version: 66.07
glider: 542
mission: 6
dive: 412
start: 2 18 113 7 11 12
data:
$ID,542
$MISSION,6
$DIVE,412
$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,-11754.719
$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,42
$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
$GPS1,180213,064927,-4627.222,427.328,66,1.5,70,-23.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-55.6
$GPS2,180213,071016,-4627.064,427.535,19,1.2,20,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH3
$TGT_LATLONG,-4630.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.138,-0.215
$KALMAN_X,-234866.8,798.4,444.5,246986.8,-1492.2
$KALMAN_Y,312299.3,-228.8,-95.7,-267136.8,4070.9
$MHEAD_RNG_PITCHd_Wd,170.9,16795,-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,-146.1,0.0,0.0,0,93,0.00,0.00,-63.12,0.000,2,0.000,0.000,47,2877,3095,0,0,0,0,0,0
$GC,99,-0.60,-146.1,3.1,-3.0,8,126,6.65,1.67,-9.12,0.000,4,0.240,0.076,1622,3890,3418,0,0,0,0,0,0
$GC,343,-0.60,-146.1,34.7,-11.7,45,350,0.00,1.60,0.00,0.000,6,0.000,0.031,1622,2825,3420,0,0,0,0,0,0
$GC,588,-0.60,-146.1,67.9,-12.9,86,595,0.00,1.73,0.00,0.000,4,0.000,0.057,1614,3887,3419,0,0,0,0,0,0
$GC,649,-0.60,-146.1,75.8,-13.0,96,658,0.00,1.55,0.00,0.000,6,0.000,0.030,1614,2852,3420,0,0,0,0,0,0
$GC,992,-0.60,-146.1,122.3,-13.9,137,996,0.00,2.08,0.00,0.000,4,0.000,0.035,1614,1488,3420,0,0,0,0,0,0
$GC,1026,-0.60,-146.1,126.7,-12.6,139,1031,0.12,2.17,0.00,0.000,6,0.171,0.049,1636,2856,3421,0,0,0,0,0,0
$GC,1360,-0.60,-146.1,159.6,-9.1,160,1364,0.00,1.65,0.00,0.000,4,0.000,0.057,1629,3909,3421,0,0,0,0,0,0
$GC,1417,-0.60,-146.1,165.0,-8.9,163,1420,0.00,1.55,0.00,0.000,6,0.000,0.030,1629,2868,3422,0,0,0,0,0,0
$GC,1751,-0.60,-146.1,195.0,-9.5,184,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3422,0,0,0,0,0,0
$GC,2062,-0.60,-146.1,226.0,-9.2,204,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2863,3422,0,0,0,0,0,0
$GC,2389,-0.60,-146.1,256.5,-9.9,224,2393,0.00,1.67,0.00,0.000,4,0.000,0.058,1621,3892,3422,0,0,0,0,0,0
$GC,2462,-0.60,-146.1,264.3,-11.2,227,2466,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2856,3422,0,0,0,0,0,0
$GC,2800,-0.60,-146.1,300.6,-10.3,243,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2851,3422,0,0,0,0,0,0
$GC,3107,-0.60,-146.1,330.9,-9.6,258,3111,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3896,3422,0,0,0,0,0,0
$GC,3148,-0.60,-146.1,335.3,-10.5,259,3155,0.00,1.55,0.00,0.000,6,0.000,0.031,1613,2861,3422,0,0,0,0,0,0
$GC,3469,-0.60,-146.1,365.9,-9.2,275,3472,0.00,1.70,0.00,0.000,4,0.000,0.059,1605,3904,3422,0,0,0,0,0,0
$GC,3521,-0.60,-146.1,371.7,-10.0,277,3525,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2858,3421,0,0,0,0,0,0
$GC,3839,-0.60,-146.1,403.1,-9.9,292,3843,0.10,1.67,0.00,0.000,4,0.183,0.059,1623,3896,3421,0,0,0,0,0,0
$GC,3886,-0.60,-146.1,407.7,-8.7,293,3890,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2851,3421,0,0,0,0,0,0
$GC,4218,-0.60,-146.1,437.0,-9.1,304,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2846,3421,0,0,0,0,0,0
$GC,4525,-0.60,-146.1,465.9,-9.4,314,4529,0.00,1.70,0.00,0.000,4,0.000,0.060,1614,3903,3421,0,0,0,0,0,0
$GC,4562,-0.60,-146.1,469.6,-10.2,315,4566,0.00,1.58,0.00,0.000,6,0.000,0.031,1614,2862,3421,0,0,0,0,0,0
$GC,4905,-0.60,-146.1,503.9,-9.9,326,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3420,0,0,0,0,0,0
$GC,5213,-0.60,-146.1,533.0,-9.5,336,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3420,0,0,0,0,0,0
$GC,5518,-0.60,-146.1,558.9,-8.2,346,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3419,0,0,0,0,0,0
$GC,5824,-0.60,-146.1,581.6,-7.2,356,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2857,3419,0,0,0,0,0,0
$GC,6130,-0.60,-146.1,604.0,-7.6,366,6134,0.00,1.67,0.00,0.000,4,0.000,0.061,1607,3893,3418,0,0,0,0,0,0
$GC,6205,-0.60,-146.1,610.6,-9.1,368,6209,0.00,1.58,0.00,0.000,6,0.000,0.032,1607,2852,3417,0,0,0,0,0,0
$GC,6542,-0.60,-146.1,641.7,-9.5,379,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2847,3417,0,0,0,0,0,0
$GC,6850,-0.60,-146.1,671.6,-9.9,389,6854,0.00,1.70,0.00,0.000,4,0.000,0.060,1598,3899,3417,0,0,0,0,0,0
$GC,6907,-0.60,-146.1,678.1,-11.4,390,6911,0.08,1.58,0.00,0.000,6,0.157,0.031,1630,2863,3417,0,0,0,0,0,0
$GC,7229,-0.60,-146.1,704.9,-8.4,401,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3417,0,0,0,0,0,0
$GC,7534,-0.60,-146.1,731.6,-8.8,411,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3417,0,0,0,0,0,0
$GC,7841,-0.60,-146.1,758.7,-8.9,421,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3416,0,0,0,0,0,0
$GC,8147,-0.60,-146.1,784.2,-8.3,431,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3416,0,0,0,0,0,0
$GC,8453,-0.60,-146.1,808.1,-7.5,441,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3416,0,0,0,0,0,0
$GC,8759,-0.60,-146.1,829.5,-6.8,451,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3416,0,0,0,0,0,0
$GC,9066,-0.60,-146.1,849.7,-6.6,461,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3416,0,0,0,0,0,0
$GC,9372,-0.60,-146.1,870.4,-6.8,471,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3416,0,0,0,0,0,0
$GC,9678,-0.60,-146.1,892.1,-7.1,481,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3415,0,0,0,0,0,0
$GC,9985,-0.60,-146.1,913.6,-7.0,491,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2859,3415,0,0,0,0,0,0
$GC,10291,-0.60,-146.1,935.3,-7.2,501,10294,0.00,2.12,0.00,0.000,4,0.000,0.038,1630,1477,3415,0,0,0,0,0,0
$GC,10323,-0.60,-146.1,937.7,-7.8,502,10327,0.00,2.22,0.00,0.000,6,0.000,0.053,1621,2866,3415,0,0,0,0,0,0
$GC,10661,-0.60,-146.1,963.7,-7.5,513,10665,0.00,1.65,0.00,0.000,4,0.000,0.061,1613,3904,3415,0,0,0,0,0,0
$GC,10707,-0.60,-146.1,967.6,-8.2,514,10711,0.00,1.60,0.00,0.000,6,0.000,0.032,1613,2849,3415,0,0,0,0,0,0
$GC,11039,-0.60,-146.1,994.2,-7.9,525,11040,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2845,3415,0,0,0,0,0,0
$STATE,11066,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11067,begin apogee
$GC,11078,-0.18,0.0,996.6,7.9,526,11226,0.52,0.00,145.25,1.240,6,0.151,0.000,1769,2683,2820,0,0,0,0,0,0
$STATE,11228,end apogee,CONTROL_FINISHED_OK
$STATE,11228,begin climb
$GC,11233,0.60,146.1,1000.9,0.0,531,11405,0.80,2.58,159.12,1.776,4,0.090,0.043,2035,1289,2225,0,0,0,0,1,0
$GC,11436,0.60,146.1,973.9,18.5,537,11443,0.00,2.45,0.00,0.000,6,0.000,0.049,2034,2662,2224,0,0,0,0,0,0
$GC,11752,0.60,146.1,907.5,21.1,548,11756,0.00,2.25,0.00,0.000,4,0.000,0.044,2045,1278,2220,0,0,0,0,0,0
$GC,11798,0.60,146.1,897.6,19.9,549,11802,0.00,2.28,0.00,0.000,6,0.000,0.050,2045,2673,2217,0,0,0,0,0,0
$GC,12119,0.60,146.1,826.0,22.7,560,12123,0.00,2.22,0.00,0.000,4,0.000,0.044,2055,1274,2217,0,0,0,0,0,0
$GC,12160,0.60,146.1,817.1,19.1,561,12165,0.12,2.25,0.00,0.000,6,0.214,0.050,2027,2674,2216,0,0,0,0,0,0
$GC,12487,0.60,146.1,752.2,19.3,572,12491,0.00,2.20,0.00,0.000,4,0.000,0.044,2037,1274,2215,0,0,0,0,0,0
$GC,12545,0.60,146.1,741.7,16.8,573,12551,0.00,2.25,0.00,0.000,6,0.000,0.050,2037,2674,2214,0,0,0,0,0,0
$GC,12860,0.60,146.1,681.6,19.3,584,12864,0.00,2.20,0.00,0.000,4,0.000,0.044,2047,1274,2214,0,0,0,0,0,0
$GC,12897,0.60,146.1,674.7,17.9,585,12901,0.00,2.25,0.00,0.000,6,0.000,0.050,2047,2672,2214,0,0,0,0,0,0
$GC,13242,0.60,146.1,606.2,20.2,596,13246,0.00,2.17,0.00,0.000,4,0.000,0.044,2057,1284,2214,0,0,0,0,0,0
$GC,13273,0.60,146.1,599.6,19.4,597,13278,0.12,2.22,0.00,0.000,6,0.207,0.050,2029,2670,2214,0,0,0,0,0,0
$GC,13618,0.60,146.1,536.4,18.3,608,13622,0.00,2.17,0.00,0.000,4,0.000,0.044,2038,1278,2214,0,0,0,0,0,0
$GC,13664,0.60,146.1,527.9,16.3,609,13668,0.00,2.22,0.00,0.000,6,0.000,0.051,2038,2671,2213,0,0,0,0,0,0
$GC,13985,0.60,146.1,468.4,18.3,620,13989,0.00,2.20,0.00,0.000,4,0.000,0.043,2049,1278,2213,0,0,0,0,0,0
$GC,14025,0.60,146.1,461.2,15.4,621,14030,0.00,2.22,0.00,0.000,6,0.000,0.050,2049,2672,2213,0,0,0,0,0,0
$GC,14352,0.60,146.1,402.5,18.1,632,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2672,2213,0,0,0,0,0,0
$GC,14675,0.60,146.1,343.3,18.2,647,14679,0.00,2.17,0.00,0.000,4,0.000,0.043,2059,1281,2213,0,0,0,0,0,0
$GC,14744,0.60,146.1,330.6,16.0,650,14749,0.12,2.22,0.00,0.000,6,0.203,0.051,2030,2674,2212,0,0,0,0,0,0
$GC,15069,0.60,146.1,276.8,16.8,666,15073,0.00,2.20,0.00,0.000,4,0.000,0.043,2039,1282,2212,0,0,0,0,0,0
$GC,15115,0.60,146.1,269.4,14.3,668,15119,0.00,2.25,0.00,0.000,6,0.000,0.050,2039,2678,2212,0,0,0,0,0,0
$GC,15438,0.60,146.1,213.7,17.1,687,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2678,2212,0,0,0,0,0,0
$GC,15751,0.60,146.1,158.4,18.0,707,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2678,2212,0,0,0,0,0,0
$GC,16063,0.60,146.1,107.8,14.8,727,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2678,2212,0,0,0,0,0,0
$GC,16400,0.60,146.1,62.9,14.3,779,16405,0.00,2.20,0.00,0.000,4,0.000,0.042,2050,1283,2212,0,0,0,0,0,0
$GC,16566,0.60,146.1,42.4,12.6,806,16575,0.00,2.25,0.00,0.000,6,0.000,0.051,2050,2664,2211,0,0,0,0,0,0
$GC,16826,0.60,146.1,7.1,10.4,847,16835,0.00,1.98,0.00,0.000,4,0.000,0.057,2050,3898,2211,0,0,0,0,0,0
$STATE,16849,end climb,SURFACE_DEPTH_REACHED
$STATE,16849,begin surface coast
$FINISH,0.8,1.026362
$STATE,16869,end surface coast,CONTROL_FINISHED_OK
$STATE,16869,begin surface
$SM_CCo,16893,43.75,0.767,1,0,1879,230.09
$SM_GC,1.49,0.00,0.00,43.75,0.000,0.000,0.767,57,2860,1879,-5.54,0.00,230.09
$IRIDIUM_FIX,-4610.49,435.18,180213,060607
$TT8_MAMPS,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.3555
$TCM_TEMP,11.30
$XPDR_PINGS,0
$24V_AH,21.1,75.946
$10V_AH,9.9,40.838
$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,13.950,97.625,304.375,43.750,0.000,51.193,67.839,798.130,0.000,0.000,21.901,2122.759,11771.319,449.641,2928.886,903.848,33.400,1326.823,0.000,2088.563,0.000,1.009,0.000
$DEVICE_MAMPS,240.210,75.735,1776.330,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.600,1686.019,904.079,359.293,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354192
$DATA_FILE_SIZE,60351,853
$CAP_FILE_SIZE,133013,0
$CFSIZE,259252224,203030528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,180213,115523,-4627.939,430.235,40,4.5,59,-23.5