1495,3422,0,0,0,0,0,0
$GC,5904,-0.61,-146.1,635.2,-7.8,351,5908,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2881,3422,0,0,0,0,0,0
$GC,6220,-0.61,-146.1,662.4,-8.9,361,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3422,0,0,0,0,0,0
$GC,6526,-0.61,-146.1,689.1,-8.8,371,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2881,3422,0,0,0,0,0,0
$GC,6832,-0.61,-146.1,715.9,-8.9,381,6836,0.00,2.10,0.00,0.000,4,0.000,0.038,1637,1492,3422,0,0,0,0,0,0
$GC,6864,-0.61,-146.1,718.6,-8.7,382,6868,0.00,2.20,0.00,0.000,6,0.000,0.055,1627,2881,3421,0,0,0,0,0,0
$GC,7202,-0.61,-146.1,751.2,-9.9,393,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2883,3422,0,0,0,0,0,0
$GC,7508,-0.61,-146.1,781.7,-9.8,403,7512,0.00,2.10,0.00,0.000,4,0.000,0.038,1627,1496,3422,0,0,0,0,0,0
$GC,7545,-0.61,-146.1,785.3,-9.0,404,7550,0.12,2.20,0.00,0.000,6,0.184,0.055,1649,2889,3422,0,0,0,0,0,0
$GC,7889,-0.61,-146.1,813.1,-7.9,415,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2890,3422,0,0,0,0,0,0
$GC,8195,-0.61,-146.1,836.6,-7.5,425,8199,0.00,2.12,0.00,0.000,4,0.000,0.038,1649,1488,3422,0,0,0,0,0,0
$GC,8233,-0.61,-146.1,839.4,-7.3,426,8237,0.00,2.20,0.00,0.000,6,0.000,0.055,1639,2884,3422,0,0,0,0,0,0
$GC,8578,-0.61,-146.1,865.8,-7.5,437,8582,0.00,1.60,0.00,0.000,4,0.000,0.063,1632,3894,3421,0,0,0,0,0,0
$GC,8618,-0.61,-146.1,869.5,-8.8,438,8622,0.00,1.52,0.00,0.000,6,0.000,0.034,1632,2881,3421,0,0,0,0,0,0
$GC,8956,-0.61,-146.1,896.5,-8.2,449,8960,0.00,2.10,0.00,0.000,4,0.000,0.039,1632,1489,3421,0,0,0,0,0,0
$GC,8988,-0.61,-146.1,899.1,-8.5,450,8993,0.10,2.22,0.00,0.000,6,0.190,0.055,1644,2890,3421,0,0,0,0,0,0
$GC,9327,-0.61,-146.1,924.6,-7.7,461,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2890,3421,0,0,0,0,0,0
$GC,9634,-0.61,-146.1,947.4,-7.4,471,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2890,3421,0,0,0,0,0,0
$GC,9939,-0.61,-146.1,969.3,-7.2,481,9943,0.00,2.12,0.00,0.000,4,0.000,0.039,1646,1486,3421,0,0,0,0,0,0
$GC,9986,-0.61,-146.1,972.8,-7.3,482,9990,0.00,2.22,0.00,0.000,6,0.000,0.057,1637,2882,3420,0,0,0,0,0,0
$GC,10307,-0.61,-146.1,997.0,-7.6,493,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2883,3420,0,0,0,0,0,0
$STATE,10363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10363,begin apogee
$GC,10374,-0.18,0.0,1001.6,7.6,495,10527,0.50,0.00,149.80,1.251,6,0.156,0.000,1788,2710,2819,0,0,0,0,0,0
$STATE,10529,end apogee,CONTROL_FINISHED_OK
$STATE,10529,begin climb
$GC,10534,0.61,146.1,1005.2,0.0,500,10696,0.77,0.00,148.40,1.808,6,0.069,0.000,2058,2710,2223,0,0,0,0,1,0
$GC,10982,0.61,146.1,909.9,24.5,515,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2710,2218,0,0,0,0,0,0
$GC,11288,0.61,146.1,835.3,24.6,525,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2710,2216,0,0,0,0,0,0
$GC,11594,0.61,146.1,763.1,23.5,535,11598,0.00,2.22,0.00,0.000,4,0.000,0.045,2069,1311,2216,0,0,0,0,0,0
$GC,11669,0.61,146.1,746.8,21.1,537,11673,0.00,2.25,0.00,0.000,6,0.000,0.052,2069,2705,2214,0,0,0,0,0,0
$GC,12000,0.61,146.1,668.4,24.2,548,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2705,2214,0,0,0,0,0,0
$GC,12307,0.61,146.1,596.6,23.1,558,12311,0.00,2.22,0.00,0.000,4,0.000,0.045,2079,1299,2213,0,0,0,0,0,0
$GC,12353,0.61,146.1,585.8,20.5,559,12358,0.12,2.25,0.00,0.000,6,0.226,0.052,2053,2698,2213,0,0,0,0,0,0
$GC,12674,0.61,146.1,516.5,21.8,570,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2698,2213,0,0,0,0,0,0
$GC,12981,0.61,146.1,449.2,22.2,580,12982,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2698,2212,0,0,0,0,0,0
$GC,13290,0.61,146.1,381.5,22.1,591,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2698,2212,0,0,0,0,0,0
$GC,13597,0.61,146.1,314.0,21.8,606,13601,0.00,2.20,0.00,0.000,4,0.000,0.045,2061,1296,2212,0,0,0,0,0,0
$GC,13655,0.61,146.1,302.2,17.7,608,13664,0.00,2.28,0.00,0.000,6,0.000,0.053,2062,2700,2211,0,0,0,0,0,0
$GC,13976,0.61,146.1,234.2,21.8,625,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2701,2210,0,0,0,0,0,0
$GC,14288,0.61,146.1,167.7,21.3,645,14292,0.00,2.17,0.00,0.000,4,0.000,0.044,2072,1299,2211,0,0,0,0,0,0
$GC,14328,0.61,146.1,160.0,19.6,647,14332,0.00,2.25,0.00,0.000,6,0.000,0.052,2072,2710,2210,0,0,0,0,0,0
$GC,14654,0.61,146.1,94.2,20.9,669,14661,0.00,2.22,0.00,0.000,4,0.000,0.047,2082,1308,2211,0,0,0,0,0,0
$GC,14718,0.61,146.1,80.7,19.4,679,14724,0.12,2.20,0.00,0.000,6,0.226,0.054,2055,2699,2210,0,0,0,0,0,0
$GC,15084,0.61,146.1,14.0,18.7,740,15094,0.00,1.90,0.00,0.000,4,0.000,0.059,2055,3894,2210,0,0,0,0,0,0
$STATE,15138,end climb,SURFACE_DEPTH_REACHED
$STATE,15138,begin surface coast
$FINISH,0.8,1.026432
$STATE,15145,end surface coast,CONTROL_FINISHED_OK
$STATE,15146,begin surface
$SM_CCo,15169,51.50,0.793,1,0,1797,250.20
$SM_GC,1.45,0.00,0.00,51.50,0.000,0.000,0.793,63,2876,1797,-5.58,-0.11,250.20
$IRIDIUM_FIX,-4613.60,400.91,311212,090915
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.8,30.685
$10V_AH,10.1,13.246
$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,14.175,86.950,298.200,51.500,0.000,28.051,19.551,356.530,0.000,0.000,19.165,1865.498,10619.604,454.721,2268.979,646.325,33.366,1230.434,0.000,1800.707,0.000,1.008,0.000
$DEVICE_MAMPS,257.805,76.500,1807.695,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.479,1469.340,769.242,287.665,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354012
$DATA_FILE_SIZE,53723,749
$CAP_FILE_SIZE,114355,0
$CFSIZE,259252224,219869184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,311212,182153,-4628.351,402.208,39,0.9,39,-23.3