version: 66.07
glider: 542
mission: 6
dive: 153
start: 12 31 112 18 33 29
data:
$ID,542
$MISSION,6
$DIVE,153
$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,-10922.19
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,311212,182153,-4628.351,402.208,39,0.9,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.2
$GPS2,311212,183236,-4628.356,402.164,16,1.0,17,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,-0.049
$KALMAN_X,-90125.1,-426.9,-119.6,71910.9,-3421.7
$KALMAN_Y,43627.7,66.5,342.9,-1597.7,460.5
$MHEAD_RNG_PITCHd_Wd,124.4,10443,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-63.10,0.000,2,0.000,0.000,62,2875,3003,0,0,0,0,0,0
$GC,98,-0.61,-146.1,3.1,-3.6,8,125,6.55,1.65,-12.20,0.000,4,0.252,0.076,1638,3900,3417,0,0,0,0,0,0
$GC,401,-0.61,-146.1,47.8,-13.4,56,410,0.00,1.60,0.00,0.000,6,0.000,0.034,1638,2851,3419,0,0,0,0,0,0
$GC,648,-0.61,-146.1,81.3,-12.6,97,652,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2851,3419,0,0,0,0,0,0
$GC,980,-0.61,-146.1,123.5,-12.3,134,984,0.00,1.70,0.00,0.000,4,0.000,0.060,1630,3900,3420,0,0,0,0,0,0
$GC,1051,-0.61,-146.1,133.0,-13.1,138,1054,0.00,1.55,0.00,0.000,6,0.000,0.032,1630,2876,3420,0,0,0,0,0,0
$GC,1385,-0.61,-146.1,177.3,-13.3,159,1389,0.00,2.08,0.00,0.000,4,0.000,0.037,1630,1496,3421,0,0,0,0,0,0
$GC,1442,-0.61,-146.1,184.8,-11.0,162,1452,0.08,2.22,0.00,0.000,6,0.158,0.053,1644,2875,3421,0,0,0,0,0,0
$GC,1770,-0.61,-146.1,218.6,-10.3,183,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2875,3421,0,0,0,0,0,0
$GC,2096,-0.61,-146.1,252.7,-10.3,204,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2875,3421,0,0,0,0,0,0
$GC,2407,-0.61,-146.1,283.4,-9.9,219,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2875,3421,0,0,0,0,0,0
$GC,2715,-0.61,-146.1,313.6,-9.8,234,2719,0.00,1.62,0.00,0.000,4,0.000,0.061,1637,3901,3421,0,0,0,0,0,0
$GC,2763,-0.61,-146.1,318.8,-10.6,236,2767,0.00,1.55,0.00,0.000,6,0.000,0.034,1637,2876,3421,0,0,0,0,0,0
$GC,3098,-0.61,-146.1,355.8,-11.2,252,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2871,3421,0,0,0,0,0,0
$GC,3410,-0.61,-146.1,389.2,-10.4,267,3414,0.00,2.10,0.00,0.000,4,0.000,0.038,1637,1491,3422,0,0,0,0,0,0
$GC,3445,-0.61,-146.1,393.4,-10.1,268,3453,0.00,2.25,0.00,0.000,6,0.000,0.054,1626,2891,3421,0,0,0,0,0,0
$GC,3760,-0.61,-146.1,428.0,-11.2,280,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2891,3421,0,0,0,0,0,0
$GC,4067,-0.61,-146.1,461.6,-10.9,290,4071,0.00,1.58,0.00,0.000,4,0.000,0.061,1619,3889,3421,0,0,0,0,0,0
$GC,4118,-0.61,-146.1,467.8,-11.5,291,4122,0.08,1.52,0.00,0.000,6,0.161,0.034,1643,2878,3421,0,0,0,0,0,0
$GC,4445,-0.61,-146.1,499.3,-9.9,302,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2874,3421,0,0,0,0,0,0
$GC,4753,-0.61,-146.1,529.7,-10.0,312,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2874,3421,0,0,0,0,0,0
$GC,5057,-0.61,-146.1,558.8,-9.3,322,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2875,3420,0,0,0,0,0,0
$GC,5364,-0.61,-146.1,587.5,-9.3,332,5368,0.00,2.08,0.00,0.000,4,0.000,0.040,1644,1493,3419,0,0,0,0,0,0
$GC,5399,-0.61,-146.1,591.0,-9.4,333,5403,0.00,2.20,0.00,0.000,6,0.000,0.054,1634,2880,3420,0,0,0,0,0,0
$GC,5731,-0.61,-146.1,623.1,-9.9,344,5734,0.00,1.62,0.00,0.000,4,0.000,0.063,1626,3891,3419,0,0,0,0,0,0
$GC,5767,-0.61,-146.1,627.1,-11.0,345,5771,0.00,1.52,0.00,0.000,6,0.000,0.034,1626,2877,3419,0,0,0,0,0,0
$GC,6110,-0.61,-146.1,664.3,-10.7,356,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3419,0,0,0,0,0,0
$GC,6417,-0.61,-146.1,697.3,-10.8,366,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3419,0,0,0,0,0,0
$GC,6722,-0.61,-146.1,729.5,-10.5,376,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3419,0,0,0,0,0,0
$GC,7030,-0.61,-146.1,759.8,-9.8,386,7034,0.00,2.10,0.00,0.000,4,0.000,0.040,1626,1491,3419,0,0,0,0,0,0
$GC,7066,-0.61,-146.1,763.7,-9.5,387,7070,0.12,2.20,0.00,0.000,6,0.187,0.054,1648,2879,3419,0,0,0,0,0,0
$GC,7399,-0.61,-146.1,788.7,-7.4,398,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2880,3418,0,0,0,0,0,0
$GC,7705,-0.61,-146.1,811.5,-7.7,408,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2880,3419,0,0,0,0,0,0
$GC,8011,-0.61,-146.1,834.3,-7.5,418,8015,0.00,2.15,0.00,0.000,4,0.000,0.039,1648,1492,3418,0,0,0,0,0,0
$GC,8043,-0.61,-146.1,836.5,-7.6,419,8047,0.00,2.20,0.00,0.000,6,0.000,0.055,1639,2880,3418,0,0,0,0,0,0
$GC,8381,-0.61,-146.1,863.3,-7.8,430,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2880,3418,0,0,0,0,0,0
$GC,8688,-0.61,-146.1,886.4,-7.5,440,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2880,3418,0,0,0,0,0,0
$GC,8993,-0.61,-146.1,909.5,-7.6,450,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2880,3418,0,0,0,0,0,0
$GC,9301,-0.61,-146.1,932.4,-7.5,460,9305,0.00,2.15,0.00,0.000,4,0.000,0.039,1639,1491,3418,0,0,0,0,0,0
$GC,9333,-0.61,-146.1,934.9,-8.2,461,9337,0.00,2.20,0.00,0.000,6,0.000,0.055,1629,2884,3417,0,0,0,0,0,0
$GC,9676,-0.61,-146.1,962.6,-8.2,472,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2884,3417,0,0,0,0,0,0
$GC,9982,-0.61,-146.1,988.2,-8.5,482,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2884,3418,0,0,0,0,0,0
$STATE,10131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10131,begin apogee
$GC,10142,-0.18,0.0,1000.8,8.2,487,10294,0.52,0.00,148.45,1.248,6,0.161,0.000,1786,2711,2819,0,0,0,0,0,0
$STATE,10296,end apogee,CONTROL_FINISHED_OK
$STATE,10296,begin climb
$GC,10301,0.61,146.1,1003.6,0.0,492,10462,0.75,2.25,148.57,1.809,4,0.083,0.060,2044,3897,2225,0,0,0,0,1,0
$GC,10504,0.61,146.1,967.7,26.3,498,10508,0.00,2.05,0.00,0.000,6,0.000,0.038,2053,2707,2225,0,0,0,0,0,0
$GC,10831,0.61,146.1,887.8,24.6,509,10835,0.00,2.30,0.00,0.000,4,0.000,0.046,2064,1289,2219,0,0,0,0,0,0
$GC,10863,0.61,146.1,880.0,24.5,510,10868,0.00,2.35,0.00,0.000,6,0.000,0.051,2064,2698,2217,0,0,0,0,0,0
$GC,11201,0.61,146.1,794.0,25.4,521,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2698,2217,0,0,0,0,0,0
$GC,11508,0.61,146.1,717.6,24.7,531,11509,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2698,2216,0,0,0,0,0,0
$GC,11814,0.61,146.1,645.0,23.5,541,11818,0.00,2.22,0.00,0.000,4,0.000,0.044,2074,1290,2215,0,0,0,0,0,0
$GC,11888,0.61,146.1,628.4,20.4,543,11892,0.00,2.28,0.00,0.000,6,0.000,0.052,2074,2702,2213,0,0,0,0,0,0
$GC,12220,0.61,146.1,550.0,24.2,554,12224,0.00,1.90,0.00,0.000,4,0.000,0.060,2074,3897,2213,0,0,0,0,0,0
$GC,12249,0.61,146.1,542.1,24.7,554,12256,0.15,1.88,0.00,0.000,6,0.246,0.041,2051,2681,2214,0,0,0,0,0,0
$GC,12564,0.61,146.1,471.3,22.3,565,12568,0.00,2.15,0.00,0.000,4,0.000,0.046,2061,1301,2213,0,0,0,0,0,0
$GC,12621,0.61,146.1,459.0,20.8,566,12629,0.00,2.25,0.00,0.000,6,0.000,0.052,2061,2705,2212,0,0,0,0,0,0
$GC,12947,0.61,146.1,387.8,22.2,578,12951,0.00,1.90,0.00,0.000,4,0.000,0.060,2061,3906,2212,0,0,0,0,0,0
$GC,12977,0.61,146.1,380.5,25.0,579,12980,0.00,1.88,0.00,0.000,6,0.000,0.040,2070,2697,2212,0,0,0,0,0,0
$GC,13308,0.61,146.1,308.2,22.2,595,13312,0.00,2.15,0.00,0.000,4,0.000,0.046,2080,1294,2213,0,0,0,0,0,0
$GC,13398,0.61,146.1,289.6,18.9,599,13403,0.12,2.25,0.00,0.000,6,0.226,0.052,2053,2703,2211,0,0,0,0,0,0
$GC,13735,0.61,146.1,221.6,20.7,617,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2703,2211,0,0,0,0,0,0
$GC,14057,0.61,146.1,155.6,20.3,638,14061,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1292,2211,0,0,0,0,0,0
$GC,14094,0.61,146.1,148.0,18.8,640,14098,0.00,2.25,0.00,0.000,6,0.000,0.054,2063,2702,2210,0,0,0,0,0,0
$GC,14423,0.61,146.1,83.4,19.1,670,14430,0.00,2.20,0.00,0.000,4,0.000,0.044,2073,1291,2211,0,0,0,0,0,0
$GC,14498,0.61,146.1,70.4,16.5,682,14505,0.00,2.25,0.00,0.000,6,0.000,0.052,2072,2711,2210,0,0,0,0,0,0
$STATE,14850,end climb,SURFACE_DEPTH_REACHED
$STATE,14850,begin surface coast
$FINISH,0.9,1.026095
$STATE,14874,end surface coast,CONTROL_FINISHED_OK
$STATE,14874,begin surface
$SM_CCo,14896,51.55,0.770,1,0,1798,250.20
$SM_GC,1.63,0.00,0.00,51.55,0.000,0.000,0.770,56,2894,1798,-5.60,0.40,250.20
$IRIDIUM_FIX,-4613.60,358.00,311212,131336
$TT8_MAMPS,0.026215
$HUMID,58.38
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,21.8,30.847
$10V_AH,10.1,13.347
$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,13.850,81.075,297.025,51.550,0.000,25.988,23.786,348.955,0.000,0.000,18.991,1837.065,10382.396,436.007,2283.122,643.923,33.363,1216.587,0.000,1815.103,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,75.735,1809.225,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.992,1466.265,775.849,296.380,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354008
$DATA_FILE_SIZE,53788,743
$CAP_FILE_SIZE,111651,0
$CFSIZE,259252224,219803648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,311212,224403,-4628.378,404.127,34,1.3,34,-23.3