version: 66.07
glider: 542
mission: 6
dive: 41
start: 12 16 112 13 40 32
data:
$ID,542
$MISSION,6
$DIVE,41
$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,-10404.483
$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,50
$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
$GPS1,161212,132535,-4632.115,403.223,33,1.1,33,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-21.5
$GPS2,161212,133930,-4631.998,403.472,17,1.2,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.119,0.270
$KALMAN_X,-45315.6,-80.3,264.3,28007.4,-4306.2
$KALMAN_Y,-475.2,1134.8,194.8,34852.0,-3767.0
$MHEAD_RNG_PITCHd_Wd,47.2,5770,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.64,-194.7,0.0,0.0,0,179,0.00,0.00,-149.68,0.000,2,0.000,0.000,57,2960,3406,0,0,0,0,0,0
$GC,186,-0.64,-194.7,3.7,-6.5,19,204,6.55,2.28,-5.12,0.000,4,0.249,0.054,1663,1516,3616,0,0,0,0,0,0
$GC,330,-0.64,-194.7,27.2,-11.8,40,339,0.00,2.30,0.00,0.000,6,0.000,0.058,1654,2899,3617,0,0,0,0,0,0
$GC,417,-0.64,-194.7,37.4,-11.4,53,424,0.00,1.62,0.00,0.000,4,0.000,0.063,1646,3899,3617,0,0,0,0,0,0
$GC,438,-0.64,-194.7,39.5,-11.3,55,445,0.00,1.52,0.00,0.000,6,0.000,0.037,1646,2926,3617,0,0,0,0,0,0
$GC,683,-0.64,-194.7,74.9,-14.3,96,692,0.00,2.20,0.00,0.000,4,0.000,0.041,1646,1514,3617,0,0,0,0,0,0
$GC,748,-0.64,-194.7,83.2,-13.4,106,755,0.00,2.30,0.00,0.000,6,0.000,0.057,1635,2935,3617,0,0,0,0,0,0
$GC,1093,-0.64,-194.7,131.4,-13.8,141,1097,0.00,2.17,0.00,0.000,4,0.000,0.040,1635,1522,3617,0,0,0,0,0,0
$GC,1128,-0.64,-194.7,136.3,-12.7,143,1133,0.12,2.28,0.00,0.000,6,0.181,0.057,1657,2931,3617,0,0,0,0,0,0
$GC,1456,-0.64,-194.7,168.6,-9.9,163,1460,0.00,2.17,0.00,0.000,4,0.000,0.041,1657,1524,3618,0,0,0,0,0,0
$GC,1495,-0.64,-194.7,172.8,-9.5,165,1499,0.00,2.25,0.00,0.000,6,0.000,0.057,1649,2935,3618,0,0,0,0,0,0
$GC,1824,-0.64,-194.7,208.6,-10.8,186,1827,0.00,1.55,0.00,0.000,4,0.000,0.064,1640,3903,3618,0,0,0,0,0,0
$GC,1846,-0.64,-194.7,211.0,-11.0,187,1849,0.00,1.52,0.00,0.000,6,0.000,0.036,1641,2907,3618,0,0,0,0,0,0
$GC,2179,-0.64,-194.7,249.2,-11.7,208,2183,0.00,2.10,0.00,0.000,4,0.000,0.042,1641,1527,3618,0,0,0,0,0,0
$GC,2227,-0.64,-194.7,254.8,-9.8,211,2231,0.12,2.25,0.00,0.000,6,0.180,0.057,1663,2927,3618,0,0,0,0,0,0
$GC,2554,-0.64,-194.7,283.0,-8.4,227,2558,0.00,2.12,0.00,0.000,4,0.000,0.041,1662,1526,3618,0,0,0,0,0,0
$GC,2589,-0.64,-194.7,286.5,-8.6,228,2598,0.00,2.28,0.00,0.000,6,0.000,0.057,1653,2928,3618,0,0,0,0,0,0
$GC,2908,-0.64,-194.7,318.1,-10.3,244,2912,0.00,2.15,0.00,0.000,4,0.000,0.040,1653,1525,3618,0,0,0,0,0,0
$GC,2938,-0.64,-194.7,321.4,-9.9,245,2942,0.00,2.25,0.00,0.000,6,0.000,0.057,1643,2930,3617,0,0,0,0,0,0
$GC,3257,-0.64,-194.7,355.7,-10.8,260,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2931,3617,0,0,0,0,0,0
$GC,3568,-0.64,-194.7,390.7,-11.4,275,3572,0.00,2.15,0.00,0.000,4,0.000,0.041,1644,1526,3617,0,0,0,0,0,0
$GC,3597,-0.64,-194.7,394.3,-10.5,276,3601,0.00,2.25,0.00,0.000,6,0.000,0.057,1633,2933,3617,0,0,0,0,0,0
$GC,3928,-0.64,-194.7,432.9,-11.8,288,3932,0.00,2.15,0.00,0.000,4,0.000,0.041,1633,1528,3617,0,0,0,0,0,0
$GC,3946,-0.64,-194.7,435.3,-11.9,288,3951,0.12,2.22,0.00,0.000,6,0.181,0.057,1657,2928,3617,0,0,0,0,0,0
$GC,4268,-0.64,-194.7,464.2,-8.8,299,4272,0.00,2.15,0.00,0.000,4,0.000,0.041,1657,1522,3617,0,0,0,0,0,0
$GC,4309,-0.64,-194.7,468.0,-7.9,300,4313,0.00,2.22,0.00,0.000,6,0.000,0.058,1649,2923,3617,0,0,0,0,0,0
$GC,4647,-0.64,-194.7,499.1,-9.3,311,4651,0.00,2.15,0.00,0.000,4,0.000,0.042,1649,1523,3616,0,0,0,0,0,0
$GC,4680,-0.64,-194.7,501.9,-8.4,312,4684,0.00,2.25,0.00,0.000,6,0.000,0.057,1639,2933,3616,0,0,0,0,0,0
$GC,5017,-0.64,-194.7,535.5,-10.2,323,5021,0.00,1.52,0.00,0.000,4,0.000,0.066,1632,3894,3616,0,0,0,0,0,0
$GC,5041,-0.64,-194.7,538.2,-10.7,323,5045,0.05,1.48,0.00,0.000,6,0.153,0.037,1649,2926,3616,0,0,0,0,0,0
$GC,5362,-0.64,-194.7,566.3,-8.7,334,5366,0.00,2.10,0.00,0.000,4,0.000,0.043,1649,1524,3616,0,0,0,0,0,0
$GC,5420,-0.64,-194.7,571.2,-7.5,335,5427,0.00,2.22,0.00,0.000,6,0.000,0.059,1640,2922,3615,0,0,0,0,0,0
$GC,5736,-0.64,-194.7,600.6,-9.5,346,5740,0.00,2.12,0.00,0.000,4,0.000,0.042,1640,1525,3615,0,0,0,0,0,0
$GC,5759,-0.64,-194.7,603.3,-10.5,346,5764,0.12,2.25,0.00,0.000,6,0.184,0.059,1662,2934,3615,0,0,0,0,0,0
$GC,6075,-0.64,-194.7,627.7,-7.7,356,6079,0.00,2.15,0.00,0.000,4,0.000,0.042,1662,1526,3615,0,0,0,0,0,0
$GC,6121,-0.64,-194.7,631.5,-7.6,357,6125,0.00,2.25,0.00,0.000,6,0.000,0.060,1653,2933,3615,0,0,0,0,0,0
$GC,6442,-0.64,-194.7,659.6,-9.1,368,6446,0.00,2.12,0.00,0.000,4,0.000,0.041,1654,1525,3614,0,0,0,0,0,0
$GC,6478,-0.64,-194.7,662.8,-8.3,369,6482,0.00,2.25,0.00,0.000,6,0.000,0.059,1645,2934,3614,0,0,0,0,0,0
$GC,6810,-0.64,-194.7,694.7,-9.5,380,6814,0.00,2.15,0.00,0.000,4,0.000,0.041,1645,1525,3614,0,0,0,0,0,0
$GC,6862,-0.64,-194.7,699.9,-9.5,381,6866,0.00,2.22,0.00,0.000,6,0.000,0.059,1635,2922,3614,0,0,0,0,0,0
$GC,7183,-0.64,-194.7,731.3,-9.8,392,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2923,3614,0,0,0,0,0,0
$GC,7489,-0.64,-194.7,761.4,-9.7,402,7493,0.00,2.17,0.00,0.000,4,0.000,0.043,1635,1521,3614,0,0,0,0,0,0
$GC,7535,-0.64,-194.7,766.0,-9.3,403,7540,0.12,2.25,0.00,0.000,6,0.184,0.059,1657,2928,3614,0,0,0,0,0,0
$GC,7857,-0.64,-194.7,790.8,-7.7,414,7861,0.00,2.15,0.00,0.000,4,0.000,0.043,1657,1525,3614,0,0,0,0,0,0
$GC,7898,-0.64,-194.7,794.1,-7.6,415,7902,0.00,2.22,0.00,0.000,6,0.000,0.060,1650,2932,3614,0,0,0,0,0,0
$GC,8225,-0.64,-194.7,820.8,-8.3,426,8229,0.00,2.15,0.00,0.000,4,0.000,0.042,1650,1525,3614,0,0,0,0,0,0
$GC,8277,-0.64,-194.7,825.2,-7.9,427,8281,0.00,2.22,0.00,0.000,6,0.000,0.060,1641,2928,3614,0,0,0,0,0,0
$GC,8598,-0.64,-194.7,851.8,-8.2,438,8602,0.00,2.15,0.00,0.000,4,0.000,0.041,1640,1519,3614,0,0,0,0,0,0
$GC,8616,-0.64,-194.7,853.6,-8.2,438,8621,0.12,2.25,0.00,0.000,6,0.181,0.058,1664,2929,3614,0,0,0,0,0,0
$GC,8938,-0.64,-194.7,873.7,-6.2,449,8942,0.00,2.15,0.00,0.000,4,0.000,0.043,1663,1524,3614,0,0,0,0,0,0
$GC,8984,-0.64,-194.7,876.8,-6.8,450,8988,0.00,2.25,0.00,0.000,6,0.000,0.060,1654,2931,3614,0,0,0,0,0,0
$GC,9305,-0.64,-194.7,899.0,-7.0,461,9309,0.00,2.15,0.00,0.000,4,0.000,0.042,1654,1524,3613,0,0,0,0,0,0
$GC,9346,-0.64,-194.7,902.1,-7.2,462,9350,0.00,2.25,0.00,0.000,6,0.000,0.060,1646,2933,3613,0,0,0,0,0,0
$GC,9673,-0.64,-194.7,926.9,-7.7,473,9677,0.00,2.12,0.00,0.000,4,0.000,0.041,1646,1525,3613,0,0,0,0,0,0
$GC,9714,-0.64,-194.7,930.3,-8.0,474,9718,0.00,2.25,0.00,0.000,6,0.000,0.059,1637,2934,3613,0,0,0,0,0,0
$GC,10040,-0.64,-194.7,957.6,-8.6,485,10044,0.00,2.12,0.00,0.000,4,0.000,0.041,1636,1525,3613,0,0,0,0,0,0
$GC,10075,-0.64,-194.7,960.8,-7.5,486,10080,0.12,2.20,0.00,0.000,6,0.179,0.059,1660,2922,3613,0,0,0,0,0,0
$GC,10409,-0.64,-194.7,983.2,-6.7,497,10413,0.00,2.15,0.00,0.000,4,0.000,0.043,1660,1517,3613,0,0,0,0,0,0
$STATE,10445,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10445,begin apogee
$GC,10457,-0.19,0.0,985.9,6.0,498,10660,0.47,0.00,194.00,1.185,6,0.154,0.000,1803,2736,2811,0,0,0,0,0,0
$STATE,10661,end apogee,CONTROL_FINISHED_OK
$STATE,10662,begin climb
$GC,10666,0.64,194.7,992.6,0.0,505,10869,0.77,2.60,189.27,1.793,4,0.065,0.052,2093,1348,2027,0,0,0,0,1,0
$GC,11125,0.64,194.7,888.0,26.0,519,11129,0.00,2.38,0.00,0.000,6,0.000,0.055,2093,2739,2021,0,0,0,0,0,0
$GC,11470,0.64,194.7,787.7,29.7,530,11474,0.00,2.28,0.00,0.000,4,0.000,0.051,2104,1346,2019,0,0,0,0,0,0
$GC,11505,0.64,194.7,776.4,29.9,531,11509,0.00,2.33,0.00,0.000,6,0.000,0.055,2104,2736,2019,0,0,0,0,0,0
$GC,11837,0.64,194.7,677.5,30.2,542,11841,0.00,2.28,0.00,0.000,4,0.000,0.052,2114,1339,2018,0,0,0,0,0,0
$GC,11889,0.64,194.7,662.3,26.4,543,11894,0.15,2.33,0.00,0.000,6,0.238,0.056,2083,2744,2017,0,0,0,0,0,0
$GC,12204,0.64,194.7,577.0,27.1,553,12208,0.00,2.28,0.00,0.000,4,0.000,0.051,2091,1340,2017,0,0,0,0,0,0
$GC,12250,0.64,194.7,564.6,25.0,554,12255,0.00,2.30,0.00,0.000,6,0.000,0.057,2091,2741,2017,0,0,0,0,0,0
$GC,12571,0.64,194.7,477.1,27.5,565,12575,0.00,2.25,0.00,0.000,4,0.000,0.052,2102,1345,2017,0,0,0,0,0,0
$GC,12595,0.64,194.7,470.0,26.1,565,12602,0.00,2.25,0.00,0.000,6,0.000,0.055,2102,2734,2017,0,0,0,0,0,0
$GC,12923,0.64,194.7,380.6,27.6,577,12927,0.00,2.22,0.00,0.000,4,0.000,0.054,2112,1345,2016,0,0,0,0,0,0
$GC,12989,0.64,194.7,362.9,24.3,580,12993,0.15,2.28,0.00,0.000,6,0.235,0.057,2078,2743,2017,0,0,0,0,0,0
$GC,13319,0.64,194.7,278.5,25.6,596,13323,0.00,2.22,0.00,0.000,4,0.000,0.052,2087,1344,2016,0,0,0,0,0,0
$GC,13348,0.64,194.7,272.1,24.9,597,13352,0.00,2.22,0.00,0.000,6,0.000,0.056,2088,2736,2016,0,0,0,0,0,0
$GC,13671,0.64,194.7,187.1,26.9,616,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2736,2016,0,0,0,0,0,0
$GC,13982,0.64,194.7,109.3,24.2,636,13986,0.00,2.22,0.00,0.000,4,0.000,0.052,2098,1336,2016,0,0,0,0,0,0
$GC,14000,0.64,194.7,104.6,22.7,637,14004,0.00,2.25,0.00,0.000,6,0.000,0.055,2098,2733,2016,0,0,0,0,0,0
$GC,14359,0.64,194.7,19.4,21.6,695,14368,0.00,2.22,0.00,0.000,4,0.000,0.050,2108,1347,2016,0,0,0,0,0,0
$GC,14393,0.64,194.7,11.1,24.4,699,14403,0.10,2.25,0.00,0.000,6,0.235,0.054,2082,2737,2016,0,0,0,0,0,0
$STATE,14423,end climb,SURFACE_DEPTH_REACHED
$STATE,14423,begin surface coast
$FINISH,0.4,1.026573
$STATE,14436,end surface coast,CONTROL_FINISHED_OK
$STATE,14436,begin surface
$SM_CCo,14459,161.68,0.797,1,0,515,564.18
$SM_GC,0.86,0.00,0.00,161.68,0.000,0.000,0.797,58,2943,515,-5.66,0.57,564.18
$IRIDIUM_FIX,-4616.72,401.12,161212,131308
$TT8_MAMPS,0.026964
$HUMID,55.82
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.7,9.983
$10V_AH,10.1,4.274
$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,14.650,160.375,383.275,161.675,0.000,56.462,126.674,355.472,0.000,0.000,21.421,1826.083,9727.432,694.942,2485.860,720.998,33.381,1616.196,0.000,1892.669,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,67.320,1793.160,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.111,1391.184,729.626,281.112,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354320
$DATA_FILE_SIZE,50401,705
$CAP_FILE_SIZE,136548,0
$CFSIZE,259252224,225288192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,161212,174534,-4629.659,403.412,29,1.1,29,-23.3