version: 66.07
glider: 542
mission: 6
dive: 39
start: 12 16 112 4 55 29
data:
$ID,542
$MISSION,6
$DIVE,39
$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,-10398.216
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,161212,044336,-4635.222,400.875,40,1.0,40,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-35.0
$GPS2,161212,045431,-4635.229,400.973,41,1.3,41,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.264,0.131
$KALMAN_X,-40678.6,900.1,381.4,19102.0,-5261.3
$KALMAN_Y,1965.6,-701.9,441.1,28007.5,-2773.1
$MHEAD_RNG_PITCHd_Wd,87.0,9762,-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,-194.7,0.0,0.0,0,163,0.00,0.00,-134.12,0.000,2,0.000,0.000,57,2945,3087,0,0,0,0,0,0
$GC,170,-0.64,-194.7,3.2,-4.2,17,196,6.45,1.60,-13.38,0.000,4,0.245,0.082,1648,3897,3616,0,0,0,0,0,0
$GC,475,-0.64,-194.7,46.6,-12.9,65,481,0.00,1.52,0.00,0.000,6,0.000,0.037,1648,2915,3618,0,0,0,0,0,0
$GC,718,-0.64,-194.7,78.3,-13.6,106,725,0.00,1.60,0.00,0.000,4,0.000,0.064,1640,3887,3617,0,0,0,0,0,0
$GC,787,-0.64,-194.7,87.6,-12.8,117,793,0.00,1.48,0.00,0.000,6,0.000,0.037,1640,2929,3617,0,0,0,0,0,0
$GC,1128,-0.64,-194.7,129.1,-12.5,149,1132,0.00,2.15,0.00,0.000,4,0.000,0.041,1640,1522,3618,0,0,0,0,0,0
$GC,1175,-0.64,-194.7,135.3,-10.8,151,1183,0.12,2.25,0.00,0.000,6,0.178,0.057,1662,2919,3618,0,0,0,0,0,0
$GC,1502,-0.64,-194.7,166.6,-9.9,172,1506,0.00,2.15,0.00,0.000,4,0.000,0.040,1662,1525,3618,0,0,0,0,0,0
$GC,1553,-0.64,-194.7,171.7,-8.8,175,1557,0.00,2.25,0.00,0.000,6,0.000,0.058,1653,2923,3619,0,0,0,0,0,0
$GC,1881,-0.64,-194.7,206.8,-10.9,196,1885,0.00,2.17,0.00,0.000,4,0.000,0.041,1653,1525,3618,0,0,0,0,0,0
$GC,1932,-0.64,-194.7,212.0,-9.5,199,1936,0.00,2.25,0.00,0.000,6,0.000,0.058,1643,2923,3619,0,0,0,0,0,0
$GC,2259,-0.64,-194.7,247.0,-10.6,220,2263,0.00,2.15,0.00,0.000,4,0.000,0.041,1642,1527,3618,0,0,0,0,0,0
$GC,2296,-0.64,-194.7,250.8,-9.7,222,2300,0.00,2.25,0.00,0.000,6,0.000,0.058,1633,2925,3619,0,0,0,0,0,0
$GC,2617,-0.64,-194.7,288.6,-12.6,237,2621,0.00,2.12,0.00,0.000,4,0.000,0.040,1633,1525,3618,0,0,0,0,0,0
$GC,2640,-0.64,-194.7,292.1,-12.4,238,2645,0.15,2.25,0.00,0.000,6,0.175,0.058,1663,2934,3618,0,0,0,0,0,0
$GC,2971,-0.64,-194.7,323.5,-9.4,254,2975,0.00,2.12,0.00,0.000,4,0.000,0.041,1663,1526,3618,0,0,0,0,0,0
$GC,3018,-0.64,-194.7,327.8,-8.6,256,3022,0.00,2.22,0.00,0.000,6,0.000,0.059,1653,2923,3618,0,0,0,0,0,0
$GC,3348,-0.64,-194.7,359.8,-9.9,272,3352,0.00,2.15,0.00,0.000,4,0.000,0.041,1653,1519,3618,0,0,0,0,0,0
$GC,3370,-0.64,-194.7,361.9,-9.9,273,3374,0.00,2.25,0.00,0.000,6,0.000,0.058,1644,2924,3618,0,0,0,0,0,0
$GC,3702,-0.64,-194.7,396.7,-10.5,289,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2925,3617,0,0,0,0,0,0
$GC,4017,-0.64,-194.7,429.1,-10.0,300,4020,0.00,2.12,0.00,0.000,4,0.000,0.041,1644,1518,3617,0,0,0,0,0,0
$GC,4063,-0.64,-194.7,433.9,-9.4,301,4067,0.00,2.25,0.00,0.000,6,0.000,0.059,1634,2922,3617,0,0,0,0,0,0
$GC,4384,-0.64,-194.7,467.8,-10.5,312,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2923,3617,0,0,0,0,0,0
$GC,4690,-0.64,-194.7,499.3,-10.3,322,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2923,3617,0,0,0,0,0,0
$GC,4996,-0.64,-194.7,531.5,-10.7,332,5000,0.00,2.12,0.00,0.000,4,0.000,0.041,1634,1526,3616,0,0,0,0,0,0
$GC,5031,-0.64,-194.7,535.3,-10.8,333,5036,0.12,2.25,0.00,0.000,6,0.181,0.058,1657,2933,3617,0,0,0,0,0,0
$GC,5364,-0.64,-194.7,563.4,-8.2,344,5368,0.00,2.15,0.00,0.000,4,0.000,0.041,1657,1524,3616,0,0,0,0,0,0
$GC,5405,-0.64,-194.7,566.8,-7.5,345,5409,0.00,2.25,0.00,0.000,6,0.000,0.060,1649,2928,3616,0,0,0,0,0,0
$GC,5733,-0.64,-194.7,593.4,-8.1,356,5737,0.00,2.12,0.00,0.000,4,0.000,0.041,1649,1520,3615,0,0,0,0,0,0
$GC,5765,-0.64,-194.7,596.1,-8.1,357,5769,0.00,2.25,0.00,0.000,6,0.000,0.059,1639,2930,3615,0,0,0,0,0,0
$GC,6102,-0.64,-194.7,624.5,-8.3,368,6106,0.00,2.12,0.00,0.000,4,0.000,0.041,1639,1521,3615,0,0,0,0,0,0
$GC,6134,-0.64,-194.7,627.2,-9.0,369,6139,0.12,2.25,0.00,0.000,6,0.181,0.059,1663,2931,3615,0,0,0,0,0,0
$GC,6473,-0.64,-194.7,650.1,-6.8,380,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2931,3614,0,0,0,0,0,0
$GC,6779,-0.64,-194.7,671.3,-7.2,390,6783,0.00,2.12,0.00,0.000,4,0.000,0.042,1663,1522,3614,0,0,0,0,0,0
$GC,6831,-0.64,-194.7,675.3,-7.5,391,6835,0.00,2.25,0.00,0.000,6,0.000,0.060,1653,2927,3614,0,0,0,0,0,0
$GC,7147,-0.64,-194.7,700.9,-8.3,401,7151,0.00,2.15,0.00,0.000,4,0.000,0.041,1654,1518,3614,0,0,0,0,0,0
$GC,7179,-0.64,-194.7,703.5,-8.6,402,7183,0.00,2.25,0.00,0.000,6,0.000,0.060,1645,2924,3613,0,0,0,0,0,0
$GC,7517,-0.64,-194.7,732.1,-8.4,413,7521,0.00,2.15,0.00,0.000,4,0.000,0.042,1645,1517,3614,0,0,0,0,0,0
$GC,7552,-0.64,-194.7,735.2,-8.2,414,7556,0.00,2.25,0.00,0.000,6,0.000,0.059,1636,2923,3614,0,0,0,0,0,0
$GC,7884,-0.64,-194.7,764.2,-9.0,425,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2924,3613,0,0,0,0,0,0
$GC,8190,-0.64,-194.7,793.0,-9.5,435,8194,0.00,2.12,0.00,0.000,4,0.000,0.042,1636,1526,3613,0,0,0,0,0,0
$GC,8237,-0.64,-194.7,797.5,-8.5,436,8241,0.12,2.22,0.00,0.000,6,0.182,0.060,1659,2925,3613,0,0,0,0,0,0
$GC,8571,-0.64,-194.7,823.7,-7.9,447,8575,0.00,2.15,0.00,0.000,4,0.000,0.042,1660,1517,3613,0,0,0,0,0,0
$GC,8606,-0.64,-194.7,826.8,-8.0,448,8611,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2922,3613,0,0,0,0,0,0
$GC,8939,-0.64,-194.7,854.2,-8.2,459,8943,0.00,2.15,0.00,0.000,4,0.000,0.042,1652,1526,3613,0,0,0,0,0,0
$GC,8979,-0.64,-194.7,857.7,-7.8,460,8984,0.00,2.25,0.00,0.000,6,0.000,0.060,1644,2933,3613,0,0,0,0,0,0
$GC,9306,-0.64,-194.7,885.8,-8.8,471,9310,0.00,2.15,0.00,0.000,4,0.000,0.041,1644,1521,3613,0,0,0,0,0,0
$GC,9347,-0.64,-194.7,889.6,-8.1,472,9351,0.00,2.25,0.00,0.000,6,0.000,0.060,1636,2929,3613,0,0,0,0,0,0
$GC,9674,-0.64,-194.7,919.1,-9.3,483,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2930,3613,0,0,0,0,0,0
$GC,9982,-0.64,-194.7,948.0,-9.5,493,9985,0.00,2.12,0.00,0.000,4,0.000,0.041,1636,1520,3613,0,0,0,0,0,0
$GC,10028,-0.64,-194.7,952.5,-8.3,494,10033,0.12,2.25,0.00,0.000,6,0.180,0.060,1660,2930,3613,0,0,0,0,0,0
$GC,10350,-0.64,-194.7,975.0,-6.8,505,10354,0.00,2.15,0.00,0.000,4,0.000,0.042,1661,1517,3613,0,0,0,0,0,0
$GC,10374,-0.64,-194.7,976.8,-6.7,505,10381,0.00,2.25,0.00,0.000,6,0.000,0.060,1652,2931,3613,0,0,0,0,0,0
$STATE,10470,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10470,begin apogee
$GC,10481,-0.19,0.0,983.9,7.1,509,10683,0.50,0.00,194.95,1.200,6,0.148,0.000,1807,2744,2812,0,0,0,0,0,0
$STATE,10685,end apogee,CONTROL_FINISHED_OK
$STATE,10685,begin climb
$GC,10690,0.64,194.7,991.2,0.0,516,10893,0.77,2.17,189.80,1.807,4,0.068,0.063,2080,3891,2026,0,0,0,0,1,0
$GC,11034,0.64,194.7,910.5,30.3,526,11038,0.00,1.95,0.00,0.000,6,0.000,0.042,2090,2743,2025,0,0,0,0,0,0
$GC,11355,0.64,194.7,817.2,29.2,537,11359,0.00,2.30,0.00,0.000,4,0.000,0.050,2101,1325,2021,0,0,0,0,0,0
$GC,11435,0.64,194.7,795.0,26.2,539,11439,0.00,2.35,0.00,0.000,6,0.000,0.056,2101,2731,2018,0,0,0,0,0,0
$GC,11756,0.64,194.7,698.5,30.0,550,11760,0.00,2.28,0.00,0.000,4,0.000,0.051,2111,1322,2018,0,0,0,0,0,0
$GC,11780,0.64,194.7,690.8,29.1,550,11787,0.15,2.35,0.00,0.000,6,0.245,0.056,2080,2741,2017,0,0,0,0,0,0
$GC,12096,0.64,194.7,604.4,27.4,561,12101,0.00,2.28,0.00,0.000,4,0.000,0.051,2089,1324,2017,0,0,0,0,0,0
$GC,12137,0.64,194.7,592.7,25.2,562,12141,0.00,2.33,0.00,0.000,6,0.000,0.056,2089,2734,2017,0,0,0,0,0,0
$GC,12463,0.64,194.7,504.3,27.2,573,12467,0.00,2.28,0.00,0.000,4,0.000,0.052,2100,1320,2017,0,0,0,0,0,0
$GC,12498,0.64,194.7,494.6,24.8,574,12502,0.00,2.30,0.00,0.000,6,0.000,0.057,2100,2736,2017,0,0,0,0,0,0
$GC,12830,0.64,194.7,403.0,28.0,585,12834,0.00,2.28,0.00,0.000,4,0.000,0.051,2110,1317,2016,0,0,0,0,0,0
$GC,12888,0.64,194.7,387.7,24.4,587,12895,0.12,2.30,0.00,0.000,6,0.249,0.057,2085,2734,2016,0,0,0,0,0,0
$GC,13208,0.64,194.7,307.6,25.1,603,13212,0.00,2.25,0.00,0.000,4,0.000,0.051,2094,1317,2016,0,0,0,0,0,0
$GC,13255,0.64,194.7,295.4,24.1,605,13259,0.00,2.30,0.00,0.000,6,0.000,0.057,2094,2745,2016,0,0,0,0,0,0
$GC,13582,0.64,194.7,208.6,27.0,623,13586,0.00,2.28,0.00,0.000,4,0.000,0.052,2104,1316,2016,0,0,0,0,0,0
$GC,13621,0.64,194.7,198.5,25.0,625,13625,0.00,2.28,0.00,0.000,6,0.000,0.057,2105,2734,2016,0,0,0,0,0,0
$GC,13948,0.64,194.7,109.4,26.8,646,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2734,2015,0,0,0,0,0,0
$GC,14293,0.64,194.7,20.0,25.5,700,14302,0.00,2.25,0.00,0.000,4,0.000,0.051,2115,1325,2016,0,0,0,0,0,0
$GC,14339,0.64,194.7,8.8,25.3,706,14348,0.12,2.30,0.00,0.000,6,0.222,0.057,2082,2735,2015,0,0,0,0,0,0
$STATE,14362,end climb,SURFACE_DEPTH_REACHED
$STATE,14362,begin surface coast
$FINISH,0.1,1.026509
$STATE,14376,end surface coast,CONTROL_FINISHED_OK
$STATE,14376,begin surface
$SM_CCo,14399,161.50,0.790,1,0,518,564.18
$SM_GC,0.78,0.00,0.00,161.50,0.000,0.000,0.790,63,2962,518,-5.65,1.10,564.18
$IRIDIUM_FIX,-4619.84,401.34,161212,000048
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,9.90
$XPDR_PINGS,0
$24V_AH,21.7,9.548
$10V_AH,10.1,4.060
$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,14.550,139.725,384.750,161.500,0.000,26.307,42.345,342.630,0.000,0.000,43.761,1813.280,9699.200,681.904,2355.680,660.748,33.363,1560.027,0.000,1862.628,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,81.855,1806.930,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.907,1408.143,742.846,281.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354332
$DATA_FILE_SIZE,50319,711
$CAP_FILE_SIZE,128996,0
$CFSIZE,259252224,225431552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,161212,090004,-4633.801,401.793,62,0.9,62,-23.3