version: 66.07
glider: 542
mission: 6
dive: 175
start: 1 4 113 19 7 22
data:
$ID,542
$MISSION,6
$DIVE,175
$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,-11006.399
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,040113,184858,-4633.411,439.473,39,0.8,39,-23.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-54.6
$GPS2,040113,190629,-4633.464,439.428,15,1.1,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.162,0.198
$KALMAN_X,-139895.9,747.7,562.7,166989.3,-7655.5
$KALMAN_Y,53686.2,1104.6,556.1,-22382.4,-3853.5
$MHEAD_RNG_PITCHd_Wd,62.8,6456,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-63.08,0.000,2,0.000,0.000,57,2861,2982,0,0,0,0,0,0
$GC,98,-0.61,-146.1,3.1,-4.3,8,125,6.62,2.17,-13.48,0.000,4,0.252,0.047,1648,1476,3416,0,0,0,0,0,0
$GC,273,-0.61,-146.1,24.8,-13.5,34,282,0.00,2.30,0.00,0.000,6,0.000,0.051,1638,2880,3418,0,0,0,0,0,0
$GC,361,-0.61,-146.1,36.6,-14.8,47,367,0.00,1.62,0.00,0.000,4,0.000,0.056,1630,3897,3419,0,0,0,0,0,0
$GC,415,-0.61,-146.1,45.2,-15.6,55,422,0.00,1.58,0.00,0.000,6,0.000,0.030,1630,2860,3420,0,0,0,0,0,0
$GC,658,-0.61,-146.1,77.7,-11.6,96,667,0.00,1.67,0.00,0.000,4,0.000,0.057,1622,3894,3419,0,0,0,0,0,0
$GC,710,-0.61,-146.1,84.3,-13.2,104,717,0.00,1.52,0.00,0.000,6,0.000,0.031,1622,2879,3420,0,0,0,0,0,0
$GC,1050,-0.61,-146.1,127.6,-13.4,140,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2878,3420,0,0,0,0,0,0
$GC,1361,-0.61,-146.1,167.7,-12.4,160,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2878,3420,0,0,0,0,0,0
$GC,1673,-0.61,-146.1,205.4,-11.9,180,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2878,3421,0,0,0,0,0,0
$GC,1987,-0.61,-146.1,243.3,-12.3,200,1991,0.00,1.62,0.00,0.000,4,0.000,0.058,1614,3890,3421,0,0,0,0,0,0
$GC,2028,-0.61,-146.1,248.8,-12.5,202,2032,0.10,1.52,0.00,0.000,6,0.158,0.031,1646,2876,3421,0,0,0,0,0,0
$GC,2352,-0.61,-146.1,281.5,-9.9,218,2356,0.00,2.08,0.00,0.000,4,0.000,0.037,1646,1490,3421,0,0,0,0,0,0
$GC,2399,-0.61,-146.1,286.4,-9.4,220,2403,0.00,2.22,0.00,0.000,6,0.000,0.051,1637,2892,3421,0,0,0,0,0,0
$GC,2722,-0.61,-146.1,320.3,-10.7,236,2726,0.00,1.58,0.00,0.000,4,0.000,0.059,1628,3892,3421,0,0,0,0,0,0
$GC,2750,-0.61,-146.1,323.1,-11.0,237,2753,0.00,1.52,0.00,0.000,6,0.000,0.032,1629,2875,3421,0,0,0,0,0,0
$GC,3087,-0.61,-146.1,360.3,-11.1,253,3091,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3916,3421,0,0,0,0,0,0
$GC,3139,-0.61,-146.1,366.7,-11.6,255,3142,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2884,3421,0,0,0,0,0,0
$GC,3478,-0.61,-146.1,405.5,-11.8,271,3482,0.10,2.12,0.00,0.000,4,0.198,0.038,1645,1492,3421,0,0,0,0,0,0
$GC,3525,-0.61,-146.1,410.3,-8.8,272,3529,0.00,2.20,0.00,0.000,6,0.000,0.052,1635,2880,3421,0,0,0,0,0,0
$GC,3845,-0.61,-146.1,442.7,-10.3,283,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3421,0,0,0,0,0,0
$GC,4154,-0.61,-146.1,473.1,-9.9,293,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3421,0,0,0,0,0,0
$GC,4458,-0.61,-146.1,502.1,-9.2,303,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2881,3421,0,0,0,0,0,0
$GC,4765,-0.61,-146.1,529.6,-8.6,313,4769,0.00,2.10,0.00,0.000,4,0.000,0.037,1635,1496,3421,0,0,0,0,0,0
$GC,4783,-0.61,-146.1,531.5,-8.6,313,4787,0.00,2.20,0.00,0.000,6,0.000,0.052,1625,2884,3421,0,0,0,0,0,0
$GC,5098,-0.61,-146.1,561.0,-9.4,323,5102,0.00,1.60,0.00,0.000,4,0.000,0.060,1617,3896,3421,0,0,0,0,0,0
$GC,5129,-0.61,-146.1,564.1,-10.6,323,5136,0.08,1.52,0.00,0.000,6,0.157,0.033,1642,2881,3421,0,0,0,0,0,0
$GC,5446,-0.61,-146.1,590.1,-8.3,334,5450,0.00,2.08,0.00,0.000,4,0.000,0.038,1642,1500,3420,0,0,0,0,0,0
$GC,5482,-0.61,-146.1,593.3,-7.6,335,5486,0.00,2.20,0.00,0.000,6,0.000,0.053,1633,2887,3420,0,0,0,0,0,0
$GC,5814,-0.61,-146.1,622.4,-8.9,346,5817,0.00,1.58,0.00,0.000,4,0.000,0.061,1625,3886,3419,0,0,0,0,0,0
$GC,5860,-0.61,-146.1,626.9,-9.2,347,5864,0.00,1.50,0.00,0.000,6,0.000,0.033,1625,2887,3419,0,0,0,0,0,0
$GC,6192,-0.61,-146.1,657.9,-9.7,358,6195,0.00,2.10,0.00,0.000,4,0.000,0.038,1625,1498,3419,0,0,0,0,0,0
$GC,6238,-0.61,-146.1,662.2,-8.9,359,6242,0.12,2.20,0.00,0.000,6,0.185,0.053,1647,2884,3419,0,0,0,0,0,0
$GC,6560,-0.61,-146.1,687.3,-7.8,370,6563,0.00,1.60,0.00,0.000,4,0.000,0.062,1640,3894,3419,0,0,0,0,0,0
$GC,6583,-0.61,-146.1,689.4,-8.1,370,6587,0.00,1.52,0.00,0.000,6,0.000,0.033,1640,2882,3419,0,0,0,0,0,0
$GC,6904,-0.61,-146.1,715.8,-8.5,381,6908,0.00,2.10,0.00,0.000,4,0.000,0.037,1640,1490,3419,0,0,0,0,0,0
$GC,6950,-0.61,-146.1,719.7,-8.1,382,6954,0.00,2.20,0.00,0.000,6,0.000,0.053,1630,2884,3418,0,0,0,0,0,0
$GC,7282,-0.61,-146.1,750.7,-9.5,393,7286,0.00,1.60,0.00,0.000,4,0.000,0.061,1622,3896,3418,0,0,0,0,0,0
$GC,7311,-0.61,-146.1,753.7,-10.1,393,7318,0.00,1.52,0.00,0.000,6,0.000,0.033,1622,2878,3418,0,0,0,0,0,0
$GC,7627,-0.61,-146.1,786.5,-10.6,404,7631,0.00,2.10,0.00,0.000,4,0.000,0.038,1622,1495,3418,0,0,0,0,0,0
$GC,7650,-0.61,-146.1,789.3,-10.8,404,7658,0.15,2.20,0.00,0.000,6,0.180,0.052,1651,2887,3418,0,0,0,0,0,0
$GC,7966,-0.61,-146.1,816.6,-8.8,415,7970,0.00,2.12,0.00,0.000,4,0.000,0.037,1652,1494,3418,0,0,0,0,0,0
$GC,7989,-0.61,-146.1,819.0,-9.7,415,7993,0.00,2.20,0.00,0.000,6,0.000,0.053,1643,2880,3417,0,0,0,0,0,0
$GC,8305,-0.61,-146.1,848.1,-9.2,425,8308,0.00,1.62,0.00,0.000,4,0.000,0.062,1635,3891,3417,0,0,0,0,0,0
$GC,8328,-0.61,-146.1,850.7,-9.8,425,8332,0.00,1.52,0.00,0.000,6,0.000,0.033,1635,2875,3417,0,0,0,0,0,0
$GC,8648,-0.61,-146.1,880.8,-9.6,436,8652,0.00,2.08,0.00,0.000,4,0.000,0.037,1635,1501,3417,0,0,0,0,0,0
$GC,8689,-0.61,-146.1,884.8,-8.7,437,8693,0.00,2.17,0.00,0.000,6,0.000,0.053,1625,2885,3416,0,0,0,0,0,0
$GC,9016,-0.61,-146.1,916.7,-9.9,448,9020,0.00,2.12,0.00,0.000,4,0.000,0.037,1625,1497,3417,0,0,0,0,0,0
$GC,9047,-0.61,-146.1,919.7,-10.0,449,9052,0.12,2.20,0.00,0.000,6,0.184,0.053,1646,2884,3417,0,0,0,0,0,0
$GC,9386,-0.61,-146.1,946.9,-7.8,460,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2884,3417,0,0,0,0,0,0
$GC,9692,-0.61,-146.1,970.5,-7.6,470,9695,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1498,3417,0,0,0,0,0,0
$GC,9715,-0.61,-146.1,972.6,-7.9,470,9722,0.00,2.20,0.00,0.000,6,0.000,0.054,1637,2884,3416,0,0,0,0,0,0
$GC,10031,-0.61,-146.1,998.2,-8.2,481,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2885,3417,0,0,0,0,0,0
$STATE,10057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10057,begin apogee
$GC,10067,-0.18,0.0,1000.6,8.1,482,10216,0.50,0.00,145.60,1.243,6,0.160,0.000,1786,2712,2819,0,0,0,0,0,0
$STATE,10218,end apogee,CONTROL_FINISHED_OK
$STATE,10218,begin climb
$GC,10223,0.61,146.1,1003.5,0.0,487,10386,0.75,0.00,149.27,1.791,6,0.086,0.000,2043,2711,2224,0,0,0,0,1,0
$GC,10685,0.61,146.1,911.4,22.8,502,10689,0.00,2.28,0.00,0.000,4,0.000,0.046,2054,1307,2219,0,0,0,0,0,0
$GC,10720,0.61,146.1,903.2,21.6,503,10725,0.00,2.33,0.00,0.000,6,0.000,0.050,2054,2695,2217,0,0,0,0,0,0
$GC,11052,0.61,146.1,824.2,24.1,514,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2695,2217,0,0,0,0,0,0
$GC,11360,0.61,146.1,751.1,23.4,524,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2695,2216,0,0,0,0,0,0
$GC,11665,0.61,146.1,680.7,22.8,534,11669,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1309,2215,0,0,0,0,0,0
$GC,11696,0.61,146.1,673.8,21.9,535,11701,0.00,2.25,0.00,0.000,6,0.000,0.052,2064,2705,2213,0,0,0,0,0,0
$GC,12034,0.61,146.1,594.0,24.2,546,12035,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2705,2213,0,0,0,0,0,0
$GC,12340,0.61,146.1,522.1,23.3,556,12344,0.00,2.20,0.00,0.000,4,0.000,0.044,2074,1294,2213,0,0,0,0,0,0
$GC,12387,0.61,146.1,511.2,22.4,557,12391,0.00,2.28,0.00,0.000,6,0.000,0.053,2074,2707,2212,0,0,0,0,0,0
$GC,12708,0.61,146.1,435.6,23.5,568,12712,0.00,2.20,0.00,0.000,4,0.000,0.046,2084,1303,2212,0,0,0,0,0,0
$GC,12731,0.61,146.1,429.7,22.2,568,12739,0.15,2.25,0.00,0.000,6,0.221,0.052,2051,2710,2212,0,0,0,0,0,0
$GC,13059,0.61,146.1,360.9,21.6,582,13063,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1297,2212,0,0,0,0,0,0
$GC,13117,0.61,146.1,348.8,19.4,584,13125,0.00,2.28,0.00,0.000,6,0.000,0.053,2059,2699,2211,0,0,0,0,0,0
$GC,13435,0.61,146.1,280.9,21.4,600,13439,0.00,1.90,0.00,0.000,4,0.000,0.060,2060,3903,2211,0,0,0,0,0,0
$GC,13453,0.61,146.1,276.5,21.8,600,13462,0.00,1.88,0.00,0.000,6,0.000,0.039,2069,2698,2212,0,0,0,0,0,0
$GC,13775,0.61,146.1,206.6,21.7,619,13779,0.00,2.15,0.00,0.000,4,0.000,0.045,2080,1299,2211,0,0,0,0,0,0
$GC,13795,0.61,146.1,201.9,20.7,620,13800,0.12,2.25,0.00,0.000,6,0.220,0.051,2052,2710,2211,0,0,0,0,0,0
$GC,14129,0.61,146.1,137.2,19.0,641,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2710,2211,0,0,0,0,0,0
$GC,14461,0.61,146.1,73.8,17.0,678,14472,0.00,2.22,0.00,0.000,4,0.000,0.043,2062,1303,2210,0,0,0,0,0,0
$GC,14546,0.61,146.1,61.2,15.8,691,14551,0.00,2.22,0.00,0.000,6,0.000,0.052,2061,2700,2210,0,0,0,0,0,0
$STATE,14858,end climb,SURFACE_DEPTH_REACHED
$STATE,14858,begin surface coast
$FINISH,0.6,1.025958
$STATE,14878,end surface coast,CONTROL_FINISHED_OK
$STATE,14878,begin surface
$SM_CCo,14900,50.80,0.771,1,0,1796,250.20
$SM_GC,1.36,0.00,0.00,50.80,0.000,0.000,0.771,56,2902,1796,-5.61,0.62,250.20
$IRIDIUM_FIX,-4616.72,438.80,040113,181816
$TT8_MAMPS,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.9,34.398
$10V_AH,10.1,15.563
$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,14.225,118.875,294.875,50.800,0.000,81.270,122.532,453.700,0.000,0.000,18.301,1868.205,10368.152,482.178,2577.976,697.674,33.368,1289.387,0.000,1833.247,0.000,1.008,0.000
$DEVICE_MAMPS,251.685,61.965,1790.865,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.552,1474.590,789.070,313.255,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,53738,746
$CAP_FILE_SIZE,126792,0
$CFSIZE,259252224,218431488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,040113,231804,-4632.445,439.192,38,0.9,38,-23.5