version: 66.07
glider: 542
mission: 6
dive: 47
start: 12 17 112 11 9 23
data:
$ID,542
$MISSION,6
$DIVE,47
$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,-10423.484
$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,26
$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
$GPS1,171212,105803,-4628.565,402.488,36,1.1,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-26.9
$GPS2,171212,110825,-4628.525,402.640,20,1.8,20,-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,-0.193
$KALMAN_X,-44597.0,583.5,148.0,25691.0,491.7
$KALMAN_Y,3990.0,1035.9,260.9,36832.5,1144.7
$MHEAD_RNG_PITCHd_Wd,248.0,4334,-16.6,-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,-0.65,-161.8,0.0,0.0,0,171,0.00,0.00,-141.65,0.000,2,0.000,0.000,63,2935,3225,0,0,0,0,0,0
$GC,177,-0.69,-194.7,3.0,-3.7,18,204,6.43,2.28,-10.43,0.000,4,0.246,0.053,1647,1517,3616,0,0,0,0,0,0
$GC,240,-0.69,-194.7,14.3,-14.5,26,249,0.00,2.35,0.00,0.000,6,0.000,0.059,1637,2922,3617,0,0,0,0,0,0
$GC,328,-0.69,-194.7,28.1,-14.8,39,337,0.00,1.60,0.00,0.000,4,0.000,0.064,1629,3897,3617,0,0,0,0,0,0
$GC,349,-0.69,-194.7,31.1,-13.9,41,356,0.00,1.55,0.00,0.000,6,0.000,0.036,1629,2899,3617,0,0,0,0,0,0
$GC,597,-0.69,-194.7,65.2,-15.2,82,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2898,3617,0,0,0,0,0,0
$GC,942,-0.69,-194.7,116.1,-14.2,129,946,0.00,2.10,0.00,0.000,4,0.000,0.040,1629,1522,3617,0,0,0,0,0,0
$GC,1015,-0.69,-194.7,125.6,-11.7,133,1020,0.00,2.28,0.00,0.000,6,0.000,0.057,1618,2926,3617,0,0,0,0,0,0
$GC,1344,-0.69,-194.7,174.7,-15.1,154,1349,0.10,2.17,0.00,0.000,4,0.211,0.039,1642,1529,3618,0,0,0,0,0,0
$GC,1380,-0.69,-194.7,180.0,-12.5,156,1384,0.00,2.25,0.00,0.000,6,0.000,0.057,1633,2922,3618,0,0,0,0,0,0
$GC,1703,-0.69,-194.7,218.6,-11.8,176,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2923,3618,0,0,0,0,0,0
$GC,2029,-0.69,-194.7,257.6,-11.9,196,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2923,3618,0,0,0,0,0,0
$GC,2340,-0.69,-194.7,294.5,-11.5,211,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2923,3618,0,0,0,0,0,0
$GC,2648,-0.69,-194.7,330.6,-11.5,226,2652,0.00,2.17,0.00,0.000,4,0.000,0.041,1633,1525,3618,0,0,0,0,0,0
$GC,2671,-0.69,-194.7,333.7,-11.8,227,2676,0.00,2.25,0.00,0.000,6,0.000,0.057,1623,2927,3618,0,0,0,0,0,0
$GC,2998,-0.69,-194.7,371.9,-11.8,243,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2927,3618,0,0,0,0,0,0
$GC,3304,-0.69,-194.7,408.0,-11.4,257,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2927,3618,0,0,0,0,0,0
$GC,3610,-0.69,-194.7,442.3,-11.1,267,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2927,3617,0,0,0,0,0,0
$GC,3916,-0.69,-194.7,478.3,-12.2,277,3920,0.00,2.15,0.00,0.000,4,0.000,0.041,1623,1524,3617,0,0,0,0,0,0
$GC,3948,-0.69,-194.7,482.3,-12.6,278,3953,0.12,2.25,0.00,0.000,6,0.190,0.058,1644,2931,3617,0,0,0,0,0,0
$GC,4286,-0.69,-194.7,517.6,-10.5,289,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2931,3617,0,0,0,0,0,0
$GC,4593,-0.69,-194.7,549.2,-10.0,299,4596,0.00,2.15,0.00,0.000,4,0.000,0.041,1644,1525,3617,0,0,0,0,0,0
$GC,4639,-0.69,-194.7,553.7,-8.7,300,4643,0.00,2.25,0.00,0.000,6,0.000,0.059,1635,2934,3617,0,0,0,0,0,0
$GC,4971,-0.69,-194.7,587.6,-10.3,311,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2935,3617,0,0,0,0,0,0
$GC,5277,-0.69,-194.7,618.1,-9.7,321,5281,0.00,2.15,0.00,0.000,4,0.000,0.041,1635,1526,3616,0,0,0,0,0,0
$GC,5318,-0.69,-194.7,622.1,-9.0,322,5322,0.00,2.25,0.00,0.000,6,0.000,0.058,1624,2934,3616,0,0,0,0,0,0
$GC,5645,-0.69,-194.7,654.3,-10.0,333,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2934,3616,0,0,0,0,0,0
$GC,5951,-0.69,-194.7,685.5,-10.2,343,5955,0.00,2.12,0.00,0.000,4,0.000,0.041,1624,1527,3616,0,0,0,0,0,0
$GC,5988,-0.69,-194.7,689.1,-9.8,344,5992,0.12,2.22,0.00,0.000,6,0.187,0.058,1646,2925,3615,0,0,0,0,0,0
$GC,6332,-0.69,-194.7,718.4,-8.7,355,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2925,3616,0,0,0,0,0,0
$GC,6638,-0.69,-194.7,744.8,-8.8,365,6642,0.00,2.15,0.00,0.000,4,0.000,0.042,1646,1521,3616,0,0,0,0,0,0
$GC,6690,-0.69,-194.7,749.5,-8.3,366,6694,0.00,2.25,0.00,0.000,6,0.000,0.059,1637,2932,3615,0,0,0,0,0,0
$GC,7011,-0.69,-194.7,780.2,-9.9,377,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,3615,0,0,0,0,0,0
$GC,7317,-0.69,-194.7,809.7,-9.4,387,7321,0.00,2.15,0.00,0.000,4,0.000,0.041,1637,1524,3615,0,0,0,0,0,0
$GC,7364,-0.69,-194.7,814.2,-8.5,388,7368,0.00,2.25,0.00,0.000,6,0.000,0.059,1626,2931,3615,0,0,0,0,0,0
$GC,7685,-0.69,-194.7,845.5,-9.7,399,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2931,3615,0,0,0,0,0,0
$GC,7991,-0.69,-194.7,874.6,-9.3,409,7995,0.00,2.12,0.00,0.000,4,0.000,0.041,1627,1525,3615,0,0,0,0,0,0
$GC,8028,-0.69,-194.7,878.1,-9.7,410,8033,0.12,2.22,0.00,0.000,6,0.185,0.059,1649,2925,3615,0,0,0,0,0,0
$GC,8373,-0.69,-194.7,902.4,-6.9,421,8376,0.00,2.12,0.00,0.000,4,0.000,0.042,1650,1521,3614,0,0,0,0,0,0
$GC,8408,-0.69,-194.7,905.1,-7.0,422,8412,0.00,2.25,0.00,0.000,6,0.000,0.059,1641,2930,3615,0,0,0,0,0,0
$GC,8740,-0.69,-194.7,930.6,-7.9,433,8744,0.00,2.15,0.00,0.000,4,0.000,0.041,1641,1522,3614,0,0,0,0,0,0
$GC,8781,-0.69,-194.7,934.0,-7.6,434,8785,0.00,2.25,0.00,0.000,6,0.000,0.059,1632,2931,3614,0,0,0,0,0,0
$GC,9108,-0.69,-194.7,961.7,-8.7,445,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2931,3614,0,0,0,0,0,0
$GC,9415,-0.69,-194.7,987.4,-8.2,455,9419,0.00,2.15,0.00,0.000,4,0.000,0.041,1631,1519,3614,0,0,0,0,0,0
$GC,9462,-0.69,-194.7,991.4,-8.0,456,9466,0.00,2.22,0.00,0.000,6,0.000,0.059,1622,2922,3614,0,0,0,0,0,0
$STATE,9574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9575,begin apogee
$GC,9585,-0.19,0.0,1001.1,8.6,460,9788,0.60,0.00,194.55,1.200,6,0.158,0.000,1804,2737,2813,0,0,0,0,0,0
$STATE,9790,end apogee,CONTROL_FINISHED_OK
$STATE,9790,begin climb
$GC,9794,0.69,194.7,1005.5,0.0,467,9998,0.80,2.25,190.82,1.796,4,0.067,0.060,2089,3893,2026,0,0,0,0,1,0
$GC,10230,0.69,194.7,886.9,33.6,480,10234,0.00,1.92,0.00,0.000,6,0.000,0.043,2098,2748,2022,0,0,0,0,0,0
$GC,10562,0.69,194.7,781.2,31.3,491,10566,0.00,2.33,0.00,0.000,4,0.000,0.050,2109,1322,2020,0,0,0,0,0,0
$GC,10628,0.69,194.7,762.3,27.7,493,10633,0.00,2.38,0.00,0.000,6,0.000,0.055,2109,2741,2018,0,0,0,0,0,0
$GC,10966,0.69,194.7,658.8,30.3,504,10970,0.00,2.33,0.00,0.000,4,0.000,0.051,2120,1319,2017,0,0,0,0,0,0
$GC,11018,0.69,194.7,643.4,27.2,505,11022,0.00,2.35,0.00,0.000,6,0.000,0.054,2119,2742,2017,0,0,0,0,0,0
$GC,11333,0.69,194.7,548.5,30.5,515,11337,0.00,2.28,0.00,0.000,4,0.000,0.051,2130,1325,2017,0,0,0,0,0,0
$GC,11374,0.69,194.7,536.3,27.6,516,11379,0.17,2.30,0.00,0.000,6,0.256,0.054,2093,2736,2016,0,0,0,0,0,0
$GC,11701,0.69,194.7,447.6,27.8,527,11705,0.00,2.28,0.00,0.000,4,0.000,0.051,2103,1323,2016,0,0,0,0,0,0
$GC,11719,0.69,194.7,442.0,27.6,527,11723,0.00,2.30,0.00,0.000,6,0.000,0.054,2102,2736,2016,0,0,0,0,0,0
$GC,12047,0.69,194.7,350.4,27.8,540,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2736,2015,0,0,0,0,0,0
$GC,12358,0.69,194.7,264.5,28.0,555,12362,0.00,2.25,0.00,0.000,4,0.000,0.051,2113,1323,2015,0,0,0,0,0,0
$GC,12383,0.69,194.7,257.1,26.5,556,12387,0.00,2.28,0.00,0.000,6,0.000,0.054,2113,2734,2015,0,0,0,0,0,0
$GC,12705,0.69,194.7,167.2,27.4,576,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2734,2015,0,0,0,0,0,0
$GC,13021,0.69,194.7,84.2,24.0,602,13028,0.00,2.22,0.00,0.000,4,0.000,0.050,2123,1320,2015,0,0,0,0,0,0
$GC,13090,0.69,194.7,69.1,23.6,613,13096,0.12,2.28,0.00,0.000,6,0.252,0.054,2098,2736,2015,0,0,0,0,0,0
$STATE,13337,end climb,SURFACE_DEPTH_REACHED
$STATE,13337,begin surface coast
$FINISH,0.4,1.015731
$STATE,13351,end surface coast,CONTROL_FINISHED_OK
$STATE,13351,begin surface
$SM_CCo,13373,161.68,0.792,1,0,519,564.18
$SM_GC,0.85,0.00,0.00,161.68,0.000,0.000,0.792,55,2934,519,-5.68,0.31,564.18
$IRIDIUM_FIX,-4610.49,404.02,171212,060606
$TT8_MAMPS,0.026964
$HUMID,56.41
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,21.6,11.141
$10V_AH,10.1,4.796
$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,14.050,97.150,385.375,161.675,0.000,26.808,20.631,346.252,0.000,0.000,23.493,1643.538,9118.882,658.538,2134.773,596.888,33.352,1446.458,0.000,1687.023,0.000,1.008,0.000
$DEVICE_MAMPS,256.275,73.440,1796.220,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.367,1299.729,686.834,270.108,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,46973,656
$CAP_FILE_SIZE,110191,0
$CFSIZE,259252224,224993280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171212,145626,-4628.962,400.315,36,0.8,36,-23.3