version: 66.07
glider: 542
mission: 6
dive: 328
start: 2 1 113 11 48 14
data:
$ID,542
$MISSION,6
$DIVE,328
$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,-11503.947
$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,39
$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
$GPS1,010213,113435,-4657.646,435.097,36,0.9,36,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-63.7
$GPS2,010213,114717,-4657.643,435.141,18,0.9,18,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.241,-0.086
$KALMAN_X,-255060.7,714.0,498.4,276829.5,-2066.0
$KALMAN_Y,193725.0,27.9,-454.5,-205074.8,6258.3
$MHEAD_RNG_PITCHd_Wd,273.8,32053,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-55.10,0.000,2,0.000,0.000,51,2881,2927,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.2,-3.8,7,117,6.62,2.28,-14.98,0.000,4,0.245,0.049,1626,1456,3418,0,0,0,0,0,0
$GC,172,-0.60,-146.1,13.6,-11.7,18,181,0.00,2.30,0.00,0.000,6,0.000,0.051,1616,2853,3419,0,0,0,0,0,0
$GC,260,-0.60,-146.1,26.9,-14.4,31,269,0.00,1.67,0.00,0.000,4,0.000,0.057,1608,3894,3420,0,0,0,0,0,0
$GC,283,-0.60,-146.1,30.5,-14.9,33,290,0.00,1.60,0.00,0.000,6,0.000,0.031,1608,2843,3420,0,0,0,0,0,0
$GC,529,-0.60,-146.1,67.9,-15.0,74,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2843,3420,0,0,0,0,0,0
$GC,872,-0.60,-146.1,113.8,-12.9,121,875,0.00,1.70,0.00,0.000,4,0.000,0.057,1600,3904,3420,0,0,0,0,0,0
$GC,1041,-0.60,-146.1,136.2,-12.8,130,1052,0.10,1.58,0.00,0.000,6,0.167,0.031,1630,2851,3421,0,0,0,0,0,0
$GC,1368,-0.60,-146.1,169.6,-10.4,151,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2851,3422,0,0,0,0,0,0
$GC,1690,-0.60,-146.1,202.5,-10.0,172,1694,0.00,1.67,0.00,0.000,4,0.000,0.059,1623,3899,3422,0,0,0,0,0,0
$GC,1727,-0.60,-146.1,206.5,-11.4,174,1731,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2870,3422,0,0,0,0,0,0
$GC,2061,-0.60,-146.1,242.3,-11.3,195,2065,0.00,1.67,0.00,0.000,4,0.000,0.059,1615,3893,3422,0,0,0,0,0,0
$GC,2091,-0.60,-146.1,246.2,-12.3,196,2100,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2859,3423,0,0,0,0,0,0
$GC,2422,-0.60,-146.1,284.1,-11.1,213,2425,0.00,1.67,0.00,0.000,4,0.000,0.059,1607,3901,3422,0,0,0,0,0,0
$GC,2462,-0.60,-146.1,289.3,-12.0,214,2471,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2852,3422,0,0,0,0,0,0
$GC,2781,-0.60,-146.1,326.8,-12.2,230,2785,0.00,1.67,0.00,0.000,4,0.000,0.060,1599,3899,3422,0,0,0,0,0,0
$GC,2822,-0.60,-146.1,332.4,-13.4,231,2829,0.10,1.55,0.00,0.000,6,0.164,0.031,1629,2869,3422,0,0,0,0,0,0
$GC,3142,-0.60,-146.1,364.2,-9.7,247,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2869,3422,0,0,0,0,0,0
$GC,3450,-0.60,-146.1,393.6,-9.4,262,3453,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3909,3422,0,0,0,0,0,0
$GC,3512,-0.60,-146.1,400.2,-10.4,264,3523,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2864,3422,0,0,0,0,0,0
$GC,3828,-0.60,-146.1,430.9,-9.8,275,3832,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3901,3422,0,0,0,0,0,0
$GC,3874,-0.60,-146.1,436.1,-10.7,276,3878,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2863,3422,0,0,0,0,0,0
$GC,4206,-0.60,-146.1,471.0,-10.5,287,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2858,3422,0,0,0,0,0,0
$GC,4512,-0.60,-146.1,503.9,-10.7,297,4516,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3897,3421,0,0,0,0,0,0
$GC,4582,-0.60,-146.1,511.8,-11.5,299,4586,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2858,3421,0,0,0,0,0,0
$GC,4927,-0.60,-146.1,550.1,-11.0,310,4931,0.00,1.67,0.00,0.000,4,0.000,0.059,1598,3898,3421,0,0,0,0,0,0
$GC,4967,-0.60,-146.1,555.1,-12.0,311,4972,0.08,1.58,0.00,0.000,6,0.163,0.031,1630,2858,3421,0,0,0,0,0,0
$GC,5305,-0.60,-146.1,584.1,-8.2,322,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2854,3421,0,0,0,0,0,0
$GC,5613,-0.60,-146.1,609.6,-8.4,332,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2854,3421,0,0,0,0,0,0
$GC,5918,-0.60,-146.1,637.1,-9.4,342,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2854,3421,0,0,0,0,0,0
$GC,6226,-0.60,-146.1,665.8,-9.3,352,6229,0.00,1.70,0.00,0.000,4,0.000,0.060,1624,3905,3421,0,0,0,0,0,0
$GC,6277,-0.60,-146.1,671.3,-9.8,353,6281,0.00,1.60,0.00,0.000,6,0.000,0.032,1624,2854,3421,0,0,0,0,0,0
$GC,6604,-0.60,-146.1,702.3,-9.2,364,6607,0.00,1.70,0.00,0.000,4,0.000,0.060,1616,3902,3421,0,0,0,0,0,0
$GC,6632,-0.60,-146.1,705.3,-9.7,364,6639,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2863,3421,0,0,0,0,0,0
$GC,6950,-0.60,-146.1,732.8,-8.5,375,6953,0.00,1.67,0.00,0.000,4,0.000,0.060,1608,3900,3420,0,0,0,0,0,0
$GC,6979,-0.60,-146.1,735.8,-9.3,375,6986,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2862,3420,0,0,0,0,0,0
$GC,7295,-0.60,-146.1,764.0,-9.1,386,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2861,3420,0,0,0,0,0,0
$GC,7603,-0.60,-146.1,791.1,-8.7,396,7606,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3897,3420,0,0,0,0,0,0
$GC,7673,-0.60,-146.1,798.1,-10.0,398,7678,0.08,1.58,0.00,0.000,6,0.163,0.033,1632,2861,3420,0,0,0,0,0,0
$GC,8017,-0.60,-146.1,824.9,-7.9,409,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2858,3420,0,0,0,0,0,0
$GC,8323,-0.60,-146.1,849.2,-7.6,419,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2857,3419,0,0,0,0,0,0
$GC,8630,-0.60,-146.1,873.9,-8.3,429,8634,0.00,1.73,0.00,0.000,4,0.000,0.062,1625,3902,3419,0,0,0,0,0,0
$GC,8671,-0.60,-146.1,877.8,-9.2,430,8675,0.00,1.60,0.00,0.000,6,0.000,0.033,1625,2853,3419,0,0,0,0,0,0
$GC,9011,-0.60,-146.1,906.9,-8.5,441,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2851,3419,0,0,0,0,0,0
$GC,9316,-0.60,-146.1,931.4,-7.9,451,9319,0.00,1.70,0.00,0.000,4,0.000,0.061,1617,3897,3418,0,0,0,0,0,0
$GC,9362,-0.60,-146.1,935.3,-8.3,452,9365,0.00,1.58,0.00,0.000,6,0.000,0.033,1617,2869,3418,0,0,0,0,0,0
$GC,9694,-0.60,-146.1,960.5,-7.5,463,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2863,3418,0,0,0,0,0,0
$GC,10000,-0.60,-146.1,982.8,-7.1,473,10004,0.00,1.67,0.00,0.000,4,0.000,0.060,1609,3896,3418,0,0,0,0,0,0
$GC,10041,-0.60,-146.1,985.9,-7.6,474,10044,0.00,1.60,0.00,0.000,6,0.000,0.032,1609,2849,3418,0,0,0,0,0,0
$STATE,10251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10251,begin apogee
$GC,10262,-0.18,0.0,1002.3,7.7,481,10410,0.55,0.00,145.40,1.250,6,0.161,0.000,1768,2671,2819,0,0,0,0,0,0
$STATE,10412,end apogee,CONTROL_FINISHED_OK
$STATE,10412,begin climb
$GC,10417,0.60,146.1,1004.9,0.0,486,10586,0.77,2.47,155.18,1.811,4,0.091,0.042,2031,1286,2224,0,0,0,0,1,0
$GC,10649,0.60,146.1,970.8,19.1,493,10654,0.00,2.42,0.00,0.000,6,0.000,0.050,2031,2666,2222,0,0,0,0,0,0
$GC,10981,0.60,146.1,898.0,22.1,504,10983,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2666,2218,0,0,0,0,0,0
$GC,11289,0.60,146.1,835.1,19.5,514,11293,0.00,2.22,0.00,0.000,4,0.000,0.043,2041,1281,2216,0,0,0,0,0,0
$GC,11346,0.60,146.1,824.0,17.6,515,11353,0.00,2.28,0.00,0.000,6,0.000,0.050,2041,2684,2214,0,0,0,0,0,0
$GC,11661,0.60,146.1,758.3,21.4,526,11665,0.00,2.25,0.00,0.000,4,0.000,0.043,2052,1273,2214,0,0,0,0,0,0
$GC,11702,0.60,146.1,749.6,20.0,527,11706,0.00,2.28,0.00,0.000,6,0.000,0.050,2052,2676,2213,0,0,0,0,0,0
$GC,12028,0.60,146.1,679.9,21.4,538,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2676,2213,0,0,0,0,0,0
$GC,12335,0.60,146.1,616.9,19.9,548,12339,0.00,2.20,0.00,0.000,4,0.000,0.044,2062,1278,2213,0,0,0,0,0,0
$GC,12392,0.60,146.1,605.9,17.9,549,12397,0.15,2.25,0.00,0.000,6,0.203,0.050,2026,2672,2211,0,0,0,0,0,0
$GC,12709,0.60,146.1,549.9,18.1,559,12713,0.00,2.20,0.00,0.000,4,0.000,0.043,2036,1268,2212,0,0,0,0,0,0
$GC,12744,0.60,146.1,543.5,17.1,560,12748,0.00,2.25,0.00,0.000,6,0.000,0.050,2036,2669,2211,0,0,0,0,0,0
$GC,13077,0.60,146.1,481.1,19.1,571,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2211,0,0,0,0,0,0
$GC,13383,0.60,146.1,423.5,18.7,581,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2211,0,0,0,0,0,0
$GC,13701,0.60,146.1,366.4,17.3,594,13702,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2211,0,0,0,0,0,0
$GC,14012,0.60,146.1,312.0,17.7,609,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2211,0,0,0,0,0,0
$GC,14320,0.60,146.1,255.3,18.3,624,14324,0.00,2.20,0.00,0.000,4,0.000,0.044,2046,1271,2211,0,0,0,0,0,0
$GC,14342,0.60,146.1,251.4,18.5,625,14346,0.00,2.25,0.00,0.000,6,0.000,0.050,2046,2671,2210,0,0,0,0,0,0
$GC,14680,0.60,146.1,189.4,18.0,646,14684,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1278,2211,0,0,0,0,0,0
$GC,14731,0.60,146.1,179.9,15.7,649,14736,0.12,2.25,0.00,0.000,6,0.202,0.052,2028,2672,2210,0,0,0,0,0,0
$GC,15064,0.60,146.1,128.7,14.5,670,15068,0.00,1.92,0.00,0.000,4,0.000,0.059,2028,3895,2210,0,0,0,0,0,0
$GC,15191,0.60,146.1,106.1,16.2,677,15194,0.00,1.88,0.00,0.000,6,0.000,0.037,2036,2678,2211,0,0,0,0,0,0
$GC,15542,0.60,146.1,53.0,15.7,733,15548,0.00,1.98,0.00,0.000,4,0.000,0.058,2036,3896,2210,0,0,0,0,0,0
$GC,15565,0.60,146.1,48.1,17.8,736,15574,0.00,1.92,0.00,0.000,6,0.000,0.037,2046,2663,2211,0,0,0,0,0,0
$STATE,15814,end climb,SURFACE_DEPTH_REACHED
$STATE,15814,begin surface coast
$FINISH,0.7,1.025792
$STATE,15834,end surface coast,CONTROL_FINISHED_OK
$STATE,15834,begin surface
$SM_CCo,15856,42.10,0.769,1,0,1878,230.09
$SM_GC,2.08,0.00,0.00,42.10,0.000,0.000,0.769,52,2877,1878,-5.56,0.48,230.09
$IRIDIUM_FIX,-4644.93,434.81,010213,060628
$TT8_MAMPS,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.90
$XPDR_PINGS,0
$24V_AH,21.6,60.899
$10V_AH,10.0,31.220
$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,13.875,100.000,300.575,42.100,0.000,27.418,19.576,464.692,0.000,0.000,20.496,1966.958,10945.297,449.499,2512.202,779.412,33.374,1330.706,0.000,1986.651,0.000,1.008,0.000
$DEVICE_MAMPS,244.800,61.965,1810.755,768.825,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.116,1529.915,801.566,295.346,0.000,0.000,0.000,0.000,0.000,0.000
$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,57164,779
$CAP_FILE_SIZE,127133,0
$CFSIZE,259252224,208879616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010213,161434,-4656.367,432.529,27,0.9,27,-23.5