version: 66.07
glider: 542
mission: 6
dive: 306
start: 1 28 113 6 46 21
data:
$ID,542
$MISSION,6
$DIVE,306
$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,-11442.403
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,280113,063234,-4632.292,425.501,40,0.9,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-62.6
$GPS2,280113,064524,-4632.327,425.526,17,1.0,17,-23.5
$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,-237020.2,553.3,142.9,247132.1,-2111.1
$KALMAN_Y,159620.2,-671.2,-334.2,-123505.6,4274.4
$MHEAD_RNG_PITCHd_Wd,159.4,18949,-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,21,begin dive
$GC,26,-0.60,-146.1,0.0,0.0,0,91,0.00,0.00,-63.03,0.000,2,0.000,0.000,56,2885,3123,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-3.2,8,124,6.53,2.30,-7.62,0.000,4,0.241,0.052,1633,1459,3417,0,0,0,0,0,0
$GC,283,-0.60,-146.1,30.9,-11.8,36,292,0.00,2.30,0.00,0.000,6,0.000,0.051,1624,2859,3419,0,0,0,0,0,0
$GC,535,-0.60,-146.1,63.2,-13.7,77,540,0.00,1.65,0.00,0.000,4,0.000,0.057,1616,3890,3419,0,0,0,0,0,0
$GC,621,-0.60,-146.1,75.1,-14.5,91,625,0.00,1.60,0.00,0.000,6,0.000,0.030,1617,2839,3420,0,0,0,0,0,0
$GC,957,-0.60,-146.1,122.5,-14.3,132,961,0.00,1.70,0.00,0.000,4,0.000,0.057,1608,3905,3421,0,0,0,0,0,0
$GC,1039,-0.60,-146.1,135.0,-14.4,136,1048,0.00,1.60,0.00,0.000,6,0.000,0.029,1608,2848,3421,0,0,0,0,0,0
$GC,1363,-0.60,-146.1,178.0,-13.5,157,1367,0.00,1.70,0.00,0.000,4,0.000,0.058,1600,3893,3422,0,0,0,0,0,0
$GC,1402,-0.60,-146.1,183.4,-13.6,159,1406,0.08,1.55,0.00,0.000,6,0.159,0.030,1639,2859,3422,0,0,0,0,0,0
$GC,1740,-0.60,-146.1,219.0,-9.7,180,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2854,3422,0,0,0,0,0,0
$GC,2064,-0.60,-146.1,248.7,-8.8,201,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2854,3422,0,0,0,0,0,0
$GC,2389,-0.60,-146.1,279.4,-9.5,217,2393,0.00,1.70,0.00,0.000,4,0.000,0.060,1632,3892,3422,0,0,0,0,0,0
$GC,2430,-0.60,-146.1,284.1,-11.0,218,2438,0.00,1.55,0.00,0.000,6,0.000,0.031,1632,2862,3422,0,0,0,0,0,0
$GC,2748,-0.60,-146.1,316.3,-10.2,234,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2862,3422,0,0,0,0,0,0
$GC,3060,-0.60,-146.1,346.4,-9.9,249,3064,0.00,1.67,0.00,0.000,4,0.000,0.059,1624,3889,3422,0,0,0,0,0,0
$GC,3131,-0.60,-146.1,354.2,-11.5,252,3134,0.00,1.55,0.00,0.000,6,0.000,0.031,1624,2863,3422,0,0,0,0,0,0
$GC,3467,-0.60,-146.1,390.5,-11.0,268,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2859,3422,0,0,0,0,0,0
$GC,3783,-0.60,-146.1,423.9,-10.3,280,3787,0.00,1.65,0.00,0.000,4,0.000,0.060,1616,3894,3422,0,0,0,0,0,0
$GC,3820,-0.60,-146.1,428.1,-11.2,281,3823,0.00,1.58,0.00,0.000,6,0.000,0.031,1616,2852,3422,0,0,0,0,0,0
$GC,4162,-0.60,-146.1,467.0,-11.4,292,4166,0.00,1.70,0.00,0.000,4,0.000,0.059,1608,3889,3422,0,0,0,0,0,0
$GC,4226,-0.60,-146.1,475.0,-12.1,293,4233,0.00,1.55,0.00,0.000,6,0.000,0.031,1608,2862,3422,0,0,0,0,0,0
$GC,4543,-0.60,-146.1,512.8,-12.1,304,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2861,3422,0,0,0,0,0,0
$GC,4847,-0.60,-146.1,546.9,-11.0,314,4851,0.00,1.65,0.00,0.000,4,0.000,0.059,1601,3900,3421,0,0,0,0,0,0
$GC,4898,-0.60,-146.1,553.1,-12.2,315,4903,0.08,1.58,0.00,0.000,6,0.163,0.032,1624,2865,3421,0,0,0,0,0,0
$GC,5226,-0.60,-146.1,582.4,-8.8,326,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2861,3421,0,0,0,0,0,0
$GC,5532,-0.60,-146.1,608.8,-8.7,336,5535,0.00,1.65,0.00,0.000,4,0.000,0.060,1618,3894,3421,0,0,0,0,0,0
$GC,5589,-0.60,-146.1,614.5,-9.8,337,5593,0.00,1.58,0.00,0.000,6,0.000,0.031,1618,2855,3420,0,0,0,0,0,0
$GC,5910,-0.60,-146.1,645.6,-9.4,348,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2850,3421,0,0,0,0,0,0
$GC,6217,-0.60,-146.1,675.2,-9.8,358,6221,0.00,1.70,0.00,0.000,4,0.000,0.060,1609,3900,3420,0,0,0,0,0,0
$GC,6257,-0.60,-146.1,679.6,-10.3,359,6261,0.00,1.58,0.00,0.000,6,0.000,0.032,1609,2864,3420,0,0,0,0,0,0
$GC,6594,-0.60,-146.1,712.9,-9.8,370,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2859,3420,0,0,0,0,0,0
$GC,6903,-0.60,-146.1,741.2,-9.1,380,6906,0.00,1.67,0.00,0.000,4,0.000,0.060,1602,3894,3420,0,0,0,0,0,0
$GC,6949,-0.60,-146.1,746.1,-10.1,381,6953,0.08,1.58,0.00,0.000,6,0.163,0.032,1634,2858,3419,0,0,0,0,0,0
$GC,7281,-0.60,-146.1,771.5,-7.6,392,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2854,3419,0,0,0,0,0,0
$GC,7588,-0.60,-146.1,795.2,-7.7,402,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2854,3419,0,0,0,0,0,0
$GC,7896,-0.60,-146.1,818.3,-7.5,412,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2854,3419,0,0,0,0,0,0
$GC,8200,-0.60,-146.1,840.9,-7.2,422,8204,0.00,1.73,0.00,0.000,4,0.000,0.062,1627,3898,3419,0,0,0,0,0,0
$GC,8230,-0.60,-146.1,843.4,-8.2,422,8236,0.00,1.60,0.00,0.000,6,0.000,0.032,1627,2847,3419,0,0,0,0,0,0
$GC,8546,-0.60,-146.1,868.0,-7.8,433,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2847,3419,0,0,0,0,0,0
$GC,8851,-0.60,-146.1,893.2,-8.5,443,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2847,3419,0,0,0,0,0,0
$GC,9158,-0.60,-146.1,919.0,-8.3,453,9161,0.00,1.67,0.00,0.000,4,0.000,0.061,1619,3894,3419,0,0,0,0,0,0
$GC,9209,-0.60,-146.1,924.0,-9.7,454,9213,0.00,1.58,0.00,0.000,6,0.000,0.033,1619,2864,3418,0,0,0,0,0,0
$GC,9536,-0.60,-146.1,952.3,-8.5,465,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2859,3418,0,0,0,0,0,0
$GC,9843,-0.60,-146.1,977.4,-8.2,475,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2859,3418,0,0,0,0,0,0
$STATE,10143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10143,begin apogee
$GC,10155,-0.18,0.0,1001.1,7.7,485,10303,0.50,0.00,145.07,1.241,6,0.156,0.000,1766,2672,2819,0,0,0,0,0,0
$STATE,10305,end apogee,CONTROL_FINISHED_OK
$STATE,10305,begin climb
$GC,10309,0.60,146.1,1004.7,0.0,490,10477,0.77,2.50,154.55,1.811,4,0.096,0.044,2027,1280,2226,0,0,0,0,1,0
$GC,10529,0.60,146.1,974.2,19.0,496,10536,0.00,2.45,0.00,0.000,6,0.000,0.050,2027,2668,2222,0,0,0,0,0,0
$GC,10844,0.60,146.1,905.0,22.5,507,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2669,2218,0,0,0,0,0,0
$GC,11150,0.60,146.1,839.1,21.3,517,11154,0.00,2.22,0.00,0.000,4,0.000,0.045,2037,1273,2217,0,0,0,0,0,0
$GC,11191,0.60,146.1,830.5,19.8,518,11195,0.00,2.30,0.00,0.000,6,0.000,0.050,2037,2677,2215,0,0,0,0,0,0
$GC,11518,0.60,146.1,757.8,22.6,529,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2677,2215,0,0,0,0,0,0
$GC,11825,0.60,146.1,692.0,21.1,539,11829,0.00,2.22,0.00,0.000,4,0.000,0.044,2048,1269,2214,0,0,0,0,0,0
$GC,11871,0.60,146.1,682.5,17.7,540,11875,0.00,2.28,0.00,0.000,6,0.000,0.050,2047,2672,2213,0,0,0,0,0,0
$GC,12192,0.60,146.1,617.2,20.4,551,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2213,0,0,0,0,0,0
$GC,12498,0.60,146.1,554.6,20.7,561,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2213,0,0,0,0,0,0
$GC,12804,0.60,146.1,493.5,19.9,571,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2212,0,0,0,0,0,0
$GC,13111,0.60,146.1,433.2,19.6,581,13115,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,1276,2212,0,0,0,0,0,0
$GC,13163,0.60,146.1,423.6,17.2,582,13168,0.12,2.25,0.00,0.000,6,0.211,0.050,2030,2670,2211,0,0,0,0,0,0
$GC,13487,0.60,146.1,364.2,18.9,596,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2670,2211,0,0,0,0,0,0
$GC,13798,0.60,146.1,306.1,18.3,611,13802,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1270,2211,0,0,0,0,0,0
$GC,13839,0.60,146.1,298.4,16.1,612,13847,0.00,2.28,0.00,0.000,6,0.000,0.050,2039,2663,2211,0,0,0,0,0,0
$GC,14164,0.60,146.1,237.4,19.3,629,14168,0.00,1.98,0.00,0.000,4,0.000,0.058,2039,3897,2211,0,0,0,0,0,0
$GC,14193,0.60,146.1,230.3,21.2,630,14202,0.00,1.92,0.00,0.000,6,0.000,0.038,2049,2677,2211,0,0,0,0,0,0
$GC,14517,0.60,146.1,164.5,19.1,651,14521,0.00,2.20,0.00,0.000,4,0.000,0.044,2059,1269,2211,0,0,0,0,0,0
$GC,14584,0.60,146.1,153.5,15.5,655,14589,0.12,2.25,0.00,0.000,6,0.207,0.049,2031,2673,2210,0,0,0,0,0,0
$GC,14922,0.60,146.1,101.8,14.3,676,14925,0.00,1.95,0.00,0.000,4,0.000,0.057,2031,3897,2210,0,0,0,0,0,0
$GC,14989,0.60,146.1,90.5,15.7,685,14994,0.00,1.92,0.00,0.000,6,0.000,0.037,2039,2672,2211,0,0,0,0,0,0
$GC,15345,0.60,146.1,35.5,15.8,746,15354,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1267,2210,0,0,0,0,0,0
$GC,15414,0.60,146.1,26.0,14.5,756,15423,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2664,2209,0,0,0,0,0,0
$GC,15502,0.60,146.1,11.1,18.1,769,15510,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2664,2210,0,0,0,0,0,0
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15549,begin surface coast
$FINISH,0.8,1.012931
$STATE,15575,end surface coast,CONTROL_FINISHED_OK
$STATE,15575,begin surface
$SM_CCo,15598,42.25,0.750,1,0,1879,230.09
$SM_GC,2.05,0.00,0.00,42.25,0.000,0.000,0.750,53,2890,1879,-5.55,0.88,230.09
$IRIDIUM_FIX,-4616.72,426.32,280113,020211
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.8,57.084
$10V_AH,10.0,28.829
$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,13.875,87.100,299.625,42.250,0.000,26.916,26.119,471.269,0.000,0.000,20.277,1932.388,10838.813,438.883,2443.836,751.506,33.374,1277.595,0.000,1910.473,0.000,1.009,0.000
$DEVICE_MAMPS,240.975,61.965,1810.755,750.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.685,1535.424,821.988,320.702,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354108
$DATA_FILE_SIZE,57319,780
$CAP_FILE_SIZE,119518,0
$CFSIZE,259252224,210325504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280113,110904,-4634.003,428.078,69,1.0,70,-23.5