version: 66.07
glider: 542
mission: 6
dive: 362
start: 2 8 113 4 9 20
data:
$ID,542
$MISSION,6
$DIVE,362
$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,-11602.532
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,080213,034957,-4631.322,434.807,41,1.9,42,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-62.4
$GPS2,080213,040824,-4631.417,435.002,15,0.9,16,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.246,-0.069
$KALMAN_X,-262804.2,-326.5,-43.0,286000.3,846.5
$KALMAN_Y,241374.3,-578.6,-272.3,-203734.8,3970.1
$MHEAD_RNG_PITCHd_Wd,129.3,6891,-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,-146.1,0.0,0.0,0,84,0.00,0.00,-55.10,0.000,2,0.000,0.000,55,2875,2942,0,0,0,0,0,0
$GC,91,-0.60,-146.1,3.0,-2.9,7,118,6.68,1.70,-14.95,0.000,4,0.246,0.076,1622,3894,3417,0,0,0,0,0,0
$GC,396,-0.60,-146.1,44.6,-13.0,55,402,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2856,3419,0,0,0,0,0,0
$GC,635,-0.60,-146.1,77.2,-13.4,96,644,0.00,1.67,0.00,0.000,4,0.000,0.057,1613,3885,3419,0,0,0,0,0,0
$GC,770,-0.60,-146.1,94.9,-13.2,118,777,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2848,3420,0,0,0,0,0,0
$GC,1109,-0.60,-146.1,135.9,-11.0,143,1113,0.00,1.70,0.00,0.000,4,0.000,0.058,1606,3894,3420,0,0,0,0,0,0
$GC,1156,-0.60,-146.1,141.9,-12.0,145,1163,0.08,1.55,0.00,0.000,6,0.158,0.031,1629,2861,3421,0,0,0,0,0,0
$GC,1483,-0.60,-146.1,173.0,-10.0,166,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2860,3421,0,0,0,0,0,0
$GC,1807,-0.60,-146.1,205.1,-9.8,187,1810,0.00,1.70,0.00,0.000,4,0.000,0.060,1623,3903,3421,0,0,0,0,0,0
$GC,1870,-0.60,-146.1,212.4,-11.4,190,1879,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2852,3422,0,0,0,0,0,0
$GC,2193,-0.60,-146.1,246.8,-10.5,211,2197,0.00,1.67,0.00,0.000,4,0.000,0.059,1614,3883,3422,0,0,0,0,0,0
$GC,2257,-0.60,-146.1,254.5,-11.8,214,2266,0.00,1.52,0.00,0.000,6,0.000,0.031,1614,2865,3421,0,0,0,0,0,0
$GC,2575,-0.60,-146.1,287.7,-10.2,230,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2865,3421,0,0,0,0,0,0
$GC,2887,-0.60,-146.1,320.7,-10.8,245,2891,0.00,1.65,0.00,0.000,4,0.000,0.059,1606,3893,3421,0,0,0,0,0,0
$GC,2967,-0.60,-146.1,330.7,-12.1,248,2971,0.00,1.55,0.00,0.000,6,0.000,0.032,1607,2865,3420,0,0,0,0,0,0
$GC,3290,-0.60,-146.1,367.3,-11.2,264,3294,0.00,1.70,0.00,0.000,4,0.000,0.059,1599,3903,3420,0,0,0,0,0,0
$GC,3393,-0.60,-146.1,379.8,-12.2,268,3397,0.10,1.58,0.00,0.000,6,0.161,0.032,1629,2861,3420,0,0,0,0,0,0
$GC,3737,-0.60,-146.1,410.9,-8.7,283,3741,0.00,1.67,0.00,0.000,4,0.000,0.060,1623,3884,3420,0,0,0,0,0,0
$GC,3808,-0.60,-146.1,417.6,-9.7,285,3811,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2857,3420,0,0,0,0,0,0
$GC,4151,-0.60,-146.1,448.8,-9.2,296,4155,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3893,3420,0,0,0,0,0,0
$GC,4188,-0.60,-146.1,452.3,-9.9,297,4191,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2866,3420,0,0,0,0,0,0
$GC,4531,-0.60,-146.1,484.4,-9.4,308,4535,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3886,3419,0,0,0,0,0,0
$GC,4577,-0.60,-146.1,489.4,-10.5,309,4582,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2856,3419,0,0,0,0,0,0
$GC,4909,-0.60,-146.1,521.8,-9.9,320,4913,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3890,3419,0,0,0,0,0,0
$GC,4989,-0.60,-146.1,530.8,-10.9,322,4994,0.10,1.55,0.00,0.000,6,0.159,0.033,1638,2866,3419,0,0,0,0,0,0
$GC,5322,-0.60,-146.1,556.5,-7.8,333,5326,0.00,1.67,0.00,0.000,4,0.000,0.060,1631,3898,3419,0,0,0,0,0,0
$GC,5363,-0.60,-146.1,560.2,-8.6,334,5366,0.00,1.58,0.00,0.000,6,0.000,0.031,1631,2861,3419,0,0,0,0,0,0
$GC,5701,-0.60,-146.1,587.9,-8.3,345,5705,0.00,1.70,0.00,0.000,4,0.000,0.061,1623,3891,3418,0,0,0,0,0,0
$GC,5738,-0.60,-146.1,591.5,-9.6,346,5742,0.00,1.58,0.00,0.000,6,0.000,0.032,1623,2851,3418,0,0,0,0,0,0
$GC,6083,-0.60,-146.1,622.2,-8.9,357,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2847,3419,0,0,0,0,0,0
$GC,6388,-0.60,-146.1,648.1,-8.1,367,6391,0.00,1.70,0.00,0.000,4,0.000,0.060,1615,3897,3418,0,0,0,0,0,0
$GC,6458,-0.60,-146.1,654.3,-8.9,369,6462,0.00,1.58,0.00,0.000,6,0.000,0.032,1615,2862,3418,0,0,0,0,0,0
$GC,6801,-0.60,-146.1,682.9,-8.2,380,6805,0.00,1.67,0.00,0.000,4,0.000,0.061,1608,3894,3418,0,0,0,0,0,0
$GC,6854,-0.60,-146.1,687.7,-9.3,381,6857,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2855,3418,0,0,0,0,0,0
$GC,7180,-0.60,-146.1,715.5,-8.4,392,7183,0.00,1.67,0.00,0.000,4,0.000,0.060,1600,3889,3417,0,0,0,0,0,0
$GC,7250,-0.60,-146.1,722.3,-9.7,394,7254,0.10,1.55,0.00,0.000,6,0.158,0.033,1639,2865,3417,0,0,0,0,0,0
$GC,7594,-0.60,-146.1,746.6,-7.3,405,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2862,3417,0,0,0,0,0,0
$GC,7900,-0.60,-146.1,770.5,-7.9,415,7904,0.00,1.67,0.00,0.000,4,0.000,0.062,1632,3894,3417,0,0,0,0,0,0
$GC,7947,-0.60,-146.1,774.4,-8.8,416,7950,0.00,1.58,0.00,0.000,6,0.000,0.032,1633,2859,3416,0,0,0,0,0,0
$GC,8279,-0.60,-146.1,802.1,-8.4,427,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2854,3416,0,0,0,0,0,0
$GC,8587,-0.60,-146.1,827.1,-8.0,437,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2854,3416,0,0,0,0,0,0
$GC,8892,-0.60,-146.1,849.9,-7.2,447,8895,0.00,1.67,0.00,0.000,4,0.000,0.061,1625,3889,3416,0,0,0,0,0,0
$GC,8938,-0.60,-146.1,853.6,-7.7,448,8941,0.00,1.58,0.00,0.000,6,0.000,0.032,1625,2853,3416,0,0,0,0,0,0
$GC,9270,-0.60,-146.1,877.9,-7.4,459,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2847,3416,0,0,0,0,0,0
$GC,9577,-0.60,-146.1,900.7,-7.5,469,9581,0.00,1.70,0.00,0.000,4,0.000,0.061,1617,3897,3416,0,0,0,0,0,0
$GC,9648,-0.60,-146.1,906.7,-8.5,471,9652,0.00,1.58,0.00,0.000,6,0.000,0.032,1617,2862,3416,0,0,0,0,0,0
$GC,9993,-0.60,-146.1,936.6,-8.8,482,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2858,3416,0,0,0,0,0,0
$GC,10298,-0.60,-146.1,964.8,-9.4,492,10301,0.00,1.67,0.00,0.000,4,0.000,0.062,1609,3892,3415,0,0,0,0,0,0
$GC,10349,-0.60,-146.1,970.3,-9.6,493,10353,0.00,1.58,0.00,0.000,6,0.000,0.032,1609,2855,3415,0,0,0,0,0,0
$STATE,10671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10671,begin apogee
$GC,10682,-0.18,0.0,1000.1,8.9,504,10830,0.52,0.00,144.68,1.232,6,0.155,0.000,1764,2674,2819,0,0,0,0,0,0
$STATE,10832,end apogee,CONTROL_FINISHED_OK
$STATE,10832,begin climb
$GC,10837,0.60,146.1,1004.6,0.0,509,11010,0.77,2.55,157.60,1.793,4,0.093,0.046,2027,1292,2225,0,0,0,0,1,0
$GC,11083,0.60,146.1,971.4,17.5,516,11087,0.00,2.40,0.00,0.000,6,0.000,0.050,2026,2657,2220,0,0,0,0,0,0
$GC,11404,0.60,146.1,907.4,20.2,527,11408,0.00,2.20,0.00,0.000,4,0.000,0.046,2037,1290,2217,0,0,0,0,0,0
$GC,11473,0.60,146.1,894.4,16.7,529,11477,0.00,2.28,0.00,0.000,6,0.000,0.052,2037,2680,2215,0,0,0,0,0,0
$GC,11810,0.60,146.1,824.7,21.0,540,11814,0.00,2.22,0.00,0.000,4,0.000,0.045,2047,1286,2214,0,0,0,0,0,0
$GC,11881,0.60,146.1,811.3,18.6,542,11885,0.00,2.25,0.00,0.000,6,0.000,0.051,2046,2675,2212,0,0,0,0,0,0
$GC,12219,0.60,146.1,740.9,21.0,553,12223,0.00,2.22,0.00,0.000,4,0.000,0.046,2057,1282,2212,0,0,0,0,0,0
$GC,12271,0.60,146.1,730.0,18.6,554,12275,0.12,2.22,0.00,0.000,6,0.220,0.051,2030,2669,2211,0,0,0,0,0,0
$GC,12592,0.60,146.1,666.8,19.8,565,12596,0.00,2.17,0.00,0.000,4,0.000,0.044,2039,1282,2212,0,0,0,0,0,0
$GC,12629,0.60,146.1,659.7,19.9,566,12633,0.00,2.22,0.00,0.000,6,0.000,0.051,2039,2671,2212,0,0,0,0,0,0
$GC,12974,0.60,146.1,590.0,20.2,577,12978,0.00,2.20,0.00,0.000,4,0.000,0.045,2049,1284,2211,0,0,0,0,0,0
$GC,13026,0.60,146.1,579.6,16.4,578,13030,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2670,2211,0,0,0,0,0,0
$GC,13342,0.60,146.1,517.7,19.5,588,13346,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1281,2211,0,0,0,0,0,0
$GC,13377,0.60,146.1,510.9,17.9,589,13382,0.12,2.25,0.00,0.000,6,0.212,0.051,2030,2677,2211,0,0,0,0,0,0
$GC,13710,0.60,146.1,452.0,17.8,600,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2677,2211,0,0,0,0,0,0
$GC,14016,0.60,146.1,397.5,18.3,610,14020,0.00,2.17,0.00,0.000,4,0.000,0.045,2040,1288,2211,0,0,0,0,0,0
$GC,14113,0.60,146.1,381.2,16.1,614,14117,0.00,2.22,0.00,0.000,6,0.000,0.051,2040,2680,2210,0,0,0,0,0,0
$GC,14443,0.60,146.1,321.4,18.6,630,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2680,2210,0,0,0,0,0,0
$GC,14754,0.60,146.1,265.1,18.5,645,14758,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1287,2210,0,0,0,0,0,0
$GC,14819,0.60,146.1,253.0,16.6,647,14826,0.00,2.22,0.00,0.000,6,0.000,0.052,2050,2670,2210,0,0,0,0,0,0
$GC,15147,0.60,146.1,192.2,18.3,668,15151,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1288,2210,0,0,0,0,0,0
$GC,15182,0.60,146.1,185.4,16.6,670,15187,0.12,2.22,0.00,0.000,6,0.206,0.050,2031,2670,2210,0,0,0,0,0,0
$GC,15511,0.60,146.1,132.6,16.5,690,15515,0.00,2.20,0.00,0.000,4,0.000,0.045,2040,1278,2209,0,0,0,0,0,0
$GC,15569,0.60,146.1,122.1,13.7,693,15576,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2679,2209,0,0,0,0,0,0
$GC,15909,0.60,146.1,68.7,14.1,736,15915,0.00,2.20,0.00,0.000,4,0.000,0.044,2050,1285,2209,0,0,0,0,0,0
$GC,15976,0.60,146.1,59.4,12.9,747,15983,0.00,2.25,0.00,0.000,6,0.000,0.052,2050,2680,2209,0,0,0,0,0,0
$GC,16228,0.60,146.1,22.9,16.2,788,16237,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2680,2209,0,0,0,0,0,0
$GC,16316,0.60,146.1,9.1,15.2,801,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2680,2209,0,0,0,0,0,0
$STATE,16356,end climb,SURFACE_DEPTH_REACHED
$STATE,16356,begin surface coast
$FINISH,0.9,1.013650
$STATE,16382,end surface coast,CONTROL_FINISHED_OK
$STATE,16382,begin surface
$SM_CCo,16405,41.25,0.767,1,0,1881,230.09
$SM_GC,2.21,0.00,0.00,41.25,0.000,0.000,0.767,58,2874,1881,-5.54,0.40,230.09
$IRIDIUM_FIX,-4616.72,432.56,080213,030343
$TT8_MAMPS,0.026215
$HUMID,59.13
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.10
$XPDR_PINGS,0
$24V_AH,21.4,66.972
$10V_AH,9.9,35.053
$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,14.125,119.175,302.275,41.250,0.000,53.367,52.208,645.620,0.000,0.000,18.545,2086.613,11196.369,448.746,2965.328,845.783,33.398,1422.358,0.000,2193.922,0.000,1.010,0.000
$DEVICE_MAMPS,246.330,76.500,1793.160,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.468,1598.152,851.305,327.084,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354112
$DATA_FILE_SIZE,57273,811
$CAP_FILE_SIZE,141300,0
$CFSIZE,259252224,206524416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,080213,084458,-4631.344,438.798,38,0.9,39,-23.5