version: 66.07
glider: 542
mission: 6
dive: 234
start: 1 14 113 18 27 49
data:
$ID,542
$MISSION,6
$DIVE,234
$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,-11232.783
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,140113,181604,-4653.974,406.643,40,1.0,44,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-39.4
$GPS2,140113,182653,-4653.955,406.693,19,1.0,19,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,0.240
$KALMAN_X,-153533.9,-15.5,-263.6,140796.6,1967.2
$KALMAN_Y,93306.3,442.7,200.1,-98931.9,-3824.7
$MHEAD_RNG_PITCHd_Wd,3.3,44565,-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,-146.1,0.0,0.0,0,163,0.00,0.00,-134.27,0.000,2,0.000,0.000,52,2896,3148,0,0,0,0,0,0
$GC,170,-0.61,-146.1,3.3,-3.3,17,189,6.57,2.28,-7.03,0.000,4,0.246,0.047,1647,1465,3417,0,0,0,0,0,0
$GC,261,-0.61,-146.1,19.4,-12.1,30,270,0.00,2.33,0.00,0.000,6,0.000,0.050,1637,2885,3418,0,0,0,0,0,0
$GC,349,-0.61,-146.1,29.5,-10.5,43,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2885,3418,0,0,0,0,0,0
$GC,434,-0.61,-146.1,39.7,-11.2,56,443,0.00,2.22,0.00,0.000,4,0.000,0.036,1636,1472,3418,0,0,0,0,0,0
$GC,453,-0.61,-146.1,42.1,-12.5,58,462,0.00,2.28,0.00,0.000,6,0.000,0.050,1626,2874,3418,0,0,0,0,0,0
$GC,702,-0.61,-146.1,75.5,-13.9,99,707,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2874,3418,0,0,0,0,0,0
$GC,1045,-0.61,-146.1,123.1,-13.2,139,1049,0.00,2.15,0.00,0.000,4,0.000,0.034,1626,1467,3418,0,0,0,0,0,0
$GC,1075,-0.61,-146.1,127.4,-12.6,140,1084,0.10,2.30,0.00,0.000,6,0.155,0.050,1647,2888,3419,0,0,0,0,0,0
$GC,1398,-0.61,-146.1,162.3,-10.8,161,1402,0.00,1.60,0.00,0.000,4,0.000,0.058,1640,3894,3419,0,0,0,0,0,0
$GC,1438,-0.61,-146.1,166.5,-10.9,163,1442,0.00,1.58,0.00,0.000,6,0.000,0.031,1640,2844,3420,0,0,0,0,0,0
$GC,1770,-0.61,-146.1,200.9,-9.9,184,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2840,3420,0,0,0,0,0,0
$GC,2084,-0.61,-146.1,232.4,-10.1,204,2088,0.00,1.67,0.00,0.000,4,0.000,0.059,1632,3907,3419,0,0,0,0,0,0
$GC,2106,-0.61,-146.1,234.6,-10.2,205,2110,0.00,1.55,0.00,0.000,6,0.000,0.031,1632,2874,3420,0,0,0,0,0,0
$GC,2439,-0.61,-146.1,271.1,-11.4,223,2442,0.00,2.08,0.00,0.000,4,0.000,0.035,1632,1501,3420,0,0,0,0,0,0
$GC,2467,-0.61,-146.1,274.9,-11.6,224,2472,0.10,2.20,0.00,0.000,6,0.187,0.050,1645,2883,3420,0,0,0,0,0,0
$GC,2792,-0.61,-146.1,307.8,-10.1,240,2795,0.00,1.60,0.00,0.000,4,0.000,0.060,1639,3893,3419,0,0,0,0,0,0
$GC,2826,-0.61,-146.1,311.7,-10.9,241,2830,0.00,1.52,0.00,0.000,6,0.000,0.031,1639,2874,3420,0,0,0,0,0,0
$GC,3152,-0.61,-146.1,344.8,-10.3,257,3156,0.00,2.05,0.00,0.000,4,0.000,0.035,1639,1498,3419,0,0,0,0,0,0
$GC,3187,-0.61,-146.1,348.9,-10.3,258,3191,0.00,2.17,0.00,0.000,6,0.000,0.051,1629,2881,3419,0,0,0,0,0,0
$GC,3511,-0.61,-146.1,385.9,-11.9,274,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2882,3419,0,0,0,0,0,0
$GC,3818,-0.61,-146.1,422.5,-11.7,286,3822,0.00,1.60,0.00,0.000,4,0.000,0.060,1621,3892,3418,0,0,0,0,0,0
$GC,3836,-0.61,-146.1,424.9,-11.8,286,3840,0.08,1.50,0.00,0.000,6,0.160,0.031,1645,2890,3418,0,0,0,0,0,0
$GC,4163,-0.61,-146.1,457.5,-9.7,297,4167,0.00,2.10,0.00,0.000,4,0.000,0.036,1645,1496,3418,0,0,0,0,0,0
$GC,4203,-0.61,-146.1,461.5,-8.6,298,4207,0.00,2.20,0.00,0.000,6,0.000,0.052,1636,2880,3418,0,0,0,0,0,0
$GC,4530,-0.61,-146.1,491.9,-9.1,309,4534,0.00,1.62,0.00,0.000,4,0.000,0.060,1628,3890,3418,0,0,0,0,0,0
$GC,4571,-0.61,-146.1,495.8,-9.4,310,4574,0.00,1.52,0.00,0.000,6,0.000,0.031,1628,2866,3417,0,0,0,0,0,0
$GC,4908,-0.61,-146.1,524.6,-8.7,321,4912,0.00,2.05,0.00,0.000,4,0.000,0.036,1628,1505,3418,0,0,0,0,0,0
$GC,4945,-0.61,-146.1,527.8,-8.7,322,4950,0.12,2.17,0.00,0.000,6,0.183,0.051,1650,2887,3417,0,0,0,0,0,0
$GC,5284,-0.61,-146.1,552.8,-7.5,333,5287,0.00,1.60,0.00,0.000,4,0.000,0.060,1643,3893,3417,0,0,0,0,0,0
$GC,5313,-0.61,-146.1,555.4,-8.2,333,5320,0.00,1.52,0.00,0.000,6,0.000,0.031,1643,2870,3417,0,0,0,0,0,0
$GC,5629,-0.61,-146.1,580.8,-8.3,344,5632,0.00,2.08,0.00,0.000,4,0.000,0.036,1643,1501,3416,0,0,0,0,0,0
$GC,5675,-0.61,-146.1,585.0,-8.1,345,5679,0.00,2.20,0.00,0.000,6,0.000,0.052,1633,2880,3416,0,0,0,0,0,0
$GC,6001,-0.61,-146.1,615.9,-9.8,356,6005,0.00,1.62,0.00,0.000,4,0.000,0.060,1625,3890,3416,0,0,0,0,0,0
$GC,6039,-0.61,-146.1,619.6,-10.8,357,6043,0.00,1.50,0.00,0.000,6,0.000,0.031,1625,2881,3416,0,0,0,0,0,0
$GC,6382,-0.61,-146.1,655.5,-10.3,368,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2877,3416,0,0,0,0,0,0
$GC,6688,-0.61,-146.1,685.8,-9.9,378,6692,0.00,2.08,0.00,0.000,4,0.000,0.036,1625,1506,3415,0,0,0,0,0,0
$GC,6712,-0.61,-146.1,688.4,-10.1,378,6717,0.12,2.17,0.00,0.000,6,0.185,0.052,1647,2880,3415,0,0,0,0,0,0
$GC,7034,-0.61,-146.1,715.1,-8.2,389,7038,0.00,2.12,0.00,0.000,4,0.000,0.035,1647,1498,3415,0,0,0,0,0,0
$GC,7064,-0.61,-146.1,717.6,-8.2,389,7070,0.00,2.20,0.00,0.000,6,0.000,0.051,1638,2883,3415,0,0,0,0,0,0
$GC,7380,-0.61,-146.1,744.9,-8.8,400,7383,0.00,1.60,0.00,0.000,4,0.000,0.061,1630,3890,3415,0,0,0,0,0,0
$GC,7426,-0.61,-146.1,749.3,-9.1,401,7429,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2887,3414,0,0,0,0,0,0
$GC,7757,-0.61,-146.1,778.7,-8.8,412,7761,0.00,2.10,0.00,0.000,4,0.000,0.035,1630,1494,3414,0,0,0,0,0,0
$GC,7793,-0.61,-146.1,782.1,-8.7,413,7798,0.12,2.20,0.00,0.000,6,0.178,0.053,1652,2886,3413,0,0,0,0,0,0
$GC,8126,-0.61,-146.1,806.2,-7.4,424,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2887,3413,0,0,0,0,0,0
$GC,8434,-0.61,-146.1,829.3,-7.6,434,8438,0.00,2.12,0.00,0.000,4,0.000,0.035,1652,1496,3414,0,0,0,0,0,0
$GC,8470,-0.61,-146.1,832.5,-7.9,435,8474,0.00,2.22,0.00,0.000,6,0.000,0.053,1644,2888,3413,0,0,0,0,0,0
$GC,8802,-0.61,-146.1,860.9,-8.9,446,8806,0.00,1.60,0.00,0.000,4,0.000,0.060,1636,3893,3413,0,0,0,0,0,0
$GC,8849,-0.61,-146.1,865.4,-9.4,447,8852,0.00,1.52,0.00,0.000,6,0.000,0.031,1636,2872,3413,0,0,0,0,0,0
$GC,9180,-0.61,-146.1,894.8,-8.6,458,9184,0.00,2.08,0.00,0.000,4,0.000,0.036,1636,1500,3413,0,0,0,0,0,0
$GC,9232,-0.61,-146.1,899.2,-8.6,459,9236,0.00,2.22,0.00,0.000,6,0.000,0.053,1627,2887,3413,0,0,0,0,0,0
$GC,9559,-0.61,-146.1,927.2,-8.5,470,9563,0.00,1.60,0.00,0.000,4,0.000,0.060,1619,3893,3413,0,0,0,0,0,0
$GC,9611,-0.61,-146.1,932.3,-9.3,471,9615,0.08,1.50,0.00,0.000,6,0.155,0.031,1644,2893,3413,0,0,0,0,0,0
$GC,9940,-0.61,-146.1,955.6,-6.9,482,9944,0.00,2.10,0.00,0.000,4,0.000,0.035,1644,1495,3413,0,0,0,0,0,0
$GC,9998,-0.61,-146.1,959.6,-6.1,483,10005,0.00,2.20,0.00,0.000,6,0.000,0.052,1635,2881,3412,0,0,0,0,0,0
$GC,10313,-0.61,-146.1,982.7,-7.6,494,10317,0.00,1.60,0.00,0.000,4,0.000,0.060,1627,3889,3412,0,0,0,0,0,0
$GC,10337,-0.61,-146.1,984.9,-8.8,494,10341,0.00,1.52,0.00,0.000,6,0.000,0.031,1628,2865,3413,0,0,0,0,0,0
$STATE,10530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10530,begin apogee
$GC,10542,-0.18,0.0,1000.6,7.9,501,10693,0.52,0.00,148.32,1.228,6,0.158,0.000,1783,2718,2819,0,0,0,0,0,0
$STATE,10695,end apogee,CONTROL_FINISHED_OK
$STATE,10695,begin climb
$GC,10700,0.61,146.1,1004.7,0.0,506,10862,0.75,2.47,148.80,1.783,4,0.065,0.041,2065,1321,2225,0,0,0,0,1,0
$GC,10881,0.61,146.1,976.5,22.3,511,10888,0.00,2.45,0.00,0.000,6,0.000,0.048,2065,2701,2225,0,0,0,0,0,0
$GC,11197,0.61,146.1,899.7,24.8,522,11201,0.00,2.28,0.00,0.000,4,0.000,0.041,2075,1296,2219,0,0,0,0,0,0
$GC,11243,0.61,146.1,888.2,22.1,523,11248,0.00,2.33,0.00,0.000,6,0.000,0.050,2075,2707,2216,0,0,0,0,0,0
$GC,11564,0.61,146.1,805.7,26.3,534,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2707,2216,0,0,0,0,0,0
$GC,11871,0.61,146.1,728.0,25.3,544,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2707,2215,0,0,0,0,0,0
$GC,12177,0.61,146.1,655.0,23.9,554,12181,0.00,2.17,0.00,0.000,4,0.000,0.041,2086,1313,2214,0,0,0,0,0,0
$GC,12197,0.61,146.1,650.3,23.6,554,12201,0.15,2.22,0.00,0.000,6,0.216,0.050,2052,2706,2213,0,0,0,0,0,0
$GC,12512,0.61,146.1,582.7,21.5,564,12516,0.00,1.92,0.00,0.000,4,0.000,0.059,2052,3899,2213,0,0,0,0,0,0
$GC,12541,0.61,146.1,575.7,22.8,564,12548,0.00,1.83,0.00,0.000,6,0.000,0.036,2060,2709,2213,0,0,0,0,0,0
$GC,12857,0.61,146.1,507.7,21.4,575,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2706,2213,0,0,0,0,0,0
$GC,13163,0.61,146.1,442.8,21.2,585,13167,0.00,2.17,0.00,0.000,4,0.000,0.042,2071,1299,2212,0,0,0,0,0,0
$GC,13181,0.61,146.1,438.5,21.5,585,13185,0.00,2.22,0.00,0.000,6,0.000,0.049,2071,2704,2211,0,0,0,0,0,0
$GC,13503,0.61,146.1,371.2,20.9,598,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2705,2212,0,0,0,0,0,0
$GC,13814,0.61,146.1,306.3,21.0,613,13818,0.00,1.90,0.00,0.000,4,0.000,0.059,2070,3890,2212,0,0,0,0,0,0
$GC,13827,0.61,146.1,302.9,21.3,613,13831,0.12,1.83,0.00,0.000,6,0.244,0.037,2054,2700,2212,0,0,0,0,0,0
$GC,14156,0.61,146.1,236.7,19.8,630,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2695,2212,0,0,0,0,0,0
$GC,14469,0.61,146.1,174.7,20.2,650,14473,0.00,2.15,0.00,0.000,4,0.000,0.041,2063,1301,2211,0,0,0,0,0,0
$GC,14493,0.61,146.1,169.7,18.9,651,14497,0.00,2.22,0.00,0.000,6,0.000,0.050,2063,2708,2210,0,0,0,0,0,0
$GC,14816,0.61,146.1,104.6,20.6,671,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2708,2210,0,0,0,0,0,0
$GC,15166,0.61,146.1,40.0,19.3,727,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2708,2210,0,0,0,0,0,0
$STATE,15363,end climb,SURFACE_DEPTH_REACHED
$STATE,15363,begin surface coast
$FINISH,0.8,1.010039
$STATE,15383,end surface coast,CONTROL_FINISHED_OK
$STATE,15383,begin surface
$SM_CCo,15406,185.27,0.771,1,0,477,573.99
$SM_GC,1.34,0.00,0.00,185.27,0.000,0.000,0.771,52,2906,477,-5.62,0.74,573.99
$IRIDIUM_FIX,-4638.64,405.81,140113,131338
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,22.1,44.726
$10V_AH,10.1,21.250
$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,14.300,125.775,297.125,185.275,0.000,25.812,54.464,319.960,0.000,0.000,25.057,1922.209,10562.446,624.062,2425.010,698.100,33.369,1521.102,0.000,1932.819,0.000,1.008,0.000
$DEVICE_MAMPS,245.565,65.025,1783.215,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.836,1521.829,815.513,314.454,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,53871,762
$CAP_FILE_SIZE,130024,0
$CFSIZE,259252224,214953984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,140113,224904,-4652.202,405.157,30,0.9,30,-23.3