version: 66.07
glider: 542
mission: 6
dive: 178
start: 1 5 113 8 41 17
data:
$ID,542
$MISSION,6
$DIVE,178
$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,-11016.851
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,050113,083004,-4629.874,438.897,37,1.0,37,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-54.0
$GPS2,050113,084024,-4629.907,438.926,15,0.8,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.045,-0.252
$KALMAN_X,-151383.5,244.7,351.5,178569.0,-8346.1
$KALMAN_Y,52036.6,-217.6,300.3,-12558.5,-1241.9
$MHEAD_RNG_PITCHd_Wd,193.4,55749,-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,-146.1,0.0,0.0,0,100,0.00,0.00,-70.88,0.000,2,0.000,0.000,59,2902,3153,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.2,-3.1,9,125,6.60,1.65,-7.10,0.000,4,0.252,0.078,1639,3894,3417,0,0,0,0,0,0
$GC,331,-0.61,-146.1,36.9,-17.8,44,341,0.00,1.58,0.00,0.000,6,0.000,0.031,1639,2858,3420,0,0,0,0,0,0
$GC,582,-0.61,-146.1,70.5,-13.8,85,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2857,3420,0,0,0,0,0,0
$GC,923,-0.61,-146.1,115.3,-11.8,130,925,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2857,3422,0,0,0,0,0,0
$GC,1236,-0.61,-146.1,149.2,-10.6,150,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2857,3422,0,0,0,0,0,0
$GC,1549,-0.61,-146.1,185.2,-11.8,170,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2856,3422,0,0,0,0,0,0
$GC,1862,-0.61,-146.1,220.3,-10.6,190,1866,0.00,1.65,0.00,0.000,4,0.000,0.060,1631,3897,3422,0,0,0,0,0,0
$GC,1943,-0.61,-146.1,229.5,-11.2,194,1952,0.00,1.52,0.00,0.000,6,0.000,0.032,1631,2883,3422,0,0,0,0,0,0
$GC,2265,-0.61,-146.1,263.3,-10.7,213,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2883,3422,0,0,0,0,0,0
$GC,2573,-0.61,-146.1,296.0,-10.5,228,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2882,3422,0,0,0,0,0,0
$GC,2884,-0.61,-146.1,330.3,-11.6,243,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2883,3423,0,0,0,0,0,0
$GC,3191,-0.61,-146.1,365.3,-11.3,258,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2883,3422,0,0,0,0,0,0
$GC,3502,-0.61,-146.1,400.3,-11.1,273,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2883,3422,0,0,0,0,0,0
$GC,3806,-0.61,-146.1,434.3,-11.1,283,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2883,3422,0,0,0,0,0,0
$GC,4113,-0.61,-146.1,466.3,-10.3,293,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2882,3422,0,0,0,0,0,0
$GC,4419,-0.61,-146.1,497.7,-10.3,303,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2882,3422,0,0,0,0,0,0
$GC,4725,-0.61,-146.1,528.9,-10.1,313,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2882,3421,0,0,0,0,0,0
$GC,5032,-0.61,-146.1,559.6,-10.0,323,5036,0.00,2.08,0.00,0.000,4,0.000,0.038,1631,1501,3421,0,0,0,0,0,0
$GC,5066,-0.61,-146.1,563.3,-9.7,324,5071,0.12,2.15,0.00,0.000,6,0.181,0.054,1653,2872,3421,0,0,0,0,0,0
$GC,5399,-0.61,-146.1,590.9,-8.3,335,5403,0.00,2.10,0.00,0.000,4,0.000,0.037,1653,1490,3421,0,0,0,0,0,0
$GC,5431,-0.61,-146.1,593.8,-8.9,336,5435,0.00,2.20,0.00,0.000,6,0.000,0.053,1644,2889,3421,0,0,0,0,0,0
$GC,5769,-0.61,-146.1,623.4,-8.8,347,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2890,3421,0,0,0,0,0,0
$GC,6077,-0.61,-146.1,649.7,-8.5,357,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2889,3420,0,0,0,0,0,0
$GC,6382,-0.61,-146.1,675.4,-8.4,367,6386,0.00,2.12,0.00,0.000,4,0.000,0.037,1644,1493,3420,0,0,0,0,0,0
$GC,6423,-0.61,-146.1,679.2,-8.4,368,6427,0.00,2.20,0.00,0.000,6,0.000,0.054,1634,2880,3419,0,0,0,0,0,0
$GC,6749,-0.61,-146.1,708.6,-9.0,379,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2881,3419,0,0,0,0,0,0
$GC,7057,-0.61,-146.1,735.4,-8.6,389,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2881,3419,0,0,0,0,0,0
$GC,7362,-0.61,-146.1,761.7,-8.5,399,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2881,3419,0,0,0,0,0,0
$GC,7669,-0.61,-146.1,788.1,-8.6,409,7673,0.00,2.12,0.00,0.000,4,0.000,0.037,1634,1495,3419,0,0,0,0,0,0
$GC,7705,-0.61,-146.1,791.4,-7.6,410,7709,0.00,2.20,0.00,0.000,6,0.000,0.054,1624,2888,3419,0,0,0,0,0,0
$GC,8037,-0.61,-146.1,820.9,-8.9,421,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2889,3418,0,0,0,0,0,0
$GC,8344,-0.61,-146.1,847.8,-8.7,431,8348,0.00,2.12,0.00,0.000,4,0.000,0.038,1623,1492,3418,0,0,0,0,0,0
$GC,8390,-0.61,-146.1,852.1,-8.1,432,8395,0.12,2.20,0.00,0.000,6,0.182,0.054,1646,2885,3418,0,0,0,0,0,0
$GC,8725,-0.61,-146.1,874.4,-7.2,443,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2886,3419,0,0,0,0,0,0
$GC,9029,-0.61,-146.1,896.4,-7.3,453,9033,0.00,2.10,0.00,0.000,4,0.000,0.038,1646,1499,3418,0,0,0,0,0,0
$GC,9070,-0.61,-146.1,899.7,-7.6,454,9074,0.00,2.20,0.00,0.000,6,0.000,0.055,1637,2891,3418,0,0,0,0,0,0
$GC,9397,-0.61,-146.1,925.8,-8.3,465,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,3418,0,0,0,0,0,0
$GC,9703,-0.61,-146.1,951.6,-8.3,475,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2891,3418,0,0,0,0,0,0
$GC,10010,-0.61,-146.1,977.9,-8.5,485,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2891,3418,0,0,0,0,0,0
$STATE,10311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10311,begin apogee
$GC,10322,-0.18,0.0,1002.4,7.8,495,10471,0.50,0.00,146.52,1.239,6,0.158,0.000,1786,2717,2820,0,0,0,0,0,0
$STATE,10473,end apogee,CONTROL_FINISHED_OK
$STATE,10473,begin climb
$GC,10478,0.61,146.1,1005.4,0.0,500,10640,0.73,2.17,149.10,1.794,4,0.067,0.057,2050,3893,2225,0,0,0,0,1,0
$GC,10709,0.61,146.1,961.5,28.7,507,10713,0.00,1.98,0.00,0.000,6,0.000,0.037,2059,2715,2224,0,0,0,0,0,0
$GC,11047,0.61,146.1,875.1,25.3,518,11051,0.00,2.30,0.00,0.000,4,0.000,0.045,2070,1287,2219,0,0,0,0,0,0
$GC,11078,0.61,146.1,867.1,25.1,519,11082,0.00,2.33,0.00,0.000,6,0.000,0.050,2070,2702,2216,0,0,0,0,0,0
$GC,11416,0.61,146.1,781.1,25.7,530,11420,0.00,2.25,0.00,0.000,4,0.000,0.044,2081,1288,2216,0,0,0,0,0,0
$GC,11482,0.61,146.1,765.8,22.8,532,11487,0.12,2.30,0.00,0.000,6,0.225,0.051,2054,2700,2214,0,0,0,0,0,0
$GC,11821,0.61,146.1,686.3,23.0,543,11824,0.00,1.92,0.00,0.000,4,0.000,0.058,2054,3904,2214,0,0,0,0,0,0
$GC,11861,0.61,146.1,676.1,24.6,544,11865,0.00,1.90,0.00,0.000,6,0.000,0.039,2062,2695,2214,0,0,0,0,0,0
$GC,12198,0.61,146.1,598.6,23.2,555,12202,0.00,2.20,0.00,0.000,4,0.000,0.044,2073,1290,2213,0,0,0,0,0,0
$GC,12267,0.61,146.1,583.5,20.3,557,12271,0.00,2.28,0.00,0.000,6,0.000,0.051,2073,2704,2212,0,0,0,0,0,0
$GC,12599,0.61,146.1,506.1,23.3,568,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2704,2212,0,0,0,0,0,0
$GC,12905,0.61,146.1,435.8,22.4,578,12909,0.00,2.22,0.00,0.000,4,0.000,0.046,2083,1287,2212,0,0,0,0,0,0
$GC,12985,0.61,146.1,418.0,20.5,580,12990,0.12,2.28,0.00,0.000,6,0.222,0.052,2055,2704,2210,0,0,0,0,0,0
$GC,13305,0.61,146.1,351.0,20.6,594,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2704,2211,0,0,0,0,0,0
$GC,13616,0.61,146.1,287.3,20.7,609,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2704,2211,0,0,0,0,0,0
$GC,13925,0.61,146.1,223.5,20.1,626,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2704,2211,0,0,0,0,0,0
$GC,14237,0.61,146.1,161.9,19.6,646,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2704,2210,0,0,0,0,0,0
$GC,14549,0.61,146.1,100.6,19.8,666,14553,0.00,2.22,0.00,0.000,4,0.000,0.044,2064,1287,2211,0,0,0,0,0,0
$GC,14600,0.61,146.1,92.4,16.1,673,14605,0.00,2.25,0.00,0.000,6,0.000,0.051,2065,2706,2210,0,0,0,0,0,0
$GC,14958,0.61,146.1,30.3,19.9,734,14967,0.00,2.22,0.00,0.000,4,0.000,0.042,2075,1288,2210,0,0,0,0,0,0
$GC,15028,0.61,146.1,19.2,15.4,744,15037,0.00,2.28,0.00,0.000,6,0.000,0.051,2075,2703,2209,0,0,0,0,0,0
$STATE,15111,end climb,SURFACE_DEPTH_REACHED
$STATE,15111,begin surface coast
$FINISH,0.7,1.026479
$STATE,15130,end surface coast,CONTROL_FINISHED_OK
$STATE,15130,begin surface
$SM_CCo,15153,50.65,0.785,1,0,1796,250.20
$SM_GC,1.40,0.00,0.00,50.65,0.000,0.000,0.785,57,2889,1796,-5.60,0.25,250.20
$IRIDIUM_FIX,-4616.72,441.92,050113,040455
$TT8_MAMPS,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.9,34.884
$10V_AH,10.1,15.877
$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,13.775,67.825,295.625,50.650,0.000,25.289,20.729,327.835,0.000,0.000,18.879,1874.812,10636.910,417.803,2285.186,600.895,33.369,1186.759,0.000,1823.763,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,78.030,1793.925,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.137,1499.237,798.667,301.899,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,53821,760
$CAP_FILE_SIZE,109519,0
$CFSIZE,259252224,218251264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,050113,125604,-4632.463,437.571,31,0.8,31,-23.5