version: 66.07
glider: 542
mission: 6
dive: 333
start: 2 2 113 11 19 32
data:
$ID,542
$MISSION,6
$DIVE,333
$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,-11518.212
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,020213,110504,-4655.284,422.196,28,1.0,29,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-52.9
$GPS2,020213,111835,-4655.152,422.385,18,1.1,18,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.184,-0.178
$KALMAN_X,-249510.7,-515.5,-740.5,257643.2,2440.9
$KALMAN_Y,214206.1,-727.9,-631.4,-220004.2,8553.5
$MHEAD_RNG_PITCHd_Wd,249.4,18037,-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,-63.03,0.000,2,0.000,0.000,61,2878,3126,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.4,-2.0,8,116,6.55,0.00,-7.70,0.000,6,0.243,0.000,1628,2878,3417,0,0,0,0,0,0
$GC,195,-0.60,-146.1,19.9,-12.9,22,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2878,3419,0,0,0,0,0,0
$GC,282,-0.60,-146.1,33.8,-15.7,35,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2878,3419,0,0,0,0,0,0
$GC,529,-0.60,-146.1,66.3,-11.6,76,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2878,3419,0,0,0,0,0,0
$GC,880,-0.60,-146.1,106.9,-10.3,129,881,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2878,3420,0,0,0,0,0,0
$GC,1192,-0.60,-146.1,137.9,-10.7,149,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2878,3420,0,0,0,0,0,0
$GC,1505,-0.60,-146.1,172.0,-10.7,169,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2878,3421,0,0,0,0,0,0
$GC,1817,-0.60,-146.1,206.2,-11.2,189,1821,0.00,1.65,0.00,0.000,4,0.000,0.060,1621,3900,3421,0,0,0,0,0,0
$GC,1856,-0.60,-146.1,210.6,-11.8,191,1860,0.00,1.62,0.00,0.000,6,0.000,0.031,1621,2828,3421,0,0,0,0,0,0
$GC,2190,-0.60,-146.1,247.3,-10.6,212,2194,0.00,1.73,0.00,0.000,4,0.000,0.059,1613,3897,3421,0,0,0,0,0,0
$GC,2241,-0.60,-146.1,253.1,-11.8,215,2244,0.00,1.58,0.00,0.000,6,0.000,0.031,1613,2851,3421,0,0,0,0,0,0
$GC,2578,-0.60,-146.1,293.0,-11.7,231,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2846,3421,0,0,0,0,0,0
$GC,2885,-0.60,-146.1,327.6,-11.0,246,2888,0.00,1.70,0.00,0.000,4,0.000,0.059,1605,3905,3421,0,0,0,0,0,0
$GC,2942,-0.60,-146.1,334.8,-11.7,248,2946,0.08,1.58,0.00,0.000,6,0.158,0.032,1637,2866,3421,0,0,0,0,0,0
$GC,3267,-0.60,-146.1,364.0,-8.7,264,3270,0.00,1.70,0.00,0.000,4,0.000,0.060,1630,3903,3421,0,0,0,0,0,0
$GC,3302,-0.60,-146.1,367.4,-9.4,265,3305,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2864,3421,0,0,0,0,0,0
$GC,3627,-0.60,-146.1,397.2,-9.5,281,3631,0.00,1.70,0.00,0.000,4,0.000,0.060,1622,3898,3421,0,0,0,0,0,0
$GC,3664,-0.60,-146.1,401.3,-11.1,283,3668,0.00,1.58,0.00,0.000,6,0.000,0.032,1622,2858,3421,0,0,0,0,0,0
$GC,4009,-0.60,-146.1,438.0,-10.7,294,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2854,3421,0,0,0,0,0,0
$GC,4314,-0.60,-146.1,469.8,-10.3,304,4317,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3896,3421,0,0,0,0,0,0
$GC,4365,-0.60,-146.1,475.7,-11.5,305,4369,0.00,1.58,0.00,0.000,6,0.000,0.032,1613,2856,3421,0,0,0,0,0,0
$GC,4691,-0.60,-146.1,509.3,-10.2,316,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2851,3421,0,0,0,0,0,0
$GC,4998,-0.60,-146.1,540.3,-10.1,326,5001,0.00,1.70,0.00,0.000,4,0.000,0.060,1606,3905,3421,0,0,0,0,0,0
$GC,5049,-0.60,-146.1,546.0,-10.8,327,5054,0.05,1.60,0.00,0.000,6,0.166,0.032,1630,2856,3420,0,0,0,0,0,0
$GC,5376,-0.60,-146.1,574.3,-8.6,338,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3420,0,0,0,0,0,0
$GC,5683,-0.60,-146.1,600.4,-8.5,348,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2853,3420,0,0,0,0,0,0
$GC,5989,-0.60,-146.1,626.1,-8.5,358,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3420,0,0,0,0,0,0
$GC,6295,-0.60,-146.1,653.2,-9.1,368,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2852,3420,0,0,0,0,0,0
$GC,6601,-0.60,-146.1,680.3,-8.7,378,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2853,3420,0,0,0,0,0,0
$GC,6908,-0.60,-146.1,706.0,-8.3,388,6912,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3888,3420,0,0,0,0,0,0
$GC,6965,-0.60,-146.1,711.5,-9.4,389,6969,0.00,1.58,0.00,0.000,6,0.000,0.034,1623,2855,3420,0,0,0,0,0,0
$GC,7288,-0.60,-146.1,738.7,-8.4,400,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2851,3420,0,0,0,0,0,0
$GC,7593,-0.60,-146.1,764.6,-8.5,410,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2851,3419,0,0,0,0,0,0
$GC,7899,-0.60,-146.1,789.9,-8.0,420,7902,0.00,1.70,0.00,0.000,4,0.000,0.061,1615,3900,3420,0,0,0,0,0,0
$GC,7950,-0.60,-146.1,794.7,-9.5,421,7954,0.00,1.60,0.00,0.000,6,0.000,0.034,1615,2854,3419,0,0,0,0,0,0
$GC,8277,-0.60,-146.1,822.0,-8.4,432,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2850,3419,0,0,0,0,0,0
$GC,8582,-0.60,-146.1,848.1,-8.6,442,8586,0.00,1.73,0.00,0.000,4,0.000,0.061,1607,3897,3419,0,0,0,0,0,0
$GC,8623,-0.60,-146.1,852.0,-8.6,443,8627,0.00,1.60,0.00,0.000,6,0.000,0.034,1607,2852,3418,0,0,0,0,0,0
$GC,8963,-0.60,-146.1,882.9,-9.0,454,8967,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3899,3419,0,0,0,0,0,0
$GC,8992,-0.60,-146.1,886.3,-10.5,454,8999,0.10,1.60,0.00,0.000,6,0.161,0.033,1630,2848,3419,0,0,0,0,0,0
$GC,9307,-0.60,-146.1,910.4,-7.7,465,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2847,3419,0,0,0,0,0,0
$GC,9614,-0.60,-146.1,933.3,-7.3,475,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2847,3418,0,0,0,0,0,0
$GC,9920,-0.60,-146.1,954.7,-7.0,485,9924,0.00,1.73,0.00,0.000,4,0.000,0.062,1623,3894,3418,0,0,0,0,0,0
$GC,9961,-0.60,-146.1,957.9,-7.5,486,9965,0.00,1.58,0.00,0.000,6,0.000,0.034,1623,2864,3418,0,0,0,0,0,0
$GC,10301,-0.60,-146.1,982.9,-7.7,497,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3418,0,0,0,0,0,0
$STATE,10508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10508,begin apogee
$GC,10519,-0.18,0.0,1000.3,8.3,504,10667,0.47,0.00,145.38,1.248,6,0.148,0.000,1765,2675,2819,0,0,0,0,0,0
$STATE,10669,end apogee,CONTROL_FINISHED_OK
$STATE,10669,begin climb
$GC,10674,0.60,146.1,1005.3,0.0,509,10843,0.77,2.53,155.38,1.808,4,0.093,0.044,2026,1275,2225,0,0,0,0,1,0
$GC,10908,0.60,146.1,974.7,17.0,516,10913,0.00,2.45,0.00,0.000,6,0.000,0.051,2027,2664,2221,0,0,0,0,0,0
$GC,11235,0.60,146.1,909.2,20.5,527,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2665,2217,0,0,0,0,0,0
$GC,11543,0.60,146.1,845.3,21.1,537,11547,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1277,2216,0,0,0,0,0,0
$GC,11595,0.60,146.1,834.5,17.5,538,11599,0.00,2.28,0.00,0.000,6,0.000,0.051,2037,2674,2214,0,0,0,0,0,0
$GC,11910,0.60,146.1,767.3,21.8,548,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2674,2214,0,0,0,0,0,0
$GC,12216,0.60,146.1,702.2,21.4,558,12220,0.00,2.22,0.00,0.000,4,0.000,0.042,2047,1270,2214,0,0,0,0,0,0
$GC,12283,0.60,146.1,689.3,18.7,560,12288,0.00,2.28,0.00,0.000,6,0.000,0.050,2048,2679,2212,0,0,0,0,0,0
$GC,12621,0.60,146.1,618.5,20.6,571,12622,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2678,2212,0,0,0,0,0,0
$GC,12927,0.60,146.1,554.5,21.0,581,12928,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2678,2212,0,0,0,0,0,0
$GC,13234,0.60,146.1,492.0,20.6,591,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2678,2212,0,0,0,0,0,0
$GC,13540,0.60,146.1,430.6,19.8,601,13544,0.00,2.20,0.00,0.000,4,0.000,0.043,2058,1275,2212,0,0,0,0,0,0
$GC,13576,0.60,146.1,423.6,17.9,602,13581,0.12,2.22,0.00,0.000,6,0.210,0.050,2030,2668,2211,0,0,0,0,0,0
$GC,13904,0.60,146.1,366.1,17.3,615,13908,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1275,2211,0,0,0,0,0,0
$GC,13935,0.60,146.1,360.3,17.0,616,13939,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2670,2211,0,0,0,0,0,0
$GC,14255,0.60,146.1,302.3,18.3,631,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2211,0,0,0,0,0,0
$GC,14576,0.60,146.1,244.2,18.5,647,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2671,2211,0,0,0,0,0,0
$GC,14888,0.60,146.1,186.7,18.2,667,14889,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2671,2211,0,0,0,0,0,0
$GC,15201,0.60,146.1,130.0,17.8,687,15205,0.00,2.17,0.00,0.000,4,0.000,0.042,2050,1273,2211,0,0,0,0,0,0
$GC,15260,0.60,146.1,119.8,14.1,690,15264,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2671,2210,0,0,0,0,0,0
$GC,15604,0.60,146.1,61.6,16.3,736,15611,0.00,2.20,0.00,0.000,4,0.000,0.042,2060,1269,2210,0,0,0,0,0,0
$GC,15688,0.60,146.1,47.9,16.2,749,15695,0.12,2.25,0.00,0.000,6,0.201,0.050,2031,2670,2209,0,0,0,0,0,0
$GC,15945,0.60,146.1,8.4,16.3,790,15954,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1270,2209,0,0,0,0,0,0
$GC,15973,0.60,146.1,3.5,17.9,793,15982,0.00,2.25,0.00,0.000,6,0.000,0.046,2040,2666,2208,0,0,0,0,0,0
$STATE,15990,end climb,SURFACE_DEPTH_REACHED
$STATE,15990,begin surface coast
$FINISH,0.9,1.014071
$STATE,16009,end surface coast,CONTROL_FINISHED_OK
$STATE,16010,begin surface
$SM_CCo,16032,42.10,0.762,1,0,1879,230.09
$SM_GC,1.89,0.00,0.00,42.10,0.000,0.000,0.762,61,2885,1879,-5.53,0.71,230.09
$IRIDIUM_FIX,-4635.50,424.89,020213,060636
$TT8_MAMPS,0.026964
$HUMID,58.38
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.6,61.817
$10V_AH,10.0,31.779
$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,13.750,76.200,300.750,42.100,0.000,27.231,48.348,488.277,0.000,0.000,20.727,1986.961,11215.850,419.521,2510.506,747.865,33.394,1250.204,0.000,1933.175,0.000,1.010,0.000
$DEVICE_MAMPS,243.270,68.085,1807.695,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.391,1561.628,821.489,307.902,0.000,0.000,0.000,0.000,0.000,0.000
$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,57218,798
$CAP_FILE_SIZE,120466,0
$CFSIZE,259252224,208547840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,020213,154858,-4655.146,419.073,37,1.0,37,-23.4