version: 66.07
glider: 542
mission: 6
dive: 32
start: 12 14 112 23 3 4
data:
$ID,542
$MISSION,6
$DIVE,32
$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,-10372.631
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,141212,225134,-4646.615,357.511,39,1.4,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-43.0
$GPS2,141212,230206,-4646.625,357.485,13,1.0,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.277,0.100
$KALMAN_X,-23979.6,923.4,267.5,-1921.5,-5845.9
$KALMAN_Y,7075.5,-81.9,398.4,1215.6,-4927.3
$MHEAD_RNG_PITCHd_Wd,93.4,30957,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-194.7,0.0,0.0,0,171,0.00,0.00,-141.57,0.000,2,0.000,0.000,60,2944,3329,0,0,0,0,0,0
$GC,177,-0.64,-194.7,3.3,-2.9,18,196,6.60,1.60,-6.85,0.000,4,0.252,0.077,1649,3904,3615,0,0,0,0,0,0
$GC,475,-0.64,-194.7,45.8,-12.5,65,482,0.00,1.55,0.00,0.000,6,0.000,0.037,1649,2906,3617,0,0,0,0,0,0
$GC,716,-0.64,-194.7,77.9,-12.6,106,723,0.00,1.62,0.00,0.000,4,0.000,0.063,1641,3892,3617,0,0,0,0,0,0
$GC,766,-0.64,-194.7,84.4,-11.9,114,775,0.00,1.50,0.00,0.000,6,0.000,0.038,1641,2925,3617,0,0,0,0,0,0
$GC,1104,-0.64,-194.7,127.4,-13.2,149,1108,0.00,2.12,0.00,0.000,4,0.000,0.041,1641,1527,3617,0,0,0,0,0,0
$GC,1171,-0.64,-194.7,135.1,-9.9,153,1176,0.12,2.25,0.00,0.000,6,0.178,0.057,1662,2928,3617,0,0,0,0,0,0
$GC,1508,-0.64,-194.7,168.4,-9.7,174,1512,0.00,2.15,0.00,0.000,4,0.000,0.041,1662,1525,3618,0,0,0,0,0,0
$GC,1544,-0.64,-194.7,172.4,-9.2,176,1548,0.00,2.25,0.00,0.000,6,0.000,0.057,1653,2923,3617,0,0,0,0,0,0
$GC,1865,-0.64,-194.7,206.0,-10.7,196,1869,0.00,2.17,0.00,0.000,4,0.000,0.042,1653,1527,3618,0,0,0,0,0,0
$GC,1889,-0.64,-194.7,208.8,-10.5,197,1896,0.00,2.22,0.00,0.000,6,0.000,0.057,1642,2923,3617,0,0,0,0,0,0
$GC,2212,-0.64,-194.7,244.6,-10.8,218,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2923,3617,0,0,0,0,0,0
$GC,2521,-0.64,-194.7,278.0,-10.7,234,2524,0.00,2.17,0.00,0.000,4,0.000,0.042,1642,1526,3617,0,0,0,0,0,0
$GC,2579,-0.64,-194.7,283.8,-9.2,236,2587,0.00,2.25,0.00,0.000,6,0.000,0.057,1632,2914,3617,0,0,0,0,0,0
$GC,2897,-0.64,-194.7,318.3,-11.0,252,2899,0.10,0.00,0.00,0.000,6,0.203,0.000,1655,2914,3617,0,0,0,0,0,0
$GC,3208,-0.64,-194.7,344.5,-8.3,267,3212,0.00,2.12,0.00,0.000,4,0.000,0.043,1656,1520,3617,0,0,0,0,0,0
$GC,3259,-0.64,-194.7,348.5,-7.3,269,3263,0.00,2.25,0.00,0.000,6,0.000,0.058,1647,2926,3617,0,0,0,0,0,0
$GC,3591,-0.64,-194.7,379.7,-9.8,285,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2925,3617,0,0,0,0,0,0
$GC,3908,-0.64,-194.7,411.1,-9.9,299,3912,0.00,2.15,0.00,0.000,4,0.000,0.042,1647,1525,3617,0,0,0,0,0,0
$GC,3960,-0.64,-194.7,416.1,-8.4,300,3964,0.00,2.22,0.00,0.000,6,0.000,0.058,1637,2928,3617,0,0,0,0,0,0
$GC,4280,-0.64,-194.7,448.6,-10.3,311,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2928,3616,0,0,0,0,0,0
$GC,4587,-0.64,-194.7,480.3,-10.3,321,4591,0.00,2.12,0.00,0.000,4,0.000,0.042,1637,1526,3616,0,0,0,0,0,0
$GC,4618,-0.64,-194.7,483.5,-10.5,322,4623,0.12,2.22,0.00,0.000,6,0.178,0.058,1659,2924,3616,0,0,0,0,0,0
$GC,4957,-0.64,-194.7,513.3,-9.0,333,4961,0.00,2.15,0.00,0.000,4,0.000,0.043,1659,1525,3616,0,0,0,0,0,0
$GC,4997,-0.64,-194.7,517.0,-8.5,334,5002,0.00,2.25,0.00,0.000,6,0.000,0.059,1651,2933,3615,0,0,0,0,0,0
$GC,5324,-0.64,-194.7,548.2,-9.7,345,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2933,3615,0,0,0,0,0,0
$GC,5630,-0.64,-194.7,577.3,-9.3,355,5634,0.00,2.12,0.00,0.000,4,0.000,0.043,1651,1528,3615,0,0,0,0,0,0
$GC,5688,-0.64,-194.7,582.6,-8.5,356,5692,0.00,2.22,0.00,0.000,6,0.000,0.059,1642,2922,3615,0,0,0,0,0,0
$GC,6004,-0.64,-194.7,613.7,-10.3,366,6008,0.00,2.12,0.00,0.000,4,0.000,0.043,1641,1522,3614,0,0,0,0,0,0
$GC,6027,-0.64,-194.7,616.4,-11.0,366,6035,0.10,2.22,0.00,0.000,6,0.189,0.058,1657,2922,3614,0,0,0,0,0,0
$GC,6343,-0.64,-194.7,642.7,-8.4,377,6347,0.00,2.12,0.00,0.000,4,0.000,0.044,1657,1527,3614,0,0,0,0,0,0
$GC,6380,-0.64,-194.7,645.8,-8.1,378,6384,0.00,2.22,0.00,0.000,6,0.000,0.059,1650,2930,3614,0,0,0,0,0,0
$GC,6725,-0.64,-194.7,676.3,-9.0,389,6729,0.00,2.15,0.00,0.000,4,0.000,0.042,1650,1524,3614,0,0,0,0,0,0
$GC,6766,-0.64,-194.7,680.3,-8.6,390,6770,0.00,2.25,0.00,0.000,6,0.000,0.060,1640,2932,3614,0,0,0,0,0,0
$GC,7093,-0.64,-194.7,711.9,-9.5,401,7097,0.00,2.15,0.00,0.000,4,0.000,0.043,1640,1526,3614,0,0,0,0,0,0
$GC,7117,-0.64,-194.7,714.4,-9.9,401,7124,0.12,2.22,0.00,0.000,6,0.181,0.059,1663,2925,3614,0,0,0,0,0,0
$GC,7432,-0.64,-194.7,737.2,-7.2,412,7436,0.00,2.15,0.00,0.000,4,0.000,0.044,1663,1520,3614,0,0,0,0,0,0
$GC,7469,-0.64,-194.7,739.9,-7.2,413,7473,0.00,2.25,0.00,0.000,6,0.000,0.060,1654,2934,3614,0,0,0,0,0,0
$GC,7814,-0.64,-194.7,767.4,-8.2,424,7818,0.00,2.15,0.00,0.000,4,0.000,0.043,1654,1527,3614,0,0,0,0,0,0
$GC,7846,-0.64,-194.7,770.2,-8.0,425,7850,0.00,2.22,0.00,0.000,6,0.000,0.060,1645,2930,3614,0,0,0,0,0,0
$GC,8191,-0.64,-194.7,801.7,-9.3,436,8195,0.00,2.12,0.00,0.000,4,0.000,0.043,1645,1526,3614,0,0,0,0,0,0
$GC,8223,-0.64,-194.7,804.7,-9.4,437,8227,0.00,2.20,0.00,0.000,6,0.000,0.059,1636,2922,3614,0,0,0,0,0,0
$GC,8568,-0.64,-194.7,837.6,-9.4,448,8572,0.00,2.12,0.00,0.000,4,0.000,0.044,1636,1522,3613,0,0,0,0,0,0
$GC,8603,-0.64,-194.7,841.3,-9.4,449,8608,0.12,2.25,0.00,0.000,6,0.184,0.060,1658,2931,3613,0,0,0,0,0,0
$GC,8936,-0.64,-194.7,864.9,-6.9,460,8940,0.00,2.15,0.00,0.000,4,0.000,0.044,1658,1526,3613,0,0,0,0,0,0
$GC,8972,-0.64,-194.7,867.5,-6.4,461,8976,0.00,2.22,0.00,0.000,6,0.000,0.059,1652,2922,3613,0,0,0,0,0,0
$GC,9304,-0.64,-194.7,891.5,-7.6,472,9308,0.00,2.12,0.00,0.000,4,0.000,0.043,1652,1522,3613,0,0,0,0,0,0
$GC,9335,-0.64,-194.7,893.8,-7.5,473,9339,0.00,2.25,0.00,0.000,6,0.000,0.060,1644,2934,3613,0,0,0,0,0,0
$GC,9673,-0.64,-194.7,920.5,-8.0,484,9677,0.00,2.12,0.00,0.000,4,0.000,0.043,1644,1526,3613,0,0,0,0,0,0
$GC,9708,-0.64,-194.7,923.4,-7.1,485,9712,0.00,2.22,0.00,0.000,6,0.000,0.059,1635,2922,3613,0,0,0,0,0,0
$GC,10041,-0.64,-194.7,951.5,-8.5,496,10045,0.00,2.12,0.00,0.000,4,0.000,0.044,1635,1521,3613,0,0,0,0,0,0
$GC,10065,-0.64,-194.7,953.8,-8.9,496,10072,0.12,2.22,0.00,0.000,6,0.185,0.059,1658,2922,3613,0,0,0,0,0,0
$GC,10380,-0.64,-194.7,974.6,-6.5,507,10384,0.00,2.12,0.00,0.000,4,0.000,0.043,1657,1525,3613,0,0,0,0,0,0
$GC,10421,-0.64,-194.7,977.5,-6.8,508,10425,0.00,2.22,0.00,0.000,6,0.000,0.060,1651,2922,3613,0,0,0,0,0,0
$STATE,10467,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10467,begin apogee
$GC,10478,-0.19,0.0,980.7,6.5,510,10680,0.50,0.00,195.60,1.178,6,0.150,0.000,1805,2739,2812,0,0,0,0,0,0
$STATE,10682,end apogee,CONTROL_FINISHED_OK
$STATE,10682,begin climb
$GC,10687,0.64,194.7,986.6,0.0,517,10894,0.77,2.15,196.98,1.120,4,0.069,0.063,2081,3900,2015,0,0,0,0,0,0
$GC,11035,0.64,194.7,900.8,30.0,527,11039,0.00,1.92,0.00,0.000,6,0.000,0.043,2090,2744,2003,0,0,0,0,0,0
$GC,11356,0.64,194.7,805.4,29.9,538,11360,0.00,2.33,0.00,0.000,4,0.000,0.052,2101,1321,2000,0,0,0,0,0,0
$GC,11421,0.64,194.7,786.6,27.7,540,11425,0.00,2.38,0.00,0.000,6,0.000,0.057,2101,2740,1998,0,0,0,0,0,0
$GC,11765,0.64,194.7,684.0,30.0,551,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2741,1997,0,0,0,0,0,0
$GC,12070,0.64,194.7,591.9,30.2,561,12074,0.00,2.28,0.00,0.000,4,0.000,0.052,2112,1325,1996,0,0,0,0,0,0
$GC,12156,0.64,194.7,568.3,25.1,563,12161,0.15,2.33,0.00,0.000,6,0.238,0.057,2079,2739,1996,0,0,0,0,0,0
$GC,12471,0.64,194.7,483.9,26.6,573,12475,0.00,2.28,0.00,0.000,4,0.000,0.053,2088,1325,1995,0,0,0,0,0,0
$GC,12512,0.64,194.7,473.3,23.9,574,12516,0.00,2.30,0.00,0.000,6,0.000,0.057,2088,2735,1995,0,0,0,0,0,0
$GC,12830,0.64,194.7,389.8,26.6,585,12834,0.00,2.28,0.00,0.000,4,0.000,0.053,2099,1317,1995,0,0,0,0,0,0
$GC,12865,0.64,194.7,379.4,25.6,586,12869,0.00,2.30,0.00,0.000,6,0.000,0.057,2099,2735,1995,0,0,0,0,0,0
$GC,13189,0.64,194.7,292.1,27.0,602,13193,0.00,2.28,0.00,0.000,4,0.000,0.053,2109,1318,1995,0,0,0,0,0,0
$GC,13219,0.64,194.7,283.9,25.1,603,13224,0.12,2.30,0.00,0.000,6,0.247,0.057,2083,2735,1995,0,0,0,0,0,0
$GC,13546,0.64,194.7,201.5,25.3,621,13550,0.00,2.25,0.00,0.000,4,0.000,0.053,2093,1325,1995,0,0,0,0,0,0
$GC,13587,0.64,194.7,190.6,24.3,623,13594,0.00,2.28,0.00,0.000,6,0.000,0.057,2092,2739,1995,0,0,0,0,0,0
$GC,13908,0.64,194.7,109.4,24.9,644,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2739,1995,0,0,0,0,0,0
$GC,14255,0.64,194.7,24.1,24.8,698,14264,0.00,2.25,0.00,0.000,4,0.000,0.053,2102,1333,1995,0,0,0,0,0,0
$GC,14318,0.64,194.7,9.0,21.8,707,14327,0.00,2.28,0.00,0.000,6,0.000,0.055,2102,2735,1995,0,0,0,0,0,0
$STATE,14341,end climb,SURFACE_DEPTH_REACHED
$STATE,14341,begin surface coast
$FINISH,0.5,1.014879
$STATE,14355,end surface coast,CONTROL_FINISHED_OK
$STATE,14355,begin surface
$SM_CCo,14377,165.25,0.761,1,0,518,564.18
$SM_GC,1.01,0.00,0.00,165.25,0.000,0.000,0.761,56,2941,518,-5.67,0.51,564.18
$IRIDIUM_FIX,-4632.36,356.17,141212,181804
$TT8_MAMPS,0.026964
$HUMID,56.10
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,23.1,8.041
$10V_AH,10.1,3.334
$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,14.550,139.200,392.575,165.250,0.000,25.189,43.423,344.827,0.000,0.000,17.491,1814.594,9639.230,693.202,2357.208,665.843,33.359,1585.385,0.000,1891.053,0.000,1.007,0.000
$DEVICE_MAMPS,251.685,77.265,1178.100,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.953,1411.683,755.999,286.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354280
$DATA_FILE_SIZE,50363,712
$CAP_FILE_SIZE,129208,0
$CFSIZE,259252224,225886208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,151212,030658,-4645.123,358.731,39,0.8,39,-23.3