version: 66.07
glider: 542
mission: 6
dive: 176
start: 1 4 113 23 29 58
data:
$ID,542
$MISSION,6
$DIVE,176
$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,-11009.873
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,040113,231804,-4632.445,439.192,38,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-58.1
$GPS2,040113,232905,-4632.478,439.329,19,1.1,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.189,0.172
$KALMAN_X,-142996.7,796.4,358.8,170125.7,-7627.8
$KALMAN_Y,52684.0,547.5,-133.3,-18295.5,-3104.8
$MHEAD_RNG_PITCHd_Wd,71.3,4668,-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,-70.90,0.000,2,0.000,0.000,56,2902,3176,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.3,-2.8,9,125,6.50,2.30,-6.18,0.000,4,0.246,0.050,1647,1473,3417,0,0,0,0,0,0
$GC,263,-0.61,-146.1,25.2,-11.0,32,272,0.00,2.28,0.00,0.000,6,0.000,0.052,1637,2862,3420,0,0,0,0,0,0
$GC,351,-0.61,-146.1,35.9,-12.9,45,357,0.00,1.65,0.00,0.000,4,0.000,0.059,1629,3906,3420,0,0,0,0,0,0
$GC,397,-0.61,-146.1,43.3,-15.1,52,406,0.00,1.60,0.00,0.000,6,0.000,0.031,1629,2852,3420,0,0,0,0,0,0
$GC,643,-0.61,-146.1,79.3,-11.8,93,650,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1499,3420,0,0,0,0,0,0
$GC,742,-0.61,-146.1,90.2,-9.7,109,747,0.12,2.22,0.00,0.000,6,0.177,0.051,1651,2887,3421,0,0,0,0,0,0
$GC,1078,-0.61,-146.1,125.2,-10.3,141,1082,0.00,1.60,0.00,0.000,4,0.000,0.060,1644,3895,3421,0,0,0,0,0,0
$GC,1124,-0.61,-146.1,130.8,-11.2,143,1131,0.00,1.52,0.00,0.000,6,0.000,0.031,1644,2882,3421,0,0,0,0,0,0
$GC,1445,-0.61,-146.1,167.8,-11.8,164,1449,0.00,1.62,0.00,0.000,4,0.000,0.059,1636,3891,3421,0,0,0,0,0,0
$GC,1492,-0.61,-146.1,173.9,-12.8,166,1501,0.00,1.52,0.00,0.000,6,0.000,0.031,1636,2874,3422,0,0,0,0,0,0
$GC,1815,-0.61,-146.1,211.2,-11.1,187,1819,0.00,2.08,0.00,0.000,4,0.000,0.036,1636,1497,3422,0,0,0,0,0,0
$GC,1854,-0.61,-146.1,215.3,-10.3,189,1858,0.00,2.20,0.00,0.000,6,0.000,0.050,1626,2884,3421,0,0,0,0,0,0
$GC,2191,-0.61,-146.1,254.9,-11.9,210,2195,0.00,1.60,0.00,0.000,4,0.000,0.060,1618,3897,3422,0,0,0,0,0,0
$GC,2221,-0.61,-146.1,258.9,-12.6,211,2225,0.08,1.52,0.00,0.000,6,0.156,0.031,1642,2887,3422,0,0,0,0,0,0
$GC,2552,-0.61,-146.1,292.1,-9.8,227,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2883,3422,0,0,0,0,0,0
$GC,2860,-0.61,-146.1,321.4,-9.3,242,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2882,3422,0,0,0,0,0,0
$GC,3172,-0.61,-146.1,349.8,-9.0,257,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2882,3422,0,0,0,0,0,0
$GC,3479,-0.61,-146.1,376.1,-8.3,272,3482,0.00,1.62,0.00,0.000,4,0.000,0.060,1636,3919,3422,0,0,0,0,0,0
$GC,3508,-0.61,-146.1,378.9,-8.7,273,3512,0.00,1.58,0.00,0.000,6,0.000,0.032,1636,2876,3422,0,0,0,0,0,0
$GC,3837,-0.61,-146.1,407.1,-8.8,288,3841,0.00,2.08,0.00,0.000,4,0.000,0.037,1636,1495,3422,0,0,0,0,0,0
$GC,3875,-0.61,-146.1,410.1,-7.6,289,3879,0.00,2.17,0.00,0.000,6,0.000,0.052,1626,2880,3422,0,0,0,0,0,0
$GC,4220,-0.61,-146.1,441.8,-9.4,300,4223,0.00,1.62,0.00,0.000,4,0.000,0.060,1618,3893,3422,0,0,0,0,0,0
$GC,4282,-0.61,-146.1,448.4,-10.1,301,4290,0.08,1.52,0.00,0.000,6,0.159,0.033,1641,2876,3421,0,0,0,0,0,0
$GC,4598,-0.61,-146.1,474.2,-8.1,312,4602,0.00,2.08,0.00,0.000,4,0.000,0.038,1642,1493,3421,0,0,0,0,0,0
$GC,4644,-0.61,-146.1,478.2,-7.3,313,4648,0.00,2.20,0.00,0.000,6,0.000,0.053,1632,2878,3421,0,0,0,0,0,0
$GC,4966,-0.61,-146.1,505.8,-8.6,324,4969,0.00,1.60,0.00,0.000,4,0.000,0.060,1625,3890,3421,0,0,0,0,0,0
$GC,4989,-0.61,-146.1,508.2,-9.1,324,4993,0.00,1.52,0.00,0.000,6,0.000,0.032,1625,2876,3421,0,0,0,0,0,0
$GC,5311,-0.61,-146.1,537.4,-9.3,335,5315,0.00,2.10,0.00,0.000,4,0.000,0.037,1625,1487,3421,0,0,0,0,0,0
$GC,5358,-0.61,-146.1,542.0,-8.8,336,5363,0.12,2.22,0.00,0.000,6,0.184,0.052,1646,2888,3421,0,0,0,0,0,0
$GC,5680,-0.61,-146.1,565.4,-7.3,347,5683,0.00,1.58,0.00,0.000,4,0.000,0.061,1640,3887,3421,0,0,0,0,0,0
$GC,5710,-0.61,-146.1,567.9,-7.9,347,5717,0.00,1.52,0.00,0.000,6,0.000,0.032,1640,2869,3420,0,0,0,0,0,0
$GC,6028,-0.61,-146.1,593.2,-8.1,358,6032,0.00,2.08,0.00,0.000,4,0.000,0.039,1640,1496,3420,0,0,0,0,0,0
$GC,6065,-0.61,-146.1,596.4,-8.7,359,6069,0.00,2.20,0.00,0.000,6,0.000,0.054,1629,2888,3420,0,0,0,0,0,0
$GC,6410,-0.61,-146.1,628.8,-9.7,370,6413,0.00,1.58,0.00,0.000,4,0.000,0.061,1621,3886,3420,0,0,0,0,0,0
$GC,6433,-0.61,-146.1,631.6,-10.4,370,6437,0.08,1.50,0.00,0.000,6,0.155,0.032,1646,2888,3420,0,0,0,0,0,0
$GC,6755,-0.61,-146.1,658.7,-8.5,381,6758,0.00,2.10,0.00,0.000,4,0.000,0.038,1646,1496,3420,0,0,0,0,0,0
$GC,6778,-0.61,-146.1,660.9,-8.7,381,6785,0.00,2.20,0.00,0.000,6,0.000,0.052,1636,2888,3420,0,0,0,0,0,0
$GC,7094,-0.61,-146.1,690.1,-9.7,392,7098,0.00,1.60,0.00,0.000,4,0.000,0.061,1628,3898,3420,0,0,0,0,0,0
$GC,7131,-0.61,-146.1,693.7,-10.2,393,7135,0.00,1.52,0.00,0.000,6,0.000,0.032,1629,2881,3420,0,0,0,0,0,0
$GC,7474,-0.61,-146.1,727.5,-9.8,404,7478,0.00,2.10,0.00,0.000,4,0.000,0.037,1628,1492,3420,0,0,0,0,0,0
$GC,7505,-0.61,-146.1,730.5,-9.8,405,7509,0.12,2.20,0.00,0.000,6,0.180,0.053,1650,2881,3419,0,0,0,0,0,0
$GC,7844,-0.61,-146.1,755.6,-7.1,416,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2881,3419,0,0,0,0,0,0
$GC,8150,-0.61,-146.1,776.1,-6.7,426,8153,0.00,2.10,0.00,0.000,4,0.000,0.037,1651,1496,3419,0,0,0,0,0,0
$GC,8182,-0.61,-146.1,778.2,-6.5,427,8186,0.00,2.17,0.00,0.000,6,0.000,0.054,1641,2880,3419,0,0,0,0,0,0
$GC,8519,-0.61,-146.1,802.4,-7.1,438,8523,0.00,1.60,0.00,0.000,4,0.000,0.061,1634,3892,3419,0,0,0,0,0,0
$GC,8571,-0.61,-146.1,806.8,-8.1,439,8574,0.00,1.52,0.00,0.000,6,0.000,0.033,1634,2876,3419,0,0,0,0,0,0
$GC,8897,-0.61,-146.1,832.0,-7.7,450,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2872,3419,0,0,0,0,0,0
$GC,9204,-0.61,-146.1,856.1,-7.9,460,9208,0.00,2.08,0.00,0.000,4,0.000,0.038,1634,1494,3419,0,0,0,0,0,0
$GC,9256,-0.61,-146.1,860.1,-7.6,461,9260,0.00,2.20,0.00,0.000,6,0.000,0.054,1623,2890,3419,0,0,0,0,0,0
$GC,9572,-0.61,-146.1,885.1,-7.9,471,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2890,3419,0,0,0,0,0,0
$GC,9877,-0.61,-146.1,911.1,-8.6,481,9881,0.00,2.12,0.00,0.000,4,0.000,0.037,1623,1490,3419,0,0,0,0,0,0
$GC,9929,-0.61,-146.1,915.9,-8.5,482,9934,0.15,2.20,0.00,0.000,6,0.175,0.053,1653,2884,3419,0,0,0,0,0,0
$GC,10251,-0.61,-146.1,937.9,-6.9,493,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,1653,2884,3418,0,0,0,0,0,0
$GC,10557,-0.61,-146.1,959.8,-7.0,503,10561,0.00,2.12,0.00,0.000,4,0.000,0.037,1653,1496,3418,0,0,0,0,0,0
$GC,10581,-0.61,-146.1,961.8,-7.5,503,10588,0.00,2.20,0.00,0.000,6,0.000,0.054,1645,2884,3418,0,0,0,0,0,0
$GC,10897,-0.61,-146.1,984.8,-7.3,514,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2884,3419,0,0,0,0,0,0
$STATE,11045,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11045,begin apogee
$GC,11056,-0.18,0.0,995.7,7.1,519,11205,0.47,0.00,146.32,1.234,6,0.155,0.000,1788,2713,2819,0,0,0,0,0,0
$STATE,11207,end apogee,CONTROL_FINISHED_OK
$STATE,11207,begin climb
$GC,11212,0.61,146.1,999.1,0.0,524,11376,0.75,2.25,149.10,1.786,4,0.061,0.058,2057,3891,2224,0,0,0,0,1,0
$GC,11401,0.61,146.1,965.8,26.2,530,11405,0.00,2.03,0.00,0.000,6,0.000,0.037,2066,2717,2223,0,0,0,0,0,0
$GC,11728,0.61,146.1,883.9,24.7,541,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2711,2218,0,0,0,0,0,0
$GC,12035,0.61,146.1,806.9,25.4,551,12039,0.00,2.25,0.00,0.000,4,0.000,0.046,2076,1289,2216,0,0,0,0,0,0
$GC,12070,0.61,146.1,797.2,24.8,552,12075,0.00,2.33,0.00,0.000,6,0.000,0.052,2076,2706,2214,0,0,0,0,0,0
$GC,12403,0.61,146.1,710.3,26.3,563,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2706,2214,0,0,0,0,0,0
$GC,12709,0.61,146.1,631.0,25.7,573,12713,0.00,2.25,0.00,0.000,4,0.000,0.045,2087,1287,2213,0,0,0,0,0,0
$GC,12727,0.61,146.1,626.2,24.0,573,12731,0.15,2.28,0.00,0.000,6,0.226,0.050,2054,2701,2212,0,0,0,0,0,0
$GC,13048,0.61,146.1,553.4,22.2,584,13052,0.00,1.90,0.00,0.000,4,0.000,0.059,2053,3896,2212,0,0,0,0,0,0
$GC,13066,0.61,146.1,549.0,21.8,584,13070,0.00,1.88,0.00,0.000,6,0.000,0.039,2062,2691,2212,0,0,0,0,0,0
$GC,13394,0.61,146.1,477.2,22.0,595,13398,0.00,2.15,0.00,0.000,4,0.000,0.045,2072,1297,2212,0,0,0,0,0,0
$GC,13440,0.61,146.1,466.6,20.1,596,13444,0.00,2.25,0.00,0.000,6,0.000,0.051,2072,2701,2211,0,0,0,0,0,0
$GC,13761,0.61,146.1,396.3,21.8,607,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2701,2211,0,0,0,0,0,0
$GC,14070,0.61,146.1,328.7,21.7,622,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2701,2211,0,0,0,0,0,0
$GC,14382,0.61,146.1,261.8,21.4,637,14386,0.00,1.90,0.00,0.000,4,0.000,0.060,2072,3903,2211,0,0,0,0,0,0
$GC,14399,0.61,146.1,257.0,21.1,637,14407,0.12,1.85,0.00,0.000,6,0.249,0.039,2056,2695,2211,0,0,0,0,0,0
$GC,14735,0.61,146.1,192.8,18.6,658,14739,0.00,2.15,0.00,0.000,4,0.000,0.045,2065,1293,2211,0,0,0,0,0,0
$GC,14767,0.61,146.1,186.2,18.2,660,14771,0.00,2.25,0.00,0.000,6,0.000,0.051,2065,2703,2209,0,0,0,0,0,0
$GC,15096,0.61,146.1,119.0,21.4,681,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2703,2209,0,0,0,0,0,0
$GC,15430,0.61,146.1,53.4,17.7,729,15437,0.00,2.20,0.00,0.000,4,0.000,0.044,2075,1297,2209,0,0,0,0,0,0
$GC,15485,0.61,146.1,43.7,16.7,737,15492,0.00,2.25,0.00,0.000,6,0.000,0.050,2075,2713,2209,0,0,0,0,0,0
$STATE,15696,end climb,SURFACE_DEPTH_REACHED
$STATE,15696,begin surface coast
$FINISH,0.6,1.013631
$STATE,15716,end surface coast,CONTROL_FINISHED_OK
$STATE,15716,begin surface
$SM_CCo,15738,50.78,0.779,1,0,1796,250.20
$SM_GC,1.74,0.00,0.00,50.78,0.000,0.000,0.779,51,2892,1796,-5.62,0.34,250.20
$IRIDIUM_FIX,-4613.60,445.04,040113,191921
$TT8_MAMPS,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,21.9,34.559
$10V_AH,10.1,15.670
$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,14.225,125.300,295.425,50.775,0.000,25.316,57.553,327.481,0.000,0.000,22.450,1964.655,10879.184,463.369,2426.667,705.132,33.367,1326.139,0.000,1927.757,0.000,1.009,0.000
$DEVICE_MAMPS,248.625,68.850,1786.275,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.097,1526.504,802.104,298.985,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,57064,774
$CAP_FILE_SIZE,130782,0
$CFSIZE,259252224,218361856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,050113,035434,-4631.107,439.069,34,1.4,34,-23.5