version: 66.07
glider: 542
mission: 6
dive: 265
start: 1 20 113 14 12 21
data:
$ID,542
$MISSION,6
$DIVE,265
$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,-11339.202
$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,42
$R_STBD_OVSHOOT,34
$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
$GPS1,200113,140135,-4637.031,445.061,41,0.9,41,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.0
$GPS2,200113,141129,-4637.015,445.125,18,0.9,18,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,-0.245
$KALMAN_X,-207994.5,-65.6,33.5,243660.7,-1627.7
$KALMAN_Y,121905.8,-824.7,-225.3,-94430.0,4738.9
$MHEAD_RNG_PITCHd_Wd,186.9,43057,-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,26,-0.60,-146.1,0.0,0.0,0,100,0.00,0.00,-70.93,0.000,2,0.000,0.000,59,2886,3271,0,0,0,0,0,0
$GC,107,-0.60,-146.1,3.6,-3.8,9,125,6.72,1.62,-3.62,0.000,4,0.254,0.068,1621,3890,3417,0,0,0,0,0,0
$GC,282,-0.60,-146.1,36.8,-14.7,36,292,0.00,1.60,0.00,0.000,6,0.000,0.031,1621,2837,3418,0,0,0,0,0,0
$GC,531,-0.60,-146.1,74.7,-15.0,77,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2837,3419,0,0,0,0,0,0
$GC,879,-0.60,-146.1,123.3,-13.8,120,882,0.00,1.70,0.00,0.000,4,0.000,0.058,1613,3893,3421,0,0,0,0,0,0
$GC,936,-0.60,-146.1,132.1,-14.3,123,940,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2868,3421,0,0,0,0,0,0
$GC,1265,-0.60,-146.1,176.8,-13.5,144,1268,0.00,2.10,0.00,0.000,4,0.000,0.035,1613,1475,3422,0,0,0,0,0,0
$GC,1300,-0.60,-146.1,181.9,-12.2,146,1305,0.12,2.22,0.00,0.000,6,0.181,0.051,1633,2862,3422,0,0,0,0,0,0
$GC,1627,-0.60,-146.1,214.5,-9.6,166,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2862,3422,0,0,0,0,0,0
$GC,1951,-0.60,-146.1,246.0,-10.0,187,1955,0.00,1.65,0.00,0.000,4,0.000,0.059,1627,3894,3423,0,0,0,0,0,0
$GC,1990,-0.60,-146.1,250.1,-10.7,189,1993,0.00,1.58,0.00,0.000,6,0.000,0.031,1626,2850,3423,0,0,0,0,0,0
$GC,2315,-0.60,-146.1,284.9,-10.3,205,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2844,3423,0,0,0,0,0,0
$GC,2624,-0.60,-146.1,316.3,-10.1,220,2628,0.00,2.08,0.00,0.000,4,0.000,0.037,1627,1485,3423,0,0,0,0,0,0
$GC,2667,-0.60,-146.1,320.8,-9.8,222,2671,0.00,2.20,0.00,0.000,6,0.000,0.051,1616,2859,3423,0,0,0,0,0,0
$GC,2997,-0.60,-146.1,358.4,-11.8,238,3000,0.00,1.67,0.00,0.000,4,0.000,0.060,1608,3894,3423,0,0,0,0,0,0
$GC,3037,-0.60,-146.1,363.6,-12.7,239,3044,0.00,1.55,0.00,0.000,6,0.000,0.031,1608,2862,3423,0,0,0,0,0,0
$GC,3366,-0.60,-146.1,403.6,-12.3,255,3369,0.00,1.65,0.00,0.000,4,0.000,0.059,1600,3894,3423,0,0,0,0,0,0
$GC,3406,-0.60,-146.1,409.1,-13.1,256,3410,0.08,1.58,0.00,0.000,6,0.168,0.032,1632,2852,3423,0,0,0,0,0,0
$GC,3744,-0.60,-146.1,442.9,-9.8,267,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2848,3423,0,0,0,0,0,0
$GC,4050,-0.60,-146.1,470.6,-8.7,277,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3423,0,0,0,0,0,0
$GC,4356,-0.60,-146.1,494.6,-7.6,287,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2848,3422,0,0,0,0,0,0
$GC,4663,-0.60,-146.1,517.5,-7.6,297,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3422,0,0,0,0,0,0
$GC,4969,-0.60,-146.1,542.5,-8.4,307,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3422,0,0,0,0,0,0
$GC,5275,-0.60,-146.1,569.6,-9.2,317,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3422,0,0,0,0,0,0
$GC,5581,-0.60,-146.1,598.3,-9.5,327,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3422,0,0,0,0,0,0
$GC,5887,-0.60,-146.1,628.3,-10.0,337,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3421,0,0,0,0,0,0
$GC,6194,-0.60,-146.1,657.7,-9.4,347,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3421,0,0,0,0,0,0
$GC,6500,-0.60,-146.1,685.5,-9.0,357,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2848,3421,0,0,0,0,0,0
$GC,6807,-0.60,-146.1,711.7,-8.6,367,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2849,3421,0,0,0,0,0,0
$GC,7112,-0.60,-146.1,735.9,-7.7,377,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2848,3421,0,0,0,0,0,0
$GC,7419,-0.60,-146.1,760.1,-7.9,387,7423,0.00,2.10,0.00,0.000,4,0.000,0.038,1632,1479,3420,0,0,0,0,0,0
$GC,7477,-0.60,-146.1,764.9,-7.9,388,7481,0.00,2.22,0.00,0.000,6,0.000,0.054,1623,2860,3420,0,0,0,0,0,0
$GC,7794,-0.60,-146.1,793.0,-9.3,398,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3420,0,0,0,0,0,0
$GC,8098,-0.60,-146.1,822.5,-9.8,408,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3420,0,0,0,0,0,0
$GC,8405,-0.60,-146.1,853.1,-10.2,418,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3420,0,0,0,0,0,0
$GC,8710,-0.60,-146.1,885.0,-10.3,428,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3419,0,0,0,0,0,0
$GC,9018,-0.60,-146.1,915.2,-9.7,438,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2860,3420,0,0,0,0,0,0
$GC,9324,-0.60,-146.1,943.1,-8.9,448,9327,0.00,2.15,0.00,0.000,4,0.000,0.037,1623,1478,3420,0,0,0,0,0,0
$GC,9359,-0.60,-146.1,946.4,-8.8,449,9363,0.00,2.22,0.00,0.000,6,0.000,0.054,1613,2868,3420,0,0,0,0,0,0
$GC,9691,-0.60,-146.1,975.7,-8.7,460,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2869,3419,0,0,0,0,0,0
$STATE,9993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9993,begin apogee
$GC,10004,-0.18,0.0,1001.9,8.4,470,10154,0.52,0.00,147.30,1.245,6,0.164,0.000,1764,2680,2819,0,0,0,0,0,0
$STATE,10156,end apogee,CONTROL_FINISHED_OK
$STATE,10156,begin climb
$GC,10161,0.60,146.1,1004.8,0.0,475,10327,0.82,2.53,152.30,1.791,4,0.099,0.042,2034,1291,2225,0,0,0,0,1,0
$GC,10364,0.60,146.1,974.0,20.9,481,10371,0.00,2.42,0.00,0.000,6,0.000,0.050,2034,2662,2222,0,0,0,0,0,0
$GC,10679,0.60,146.1,903.3,22.7,492,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2663,2217,0,0,0,0,0,0
$GC,10985,0.60,146.1,835.4,21.8,502,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2663,2216,0,0,0,0,0,0
$GC,11291,0.60,146.1,770.7,20.8,512,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2663,2215,0,0,0,0,0,0
$GC,11598,0.60,146.1,708.1,20.3,522,11602,0.00,2.20,0.00,0.000,4,0.000,0.044,2044,1273,2214,0,0,0,0,0,0
$GC,11635,0.60,146.1,701.0,19.6,523,11639,0.00,2.28,0.00,0.000,6,0.000,0.051,2044,2683,2213,0,0,0,0,0,0
$GC,11980,0.60,146.1,629.1,21.2,534,11983,0.00,1.92,0.00,0.000,4,0.000,0.060,2044,3899,2213,0,0,0,0,0,0
$GC,12016,0.60,146.1,620.4,24.0,535,12020,0.00,1.88,0.00,0.000,6,0.000,0.037,2053,2675,2213,0,0,0,0,0,0
$GC,12360,0.60,146.1,547.2,20.7,546,12364,0.00,2.17,0.00,0.000,4,0.000,0.043,2064,1271,2213,0,0,0,0,0,0
$GC,12400,0.60,146.1,538.8,19.4,547,12405,0.15,2.25,0.00,0.000,6,0.213,0.050,2030,2679,2211,0,0,0,0,0,0
$GC,12727,0.60,146.1,478.2,19.4,558,12731,0.00,1.92,0.00,0.000,4,0.000,0.058,2030,3901,2211,0,0,0,0,0,0
$GC,12773,0.60,146.1,468.1,21.3,559,12777,0.00,1.90,0.00,0.000,6,0.000,0.037,2038,2664,2211,0,0,0,0,0,0
$GC,13105,0.60,146.1,404.9,18.9,570,13109,0.00,2.17,0.00,0.000,4,0.000,0.044,2049,1258,2211,0,0,0,0,0,0
$GC,13156,0.60,146.1,395.2,16.0,572,13160,0.00,2.28,0.00,0.000,6,0.000,0.050,2049,2673,2210,0,0,0,0,0,0
$GC,13480,0.60,146.1,328.3,21.6,588,13484,0.00,1.98,0.00,0.000,4,0.000,0.060,2049,3894,2210,0,0,0,0,0,0
$GC,13509,0.60,146.1,322.3,22.8,589,13514,0.12,1.88,0.00,0.000,6,0.236,0.038,2031,2672,2210,0,0,0,0,0,0
$GC,13848,0.60,146.1,255.5,19.7,605,13852,0.00,2.20,0.00,0.000,4,0.000,0.044,2041,1267,2211,0,0,0,0,0,0
$GC,13892,0.60,146.1,247.0,18.6,607,13899,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2678,2209,0,0,0,0,0,0
$GC,14213,0.60,146.1,184.9,18.0,628,14214,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2679,2209,0,0,0,0,0,0
$GC,14526,0.60,146.1,130.0,16.6,648,14530,0.00,1.98,0.00,0.000,4,0.000,0.059,2041,3899,2209,0,0,0,0,0,0
$GC,14550,0.60,146.1,125.5,17.0,649,14554,0.00,1.92,0.00,0.000,6,0.000,0.038,2050,2658,2210,0,0,0,0,0,0
$GC,14893,0.60,146.1,68.5,17.2,691,14898,0.00,2.15,0.00,0.000,4,0.000,0.043,2061,1266,2209,0,0,0,0,0,0
$GC,15013,0.60,146.1,50.5,14.2,711,15021,0.15,2.28,0.00,0.000,6,0.205,0.050,2026,2681,2208,0,0,0,0,0,0
$GC,15271,0.60,146.1,10.5,16.1,752,15280,0.00,1.95,0.00,0.000,4,0.000,0.059,2025,3893,2208,0,0,0,0,0,0
$GC,15304,0.60,146.1,5.3,15.3,756,15313,0.00,1.92,0.00,0.000,6,0.000,0.037,2034,2655,2209,0,0,0,0,0,0
$STATE,15321,end climb,SURFACE_DEPTH_REACHED
$STATE,15321,begin surface coast
$FINISH,0.7,1.016025
$STATE,15341,end surface coast,CONTROL_FINISHED_OK
$STATE,15341,begin surface
$SM_CCo,15364,42.25,0.768,1,0,1880,230.09
$SM_GC,2.19,0.00,0.00,42.25,0.000,0.000,0.768,61,2879,1880,-5.53,0.54,230.09
$IRIDIUM_FIX,-4616.72,445.30,200113,090921
$TT8_MAMPS,0.026215
$HUMID,57.95
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.80
$XPDR_PINGS,0
$24V_AH,21.9,50.241
$10V_AH,10.0,24.500
$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,14.150,80.525,299.600,42.250,0.000,25.647,19.642,317.551,0.000,0.000,20.894,1875.773,10810.873,429.201,2239.805,635.612,33.373,1209.023,0.000,1802.187,0.000,1.010,0.000
$DEVICE_MAMPS,253.980,68.085,1790.865,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.726,1487.884,779.089,300.516,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,53679,761
$CAP_FILE_SIZE,112757,0
$CFSIZE,259252224,213000192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,200113,183035,-4638.990,445.145,34,1.1,34,-23.6