version: 66.07
glider: 542
mission: 6
dive: 326
start: 2 1 113 2 31 15
data:
$ID,542
$MISSION,6
$DIVE,326
$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,-11498.296
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,010213,021522,-4659.148,441.586,60,1.1,60,-23.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-55.8
$GPS2,010213,023018,-4659.004,441.774,14,0.7,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,-0.187
$KALMAN_X,-254796.4,77.0,68.6,286049.5,-1770.7
$KALMAN_Y,185527.5,-247.2,272.3,-199874.0,3717.7
$MHEAD_RNG_PITCHd_Wd,246.4,40175,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-47.22,0.000,2,0.000,0.000,56,2878,2784,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.3,-3.5,6,117,6.53,1.70,-21.50,0.000,4,0.238,0.076,1623,3898,3417,0,0,0,0,0,0
$GC,270,-0.60,-146.1,31.7,-17.3,34,280,0.00,1.62,0.00,0.000,6,0.000,0.031,1623,2837,3419,0,0,0,0,0,0
$GC,521,-0.60,-146.1,68.4,-14.6,75,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2836,3419,0,0,0,0,0,0
$GC,877,-0.60,-146.1,114.4,-12.1,124,880,0.00,1.73,0.00,0.000,4,0.000,0.058,1615,3909,3420,0,0,0,0,0,0
$GC,948,-0.60,-146.1,123.7,-12.5,128,951,0.00,1.60,0.00,0.000,6,0.000,0.031,1615,2854,3420,0,0,0,0,0,0
$GC,1282,-0.60,-146.1,162.2,-11.6,149,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2849,3421,0,0,0,0,0,0
$GC,1594,-0.60,-146.1,200.7,-11.8,169,1598,0.00,1.70,0.00,0.000,4,0.000,0.058,1607,3894,3421,0,0,0,0,0,0
$GC,1675,-0.60,-146.1,211.3,-13.0,173,1682,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2845,3421,0,0,0,0,0,0
$GC,1998,-0.60,-146.1,250.3,-12.5,194,2002,0.00,1.70,0.00,0.000,4,0.000,0.057,1599,3903,3421,0,0,0,0,0,0
$GC,2046,-0.60,-146.1,256.9,-12.9,196,2051,0.08,1.58,0.00,0.000,6,0.165,0.031,1630,2856,3421,0,0,0,0,0,0
$GC,2382,-0.60,-146.1,292.6,-10.1,212,2386,0.00,1.70,0.00,0.000,4,0.000,0.059,1624,3895,3421,0,0,0,0,0,0
$GC,2412,-0.60,-146.1,295.9,-10.7,213,2415,0.00,1.55,0.00,0.000,6,0.000,0.031,1624,2870,3421,0,0,0,0,0,0
$GC,2743,-0.60,-146.1,330.6,-10.9,229,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2866,3421,0,0,0,0,0,0
$GC,3050,-0.60,-146.1,363.9,-10.5,244,3054,0.00,1.67,0.00,0.000,4,0.000,0.059,1615,3906,3421,0,0,0,0,0,0
$GC,3085,-0.60,-146.1,367.9,-10.9,245,3089,0.00,1.60,0.00,0.000,6,0.000,0.031,1616,2847,3421,0,0,0,0,0,0
$GC,3419,-0.60,-146.1,404.9,-11.1,261,3423,0.00,1.70,0.00,0.000,4,0.000,0.059,1607,3899,3421,0,0,0,0,0,0
$GC,3465,-0.60,-146.1,410.5,-12.2,262,3468,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2858,3421,0,0,0,0,0,0
$GC,3796,-0.60,-146.1,449.6,-11.8,273,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2852,3421,0,0,0,0,0,0
$GC,4104,-0.60,-146.1,485.5,-11.6,283,4108,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3909,3420,0,0,0,0,0,0
$GC,4183,-0.60,-146.1,495.7,-12.2,285,4188,0.10,1.60,0.00,0.000,6,0.164,0.032,1629,2857,3420,0,0,0,0,0,0
$GC,4516,-0.60,-146.1,526.9,-9.1,296,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2852,3421,0,0,0,0,0,0
$GC,4823,-0.60,-146.1,554.6,-9.0,306,4826,0.00,1.70,0.00,0.000,4,0.000,0.060,1623,3903,3420,0,0,0,0,0,0
$GC,4863,-0.60,-146.1,558.7,-9.4,307,4867,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2852,3420,0,0,0,0,0,0
$GC,5201,-0.60,-146.1,590.2,-9.4,318,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2848,3420,0,0,0,0,0,0
$GC,5509,-0.60,-146.1,618.2,-8.9,328,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2848,3420,0,0,0,0,0,0
$GC,5813,-0.60,-146.1,645.5,-8.7,338,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2848,3419,0,0,0,0,0,0
$GC,6121,-0.60,-146.1,672.3,-8.6,348,6125,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3899,3419,0,0,0,0,0,0
$GC,6159,-0.60,-146.1,675.8,-9.4,349,6162,0.00,1.58,0.00,0.000,6,0.000,0.034,1614,2868,3418,0,0,0,0,0,0
$GC,6502,-0.60,-146.1,707.0,-9.2,360,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2863,3418,0,0,0,0,0,0
$GC,6808,-0.60,-146.1,735.6,-9.4,370,6812,0.00,1.70,0.00,0.000,4,0.000,0.060,1607,3897,3418,0,0,0,0,0,0
$GC,6845,-0.60,-146.1,739.3,-9.9,371,6849,0.00,1.58,0.00,0.000,6,0.000,0.033,1606,2858,3417,0,0,0,0,0,0
$GC,7190,-0.60,-146.1,773.4,-9.6,382,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2854,3417,0,0,0,0,0,0
$GC,7495,-0.60,-146.1,802.6,-9.6,392,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2853,3417,0,0,0,0,0,0
$GC,7803,-0.60,-146.1,831.9,-9.5,402,7806,0.00,1.70,0.00,0.000,4,0.000,0.061,1599,3903,3416,0,0,0,0,0,0
$GC,7848,-0.60,-146.1,837.0,-11.1,403,7853,0.08,1.60,0.00,0.000,6,0.167,0.033,1630,2854,3416,0,0,0,0,0,0
$GC,8181,-0.60,-146.1,861.8,-7.4,414,8185,0.00,1.70,0.00,0.000,4,0.000,0.061,1624,3899,3416,0,0,0,0,0,0
$GC,8222,-0.60,-146.1,865.2,-8.5,415,8226,0.00,1.58,0.00,0.000,6,0.000,0.033,1624,2872,3416,0,0,0,0,0,0
$GC,8559,-0.60,-146.1,891.3,-7.6,426,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2866,3416,0,0,0,0,0,0
$GC,8866,-0.60,-146.1,915.9,-8.1,436,8870,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3899,3415,0,0,0,0,0,0
$GC,8907,-0.60,-146.1,919.5,-8.4,437,8910,0.00,1.60,0.00,0.000,6,0.000,0.033,1615,2852,3416,0,0,0,0,0,0
$GC,9244,-0.60,-146.1,947.7,-8.2,448,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3415,0,0,0,0,0,0
$GC,9551,-0.60,-146.1,972.2,-7.7,458,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3415,0,0,0,0,0,0
$GC,9857,-0.60,-146.1,996.2,-8.1,468,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3415,0,0,0,0,0,0
$STATE,9915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9915,begin apogee
$GC,9925,-0.18,0.0,1001.2,8.0,470,10073,0.52,0.00,144.43,1.245,6,0.157,0.000,1769,2674,2819,0,0,0,0,0,0
$STATE,10075,end apogee,CONTROL_FINISHED_OK
$STATE,10075,begin climb
$GC,10080,0.60,146.1,1004.8,0.0,475,10248,0.75,2.47,154.80,1.813,4,0.095,0.042,2024,1286,2226,0,0,0,0,1,0
$GC,10313,0.60,146.1,972.2,17.6,482,10317,0.00,2.45,0.00,0.000,6,0.000,0.050,2024,2673,2223,0,0,0,0,0,0
$GC,10640,0.60,146.1,906.9,20.1,493,10644,0.00,2.25,0.00,0.000,4,0.000,0.043,2035,1284,2219,0,0,0,0,0,0
$GC,10680,0.60,146.1,898.6,18.1,494,10684,0.00,2.30,0.00,0.000,6,0.000,0.050,2035,2673,2218,0,0,0,0,0,0
$GC,11007,0.60,146.1,827.9,22.5,505,11011,0.00,2.22,0.00,0.000,4,0.000,0.044,2045,1273,2216,0,0,0,0,0,0
$GC,11031,0.60,146.1,822.3,21.6,505,11038,0.00,2.28,0.00,0.000,6,0.000,0.050,2045,2673,2216,0,0,0,0,0,0
$GC,11348,0.60,146.1,753.0,21.5,516,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2673,2216,0,0,0,0,0,0
$GC,11652,0.60,146.1,689.0,21.0,526,11656,0.00,2.22,0.00,0.000,4,0.000,0.043,2055,1273,2215,0,0,0,0,0,0
$GC,11699,0.60,146.1,679.4,18.1,527,11704,0.12,2.28,0.00,0.000,6,0.211,0.050,2027,2679,2214,0,0,0,0,0,0
$GC,12020,0.60,146.1,618.8,18.4,538,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2679,2213,0,0,0,0,0,0
$GC,12328,0.60,146.1,563.8,17.7,548,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2679,2213,0,0,0,0,0,0
$GC,12633,0.60,146.1,510.4,17.3,558,12637,0.00,2.22,0.00,0.000,4,0.000,0.044,2036,1276,2213,0,0,0,0,0,0
$GC,12664,0.60,146.1,505.1,15.6,559,12669,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2669,2212,0,0,0,0,0,0
$GC,13002,0.60,146.1,442.6,18.8,570,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2670,2213,0,0,0,0,0,0
$GC,13313,0.60,146.1,385.0,18.9,581,13317,0.00,2.20,0.00,0.000,4,0.000,0.045,2047,1277,2213,0,0,0,0,0,0
$GC,13365,0.60,146.1,374.8,16.5,583,13369,0.00,2.25,0.00,0.000,6,0.000,0.052,2047,2679,2211,0,0,0,0,0,0
$GC,13692,0.60,146.1,313.3,18.8,599,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2679,2212,0,0,0,0,0,0
$GC,13998,0.60,146.1,256.5,18.3,614,14002,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1274,2212,0,0,0,0,0,0
$GC,14034,0.60,146.1,249.8,16.6,615,14041,0.12,2.25,0.00,0.000,6,0.202,0.052,2029,2670,2211,0,0,0,0,0,0
$GC,14361,0.60,146.1,196.1,16.7,636,14369,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2670,2212,0,0,0,0,0,0
$GC,14685,0.60,146.1,140.4,16.3,657,14688,0.00,2.17,0.00,0.000,4,0.000,0.044,2038,1281,2212,0,0,0,0,0,0
$GC,14724,0.60,146.1,134.2,15.1,659,14728,0.00,2.25,0.00,0.000,6,0.000,0.051,2038,2674,2211,0,0,0,0,0,0
$GC,15063,0.60,146.1,78.6,15.2,693,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2675,2211,0,0,0,0,0,0
$GC,15427,0.60,146.1,20.3,16.8,754,15436,0.00,2.25,0.00,0.000,4,0.000,0.046,2049,1276,2211,0,0,0,0,0,0
$STATE,15517,end climb,SURFACE_DEPTH_REACHED
$STATE,15517,begin surface coast
$FINISH,0.9,1.026438
$STATE,15536,end surface coast,CONTROL_FINISHED_OK
$STATE,15537,begin surface
$SM_CCo,15561,42.33,0.765,1,0,1880,230.09
$SM_GC,1.75,0.00,0.00,42.33,0.000,0.000,0.765,58,2880,1880,-5.54,0.54,230.09
$IRIDIUM_FIX,-4641.78,447.39,310113,212158
$TT8_MAMPS,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.6,60.555
$10V_AH,10.0,30.999
$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,13.700,87.375,299.225,42.325,0.000,28.493,50.433,571.197,0.000,0.000,17.539,1941.201,10819.453,419.487,2568.912,743.590,33.381,1249.354,0.000,1910.197,0.000,1.009,0.000
$DEVICE_MAMPS,237.915,76.500,1813.050,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.741,1511.091,791.898,297.876,0.000,0.000,0.000,0.000,0.000,0.000
$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,53840,771
$CAP_FILE_SIZE,120252,0
$CFSIZE,259252224,209018880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010213,065251,-4658.703,438.139,38,1.3,39,-23.5