version: 66.07
glider: 542
mission: 6
dive: 417
start: 2 19 113 8 10 8
data:
$ID,542
$MISSION,6
$DIVE,417
$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,-11770.392
$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,57
$R_STBD_OVSHOOT,30
$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
$GPS1,190213,075558,-4631.584,438.934,43,1.0,44,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.2
$GPS2,190213,080911,-4631.529,439.216,15,1.5,15,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.004,-0.257
$KALMAN_X,-231059.8,107.5,183.5,258935.4,91.7
$KALMAN_Y,326998.4,-521.9,-286.2,-289604.2,5089.7
$MHEAD_RNG_PITCHd_Wd,204.4,52738,-16.4,-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,22,begin dive
$GC,27,-0.60,-146.1,0.0,0.0,0,76,0.00,0.00,-47.12,0.000,2,0.000,0.000,55,2886,2763,0,0,0,0,0,0
$GC,82,-0.60,-146.1,3.0,-3.3,6,116,6.68,0.00,-24.73,0.000,6,0.243,0.000,1628,2887,3416,0,0,0,0,0,0
$GC,195,-0.60,-146.1,14.3,-14.4,22,204,0.00,1.62,0.00,0.000,4,0.000,0.059,1622,3887,3419,0,0,0,0,0,0
$GC,259,-0.60,-146.1,23.2,-14.0,31,268,0.00,1.58,0.00,0.000,6,0.000,0.031,1622,2850,3419,0,0,0,0,0,0
$GC,344,-0.60,-146.1,36.1,-14.8,44,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2850,3419,0,0,0,0,0,0
$GC,591,-0.60,-146.1,70.9,-13.7,85,596,0.00,1.70,0.00,0.000,4,0.000,0.059,1614,3892,3419,0,0,0,0,0,0
$GC,633,-0.60,-146.1,76.8,-15.1,91,637,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2865,3419,0,0,0,0,0,0
$GC,967,-0.60,-146.1,120.6,-11.3,130,971,0.00,1.70,0.00,0.000,4,0.000,0.059,1606,3906,3420,0,0,0,0,0,0
$GC,1110,-0.60,-146.1,139.1,-12.1,138,1114,0.00,1.58,0.00,0.000,6,0.000,0.031,1605,2857,3420,0,0,0,0,0,0
$GC,1439,-0.60,-146.1,178.3,-12.2,159,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2852,3421,0,0,0,0,0,0
$GC,1753,-0.60,-146.1,217.3,-11.7,179,1757,0.10,1.70,0.00,0.000,4,0.184,0.060,1623,3900,3421,0,0,0,0,0,0
$GC,1850,-0.60,-146.1,229.2,-11.6,184,1859,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2851,3421,0,0,0,0,0,0
$GC,2186,-0.60,-146.1,263.4,-10.1,204,2190,0.00,1.70,0.00,0.000,4,0.000,0.060,1615,3893,3421,0,0,0,0,0,0
$GC,2221,-0.60,-146.1,267.5,-10.9,205,2225,0.00,1.55,0.00,0.000,6,0.000,0.031,1614,2866,3421,0,0,0,0,0,0
$GC,2548,-0.60,-146.1,302.4,-11.1,221,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2860,3421,0,0,0,0,0,0
$GC,2854,-0.60,-146.1,335.8,-10.6,236,2858,0.00,1.70,0.00,0.000,4,0.000,0.061,1607,3902,3421,0,0,0,0,0,0
$GC,2927,-0.60,-146.1,344.0,-11.7,239,2930,0.00,1.58,0.00,0.000,6,0.000,0.031,1607,2856,3421,0,0,0,0,0,0
$GC,3264,-0.60,-146.1,381.8,-11.1,255,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2851,3421,0,0,0,0,0,0
$GC,3571,-0.60,-146.1,415.5,-10.8,268,3575,0.00,1.70,0.00,0.000,4,0.000,0.060,1599,3891,3421,0,0,0,0,0,0
$GC,3645,-0.60,-146.1,424.7,-12.3,270,3649,0.08,1.55,0.00,0.000,6,0.156,0.032,1638,2865,3421,0,0,0,0,0,0
$GC,3984,-0.60,-146.1,451.4,-7.7,281,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2861,3421,0,0,0,0,0,0
$GC,4289,-0.60,-146.1,475.2,-7.7,291,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2861,3421,0,0,0,0,0,0
$GC,4596,-0.60,-146.1,499.1,-7.9,301,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2861,3421,0,0,0,0,0,0
$GC,4902,-0.60,-146.1,522.6,-7.5,311,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2861,3420,0,0,0,0,0,0
$GC,5208,-0.60,-146.1,546.2,-7.6,321,5212,0.00,1.70,0.00,0.000,4,0.000,0.062,1631,3895,3420,0,0,0,0,0,0
$GC,5249,-0.60,-146.1,549.6,-8.0,322,5253,0.00,1.58,0.00,0.000,6,0.000,0.033,1631,2863,3420,0,0,0,0,0,0
$GC,5589,-0.60,-146.1,576.4,-8.1,333,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2859,3419,0,0,0,0,0,0
$GC,5893,-0.60,-146.1,600.5,-7.6,343,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2859,3419,0,0,0,0,0,0
$GC,6201,-0.60,-146.1,624.7,-8.0,353,6204,0.00,1.67,0.00,0.000,4,0.000,0.062,1623,3894,3419,0,0,0,0,0,0
$GC,6253,-0.60,-146.1,629.7,-9.2,354,6257,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2857,3419,0,0,0,0,0,0
$GC,6579,-0.60,-146.1,657.9,-8.8,365,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2852,3419,0,0,0,0,0,0
$GC,6887,-0.60,-146.1,685.5,-8.9,375,6891,0.00,1.67,0.00,0.000,4,0.000,0.061,1615,3892,3419,0,0,0,0,0,0
$GC,6933,-0.60,-146.1,690.3,-10.0,376,6937,0.00,1.58,0.00,0.000,6,0.000,0.033,1615,2854,3419,0,0,0,0,0,0
$GC,7265,-0.60,-146.1,721.1,-9.4,387,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3418,0,0,0,0,0,0
$GC,7571,-0.60,-146.1,748.7,-9.0,397,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2849,3418,0,0,0,0,0,0
$GC,7878,-0.60,-146.1,775.3,-8.5,407,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2849,3418,0,0,0,0,0,0
$GC,8184,-0.60,-146.1,800.5,-8.0,417,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3418,0,0,0,0,0,0
$GC,8490,-0.60,-146.1,825.8,-8.2,427,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2848,3419,0,0,0,0,0,0
$GC,8797,-0.60,-146.1,851.2,-8.3,437,8801,0.00,1.73,0.00,0.000,4,0.000,0.062,1608,3893,3418,0,0,0,0,0,0
$GC,8854,-0.60,-146.1,856.6,-9.6,438,8858,0.00,1.58,0.00,0.000,6,0.000,0.033,1608,2864,3418,0,0,0,0,0,0
$GC,9176,-0.60,-146.1,884.4,-8.8,449,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2861,3418,0,0,0,0,0,0
$GC,9481,-0.60,-146.1,911.4,-8.7,459,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2860,3418,0,0,0,0,0,0
$GC,9787,-0.60,-146.1,937.9,-8.7,469,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2860,3418,0,0,0,0,0,0
$GC,10093,-0.60,-146.1,965.2,-8.9,479,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2860,3417,0,0,0,0,0,0
$GC,10400,-0.60,-146.1,991.5,-8.6,489,10404,0.00,1.70,0.00,0.000,4,0.000,0.063,1601,3891,3417,0,0,0,0,0,0
$GC,10457,-0.60,-146.1,997.2,-9.8,490,10461,0.08,1.58,0.00,0.000,6,0.154,0.033,1634,2858,3417,0,0,0,0,0,0
$STATE,10498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10498,begin apogee
$GC,10509,-0.18,0.0,1000.5,8.0,492,10658,0.43,0.00,146.65,1.243,6,0.142,0.000,1765,2676,2819,0,0,0,0,0,0
$STATE,10660,end apogee,CONTROL_FINISHED_OK
$STATE,10660,begin climb
$GC,10666,0.60,146.1,1005.0,0.0,497,10853,0.80,0.00,164.43,1.743,6,0.089,0.000,2021,2676,2224,0,0,0,0,3,0
$GC,11143,0.60,146.1,925.8,19.9,513,11148,0.00,2.25,0.00,0.000,4,0.000,0.044,2032,1285,2221,0,0,0,0,0,0
$GC,11190,0.60,146.1,916.4,17.7,514,11194,0.00,2.28,0.00,0.000,6,0.000,0.050,2032,2673,2217,0,0,0,0,0,0
$GC,11511,0.60,146.1,850.1,21.0,525,11515,0.00,2.22,0.00,0.000,4,0.000,0.044,2042,1273,2216,0,0,0,0,0,0
$GC,11542,0.60,146.1,843.7,21.0,526,11546,0.00,2.25,0.00,0.000,6,0.000,0.051,2042,2672,2215,0,0,0,0,0,0
$GC,11880,0.60,146.1,771.4,22.0,537,11881,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2672,2215,0,0,0,0,0,0
$GC,12186,0.60,146.1,705.3,21.7,547,12190,0.00,2.20,0.00,0.000,4,0.000,0.043,2052,1278,2215,0,0,0,0,0,0
$GC,12251,0.60,146.1,692.4,20.1,549,12256,0.00,2.25,0.00,0.000,6,0.000,0.050,2052,2677,2213,0,0,0,0,0,0
$GC,12590,0.60,146.1,621.1,20.8,560,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2677,2213,0,0,0,0,0,0
$GC,12895,0.60,146.1,559.5,19.8,570,12899,0.00,2.20,0.00,0.000,4,0.000,0.043,2062,1281,2213,0,0,0,0,0,0
$GC,12931,0.60,146.1,552.8,16.7,571,12935,0.15,2.22,0.00,0.000,6,0.205,0.050,2027,2677,2213,0,0,0,0,0,0
$GC,13263,0.60,146.1,496.7,16.7,582,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2677,2213,0,0,0,0,0,0
$GC,13570,0.60,146.1,444.1,17.2,592,13574,0.00,2.17,0.00,0.000,4,0.000,0.043,2037,1282,2213,0,0,0,0,0,0
$GC,13616,0.60,146.1,436.6,14.8,593,13620,0.00,2.22,0.00,0.000,6,0.000,0.050,2037,2675,2212,0,0,0,0,0,0
$GC,13941,0.60,146.1,381.0,17.7,605,13942,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2212,0,0,0,0,0,0
$GC,14248,0.60,146.1,326.6,17.9,620,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2675,2212,0,0,0,0,0,0
$GC,14560,0.60,146.1,271.8,17.4,635,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2212,0,0,0,0,0,0
$GC,14875,0.60,146.1,217.4,17.3,653,14877,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2212,0,0,0,0,0,0
$GC,15188,0.60,146.1,161.2,17.8,673,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2675,2212,0,0,0,0,0,0
$GC,15503,0.60,146.1,107.9,17.0,693,15507,0.00,2.20,0.00,0.000,4,0.000,0.043,2047,1278,2211,0,0,0,0,0,0
$GC,15570,0.60,146.1,99.3,12.8,697,15575,0.00,2.22,0.00,0.000,6,0.000,0.051,2047,2671,2211,0,0,0,0,0,0
$GC,15922,0.60,146.1,47.1,15.7,758,15931,0.00,1.98,0.00,0.000,4,0.000,0.059,2047,3893,2211,0,0,0,0,0,0
$GC,15961,0.60,146.1,40.9,16.7,763,15969,0.12,1.88,0.00,0.000,6,0.230,0.037,2029,2676,2211,0,0,0,0,0,0
$STATE,16216,end climb,SURFACE_DEPTH_REACHED
$STATE,16216,begin surface coast
$FINISH,0.9,1.002894
$STATE,16236,end surface coast,CONTROL_FINISHED_OK
$STATE,16236,begin surface
$SM_CCo,16259,42.35,0.760,1,0,1881,230.09
$SM_GC,2.47,0.00,0.00,42.35,0.000,0.000,0.760,58,2886,1881,-5.54,0.74,230.09
$IRIDIUM_FIX,-4613.60,438.55,190213,020246
$TT8_MAMPS,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.34573
$TCM_TEMP,11.60
$XPDR_PINGS,0
$24V_AH,21.0,76.857
$10V_AH,9.9,41.417
$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,13.750,70.225,311.075,42.350,0.000,27.359,40.910,474.988,0.000,0.000,18.033,2004.434,11376.715,455.536,2498.939,749.741,33.370,1271.138,0.000,1950.774,0.000,1.008,0.000
$DEVICE_MAMPS,243.270,62.730,1743.435,759.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.769,1589.064,837.952,321.906,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354144
$DATA_FILE_SIZE,57058,807
$CAP_FILE_SIZE,120023,0
$CFSIZE,259252224,202702848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,190213,124322,-4632.779,439.465,39,0.8,39,-23.5