version: 66.07
glider: 542
mission: 6
dive: 330
start: 2 1 113 21 12 45
data:
$ID,542
$MISSION,6
$DIVE,330
$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,-11509.599
$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,40
$R_STBD_OVSHOOT,41
$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
$GPS1,010213,205823,-4655.216,429.673,36,0.8,36,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-62.6
$GPS2,010213,211148,-4655.125,429.880,17,1.4,17,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.142
$KALMAN_X,-250552.8,464.7,6.1,266413.0,877.7
$KALMAN_Y,202842.4,-813.3,-284.8,-208867.5,8449.9
$MHEAD_RNG_PITCHd_Wd,259.5,26683,-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,-63.10,0.000,2,0.000,0.000,58,2887,3095,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-3.7,8,125,6.78,1.62,-8.80,0.000,4,0.254,0.075,1620,3880,3418,0,0,0,0,0,0
$GC,268,-0.60,-146.1,32.2,-12.8,33,274,0.00,1.60,0.00,0.000,6,0.000,0.030,1620,2828,3419,0,0,0,0,0,0
$GC,514,-0.60,-146.1,64.8,-12.3,74,520,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2827,3419,0,0,0,0,0,0
$GC,864,-0.60,-146.1,106.4,-12.3,129,865,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2828,3420,0,0,0,0,0,0
$GC,1176,-0.60,-146.1,144.9,-12.8,149,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2827,3421,0,0,0,0,0,0
$GC,1489,-0.60,-146.1,182.4,-11.4,169,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2827,3422,0,0,0,0,0,0
$GC,1801,-0.60,-146.1,218.3,-11.1,189,1805,0.00,1.70,0.00,0.000,4,0.000,0.058,1612,3876,3423,0,0,0,0,0,0
$GC,1875,-0.60,-146.1,226.7,-11.2,193,1878,0.00,1.52,0.00,0.000,6,0.000,0.031,1612,2860,3423,0,0,0,0,0,0
$GC,2205,-0.60,-146.1,263.1,-10.4,212,2209,0.00,1.65,0.00,0.000,4,0.000,0.058,1604,3889,3423,0,0,0,0,0,0
$GC,2278,-0.60,-146.1,270.8,-10.7,215,2282,0.08,1.55,0.00,0.000,6,0.160,0.031,1627,2855,3423,0,0,0,0,0,0
$GC,2616,-0.60,-146.1,300.5,-8.7,231,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2851,3423,0,0,0,0,0,0
$GC,2923,-0.60,-146.1,328.2,-9.0,246,2927,0.00,1.65,0.00,0.000,4,0.000,0.060,1620,3883,3423,0,0,0,0,0,0
$GC,2981,-0.60,-146.1,334.6,-10.5,248,2985,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2853,3422,0,0,0,0,0,0
$GC,3305,-0.60,-146.1,368.1,-10.5,264,3309,0.00,1.67,0.00,0.000,4,0.000,0.059,1612,3878,3422,0,0,0,0,0,0
$GC,3340,-0.60,-146.1,372.3,-11.8,265,3344,0.00,1.52,0.00,0.000,6,0.000,0.031,1612,2867,3422,0,0,0,0,0,0
$GC,3663,-0.60,-146.1,408.2,-11.2,280,3667,0.00,1.65,0.00,0.000,4,0.000,0.060,1604,3890,3422,0,0,0,0,0,0
$GC,3700,-0.60,-146.1,412.4,-11.9,281,3704,0.08,1.55,0.00,0.000,6,0.157,0.032,1643,2859,3422,0,0,0,0,0,0
$GC,4043,-0.60,-146.1,442.2,-8.7,292,4047,0.00,1.65,0.00,0.000,4,0.000,0.060,1637,3881,3422,0,0,0,0,0,0
$GC,4080,-0.60,-146.1,445.7,-9.5,293,4084,0.00,1.55,0.00,0.000,6,0.000,0.031,1637,2853,3422,0,0,0,0,0,0
$GC,4423,-0.60,-146.1,476.1,-8.6,304,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2849,3422,0,0,0,0,0,0
$GC,4729,-0.60,-146.1,501.8,-8.3,314,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2849,3422,0,0,0,0,0,0
$GC,5036,-0.60,-146.1,527.2,-8.3,324,5040,0.00,1.67,0.00,0.000,4,0.000,0.060,1629,3873,3421,0,0,0,0,0,0
$GC,5094,-0.60,-146.1,532.6,-9.3,325,5097,0.00,1.52,0.00,0.000,6,0.000,0.033,1629,2870,3421,0,0,0,0,0,0
$GC,5416,-0.60,-146.1,561.0,-8.8,336,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2866,3422,0,0,0,0,0,0
$GC,5721,-0.60,-146.1,588.6,-9.0,346,5725,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3887,3421,0,0,0,0,0,0
$GC,5773,-0.60,-146.1,593.6,-9.4,347,5777,0.00,1.58,0.00,0.000,6,0.000,0.033,1621,2852,3421,0,0,0,0,0,0
$GC,6099,-0.60,-146.1,624.6,-9.4,358,6103,0.00,1.70,0.00,0.000,4,0.000,0.060,1613,3884,3421,0,0,0,0,0,0
$GC,6136,-0.60,-146.1,628.5,-11.1,359,6140,0.00,1.55,0.00,0.000,6,0.000,0.032,1613,2860,3421,0,0,0,0,0,0
$GC,6481,-0.60,-146.1,664.6,-10.5,370,6484,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3882,3421,0,0,0,0,0,0
$GC,6538,-0.60,-146.1,671.4,-11.7,371,6541,0.00,1.55,0.00,0.000,6,0.000,0.033,1605,2859,3421,0,0,0,0,0,0
$GC,6859,-0.60,-146.1,705.7,-10.7,382,6860,0.10,0.00,0.00,0.000,6,0.194,0.000,1629,2854,3421,0,0,0,0,0,0
$GC,7165,-0.60,-146.1,733.3,-9.3,392,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2854,3420,0,0,0,0,0,0
$GC,7471,-0.60,-146.1,760.2,-8.9,402,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2854,3420,0,0,0,0,0,0
$GC,7777,-0.60,-146.1,787.6,-9.0,412,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2854,3419,0,0,0,0,0,0
$GC,8083,-0.60,-146.1,815.3,-8.8,422,8087,0.00,1.67,0.00,0.000,4,0.000,0.062,1622,3890,3420,0,0,0,0,0,0
$GC,8124,-0.60,-146.1,819.3,-8.9,423,8127,0.00,1.58,0.00,0.000,6,0.000,0.033,1622,2854,3419,0,0,0,0,0,0
$GC,8462,-0.60,-146.1,849.2,-8.8,434,8465,0.00,1.67,0.00,0.000,4,0.000,0.061,1614,3886,3420,0,0,0,0,0,0
$GC,8508,-0.60,-146.1,853.9,-9.9,435,8511,0.00,1.55,0.00,0.000,6,0.000,0.033,1614,2867,3419,0,0,0,0,0,0
$GC,8839,-0.60,-146.1,883.6,-8.7,446,8843,0.00,1.65,0.00,0.000,4,0.000,0.060,1606,3882,3418,0,0,0,0,0,0
$GC,8863,-0.60,-146.1,886.0,-9.4,446,8867,0.00,1.55,0.00,0.000,6,0.000,0.033,1606,2864,3418,0,0,0,0,0,0
$GC,9184,-0.60,-146.1,914.9,-8.8,457,9188,0.00,1.65,0.00,0.000,4,0.000,0.061,1598,3880,3418,0,0,0,0,0,0
$GC,9213,-0.60,-146.1,917.8,-10.4,457,9221,0.10,1.55,0.00,0.000,6,0.157,0.033,1629,2858,3418,0,0,0,0,0,0
$GC,9529,-0.60,-146.1,941.7,-7.3,468,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3418,0,0,0,0,0,0
$GC,9835,-0.60,-146.1,961.9,-6.4,478,9838,0.00,1.67,0.00,0.000,4,0.000,0.062,1622,3890,3418,0,0,0,0,0,0
$GC,9866,-0.60,-146.1,964.2,-7.3,478,9873,0.00,1.58,0.00,0.000,6,0.000,0.034,1622,2855,3418,0,0,0,0,0,0
$GC,10182,-0.60,-146.1,986.9,-7.2,489,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2855,3418,0,0,0,0,0,0
$STATE,10391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10391,begin apogee
$GC,10402,-0.18,0.0,1001.9,6.8,496,10550,0.47,0.00,145.00,1.246,6,0.151,0.000,1764,2680,2819,0,0,0,0,0,0
$STATE,10552,end apogee,CONTROL_FINISHED_OK
$STATE,10552,begin climb
$GC,10556,0.60,146.1,1004.6,0.0,501,10725,0.77,2.53,155.50,1.804,4,0.095,0.043,2027,1280,2225,0,0,0,0,1,0
$GC,10788,0.60,146.1,971.7,19.0,508,10792,0.00,2.42,0.00,0.000,6,0.000,0.051,2027,2656,2221,0,0,0,0,0,0
$GC,11125,0.60,146.1,898.4,21.5,519,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2656,2217,0,0,0,0,0,0
$GC,11432,0.60,146.1,832.0,21.4,529,11436,0.00,2.17,0.00,0.000,4,0.000,0.043,2037,1283,2215,0,0,0,0,0,0
$GC,11455,0.60,146.1,826.7,20.6,529,11460,0.00,2.28,0.00,0.000,6,0.000,0.050,2037,2681,2215,0,0,0,0,0,0
$GC,11771,0.60,146.1,760.9,21.1,539,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2682,2214,0,0,0,0,0,0
$GC,12077,0.60,146.1,697.9,20.7,549,12081,0.00,2.22,0.00,0.000,4,0.000,0.043,2048,1277,2214,0,0,0,0,0,0
$GC,12147,0.60,146.1,684.4,18.1,551,12151,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2672,2212,0,0,0,0,0,0
$GC,12485,0.60,146.1,614.4,20.6,562,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2212,0,0,0,0,0,0
$GC,12793,0.60,146.1,551.6,20.5,572,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2212,0,0,0,0,0,0
$GC,13097,0.60,146.1,490.5,19.7,582,13101,0.00,2.20,0.00,0.000,4,0.000,0.043,2058,1276,2212,0,0,0,0,0,0
$GC,13116,0.60,146.1,486.7,19.5,582,13120,0.12,2.25,0.00,0.000,6,0.210,0.049,2030,2673,2212,0,0,0,0,0,0
$GC,13431,0.60,146.1,430.7,17.7,592,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2673,2212,0,0,0,0,0,0
$GC,13739,0.60,146.1,375.3,17.6,604,13743,0.00,2.20,0.00,0.000,4,0.000,0.042,2039,1273,2211,0,0,0,0,0,0
$GC,13782,0.60,146.1,368.0,16.6,606,13786,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2669,2210,0,0,0,0,0,0
$GC,14111,0.60,146.1,306.7,18.5,622,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2670,2210,0,0,0,0,0,0
$GC,14423,0.60,146.1,249.4,18.0,637,14427,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1275,2210,0,0,0,0,0,0
$GC,14447,0.60,146.1,244.4,17.5,638,14456,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2669,2210,0,0,0,0,0,0
$GC,14771,0.60,146.1,186.5,17.2,659,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2669,2210,0,0,0,0,0,0
$GC,15084,0.60,146.1,132.5,17.2,679,15088,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1278,2210,0,0,0,0,0,0
$GC,15164,0.60,146.1,119.8,13.0,683,15172,0.12,2.25,0.00,0.000,6,0.203,0.051,2031,2675,2210,0,0,0,0,0,0
$GC,15499,0.60,146.1,72.3,15.8,726,15508,0.00,2.22,0.00,0.000,4,0.000,0.045,2041,1287,2210,0,0,0,0,0,0
$GC,15566,0.60,146.1,63.0,13.0,736,15572,0.00,2.22,0.00,0.000,6,0.000,0.050,2041,2677,2209,0,0,0,0,0,0
$GC,15938,0.60,146.1,10.1,14.4,797,15947,0.00,2.20,0.00,0.000,4,0.000,0.041,2051,1286,2210,0,0,0,0,0,0
$GC,15978,0.60,146.1,3.1,17.5,802,15987,0.00,2.25,0.00,0.000,6,0.000,0.050,2051,2671,2208,0,0,0,0,0,0
$STATE,15994,end climb,SURFACE_DEPTH_REACHED
$STATE,15995,begin surface coast
$FINISH,0.8,1.026477
$STATE,16021,end surface coast,CONTROL_FINISHED_OK
$STATE,16021,begin surface
$SM_CCo,16044,41.92,0.762,1,0,1881,230.09
$SM_GC,1.98,0.00,0.00,41.92,0.000,0.000,0.762,63,2874,1881,-5.52,0.40,230.09
$IRIDIUM_FIX,-4638.64,434.56,010213,161618
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.6,61.257
$10V_AH,10.0,31.447
$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,14.075,92.575,300.500,41.925,0.000,26.208,51.688,479.984,0.000,0.000,19.578,2009.577,11095.801,433.571,2576.222,768.009,33.398,1296.459,0.000,2009.819,0.000,1.008,0.000
$DEVICE_MAMPS,253.980,74.970,1803.870,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.283,1585.873,857.954,331.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354184
$DATA_FILE_SIZE,57149,808
$CAP_FILE_SIZE,125738,0
$CFSIZE,259252224,208744448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020213,014224,-4654.841,426.423,40,1.2,40,-23.4