version: 66.07
glider: 542
mission: 6
dive: 322
start: 1 31 113 7 59 55
data:
$ID,542
$MISSION,6
$DIVE,322
$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,-11487.061
$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,39
$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
$GPS1,310113,074135,-4652.635,446.966,27,0.9,27,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-51.5
$GPS2,310113,075859,-4652.776,447.145,17,0.9,17,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.032,-0.254
$KALMAN_X,-250438.3,174.2,101.4,288355.8,-1499.5
$KALMAN_Y,176377.4,-409.0,-111.6,-178626.7,2131.3
$MHEAD_RNG_PITCHd_Wd,210.8,16138,-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,-55.10,0.000,2,0.000,0.000,61,2884,2921,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.1,-3.0,7,117,6.70,2.33,-13.88,0.000,4,0.249,0.051,1630,1446,3418,0,0,0,0,0,0
$GC,368,-0.60,-146.1,38.8,-13.7,50,377,0.00,2.30,0.00,0.000,6,0.000,0.050,1621,2851,3420,0,0,0,0,0,0
$GC,617,-0.60,-146.1,71.9,-13.0,91,622,0.00,1.67,0.00,0.000,4,0.000,0.057,1612,3896,3420,0,0,0,0,0,0
$GC,716,-0.60,-146.1,86.7,-13.6,108,725,0.00,1.60,0.00,0.000,6,0.000,0.031,1612,2836,3420,0,0,0,0,0,0
$GC,1051,-0.60,-146.1,129.9,-11.8,139,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2836,3421,0,0,0,0,0,0
$GC,1363,-0.60,-146.1,164.8,-10.5,159,1367,0.00,1.70,0.00,0.000,4,0.000,0.058,1604,3897,3422,0,0,0,0,0,0
$GC,1470,-0.60,-146.1,177.5,-12.0,165,1474,0.00,1.55,0.00,0.000,6,0.000,0.031,1604,2866,3422,0,0,0,0,0,0
$GC,1802,-0.60,-146.1,218.3,-12.4,186,1804,0.10,0.00,0.00,0.000,6,0.188,0.000,1628,2861,3422,0,0,0,0,0,0
$GC,2117,-0.60,-146.1,251.0,-9.9,206,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2861,3422,0,0,0,0,0,0
$GC,2428,-0.60,-146.1,283.1,-10.7,221,2432,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3890,3422,0,0,0,0,0,0
$GC,2486,-0.60,-146.1,290.6,-11.6,223,2489,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2863,3422,0,0,0,0,0,0
$GC,2812,-0.60,-146.1,328.4,-12.3,239,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2859,3422,0,0,0,0,0,0
$GC,3118,-0.60,-146.1,364.3,-11.3,254,3122,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3896,3422,0,0,0,0,0,0
$GC,3155,-0.60,-146.1,368.7,-12.3,255,3158,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2852,3422,0,0,0,0,0,0
$GC,3499,-0.60,-146.1,409.2,-11.7,271,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2847,3422,0,0,0,0,0,0
$GC,3804,-0.60,-146.1,444.8,-11.8,281,3808,0.00,1.70,0.00,0.000,4,0.000,0.060,1605,3901,3421,0,0,0,0,0,0
$GC,3867,-0.60,-146.1,452.8,-12.8,282,3874,0.08,1.58,0.00,0.000,6,0.159,0.032,1628,2862,3421,0,0,0,0,0,0
$GC,4182,-0.60,-146.1,485.0,-10.2,293,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3421,0,0,0,0,0,0
$GC,4488,-0.60,-146.1,515.2,-9.8,303,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3420,0,0,0,0,0,0
$GC,4795,-0.60,-146.1,543.9,-9.1,313,4798,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3899,3420,0,0,0,0,0,0
$GC,4846,-0.60,-146.1,549.1,-10.3,314,4850,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2866,3420,0,0,0,0,0,0
$GC,5173,-0.60,-146.1,578.8,-9.0,325,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2862,3420,0,0,0,0,0,0
$GC,5480,-0.60,-146.1,605.6,-8.8,335,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2861,3419,0,0,0,0,0,0
$GC,5785,-0.60,-146.1,633.1,-9.1,345,5789,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3897,3419,0,0,0,0,0,0
$GC,5831,-0.60,-146.1,637.9,-10.6,346,5835,0.00,1.58,0.00,0.000,6,0.000,0.032,1614,2862,3419,0,0,0,0,0,0
$GC,6163,-0.60,-146.1,672.0,-10.6,357,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2858,3419,0,0,0,0,0,0
$GC,6470,-0.60,-146.1,702.8,-9.7,367,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2858,3419,0,0,0,0,0,0
$GC,6775,-0.60,-146.1,730.4,-8.7,377,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2858,3419,0,0,0,0,0,0
$GC,7082,-0.60,-146.1,756.6,-8.5,387,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2858,3419,0,0,0,0,0,0
$GC,7388,-0.60,-146.1,783.2,-8.6,397,7392,0.00,1.70,0.00,0.000,4,0.000,0.062,1606,3890,3419,0,0,0,0,0,0
$GC,7425,-0.60,-146.1,786.6,-9.5,398,7429,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2855,3419,0,0,0,0,0,0
$GC,7770,-0.60,-146.1,819.6,-9.7,409,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3418,0,0,0,0,0,0
$GC,8074,-0.60,-146.1,848.9,-9.4,419,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3418,0,0,0,0,0,0
$GC,8383,-0.60,-146.1,876.6,-9.0,429,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3418,0,0,0,0,0,0
$GC,8687,-0.60,-146.1,903.7,-8.8,439,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3418,0,0,0,0,0,0
$GC,8995,-0.60,-146.1,931.3,-9.2,449,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2851,3418,0,0,0,0,0,0
$GC,9300,-0.60,-146.1,959.7,-9.4,459,9304,0.00,1.70,0.00,0.000,4,0.000,0.062,1598,3896,3418,0,0,0,0,0,0
$GC,9337,-0.60,-146.1,963.4,-10.5,460,9341,0.08,1.58,0.00,0.000,6,0.160,0.033,1630,2864,3417,0,0,0,0,0,0
$GC,9680,-0.60,-146.1,989.6,-7.4,471,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2861,3418,0,0,0,0,0,0
$STATE,9829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9829,begin apogee
$GC,9840,-0.18,0.0,1000.9,7.4,476,9988,0.45,0.00,145.05,1.247,6,0.147,0.000,1766,2676,2820,0,0,0,0,0,0
$STATE,9990,end apogee,CONTROL_FINISHED_OK
$STATE,9990,begin climb
$GC,9995,0.60,146.1,1005.0,0.0,481,10163,0.80,2.55,154.80,1.812,4,0.093,0.044,2031,1278,2225,0,0,0,0,1,0
$GC,10212,0.60,146.1,974.7,18.1,488,10216,0.00,2.45,0.00,0.000,6,0.000,0.050,2031,2673,2222,0,0,0,0,0,0
$GC,10544,0.60,146.1,904.7,21.4,499,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2673,2218,0,0,0,0,0,0
$GC,10850,0.60,146.1,842.1,19.9,509,10854,0.00,2.25,0.00,0.000,4,0.000,0.043,2042,1267,2217,0,0,0,0,0,0
$GC,10883,0.60,146.1,836.0,18.6,510,10888,0.00,2.28,0.00,0.000,6,0.000,0.049,2042,2676,2215,0,0,0,0,0,0
$GC,11221,0.60,146.1,767.0,20.3,521,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2677,2215,0,0,0,0,0,0
$GC,11529,0.60,146.1,703.1,20.7,531,11533,0.00,2.22,0.00,0.000,4,0.000,0.042,2052,1273,2214,0,0,0,0,0,0
$GC,11560,0.60,146.1,696.5,19.9,532,11564,0.00,2.25,0.00,0.000,6,0.000,0.049,2052,2679,2213,0,0,0,0,0,0
$GC,11905,0.60,146.1,623.9,21.1,543,11909,0.00,2.22,0.00,0.000,4,0.000,0.042,2063,1273,2213,0,0,0,0,0,0
$GC,11957,0.60,146.1,612.6,17.8,544,11962,0.15,2.25,0.00,0.000,6,0.204,0.050,2027,2668,2212,0,0,0,0,0,0
$GC,12273,0.60,146.1,552.6,19.1,554,12274,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2669,2213,0,0,0,0,0,0
$GC,12579,0.60,146.1,495.7,18.5,564,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2669,2212,0,0,0,0,0,0
$GC,12886,0.60,146.1,442.0,17.9,574,12890,0.00,2.20,0.00,0.000,4,0.000,0.043,2037,1274,2212,0,0,0,0,0,0
$GC,12918,0.60,146.1,436.4,16.6,575,12921,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2677,2211,0,0,0,0,0,0
$GC,13244,0.60,146.1,377.5,18.8,587,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2677,2211,0,0,0,0,0,0
$GC,13552,0.60,146.1,319.7,17.7,602,13556,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1271,2211,0,0,0,0,0,0
$GC,13599,0.60,146.1,311.2,16.2,604,13603,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2670,2211,0,0,0,0,0,0
$GC,13923,0.60,146.1,252.0,18.8,620,13926,0.00,1.92,0.00,0.000,4,0.000,0.059,2047,3896,2211,0,0,0,0,0,0
$GC,13959,0.60,146.1,244.3,21.3,622,13964,0.10,1.92,0.00,0.000,6,0.219,0.039,2017,2679,2212,0,0,0,0,0,0
$GC,14300,0.60,146.1,192.1,14.5,643,14304,0.00,2.00,0.00,0.000,4,0.000,0.060,2017,3904,2211,0,0,0,0,0,0
$GC,14331,0.60,146.1,185.8,17.1,644,14341,0.00,1.95,0.00,0.000,6,0.000,0.037,2026,2662,2211,0,0,0,0,0,0
$GC,14654,0.60,146.1,138.2,13.4,665,14658,0.00,2.00,0.00,0.000,4,0.000,0.060,2026,3901,2211,0,0,0,0,0,0
$GC,14683,0.60,146.1,133.5,14.8,666,14692,0.00,1.95,0.00,0.000,6,0.000,0.037,2036,2666,2211,0,0,0,0,0,0
$GC,15016,0.60,146.1,85.9,14.9,697,15021,0.00,2.20,0.00,0.000,4,0.000,0.042,2046,1253,2210,0,0,0,0,0,0
$GC,15159,0.60,146.1,65.0,14.3,721,15164,0.00,2.28,0.00,0.000,6,0.000,0.051,2046,2669,2208,0,0,0,0,0,0
$GC,15530,0.60,146.1,3.0,17.6,782,15538,0.00,1.95,0.00,0.000,4,0.000,0.055,2046,3893,2208,0,0,0,0,0,0
$STATE,15547,end climb,SURFACE_DEPTH_REACHED
$STATE,15547,begin surface coast
$FINISH,0.7,1.026367
$STATE,15572,end surface coast,CONTROL_FINISHED_OK
$STATE,15572,begin surface
$SM_CCo,15596,42.03,0.768,1,0,1879,230.09
$SM_GC,2.01,0.00,0.00,42.03,0.000,0.000,0.768,46,2829,1879,-5.58,-0.88,230.09
$IRIDIUM_FIX,-4635.50,450.00,310113,070708
$TT8_MAMPS,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.36526
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.7,59.837
$10V_AH,10.0,30.566
$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,14.075,81.425,299.850,42.025,0.000,48.814,70.047,594.998,0.000,0.000,20.091,1956.651,10906.910,419.417,2630.631,761.785,33.380,1227.494,0.000,1912.033,0.000,1.009,0.000
$DEVICE_MAMPS,249.390,61.965,1811.520,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.687,1566.654,848.497,324.368,0.000,0.000,0.000,0.000,0.000,0.000
$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,57191,788
$CAP_FILE_SIZE,118183,0
$CFSIZE,259252224,209289216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,310113,122228,-4654.481,445.621,61,0.8,62,-23.5