version: 66.07
glider: 542
mission: 6
dive: 8
start: 12 11 112 5 3 45
data:
$ID,542
$MISSION,6
$DIVE,8
$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,52846
$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,-10277.172
$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,24
$R_STBD_OVSHOOT,14
$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
$GPS1,111212,045129,-4653.631,408.899,39,1.2,40,-23.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-41.0
$GPS2,111212,050247,-4653.605,408.906,21,1.3,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.168,-0.243
$KALMAN_X,2817.1,-758.0,-439.5,-11836.6,2149.7
$KALMAN_Y,7375.1,415.7,-131.2,-11973.3,3590.3
$MHEAD_RNG_PITCHd_Wd,237.9,16334,-14.9,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,30,-0.64,-194.7,0.0,0.0,0,174,0.00,0.00,-141.70,0.000,2,0.000,0.000,65,2939,3282,0,0,0,0,0,0
$GC,181,-0.64,-194.7,3.1,-3.6,18,200,6.55,1.70,-7.55,0.000,4,0.251,0.103,1647,3912,3616,0,0,0,0,0,0
$GC,297,-0.64,-194.7,27.8,-12.7,35,306,0.00,1.65,0.00,0.000,6,0.000,0.057,1647,2922,3617,0,0,0,0,0,0
$GC,382,-0.64,-194.7,38.4,-13.1,48,390,0.00,2.38,0.00,0.000,4,0.000,0.077,1647,1517,3617,0,0,0,0,0,0
$GC,409,-0.64,-194.7,41.6,-12.6,51,415,0.00,2.42,0.00,0.000,6,0.000,0.083,1637,2924,3617,0,0,0,0,0,0
$GC,651,-0.64,-194.7,74.7,-12.5,92,658,0.00,2.35,0.00,0.000,4,0.000,0.074,1637,1514,3617,0,0,0,0,0,0
$GC,721,-0.64,-194.7,82.4,-11.0,103,727,0.12,2.38,0.00,0.000,6,0.184,0.079,1657,2926,3617,0,0,0,0,0,0
$GC,1068,-0.64,-194.7,120.0,-10.3,142,1072,0.00,2.33,0.00,0.000,4,0.000,0.072,1658,1517,3616,0,0,0,0,0,0
$GC,1114,-0.64,-194.7,124.7,-8.7,144,1124,0.00,2.38,0.00,0.000,6,0.000,0.076,1650,2915,3617,0,0,0,0,0,0
$GC,1438,-0.64,-194.7,160.2,-11.3,165,1442,0.00,2.30,0.00,0.000,4,0.000,0.073,1650,1519,3617,0,0,0,0,0,0
$GC,1479,-0.64,-194.7,164.9,-10.2,167,1486,0.00,2.38,0.00,0.000,6,0.000,0.080,1642,2931,3617,0,0,0,0,0,0
$GC,1801,-0.64,-194.7,201.8,-11.3,188,1806,0.00,2.35,0.00,0.000,4,0.000,0.076,1642,1516,3617,0,0,0,0,0,0
$GC,1833,-0.64,-194.7,205.5,-11.6,190,1838,0.10,2.35,0.00,0.000,6,0.194,0.077,1656,2925,3617,0,0,0,0,0,0
$GC,2167,-0.64,-194.7,235.5,-8.8,211,2171,0.00,2.33,0.00,0.000,4,0.000,0.073,1656,1510,3617,0,0,0,0,0,0
$GC,2197,-0.64,-194.7,238.6,-8.9,212,2206,0.00,2.40,0.00,0.000,6,0.000,0.080,1649,2927,3617,0,0,0,0,0,0
$GC,2517,-0.64,-194.7,268.1,-9.5,230,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2926,3617,0,0,0,0,0,0
$GC,2828,-0.64,-194.7,297.5,-9.2,245,2832,0.00,2.30,0.00,0.000,4,0.000,0.074,1649,1521,3616,0,0,0,0,0,0
$GC,2900,-0.64,-194.7,303.8,-8.4,248,2904,0.00,2.35,0.00,0.000,6,0.000,0.080,1640,2926,3617,0,0,0,0,0,0
$GC,3229,-0.64,-194.7,337.7,-10.6,264,3233,0.00,2.33,0.00,0.000,4,0.000,0.077,1640,1510,3617,0,0,0,0,0,0
$GC,3259,-0.64,-194.7,341.1,-10.4,265,3264,0.12,2.35,0.00,0.000,6,0.183,0.079,1664,2925,3617,0,0,0,0,0,0
$GC,3586,-0.64,-194.7,369.0,-8.7,281,3590,0.00,2.30,0.00,0.000,4,0.000,0.074,1664,1519,3617,0,0,0,0,0,0
$GC,3622,-0.64,-194.7,372.5,-8.9,282,3631,0.00,2.38,0.00,0.000,6,0.000,0.080,1656,2924,3617,0,0,0,0,0,0
$GC,3940,-0.64,-194.7,401.4,-9.2,298,3944,0.00,2.30,0.00,0.000,4,0.000,0.073,1656,1519,3616,0,0,0,0,0,0
$GC,3964,-0.64,-194.7,403.9,-9.7,298,3971,0.00,2.33,0.00,0.000,6,0.000,0.079,1648,2925,3617,0,0,0,0,0,0
$GC,4281,-0.64,-194.7,433.1,-9.3,309,4285,0.00,2.30,0.00,0.000,4,0.000,0.075,1648,1521,3617,0,0,0,0,0,0
$GC,4313,-0.64,-194.7,436.3,-10.2,310,4317,0.00,2.33,0.00,0.000,6,0.000,0.076,1638,2928,3616,0,0,0,0,0,0
$GC,4651,-0.64,-194.7,469.0,-9.5,321,4655,0.00,2.30,0.00,0.000,4,0.000,0.075,1638,1519,3616,0,0,0,0,0,0
$GC,4691,-0.64,-194.7,473.0,-8.3,322,4696,0.12,2.33,0.00,0.000,6,0.190,0.076,1661,2927,3616,0,0,0,0,0,0
$GC,5019,-0.64,-194.7,496.6,-7.2,333,5023,0.00,2.33,0.00,0.000,4,0.000,0.076,1662,1511,3616,0,0,0,0,0,0
$GC,5054,-0.64,-194.7,499.3,-6.6,334,5059,0.00,2.33,0.00,0.000,6,0.000,0.076,1653,2922,3616,0,0,0,0,0,0
$GC,5387,-0.64,-194.7,525.6,-8.1,345,5391,0.00,2.30,0.00,0.000,4,0.000,0.074,1653,1514,3616,0,0,0,0,0,0
$GC,5419,-0.64,-194.7,528.2,-8.2,346,5423,0.00,2.33,0.00,0.000,6,0.000,0.074,1644,2930,3615,0,0,0,0,0,0
$GC,5756,-0.64,-194.7,559.5,-9.4,357,5761,0.00,2.30,0.00,0.000,4,0.000,0.073,1644,1516,3615,0,0,0,0,0,0
$GC,5786,-0.64,-194.7,562.8,-10.3,357,5793,0.00,2.30,0.00,0.000,6,0.000,0.073,1635,2922,3615,0,0,0,0,0,0
$GC,6101,-0.64,-194.7,595.9,-10.4,368,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2922,3615,0,0,0,0,0,0
$GC,6407,-0.64,-194.7,625.5,-9.4,378,6411,0.00,2.30,0.00,0.000,4,0.000,0.075,1636,1513,3615,0,0,0,0,0,0
$GC,6465,-0.64,-194.7,630.7,-8.3,379,6470,0.12,2.33,0.00,0.000,6,0.190,0.078,1659,2920,3614,0,0,0,0,0,0
$GC,6781,-0.64,-194.7,651.7,-6.3,389,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,1659,2920,3614,0,0,0,0,0,0
$GC,7087,-0.64,-194.7,669.5,-5.7,399,7091,0.00,2.30,0.00,0.000,4,0.000,0.074,1659,1509,3614,0,0,0,0,0,0
$GC,7144,-0.64,-194.7,673.0,-5.8,400,7151,0.00,2.35,0.00,0.000,6,0.000,0.081,1652,2928,3614,0,0,0,0,0,0
$GC,7460,-0.64,-194.7,692.8,-6.6,411,7464,0.00,2.28,0.00,0.000,4,0.000,0.071,1652,1520,3614,0,0,0,0,0,0
$GC,7490,-0.64,-194.7,695.0,-6.8,411,7497,0.00,2.33,0.00,0.000,6,0.000,0.079,1643,2929,3613,0,0,0,0,0,0
$GC,7805,-0.64,-194.7,717.5,-7.4,422,7809,0.00,2.30,0.00,0.000,4,0.000,0.075,1643,1519,3613,0,0,0,0,0,0
$GC,7837,-0.64,-194.7,720.0,-7.7,423,7841,0.00,2.33,0.00,0.000,6,0.000,0.078,1636,2927,3613,0,0,0,0,0,0
$GC,8175,-0.64,-194.7,748.3,-8.7,434,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2927,3614,0,0,0,0,0,0
$GC,8483,-0.64,-194.7,775.5,-9.0,444,8487,0.00,2.30,0.00,0.000,4,0.000,0.076,1635,1520,3613,0,0,0,0,0,0
$GC,8535,-0.64,-194.7,780.4,-8.8,445,8540,0.12,2.33,0.00,0.000,6,0.191,0.078,1661,2928,3613,0,0,0,0,0,0
$GC,8851,-0.64,-194.7,803.5,-7.4,455,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,1661,2928,3613,0,0,0,0,0,0
$GC,9157,-0.64,-194.7,827.0,-7.8,465,9161,0.00,2.30,0.00,0.000,4,0.000,0.075,1661,1514,3613,0,0,0,0,0,0
$GC,9209,-0.64,-194.7,831.4,-8.3,466,9213,0.00,2.33,0.00,0.000,6,0.000,0.075,1652,2928,3613,0,0,0,0,0,0
$GC,9532,-0.64,-194.7,860.0,-9.1,477,9536,0.00,2.28,0.00,0.000,4,0.000,0.070,1652,1517,3613,0,0,0,0,0,0
$GC,9564,-0.64,-194.7,863.0,-9.4,478,9568,0.00,2.30,0.00,0.000,6,0.000,0.074,1645,2922,3613,0,0,0,0,0,0
$GC,9902,-0.64,-194.7,894.4,-9.2,489,9906,0.00,2.28,0.00,0.000,4,0.000,0.073,1645,1518,3613,0,0,0,0,0,0
$GC,9933,-0.64,-194.7,897.2,-8.9,490,9938,0.00,2.30,0.00,0.000,6,0.000,0.075,1636,2922,3613,0,0,0,0,0,0
$GC,10272,-0.64,-194.7,927.1,-8.8,501,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2921,3613,0,0,0,0,0,0
$STATE,10450,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10450,begin apogee
$GC,10461,-0.19,0.0,943.2,8.7,507,10668,0.55,0.00,203.93,1.150,6,0.156,0.000,1804,2723,2819,0,0,0,0,0,0
$STATE,10670,end apogee,CONTROL_FINISHED_OK
$STATE,10670,begin climb
$GC,10675,0.64,194.7,951.9,0.0,514,10872,0.80,2.22,182.10,1.715,4,0.087,0.079,2071,3894,2028,0,0,0,0,1,0
$GC,11072,0.64,194.7,860.7,29.3,526,11076,0.00,1.98,0.00,0.000,6,0.000,0.067,2080,2743,2030,0,0,0,0,0,0
$GC,11411,0.64,194.7,768.0,27.3,537,11415,0.00,2.42,0.00,0.000,4,0.000,0.085,2090,1322,2027,0,0,0,0,0,0
$GC,11492,0.64,194.7,746.9,24.6,539,11497,0.00,2.45,0.00,0.000,6,0.000,0.077,2090,2734,2027,0,0,0,0,0,0
$GC,11813,0.64,194.7,660.9,26.9,550,11818,0.00,2.42,0.00,0.000,4,0.000,0.080,2101,1326,2026,0,0,0,0,0,0
$GC,11845,0.64,194.7,652.7,25.7,551,11849,0.00,2.40,0.00,0.000,6,0.000,0.074,2101,2736,2026,0,0,0,0,0,0
$GC,12183,0.64,194.7,561.6,27.3,562,12187,0.00,2.38,0.00,0.000,4,0.000,0.076,2112,1321,2025,0,0,0,0,0,0
$GC,12214,0.64,194.7,553.3,25.5,563,12219,0.15,2.38,0.00,0.000,6,0.243,0.070,2080,2736,2025,0,0,0,0,0,0
$GC,12553,0.64,194.7,470.9,24.2,574,12557,0.00,2.35,0.00,0.000,4,0.000,0.074,2090,1320,2025,0,0,0,0,0,0
$GC,12590,0.64,194.7,462.3,23.2,575,12594,0.00,2.35,0.00,0.000,6,0.000,0.069,2090,2742,2025,0,0,0,0,0,0
$GC,12913,0.64,194.7,382.6,24.6,586,12917,0.00,2.35,0.00,0.000,4,0.000,0.076,2100,1327,2025,0,0,0,0,0,0
$GC,12949,0.64,194.7,373.7,23.3,587,12956,0.00,2.33,0.00,0.000,6,0.000,0.068,2100,2734,2026,0,0,0,0,0,0
$GC,13270,0.64,194.7,293.1,25.8,603,13274,0.00,2.38,0.00,0.000,4,0.000,0.076,2111,1318,2025,0,0,0,0,0,0
$GC,13305,0.64,194.7,283.3,23.4,604,13314,0.10,2.35,0.00,0.000,6,0.240,0.067,2085,2727,2025,0,0,0,0,0,0
$GC,13632,0.64,194.7,203.7,25.4,623,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2727,2025,0,0,0,0,0,0
$GC,13944,0.64,194.7,127.5,23.8,643,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2727,2025,0,0,0,0,0,0
$GC,14277,0.64,194.7,53.9,21.4,687,14284,0.00,2.30,0.00,0.000,4,0.000,0.073,2095,1324,2025,0,0,0,0,0,0
$GC,14380,0.64,194.7,33.5,18.5,703,14387,0.00,2.33,0.00,0.000,6,0.000,0.067,2095,2745,2025,0,0,0,0,0,0
$STATE,14504,end climb,SURFACE_DEPTH_REACHED
$STATE,14504,begin surface coast
$FINISH,0.2,1.026572
$STATE,14524,end surface coast,CONTROL_FINISHED_OK
$STATE,14524,begin surface
$SM_CCo,14546,171.00,0.775,1,0,515,564.18
$SM_GC,0.48,0.00,0.00,171.00,0.000,0.000,0.775,65,2937,515,-5.64,0.40,564.18
$IRIDIUM_FIX,-4635.50,412.09,111212,000016
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.18948
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,22.6,3.243
$10V_AH,10.2,1.125
$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,14.400,148.325,386.025,171.000,0.000,25.102,22.889,406.389,0.000,0.000,24.246,1833.615,9744.524,718.423,2417.928,676.945,33.342,1615.840,0.000,1905.312,0.000,1.008,0.000
$DEVICE_MAMPS,250.920,103.275,1715.130,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.658,1432.402,772.379,280.971,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354312
$DATA_FILE_SIZE,53636,725
$CAP_FILE_SIZE,130858,0
$CFSIZE,259252224,227246080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,111212,091035,-4654.511,405.979,40,0.8,40,-23.3