version: 66.07
glider: 542
mission: 6
dive: 315
start: 1 29 113 23 37 14
data:
$ID,542
$MISSION,6
$DIVE,315
$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,-11467.479
$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,57
$R_STBD_OVSHOOT,38
$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
$GPS1,290113,232305,-4637.847,447.286,30,1.3,30,-23.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-58.1
$GPS2,290113,233617,-4637.800,447.452,13,1.8,13,-23.6
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.031,-0.254
$KALMAN_X,-243428.1,40.9,280.6,281689.1,-1308.1
$KALMAN_Y,167841.2,-316.4,-102.5,-142462.4,2526.9
$MHEAD_RNG_PITCHd_Wd,196.6,42178,-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,-63.28,0.000,2,0.000,0.000,56,2881,3116,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.0,-2.5,8,125,6.75,2.25,-7.88,0.000,4,0.253,0.050,1631,1474,3419,0,0,0,0,0,0
$GC,268,-0.60,-146.1,27.5,-10.1,33,277,0.00,2.25,0.00,0.000,6,0.000,0.050,1622,2844,3420,0,0,0,0,0,0
$GC,354,-0.60,-146.1,38.4,-12.9,46,362,0.00,1.70,0.00,0.000,4,0.000,0.057,1613,3900,3421,0,0,0,0,0,0
$GC,416,-0.60,-146.1,47.4,-14.9,55,423,0.00,1.60,0.00,0.000,6,0.000,0.030,1614,2843,3421,0,0,0,0,0,0
$GC,657,-0.60,-146.1,84.1,-14.3,96,665,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2842,3421,0,0,0,0,0,0
$GC,1009,-0.60,-146.1,125.8,-11.5,131,1013,0.00,1.70,0.00,0.000,4,0.000,0.057,1605,3902,3422,0,0,0,0,0,0
$GC,1072,-0.60,-146.1,134.8,-12.7,134,1081,0.00,1.58,0.00,0.000,6,0.000,0.030,1605,2851,3423,0,0,0,0,0,0
$GC,1395,-0.60,-146.1,175.4,-12.7,155,1397,0.10,0.00,0.00,0.000,6,0.197,0.000,1628,2850,3423,0,0,0,0,0,0
$GC,1708,-0.60,-146.1,208.6,-10.7,175,1712,0.00,1.70,0.00,0.000,4,0.000,0.058,1621,3894,3423,0,0,0,0,0,0
$GC,1747,-0.60,-146.1,212.9,-11.0,177,1751,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2865,3424,0,0,0,0,0,0
$GC,2081,-0.60,-146.1,250.9,-11.5,198,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2861,3424,0,0,0,0,0,0
$GC,2391,-0.60,-146.1,286.4,-11.6,213,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2860,3424,0,0,0,0,0,0
$GC,2698,-0.60,-146.1,321.5,-11.4,228,2702,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3901,3423,0,0,0,0,0,0
$GC,2763,-0.60,-146.1,329.4,-11.8,230,2772,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2854,3423,0,0,0,0,0,0
$GC,3083,-0.60,-146.1,366.8,-11.5,246,3086,0.00,1.70,0.00,0.000,4,0.000,0.058,1606,3910,3423,0,0,0,0,0,0
$GC,3123,-0.60,-146.1,372.2,-12.9,247,3130,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2862,3423,0,0,0,0,0,0
$GC,3441,-0.60,-146.1,409.4,-11.5,262,3443,0.10,0.00,0.00,0.000,6,0.194,0.000,1628,2862,3423,0,0,0,0,0,0
$GC,3748,-0.60,-146.1,438.2,-9.1,272,3752,0.00,1.67,0.00,0.000,4,0.000,0.059,1622,3900,3423,0,0,0,0,0,0
$GC,3818,-0.60,-146.1,445.2,-9.6,274,3822,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2863,3423,0,0,0,0,0,0
$GC,4163,-0.60,-146.1,478.7,-9.8,285,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2859,3422,0,0,0,0,0,0
$GC,4468,-0.60,-146.1,509.0,-10.0,295,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2859,3422,0,0,0,0,0,0
$GC,4775,-0.60,-146.1,540.4,-10.4,305,4779,0.00,1.70,0.00,0.000,4,0.000,0.061,1613,3909,3422,0,0,0,0,0,0
$GC,4838,-0.60,-146.1,547.7,-11.6,306,4845,0.00,1.60,0.00,0.000,6,0.000,0.032,1614,2850,3422,0,0,0,0,0,0
$GC,5153,-0.60,-146.1,581.4,-10.6,317,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2850,3421,0,0,0,0,0,0
$GC,5459,-0.60,-146.1,613.6,-10.5,327,5463,0.00,1.73,0.00,0.000,4,0.000,0.060,1605,3899,3421,0,0,0,0,0,0
$GC,5512,-0.60,-146.1,619.8,-12.3,328,5515,0.00,1.58,0.00,0.000,6,0.000,0.032,1605,2863,3421,0,0,0,0,0,0
$GC,5840,-0.60,-146.1,656.0,-11.0,339,5841,0.10,0.00,0.00,0.000,6,0.194,0.000,1629,2858,3420,0,0,0,0,0,0
$GC,6144,-0.60,-146.1,684.1,-9.2,349,6148,0.00,1.70,0.00,0.000,4,0.000,0.061,1622,3906,3421,0,0,0,0,0,0
$GC,6201,-0.60,-146.1,690.2,-10.2,350,6205,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2853,3420,0,0,0,0,0,0
$GC,6522,-0.60,-146.1,721.5,-9.8,361,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2849,3420,0,0,0,0,0,0
$GC,6828,-0.60,-146.1,749.8,-9.1,371,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2848,3420,0,0,0,0,0,0
$GC,7134,-0.60,-146.1,778.2,-9.2,381,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2849,3419,0,0,0,0,0,0
$GC,7441,-0.60,-146.1,805.5,-9.0,391,7445,0.00,1.70,0.00,0.000,4,0.000,0.062,1614,3897,3420,0,0,0,0,0,0
$GC,7504,-0.60,-146.1,811.7,-9.8,392,7511,0.00,1.58,0.00,0.000,6,0.000,0.033,1614,2862,3419,0,0,0,0,0,0
$GC,7819,-0.60,-146.1,840.1,-8.9,403,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3419,0,0,0,0,0,0
$GC,8129,-0.60,-146.1,865.7,-8.1,413,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3419,0,0,0,0,0,0
$GC,8432,-0.60,-146.1,890.5,-8.1,423,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2861,3419,0,0,0,0,0,0
$GC,8739,-0.60,-146.1,915.1,-8.0,433,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3419,0,0,0,0,0,0
$GC,9044,-0.60,-146.1,940.3,-8.3,443,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2862,3418,0,0,0,0,0,0
$GC,9351,-0.60,-146.1,965.9,-8.5,453,9354,0.00,1.70,0.00,0.000,4,0.000,0.062,1606,3908,3418,0,0,0,0,0,0
$GC,9391,-0.60,-146.1,969.9,-9.7,454,9394,0.00,1.60,0.00,0.000,6,0.000,0.032,1606,2854,3418,0,0,0,0,0,0
$GC,9729,-0.60,-146.1,999.0,-8.6,465,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2850,3418,0,0,0,0,0,0
$STATE,9754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9754,begin apogee
$GC,9765,-0.18,0.0,1001.6,8.6,466,9913,0.55,0.00,145.35,1.257,6,0.159,0.000,1766,2671,2820,0,0,0,0,0,0
$STATE,9915,end apogee,CONTROL_FINISHED_OK
$STATE,9915,begin climb
$GC,9920,0.60,146.1,1005.0,0.0,471,10090,0.77,2.53,155.75,1.819,4,0.094,0.043,2028,1292,2225,0,0,0,0,1,0
$GC,10159,0.60,146.1,970.5,18.5,478,10163,0.00,2.42,0.00,0.000,6,0.000,0.049,2028,2672,2220,0,0,0,0,0,0
$GC,10486,0.60,146.1,901.8,20.9,489,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2673,2217,0,0,0,0,0,0
$GC,10792,0.60,146.1,837.8,20.6,499,10796,0.00,2.22,0.00,0.000,4,0.000,0.043,2039,1280,2216,0,0,0,0,0,0
$GC,10855,0.60,146.1,825.6,17.8,500,10862,0.00,2.28,0.00,0.000,6,0.000,0.050,2039,2677,2214,0,0,0,0,0,0
$GC,11172,0.60,146.1,760.3,20.9,511,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2678,2214,0,0,0,0,0,0
$GC,11476,0.60,146.1,695.0,21.3,521,11480,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1284,2213,0,0,0,0,0,0
$GC,11539,0.60,146.1,682.1,18.3,522,11546,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2680,2212,0,0,0,0,0,0
$GC,11855,0.60,146.1,613.5,21.6,533,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2680,2213,0,0,0,0,0,0
$GC,12160,0.60,146.1,548.8,20.8,543,12164,0.00,2.22,0.00,0.000,4,0.000,0.046,2059,1286,2212,0,0,0,0,0,0
$GC,12201,0.60,146.1,540.4,18.3,544,12206,0.12,2.25,0.00,0.000,6,0.210,0.050,2031,2681,2211,0,0,0,0,0,0
$GC,12528,0.60,146.1,479.5,18.9,555,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2681,2211,0,0,0,0,0,0
$GC,12835,0.60,146.1,422.9,18.4,565,12839,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1283,2212,0,0,0,0,0,0
$GC,12920,0.60,146.1,408.5,16.1,567,12924,0.00,2.22,0.00,0.000,6,0.000,0.050,2040,2668,2210,0,0,0,0,0,0
$GC,13244,0.60,146.1,349.8,18.4,582,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2668,2210,0,0,0,0,0,0
$GC,13555,0.60,146.1,294.2,18.0,597,13559,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1276,2210,0,0,0,0,0,0
$GC,13579,0.60,146.1,289.3,17.2,598,13583,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2670,2210,0,0,0,0,0,0
$GC,13909,0.60,146.1,226.2,19.3,616,13913,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1277,2210,0,0,0,0,0,0
$GC,13994,0.60,146.1,210.8,17.6,621,13999,0.15,2.25,0.00,0.000,6,0.203,0.050,2025,2674,2209,0,0,0,0,0,0
$GC,14328,0.60,146.1,157.0,15.2,642,14336,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2674,2210,0,0,0,0,0,0
$GC,14652,0.60,146.1,108.6,14.8,663,14656,0.00,2.20,0.00,0.000,4,0.000,0.042,2035,1277,2210,0,0,0,0,0,0
$GC,14710,0.60,146.1,100.7,13.1,666,14719,0.00,2.28,0.00,0.000,6,0.000,0.050,2035,2670,2209,0,0,0,0,0,0
$GC,15073,0.60,146.1,47.7,15.8,727,15080,0.00,2.17,0.00,0.000,4,0.000,0.042,2045,1287,2209,0,0,0,0,0,0
$GC,15165,0.60,146.1,34.4,13.6,741,15171,0.00,2.25,0.00,0.000,6,0.000,0.051,2045,2681,2208,0,0,0,0,0,0
$STATE,15358,end climb,SURFACE_DEPTH_REACHED
$STATE,15358,begin surface coast
$FINISH,0.8,1.026439
$STATE,15379,end surface coast,CONTROL_FINISHED_OK
$STATE,15379,begin surface
$SM_CCo,15402,41.50,0.764,1,0,1880,230.09
$SM_GC,2.32,0.00,0.00,41.50,0.000,0.000,0.764,58,2871,1880,-5.54,0.31,230.09
$IRIDIUM_FIX,-4619.84,442.18,290113,181807
$TT8_MAMPS,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.7,58.608
$10V_AH,10.0,29.795
$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,14.225,81.700,301.100,41.500,0.000,26.565,50.262,469.015,0.000,0.000,15.587,1915.343,10651.859,445.956,2465.608,750.325,33.373,1274.911,0.000,1917.215,0.000,1.009,0.000
$DEVICE_MAMPS,253.215,73.440,1819.170,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.094,1533.184,822.084,313.197,0.000,0.000,0.000,0.000,0.000,0.000
$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,57167,775
$CAP_FILE_SIZE,117431,0
$CFSIZE,259252224,209743872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,300113,035605,-4639.521,447.153,33,0.8,33,-23.6