version: 66.07
glider: 542
mission: 6
dive: 156
start: 1 1 113 7 30 22
data:
$ID,542
$MISSION,6
$DIVE,156
$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,353
$T_MISSION,368
$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,150
$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,250
$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,-10932.012
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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
$GPS1,010113,071904,-4628.857,408.253,33,0.8,33,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-57.9
$GPS2,010113,072929,-4628.899,408.211,19,0.8,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.251,-0.048
$KALMAN_X,-98934.4,1051.4,274.7,86478.7,-7525.5
$KALMAN_Y,47932.6,-234.8,-183.1,-6068.4,2992.2
$MHEAD_RNG_PITCHd_Wd,124.3,3059,-16.5,-9.443
$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,-0.61,-146.1,0.0,0.0,0,99,0.00,0.00,-70.93,0.000,2,0.000,0.000,53,2902,3138,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.0,-2.3,9,132,6.60,2.30,-7.38,0.000,4,0.252,0.052,1651,1472,3418,0,0,0,0,0,0
$GC,217,-0.61,-146.1,21.4,-10.5,25,226,0.00,2.30,0.00,0.000,6,0.000,0.051,1641,2881,3419,0,0,0,0,0,0
$GC,302,-0.61,-146.1,32.9,-13.4,38,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2881,3419,0,0,0,0,0,0
$GC,551,-0.61,-146.1,67.6,-14.0,79,555,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2881,3420,0,0,0,0,0,0
$GC,897,-0.61,-146.1,109.6,-11.5,130,900,0.00,1.62,0.00,0.000,4,0.000,0.060,1634,3928,3421,0,0,0,0,0,0
$GC,1007,-0.61,-146.1,123.0,-11.3,136,1011,0.00,1.62,0.00,0.000,6,0.000,0.033,1633,2855,3421,0,0,0,0,0,0
$GC,1336,-0.61,-146.1,160.1,-11.7,157,1339,0.00,2.05,0.00,0.000,4,0.000,0.037,1633,1502,3422,0,0,0,0,0,0
$GC,1376,-0.61,-146.1,164.7,-11.6,159,1380,0.00,2.20,0.00,0.000,6,0.000,0.052,1623,2885,3422,0,0,0,0,0,0
$GC,1704,-0.61,-146.1,206.9,-13.1,180,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2885,3422,0,0,0,0,0,0
$GC,2015,-0.61,-146.1,247.5,-12.8,200,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2885,3422,0,0,0,0,0,0
$GC,2335,-0.61,-146.1,287.6,-12.5,216,2339,0.00,1.60,0.00,0.000,4,0.000,0.060,1615,3897,3422,0,0,0,0,0,0
$GC,2370,-0.61,-146.1,292.3,-13.3,217,2375,0.10,1.52,0.00,0.000,6,0.171,0.033,1646,2888,3422,0,0,0,0,0,0
$GC,2696,-0.61,-146.1,326.8,-10.9,233,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2884,3422,0,0,0,0,0,0
$GC,3004,-0.61,-146.1,360.4,-10.9,248,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2884,3422,0,0,0,0,0,0
$GC,3315,-0.61,-146.1,393.3,-10.2,263,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2884,3422,0,0,0,0,0,0
$GC,3640,-0.61,-146.1,426.8,-10.3,275,3644,0.00,2.10,0.00,0.000,4,0.000,0.038,1646,1487,3422,0,0,0,0,0,0
$GC,3681,-0.61,-146.1,431.0,-9.5,276,3685,0.00,2.22,0.00,0.000,6,0.000,0.054,1636,2885,3422,0,0,0,0,0,0
$GC,4007,-0.61,-146.1,464.8,-10.3,287,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2886,3422,0,0,0,0,0,0
$GC,4315,-0.61,-146.1,495.8,-10.1,297,4318,0.00,1.60,0.00,0.000,4,0.000,0.063,1628,3898,3421,0,0,0,0,0,0
$GC,4352,-0.61,-146.1,499.8,-10.6,298,4355,0.00,1.55,0.00,0.000,6,0.000,0.034,1628,2870,3422,0,0,0,0,0,0
$GC,4695,-0.61,-146.1,535.7,-10.4,309,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3422,0,0,0,0,0,0
$GC,5001,-0.61,-146.1,567.1,-10.0,319,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,5307,-0.61,-146.1,597.3,-9.8,329,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,5613,-0.61,-146.1,626.7,-9.5,339,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,5919,-0.61,-146.1,656.6,-9.8,349,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,6226,-0.61,-146.1,687.5,-10.2,359,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,6532,-0.61,-146.1,719.1,-10.1,369,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,6838,-0.61,-146.1,749.9,-10.0,379,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,7145,-0.61,-146.1,778.3,-8.9,389,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,7451,-0.61,-146.1,805.7,-9.0,399,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3421,0,0,0,0,0,0
$GC,7757,-0.61,-146.1,833.6,-9.0,409,7761,0.00,2.08,0.00,0.000,4,0.000,0.040,1628,1498,3420,0,0,0,0,0,0
$GC,7788,-0.61,-146.1,836.4,-9.2,409,7796,0.12,2.20,0.00,0.000,6,0.184,0.054,1649,2887,3420,0,0,0,0,0,0
$GC,8104,-0.61,-146.1,858.8,-6.7,420,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2887,3420,0,0,0,0,0,0
$GC,8410,-0.61,-146.1,879.0,-6.6,430,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2887,3420,0,0,0,0,0,0
$GC,8718,-0.61,-146.1,898.7,-6.3,440,8722,0.00,2.12,0.00,0.000,4,0.000,0.038,1649,1495,3419,0,0,0,0,0,0
$GC,8770,-0.61,-146.1,902.2,-6.6,441,8774,0.00,2.20,0.00,0.000,6,0.000,0.055,1639,2880,3419,0,0,0,0,0,0
$GC,9086,-0.61,-146.1,923.8,-7.1,451,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2881,3419,0,0,0,0,0,0
$GC,9391,-0.61,-146.1,946.2,-7.4,461,9395,0.00,2.10,0.00,0.000,4,0.000,0.037,1640,1491,3419,0,0,0,0,0,0
$GC,9432,-0.61,-146.1,949.4,-7.7,462,9436,0.00,2.22,0.00,0.000,6,0.000,0.054,1630,2890,3419,0,0,0,0,0,0
$GC,9759,-0.61,-146.1,975.9,-8.5,473,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2890,3419,0,0,0,0,0,0
$STATE,10029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10029,begin apogee
$GC,10040,-0.18,0.0,1000.1,8.8,482,10190,0.52,0.00,142.27,1.843,6,0.164,0.000,1786,2702,2819,0,0,0,0,1,0
$STATE,10192,end apogee,CONTROL_FINISHED_OK
$STATE,10192,begin climb
$GC,10197,0.61,146.1,1004.8,0.0,487,10367,0.77,2.30,155.48,1.799,4,0.070,0.058,2051,3895,2224,0,0,0,0,1,0
$GC,10438,0.61,146.1,961.3,26.2,494,10442,0.00,2.03,0.00,0.000,6,0.000,0.037,2060,2705,2222,0,0,0,0,0,0
$GC,10764,0.61,146.1,882.4,24.5,505,10769,0.00,2.28,0.00,0.000,4,0.000,0.045,2071,1294,2217,0,0,0,0,0,0
$GC,10811,0.61,146.1,871.1,22.3,506,10815,0.00,2.35,0.00,0.000,6,0.000,0.053,2071,2701,2215,0,0,0,0,0,0
$GC,11132,0.61,146.1,792.5,24.6,517,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2701,2214,0,0,0,0,0,0
$GC,11439,0.61,146.1,716.7,24.4,527,11443,0.00,2.22,0.00,0.000,4,0.000,0.044,2081,1291,2212,0,0,0,0,0,0
$GC,11471,0.61,146.1,708.6,24.7,528,11476,0.12,2.30,0.00,0.000,6,0.237,0.052,2055,2709,2211,0,0,0,0,0,0
$GC,11811,0.61,146.1,631.4,22.2,539,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2709,2211,0,0,0,0,0,0
$GC,12115,0.61,146.1,562.8,22.5,549,12119,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1290,2211,0,0,0,0,0,0
$GC,12156,0.61,146.1,553.6,20.9,550,12160,0.00,2.28,0.00,0.000,6,0.000,0.053,2064,2702,2210,0,0,0,0,0,0
$GC,12482,0.61,146.1,479.9,22.8,561,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2702,2210,0,0,0,0,0,0
$GC,12788,0.61,146.1,413.1,21.5,571,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2702,2210,0,0,0,0,0,0
$GC,13099,0.61,146.1,343.9,22.8,585,13100,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2702,2210,0,0,0,0,0,0
$GC,13407,0.61,146.1,275.5,22.0,600,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2702,2209,0,0,0,0,0,0
$GC,13718,0.61,146.1,207.0,21.7,618,13721,0.00,2.22,0.00,0.000,4,0.000,0.044,2075,1285,2209,0,0,0,0,0,0
$GC,13764,0.61,146.1,197.3,19.3,620,13773,0.00,2.28,0.00,0.000,6,0.000,0.052,2075,2692,2208,0,0,0,0,0,0
$GC,14087,0.61,146.1,131.8,19.6,641,14091,0.00,2.17,0.00,0.000,4,0.000,0.046,2084,1293,2208,0,0,0,0,0,0
$GC,14146,0.61,146.1,120.2,17.9,644,14156,0.12,2.28,0.00,0.000,6,0.213,0.051,2051,2706,2208,0,0,0,0,0,0
$GC,14490,0.61,146.1,58.2,19.2,691,14497,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1281,2208,0,0,0,0,0,0
$GC,14536,0.61,146.1,49.9,15.7,698,14545,0.00,2.28,0.00,0.000,6,0.000,0.052,2060,2695,2208,0,0,0,0,0,0
$STATE,14791,end climb,SURFACE_DEPTH_REACHED
$STATE,14791,begin surface coast
$FINISH,0.5,1.025851
$STATE,14811,end surface coast,CONTROL_FINISHED_OK
$STATE,14811,begin surface
$SM_CCo,14833,51.45,0.783,1,0,1797,250.20
$SM_GC,1.18,0.00,0.00,51.45,0.000,0.000,0.783,57,2896,1797,-5.60,0.45,250.20
$IRIDIUM_FIX,-4613.60,404.02,010113,030340
$TT8_MAMPS,0.025466
$HUMID,58.30
$INTERNAL_PRESSURE,9.31643
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.8,31.352
$10V_AH,10.1,13.645
$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,13.800,67.625,297.750,51.450,0.000,25.126,42.957,330.507,0.000,0.000,21.580,1815.863,10429.237,433.567,2219.103,604.561,33.365,1187.930,0.000,1754.286,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,72.675,1842.885,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.244,1450.171,762.612,297.454,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354020
$DATA_FILE_SIZE,53706,742
$CAP_FILE_SIZE,106469,0
$CFSIZE,259252224,219631616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,010113,114023,-4628.882,410.170,64,0.9,64,-23.4