version: 66.07
glider: 542
mission: 6
dive: 368
start: 2 9 113 9 0 45
data:
$ID,542
$MISSION,6
$DIVE,368
$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,-11620.513
$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,56
$R_STBD_OVSHOOT,27
$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
$GPS1,090213,084654,-4640.834,437.346,39,1.0,40,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.8
$GPS2,090213,085948,-4640.938,437.378,15,1.2,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.099,-0.236
$KALMAN_X,-268571.2,-4.6,20.2,294396.9,-2022.1
$KALMAN_Y,251443.4,-384.4,-476.4,-231420.3,4098.2
$MHEAD_RNG_PITCHd_Wd,180.6,35459,-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,-146.1,0.0,0.0,0,91,0.00,0.00,-63.03,0.000,2,0.000,0.000,51,2876,3111,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.2,-3.1,8,124,6.85,1.67,-8.32,0.000,4,0.255,0.074,1619,3900,3419,0,0,0,0,0,0
$GC,399,-0.60,-146.1,47.2,-13.4,55,406,0.00,1.60,0.00,0.000,6,0.000,0.030,1620,2846,3420,0,0,0,0,0,0
$GC,639,-0.60,-146.1,80.1,-12.5,96,648,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2845,3420,0,0,0,0,0,0
$GC,979,-0.60,-146.1,121.4,-11.9,135,983,0.00,1.70,0.00,0.000,4,0.000,0.057,1611,3893,3421,0,0,0,0,0,0
$GC,1018,-0.60,-146.1,126.0,-11.5,137,1022,0.00,1.55,0.00,0.000,6,0.000,0.031,1611,2858,3421,0,0,0,0,0,0
$GC,1352,-0.60,-146.1,165.2,-12.2,158,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2853,3422,0,0,0,0,0,0
$GC,1664,-0.60,-146.1,200.8,-11.2,178,1668,0.00,1.67,0.00,0.000,4,0.000,0.057,1604,3900,3422,0,0,0,0,0,0
$GC,1721,-0.60,-146.1,207.5,-12.4,181,1725,0.08,1.58,0.00,0.000,6,0.156,0.031,1636,2852,3423,0,0,0,0,0,0
$GC,2059,-0.60,-146.1,237.7,-8.7,202,2063,0.00,1.65,0.00,0.000,4,0.000,0.059,1629,3895,3423,0,0,0,0,0,0
$GC,2096,-0.60,-146.1,241.7,-9.2,204,2100,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2865,3423,0,0,0,0,0,0
$GC,2424,-0.60,-146.1,272.4,-9.7,221,2427,0.00,1.70,0.00,0.000,4,0.000,0.060,1621,3903,3423,0,0,0,0,0,0
$GC,2475,-0.60,-146.1,277.4,-10.3,223,2479,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2855,3423,0,0,0,0,0,0
$GC,2813,-0.60,-146.1,312.3,-10.2,239,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2851,3423,0,0,0,0,0,0
$GC,3120,-0.60,-146.1,343.9,-10.3,254,3123,0.00,1.67,0.00,0.000,4,0.000,0.060,1613,3894,3423,0,0,0,0,0,0
$GC,3185,-0.60,-146.1,351.3,-12.0,256,3193,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2865,3423,0,0,0,0,0,0
$GC,3504,-0.60,-146.1,387.5,-11.2,272,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2865,3422,0,0,0,0,0,0
$GC,3810,-0.60,-146.1,420.3,-10.5,284,3814,0.00,1.65,0.00,0.000,4,0.000,0.060,1605,3894,3422,0,0,0,0,0,0
$GC,3873,-0.60,-146.1,427.5,-10.8,285,3880,0.00,1.55,0.00,0.000,6,0.000,0.032,1605,2866,3422,0,0,0,0,0,0
$GC,4189,-0.60,-146.1,460.6,-10.5,296,4193,0.10,1.67,0.00,0.000,4,0.187,0.060,1622,3894,3421,0,0,0,0,0,0
$GC,4241,-0.60,-146.1,466.0,-9.4,297,4245,0.00,1.55,0.00,0.000,6,0.000,0.032,1622,2872,3421,0,0,0,0,0,0
$GC,4568,-0.60,-146.1,494.5,-8.9,308,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2867,3421,0,0,0,0,0,0
$GC,4874,-0.60,-146.1,522.1,-8.9,318,4878,0.00,1.67,0.00,0.000,4,0.000,0.060,1614,3904,3421,0,0,0,0,0,0
$GC,4954,-0.60,-146.1,530.2,-9.7,320,4958,0.00,1.60,0.00,0.000,6,0.000,0.032,1614,2851,3421,0,0,0,0,0,0
$GC,5285,-0.60,-146.1,562.2,-9.8,331,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2846,3421,0,0,0,0,0,0
$GC,5592,-0.60,-146.1,591.4,-9.5,341,5596,0.00,1.73,0.00,0.000,4,0.000,0.060,1606,3897,3420,0,0,0,0,0,0
$GC,5633,-0.60,-146.1,595.9,-10.6,342,5637,0.00,1.58,0.00,0.000,6,0.000,0.032,1606,2863,3420,0,0,0,0,0,0
$GC,5972,-0.60,-146.1,631.2,-10.7,353,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2859,3420,0,0,0,0,0,0
$GC,6277,-0.60,-146.1,664.2,-10.7,363,6280,0.00,1.65,0.00,0.000,4,0.000,0.060,1598,3896,3419,0,0,0,0,0,0
$GC,6328,-0.60,-146.1,670.4,-11.5,364,6333,0.10,1.58,0.00,0.000,6,0.160,0.033,1629,2859,3419,0,0,0,0,0,0
$GC,6655,-0.60,-146.1,699.6,-8.8,375,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2856,3420,0,0,0,0,0,0
$GC,6962,-0.60,-146.1,726.0,-8.3,385,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2856,3419,0,0,0,0,0,0
$GC,7268,-0.60,-146.1,750.7,-8.1,395,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2856,3418,0,0,0,0,0,0
$GC,7574,-0.60,-146.1,774.6,-7.6,405,7578,0.00,1.67,0.00,0.000,4,0.000,0.062,1622,3903,3418,0,0,0,0,0,0
$GC,7626,-0.60,-146.1,779.1,-8.5,406,7630,0.00,1.60,0.00,0.000,6,0.000,0.032,1622,2854,3418,0,0,0,0,0,0
$GC,7953,-0.60,-146.1,804.0,-7.5,417,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2850,3418,0,0,0,0,0,0
$GC,8261,-0.60,-146.1,827.5,-7.7,427,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2849,3418,0,0,0,0,0,0
$GC,8566,-0.60,-146.1,851.5,-7.9,437,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2849,3417,0,0,0,0,0,0
$GC,8872,-0.60,-146.1,874.6,-7.3,447,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2848,3417,0,0,0,0,0,0
$GC,9178,-0.60,-146.1,896.3,-7.0,457,9182,0.00,1.70,0.00,0.000,4,0.000,0.061,1614,3897,3417,0,0,0,0,0,0
$GC,9219,-0.60,-146.1,899.3,-7.7,458,9223,0.00,1.58,0.00,0.000,6,0.000,0.034,1614,2868,3417,0,0,0,0,0,0
$GC,9557,-0.60,-146.1,924.4,-7.5,469,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2863,3417,0,0,0,0,0,0
$GC,9863,-0.60,-146.1,948.2,-8.1,479,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2863,3417,0,0,0,0,0,0
$GC,10169,-0.60,-146.1,974.5,-8.6,489,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2863,3416,0,0,0,0,0,0
$STATE,10470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10470,begin apogee
$GC,10481,-0.18,0.0,1000.7,8.6,499,10630,0.50,0.00,145.25,1.252,6,0.150,0.000,1764,2676,2819,0,0,0,0,0,0
$STATE,10632,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10636,0.60,146.1,1005.7,0.0,504,10817,0.80,2.60,160.93,1.797,4,0.094,0.045,2032,1274,2225,0,0,0,0,2,0
$GC,10888,0.60,146.1,972.7,16.2,511,10897,0.00,2.45,0.00,0.000,6,0.000,0.050,2033,2671,2220,0,0,0,0,0,0
$GC,11204,0.60,146.1,910.1,20.0,522,11208,0.00,2.25,0.00,0.000,4,0.000,0.045,2043,1274,2216,0,0,0,0,0,0
$GC,11235,0.60,146.1,904.0,19.6,523,11239,0.00,2.30,0.00,0.000,6,0.000,0.051,2043,2683,2215,0,0,0,0,0,0
$GC,11573,0.60,146.1,835.2,20.0,534,11577,0.00,2.22,0.00,0.000,4,0.000,0.045,2054,1274,2214,0,0,0,0,0,0
$GC,11638,0.60,146.1,823.3,17.0,536,11642,0.00,2.25,0.00,0.000,6,0.000,0.051,2053,2672,2212,0,0,0,0,0,0
$GC,11983,0.60,146.1,752.4,20.9,547,11987,0.00,2.20,0.00,0.000,4,0.000,0.044,2064,1273,2212,0,0,0,0,0,0
$GC,12024,0.60,146.1,743.5,19.8,548,12029,0.15,2.22,0.00,0.000,6,0.210,0.050,2029,2670,2212,0,0,0,0,0,0
$GC,12352,0.60,146.1,681.1,19.4,559,12356,0.00,2.17,0.00,0.000,4,0.000,0.045,2038,1276,2212,0,0,0,0,0,0
$GC,12393,0.60,146.1,673.0,17.4,560,12397,0.00,2.22,0.00,0.000,6,0.000,0.050,2038,2670,2211,0,0,0,0,0,0
$GC,12720,0.60,146.1,607.6,20.2,571,12724,0.00,2.20,0.00,0.000,4,0.000,0.045,2049,1274,2211,0,0,0,0,0,0
$GC,12771,0.60,146.1,597.3,18.2,572,12775,0.00,2.25,0.00,0.000,6,0.000,0.050,2048,2669,2210,0,0,0,0,0,0
$GC,13086,0.60,146.1,532.9,20.7,582,13090,0.00,2.17,0.00,0.000,4,0.000,0.044,2058,1272,2210,0,0,0,0,0,0
$GC,13122,0.60,146.1,525.8,18.1,583,13127,0.12,2.22,0.00,0.000,6,0.207,0.050,2030,2670,2211,0,0,0,0,0,0
$GC,13454,0.60,146.1,466.1,17.7,594,13458,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1273,2210,0,0,0,0,0,0
$GC,13512,0.60,146.1,456.5,15.4,595,13519,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2674,2210,0,0,0,0,0,0
$GC,13827,0.60,146.1,400.3,17.9,606,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2675,2210,0,0,0,0,0,0
$GC,14149,0.60,146.1,343.4,17.9,621,14153,0.00,2.22,0.00,0.000,4,0.000,0.044,2049,1269,2210,0,0,0,0,0,0
$GC,14218,0.60,146.1,331.1,15.4,624,14222,0.00,2.28,0.00,0.000,6,0.000,0.050,2050,2680,2209,0,0,0,0,0,0
$GC,14542,0.60,146.1,269.4,19.1,640,14543,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2680,2210,0,0,0,0,0,0
$GC,14866,0.60,146.1,208.2,18.8,659,14870,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1273,2210,0,0,0,0,0,0
$GC,14917,0.60,146.1,198.5,17.1,662,14922,0.12,2.22,0.00,0.000,6,0.200,0.050,2030,2668,2209,0,0,0,0,0,0
$GC,15244,0.60,146.1,148.7,15.4,682,15248,0.00,2.17,0.00,0.000,4,0.000,0.044,2040,1274,2209,0,0,0,0,0,0
$GC,15311,0.60,146.1,138.3,14.0,686,15315,0.00,2.22,0.00,0.000,6,0.000,0.051,2040,2671,2208,0,0,0,0,0,0
$GC,15638,0.60,146.1,89.1,13.2,714,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2672,2208,0,0,0,0,0,0
$GC,15999,0.60,146.1,39.9,14.9,775,16006,0.00,2.20,0.00,0.000,4,0.000,0.043,2050,1272,2208,0,0,0,0,0,0
$GC,16044,0.60,146.1,33.6,13.6,781,16051,0.00,2.22,0.00,0.000,6,0.000,0.050,2050,2671,2208,0,0,0,0,0,0
$STATE,16249,end climb,SURFACE_DEPTH_REACHED
$STATE,16249,begin surface coast
$FINISH,0.8,1.024202
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16275,begin surface
$SM_CCo,16298,41.65,0.770,1,0,1879,230.09
$SM_GC,2.08,0.00,0.00,41.65,0.000,0.000,0.770,55,2883,1879,-5.55,0.65,230.09
$IRIDIUM_FIX,-4619.84,435.93,090213,040410
$TT8_MAMPS,0.026215
$HUMID,58.34
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.3,68.031
$10V_AH,9.9,35.742
$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,14.325,96.750,306.175,41.650,0.000,25.848,19.583,478.302,0.000,0.000,18.285,2046.819,11229.720,443.481,2603.329,781.452,33.392,1332.848,0.000,2066.454,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,74.205,1796.985,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.953,1610.051,861.041,331.476,0.000,0.000,0.000,0.000,0.000,0.000
$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,57241,818
$CAP_FILE_SIZE,127237,0
$CFSIZE,259252224,206123008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,090213,133434,-4642.863,438.403,35,0.8,36,-23.5