version: 66.07
glider: 542
mission: 6
dive: 45
start: 12 17 112 3 21 19
data:
$ID,542
$MISSION,6
$DIVE,45
$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,-10417.131
$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,28
$R_STBD_OVSHOOT,41
$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
$GPS1,171212,030604,-4629.123,406.398,35,1.0,35,-23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-38.1
$GPS2,171212,032017,-4629.183,406.644,18,2.0,18,-23.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.168,-0.043
$KALMAN_X,-49893.9,957.3,659.5,35158.6,-5500.4
$KALMAN_Y,-492.3,135.2,325.0,40934.0,-764.7
$MHEAD_RNG_PITCHd_Wd,279.1,8604,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.81,-63.1,0.0,0.0,0,162,0.00,0.00,-133.18,0.000,6,0.000,0.000,58,2953,3079,0,0,0,0,0,0
$GC,169,-0.87,-106.7,3.0,-5.4,17,187,6.07,1.50,-5.07,0.000,4,0.239,0.080,1576,3890,3253,0,0,0,0,0,0
$GC,206,-0.87,-106.7,10.7,-18.7,21,215,0.00,1.55,0.00,0.000,6,0.000,0.037,1578,2902,3254,0,0,0,0,0,0
$GC,292,-0.87,-106.7,32.4,-23.9,34,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2902,3254,0,0,0,0,0,0
$GC,539,-0.87,-106.7,78.9,-16.8,75,545,0.00,2.15,0.00,0.000,4,0.000,0.041,1578,1527,3254,0,0,0,0,0,0
$GC,585,-0.87,-106.7,86.5,-15.5,82,592,0.00,2.22,0.00,0.000,6,0.000,0.055,1569,2906,3255,0,0,0,0,0,0
$GC,930,-0.87,-106.7,141.7,-15.6,113,934,0.00,2.15,0.00,0.000,4,0.000,0.041,1569,1522,3255,0,0,0,0,0,0
$GC,978,-0.87,-106.7,149.2,-14.1,116,983,0.12,2.28,0.00,0.000,6,0.221,0.056,1586,2930,3255,0,0,0,0,0,0
$GC,1312,-0.87,-106.7,196.6,-15.2,137,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2930,3256,0,0,0,0,0,0
$GC,1635,-0.87,-106.7,243.5,-13.9,158,1639,0.00,2.15,0.00,0.000,4,0.000,0.041,1587,1530,3255,0,0,0,0,0,0
$GC,1726,-0.87,-106.7,255.5,-12.8,163,1730,0.00,2.25,0.00,0.000,6,0.000,0.057,1579,2929,3256,0,0,0,0,0,0
$GC,2057,-0.87,-106.7,303.5,-14.7,179,2061,0.00,2.15,0.00,0.000,4,0.000,0.041,1578,1527,3256,0,0,0,0,0,0
$GC,2086,-0.87,-106.7,308.3,-14.6,180,2090,0.00,2.25,0.00,0.000,6,0.000,0.057,1568,2928,3256,0,0,0,0,0,0
$GC,2407,-0.87,-106.7,356.5,-15.5,195,2411,0.00,2.15,0.00,0.000,4,0.000,0.041,1568,1525,3256,0,0,0,0,0,0
$GC,2442,-0.87,-106.7,362.4,-14.7,196,2451,0.08,2.28,0.00,0.000,6,0.203,0.057,1578,2927,3256,0,0,0,0,0,0
$GC,2780,-0.87,-106.7,410.1,-13.9,212,2784,0.00,2.15,0.00,0.000,4,0.000,0.040,1578,1524,3256,0,0,0,0,0,0
$GC,2815,-0.87,-106.7,415.0,-12.5,213,2819,0.00,2.25,0.00,0.000,6,0.000,0.057,1569,2927,3255,0,0,0,0,0,0
$GC,3147,-0.87,-106.7,462.4,-14.8,224,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2927,3255,0,0,0,0,0,0
$GC,3453,-0.87,-106.7,506.1,-14.1,234,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2927,3256,0,0,0,0,0,0
$GC,3760,-0.87,-106.7,547.7,-13.5,244,3764,0.00,2.12,0.00,0.000,4,0.000,0.041,1569,1525,3255,0,0,0,0,0,0
$GC,3839,-0.87,-106.7,558.5,-13.2,246,3844,0.12,2.25,0.00,0.000,6,0.222,0.059,1586,2928,3255,0,0,0,0,0,0
$GC,4166,-0.87,-106.7,598.5,-12.4,257,4170,0.00,2.15,0.00,0.000,4,0.000,0.041,1586,1523,3254,0,0,0,0,0,0
$GC,4213,-0.87,-106.7,604.4,-11.8,258,4217,0.00,2.25,0.00,0.000,6,0.000,0.058,1577,2927,3254,0,0,0,0,0,0
$GC,4533,-0.87,-106.7,646.0,-13.1,269,4537,0.00,2.15,0.00,0.000,4,0.000,0.041,1578,1520,3254,0,0,0,0,0,0
$GC,4585,-0.87,-106.7,652.7,-12.2,270,4589,0.00,2.25,0.00,0.000,6,0.000,0.059,1567,2923,3254,0,0,0,0,0,0
$GC,4900,-0.87,-106.7,694.3,-12.9,280,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2923,3254,0,0,0,0,0,0
$GC,5206,-0.87,-106.7,732.2,-12.3,290,5210,0.00,2.15,0.00,0.000,4,0.000,0.041,1567,1520,3253,0,0,0,0,0,0
$GC,5286,-0.87,-106.7,741.7,-11.4,292,5291,0.12,2.25,0.00,0.000,6,0.226,0.058,1584,2926,3253,0,0,0,0,0,0
$GC,5613,-0.87,-106.7,776.1,-10.5,303,5617,0.00,2.15,0.00,0.000,4,0.000,0.041,1584,1520,3253,0,0,0,0,0,0
$GC,5637,-0.87,-106.7,778.9,-11.0,303,5643,0.00,2.25,0.00,0.000,6,0.000,0.059,1575,2932,3253,0,0,0,0,0,0
$GC,5952,-0.87,-106.7,813.9,-11.4,314,5956,0.00,2.15,0.00,0.000,4,0.000,0.041,1575,1524,3253,0,0,0,0,0,0
$GC,6037,-0.87,-106.7,823.6,-11.5,316,6041,0.00,2.25,0.00,0.000,6,0.000,0.059,1565,2929,3252,0,0,0,0,0,0
$GC,6352,-0.87,-106.7,860.3,-11.7,326,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2930,3252,0,0,0,0,0,0
$GC,6658,-0.87,-106.7,896.1,-11.7,336,6662,0.00,2.12,0.00,0.000,4,0.000,0.041,1564,1522,3252,0,0,0,0,0,0
$GC,6716,-0.87,-106.7,902.8,-10.5,337,6723,0.12,2.22,0.00,0.000,6,0.221,0.058,1582,2924,3252,0,0,0,0,0,0
$GC,7031,-0.87,-106.7,936.0,-10.5,348,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2924,3252,0,0,0,0,0,0
$GC,7337,-0.87,-106.7,967.7,-10.4,358,7341,0.00,2.12,0.00,0.000,4,0.000,0.043,1583,1526,3251,0,0,0,0,0,0
$GC,7423,-0.87,-109.3,976.6,-9.7,360,7427,0.00,2.25,0.00,0.000,6,0.000,0.060,1573,2935,3251,0,0,0,0,0,0
$STATE,7653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7653,begin apogee
$GC,7663,-0.19,0.0,1001.3,10.7,368,7776,0.80,0.00,109.62,1.228,6,0.194,0.000,1801,2747,2819,0,0,0,0,0,0
$STATE,7778,end apogee,CONTROL_FINISHED_OK
$STATE,7778,begin climb
$GC,7783,0.87,109.3,1002.1,0.0,372,7910,1.00,2.53,108.50,1.798,4,0.061,0.049,2168,1329,2374,0,0,0,0,1,0
$GC,7937,0.87,109.3,971.8,28.4,377,7942,0.00,2.47,0.00,0.000,6,0.000,0.057,2168,2740,2374,0,0,0,0,0,0
$GC,8275,0.87,109.3,870.6,29.6,388,8279,0.00,2.30,0.00,0.000,4,0.000,0.050,2179,1335,2367,0,0,0,0,0,0
$GC,8305,0.87,109.3,861.4,29.5,388,8312,0.00,2.35,0.00,0.000,6,0.000,0.057,2179,2739,2366,0,0,0,0,0,0
$GC,8620,0.87,109.3,766.8,30.3,399,8624,0.00,2.30,0.00,0.000,4,0.000,0.051,2189,1329,2365,0,0,0,0,0,0
$GC,8643,0.87,109.3,759.3,29.7,399,8651,0.17,2.33,0.00,0.000,6,0.272,0.057,2155,2740,2364,0,0,0,0,0,0
$GC,8959,0.87,109.3,668.8,29.0,410,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2739,2363,0,0,0,0,0,0
$GC,9265,0.87,109.3,582.3,27.8,420,9268,0.00,1.85,0.00,0.000,4,0.000,0.063,2155,3898,2362,0,0,0,0,0,0
$GC,9288,0.87,109.3,575.1,29.3,420,9292,0.00,1.85,0.00,0.000,6,0.000,0.044,2162,2741,2362,0,0,0,0,0,0
$GC,9609,0.87,109.3,485.8,27.8,431,9613,0.00,2.22,0.00,0.000,4,0.000,0.050,2173,1324,2361,0,0,0,0,0,0
$GC,9621,0.87,109.3,481.8,27.4,431,9626,0.00,2.30,0.00,0.000,6,0.000,0.055,2173,2741,2360,0,0,0,0,0,0
$GC,9944,0.87,109.3,393.1,27.4,442,9945,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2741,2361,0,0,0,0,0,0
$GC,10254,0.87,109.3,311.4,25.9,457,10258,0.00,2.22,0.00,0.000,4,0.000,0.050,2182,1327,2360,0,0,0,0,0,0
$GC,10294,0.87,109.3,300.2,24.6,458,10303,0.10,2.30,0.00,0.000,6,0.262,0.057,2159,2734,2360,0,0,0,0,0,0
$GC,10619,0.87,109.3,220.4,24.4,476,10623,0.00,2.22,0.00,0.000,4,0.000,0.050,2168,1319,2360,0,0,0,0,0,0
$GC,10690,0.87,109.3,204.0,23.2,480,10694,0.00,2.28,0.00,0.000,6,0.000,0.057,2168,2733,2359,0,0,0,0,0,0
$GC,11019,0.87,109.3,125.3,24.0,501,11022,0.00,1.85,0.00,0.000,4,0.000,0.064,2168,3903,2359,0,0,0,0,0,0
$GC,11065,0.87,109.3,112.4,26.5,503,11072,0.00,1.83,0.00,0.000,6,0.000,0.044,2177,2723,2359,0,0,0,0,0,0
$GC,11420,0.87,109.3,27.9,25.5,558,11429,0.00,2.20,0.00,0.000,4,0.000,0.052,2188,1338,2359,0,0,0,0,0,0
$GC,11483,0.87,109.3,12.3,26.1,567,11493,0.12,2.25,0.00,0.000,6,0.269,0.055,2158,2729,2357,0,0,0,0,0,0
$STATE,11519,end climb,SURFACE_DEPTH_REACHED
$STATE,11519,begin surface coast
$FINISH,0.4,1.026706
$STATE,11533,end surface coast,CONTROL_FINISHED_OK
$STATE,11533,begin surface
$SM_CCo,11555,195.43,0.786,1,0,519,564.18
$SM_GC,0.84,0.00,0.00,195.43,0.000,0.000,0.786,63,2940,519,-5.65,0.51,564.18
$IRIDIUM_FIX,-4613.60,407.14,171212,030300
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.8,10.686
$10V_AH,10.1,4.598
$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,14.550,104.825,218.125,195.425,0.000,52.189,63.623,450.421,0.000,0.000,21.134,1443.763,7917.226,573.894,2055.594,618.836,33.384,1276.060,0.000,1482.161,0.000,1.009,0.000
$DEVICE_MAMPS,271.575,79.560,1797.750,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.954,1139.512,610.736,233.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354208
$DATA_FILE_SIZE,40372,574
$CAP_FILE_SIZE,104055,0
$CFSIZE,259252224,225124352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171212,063834,-4628.761,405.009,32,1.5,32,-23.3