version: 66.07
glider: 542
mission: 6
dive: 305
start: 1 28 113 2 10 26
data:
$ID,542
$MISSION,6
$DIVE,305
$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,-11439.688
$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,36
$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
$GPS1,280113,015635,-4630.801,422.897,35,1.0,35,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-53.9
$GPS2,280113,020929,-4630.783,422.998,16,1.0,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.178,-0.183
$KALMAN_X,-237431.2,938.1,540.9,243548.8,-3599.6
$KALMAN_Y,158317.0,-490.6,-59.0,-119811.4,3890.3
$MHEAD_RNG_PITCHd_Wd,159.1,21723,-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,-146.1,0.0,0.0,0,92,0.00,0.00,-63.00,0.000,2,0.000,0.000,52,2876,3101,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.1,-2.6,8,125,6.60,1.65,-8.68,0.000,4,0.244,0.075,1621,3883,3418,0,0,0,0,0,0
$GC,401,-0.60,-146.1,50.2,-15.0,56,410,0.00,1.58,0.00,0.000,6,0.000,0.030,1621,2841,3420,0,0,0,0,0,0
$GC,647,-0.60,-146.1,84.5,-13.7,97,652,0.00,1.70,0.00,0.000,4,0.000,0.057,1613,3898,3421,0,0,0,0,0,0
$GC,773,-0.60,-146.1,102.3,-14.1,118,777,0.00,1.58,0.00,0.000,6,0.000,0.030,1613,2851,3421,0,0,0,0,0,0
$GC,1102,-0.60,-146.1,146.2,-12.8,139,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2846,3422,0,0,0,0,0,0
$GC,1415,-0.60,-146.1,184.9,-12.4,159,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2847,3422,0,0,0,0,0,0
$GC,1728,-0.60,-146.1,225.5,-13.0,179,1732,0.00,1.65,0.00,0.000,4,0.000,0.057,1605,3890,3422,0,0,0,0,0,0
$GC,1767,-0.60,-146.1,231.0,-13.7,181,1770,0.00,1.55,0.00,0.000,6,0.000,0.031,1605,2859,3423,0,0,0,0,0,0
$GC,2099,-0.60,-146.1,273.9,-12.2,199,2103,0.10,1.67,0.00,0.000,4,0.194,0.057,1622,3888,3422,0,0,0,0,0,0
$GC,2185,-0.60,-146.1,284.3,-11.1,202,2194,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2858,3423,0,0,0,0,0,0
$GC,2504,-0.60,-146.1,317.3,-10.3,218,2508,0.00,1.67,0.00,0.000,4,0.000,0.059,1614,3886,3423,0,0,0,0,0,0
$GC,2539,-0.60,-146.1,321.5,-11.0,219,2542,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2856,3423,0,0,0,0,0,0
$GC,2865,-0.60,-146.1,358.5,-11.7,235,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2851,3423,0,0,0,0,0,0
$GC,3172,-0.60,-146.1,396.0,-12.1,250,3176,0.00,1.65,0.00,0.000,4,0.000,0.058,1605,3894,3423,0,0,0,0,0,0
$GC,3223,-0.60,-146.1,402.8,-12.4,252,3227,0.08,1.58,0.00,0.000,6,0.156,0.031,1638,2855,3423,0,0,0,0,0,0
$GC,3550,-0.60,-146.1,433.7,-9.0,263,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2851,3422,0,0,0,0,0,0
$GC,3856,-0.60,-146.1,459.9,-8.3,273,3860,0.00,1.70,0.00,0.000,4,0.000,0.060,1631,3890,3422,0,0,0,0,0,0
$GC,3893,-0.60,-146.1,463.2,-9.3,274,3897,0.00,1.55,0.00,0.000,6,0.000,0.032,1631,2866,3422,0,0,0,0,0,0
$GC,4239,-0.60,-146.1,493.8,-8.6,285,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2862,3422,0,0,0,0,0,0
$GC,4543,-0.60,-146.1,519.4,-8.3,295,4547,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3886,3422,0,0,0,0,0,0
$GC,4606,-0.60,-146.1,525.4,-9.2,296,4613,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2858,3422,0,0,0,0,0,0
$GC,4922,-0.60,-146.1,554.3,-9.3,307,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2858,3422,0,0,0,0,0,0
$GC,5228,-0.60,-146.1,583.1,-9.5,317,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2858,3421,0,0,0,0,0,0
$GC,5534,-0.60,-146.1,613.4,-10.2,327,5537,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3893,3421,0,0,0,0,0,0
$GC,5596,-0.60,-146.1,620.7,-11.5,328,5603,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2865,3421,0,0,0,0,0,0
$GC,5912,-0.60,-146.1,655.3,-10.7,339,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2865,3420,0,0,0,0,0,0
$GC,6219,-0.60,-146.1,686.8,-9.8,349,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2865,3420,0,0,0,0,0,0
$GC,6524,-0.60,-146.1,715.3,-9.1,359,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2865,3421,0,0,0,0,0,0
$GC,6831,-0.60,-146.1,743.4,-9.2,369,6835,0.00,1.62,0.00,0.000,4,0.000,0.060,1608,3885,3420,0,0,0,0,0,0
$GC,6871,-0.60,-146.1,747.8,-9.8,370,6875,0.00,1.55,0.00,0.000,6,0.000,0.032,1608,2867,3419,0,0,0,0,0,0
$GC,7209,-0.60,-146.1,778.7,-8.9,381,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2862,3419,0,0,0,0,0,0
$GC,7517,-0.60,-146.1,806.6,-9.1,391,7521,0.00,1.65,0.00,0.000,4,0.000,0.060,1600,3896,3419,0,0,0,0,0,0
$GC,7568,-0.60,-146.1,812.2,-9.7,392,7573,0.08,1.58,0.00,0.000,6,0.160,0.032,1632,2860,3419,0,0,0,0,0,0
$GC,7895,-0.60,-146.1,837.1,-7.8,403,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3419,0,0,0,0,0,0
$GC,8202,-0.60,-146.1,861.0,-7.8,413,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3419,0,0,0,0,0,0
$GC,8508,-0.60,-146.1,884.6,-7.6,423,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3418,0,0,0,0,0,0
$GC,8814,-0.60,-146.1,907.5,-7.6,433,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2857,3418,0,0,0,0,0,0
$GC,9121,-0.60,-146.1,930.4,-7.4,443,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,9426,-0.60,-146.1,953.3,-7.4,453,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,9733,-0.60,-146.1,975.9,-7.3,463,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2856,3418,0,0,0,0,0,0
$GC,10039,-0.60,-146.1,998.2,-7.5,473,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2857,3418,0,0,0,0,0,0
$STATE,10064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10065,begin apogee
$GC,10075,-0.18,0.0,1000.5,7.4,474,10223,0.45,0.00,145.00,1.237,6,0.148,0.000,1768,2668,2819,0,0,0,0,0,0
$STATE,10226,end apogee,CONTROL_FINISHED_OK
$STATE,10226,begin climb
$GC,10230,0.60,146.1,1004.5,0.0,479,10407,0.77,2.53,156.12,1.793,4,0.093,0.041,2033,1293,2225,0,0,0,0,2,0
$GC,10447,0.60,146.1,975.2,19.0,485,10451,0.00,2.40,0.00,0.000,6,0.000,0.050,2033,2653,2222,0,0,0,0,0,0
$GC,10769,0.60,146.1,905.6,21.9,496,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2653,2217,0,0,0,0,0,0
$GC,11074,0.60,146.1,838.7,21.5,506,11078,0.00,2.17,0.00,0.000,4,0.000,0.042,2042,1285,2216,0,0,0,0,0,0
$GC,11115,0.60,146.1,829.9,19.9,507,11119,0.00,2.28,0.00,0.000,6,0.000,0.050,2042,2674,2214,0,0,0,0,0,0
$GC,11442,0.60,146.1,756.3,23.0,518,11446,0.00,2.20,0.00,0.000,4,0.000,0.043,2053,1284,2214,0,0,0,0,0,0
$GC,11488,0.60,146.1,745.9,20.1,519,11492,0.00,2.25,0.00,0.000,6,0.000,0.050,2053,2671,2213,0,0,0,0,0,0
$GC,11808,0.60,146.1,675.0,22.0,530,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2671,2213,0,0,0,0,0,0
$GC,12115,0.60,146.1,610.8,20.8,540,12119,0.00,2.20,0.00,0.000,4,0.000,0.044,2063,1277,2213,0,0,0,0,0,0
$GC,12178,0.60,146.1,598.1,18.2,541,12185,0.15,2.25,0.00,0.000,6,0.213,0.050,2028,2672,2211,0,0,0,0,0,0
$GC,12493,0.60,146.1,538.9,18.9,552,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2673,2212,0,0,0,0,0,0
$GC,12800,0.60,146.1,481.2,18.8,562,12801,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2673,2211,0,0,0,0,0,0
$GC,13106,0.60,146.1,423.7,19.1,572,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2673,2211,0,0,0,0,0,0
$GC,13426,0.60,146.1,364.6,18.4,585,13430,0.00,2.20,0.00,0.000,4,0.000,0.043,2038,1280,2211,0,0,0,0,0,0
$GC,13476,0.60,146.1,355.8,16.9,587,13481,0.00,2.25,0.00,0.000,6,0.000,0.050,2038,2675,2210,0,0,0,0,0,0
$GC,13808,0.60,146.1,295.5,18.5,603,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2676,2211,0,0,0,0,0,0
$GC,14118,0.60,146.1,236.8,18.6,619,14122,0.00,2.20,0.00,0.000,4,0.000,0.042,2048,1272,2211,0,0,0,0,0,0
$GC,14176,0.60,146.1,226.1,16.3,622,14185,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2666,2210,0,0,0,0,0,0
$GC,14503,0.60,146.1,167.5,17.7,643,14507,0.00,2.17,0.00,0.000,4,0.000,0.043,2059,1278,2210,0,0,0,0,0,0
$GC,14571,0.60,146.1,155.5,16.0,647,14576,0.12,2.25,0.00,0.000,6,0.207,0.050,2030,2673,2209,0,0,0,0,0,0
$GC,14904,0.60,146.1,103.5,15.5,668,14908,0.00,1.95,0.00,0.000,4,0.000,0.059,2030,3899,2210,0,0,0,0,0,0
$GC,14969,0.60,146.1,90.9,18.3,677,14974,0.00,1.88,0.00,0.000,6,0.000,0.037,2039,2685,2210,0,0,0,0,0,0
$GC,15327,0.60,146.1,33.7,16.5,738,15336,0.00,2.25,0.00,0.000,4,0.000,0.043,2050,1266,2209,0,0,0,0,0,0
$GC,15445,0.60,146.1,17.1,13.0,756,15454,0.00,2.30,0.00,0.000,6,0.000,0.050,2049,2675,2208,0,0,0,0,0,0
$GC,15532,0.60,146.1,6.1,12.9,769,15541,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2674,2208,0,0,0,0,0,0
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15549,begin surface coast
$FINISH,0.9,1.026046
$STATE,15570,end surface coast,CONTROL_FINISHED_OK
$STATE,15570,begin surface
$SM_CCo,15592,42.12,0.762,1,0,1879,230.09
$SM_GC,1.97,0.00,0.00,42.12,0.000,0.000,0.762,58,2883,1879,-5.54,0.65,230.09
$IRIDIUM_FIX,-4613.60,413.61,270113,212104
$TT8_MAMPS,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.50
$XPDR_PINGS,0
$24V_AH,21.8,56.915
$10V_AH,10.0,28.720
$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,13.675,75.950,301.125,42.125,0.000,27.346,19.910,481.716,0.000,0.000,18.788,1912.323,10932.523,431.719,2396.024,729.262,33.375,1239.442,0.000,1857.714,0.000,1.009,0.000
$DEVICE_MAMPS,244.035,74.970,1793.160,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.439,1516.223,792.127,313.228,0.000,0.000,0.000,0.000,0.000,0.000
$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,57023,774
$CAP_FILE_SIZE,116661,0
$CFSIZE,259252224,210395136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,280113,063234,-4632.292,425.501,40,0.9,40,-23.5