version: 66.07
glider: 542
mission: 6
dive: 432
start: 2 22 113 9 52 33
data:
$ID,542
$MISSION,6
$DIVE,432
$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,-11818.151
$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,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
$GPS1,220213,093834,-4650.389,436.087,25,1.1,26,-23.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-58.9
$GPS2,220213,095136,-4650.356,436.013,30,0.9,30,-23.5
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH4
$TGT_LATLONG,-4700.000,440.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,-0.246
$KALMAN_X,-234784.4,218.4,13.5,258661.0,-1224.7
$KALMAN_Y,370146.1,-339.0,-228.1,-367868.6,4393.0
$MHEAD_RNG_PITCHd_Wd,187.9,18556,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-55.00,0.000,2,0.000,0.000,59,2885,2920,0,0,0,0,0,0
$GC,90,-0.60,-146.1,3.0,-3.6,7,117,6.72,1.67,-15.18,0.000,4,0.247,0.077,1623,3890,3416,0,0,0,0,0,0
$GC,290,-0.60,-146.1,30.5,-13.8,37,297,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2843,3418,0,0,0,0,0,0
$GC,539,-0.60,-146.1,60.0,-12.0,78,548,0.00,1.73,0.00,0.000,4,0.000,0.059,1615,3894,3418,0,0,0,0,0,0
$GC,571,-0.60,-146.1,63.8,-12.0,82,578,0.00,1.55,0.00,0.000,6,0.000,0.031,1615,2863,3419,0,0,0,0,0,0
$GC,922,-0.60,-146.1,106.7,-12.0,137,926,0.00,2.10,0.00,0.000,4,0.000,0.036,1615,1481,3419,0,0,0,0,0,0
$GC,1004,-0.60,-146.1,116.1,-10.4,141,1011,0.10,2.20,0.00,0.000,6,0.180,0.051,1629,2858,3419,0,0,0,0,0,0
$GC,1331,-0.60,-146.1,149.8,-10.4,162,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2858,3420,0,0,0,0,0,0
$GC,1655,-0.60,-146.1,183.5,-10.6,183,1659,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3889,3420,0,0,0,0,0,0
$GC,1713,-0.60,-146.1,190.5,-11.6,186,1716,0.00,1.55,0.00,0.000,6,0.000,0.032,1623,2861,3420,0,0,0,0,0,0
$GC,2041,-0.60,-146.1,224.7,-11.0,207,2045,0.00,1.67,0.00,0.000,4,0.000,0.060,1615,3899,3420,0,0,0,0,0,0
$GC,2116,-0.60,-146.1,234.2,-12.4,211,2120,0.00,1.58,0.00,0.000,6,0.000,0.031,1615,2853,3421,0,0,0,0,0,0
$GC,2442,-0.60,-146.1,270.6,-10.7,229,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2849,3421,0,0,0,0,0,0
$GC,2751,-0.60,-146.1,305.0,-11.0,244,2754,0.00,1.67,0.00,0.000,4,0.000,0.060,1607,3892,3421,0,0,0,0,0,0
$GC,2816,-0.60,-146.1,312.8,-12.0,246,2824,0.00,1.55,0.00,0.000,6,0.000,0.032,1607,2862,3420,0,0,0,0,0,0
$GC,3134,-0.60,-146.1,349.4,-11.6,262,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,1607,2862,3420,0,0,0,0,0,0
$GC,3446,-0.60,-146.1,384.5,-11.2,277,3450,0.00,1.67,0.00,0.000,4,0.000,0.060,1598,3886,3421,0,0,0,0,0,0
$GC,3504,-0.60,-146.1,391.9,-12.2,279,3508,0.08,1.55,0.00,0.000,6,0.155,0.032,1638,2862,3421,0,0,0,0,0,0
$GC,3846,-0.60,-146.1,421.0,-8.1,292,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2859,3421,0,0,0,0,0,0
$GC,4153,-0.60,-146.1,446.0,-8.2,302,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2859,3420,0,0,0,0,0,0
$GC,4459,-0.60,-146.1,470.6,-8.0,312,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2859,3420,0,0,0,0,0,0
$GC,4765,-0.60,-146.1,495.2,-8.0,322,4768,0.00,1.65,0.00,0.000,4,0.000,0.061,1632,3892,3420,0,0,0,0,0,0
$GC,4806,-0.60,-146.1,499.0,-8.7,323,4809,0.00,1.58,0.00,0.000,6,0.000,0.033,1631,2858,3420,0,0,0,0,0,0
$GC,5143,-0.60,-146.1,528.0,-8.5,334,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2852,3420,0,0,0,0,0,0
$GC,5451,-0.60,-146.1,554.4,-8.6,344,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2852,3420,0,0,0,0,0,0
$GC,5756,-0.60,-146.1,580.4,-8.7,354,5760,0.00,1.70,0.00,0.000,4,0.000,0.062,1623,3899,3420,0,0,0,0,0,0
$GC,5819,-0.60,-146.1,586.5,-9.6,355,5826,0.00,1.58,0.00,0.000,6,0.000,0.033,1623,2862,3419,0,0,0,0,0,0
$GC,6134,-0.60,-146.1,613.8,-8.5,366,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3419,0,0,0,0,0,0
$GC,6441,-0.60,-146.1,640.2,-8.6,376,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3419,0,0,0,0,0,0
$GC,6747,-0.60,-146.1,666.5,-8.7,386,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3419,0,0,0,0,0,0
$GC,7053,-0.60,-146.1,694.0,-9.2,396,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2862,3419,0,0,0,0,0,0
$GC,7360,-0.60,-146.1,721.8,-9.0,406,7364,0.00,1.70,0.00,0.000,4,0.000,0.062,1615,3891,3419,0,0,0,0,0,0
$GC,7397,-0.60,-146.1,725.4,-9.3,407,7401,0.00,1.58,0.00,0.000,6,0.000,0.033,1615,2859,3419,0,0,0,0,0,0
$GC,7741,-0.60,-146.1,757.0,-9.1,418,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2853,3418,0,0,0,0,0,0
$GC,8047,-0.60,-146.1,784.6,-8.9,428,8051,0.00,1.67,0.00,0.000,4,0.000,0.063,1608,3897,3419,0,0,0,0,0,0
$GC,8088,-0.60,-146.1,788.7,-10.5,429,8091,0.00,1.58,0.00,0.000,6,0.000,0.032,1608,2863,3418,0,0,0,0,0,0
$GC,8425,-0.60,-146.1,818.7,-8.7,440,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2859,3418,0,0,0,0,0,0
$GC,8732,-0.60,-146.1,845.2,-8.5,450,8735,0.00,1.70,0.00,0.000,4,0.000,0.063,1602,3901,3418,0,0,0,0,0,0
$GC,8783,-0.60,-146.1,850.2,-9.8,451,8787,0.08,1.60,0.00,0.000,6,0.155,0.033,1635,2852,3417,0,0,0,0,0,0
$GC,9110,-0.60,-146.1,870.6,-6.1,462,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2849,3417,0,0,0,0,0,0
$GC,9417,-0.60,-146.1,888.6,-5.8,472,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2848,3418,0,0,0,0,0,0
$GC,9723,-0.60,-146.1,907.1,-6.1,482,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2849,3417,0,0,0,0,0,0
$GC,10029,-0.60,-146.1,925.8,-6.3,492,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2848,3417,0,0,0,0,0,0
$GC,10336,-0.60,-146.1,946.0,-6.8,502,10340,0.00,1.73,0.00,0.000,4,0.000,0.064,1628,3892,3417,0,0,0,0,0,0
$GC,10365,-0.60,-146.1,948.4,-7.8,502,10372,0.00,1.58,0.00,0.000,6,0.000,0.033,1628,2855,3417,0,0,0,0,0,0
$GC,10683,-0.60,-146.1,970.6,-7.2,513,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2855,3417,0,0,0,0,0,0
$GC,10988,-0.60,-146.1,992.1,-7.0,523,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2855,3417,0,0,0,0,0,0
$STATE,11074,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11074,begin apogee
$GC,11085,-0.18,0.0,998.4,6.9,526,11236,0.45,0.00,148.00,1.252,6,0.145,0.000,1765,2680,2819,0,0,0,0,0,0
$STATE,11238,end apogee,CONTROL_FINISHED_OK
$STATE,11238,begin climb
$GC,11243,0.60,146.1,1002.6,0.0,531,11416,0.77,2.55,160.57,1.780,4,0.090,0.043,2028,1285,2225,0,0,0,0,1,0
$GC,11477,0.60,146.1,971.5,17.1,538,11482,0.00,2.45,0.00,0.000,6,0.000,0.051,2028,2665,2222,0,0,0,0,0,0
$GC,11805,0.60,146.1,904.8,20.8,549,11809,0.00,2.22,0.00,0.000,4,0.000,0.044,2039,1280,2218,0,0,0,0,0,0
$GC,11840,0.60,146.1,897.7,19.4,550,11844,0.00,2.30,0.00,0.000,6,0.000,0.052,2039,2676,2216,0,0,0,0,0,0
$GC,12173,0.60,146.1,830.6,20.6,561,12177,0.00,2.20,0.00,0.000,4,0.000,0.044,2049,1284,2215,0,0,0,0,0,0
$GC,12248,0.60,146.1,816.7,16.3,563,12252,0.00,2.25,0.00,0.000,6,0.000,0.052,2049,2672,2214,0,0,0,0,0,0
$GC,12574,0.60,146.1,751.9,20.2,574,12578,0.00,2.22,0.00,0.000,4,0.000,0.045,2059,1274,2214,0,0,0,0,0,0
$GC,12621,0.60,146.1,742.7,17.4,575,12626,0.12,2.25,0.00,0.000,6,0.208,0.051,2031,2679,2214,0,0,0,0,0,0
$GC,12942,0.60,146.1,683.5,18.8,586,12946,0.00,2.22,0.00,0.000,4,0.000,0.044,2040,1278,2213,0,0,0,0,0,0
$GC,12988,0.60,146.1,674.9,15.9,587,12992,0.00,2.25,0.00,0.000,6,0.000,0.051,2040,2670,2213,0,0,0,0,0,0
$GC,13310,0.60,146.1,613.0,19.3,598,13314,0.00,2.17,0.00,0.000,4,0.000,0.044,2050,1281,2213,0,0,0,0,0,0
$GC,13379,0.60,146.1,600.3,17.9,600,13383,0.00,2.25,0.00,0.000,6,0.000,0.050,2050,2677,2213,0,0,0,0,0,0
$GC,13710,0.60,146.1,535.2,19.8,611,13714,0.00,2.22,0.00,0.000,4,0.000,0.044,2060,1273,2213,0,0,0,0,0,0
$GC,13780,0.60,146.1,522.5,16.7,613,13784,0.12,2.25,0.00,0.000,6,0.200,0.050,2030,2679,2212,0,0,0,0,0,0
$GC,14119,0.60,146.1,462.7,17.8,624,14121,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2679,2212,0,0,0,0,0,0
$GC,14424,0.60,146.1,409.0,17.4,634,14428,0.00,2.22,0.00,0.000,4,0.000,0.042,2040,1271,2212,0,0,0,0,0,0
$GC,14471,0.60,146.1,401.0,16.0,635,14475,0.00,2.25,0.00,0.000,6,0.000,0.050,2040,2669,2211,0,0,0,0,0,0
$GC,14797,0.60,146.1,344.4,17.4,651,14800,0.00,2.17,0.00,0.000,4,0.000,0.043,2050,1281,2212,0,0,0,0,0,0
$GC,14837,0.60,146.1,337.3,15.4,652,14848,0.08,2.28,0.00,0.000,6,0.184,0.050,2029,2674,2211,0,0,0,0,0,0
$GC,15156,0.60,146.1,287.8,15.6,668,15160,0.00,2.20,0.00,0.000,4,0.000,0.043,2038,1283,2211,0,0,0,0,0,0
$GC,15203,0.60,146.1,280.6,14.0,670,15207,0.00,2.25,0.00,0.000,6,0.000,0.051,2038,2682,2211,0,0,0,0,0,0
$GC,15534,0.60,146.1,226.3,17.1,688,15535,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2682,2211,0,0,0,0,0,0
$GC,15846,0.60,146.1,172.4,16.9,708,15850,0.00,2.22,0.00,0.000,4,0.000,0.042,2048,1273,2211,0,0,0,0,0,0
$GC,15912,0.60,146.1,162.3,14.2,712,15916,0.00,2.22,0.00,0.000,6,0.000,0.050,2048,2669,2211,0,0,0,0,0,0
$GC,16241,0.60,146.1,109.5,15.7,733,16242,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2670,2211,0,0,0,0,0,0
$GC,16578,0.60,146.1,62.6,12.8,785,16582,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2670,2211,0,0,0,0,0,0
$GC,16948,0.60,146.1,13.1,12.1,846,16956,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2670,2211,0,0,0,0,0,0
$STATE,17001,end climb,SURFACE_DEPTH_REACHED
$STATE,17001,begin surface coast
$FINISH,0.9,1.023131
$STATE,17021,end surface coast,CONTROL_FINISHED_OK
$STATE,17021,begin surface
$SM_CCo,17043,43.15,0.772,1,0,1878,230.09
$SM_GC,1.93,0.00,0.00,43.15,0.000,0.000,0.772,55,2877,1878,-5.55,0.45,230.09
$IRIDIUM_FIX,-4632.36,436.94,220213,040444
$TT8_MAMPS,0.026964
$HUMID,58.82
$INTERNAL_PRESSURE,9.33597
$TCM_TEMP,10.60
$XPDR_PINGS,0
$24V_AH,20.9,79.623
$10V_AH,9.9,43.162
$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,14.000,93.525,308.575,43.150,0.000,26.351,19.577,472.240,0.000,0.000,33.372,2129.682,11815.800,444.195,2671.039,800.571,33.398,1353.857,0.000,2126.904,0.000,1.008,0.000
$DEVICE_MAMPS,247.095,77.265,1780.155,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.015,1673.534,887.326,359.687,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354120
$DATA_FILE_SIZE,60436,857
$CAP_FILE_SIZE,131266,0
$CFSIZE,259252224,201666560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,220213,143852,-4652.276,436.253,38,0.8,39,-23.5