version: 66.07
glider: 542
mission: 6
dive: 195
start: 1 8 113 12 57 2
data:
$ID,542
$MISSION,6
$DIVE,195
$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,573.99261
$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,-11090.266
$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,49
$R_STBD_OVSHOOT,47
$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
$GPS1,080113,124204,-4700.738,436.599,28,1.0,28,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-30.9
$GPS2,080113,125606,-4700.596,436.714,17,1.1,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.108,-0.232
$KALMAN_X,-165442.8,661.2,184.4,189578.1,-359.4
$KALMAN_Y,74901.6,-183.5,-1.9,-91979.4,4997.4
$MHEAD_RNG_PITCHd_Wd,228.4,33759,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.61,-146.1,0.0,0.0,0,163,0.00,0.00,-134.00,0.000,2,0.000,0.000,56,2912,3144,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.1,-2.4,17,189,6.55,2.30,-7.28,0.000,4,0.249,0.047,1647,1471,3417,0,0,0,0,0,0
$GC,301,-0.61,-146.1,21.4,-10.1,36,310,0.00,2.28,0.00,0.000,6,0.000,0.052,1637,2857,3419,0,0,0,0,0,0
$GC,390,-0.61,-146.1,33.3,-13.1,49,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2858,3419,0,0,0,0,0,0
$GC,638,-0.61,-146.1,67.8,-13.9,90,646,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2857,3419,0,0,0,0,0,0
$GC,996,-0.61,-146.1,111.7,-12.4,141,1000,0.00,1.65,0.00,0.000,4,0.000,0.059,1629,3909,3420,0,0,0,0,0,0
$GC,1044,-0.61,-146.1,118.3,-13.3,143,1051,0.00,1.58,0.00,0.000,6,0.000,0.031,1629,2858,3420,0,0,0,0,0,0
$GC,1365,-0.61,-146.1,160.2,-13.0,164,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2856,3420,0,0,0,0,0,0
$GC,1680,-0.61,-146.1,199.9,-12.3,184,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2857,3420,0,0,0,0,0,0
$GC,1990,-0.61,-146.1,237.7,-12.2,204,1994,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3910,3420,0,0,0,0,0,0
$GC,2027,-0.61,-146.1,242.4,-12.4,206,2031,0.00,1.55,0.00,0.000,6,0.000,0.033,1621,2880,3420,0,0,0,0,0,0
$GC,2364,-0.61,-146.1,283.8,-12.3,223,2366,0.10,0.00,0.00,0.000,6,0.200,0.000,1644,2875,3420,0,0,0,0,0,0
$GC,2671,-0.61,-146.1,315.9,-10.3,238,2675,0.00,1.65,0.00,0.000,4,0.000,0.061,1638,3912,3420,0,0,0,0,0,0
$GC,2719,-0.61,-146.1,321.2,-11.6,240,2722,0.00,1.55,0.00,0.000,6,0.000,0.032,1637,2881,3420,0,0,0,0,0,0
$GC,3054,-0.61,-146.1,357.4,-10.8,256,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3420,0,0,0,0,0,0
$GC,3365,-0.61,-146.1,391.0,-10.8,271,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3420,0,0,0,0,0,0
$GC,3680,-0.61,-146.1,424.9,-10.6,283,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3420,0,0,0,0,0,0
$GC,3988,-0.61,-146.1,456.1,-10.1,293,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3419,0,0,0,0,0,0
$GC,4293,-0.61,-146.1,488.0,-10.5,303,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2877,3419,0,0,0,0,0,0
$GC,4602,-0.61,-146.1,520.8,-10.7,313,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3418,0,0,0,0,0,0
$GC,4905,-0.61,-146.1,552.7,-10.1,323,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3418,0,0,0,0,0,0
$GC,5213,-0.61,-146.1,583.5,-9.8,333,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3418,0,0,0,0,0,0
$GC,5518,-0.61,-146.1,611.8,-9.0,343,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3418,0,0,0,0,0,0
$GC,5826,-0.61,-146.1,638.4,-8.6,353,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3418,0,0,0,0,0,0
$GC,6131,-0.61,-146.1,662.9,-7.8,363,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3417,0,0,0,0,0,0
$GC,6437,-0.61,-146.1,687.1,-8.0,373,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2877,3417,0,0,0,0,0,0
$GC,6743,-0.61,-146.1,711.8,-8.1,383,6747,0.00,2.08,0.00,0.000,4,0.000,0.039,1637,1499,3417,0,0,0,0,0,0
$GC,6773,-0.61,-146.1,714.3,-8.0,383,6780,0.00,2.22,0.00,0.000,6,0.000,0.054,1627,2897,3417,0,0,0,0,0,0
$GC,7088,-0.61,-146.1,741.7,-8.8,394,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2897,3417,0,0,0,0,0,0
$GC,7395,-0.61,-146.1,769.0,-9.0,404,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2897,3416,0,0,0,0,0,0
$GC,7701,-0.61,-146.1,798.2,-9.7,414,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2897,3416,0,0,0,0,0,0
$GC,8007,-0.61,-146.1,827.1,-9.3,424,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2897,3417,0,0,0,0,0,0
$GC,8313,-0.61,-146.1,855.4,-9.2,434,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2897,3416,0,0,0,0,0,0
$GC,8620,-0.61,-146.1,881.5,-8.4,444,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2897,3416,0,0,0,0,0,0
$GC,8926,-0.61,-146.1,906.5,-8.2,454,8930,0.00,2.15,0.00,0.000,4,0.000,0.039,1627,1498,3416,0,0,0,0,0,0
$GC,8971,-0.61,-146.1,910.6,-8.3,455,8976,0.12,2.22,0.00,0.000,6,0.179,0.054,1649,2892,3416,0,0,0,0,0,0
$GC,9293,-0.61,-146.1,933.2,-7.0,466,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2892,3416,0,0,0,0,0,0
$GC,9599,-0.61,-146.1,955.6,-7.5,476,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2892,3416,0,0,0,0,0,0
$GC,9906,-0.61,-146.1,978.8,-7.7,486,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,1649,2893,3415,0,0,0,0,0,0
$STATE,10207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10207,begin apogee
$GC,10218,-0.18,0.0,1002.0,7.5,496,10369,0.45,0.00,147.23,1.242,6,0.150,0.000,1786,2719,2819,0,0,0,0,0,0
$STATE,10370,end apogee,CONTROL_FINISHED_OK
$STATE,10371,begin climb
$GC,10375,0.61,146.1,1006.8,0.0,501,10537,0.73,2.20,149.30,1.797,4,0.065,0.059,2050,3895,2224,0,0,0,0,1,0
$GC,10565,0.61,146.1,977.9,24.4,507,10568,0.00,2.05,0.00,0.000,6,0.000,0.037,2060,2704,2224,0,0,0,0,0,0
$GC,10908,0.61,146.1,896.6,23.5,518,10912,0.00,2.28,0.00,0.000,4,0.000,0.047,2070,1294,2217,0,0,0,0,0,0
$GC,10948,0.61,146.1,886.9,23.7,519,10952,0.00,2.33,0.00,0.000,6,0.000,0.050,2070,2707,2215,0,0,0,0,0,0
$GC,11287,0.61,146.1,805.3,24.4,530,11291,0.00,2.28,0.00,0.000,4,0.000,0.046,2080,1293,2214,0,0,0,0,0,0
$GC,11311,0.61,146.1,798.8,23.9,530,11318,0.12,2.30,0.00,0.000,6,0.226,0.051,2054,2709,2213,0,0,0,0,0,0
$GC,11626,0.61,146.1,726.1,23.1,541,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2709,2213,0,0,0,0,0,0
$GC,11932,0.61,146.1,658.3,22.1,551,11936,0.00,2.25,0.00,0.000,4,0.000,0.044,2064,1293,2213,0,0,0,0,0,0
$GC,11956,0.61,146.1,652.7,21.4,551,11963,0.00,2.28,0.00,0.000,6,0.000,0.050,2064,2712,2212,0,0,0,0,0,0
$GC,12271,0.61,146.1,583.1,22.3,562,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2712,2212,0,0,0,0,0,0
$GC,12577,0.61,146.1,516.1,22.0,572,12581,0.00,2.25,0.00,0.000,4,0.000,0.044,2074,1290,2212,0,0,0,0,0,0
$GC,12601,0.61,146.1,510.7,21.3,572,12608,0.00,2.25,0.00,0.000,6,0.000,0.050,2074,2698,2211,0,0,0,0,0,0
$GC,12916,0.61,146.1,440.9,22.2,583,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2699,2211,0,0,0,0,0,0
$GC,13235,0.61,146.1,371.8,21.1,595,13239,0.00,2.22,0.00,0.000,4,0.000,0.045,2084,1290,2211,0,0,0,0,0,0
$GC,13270,0.61,146.1,363.5,21.4,596,13275,0.15,2.28,0.00,0.000,6,0.220,0.051,2050,2711,2210,0,0,0,0,0,0
$GC,13591,0.61,146.1,301.2,19.6,611,13595,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1290,2210,0,0,0,0,0,0
$GC,13616,0.61,146.1,296.0,18.7,612,13620,0.00,2.25,0.00,0.000,6,0.000,0.051,2059,2701,2210,0,0,0,0,0,0
$GC,13944,0.61,146.1,231.5,19.6,629,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2701,2210,0,0,0,0,0,0
$GC,14256,0.61,146.1,172.5,19.0,649,14260,0.00,2.20,0.00,0.000,4,0.000,0.044,2070,1292,2209,0,0,0,0,0,0
$GC,14308,0.61,146.1,162.6,16.7,652,14312,0.00,2.25,0.00,0.000,6,0.000,0.051,2070,2701,2209,0,0,0,0,0,0
$GC,14629,0.61,146.1,99.7,20.5,672,14638,0.00,2.25,0.00,0.000,4,0.000,0.045,2080,1286,2209,0,0,0,0,0,0
$GC,14735,0.61,146.1,80.6,17.5,689,14740,0.12,2.25,0.00,0.000,6,0.216,0.051,2053,2701,2209,0,0,0,0,0,0
$GC,15094,0.61,146.1,31.8,10.0,750,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2701,2208,0,0,0,0,0,0
$GC,15355,0.61,146.1,3.0,12.3,791,15364,0.00,2.25,0.00,0.000,4,0.000,0.048,2062,1287,2208,0,0,0,0,0,0
$STATE,15372,end climb,SURFACE_DEPTH_REACHED
$STATE,15372,begin surface coast
$FINISH,0.8,1.016311
$STATE,15403,end surface coast,CONTROL_FINISHED_OK
$STATE,15404,begin surface
$SM_CCo,15428,180.73,0.786,1,0,476,573.99
$SM_GC,1.22,0.00,0.00,180.73,0.000,0.000,0.786,54,2888,476,-5.61,0.23,573.99
$IRIDIUM_FIX,-4641.78,444.25,080113,121243
$TT8_MAMPS,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,22.0,37.845
$10V_AH,10.0,17.623
$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,13.825,68.350,296.525,180.725,0.000,52.016,63.633,399.376,0.000,0.000,19.473,1914.599,10809.880,602.049,2492.009,627.285,33.371,1394.334,0.000,1872.064,0.000,4.990,0.000
$DEVICE_MAMPS,249.390,61.200,1796.985,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.611,1607.214,898.287,393.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,57206,798
$CAP_FILE_SIZE,111119,0
$CFSIZE,259252224,217202688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080113,171834,-4701.981,434.249,29,1.1,29,-23.5