version: 66.07
glider: 542
mission: 6
dive: 299
start: 1 26 113 22 37 43
data:
$ID,542
$MISSION,6
$DIVE,299
$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,-11423.238
$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,50
$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
$GPS1,260113,221852,-4637.571,407.108,39,0.8,40,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-58.0
$GPS2,260113,223647,-4637.476,407.081,16,0.9,16,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,0.166
$KALMAN_X,-228084.6,215.9,64.1,215274.7,-3573.7
$KALMAN_Y,147970.3,200.0,11.5,-122635.5,-1443.7
$MHEAD_RNG_PITCHd_Wd,72.9,14337,-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,-54.97,0.000,2,0.000,0.000,53,2880,2936,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.1,-3.0,7,118,6.80,1.70,-14.82,0.000,4,0.254,0.080,1622,3892,3418,0,0,0,0,0,0
$GC,398,-0.60,-146.1,46.0,-13.8,55,405,0.00,1.60,0.00,0.000,6,0.000,0.031,1623,2844,3419,0,0,0,0,0,0
$GC,639,-0.60,-146.1,81.8,-15.1,96,648,0.00,1.70,0.00,0.000,4,0.000,0.057,1615,3887,3419,0,0,0,0,0,0
$GC,906,-0.60,-146.1,117.8,-12.9,126,909,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2843,3420,0,0,0,0,0,0
$GC,1234,-0.60,-146.1,158.9,-12.7,147,1238,0.00,1.67,0.00,0.000,4,0.000,0.057,1607,3890,3421,0,0,0,0,0,0
$GC,1331,-0.60,-146.1,172.5,-13.4,152,1341,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2851,3421,0,0,0,0,0,0
$GC,1655,-0.60,-146.1,212.8,-12.1,173,1658,0.00,1.67,0.00,0.000,4,0.000,0.057,1598,3897,3421,0,0,0,0,0,0
$GC,1717,-0.60,-146.1,221.1,-11.5,176,1727,0.10,1.55,0.00,0.000,6,0.162,0.031,1629,2866,3422,0,0,0,0,0,0
$GC,2045,-0.60,-146.1,251.6,-9.8,197,2049,0.00,1.67,0.00,0.000,4,0.000,0.058,1622,3890,3422,0,0,0,0,0,0
$GC,2079,-0.60,-146.1,255.9,-10.2,198,2083,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2862,3421,0,0,0,0,0,0
$GC,2403,-0.60,-146.1,289.7,-10.7,214,2407,0.00,1.67,0.00,0.000,4,0.000,0.058,1614,3887,3422,0,0,0,0,0,0
$GC,2476,-0.60,-146.1,297.8,-11.8,217,2480,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2858,3422,0,0,0,0,0,0
$GC,2813,-0.60,-146.1,336.2,-11.6,233,2817,0.00,1.67,0.00,0.000,4,0.000,0.058,1606,3897,3421,0,0,0,0,0,0
$GC,2871,-0.60,-146.1,344.0,-12.9,235,2874,0.00,1.58,0.00,0.000,6,0.000,0.031,1606,2856,3422,0,0,0,0,0,0
$GC,3196,-0.60,-146.1,383.6,-12.3,251,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2852,3421,0,0,0,0,0,0
$GC,3523,-0.60,-146.1,422.7,-11.8,264,3526,0.00,1.67,0.00,0.000,4,0.000,0.059,1598,3893,3421,0,0,0,0,0,0
$GC,3586,-0.60,-146.1,430.7,-12.1,265,3594,0.10,1.58,0.00,0.000,6,0.164,0.032,1628,2851,3421,0,0,0,0,0,0
$GC,3903,-0.60,-146.1,460.3,-9.4,276,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2851,3421,0,0,0,0,0,0
$GC,4208,-0.60,-146.1,488.3,-9.0,286,4212,0.00,1.67,0.00,0.000,4,0.000,0.060,1621,3890,3420,0,0,0,0,0,0
$GC,4231,-0.60,-146.1,490.8,-9.5,286,4235,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2870,3420,0,0,0,0,0,0
$GC,4552,-0.60,-146.1,519.0,-8.7,297,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2865,3420,0,0,0,0,0,0
$GC,4859,-0.60,-146.1,544.4,-8.3,307,4862,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3889,3420,0,0,0,0,0,0
$GC,4888,-0.60,-146.1,547.2,-9.6,307,4894,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2847,3420,0,0,0,0,0,0
$GC,5203,-0.60,-146.1,575.5,-9.3,318,5207,0.00,1.67,0.00,0.000,4,0.000,0.060,1605,3889,3419,0,0,0,0,0,0
$GC,5249,-0.60,-146.1,580.3,-10.0,319,5252,0.00,1.55,0.00,0.000,6,0.000,0.033,1605,2870,3419,0,0,0,0,0,0
$GC,5581,-0.60,-146.1,615.5,-10.7,330,5583,0.10,0.00,0.00,0.000,6,0.197,0.000,1629,2866,3419,0,0,0,0,0,0
$GC,5887,-0.60,-146.1,643.5,-9.1,340,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3418,0,0,0,0,0,0
$GC,6194,-0.60,-146.1,670.8,-8.9,350,6197,0.00,2.15,0.00,0.000,4,0.000,0.037,1629,1474,3418,0,0,0,0,0,0
$GC,6225,-0.60,-146.1,673.7,-8.5,351,6229,0.00,2.20,0.00,0.000,6,0.000,0.052,1620,2852,3417,0,0,0,0,0,0
$GC,6563,-0.60,-146.1,705.8,-9.7,362,6566,0.00,1.65,0.00,0.000,4,0.000,0.061,1611,3894,3417,0,0,0,0,0,0
$GC,6633,-0.60,-146.1,713.0,-10.4,364,6637,0.00,1.58,0.00,0.000,6,0.000,0.033,1611,2856,3417,0,0,0,0,0,0
$GC,6976,-0.60,-146.1,747.1,-10.1,375,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2851,3417,0,0,0,0,0,0
$GC,7284,-0.60,-146.1,778.2,-10.2,385,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2851,3416,0,0,0,0,0,0
$GC,7589,-0.60,-146.1,809.1,-9.9,395,7590,0.00,0.00,0.00,0.000,6,0.000,0.000,1610,2851,3416,0,0,0,0,0,0
$GC,7897,-0.60,-146.1,837.8,-9.2,405,7901,0.00,2.12,0.00,0.000,4,0.000,0.038,1611,1476,3416,0,0,0,0,0,0
$GC,7928,-0.60,-146.1,840.9,-9.5,406,7932,0.12,2.22,0.00,0.000,6,0.187,0.053,1631,2860,3416,0,0,0,0,0,0
$GC,8272,-0.60,-146.1,866.9,-7.4,417,8276,0.00,1.65,0.00,0.000,4,0.000,0.061,1625,3897,3416,0,0,0,0,0,0
$GC,8335,-0.60,-146.1,872.2,-8.3,418,8342,0.00,1.58,0.00,0.000,6,0.000,0.033,1625,2862,3417,0,0,0,0,0,0
$GC,8651,-0.60,-146.1,896.6,-7.7,429,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3416,0,0,0,0,0,0
$GC,8957,-0.60,-146.1,919.3,-7.3,439,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3416,0,0,0,0,0,0
$GC,9263,-0.60,-146.1,941.4,-7.3,449,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2862,3416,0,0,0,0,0,0
$GC,9569,-0.60,-146.1,964.8,-7.9,459,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2861,3416,0,0,0,0,0,0
$GC,9876,-0.60,-146.1,988.8,-7.9,469,9879,0.00,2.10,0.00,0.000,4,0.000,0.038,1625,1484,3416,0,0,0,0,0,0
$GC,9911,-0.60,-146.1,992.0,-8.2,470,9915,0.00,2.25,0.00,0.000,6,0.000,0.054,1614,2871,3415,0,0,0,0,0,0
$STATE,10024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10024,begin apogee
$GC,10035,-0.18,0.0,1001.6,8.4,474,10183,0.52,0.00,144.77,1.251,6,0.167,0.000,1765,2683,2819,0,0,0,0,0,0
$STATE,10185,end apogee,CONTROL_FINISHED_OK
$STATE,10185,begin climb
$GC,10190,0.60,146.1,1004.7,0.0,479,10357,0.77,2.50,154.20,1.807,4,0.099,0.043,2026,1277,2225,0,0,0,0,1,0
$GC,10423,0.60,146.1,970.0,18.8,486,10427,0.00,2.45,0.00,0.000,6,0.000,0.049,2026,2668,2221,0,0,0,0,0,0
$GC,10749,0.60,146.1,899.2,22.6,497,10753,0.00,2.25,0.00,0.000,4,0.000,0.045,2036,1278,2217,0,0,0,0,0,0
$GC,10795,0.60,146.1,889.1,19.9,498,10800,0.00,2.33,0.00,0.000,6,0.000,0.050,2036,2680,2215,0,0,0,0,0,0
$GC,11117,0.60,146.1,819.2,21.2,509,11120,0.00,1.98,0.00,0.000,4,0.000,0.060,2036,3900,2214,0,0,0,0,0,0
$GC,11134,0.60,146.1,815.1,20.3,509,11138,0.00,1.90,0.00,0.000,6,0.000,0.037,2045,2679,2215,0,0,0,0,0,0
$GC,11461,0.60,146.1,743.9,21.9,520,11465,0.00,2.22,0.00,0.000,4,0.000,0.045,2056,1270,2214,0,0,0,0,0,0
$GC,11530,0.60,146.1,729.5,18.3,522,11534,0.12,2.28,0.00,0.000,6,0.213,0.050,2029,2672,2213,0,0,0,0,0,0
$GC,11862,0.60,146.1,661.7,20.4,533,11866,0.00,2.22,0.00,0.000,4,0.000,0.044,2038,1263,2213,0,0,0,0,0,0
$GC,11894,0.60,146.1,655.4,20.2,534,11898,0.00,2.28,0.00,0.000,6,0.000,0.050,2038,2670,2212,0,0,0,0,0,0
$GC,12231,0.60,146.1,585.5,20.5,545,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2212,0,0,0,0,0,0
$GC,12538,0.60,146.1,525.2,19.2,555,12539,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2670,2212,0,0,0,0,0,0
$GC,12843,0.60,146.1,469.3,17.9,565,12847,0.00,2.20,0.00,0.000,4,0.000,0.045,2049,1270,2212,0,0,0,0,0,0
$GC,12867,0.60,146.1,464.9,16.8,565,12874,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2670,2212,0,0,0,0,0,0
$GC,13183,0.60,146.1,405.6,19.1,576,13187,0.00,2.22,0.00,0.000,4,0.000,0.044,2058,1269,2212,0,0,0,0,0,0
$GC,13225,0.60,146.1,397.9,16.7,578,13230,0.12,2.28,0.00,0.000,6,0.207,0.050,2030,2677,2211,0,0,0,0,0,0
$GC,13556,0.60,146.1,341.3,17.1,594,13560,0.00,2.25,0.00,0.000,4,0.000,0.044,2040,1262,2211,0,0,0,0,0,0
$GC,13591,0.60,146.1,334.7,16.2,595,13600,0.00,2.28,0.00,0.000,6,0.000,0.050,2040,2674,2210,0,0,0,0,0,0
$GC,13912,0.60,146.1,276.2,18.5,611,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2674,2210,0,0,0,0,0,0
$GC,14228,0.60,146.1,217.5,18.4,629,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2675,2211,0,0,0,0,0,0
$GC,14540,0.60,146.1,163.4,17.0,649,14544,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1261,2210,0,0,0,0,0,0
$GC,14629,0.60,146.1,149.6,14.5,654,14633,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2670,2209,0,0,0,0,0,0
$GC,14957,0.60,146.1,90.3,18.4,680,14966,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1270,2210,0,0,0,0,0,0
$GC,15030,0.60,146.1,78.6,14.7,691,15035,0.15,2.25,0.00,0.000,6,0.197,0.050,2025,2670,2209,0,0,0,0,0,0
$GC,15393,0.60,146.1,26.7,14.7,752,15402,0.00,2.20,0.00,0.000,4,0.000,0.041,2035,1269,2209,0,0,0,0,0,0
$GC,15451,0.60,146.1,19.9,11.7,760,15460,0.00,2.30,0.00,0.000,6,0.000,0.054,2035,2668,2209,0,0,0,0,0,0
$GC,15539,0.60,146.1,5.9,18.4,773,15547,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2668,2209,0,0,0,0,0,0
$STATE,15555,end climb,SURFACE_DEPTH_REACHED
$STATE,15555,begin surface coast
$FINISH,0.9,1.013241
$STATE,15575,end surface coast,CONTROL_FINISHED_OK
$STATE,15575,begin surface
$SM_CCo,15597,42.08,0.753,1,0,1879,230.09
$SM_GC,2.20,0.00,0.00,42.08,0.000,0.000,0.753,52,2896,1879,-5.56,1.05,230.09
$IRIDIUM_FIX,-4619.84,407.82,260113,222228
$TT8_MAMPS,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.8,55.898
$10V_AH,10.0,28.069
$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,14.275,105.050,298.975,42.075,0.000,51.541,40.132,656.698,0.000,0.000,19.072,1953.761,10777.087,445.088,2727.421,803.224,33.379,1316.406,0.000,1984.380,0.000,1.009,0.000
$DEVICE_MAMPS,253.980,79.560,1806.930,752.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.616,1537.391,818.471,321.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354128
$DATA_FILE_SIZE,57026,778
$CAP_FILE_SIZE,129041,0
$CFSIZE,259252224,210780160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,270113,025952,-4635.437,408.271,35,0.8,35,-23.3