version: 66.07
glider: 542
mission: 6
dive: 284
start: 1 24 113 2 21 22
data:
$ID,542
$MISSION,6
$DIVE,284
$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,-11385.21
$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,38
$R_STBD_OVSHOOT,48
$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
$GPS1,240113,020905,-4700.719,421.695,32,1.3,32,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-55.6
$GPS2,240113,022030,-4700.620,421.801,17,0.8,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.246,-0.070
$KALMAN_X,-218606.4,-899.6,491.6,225117.1,2238.1
$KALMAN_Y,151680.8,-477.1,-265.9,-168232.5,6036.5
$MHEAD_RNG_PITCHd_Wd,277.5,14950,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.05,0.000,2,0.000,0.000,50,2892,3072,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-2.8,8,125,6.60,2.30,-9.18,0.000,4,0.246,0.051,1631,1457,3418,0,0,0,0,0,0
$GC,192,-0.60,-146.1,21.7,-16.8,21,201,0.00,2.28,0.00,0.000,6,0.000,0.052,1622,2836,3419,0,0,0,0,0,0
$GC,277,-0.60,-146.1,34.3,-12.9,34,285,0.00,1.73,0.00,0.000,4,0.000,0.057,1613,3904,3419,0,0,0,0,0,0
$GC,316,-0.60,-146.1,39.8,-15.1,39,323,0.00,1.65,0.00,0.000,6,0.000,0.030,1613,2822,3419,0,0,0,0,0,0
$GC,559,-0.60,-146.1,77.2,-14.3,80,566,0.00,2.05,0.00,0.000,4,0.000,0.036,1613,1484,3419,0,0,0,0,0,0
$GC,594,-0.60,-146.1,81.5,-14.1,85,600,0.12,2.22,0.00,0.000,6,0.184,0.050,1633,2875,3419,0,0,0,0,0,0
$GC,939,-0.60,-146.1,122.5,-11.0,124,943,0.00,2.15,0.00,0.000,4,0.000,0.035,1633,1482,3420,0,0,0,0,0,0
$GC,986,-0.60,-146.1,127.6,-9.9,126,995,0.00,2.25,0.00,0.000,6,0.000,0.051,1624,2862,3420,0,0,0,0,0,0
$GC,1309,-0.60,-146.1,161.3,-10.1,147,1312,0.00,1.65,0.00,0.000,4,0.000,0.058,1615,3912,3421,0,0,0,0,0,0
$GC,1363,-0.60,-146.1,167.2,-10.9,150,1366,0.00,1.60,0.00,0.000,6,0.000,0.031,1615,2852,3421,0,0,0,0,0,0
$GC,1697,-0.60,-146.1,203.1,-10.9,171,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3421,0,0,0,0,0,0
$GC,2009,-0.60,-146.1,238.8,-11.7,191,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2848,3421,0,0,0,0,0,0
$GC,2323,-0.60,-146.1,275.3,-11.3,208,2327,0.00,1.70,0.00,0.000,4,0.000,0.059,1608,3893,3421,0,0,0,0,0,0
$GC,2396,-0.60,-146.1,284.1,-12.1,211,2400,0.00,1.55,0.00,0.000,6,0.000,0.032,1608,2865,3421,0,0,0,0,0,0
$GC,2733,-0.60,-146.1,324.7,-12.1,227,2737,0.00,1.70,0.00,0.000,4,0.000,0.059,1600,3903,3422,0,0,0,0,0,0
$GC,2790,-0.60,-146.1,332.7,-13.1,229,2795,0.08,1.58,0.00,0.000,6,0.164,0.032,1632,2863,3421,0,0,0,0,0,0
$GC,3117,-0.60,-146.1,364.4,-9.7,245,3120,0.00,1.67,0.00,0.000,4,0.000,0.060,1625,3903,3421,0,0,0,0,0,0
$GC,3147,-0.60,-146.1,367.8,-10.7,246,3151,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2863,3421,0,0,0,0,0,0
$GC,3486,-0.60,-146.1,403.4,-10.3,262,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2859,3421,0,0,0,0,0,0
$GC,3793,-0.60,-146.1,435.3,-10.3,272,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2859,3421,0,0,0,0,0,0
$GC,4099,-0.60,-146.1,466.1,-10.1,282,4103,0.00,1.67,0.00,0.000,4,0.000,0.061,1617,3898,3421,0,0,0,0,0,0
$GC,4136,-0.60,-146.1,470.0,-10.9,283,4139,0.00,1.58,0.00,0.000,6,0.000,0.033,1616,2856,3421,0,0,0,0,0,0
$GC,4478,-0.60,-146.1,507.1,-10.9,294,4482,0.00,1.67,0.00,0.000,4,0.000,0.060,1609,3894,3421,0,0,0,0,0,0
$GC,4530,-0.60,-146.1,513.3,-12.2,295,4534,0.00,1.58,0.00,0.000,6,0.000,0.032,1609,2854,3421,0,0,0,0,0,0
$GC,4856,-0.60,-146.1,550.2,-11.5,306,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2850,3420,0,0,0,0,0,0
$GC,5163,-0.60,-146.1,585.5,-11.5,316,5166,0.00,1.70,0.00,0.000,4,0.000,0.060,1601,3904,3420,0,0,0,0,0,0
$GC,5214,-0.60,-146.1,592.2,-12.5,317,5219,0.08,1.58,0.00,0.000,6,0.164,0.033,1632,2869,3420,0,0,0,0,0,0
$GC,5541,-0.60,-146.1,624.4,-9.9,328,5545,0.00,2.12,0.00,0.000,4,0.000,0.038,1632,1479,3420,0,0,0,0,0,0
$GC,5581,-0.60,-146.1,628.6,-9.7,329,5585,0.00,2.22,0.00,0.000,6,0.000,0.053,1623,2860,3420,0,0,0,0,0,0
$GC,5908,-0.60,-146.1,662.9,-10.3,340,5911,0.00,1.65,0.00,0.000,4,0.000,0.061,1615,3903,3420,0,0,0,0,0,0
$GC,5987,-0.60,-146.1,671.9,-11.2,342,5990,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2862,3419,0,0,0,0,0,0
$GC,6318,-0.60,-146.1,706.4,-10.4,353,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2857,3419,0,0,0,0,0,0
$GC,6625,-0.60,-146.1,737.2,-9.9,363,6629,0.00,1.70,0.00,0.000,4,0.000,0.061,1607,3893,3419,0,0,0,0,0,0
$GC,6677,-0.60,-146.1,742.8,-10.4,364,6680,0.00,1.58,0.00,0.000,6,0.000,0.033,1607,2859,3419,0,0,0,0,0,0
$GC,7004,-0.60,-146.1,776.4,-10.4,375,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2855,3419,0,0,0,0,0,0
$GC,7309,-0.60,-146.1,808.3,-10.2,385,7313,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3894,3418,0,0,0,0,0,0
$GC,7332,-0.60,-146.1,811.3,-11.4,385,7337,0.08,1.58,0.00,0.000,6,0.164,0.032,1631,2858,3417,0,0,0,0,0,0
$GC,7654,-0.60,-146.1,838.7,-8.4,396,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2854,3418,0,0,0,0,0,0
$GC,7960,-0.60,-146.1,864.3,-8.3,406,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3418,0,0,0,0,0,0
$GC,8268,-0.60,-146.1,889.5,-8.3,416,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2855,3418,0,0,0,0,0,0
$GC,8572,-0.60,-146.1,914.4,-8.2,426,8576,0.00,1.70,0.00,0.000,4,0.000,0.063,1624,3902,3417,0,0,0,0,0,0
$GC,8609,-0.60,-146.1,917.6,-8.9,427,8613,0.00,1.58,0.00,0.000,6,0.000,0.033,1625,2869,3417,0,0,0,0,0,0
$GC,8953,-0.60,-146.1,946.2,-8.3,438,8957,0.00,2.12,0.00,0.000,4,0.000,0.037,1624,1477,3417,0,0,0,0,0,0
$GC,8977,-0.60,-146.1,948.4,-8.7,438,8981,0.00,2.25,0.00,0.000,6,0.000,0.054,1613,2868,3417,0,0,0,0,0,0
$GC,9293,-0.60,-146.1,975.5,-8.4,448,9297,0.00,2.17,0.00,0.000,4,0.000,0.037,1614,1470,3417,0,0,0,0,0,0
$GC,9317,-0.60,-146.1,977.8,-9.3,448,9324,0.12,2.25,0.00,0.000,6,0.181,0.054,1635,2865,3417,0,0,0,0,0,0
$GC,9632,-0.60,-146.1,998.2,-6.6,459,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2865,3417,0,0,0,0,0,0
$STATE,9658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9658,begin apogee
$GC,9669,-0.18,0.0,1000.2,6.7,460,9818,0.45,0.00,145.45,1.247,6,0.155,0.000,1768,2677,2819,0,0,0,0,0,0
$STATE,9820,end apogee,CONTROL_FINISHED_OK
$STATE,9820,begin climb
$GC,9824,0.60,146.1,1003.0,0.0,465,9991,0.77,2.50,153.77,1.791,4,0.097,0.043,2029,1277,2224,0,0,0,0,1,0
$GC,10051,0.60,146.1,969.9,18.8,472,10055,0.00,2.42,0.00,0.000,6,0.000,0.050,2029,2665,2221,0,0,0,0,0,0
$GC,10390,0.60,146.1,895.1,21.8,483,10394,0.00,2.28,0.00,0.000,4,0.000,0.044,2040,1278,2217,0,0,0,0,0,0
$GC,10422,0.60,146.1,888.1,20.5,484,10426,0.00,2.30,0.00,0.000,6,0.000,0.050,2040,2677,2215,0,0,0,0,0,0
$GC,10765,0.60,146.1,810.1,22.4,495,10769,0.00,2.25,0.00,0.000,4,0.000,0.045,2050,1280,2215,0,0,0,0,0,0
$GC,10802,0.60,146.1,801.7,23.3,496,10806,0.00,2.28,0.00,0.000,6,0.000,0.051,2050,2679,2213,0,0,0,0,0,0
$GC,11146,0.60,146.1,723.3,23.1,507,11150,0.00,2.22,0.00,0.000,4,0.000,0.044,2061,1276,2213,0,0,0,0,0,0
$GC,11179,0.60,146.1,716.1,22.0,508,11184,0.15,2.28,0.00,0.000,6,0.220,0.050,2027,2677,2212,0,0,0,0,0,0
$GC,11517,0.60,146.1,647.4,20.0,519,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2677,2212,0,0,0,0,0,0
$GC,11824,0.60,146.1,588.4,19.0,529,11828,0.00,2.22,0.00,0.000,4,0.000,0.043,2037,1272,2211,0,0,0,0,0,0
$GC,11847,0.60,146.1,583.6,18.0,529,11851,0.00,2.28,0.00,0.000,6,0.000,0.050,2037,2678,2211,0,0,0,0,0,0
$GC,12162,0.60,146.1,522.1,19.5,539,12166,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1276,2211,0,0,0,0,0,0
$GC,12181,0.60,146.1,518.3,19.4,539,12185,0.00,2.25,0.00,0.000,6,0.000,0.049,2047,2676,2211,0,0,0,0,0,0
$GC,12503,0.60,146.1,455.0,20.0,550,12504,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2676,2211,0,0,0,0,0,0
$GC,12807,0.60,146.1,394.7,19.9,560,12812,0.00,2.22,0.00,0.000,4,0.000,0.043,2057,1272,2211,0,0,0,0,0,0
$GC,12830,0.60,146.1,390.7,19.7,561,12835,0.12,2.25,0.00,0.000,6,0.215,0.050,2030,2670,2210,0,0,0,0,0,0
$GC,13162,0.60,146.1,329.0,18.7,577,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2210,0,0,0,0,0,0
$GC,13470,0.60,146.1,271.7,18.0,592,13474,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1273,2210,0,0,0,0,0,0
$GC,13501,0.60,146.1,265.9,17.5,593,13505,0.00,2.25,0.00,0.000,6,0.000,0.051,2039,2670,2209,0,0,0,0,0,0
$GC,13827,0.60,146.1,205.3,18.8,612,13828,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2670,2209,0,0,0,0,0,0
$GC,14139,0.60,146.1,148.2,18.3,632,14143,0.00,2.17,0.00,0.000,4,0.000,0.044,2050,1274,2209,0,0,0,0,0,0
$GC,14180,0.60,146.1,140.9,16.8,634,14184,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2670,2209,0,0,0,0,0,0
$GC,14510,0.60,146.1,83.5,16.8,664,14517,0.00,1.95,0.00,0.000,4,0.000,0.060,2050,3895,2209,0,0,0,0,0,0
$GC,14553,0.60,146.1,75.4,20.7,670,14560,0.15,1.88,0.00,0.000,6,0.226,0.038,2025,2672,2210,0,0,0,0,0,0
$GC,14926,0.60,146.1,17.9,14.1,731,14934,0.00,2.20,0.00,0.000,4,0.000,0.041,2035,1270,2209,0,0,0,0,0,0
$GC,15001,0.60,146.1,6.4,16.3,742,15010,0.00,2.28,0.00,0.000,6,0.000,0.050,2035,2669,2208,0,0,0,0,0,0
$STATE,15024,end climb,SURFACE_DEPTH_REACHED
$STATE,15024,begin surface coast
$FINISH,0.8,1.026438
$STATE,15044,end surface coast,CONTROL_FINISHED_OK
$STATE,15044,begin surface
$SM_CCo,15066,42.05,0.764,1,0,1880,230.09
$SM_GC,2.13,0.00,0.00,42.05,0.000,0.000,0.764,59,2881,1880,-5.53,0.59,230.09
$IRIDIUM_FIX,-4648.08,334.97,230113,212106
$TT8_MAMPS,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.9,53.343
$10V_AH,10.0,26.439
$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,14.100,115.300,299.225,42.050,0.000,26.982,43.517,363.788,0.000,0.000,21.120,1891.489,10356.979,440.814,2397.010,696.728,33.370,1282.941,0.000,1886.583,0.000,1.012,0.000
$DEVICE_MAMPS,245.565,64.260,1790.865,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.914,1475.629,791.954,297.424,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,53687,748
$CAP_FILE_SIZE,124186,0
$CFSIZE,259252224,211804160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,240113,063434,-4659.913,418.483,30,1.3,30,-23.4