version: 66.07
glider: 542
mission: 6
dive: 260
start: 1 19 113 16 27 57
data:
$ID,542
$MISSION,6
$DIVE,260
$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,-11323.738
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,190113,161528,-4630.767,438.553,36,0.9,36,-23.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-54.0
$GPS2,190113,162705,-4630.740,438.632,32,1.0,32,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.038,-0.253
$KALMAN_X,-205072.0,174.3,583.2,231716.0,-6632.5
$KALMAN_Y,112040.6,-144.2,113.7,-73979.6,1617.9
$MHEAD_RNG_PITCHd_Wd,195.0,54217,-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,-0.60,-146.1,0.0,0.0,0,84,0.00,0.00,-55.15,0.000,2,0.000,0.000,52,2870,2916,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.3,-4.5,7,125,6.80,1.75,-15.62,0.000,4,0.256,0.083,1623,3904,3417,0,0,0,0,0,0
$GC,240,-0.60,-146.1,22.1,-14.4,28,249,0.00,1.65,0.00,0.000,6,0.000,0.031,1623,2827,3419,0,0,0,0,0,0
$GC,327,-0.60,-146.1,35.6,-14.5,41,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2827,3419,0,0,0,0,0,0
$GC,574,-0.60,-146.1,71.4,-14.7,82,580,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2827,3419,0,0,0,0,0,0
$GC,915,-0.60,-146.1,118.4,-12.9,125,919,0.00,2.08,0.00,0.000,4,0.000,0.036,1623,1476,3420,0,0,0,0,0,0
$GC,939,-0.60,-146.1,122.1,-13.4,126,948,0.00,2.25,0.00,0.000,6,0.000,0.051,1613,2857,3420,0,0,0,0,0,0
$GC,1263,-0.60,-146.1,161.8,-12.5,147,1267,0.00,1.65,0.00,0.000,4,0.000,0.057,1604,3892,3421,0,0,0,0,0,0
$GC,1336,-0.60,-146.1,172.4,-13.5,151,1340,0.08,1.55,0.00,0.000,6,0.161,0.031,1642,2855,3421,0,0,0,0,0,0
$GC,1675,-0.60,-146.1,208.1,-10.7,172,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2851,3421,0,0,0,0,0,0
$GC,1998,-0.60,-146.1,242.0,-9.8,193,2002,0.00,2.08,0.00,0.000,4,0.000,0.037,1643,1481,3421,0,0,0,0,0,0
$GC,2032,-0.60,-146.1,245.2,-9.3,195,2036,0.00,2.20,0.00,0.000,6,0.000,0.051,1633,2870,3421,0,0,0,0,0,0
$GC,2362,-0.60,-146.1,277.3,-9.9,212,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2870,3421,0,0,0,0,0,0
$GC,2673,-0.60,-146.1,308.5,-10.3,227,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2870,3421,0,0,0,0,0,0
$GC,2980,-0.60,-146.1,341.1,-10.9,242,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2870,3421,0,0,0,0,0,0
$GC,3292,-0.60,-146.1,373.9,-10.2,257,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2870,3421,0,0,0,0,0,0
$GC,3619,-0.60,-146.1,407.5,-10.1,272,3623,0.00,2.15,0.00,0.000,4,0.000,0.037,1634,1479,3421,0,0,0,0,0,0
$GC,3660,-0.60,-146.1,411.6,-8.9,273,3664,0.00,2.22,0.00,0.000,6,0.000,0.051,1623,2865,3421,0,0,0,0,0,0
$GC,3986,-0.60,-146.1,445.2,-10.4,284,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3421,0,0,0,0,0,0
$GC,4292,-0.60,-146.1,477.3,-10.7,294,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3421,0,0,0,0,0,0
$GC,4598,-0.60,-146.1,509.1,-10.4,304,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3421,0,0,0,0,0,0
$GC,4906,-0.60,-146.1,541.2,-10.5,314,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3421,0,0,0,0,0,0
$GC,5211,-0.60,-146.1,573.2,-10.5,324,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3420,0,0,0,0,0,0
$GC,5517,-0.60,-146.1,605.3,-10.3,334,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2866,3420,0,0,0,0,0,0
$GC,5823,-0.60,-146.1,637.3,-10.3,344,5827,0.00,2.15,0.00,0.000,4,0.000,0.037,1623,1478,3419,0,0,0,0,0,0
$GC,5864,-0.60,-146.1,641.6,-9.9,345,5868,0.00,2.22,0.00,0.000,6,0.000,0.053,1613,2861,3419,0,0,0,0,0,0
$GC,6190,-0.60,-146.1,675.4,-10.4,356,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2860,3419,0,0,0,0,0,0
$GC,6497,-0.60,-146.1,707.4,-10.1,366,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2861,3419,0,0,0,0,0,0
$GC,6803,-0.60,-146.1,739.0,-10.5,376,6807,0.00,2.12,0.00,0.000,4,0.000,0.037,1613,1485,3419,0,0,0,0,0,0
$GC,6838,-0.60,-146.1,743.0,-10.4,377,6843,0.12,2.22,0.00,0.000,6,0.186,0.053,1634,2868,3418,0,0,0,0,0,0
$GC,7171,-0.60,-146.1,772.7,-9.1,388,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2868,3419,0,0,0,0,0,0
$GC,7478,-0.60,-146.1,799.3,-8.5,398,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2868,3418,0,0,0,0,0,0
$GC,7783,-0.60,-146.1,825.0,-8.4,408,7787,0.00,2.15,0.00,0.000,4,0.000,0.037,1634,1475,3418,0,0,0,0,0,0
$GC,7819,-0.60,-146.1,827.9,-7.9,409,7823,0.00,2.22,0.00,0.000,6,0.000,0.054,1625,2869,3418,0,0,0,0,0,0
$GC,8151,-0.60,-146.1,855.5,-8.3,420,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2869,3418,0,0,0,0,0,0
$GC,8457,-0.60,-146.1,880.4,-8.3,430,8461,0.00,2.12,0.00,0.000,4,0.000,0.037,1625,1486,3418,0,0,0,0,0,0
$GC,8487,-0.60,-146.1,883.1,-8.3,430,8494,0.00,2.20,0.00,0.000,6,0.000,0.053,1614,2859,3418,0,0,0,0,0,0
$GC,8803,-0.60,-146.1,910.7,-8.8,441,8804,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3418,0,0,0,0,0,0
$GC,9109,-0.60,-146.1,937.5,-8.8,451,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3418,0,0,0,0,0,0
$GC,9415,-0.60,-146.1,964.5,-8.6,461,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3417,0,0,0,0,0,0
$GC,9721,-0.60,-146.1,990.2,-8.3,471,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2859,3418,0,0,0,0,0,0
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9839,begin apogee
$GC,9849,-0.18,0.0,1000.2,8.1,475,10000,0.52,0.00,147.70,1.224,6,0.161,0.000,1766,2684,2819,0,0,0,0,0,0
$STATE,10002,end apogee,CONTROL_FINISHED_OK
$STATE,10002,begin climb
$GC,10007,0.60,146.1,1002.6,0.0,480,10173,0.80,2.55,151.20,1.777,4,0.096,0.043,2030,1286,2225,0,0,0,0,1,0
$GC,10217,0.60,146.1,969.2,20.7,487,10222,0.00,2.42,0.00,0.000,6,0.000,0.050,2030,2668,2222,0,0,0,0,0,0
$GC,10557,0.60,146.1,891.2,23.4,498,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2668,2217,0,0,0,0,0,0
$GC,10863,0.60,146.1,821.7,22.4,508,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2668,2216,0,0,0,0,0,0
$GC,11168,0.60,146.1,755.7,21.4,518,11172,0.00,2.22,0.00,0.000,4,0.000,0.043,2041,1272,2215,0,0,0,0,0,0
$GC,11204,0.60,146.1,748.4,19.6,519,11208,0.00,2.28,0.00,0.000,6,0.000,0.051,2041,2682,2213,0,0,0,0,0,0
$GC,11536,0.60,146.1,676.4,21.9,530,11539,0.00,1.92,0.00,0.000,4,0.000,0.060,2041,3896,2213,0,0,0,0,0,0
$GC,11572,0.60,146.1,667.8,25.4,531,11576,0.00,1.88,0.00,0.000,6,0.000,0.037,2050,2673,2213,0,0,0,0,0,0
$GC,11915,0.60,146.1,593.1,21.4,542,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2668,2213,0,0,0,0,0,0
$GC,12223,0.60,146.1,526.9,22.0,552,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2668,2213,0,0,0,0,0,0
$GC,12527,0.60,146.1,461.2,21.3,562,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2668,2212,0,0,0,0,0,0
$GC,12836,0.60,146.1,396.7,21.1,572,12840,0.00,2.17,0.00,0.000,4,0.000,0.042,2061,1268,2212,0,0,0,0,0,0
$GC,12879,0.60,146.1,387.6,19.4,574,12883,0.15,2.28,0.00,0.000,6,0.214,0.050,2027,2679,2211,0,0,0,0,0,0
$GC,13209,0.60,146.1,326.3,18.6,590,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2211,0,0,0,0,0,0
$GC,13520,0.60,146.1,268.5,18.4,605,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2679,2211,0,0,0,0,0,0
$GC,13840,0.60,146.1,209.1,18.0,624,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2679,2211,0,0,0,0,0,0
$GC,14153,0.60,146.1,153.1,18.1,644,14157,0.00,2.22,0.00,0.000,4,0.000,0.043,2036,1265,2211,0,0,0,0,0,0
$GC,14228,0.60,146.1,139.9,15.7,648,14232,0.00,2.28,0.00,0.000,6,0.000,0.051,2036,2675,2209,0,0,0,0,0,0
$GC,14556,0.60,146.1,81.4,18.0,678,14565,0.00,1.98,0.00,0.000,4,0.000,0.058,2036,3903,2209,0,0,0,0,0,0
$GC,14605,0.60,146.1,72.8,18.4,685,14610,0.00,1.92,0.00,0.000,6,0.000,0.037,2045,2676,2210,0,0,0,0,0,0
$GC,14976,0.60,146.1,8.0,17.3,746,14985,0.00,1.98,0.00,0.000,4,0.000,0.053,2046,3900,2210,0,0,0,0,0,0
$STATE,14999,end climb,SURFACE_DEPTH_REACHED
$STATE,14999,begin surface coast
$FINISH,0.6,1.026423
$STATE,15019,end surface coast,CONTROL_FINISHED_OK
$STATE,15019,begin surface
$SM_CCo,15043,42.88,0.760,1,0,1880,230.09
$SM_GC,1.55,0.00,0.00,42.88,0.000,0.000,0.760,50,2823,1880,-5.56,-1.05,230.09
$IRIDIUM_FIX,-4613.60,441.66,190113,111145
$TT8_MAMPS,0.026215
$HUMID,59.09
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,21.9,49.425
$10V_AH,10.0,24.000
$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,14.075,67.000,298.900,42.875,0.000,25.023,26.884,377.461,0.000,0.000,34.625,1838.814,10586.686,427.446,2279.806,640.623,33.368,1173.866,0.000,1768.832,0.000,1.008,0.000
$DEVICE_MAMPS,255.510,82.620,1777.095,759.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.883,1499.795,802.140,297.263,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,53639,752
$CAP_FILE_SIZE,106901,0
$CFSIZE,259252224,213291008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,190113,204128,-4632.608,438.880,72,1.0,72,-23.5