version: 66.07
glider: 542
mission: 6
dive: 18
start: 12 12 112 18 28 54
data:
$ID,542
$MISSION,6
$DIVE,18
$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,333
$T_MISSION,348
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52846
$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,563.99261
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,3
$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,-10318.742
$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,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$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
$GPS1,121212,181353,-4702.400,358.259,40,0.9,40,-23.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-35.9
$GPS2,121212,182756,-4702.418,358.331,19,2.0,19,-23.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.044,-0.168
$KALMAN_X,957.4,15.5,-368.4,-24211.1,2818.7
$KALMAN_Y,26416.3,-780.6,-361.7,-45893.2,7212.9
$MHEAD_RNG_PITCHd_Wd,217.7,4950,-27.2,-10.010
$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,-0.81,-63.1,0.0,0.0,0,163,0.00,0.00,-130.50,0.000,6,0.000,0.000,67,2931,3079,0,0,0,0,0,0
$GC,169,-0.90,-136.2,2.6,-2.2,17,195,6.00,1.62,-8.95,0.000,4,0.239,0.086,1563,3900,3378,0,0,0,0,0,0
$GC,332,-0.90,-136.2,36.0,-21.5,41,338,0.00,1.58,0.00,0.000,6,0.000,0.041,1568,2903,3378,0,0,0,0,0,0
$GC,575,-0.90,-136.2,85.8,-19.5,82,581,0.00,1.65,0.00,0.000,4,0.000,0.065,1562,3900,3378,0,0,0,0,0,0
$GC,634,-0.90,-136.2,98.0,-21.4,91,639,0.00,1.55,0.00,0.000,6,0.000,0.042,1564,2916,3378,0,0,0,0,0,0
$GC,956,-0.90,-136.2,158.8,-19.5,112,957,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2912,3379,0,0,0,0,0,0
$GC,1268,-0.90,-136.2,216.0,-18.2,132,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2912,3379,0,0,0,0,0,0
$GC,1597,-0.90,-136.2,272.3,-16.7,151,1601,0.00,2.15,0.00,0.000,4,0.000,0.050,1564,1527,3379,0,0,0,0,0,0
$GC,1622,-0.90,-136.2,276.8,-17.0,152,1627,0.00,2.25,0.00,0.000,6,0.000,0.060,1555,2921,3379,0,0,0,0,0,0
$GC,1952,-0.90,-136.2,334.7,-18.0,168,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2921,3379,0,0,0,0,0,0
$GC,2264,-0.90,-136.2,391.1,-18.0,183,2268,0.00,2.17,0.00,0.000,4,0.000,0.049,1555,1528,3379,0,0,0,0,0,0
$GC,2293,-0.90,-136.2,397.1,-18.3,184,2298,0.12,2.25,0.00,0.000,6,0.211,0.060,1573,2924,3379,0,0,0,0,0,0
$GC,2629,-0.90,-136.2,451.1,-16.0,195,2633,0.00,2.17,0.00,0.000,4,0.000,0.049,1573,1523,3379,0,0,0,0,0,0
$GC,2686,-0.90,-136.2,459.9,-13.8,196,2693,0.00,2.25,0.00,0.000,6,0.000,0.061,1564,2923,3379,0,0,0,0,0,0
$GC,3001,-0.90,-136.2,511.0,-16.4,207,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2924,3379,0,0,0,0,0,0
$GC,3307,-0.90,-136.2,560.6,-15.9,217,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2924,3379,0,0,0,0,0,0
$GC,3614,-0.90,-136.2,608.2,-15.5,227,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2924,3378,0,0,0,0,0,0
$GC,3920,-0.90,-136.2,656.4,-15.8,237,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2923,3379,0,0,0,0,0,0
$GC,4226,-0.90,-136.2,706.2,-16.5,247,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2924,3378,0,0,0,0,0,0
$GC,4532,-0.90,-136.2,755.2,-15.9,257,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2924,3378,0,0,0,0,0,0
$GC,4838,-0.90,-136.2,802.2,-15.2,267,4842,0.00,1.55,0.00,0.000,4,0.000,0.069,1557,3897,3377,0,0,0,0,0,0
$GC,4879,-0.90,-136.2,809.0,-16.0,268,4883,0.00,1.50,0.00,0.000,6,0.000,0.044,1557,2930,3377,0,0,0,0,0,0
$GC,5218,-0.90,-136.2,858.7,-14.7,279,5222,0.00,2.17,0.00,0.000,4,0.000,0.050,1557,1522,3376,0,0,0,0,0,0
$GC,5253,-0.90,-136.2,864.1,-13.3,280,5258,0.12,2.25,0.00,0.000,6,0.210,0.063,1575,2924,3377,0,0,0,0,0,0
$GC,5586,-0.90,-136.2,908.9,-13.5,291,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2924,3377,0,0,0,0,0,0
$GC,5892,-0.90,-136.2,950.0,-13.6,301,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2924,3376,0,0,0,0,0,0
$GC,6198,-0.90,-136.2,989.9,-12.7,311,6202,0.00,2.20,0.00,0.000,4,0.000,0.052,1575,1520,3375,0,0,0,0,0,0
$GC,6244,-0.90,-136.2,996.1,-12.1,312,6248,0.00,2.28,0.00,0.000,6,0.000,0.063,1566,2934,3375,0,0,0,0,0,0
$STATE,6285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6285,begin apogee
$GC,6295,-0.19,0.0,1001.3,12.3,314,6438,0.80,0.00,131.00,1.778,6,0.180,0.000,1801,2721,2819,0,0,0,0,1,0
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6444,0.90,136.2,1005.3,0.0,319,6597,1.05,0.00,138.40,1.799,6,0.070,0.000,2162,2721,2264,0,0,0,0,1,0
$GC,6909,0.90,136.2,885.2,30.4,334,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2721,2257,0,0,0,0,0,0
$GC,7211,0.90,136.2,791.8,30.3,344,7215,0.00,2.28,0.00,0.000,4,0.000,0.060,2173,1335,2255,0,0,0,0,0,0
$GC,7251,0.90,136.2,779.4,28.9,345,7255,0.00,2.33,0.00,0.000,6,0.000,0.059,2173,2734,2254,0,0,0,0,0,0
$GC,7591,0.90,136.2,678.5,30.1,356,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2734,2253,0,0,0,0,0,0
$GC,7895,0.90,136.2,586.9,29.9,366,7899,0.00,2.28,0.00,0.000,4,0.000,0.061,2183,1337,2253,0,0,0,0,0,0
$GC,7935,0.90,136.2,574.7,27.8,367,7939,0.00,2.30,0.00,0.000,6,0.000,0.060,2183,2734,2251,0,0,0,0,0,0
$GC,8262,0.90,136.2,479.3,29.7,378,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2735,2251,0,0,0,0,0,0
$GC,8569,0.90,136.2,393.8,28.1,388,8573,0.00,2.25,0.00,0.000,4,0.000,0.060,2194,1338,2251,0,0,0,0,0,0
$GC,8612,0.90,136.2,381.8,26.9,390,8617,0.12,2.28,0.00,0.000,6,0.275,0.059,2170,2736,2250,0,0,0,0,0,0
$GC,8943,0.90,136.2,295.1,26.0,406,8947,0.00,2.25,0.00,0.000,4,0.000,0.059,2179,1337,2250,0,0,0,0,0,0
$GC,8961,0.90,136.2,290.0,25.5,406,8970,0.00,2.30,0.00,0.000,6,0.000,0.058,2173,2739,2250,0,0,0,0,0,0
$GC,9288,0.90,136.2,201.4,28.1,425,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2739,2250,0,0,0,0,0,0
$GC,9600,0.90,136.2,115.2,26.5,445,9604,0.00,2.25,0.00,0.000,4,0.000,0.058,2182,1333,2250,0,0,0,0,0,0
$GC,9629,0.90,136.2,106.9,24.9,446,9638,0.00,2.30,0.00,0.000,6,0.000,0.057,2182,2742,2249,0,0,0,0,0,0
$GC,9988,0.90,136.2,16.3,27.0,503,9996,0.00,2.28,0.00,0.000,4,0.000,0.059,2193,1333,2249,0,0,0,0,0,0
$GC,10009,0.90,136.2,11.0,25.5,505,10019,0.10,2.28,0.00,0.000,6,0.251,0.060,2168,2729,2248,0,0,0,0,0,0
$STATE,10039,end climb,SURFACE_DEPTH_REACHED
$STATE,10039,begin surface coast
$FINISH,0.4,1.026537
$STATE,10053,end surface coast,CONTROL_FINISHED_OK
$STATE,10053,begin surface
$SM_CCo,10075,187.77,0.772,1,0,517,564.18
$SM_GC,0.83,0.00,0.00,187.77,0.000,0.000,0.772,62,2933,517,-5.65,0.28,564.18
$IRIDIUM_FIX,-4644.93,357.04,121212,181848
$TT8_MAMPS,0.026215
$HUMID,55.78
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,22.6,5.283
$10V_AH,10.2,2.012
$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,14.150,59.600,269.400,187.775,0.000,55.377,68.284,430.263,0.000,0.000,21.611,1246.337,6945.963,606.265,1773.598,536.792,33.355,1160.601,0.000,1223.142,0.000,1.009,0.000
$DEVICE_MAMPS,275.400,86.445,1798.515,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.190,1035.792,571.251,226.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354224
$DATA_FILE_SIZE,36973,511
$CAP_FILE_SIZE,80878,0
$CFSIZE,259252224,226754560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,121212,212128,-4703.537,357.267,39,1.1,39,-23.2