version: 66.07
glider: 542
mission: 6
dive: 336
start: 2 3 113 1 17 34
data:
$ID,542
$MISSION,6
$DIVE,336
$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,-11526.757
$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,36
$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
$GPS1,030213,010334,-4656.335,413.993,36,1.2,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.1
$GPS2,030213,011637,-4656.234,414.099,14,0.9,15,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.154,-0.204
$KALMAN_X,-252166.9,230.4,-284.0,248576.4,-502.5
$KALMAN_Y,224314.9,-662.6,-456.1,-232356.4,8041.3
$MHEAD_RNG_PITCHd_Wd,166.3,8686,-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,-146.1,0.0,0.0,0,75,0.00,0.00,-47.17,0.000,2,0.000,0.000,58,2887,2748,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.1,-3.5,6,124,6.75,2.30,-24.58,0.000,4,0.252,0.052,1631,1447,3418,0,0,0,0,0,0
$GC,285,-0.60,-146.1,22.9,-10.1,36,295,0.00,2.30,0.00,0.000,6,0.000,0.053,1621,2849,3419,0,0,0,0,0,0
$GC,374,-0.60,-146.1,33.0,-13.3,49,380,0.00,1.67,0.00,0.000,4,0.000,0.057,1613,3909,3420,0,0,0,0,0,0
$GC,432,-0.60,-146.1,42.0,-15.5,58,441,0.00,1.62,0.00,0.000,6,0.000,0.030,1613,2842,3419,0,0,0,0,0,0
$GC,680,-0.60,-146.1,78.2,-13.8,99,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2842,3419,0,0,0,0,0,0
$GC,1023,-0.60,-146.1,122.2,-12.6,139,1027,0.00,1.70,0.00,0.000,4,0.000,0.057,1605,3905,3420,0,0,0,0,0,0
$GC,1154,-0.60,-146.1,140.1,-13.7,146,1164,0.08,1.60,0.00,0.000,6,0.162,0.030,1627,2843,3420,0,0,0,0,0,0
$GC,1482,-0.60,-146.1,178.1,-11.9,167,1486,0.00,1.73,0.00,0.000,4,0.000,0.059,1621,3902,3421,0,0,0,0,0,0
$GC,1536,-0.60,-146.1,185.8,-13.0,170,1540,0.00,1.58,0.00,0.000,6,0.000,0.030,1621,2851,3422,0,0,0,0,0,0
$GC,1870,-0.60,-146.1,224.3,-11.3,191,1874,0.00,1.70,0.00,0.000,4,0.000,0.059,1612,3907,3422,0,0,0,0,0,0
$GC,1916,-0.60,-146.1,230.3,-11.9,193,1923,0.00,1.58,0.00,0.000,6,0.000,0.030,1612,2852,3422,0,0,0,0,0,0
$GC,2242,-0.60,-146.1,267.9,-11.3,212,2245,0.00,1.65,0.00,0.000,4,0.000,0.058,1604,3897,3422,0,0,0,0,0,0
$GC,2277,-0.60,-146.1,272.6,-13.2,213,2281,0.08,1.55,0.00,0.000,6,0.158,0.031,1643,2871,3422,0,0,0,0,0,0
$GC,2604,-0.60,-146.1,301.9,-8.8,229,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2868,3422,0,0,0,0,0,0
$GC,2911,-0.60,-146.1,329.6,-8.8,244,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2868,3422,0,0,0,0,0,0
$GC,3222,-0.60,-146.1,357.2,-8.8,259,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2868,3422,0,0,0,0,0,0
$GC,3530,-0.60,-146.1,384.4,-8.7,274,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2867,3421,0,0,0,0,0,0
$GC,3858,-0.60,-146.1,411.5,-8.1,288,3861,0.00,1.67,0.00,0.000,4,0.000,0.060,1636,3907,3421,0,0,0,0,0,0
$GC,3904,-0.60,-146.1,415.7,-8.6,289,3908,0.00,1.60,0.00,0.000,6,0.000,0.031,1636,2852,3421,0,0,0,0,0,0
$GC,4236,-0.60,-146.1,443.5,-8.4,300,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2848,3421,0,0,0,0,0,0
$GC,4544,-0.60,-146.1,470.0,-8.7,310,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2848,3421,0,0,0,0,0,0
$GC,4849,-0.60,-146.1,497.0,-8.9,320,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2848,3421,0,0,0,0,0,0
$GC,5155,-0.60,-146.1,524.5,-9.2,330,5158,0.00,1.67,0.00,0.000,4,0.000,0.061,1628,3897,3420,0,0,0,0,0,0
$GC,5206,-0.60,-146.1,529.9,-10.4,331,5210,0.00,1.58,0.00,0.000,6,0.000,0.033,1628,2866,3420,0,0,0,0,0,0
$GC,5532,-0.60,-146.1,561.3,-9.6,342,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2862,3420,0,0,0,0,0,0
$GC,5840,-0.60,-146.1,591.0,-9.7,352,5843,0.00,1.67,0.00,0.000,4,0.000,0.060,1620,3897,3419,0,0,0,0,0,0
$GC,5886,-0.60,-146.1,595.9,-10.3,353,5889,0.00,1.58,0.00,0.000,6,0.000,0.033,1620,2863,3419,0,0,0,0,0,0
$GC,6218,-0.60,-146.1,627.0,-9.2,364,6221,0.00,1.67,0.00,0.000,4,0.000,0.061,1612,3907,3419,0,0,0,0,0,0
$GC,6264,-0.60,-146.1,631.8,-9.6,365,6267,0.00,1.60,0.00,0.000,6,0.000,0.033,1612,2857,3419,0,0,0,0,0,0
$GC,6595,-0.60,-146.1,662.6,-9.2,376,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2853,3419,0,0,0,0,0,0
$GC,6904,-0.60,-146.1,690.7,-9.1,386,6907,0.00,1.67,0.00,0.000,4,0.000,0.060,1603,3903,3418,0,0,0,0,0,0
$GC,6940,-0.60,-146.1,694.5,-10.3,387,6945,0.08,1.58,0.00,0.000,6,0.158,0.033,1635,2868,3418,0,0,0,0,0,0
$GC,7284,-0.60,-146.1,720.6,-7.5,398,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3417,0,0,0,0,0,0
$GC,7592,-0.60,-146.1,744.0,-7.8,408,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3417,0,0,0,0,0,0
$GC,7897,-0.60,-146.1,769.0,-8.1,418,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3417,0,0,0,0,0,0
$GC,8203,-0.60,-146.1,794.5,-8.3,428,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2864,3417,0,0,0,0,0,0
$GC,8509,-0.60,-146.1,820.2,-8.3,438,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2863,3416,0,0,0,0,0,0
$GC,8815,-0.60,-146.1,845.5,-8.2,448,8819,0.00,2.15,0.00,0.000,4,0.000,0.038,1635,1472,3416,0,0,0,0,0,0
$GC,8847,-0.60,-146.1,848.1,-8.2,449,8851,0.00,2.22,0.00,0.000,6,0.000,0.052,1627,2863,3416,0,0,0,0,0,0
$GC,9186,-0.60,-146.1,875.9,-8.1,460,9189,0.00,1.65,0.00,0.000,4,0.000,0.061,1618,3901,3416,0,0,0,0,0,0
$GC,9256,-0.60,-146.1,882.1,-9.1,462,9260,0.00,1.58,0.00,0.000,6,0.000,0.033,1619,2862,3415,0,0,0,0,0,0
$GC,9601,-0.60,-146.1,911.2,-8.6,473,9605,0.00,2.12,0.00,0.000,4,0.000,0.037,1618,1472,3416,0,0,0,0,0,0
$GC,9638,-0.60,-146.1,914.4,-8.1,474,9642,0.00,2.22,0.00,0.000,6,0.000,0.052,1608,2862,3415,0,0,0,0,0,0
$GC,9970,-0.60,-146.1,945.5,-9.5,485,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2862,3416,0,0,0,0,0,0
$GC,10276,-0.60,-146.1,974.1,-9.2,495,10280,0.00,1.65,0.00,0.000,4,0.000,0.061,1600,3887,3416,0,0,0,0,0,0
$GC,10323,-0.60,-146.1,979.1,-11.2,496,10327,0.10,1.55,0.00,0.000,6,0.160,0.033,1631,2860,3415,0,0,0,0,0,0
$STATE,10589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10589,begin apogee
$GC,10600,-0.18,0.0,1000.5,7.9,505,10748,0.45,0.00,144.55,1.246,6,0.149,0.000,1767,2671,2819,0,0,0,0,0,0
$STATE,10750,end apogee,CONTROL_FINISHED_OK
$STATE,10750,begin climb
$GC,10755,0.60,146.1,1005.4,0.0,510,10924,0.77,2.47,155.93,1.800,4,0.095,0.043,2028,1287,2225,0,0,0,0,1,0
$GC,10949,0.60,146.1,981.1,19.0,516,10954,0.00,2.47,0.00,0.000,6,0.000,0.051,2028,2663,2224,0,0,0,0,0,0
$GC,11282,0.60,146.1,913.3,20.5,527,11286,0.00,2.25,0.00,0.000,4,0.000,0.045,2039,1276,2218,0,0,0,0,0,0
$GC,11313,0.60,146.1,907.0,19.2,528,11318,0.00,2.30,0.00,0.000,6,0.000,0.051,2039,2674,2216,0,0,0,0,0,0
$GC,11652,0.60,146.1,834.3,21.7,539,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2675,2216,0,0,0,0,0,0
$GC,11959,0.60,146.1,764.4,23.2,549,11963,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1276,2215,0,0,0,0,0,0
$GC,12033,0.60,146.1,748.2,19.1,551,12037,0.00,2.25,0.00,0.000,6,0.000,0.051,2049,2670,2213,0,0,0,0,0,0
$GC,12367,0.60,146.1,671.1,23.5,562,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2213,0,0,0,0,0,0
$GC,12671,0.60,146.1,601.8,22.5,572,12675,0.00,2.17,0.00,0.000,4,0.000,0.044,2059,1275,2213,0,0,0,0,0,0
$GC,12738,0.60,146.1,588.5,19.0,574,12743,0.12,2.25,0.00,0.000,6,0.213,0.051,2031,2681,2211,0,0,0,0,0,0
$GC,13077,0.60,146.1,521.8,19.4,585,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2681,2212,0,0,0,0,0,0
$GC,13383,0.60,146.1,463.8,18.5,595,13387,0.00,2.20,0.00,0.000,4,0.000,0.044,2040,1274,2212,0,0,0,0,0,0
$GC,13419,0.60,146.1,457.6,15.7,596,13423,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2676,2211,0,0,0,0,0,0
$GC,13763,0.60,146.1,395.1,18.1,607,13767,0.00,1.92,0.00,0.000,4,0.000,0.058,2040,3901,2211,0,0,0,0,0,0
$GC,13798,0.60,146.1,387.9,21.2,608,13802,0.00,1.88,0.00,0.000,6,0.000,0.037,2049,2680,2212,0,0,0,0,0,0
$GC,14121,0.60,146.1,327.4,18.6,624,14125,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1259,2212,0,0,0,0,0,0
$GC,14189,0.60,146.1,315.9,16.0,627,14194,0.15,2.28,0.00,0.000,6,0.204,0.051,2025,2669,2210,0,0,0,0,0,0
$GC,14521,0.60,146.1,259.3,16.8,643,14525,0.00,1.98,0.00,0.000,4,0.000,0.059,2025,3894,2211,0,0,0,0,0,0
$GC,14551,0.60,146.1,253.4,18.6,644,14555,0.00,1.92,0.00,0.000,6,0.000,0.038,2033,2672,2211,0,0,0,0,0,0
$GC,14873,0.60,146.1,197.9,17.3,664,14877,0.00,2.20,0.00,0.000,4,0.000,0.043,2044,1263,2211,0,0,0,0,0,0
$GC,14908,0.60,146.1,192.0,14.8,666,14912,0.00,2.25,0.00,0.000,6,0.000,0.050,2044,2670,2210,0,0,0,0,0,0
$GC,15232,0.60,146.1,137.8,17.2,686,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2671,2210,0,0,0,0,0,0
$GC,15553,0.60,146.1,83.5,16.4,716,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2670,2210,0,0,0,0,0,0
$GC,15915,0.60,146.1,25.4,16.6,777,15924,0.00,1.98,0.00,0.000,4,0.000,0.058,2044,3900,2210,0,0,0,0,0,0
$GC,15961,0.60,146.1,16.3,21.3,783,15971,0.08,1.92,0.00,0.000,6,0.229,0.037,2034,2663,2211,0,0,0,0,0,0
$STATE,16026,end climb,SURFACE_DEPTH_REACHED
$STATE,16027,begin surface coast
$FINISH,0.9,1.001732
$STATE,16046,end surface coast,CONTROL_FINISHED_OK
$STATE,16051,begin surface
$SM_CCo,16073,42.10,0.761,1,0,1879,230.09
$SM_GC,2.01,0.00,0.00,42.10,0.000,0.000,0.761,52,2880,1879,-5.56,0.54,230.09
$IRIDIUM_FIX,-4641.78,415.70,020213,202032
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.20
$XPDR_PINGS,0
$24V_AH,21.6,62.327
$10V_AH,10.0,32.104
$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,14.050,96.375,300.475,42.100,0.000,24.599,41.636,471.859,0.000,0.000,18.158,2011.355,11121.521,438.235,2548.947,772.905,33.402,1306.836,0.000,2001.259,0.000,1.009,0.000
$DEVICE_MAMPS,251.685,69.615,1800.045,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.205,1582.914,844.708,318.670,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354036
$DATA_FILE_SIZE,56948,796
$CAP_FILE_SIZE,126694,0
$CFSIZE,259252224,208347136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,030213,054735,-4657.475,415.690,32,1.0,32,-23.4