version: 66.07
glider: 542
mission: 6
dive: 390
start: 2 13 113 19 58 56
data:
$ID,542
$MISSION,6
$DIVE,390
$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,-11686.901
$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,51
$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
$GPS1,130213,194434,-4659.258,417.576,37,0.9,38,-23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-63.7
$GPS2,130213,195759,-4659.152,417.635,16,2.0,16,-23.4
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,-0.162
$KALMAN_X,-270840.1,471.2,-321.6,271538.6,-291.6
$KALMAN_Y,306352.8,-184.2,-394.4,-320348.1,6122.2
$MHEAD_RNG_PITCHd_Wd,254.0,9770,-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,-63.05,0.000,2,0.000,0.000,53,2880,3071,0,0,0,0,0,0
$GC,98,-0.60,-146.1,3.3,-2.7,8,124,6.72,2.25,-9.60,0.000,4,0.249,0.047,1634,1461,3418,0,0,0,0,0,0
$GC,251,-0.60,-146.1,24.9,-9.5,30,260,0.00,2.28,0.00,0.000,6,0.000,0.050,1624,2851,3419,0,0,0,0,0,0
$GC,338,-0.60,-146.1,33.7,-9.4,43,344,0.00,1.67,0.00,0.000,4,0.000,0.059,1616,3909,3419,0,0,0,0,0,0
$GC,383,-0.60,-146.1,39.8,-13.6,49,389,0.00,1.62,0.00,0.000,6,0.000,0.031,1616,2832,3419,0,0,0,0,0,0
$GC,626,-0.60,-146.1,70.2,-11.6,90,634,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2832,3419,0,0,0,0,0,0
$GC,983,-0.60,-146.1,113.8,-12.3,139,986,0.00,1.73,0.00,0.000,4,0.000,0.057,1608,3907,3420,0,0,0,0,0,0
$GC,1074,-0.60,-146.1,126.4,-13.8,144,1077,0.00,1.58,0.00,0.000,6,0.000,0.031,1608,2863,3421,0,0,0,0,0,0
$GC,1402,-0.60,-146.1,167.2,-12.4,165,1406,0.00,1.67,0.00,0.000,4,0.000,0.058,1600,3907,3421,0,0,0,0,0,0
$GC,1441,-0.60,-146.1,172.0,-12.9,167,1446,0.08,1.58,0.00,0.000,6,0.161,0.031,1624,2861,3421,0,0,0,0,0,0
$GC,1778,-0.60,-146.1,205.7,-9.7,188,1782,0.00,2.10,0.00,0.000,4,0.000,0.036,1624,1483,3421,0,0,0,0,0,0
$GC,1814,-0.60,-146.1,209.7,-9.8,190,1818,0.00,2.22,0.00,0.000,6,0.000,0.050,1615,2874,3421,0,0,0,0,0,0
$GC,2135,-0.60,-146.1,244.4,-11.3,210,2139,0.00,1.62,0.00,0.000,4,0.000,0.059,1606,3893,3422,0,0,0,0,0,0
$GC,2191,-0.60,-146.1,250.8,-12.0,213,2195,0.00,1.55,0.00,0.000,6,0.000,0.031,1607,2856,3422,0,0,0,0,0,0
$GC,2522,-0.60,-146.1,292.7,-13.0,229,2526,0.00,1.70,0.00,0.000,4,0.000,0.059,1598,3897,3421,0,0,0,0,0,0
$GC,2557,-0.60,-146.1,298.0,-13.7,230,2562,0.10,1.55,0.00,0.000,6,0.162,0.031,1629,2866,3422,0,0,0,0,0,0
$GC,2882,-0.60,-146.1,334.4,-10.8,246,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2862,3422,0,0,0,0,0,0
$GC,3194,-0.60,-146.1,365.1,-9.2,261,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2861,3422,0,0,0,0,0,0
$GC,3500,-0.60,-146.1,394.7,-9.9,276,3504,0.00,1.67,0.00,0.000,4,0.000,0.060,1622,3903,3422,0,0,0,0,0,0
$GC,3548,-0.60,-146.1,399.7,-11.2,278,3552,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2863,3422,0,0,0,0,0,0
$GC,3880,-0.60,-146.1,434.3,-10.3,289,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3422,0,0,0,0,0,0
$GC,4188,-0.60,-146.1,464.4,-9.6,299,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3421,0,0,0,0,0,0
$GC,4493,-0.60,-146.1,492.2,-8.8,309,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3422,0,0,0,0,0,0
$GC,4800,-0.60,-146.1,519.2,-8.9,319,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3421,0,0,0,0,0,0
$GC,5105,-0.60,-146.1,546.5,-9.1,329,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3421,0,0,0,0,0,0
$GC,5412,-0.60,-146.1,574.7,-9.2,339,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2858,3421,0,0,0,0,0,0
$GC,5718,-0.60,-146.1,602.4,-8.9,349,5722,0.00,2.12,0.00,0.000,4,0.000,0.038,1622,1481,3420,0,0,0,0,0,0
$GC,5742,-0.60,-146.1,604.8,-9.2,349,5749,0.00,2.20,0.00,0.000,6,0.000,0.051,1612,2857,3420,0,0,0,0,0,0
$GC,6059,-0.60,-146.1,635.0,-9.8,360,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2858,3420,0,0,0,0,0,0
$GC,6364,-0.60,-146.1,664.0,-9.6,370,6368,0.00,1.67,0.00,0.000,4,0.000,0.060,1604,3898,3420,0,0,0,0,0,0
$GC,6421,-0.60,-146.1,670.0,-11.0,371,6425,0.08,1.58,0.00,0.000,6,0.158,0.032,1636,2858,3420,0,0,0,0,0,0
$GC,6744,-0.60,-146.1,695.0,-7.9,382,6748,0.00,2.10,0.00,0.000,4,0.000,0.037,1637,1482,3420,0,0,0,0,0,0
$GC,6785,-0.60,-146.1,698.4,-7.7,383,6789,0.00,2.22,0.00,0.000,6,0.000,0.053,1628,2862,3420,0,0,0,0,0,0
$GC,7112,-0.60,-146.1,725.0,-8.1,394,7115,0.00,1.65,0.00,0.000,4,0.000,0.061,1620,3905,3420,0,0,0,0,0,0
$GC,7158,-0.60,-146.1,729.3,-9.0,395,7161,0.00,1.58,0.00,0.000,6,0.000,0.032,1620,2859,3419,0,0,0,0,0,0
$GC,7490,-0.60,-146.1,757.7,-8.7,406,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3419,0,0,0,0,0,0
$GC,7796,-0.60,-146.1,784.0,-8.6,416,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3419,0,0,0,0,0,0
$GC,8102,-0.60,-146.1,810.6,-9.0,426,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3419,0,0,0,0,0,0
$GC,8411,-0.60,-146.1,838.5,-9.0,436,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3419,0,0,0,0,0,0
$GC,8715,-0.60,-146.1,865.0,-8.7,446,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3418,0,0,0,0,0,0
$GC,9022,-0.60,-146.1,890.9,-8.3,456,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3418,0,0,0,0,0,0
$GC,9328,-0.60,-146.1,914.2,-7.3,466,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2854,3418,0,0,0,0,0,0
$GC,9633,-0.60,-146.1,937.1,-7.5,476,9637,0.00,1.70,0.00,0.000,4,0.000,0.062,1612,3904,3417,0,0,0,0,0,0
$GC,9680,-0.60,-146.1,941.4,-9.4,477,9683,0.00,1.58,0.00,0.000,6,0.000,0.032,1611,2864,3418,0,0,0,0,0,0
$GC,10012,-0.60,-146.1,968.3,-8.1,488,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2859,3417,0,0,0,0,0,0
$GC,10320,-0.60,-146.1,992.1,-7.6,498,10324,0.00,2.12,0.00,0.000,4,0.000,0.037,1611,1476,3417,0,0,0,0,0,0
$GC,10351,-0.60,-146.1,994.6,-7.7,499,10356,0.12,2.22,0.00,0.000,6,0.181,0.051,1632,2860,3417,0,0,0,0,0,0
$STATE,10445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10446,begin apogee
$GC,10457,-0.18,0.0,1000.8,6.0,502,10606,0.45,0.00,146.18,1.253,6,0.151,0.000,1768,2672,2819,0,0,0,0,0,0
$STATE,10608,end apogee,CONTROL_FINISHED_OK
$STATE,10608,begin climb
$GC,10613,0.60,146.1,1004.1,0.0,507,10803,0.75,2.50,163.85,1.781,4,0.086,0.044,2026,1274,2226,0,0,0,0,3,0
$GC,10867,0.60,146.1,968.1,16.9,514,10874,0.00,2.42,0.00,0.000,6,0.000,0.049,2026,2664,2222,0,0,0,0,0,0
$GC,11183,0.60,146.1,905.9,20.2,525,11187,0.00,2.22,0.00,0.000,4,0.000,0.043,2036,1273,2218,0,0,0,0,0,0
$GC,11216,0.60,146.1,899.6,19.5,526,11220,0.00,2.30,0.00,0.000,6,0.000,0.050,2037,2673,2217,0,0,0,0,0,0
$GC,11554,0.60,146.1,829.4,21.1,537,11558,0.00,2.22,0.00,0.000,4,0.000,0.044,2047,1275,2216,0,0,0,0,0,0
$GC,11601,0.60,146.1,820.1,19.1,538,11605,0.00,2.28,0.00,0.000,6,0.000,0.050,2047,2680,2215,0,0,0,0,0,0
$GC,11921,0.60,146.1,753.5,20.9,549,11925,0.00,2.22,0.00,0.000,4,0.000,0.044,2057,1274,2215,0,0,0,0,0,0
$GC,11945,0.60,146.1,748.2,20.4,549,11953,0.12,2.25,0.00,0.000,6,0.214,0.050,2030,2676,2215,0,0,0,0,0,0
$GC,12261,0.60,146.1,688.3,19.1,560,12265,0.00,2.20,0.00,0.000,4,0.000,0.044,2039,1274,2215,0,0,0,0,0,0
$GC,12307,0.60,146.1,679.4,17.6,561,12311,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2673,2213,0,0,0,0,0,0
$GC,12639,0.60,146.1,616.2,19.2,572,12643,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1270,2214,0,0,0,0,0,0
$GC,12657,0.60,146.1,612.4,19.2,572,12661,0.00,2.25,0.00,0.000,6,0.000,0.050,2049,2670,2213,0,0,0,0,0,0
$GC,12978,0.60,146.1,551.4,19.3,583,12982,0.00,2.17,0.00,0.000,4,0.000,0.044,2060,1273,2213,0,0,0,0,0,0
$GC,13012,0.60,146.1,544.6,19.0,584,13017,0.12,2.25,0.00,0.000,6,0.205,0.050,2030,2671,2213,0,0,0,0,0,0
$GC,13346,0.60,146.1,486.4,17.6,595,13350,0.00,2.17,0.00,0.000,4,0.000,0.044,2040,1277,2213,0,0,0,0,0,0
$GC,13369,0.60,146.1,482.0,16.6,595,13376,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2680,2213,0,0,0,0,0,0
$GC,13684,0.60,146.1,425.1,18.4,606,13688,0.00,2.22,0.00,0.000,4,0.000,0.044,2050,1272,2213,0,0,0,0,0,0
$GC,13702,0.60,146.1,421.5,18.3,606,13706,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2679,2213,0,0,0,0,0,0
$GC,14025,0.60,146.1,363.7,18.0,620,14029,0.00,2.20,0.00,0.000,4,0.000,0.044,2060,1274,2213,0,0,0,0,0,0
$GC,14077,0.60,146.1,354.5,16.9,622,14082,0.15,2.25,0.00,0.000,6,0.200,0.051,2025,2668,2212,0,0,0,0,0,0
$GC,14402,0.60,146.1,303.2,16.0,638,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2668,2212,0,0,0,0,0,0
$GC,14714,0.60,146.1,254.1,15.8,653,14718,0.00,2.20,0.00,0.000,4,0.000,0.044,2034,1278,2212,0,0,0,0,0,0
$GC,14796,0.60,146.1,241.6,13.7,658,14800,0.00,2.25,0.00,0.000,6,0.000,0.051,2035,2673,2211,0,0,0,0,0,0
$GC,15125,0.60,146.1,189.1,15.9,679,15129,0.00,2.20,0.00,0.000,4,0.000,0.044,2044,1275,2211,0,0,0,0,0,0
$GC,15160,0.60,146.1,182.9,14.9,681,15164,0.00,2.25,0.00,0.000,6,0.000,0.051,2045,2672,2211,0,0,0,0,0,0
$GC,15488,0.60,146.1,129.7,17.1,702,15492,0.00,2.22,0.00,0.000,4,0.000,0.044,2055,1268,2211,0,0,0,0,0,0
$GC,15540,0.60,146.1,120.4,15.4,705,15545,0.12,2.28,0.00,0.000,6,0.202,0.051,2026,2674,2211,0,0,0,0,0,0
$GC,15881,0.60,146.1,69.7,14.3,749,15885,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2675,2212,0,0,0,0,0,0
$GC,16247,0.62,160.7,25.6,8.8,810,16257,0.00,2.28,5.00,0.812,4,0.000,0.043,2036,1273,2163,0,0,0,0,0,0
$GC,16309,0.62,160.7,19.6,9.7,818,16318,0.00,2.28,0.00,0.000,6,0.000,0.050,2036,2670,2163,0,0,0,0,0,0
$GC,16397,0.62,160.7,8.0,14.2,831,16405,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2670,2163,0,0,0,0,0,0
$STATE,16431,end climb,SURFACE_DEPTH_REACHED
$STATE,16431,begin surface coast
$FINISH,1.1,1.026469
$STATE,16451,end surface coast,CONTROL_FINISHED_OK
$STATE,16451,begin surface
$SM_CCo,16474,37.67,0.752,1,0,1880,230.09
$SM_GC,1.98,0.00,0.00,37.67,0.000,0.000,0.752,57,2883,1880,-5.54,0.65,230.09
$IRIDIUM_FIX,-4641.78,415.70,130213,141444
$TT8_MAMPS,0.026215
$HUMID,58.97
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.1,72.010
$10V_AH,9.9,38.265
$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,14.225,114.750,315.025,37.675,0.000,41.607,20.474,493.489,0.000,0.000,18.729,2097.688,11284.661,460.510,2652.718,814.501,33.398,1370.263,0.000,2087.111,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,61.965,1780.920,751.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.243,1653.406,900.841,371.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354088
$DATA_FILE_SIZE,60385,839
$CAP_FILE_SIZE,134134,0
$CFSIZE,259252224,204603392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,140213,003535,-4658.958,414.627,33,1.0,34,-23.3