version: 66.07
glider: 542
mission: 6
dive: 44
start: 12 17 112 0 5 4
data:
$ID,542
$MISSION,6
$DIVE,44
$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,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,563.99261
$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,-10413.947
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,161212,235435,-4628.260,404.541,37,0.9,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-32.0
$GPS2,171212,000402,-4628.334,404.891,32,0.8,32,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.115,-0.129
$KALMAN_X,-50710.8,1193.1,595.4,33590.2,-7365.4
$KALMAN_Y,-1181.9,-350.0,205.9,43798.1,-1729.6
$MHEAD_RNG_PITCHd_Wd,161.6,6957,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.81,-63.1,0.0,0.0,0,162,0.00,0.00,-132.40,0.000,6,0.000,0.000,66,2939,3078,0,0,0,0,0,0
$GC,169,-0.89,-122.8,2.8,-3.7,17,188,6.05,1.60,-7.12,0.000,4,0.239,0.079,1573,3901,3323,0,0,0,0,0,0
$GC,461,-0.89,-122.8,60.8,-18.6,64,468,0.00,1.55,0.00,0.000,6,0.000,0.036,1577,2898,3324,0,0,0,0,0,0
$GC,808,-0.89,-122.8,120.5,-16.2,110,812,0.00,1.62,0.00,0.000,4,0.000,0.060,1571,3894,3325,0,0,0,0,0,0
$GC,978,-0.89,-122.8,148.2,-16.2,119,985,0.00,1.50,0.00,0.000,6,0.000,0.035,1571,2912,3325,0,0,0,0,0,0
$GC,1301,-0.89,-122.8,200.0,-16.6,140,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2911,3325,0,0,0,0,0,0
$GC,1617,-0.89,-122.8,253.9,-16.4,160,1621,0.00,1.60,0.00,0.000,4,0.000,0.060,1565,3899,3325,0,0,0,0,0,0
$GC,1658,-0.89,-122.8,261.3,-17.5,161,1665,0.00,1.48,0.00,0.000,6,0.000,0.036,1565,2933,3326,0,0,0,0,0,0
$GC,1978,-0.89,-122.8,313.3,-16.2,177,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2932,3325,0,0,0,0,0,0
$GC,2285,-0.89,-122.8,361.8,-15.4,192,2289,0.00,2.12,0.00,0.000,4,0.000,0.042,1565,1529,3325,0,0,0,0,0,0
$GC,2314,-0.89,-122.8,365.8,-15.7,193,2319,0.00,2.20,0.00,0.000,6,0.000,0.055,1555,2925,3325,0,0,0,0,0,0
$GC,2633,-0.89,-122.8,417.9,-16.5,207,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2926,3325,0,0,0,0,0,0
$GC,2939,-0.89,-122.8,469.0,-16.5,217,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2926,3325,0,0,0,0,0,0
$GC,3245,-0.89,-122.8,521.6,-17.1,227,3249,0.00,2.15,0.00,0.000,4,0.000,0.043,1555,1522,3325,0,0,0,0,0,0
$GC,3274,-0.89,-122.8,526.8,-16.8,227,3282,0.15,2.22,0.00,0.000,6,0.218,0.055,1579,2926,3325,0,0,0,0,0,0
$GC,3590,-0.89,-122.8,573.0,-14.7,238,3594,0.00,2.12,0.00,0.000,4,0.000,0.042,1579,1526,3325,0,0,0,0,0,0
$GC,3621,-0.89,-122.8,577.7,-14.7,239,3625,0.00,2.22,0.00,0.000,6,0.000,0.056,1570,2925,3325,0,0,0,0,0,0
$GC,3959,-0.89,-122.8,627.8,-14.9,250,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2925,3325,0,0,0,0,0,0
$GC,4265,-0.89,-122.8,670.8,-14.1,260,4269,0.00,2.12,0.00,0.000,4,0.000,0.042,1570,1528,3324,0,0,0,0,0,0
$GC,4305,-0.89,-122.8,676.3,-12.7,261,4309,0.00,2.22,0.00,0.000,6,0.000,0.056,1560,2933,3324,0,0,0,0,0,0
$GC,4643,-0.89,-122.8,722.4,-14.0,272,4647,0.00,2.15,0.00,0.000,4,0.000,0.042,1560,1527,3323,0,0,0,0,0,0
$GC,4689,-0.89,-122.8,729.1,-13.2,273,4694,0.12,2.20,0.00,0.000,6,0.221,0.056,1577,2923,3323,0,0,0,0,0,0
$GC,5011,-0.89,-122.8,772.1,-13.8,284,5015,0.00,2.17,0.00,0.000,4,0.000,0.042,1577,1524,3323,0,0,0,0,0,0
$GC,5079,-0.89,-122.8,781.3,-12.1,286,5083,0.00,2.22,0.00,0.000,6,0.000,0.056,1568,2924,3323,0,0,0,0,0,0
$GC,5418,-0.89,-122.8,828.2,-13.8,297,5422,0.00,2.12,0.00,0.000,4,0.000,0.041,1569,1527,3322,0,0,0,0,0,0
$GC,5483,-0.89,-122.8,837.0,-12.5,299,5487,0.00,2.22,0.00,0.000,6,0.000,0.056,1558,2928,3322,0,0,0,0,0,0
$GC,5820,-0.89,-122.8,883.1,-13.5,310,5824,0.00,2.12,0.00,0.000,4,0.000,0.041,1558,1525,3322,0,0,0,0,0,0
$GC,5878,-0.89,-122.8,890.8,-12.9,311,5883,0.15,2.20,0.00,0.000,6,0.216,0.057,1582,2923,3322,0,0,0,0,0,0
$GC,6193,-0.89,-122.8,926.2,-11.1,321,6197,0.00,2.17,0.00,0.000,4,0.000,0.044,1582,1522,3322,0,0,0,0,0,0
$GC,6245,-0.89,-122.8,932.1,-10.5,322,6249,0.00,2.22,0.00,0.000,6,0.000,0.057,1573,2931,3322,0,0,0,0,0,0
$GC,6560,-0.89,-122.8,968.4,-11.7,332,6564,0.00,2.15,0.00,0.000,4,0.000,0.041,1573,1524,3322,0,0,0,0,0,0
$GC,6612,-0.89,-122.8,974.3,-11.1,333,6616,0.00,2.22,0.00,0.000,6,0.000,0.057,1562,2922,3322,0,0,0,0,0,0
$STATE,6831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6831,begin apogee
$GC,6841,-0.19,0.0,1000.8,12.3,340,6971,0.85,0.00,125.62,1.205,6,0.194,0.000,1804,2737,2820,0,0,0,0,0,0
$STATE,6972,end apogee,CONTROL_FINISHED_OK
$STATE,6972,begin climb
$GC,6977,0.89,122.8,1003.0,0.0,344,7115,1.00,2.12,120.35,1.787,4,0.067,0.061,2158,3895,2319,0,0,0,0,1,0
$GC,7152,0.89,122.8,964.4,33.6,349,7155,0.00,1.95,0.00,0.000,6,0.000,0.043,2167,2750,2319,0,0,0,0,0,0
$GC,7483,0.89,122.8,861.1,31.6,360,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2744,2312,0,0,0,0,0,0
$GC,7790,0.89,122.8,769.3,29.6,370,7794,0.00,2.30,0.00,0.000,4,0.000,0.050,2178,1320,2311,0,0,0,0,0,0
$GC,7830,0.89,122.8,756.6,30.0,371,7835,0.00,2.33,0.00,0.000,6,0.000,0.055,2178,2739,2309,0,0,0,0,0,0
$GC,8157,0.89,122.8,657.9,30.6,382,8161,0.00,2.30,0.00,0.000,4,0.000,0.050,2188,1318,2309,0,0,0,0,0,0
$GC,8188,0.89,122.8,648.6,29.2,383,8193,0.15,2.30,0.00,0.000,6,0.276,0.055,2160,2734,2309,0,0,0,0,0,0
$GC,8527,0.89,122.8,550.5,28.8,394,8531,0.00,2.28,0.00,0.000,4,0.000,0.051,2169,1313,2308,0,0,0,0,0,0
$GC,8578,0.89,122.8,535.4,27.2,395,8583,0.00,2.33,0.00,0.000,6,0.000,0.056,2169,2737,2307,0,0,0,0,0,0
$GC,8894,0.89,122.8,443.4,29.5,405,8898,0.00,2.28,0.00,0.000,4,0.000,0.051,2179,1316,2307,0,0,0,0,0,0
$GC,8925,0.89,122.8,434.3,28.6,406,8929,0.00,2.28,0.00,0.000,6,0.000,0.055,2179,2734,2306,0,0,0,0,0,0
$GC,9254,0.89,122.8,339.3,29.0,420,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2734,2306,0,0,0,0,0,0
$GC,9566,0.89,122.8,254.4,26.6,435,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2734,2306,0,0,0,0,0,0
$GC,9883,0.89,122.8,171.0,24.9,455,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2734,2306,0,0,0,0,0,0
$GC,10197,0.89,122.8,90.9,25.2,479,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2734,2305,0,0,0,0,0,0
$STATE,10545,end climb,SURFACE_DEPTH_REACHED
$STATE,10545,begin surface coast
$FINISH,0.7,1.026511
$STATE,10559,end surface coast,CONTROL_FINISHED_OK
$STATE,10559,begin surface
$SM_CCo,10582,190.10,0.791,1,0,518,564.18
$SM_GC,0.75,0.00,0.00,190.10,0.000,0.000,0.791,61,2951,518,-5.65,0.79,564.18
$IRIDIUM_FIX,-4613.60,407.14,161212,202009
$TT8_MAMPS,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.7,10.517
$10V_AH,10.1,4.511
$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,14.275,75.975,245.975,190.100,0.000,25.139,24.142,316.175,0.000,0.000,35.292,1354.196,7116.359,549.282,1838.850,488.371,33.353,1194.390,0.000,1425.279,0.000,1.009,0.000
$DEVICE_MAMPS,276.165,78.795,1787.040,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.277,1090.321,607.566,245.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354284
$DATA_FILE_SIZE,40364,540
$CAP_FILE_SIZE,87663,0
$CFSIZE,259252224,225189888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,171212,030604,-4629.123,406.398,35,1.0,35,-23.4