version: 66.07
glider: 542
mission: 6
dive: 48
start: 12 17 112 15 11 22
data:
$ID,542
$MISSION,6
$DIVE,48
$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,-10426.702
$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,30
$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
$GPS1,171212,145626,-4628.962,400.315,36,0.8,36,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-34.8
$GPS2,171212,151024,-4628.967,400.321,13,0.8,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.108,-0.245
$KALMAN_X,-42949.9,178.6,-155.0,21828.3,1757.6
$KALMAN_Y,8011.3,318.8,208.1,32765.4,2984.8
$MHEAD_RNG_PITCHd_Wd,227.2,1956,-16.9,-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,-155.9,0.0,0.0,0,171,0.00,0.00,-141.57,0.000,2,0.000,0.000,53,2936,3302,0,0,0,0,0,0
$GC,177,-0.70,-194.7,3.6,-4.7,18,196,6.60,1.60,-7.15,0.000,4,0.254,0.078,1634,3897,3616,0,0,0,0,0,0
$GC,257,-0.70,-194.7,23.4,-14.8,29,266,0.00,1.58,0.00,0.000,6,0.000,0.036,1634,2889,3618,0,0,0,0,0,0
$GC,341,-0.70,-194.7,36.2,-14.5,42,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,3618,0,0,0,0,0,0
$GC,586,-0.70,-194.7,71.5,-13.6,83,591,0.00,2.10,0.00,0.000,4,0.000,0.041,1634,1529,3618,0,0,0,0,0,0
$GC,653,-0.70,-194.7,80.1,-12.5,94,660,0.00,2.25,0.00,0.000,6,0.000,0.056,1623,2918,3618,0,0,0,0,0,0
$GC,1002,-0.70,-194.7,131.3,-15.3,131,1006,0.00,2.15,0.00,0.000,4,0.000,0.039,1623,1528,3619,0,0,0,0,0,0
$GC,1044,-0.70,-194.7,138.2,-13.8,133,1051,0.12,2.25,0.00,0.000,6,0.184,0.056,1644,2925,3619,0,0,0,0,0,0
$GC,1365,-0.70,-194.7,177.3,-12.1,154,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2925,3619,0,0,0,0,0,0
$GC,1679,-0.70,-194.7,214.2,-11.7,174,1683,0.00,2.15,0.00,0.000,4,0.000,0.040,1645,1528,3619,0,0,0,0,0,0
$GC,1712,-0.70,-194.7,218.1,-11.1,176,1716,0.00,2.25,0.00,0.000,6,0.000,0.056,1635,2929,3619,0,0,0,0,0,0
$GC,2034,-0.70,-194.7,256.2,-11.9,196,2038,0.00,2.15,0.00,0.000,4,0.000,0.040,1636,1530,3619,0,0,0,0,0,0
$GC,2069,-0.70,-194.7,260.8,-11.5,197,2076,0.00,2.22,0.00,0.000,6,0.000,0.057,1625,2925,3619,0,0,0,0,0,0
$GC,2390,-0.70,-194.7,300.3,-12.5,213,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2925,3619,0,0,0,0,0,0
$GC,2697,-0.70,-194.7,339.3,-12.5,228,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2925,3619,0,0,0,0,0,0
$GC,3008,-0.70,-194.7,377.6,-12.1,243,3012,0.00,2.15,0.00,0.000,4,0.000,0.041,1625,1524,3618,0,0,0,0,0,0
$GC,3053,-0.70,-194.7,383.0,-10.7,245,3057,0.12,2.25,0.00,0.000,6,0.189,0.057,1647,2931,3618,0,0,0,0,0,0
$GC,3394,-0.70,-194.7,416.3,-9.8,259,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2931,3618,0,0,0,0,0,0
$GC,3698,-0.70,-194.7,446.2,-9.8,269,3702,0.00,2.15,0.00,0.000,4,0.000,0.041,1648,1526,3618,0,0,0,0,0,0
$GC,3739,-0.70,-194.7,450.3,-9.4,270,3743,0.00,2.25,0.00,0.000,6,0.000,0.057,1637,2934,3618,0,0,0,0,0,0
$GC,4065,-0.70,-194.7,483.6,-10.6,281,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2935,3618,0,0,0,0,0,0
$GC,4373,-0.70,-194.7,517.2,-11.0,291,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2935,3617,0,0,0,0,0,0
$GC,4678,-0.70,-194.7,550.8,-11.0,301,4682,0.00,2.15,0.00,0.000,4,0.000,0.040,1637,1527,3617,0,0,0,0,0,0
$GC,4719,-0.70,-194.7,555.3,-9.4,302,4723,0.00,2.22,0.00,0.000,6,0.000,0.057,1627,2924,3617,0,0,0,0,0,0
$GC,5045,-0.70,-194.7,591.3,-11.1,313,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2923,3617,0,0,0,0,0,0
$GC,5352,-0.70,-194.7,624.1,-10.5,323,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2923,3616,0,0,0,0,0,0
$GC,5657,-0.70,-194.7,655.6,-10.1,333,5661,0.00,2.12,0.00,0.000,4,0.000,0.041,1627,1529,3616,0,0,0,0,0,0
$GC,5715,-0.70,-194.7,661.2,-8.8,334,5722,0.00,2.22,0.00,0.000,6,0.000,0.057,1617,2929,3616,0,0,0,0,0,0
$GC,6030,-0.70,-194.7,694.7,-11.0,345,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2930,3615,0,0,0,0,0,0
$GC,6336,-0.70,-194.7,728.1,-11.0,355,6340,0.00,2.15,0.00,0.000,4,0.000,0.041,1617,1523,3615,0,0,0,0,0,0
$GC,6360,-0.70,-194.7,730.9,-11.3,355,6367,0.15,2.22,0.00,0.000,6,0.183,0.057,1647,2924,3615,0,0,0,0,0,0
$GC,6675,-0.70,-194.7,757.0,-8.3,366,6679,0.00,2.12,0.00,0.000,4,0.000,0.042,1647,1527,3615,0,0,0,0,0,0
$GC,6716,-0.70,-194.7,760.4,-7.5,367,6720,0.00,2.22,0.00,0.000,6,0.000,0.058,1638,2933,3615,0,0,0,0,0,0
$GC,7056,-0.70,-194.7,790.3,-9.0,378,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,3614,0,0,0,0,0,0
$GC,7360,-0.70,-194.7,817.4,-8.8,388,7364,0.00,2.15,0.00,0.000,4,0.000,0.041,1638,1524,3614,0,0,0,0,0,0
$GC,7407,-0.70,-194.7,821.6,-8.1,389,7411,0.00,2.25,0.00,0.000,6,0.000,0.058,1628,2934,3614,0,0,0,0,0,0
$GC,7728,-0.70,-194.7,852.5,-10.0,400,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2935,3614,0,0,0,0,0,0
$GC,8035,-0.70,-194.7,882.4,-9.6,410,8038,0.00,2.15,0.00,0.000,4,0.000,0.041,1628,1524,3614,0,0,0,0,0,0
$GC,8104,-0.70,-194.7,889.0,-8.7,412,8108,0.00,2.22,0.00,0.000,6,0.000,0.057,1618,2922,3614,0,0,0,0,0,0
$GC,8435,-0.70,-194.7,923.1,-10.4,423,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2923,3614,0,0,0,0,0,0
$GC,8743,-0.70,-194.7,954.8,-10.4,433,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2924,3614,0,0,0,0,0,0
$GC,9048,-0.70,-194.7,986.8,-10.4,443,9052,0.00,2.15,0.00,0.000,4,0.000,0.041,1618,1526,3614,0,0,0,0,0,0
$GC,9079,-0.70,-194.7,990.0,-10.9,444,9084,0.12,2.22,0.00,0.000,6,0.189,0.058,1639,2925,3614,0,0,0,0,0,0
$STATE,9199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9199,begin apogee
$GC,9210,-0.19,0.0,1000.3,8.2,448,9412,0.52,0.00,194.18,1.216,6,0.155,0.000,1801,2740,2812,0,0,0,0,0,0
$STATE,9414,end apogee,CONTROL_FINISHED_OK
$STATE,9414,begin climb
$GC,9418,0.70,194.7,1007.1,0.0,455,9623,0.82,2.17,191.15,1.807,4,0.066,0.059,2093,3893,2027,0,0,0,0,1,0
$GC,9886,0.70,194.7,886.9,31.2,469,9890,0.00,1.92,0.00,0.000,6,0.000,0.043,2102,2744,2022,0,0,0,0,0,0
$GC,10223,0.70,194.7,784.3,30.3,480,10227,0.00,2.30,0.00,0.000,4,0.000,0.050,2113,1322,2020,0,0,0,0,0,0
$GC,10315,0.70,194.7,759.2,26.2,482,10321,0.00,2.35,0.00,0.000,6,0.000,0.055,2113,2733,2018,0,0,0,0,0,0
$GC,10630,0.70,194.7,664.7,30.4,493,10634,0.00,2.28,0.00,0.000,4,0.000,0.051,2124,1320,2018,0,0,0,0,0,0
$GC,10665,0.70,194.7,653.6,28.6,494,10670,0.00,2.35,0.00,0.000,6,0.000,0.055,2124,2743,2017,0,0,0,0,0,0
$GC,10997,0.70,194.7,553.8,30.2,505,11002,0.00,2.30,0.00,0.000,4,0.000,0.050,2134,1321,2017,0,0,0,0,0,0
$GC,11032,0.70,194.7,543.1,28.0,506,11037,0.17,2.33,0.00,0.000,6,0.256,0.055,2097,2742,2017,0,0,0,0,0,0
$GC,11365,0.70,194.7,453.6,27.2,517,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2742,2016,0,0,0,0,0,0
$GC,11685,0.70,194.7,368.6,26.6,529,11689,0.00,2.28,0.00,0.000,4,0.000,0.051,2107,1318,2016,0,0,0,0,0,0
$GC,11743,0.70,194.7,353.2,24.4,531,11747,0.00,2.30,0.00,0.000,6,0.000,0.055,2107,2737,2015,0,0,0,0,0,0
$GC,12061,0.70,194.7,265.6,27.8,546,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2737,2015,0,0,0,0,0,0
$GC,12375,0.70,194.7,180.7,26.7,565,12379,0.00,2.25,0.00,0.000,4,0.000,0.050,2117,1320,2015,0,0,0,0,0,0
$GC,12477,0.70,194.7,156.1,22.8,571,12481,0.00,2.28,0.00,0.000,6,0.000,0.056,2117,2733,2015,0,0,0,0,0,0
$GC,12812,0.70,194.7,68.1,24.0,605,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2733,2015,0,0,0,0,0,0
$STATE,13053,end climb,SURFACE_DEPTH_REACHED
$STATE,13053,begin surface coast
$FINISH,0.5,1.023650
$STATE,13067,end surface coast,CONTROL_FINISHED_OK
$STATE,13067,begin surface
$SM_CCo,13090,161.50,0.797,1,0,517,564.18
$SM_GC,0.73,0.00,0.00,161.50,0.000,0.000,0.797,61,2933,517,-5.65,0.28,564.18
$IRIDIUM_FIX,-4610.49,403.80,171212,141436
$TT8_MAMPS,0.026964
$HUMID,56.18
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.6,11.372
$10V_AH,10.1,4.890
$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,14.325,87.775,385.325,161.500,0.000,52.169,39.466,449.952,0.000,0.000,17.079,1609.767,8955.511,660.954,2229.990,630.925,33.354,1432.957,0.000,1665.294,0.000,1.009,0.000
$DEVICE_MAMPS,255.510,78.030,1806.930,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.387,1271.693,673.510,258.242,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,47086,647
$CAP_FILE_SIZE,108366,0
$CFSIZE,259252224,224935936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171212,185334,-4630.085,358.383,28,1.8,28,-23.3