version: 66.07
glider: 542
mission: 6
dive: 182
start: 1 6 113 2 23 2
data:
$ID,542
$MISSION,6
$DIVE,182
$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,-11037.149
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,060113,021228,-4639.632,435.546,38,0.9,38,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-51.7
$GPS2,060113,022206,-4639.644,435.557,15,1.3,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.081,-0.243
$KALMAN_X,-160152.0,753.2,758.7,182136.1,-7433.2
$KALMAN_Y,55980.0,-352.9,-9.1,-34082.3,1764.1
$MHEAD_RNG_PITCHd_Wd,185.1,38116,-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,-71.05,0.000,2,0.000,0.000,58,2892,3155,0,0,0,0,0,0
$GC,106,-0.61,-146.1,3.1,-2.0,9,125,6.65,1.65,-6.85,0.000,4,0.254,0.076,1638,3891,3418,0,0,0,0,0,0
$GC,304,-0.61,-146.1,32.2,-12.3,39,310,0.00,1.58,0.00,0.000,6,0.000,0.031,1638,2850,3420,0,0,0,0,0,0
$GC,550,-0.61,-146.1,66.4,-13.8,80,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2850,3421,0,0,0,0,0,0
$GC,911,-0.61,-146.1,109.8,-12.2,133,912,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2849,3421,0,0,0,0,0,0
$GC,1221,-0.61,-146.1,144.3,-11.3,153,1225,0.00,1.65,0.00,0.000,4,0.000,0.060,1630,3901,3421,0,0,0,0,0,0
$GC,1269,-0.61,-146.1,150.2,-10.8,155,1276,0.00,1.52,0.00,0.000,6,0.000,0.032,1630,2887,3422,0,0,0,0,0,0
$GC,1592,-0.61,-146.1,188.0,-11.4,176,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2887,3422,0,0,0,0,0,0
$GC,1904,-0.61,-146.1,224.5,-12.0,196,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2887,3422,0,0,0,0,0,0
$GC,2227,-0.61,-146.1,263.0,-11.9,215,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2887,3423,0,0,0,0,0,0
$GC,2534,-0.61,-146.1,298.2,-11.2,230,2537,0.00,1.62,0.00,0.000,4,0.000,0.060,1622,3922,3422,0,0,0,0,0,0
$GC,2591,-0.61,-146.1,305.1,-11.2,232,2595,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2876,3423,0,0,0,0,0,0
$GC,2915,-0.61,-146.1,340.7,-10.9,248,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2872,3423,0,0,0,0,0,0
$GC,3226,-0.61,-146.1,376.1,-11.5,263,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2873,3423,0,0,0,0,0,0
$GC,3543,-0.61,-146.1,412.7,-11.5,277,3546,0.00,1.65,0.00,0.000,4,0.000,0.061,1614,3911,3423,0,0,0,0,0,0
$GC,3583,-0.61,-146.1,418.0,-12.8,278,3587,0.08,1.55,0.00,0.000,6,0.168,0.033,1652,2886,3423,0,0,0,0,0,0
$GC,3921,-0.61,-146.1,448.5,-8.6,289,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2883,3423,0,0,0,0,0,0
$GC,4228,-0.61,-146.1,473.8,-8.0,299,4231,0.00,2.08,0.00,0.000,4,0.000,0.037,1653,1497,3423,0,0,0,0,0,0
$GC,4263,-0.61,-146.1,476.9,-7.5,300,4267,0.00,2.17,0.00,0.000,6,0.000,0.053,1643,2879,3423,0,0,0,0,0,0
$GC,4595,-0.61,-146.1,504.8,-8.3,311,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2880,3423,0,0,0,0,0,0
$GC,4902,-0.61,-146.1,529.9,-8.3,321,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2880,3422,0,0,0,0,0,0
$GC,5208,-0.61,-146.1,556.7,-8.9,331,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2880,3422,0,0,0,0,0,0
$GC,5514,-0.61,-146.1,584.1,-9.1,341,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2880,3421,0,0,0,0,0,0
$GC,5820,-0.61,-146.1,613.3,-9.8,351,5824,0.00,2.10,0.00,0.000,4,0.000,0.037,1643,1496,3421,0,0,0,0,0,0
$GC,5866,-0.61,-146.1,617.8,-9.0,352,5870,0.00,2.20,0.00,0.000,6,0.000,0.054,1633,2889,3422,0,0,0,0,0,0
$GC,6187,-0.61,-146.1,651.7,-10.7,363,6190,0.00,1.60,0.00,0.000,4,0.000,0.062,1625,3897,3422,0,0,0,0,0,0
$GC,6223,-0.61,-146.1,655.9,-12.0,364,6227,0.00,1.52,0.00,0.000,6,0.000,0.034,1625,2884,3422,0,0,0,0,0,0
$GC,6566,-0.61,-146.1,694.9,-11.3,375,6570,0.00,2.12,0.00,0.000,4,0.000,0.038,1625,1486,3421,0,0,0,0,0,0
$GC,6597,-0.61,-146.1,698.5,-11.3,376,6602,0.12,2.22,0.00,0.000,6,0.186,0.054,1646,2885,3421,0,0,0,0,0,0
$GC,6936,-0.61,-146.1,730.6,-9.1,387,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2885,3421,0,0,0,0,0,0
$GC,7244,-0.61,-146.1,756.5,-8.4,397,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2886,3421,0,0,0,0,0,0
$GC,7548,-0.61,-146.1,780.0,-7.4,407,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2885,3421,0,0,0,0,0,0
$GC,7855,-0.61,-146.1,801.5,-6.8,417,7859,0.00,2.12,0.00,0.000,4,0.000,0.038,1646,1490,3420,0,0,0,0,0,0
$GC,7901,-0.61,-146.1,804.7,-6.8,418,7905,0.00,2.22,0.00,0.000,6,0.000,0.054,1637,2884,3420,0,0,0,0,0,0
$GC,8222,-0.61,-146.1,828.2,-7.5,429,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2885,3420,0,0,0,0,0,0
$GC,8529,-0.61,-146.1,851.2,-7.5,439,8533,0.00,2.12,0.00,0.000,4,0.000,0.037,1637,1490,3420,0,0,0,0,0,0
$GC,8575,-0.61,-146.1,854.8,-7.7,440,8580,0.00,2.20,0.00,0.000,6,0.000,0.054,1626,2882,3419,0,0,0,0,0,0
$GC,8908,-0.61,-146.1,882.1,-8.5,451,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2883,3419,0,0,0,0,0,0
$GC,9214,-0.61,-146.1,907.7,-8.4,461,9218,0.00,2.10,0.00,0.000,4,0.000,0.037,1625,1495,3419,0,0,0,0,0,0
$GC,9246,-0.61,-146.1,910.4,-8.8,462,9250,0.12,2.20,0.00,0.000,6,0.183,0.054,1648,2890,3419,0,0,0,0,0,0
$GC,9584,-0.61,-146.1,933.5,-6.6,473,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2890,3419,0,0,0,0,0,0
$GC,9892,-0.61,-146.1,954.6,-7.0,483,9896,0.00,2.12,0.00,0.000,4,0.000,0.037,1648,1491,3419,0,0,0,0,0,0
$GC,9944,-0.61,-146.1,958.5,-6.8,484,9948,0.00,2.22,0.00,0.000,6,0.000,0.055,1638,2884,3419,0,0,0,0,0,0
$GC,10260,-0.61,-146.1,982.8,-7.9,494,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2884,3419,0,0,0,0,0,0
$STATE,10469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10469,begin apogee
$GC,10480,-0.18,0.0,1000.2,8.0,501,10630,0.50,0.00,145.90,1.234,6,0.157,0.000,1788,2696,2819,0,0,0,0,0,0
$STATE,10631,end apogee,CONTROL_FINISHED_OK
$STATE,10631,begin climb
$GC,10636,0.61,146.1,1004.0,0.0,506,10795,0.75,0.00,150.38,1.789,6,0.063,0.000,2054,2696,2224,0,0,0,0,1,0
$GC,11081,0.61,146.1,914.3,23.3,521,11085,0.00,2.28,0.00,0.000,4,0.000,0.045,2064,1307,2219,0,0,0,0,0,0
$GC,11133,0.61,146.1,902.5,20.5,522,11137,0.00,2.30,0.00,0.000,6,0.000,0.050,2065,2695,2217,0,0,0,0,0,0
$GC,11448,0.61,146.1,829.6,23.1,532,11452,0.00,2.25,0.00,0.000,4,0.000,0.044,2075,1304,2216,0,0,0,0,0,0
$GC,11495,0.61,146.1,818.8,21.4,533,11499,0.00,2.30,0.00,0.000,6,0.000,0.052,2075,2707,2214,0,0,0,0,0,0
$GC,11816,0.61,146.1,742.0,24.5,544,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2707,2214,0,0,0,0,0,0
$GC,12122,0.61,146.1,668.4,23.4,554,12126,0.00,2.22,0.00,0.000,4,0.000,0.044,2085,1302,2214,0,0,0,0,0,0
$GC,12160,0.61,146.1,659.8,22.4,555,12165,0.15,2.25,0.00,0.000,6,0.226,0.052,2052,2700,2213,0,0,0,0,0,0
$GC,12504,0.61,146.1,583.1,22.5,566,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2213,0,0,0,0,0,0
$GC,12810,0.61,146.1,516.9,21.3,576,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2212,0,0,0,0,0,0
$GC,13118,0.61,146.1,452.5,21.0,586,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2212,0,0,0,0,0,0
$GC,13436,0.61,146.1,388.3,20.2,597,13437,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2212,0,0,0,0,0,0
$GC,13743,0.61,146.1,324.9,20.4,612,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2701,2211,0,0,0,0,0,0
$GC,14055,0.61,146.1,262.3,19.9,627,14059,0.00,2.17,0.00,0.000,4,0.000,0.044,2061,1297,2210,0,0,0,0,0,0
$GC,14099,0.61,146.1,253.5,18.3,629,14103,0.00,2.22,0.00,0.000,6,0.000,0.052,2061,2702,2210,0,0,0,0,0,0
$GC,14435,0.61,146.1,186.5,20.2,650,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2702,2210,0,0,0,0,0,0
$GC,14744,0.61,146.1,125.3,20.3,670,14748,0.00,2.17,0.00,0.000,4,0.000,0.043,2072,1303,2210,0,0,0,0,0,0
$GC,14785,0.61,146.1,116.5,19.6,672,14789,0.00,2.25,0.00,0.000,6,0.000,0.052,2072,2710,2209,0,0,0,0,0,0
$GC,15131,0.61,146.1,50.4,18.7,722,15140,0.00,2.22,0.00,0.000,4,0.000,0.043,2082,1304,2210,0,0,0,0,0,0
$GC,15234,0.61,146.1,31.1,16.4,738,15244,0.10,2.25,0.00,0.000,6,0.210,0.050,2055,2705,2209,0,0,0,0,0,0
$STATE,15390,end climb,SURFACE_DEPTH_REACHED
$STATE,15390,begin surface coast
$FINISH,0.7,1.026394
$STATE,15404,end surface coast,CONTROL_FINISHED_OK
$STATE,15404,begin surface
$SM_CCo,15426,50.42,0.779,1,0,1797,250.20
$SM_GC,1.61,0.00,0.00,50.42,0.000,0.000,0.779,64,2892,1797,-5.58,0.34,250.20
$IRIDIUM_FIX,-4619.84,439.31,050113,212126
$TT8_MAMPS,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,22.0,35.523
$10V_AH,10.1,16.281
$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,13.725,73.600,296.275,50.425,0.000,28.513,19.309,304.233,0.000,0.000,22.322,1889.936,10866.677,460.600,2221.944,611.921,33.363,1194.490,0.000,1787.287,0.000,1.007,0.000
$DEVICE_MAMPS,253.980,76.500,1789.335,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.243,1496.269,782.460,302.601,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,53694,764
$CAP_FILE_SIZE,110384,0
$CFSIZE,259252224,218013696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,060113,064258,-4642.029,435.718,66,0.8,66,-23.5