version: 66.07
glider: 542
mission: 6
dive: 251
start: 1 18 113 0 47 52
data:
$ID,542
$MISSION,6
$DIVE,251
$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,230
$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,-11302.737
$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,1830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,2860
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$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
$GPS1,180113,003634,-4636.134,420.591,41,0.8,41,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-58.4
$GPS2,180113,004700,-4636.089,420.646,19,0.8,19,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.134
$KALMAN_X,-183602.7,-441.7,-96.3,188780.7,-516.0
$KALMAN_Y,103972.5,-328.5,-309.4,-75202.5,4721.8
$MHEAD_RNG_PITCHd_Wd,145.0,27129,-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,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,76,0.00,0.00,-47.17,0.000,2,0.000,0.000,52,2889,2752,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.2,-3.5,6,125,6.80,2.28,-25.05,0.000,4,0.257,0.048,1626,1453,3418,0,0,0,0,0,0
$GC,285,-0.60,-146.1,25.3,-12.9,36,294,0.00,2.30,0.00,0.000,6,0.000,0.053,1617,2852,3419,0,0,0,0,0,0
$GC,371,-0.60,-146.1,37.5,-14.9,49,378,0.00,1.65,0.00,0.000,4,0.000,0.057,1609,3907,3419,0,0,0,0,0,0
$GC,406,-0.60,-146.1,43.7,-16.2,54,415,0.00,1.62,0.00,0.000,6,0.000,0.030,1608,2840,3419,0,0,0,0,0,0
$GC,656,-0.60,-146.1,83.0,-16.3,95,661,0.00,1.73,0.00,0.000,4,0.000,0.058,1600,3913,3419,0,0,0,0,0,0
$GC,753,-0.60,-146.1,99.1,-16.5,111,760,0.08,1.60,0.00,0.000,6,0.170,0.031,1623,2855,3420,0,0,0,0,0,0
$GC,1078,-0.60,-146.1,140.5,-12.0,132,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2855,3420,0,0,0,0,0,0
$GC,1386,-0.60,-146.1,176.3,-11.5,152,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2855,3421,0,0,0,0,0,0
$GC,1698,-0.60,-146.1,212.2,-11.9,172,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2855,3421,0,0,0,0,0,0
$GC,2011,-0.60,-146.1,249.2,-11.8,192,2015,0.00,2.08,0.00,0.000,4,0.000,0.037,1624,1484,3421,0,0,0,0,0,0
$GC,2046,-0.60,-146.1,253.6,-11.3,194,2050,0.00,2.22,0.00,0.000,6,0.000,0.051,1614,2875,3422,0,0,0,0,0,0
$GC,2367,-0.60,-146.1,291.9,-12.1,209,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2875,3421,0,0,0,0,0,0
$GC,2674,-0.60,-146.1,329.6,-12.5,224,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2876,3421,0,0,0,0,0,0
$GC,2985,-0.60,-146.1,368.6,-12.6,239,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2875,3421,0,0,0,0,0,0
$GC,3312,-0.60,-146.1,408.6,-12.0,254,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2875,3422,0,0,0,0,0,0
$GC,3619,-0.60,-146.1,444.4,-11.6,264,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2875,3421,0,0,0,0,0,0
$GC,3925,-0.60,-146.1,478.0,-10.8,274,3928,0.00,1.62,0.00,0.000,4,0.000,0.060,1606,3920,3421,0,0,0,0,0,0
$GC,3970,-0.60,-146.1,483.4,-11.4,275,3974,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2865,3421,0,0,0,0,0,0
$GC,4302,-0.60,-146.1,520.6,-11.2,286,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2859,3420,0,0,0,0,0,0
$GC,4610,-0.60,-146.1,554.4,-11.0,296,4612,0.10,0.00,0.00,0.000,6,0.203,0.000,1629,2860,3420,0,0,0,0,0,0
$GC,4915,-0.60,-146.1,581.7,-8.5,306,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3420,0,0,0,0,0,0
$GC,5222,-0.60,-146.1,608.0,-8.7,316,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2859,3419,0,0,0,0,0,0
$GC,5527,-0.60,-146.1,634.9,-8.7,326,5531,0.00,2.10,0.00,0.000,4,0.000,0.037,1629,1475,3419,0,0,0,0,0,0
$GC,5562,-0.60,-146.1,638.4,-9.1,327,5566,0.00,2.22,0.00,0.000,6,0.000,0.052,1620,2860,3419,0,0,0,0,0,0
$GC,5895,-0.60,-146.1,669.7,-9.5,338,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2860,3419,0,0,0,0,0,0
$GC,6202,-0.60,-146.1,699.9,-10.0,348,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2860,3419,0,0,0,0,0,0
$GC,6507,-0.60,-146.1,730.7,-10.1,358,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2860,3418,0,0,0,0,0,0
$GC,6814,-0.60,-146.1,761.7,-10.2,368,6818,0.00,2.17,0.00,0.000,4,0.000,0.038,1620,1475,3418,0,0,0,0,0,0
$GC,6860,-0.60,-146.1,766.9,-10.8,369,6864,0.00,2.22,0.00,0.000,6,0.000,0.053,1609,2859,3418,0,0,0,0,0,0
$GC,7180,-0.60,-146.1,802.6,-11.3,380,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3418,0,0,0,0,0,0
$GC,7486,-0.60,-146.1,835.7,-10.7,390,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3418,0,0,0,0,0,0
$GC,7793,-0.60,-146.1,867.4,-10.3,400,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3417,0,0,0,0,0,0
$GC,8099,-0.60,-146.1,896.9,-9.4,410,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3417,0,0,0,0,0,0
$GC,8405,-0.60,-146.1,925.8,-9.4,420,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3417,0,0,0,0,0,0
$GC,8712,-0.60,-146.1,955.1,-9.6,430,8716,0.00,2.12,0.00,0.000,4,0.000,0.037,1609,1478,3417,0,0,0,0,0,0
$GC,8749,-0.60,-146.1,958.5,-9.6,431,8753,0.12,2.20,0.00,0.000,6,0.187,0.053,1630,2859,3417,0,0,0,0,0,0
$GC,9093,-0.60,-146.1,985.5,-7.9,442,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3417,0,0,0,0,0,0
$STATE,9302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9302,begin apogee
$GC,9313,-0.18,0.0,1001.7,7.5,449,9464,0.45,0.00,147.80,1.226,6,0.155,0.000,1764,2671,2819,0,0,0,0,0,0
$STATE,9466,end apogee,CONTROL_FINISHED_OK
$STATE,9466,begin climb
$GC,9471,0.60,146.1,1005.1,0.0,454,9637,0.82,2.47,151.50,1.781,4,0.100,0.042,2035,1277,2225,0,0,0,0,1,0
$GC,9661,0.60,146.1,978.4,19.8,460,9665,0.00,2.47,0.00,0.000,6,0.000,0.050,2035,2662,2223,0,0,0,0,0,0
$GC,9982,0.60,146.1,908.7,21.4,471,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2662,2217,0,0,0,0,0,0
$GC,10290,0.60,146.1,843.9,20.6,481,10293,0.00,2.00,0.00,0.000,4,0.000,0.060,2035,3900,2216,0,0,0,0,0,0
$GC,10330,0.60,146.1,834.1,24.1,482,10334,0.00,1.92,0.00,0.000,6,0.000,0.037,2044,2672,2216,0,0,0,0,0,0
$GC,10667,0.60,146.1,764.5,20.0,493,10671,0.00,2.17,0.00,0.000,4,0.000,0.043,2054,1271,2215,0,0,0,0,0,0
$GC,10702,0.60,146.1,757.2,19.2,494,10707,0.12,2.28,0.00,0.000,6,0.229,0.050,2028,2675,2213,0,0,0,0,0,0
$GC,11036,0.60,146.1,695.0,19.1,505,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2675,2214,0,0,0,0,0,0
$GC,11342,0.60,146.1,636.9,18.9,515,11346,0.00,2.22,0.00,0.000,4,0.000,0.041,2037,1270,2213,0,0,0,0,0,0
$GC,11377,0.60,146.1,630.1,18.9,516,11381,0.00,2.28,0.00,0.000,6,0.000,0.050,2037,2678,2212,0,0,0,0,0,0
$GC,11709,0.60,146.1,561.3,21.1,527,11710,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2678,2212,0,0,0,0,0,0
$GC,12015,0.60,146.1,498.5,20.5,537,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2212,0,0,0,0,0,0
$GC,12321,0.60,146.1,438.4,19.1,547,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2212,0,0,0,0,0,0
$GC,12641,0.60,146.1,377.6,19.1,559,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2678,2212,0,0,0,0,0,0
$GC,12948,0.60,146.1,321.9,18.2,574,12949,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2678,2211,0,0,0,0,0,0
$GC,13260,0.60,146.1,266.9,17.3,589,13261,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2678,2211,0,0,0,0,0,0
$GC,13580,0.60,146.1,211.1,17.4,608,13584,0.00,2.20,0.00,0.000,4,0.000,0.042,2048,1268,2211,0,0,0,0,0,0
$GC,13643,0.60,146.1,200.2,15.1,611,13650,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2669,2210,0,0,0,0,0,0
$GC,13965,0.60,146.1,142.8,17.9,632,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2669,2210,0,0,0,0,0,0
$GC,14287,0.60,146.1,84.2,18.3,662,14294,0.00,1.95,0.00,0.000,4,0.000,0.059,2048,3899,2210,0,0,0,0,0,0
$GC,14367,0.60,146.1,67.9,19.3,675,14374,0.10,1.92,0.00,0.000,6,0.220,0.037,2032,2664,2210,0,0,0,0,0,0
$GC,14739,0.60,146.1,9.8,15.5,736,14748,0.00,2.20,0.00,0.000,4,0.000,0.043,2041,1268,2210,0,0,0,0,0,0
$STATE,14786,end climb,SURFACE_DEPTH_REACHED
$STATE,14786,begin surface coast
$FINISH,2.1,1.026422
$STATE,14793,end surface coast,CONTROL_FINISHED_OK
$STATE,14793,begin surface
$SM_CCo,14818,42.92,0.771,1,0,1880,230.09
$SM_GC,2.29,0.00,0.00,42.92,0.000,0.000,0.771,55,2877,1880,-5.55,0.51,230.09
$IRIDIUM_FIX,-4619.84,436.19,170113,202043
$TT8_MAMPS,0.026215
$HUMID,58.82
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.00
$XPDR_PINGS,0
$24V_AH,22.0,47.923
$10V_AH,10.1,23.078
$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,14.000,62.975,299.300,42.925,0.000,25.974,19.232,329.629,0.000,0.000,22.153,1812.810,10448.320,453.762,2143.118,618.858,33.371,1141.322,0.000,1704.440,0.000,1.008,0.000
$DEVICE_MAMPS,257.040,60.435,1780.920,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.782,1496.441,805.637,308.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,53739,744
$CAP_FILE_SIZE,101428,0
$CFSIZE,259252224,213868544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180113,045704,-4636.720,423.204,37,1.0,37,-23.4