version: 66.07
glider: 542
mission: 6
dive: 369
start: 2 9 113 13 48 33
data:
$ID,542
$MISSION,6
$DIVE,369
$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,-11623.62
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,090213,133434,-4642.863,438.403,35,0.8,36,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-60.9
$GPS2,090213,134736,-4642.896,438.558,14,0.7,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.116,-0.228
$KALMAN_X,-269510.0,150.8,255.7,296426.3,-2314.9
$KALMAN_Y,252158.4,-305.3,-60.4,-236259.5,2531.5
$MHEAD_RNG_PITCHd_Wd,176.6,31728,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-46.95,0.000,2,0.000,0.000,55,2883,2734,0,0,0,0,0,0
$GC,83,-0.60,-146.1,3.0,-3.1,6,125,6.75,1.65,-25.15,0.000,4,0.250,0.076,1624,3883,3415,0,0,0,0,0,0
$GC,385,-0.60,-146.1,38.0,-12.8,53,392,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2845,3417,0,0,0,0,0,0
$GC,632,-0.60,-146.1,69.5,-12.9,94,638,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2844,3418,0,0,0,0,0,0
$GC,980,-0.60,-146.1,111.1,-11.3,143,984,0.00,1.67,0.00,0.000,4,0.000,0.057,1615,3892,3418,0,0,0,0,0,0
$GC,1144,-0.60,-146.1,131.2,-12.6,152,1148,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2853,3418,0,0,0,0,0,0
$GC,1473,-0.60,-146.1,170.5,-11.9,173,1477,0.00,1.67,0.00,0.000,4,0.000,0.057,1608,3884,3419,0,0,0,0,0,0
$GC,1546,-0.60,-146.1,179.6,-12.8,177,1550,0.00,1.52,0.00,0.000,6,0.000,0.031,1607,2860,3419,0,0,0,0,0,0
$GC,1881,-0.60,-146.1,219.5,-11.7,198,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2855,3419,0,0,0,0,0,0
$GC,2207,-0.60,-146.1,257.2,-11.3,218,2210,0.00,1.65,0.00,0.000,4,0.000,0.058,1600,3887,3419,0,0,0,0,0,0
$GC,2281,-0.60,-146.1,266.7,-12.7,221,2286,0.08,1.55,0.00,0.000,6,0.161,0.031,1637,2856,3419,0,0,0,0,0,0
$GC,2613,-0.60,-146.1,296.8,-9.3,237,2617,0.00,1.67,0.00,0.000,4,0.000,0.060,1631,3882,3419,0,0,0,0,0,0
$GC,2664,-0.60,-146.1,301.9,-10.3,239,2668,0.00,1.52,0.00,0.000,6,0.000,0.031,1631,2869,3419,0,0,0,0,0,0
$GC,3001,-0.60,-146.1,335.2,-10.0,255,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2863,3419,0,0,0,0,0,0
$GC,3310,-0.60,-146.1,365.1,-9.6,270,3313,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3891,3419,0,0,0,0,0,0
$GC,3368,-0.60,-146.1,371.4,-10.6,272,3371,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2863,3419,0,0,0,0,0,0
$GC,3701,-0.60,-146.1,404.3,-9.9,288,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2859,3419,0,0,0,0,0,0
$GC,4007,-0.60,-146.1,434.3,-9.6,298,4011,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3886,3418,0,0,0,0,0,0
$GC,4078,-0.60,-146.1,441.7,-10.9,300,4082,0.00,1.55,0.00,0.000,6,0.000,0.032,1615,2855,3418,0,0,0,0,0,0
$GC,4423,-0.60,-146.1,476.7,-10.2,311,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3418,0,0,0,0,0,0
$GC,4727,-0.60,-146.1,509.0,-10.7,321,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2851,3418,0,0,0,0,0,0
$GC,5034,-0.60,-146.1,542.1,-10.7,331,5038,0.00,1.67,0.00,0.000,4,0.000,0.061,1607,3890,3418,0,0,0,0,0,0
$GC,5120,-0.60,-146.1,552.2,-11.7,333,5123,0.00,1.55,0.00,0.000,6,0.000,0.033,1607,2870,3417,0,0,0,0,0,0
$GC,5447,-0.60,-146.1,588.8,-11.2,344,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2865,3417,0,0,0,0,0,0
$GC,5752,-0.60,-146.1,622.4,-10.9,354,5756,0.00,1.62,0.00,0.000,4,0.000,0.060,1599,3887,3416,0,0,0,0,0,0
$GC,5837,-0.60,-146.1,632.7,-12.5,356,5841,0.08,1.58,0.00,0.000,6,0.162,0.032,1631,2852,3416,0,0,0,0,0,0
$GC,6164,-0.60,-146.1,661.9,-8.6,367,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2849,3416,0,0,0,0,0,0
$GC,6472,-0.60,-146.1,686.5,-7.9,377,6476,0.00,1.67,0.00,0.000,4,0.000,0.061,1625,3886,3416,0,0,0,0,0,0
$GC,6518,-0.60,-146.1,690.9,-9.3,378,6522,0.00,1.55,0.00,0.000,6,0.000,0.032,1625,2865,3416,0,0,0,0,0,0
$GC,6850,-0.60,-146.1,718.0,-7.8,389,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2861,3416,0,0,0,0,0,0
$GC,7159,-0.60,-146.1,740.9,-7.3,399,7162,0.00,1.70,0.00,0.000,4,0.000,0.062,1617,3894,3415,0,0,0,0,0,0
$GC,7198,-0.60,-146.1,744.4,-8.0,400,7202,0.00,1.58,0.00,0.000,6,0.000,0.033,1616,2856,3415,0,0,0,0,0,0
$GC,7536,-0.60,-146.1,770.6,-7.8,411,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2851,3415,0,0,0,0,0,0
$GC,7842,-0.60,-146.1,793.7,-7.6,421,7846,0.00,1.65,0.00,0.000,4,0.000,0.060,1609,3885,3415,0,0,0,0,0,0
$GC,7912,-0.60,-146.1,799.5,-8.9,423,7916,0.00,1.55,0.00,0.000,6,0.000,0.033,1608,2864,3415,0,0,0,0,0,0
$GC,8256,-0.60,-146.1,826.9,-8.1,434,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2859,3415,0,0,0,0,0,0
$GC,8562,-0.60,-146.1,850.8,-7.8,444,8565,0.00,1.67,0.00,0.000,4,0.000,0.061,1601,3892,3415,0,0,0,0,0,0
$GC,8648,-0.60,-146.1,858.5,-8.6,446,8652,0.08,1.58,0.00,0.000,6,0.158,0.033,1633,2857,3415,0,0,0,0,0,0
$GC,8977,-0.60,-146.1,878.5,-6.0,457,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2853,3414,0,0,0,0,0,0
$GC,9281,-0.60,-146.1,897.7,-6.5,467,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2852,3414,0,0,0,0,0,0
$GC,9587,-0.60,-146.1,918.6,-6.9,477,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2853,3414,0,0,0,0,0,0
$GC,9894,-0.60,-146.1,940.2,-7.2,487,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2852,3414,0,0,0,0,0,0
$GC,10199,-0.60,-146.1,962.5,-7.4,497,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2851,3414,0,0,0,0,0,0
$GC,10506,-0.60,-146.1,986.7,-8.0,507,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2852,3414,0,0,0,0,0,0
$STATE,10684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10684,begin apogee
$GC,10695,-0.18,0.0,1001.0,7.9,513,10844,0.45,0.00,145.12,1.252,6,0.146,0.000,1770,2668,2819,0,0,0,0,0,0
$STATE,10845,end apogee,CONTROL_FINISHED_OK
$STATE,10845,begin climb
$GC,10850,0.60,146.1,1006.7,0.0,518,11030,0.77,2.53,160.43,1.807,4,0.085,0.045,2032,1290,2225,0,0,0,0,2,0
$GC,11072,0.60,146.1,978.7,17.2,525,11077,0.00,2.42,0.00,0.000,6,0.000,0.050,2031,2657,2223,0,0,0,0,0,0
$GC,11399,0.60,146.1,912.5,20.8,536,11403,0.00,2.22,0.00,0.000,4,0.000,0.045,2042,1275,2218,0,0,0,0,0,0
$GC,11466,0.60,146.1,899.7,19.2,538,11470,0.00,2.28,0.00,0.000,6,0.000,0.050,2042,2673,2216,0,0,0,0,0,0
$GC,11804,0.60,146.1,826.8,21.7,549,11808,0.00,2.22,0.00,0.000,4,0.000,0.045,2052,1270,2216,0,0,0,0,0,0
$GC,11869,0.60,146.1,813.8,19.2,551,11873,0.00,2.28,0.00,0.000,6,0.000,0.051,2052,2672,2214,0,0,0,0,0,0
$GC,12213,0.60,146.1,739.8,21.5,562,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2673,2214,0,0,0,0,0,0
$GC,12519,0.60,146.1,673.9,21.3,572,12523,0.00,2.22,0.00,0.000,4,0.000,0.045,2062,1271,2214,0,0,0,0,0,0
$GC,12577,0.60,146.1,662.2,18.0,573,12584,0.15,2.25,0.00,0.000,6,0.204,0.050,2027,2674,2212,0,0,0,0,0,0
$GC,12892,0.60,146.1,603.5,18.3,584,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2674,2212,0,0,0,0,0,0
$GC,13198,0.60,146.1,549.4,17.3,594,13202,0.00,2.20,0.00,0.000,4,0.000,0.045,2036,1273,2212,0,0,0,0,0,0
$GC,13263,0.60,146.1,539.1,15.9,596,13267,0.00,2.22,0.00,0.000,6,0.000,0.050,2036,2671,2212,0,0,0,0,0,0
$GC,13601,0.60,146.1,478.1,18.0,607,13605,0.00,2.17,0.00,0.000,4,0.000,0.044,2047,1279,2212,0,0,0,0,0,0
$GC,13653,0.60,146.1,469.1,16.4,608,13657,0.00,2.22,0.00,0.000,6,0.000,0.050,2046,2671,2212,0,0,0,0,0,0
$GC,13974,0.60,146.1,409.1,19.1,619,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2212,0,0,0,0,0,0
$GC,14284,0.60,146.1,351.7,18.1,633,14288,0.00,2.20,0.00,0.000,4,0.000,0.044,2057,1280,2211,0,0,0,0,0,0
$GC,14376,0.60,146.1,335.3,16.3,637,14381,0.12,2.22,0.00,0.000,6,0.200,0.050,2028,2676,2211,0,0,0,0,0,0
$GC,14703,0.60,146.1,283.2,16.1,653,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2676,2211,0,0,0,0,0,0
$GC,15016,0.60,146.1,231.9,15.5,670,15020,0.00,2.22,0.00,0.000,4,0.000,0.044,2037,1271,2211,0,0,0,0,0,0
$GC,15102,0.60,146.1,219.7,13.8,675,15106,0.00,2.22,0.00,0.000,6,0.000,0.050,2037,2671,2210,0,0,0,0,0,0
$GC,15430,0.60,146.1,164.7,16.4,696,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2671,2210,0,0,0,0,0,0
$GC,15741,0.60,146.1,112.6,15.8,716,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2672,2210,0,0,0,0,0,0
$GC,16074,0.60,146.1,63.6,12.2,764,16081,0.00,2.20,0.00,0.000,4,0.000,0.042,2048,1270,2210,0,0,0,0,0,0
$GC,16124,0.60,146.1,58.1,11.7,771,16131,0.00,2.22,0.00,0.000,6,0.000,0.049,2048,2672,2210,0,0,0,0,0,0
$GC,16375,0.60,146.1,22.5,14.8,812,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2672,2210,0,0,0,0,0,0
$GC,16464,0.60,146.1,9.6,12.9,825,16472,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2672,2209,0,0,0,0,0,0
$STATE,16504,end climb,SURFACE_DEPTH_REACHED
$STATE,16504,begin surface coast
$FINISH,0.8,1.026446
$STATE,16524,end surface coast,CONTROL_FINISHED_OK
$STATE,16524,begin surface
$SM_CCo,16546,41.83,0.776,1,0,1880,230.09
$SM_GC,2.21,0.00,0.00,41.83,0.000,0.000,0.776,52,2888,1880,-5.55,0.79,230.09
$IRIDIUM_FIX,-4626.10,436.44,090213,080833
$TT8_MAMPS,0.026964
$HUMID,58.89
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.40
$XPDR_PINGS,0
$24V_AH,21.3,68.205
$10V_AH,10.0,35.858
$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,14.000,82.925,305.550,41.825,0.000,25.651,26.426,482.208,0.000,0.000,17.917,2092.573,11381.375,435.678,2691.413,761.401,33.398,1337.531,0.000,2143.307,0.000,1.009,0.000
$DEVICE_MAMPS,250.155,76.500,1806.930,776.475,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.051,1646.122,884.168,351.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,60394,834
$CAP_FILE_SIZE,126983,0
$CFSIZE,259252224,206049280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,090213,182635,-4644.969,439.204,39,1.1,40,-23.5