version: 66.07
glider: 542
mission: 6
dive: 55
start: 12 18 112 15 3 46
data:
$ID,542
$MISSION,6
$DIVE,55
$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,-10456.343
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,181212,145322,-4631.315,403.372,35,0.9,35,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-26.4
$GPS2,181212,150244,-4631.256,403.379,20,1.1,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.168,0.043
$KALMAN_X,-50691.4,187.4,401.7,32864.6,-5306.2
$KALMAN_Y,13882.3,-427.0,-124.5,23755.5,2051.1
$MHEAD_RNG_PITCHd_Wd,99.1,4896,-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,-132.75,0.000,6,0.000,0.000,55,2942,3078,0,0,0,0,0,0
$GC,169,-0.91,-137.4,2.7,-2.1,17,195,6.18,1.58,-9.25,0.000,4,0.248,0.080,1564,3892,3383,0,0,0,0,0,0
$GC,469,-0.91,-137.4,62.6,-21.0,65,474,0.00,1.52,0.00,0.000,6,0.000,0.034,1564,2903,3384,0,0,0,0,0,0
$GC,814,-0.91,-137.4,129.7,-19.1,107,818,0.00,1.62,0.00,0.000,4,0.000,0.058,1556,3897,3385,0,0,0,0,0,0
$GC,853,-0.91,-137.4,137.0,-19.5,109,857,0.00,1.50,0.00,0.000,6,0.000,0.033,1556,2913,3385,0,0,0,0,0,0
$GC,1186,-0.91,-137.4,200.3,-18.5,130,1189,0.00,1.60,0.00,0.000,4,0.000,0.059,1549,3894,3386,0,0,0,0,0,0
$GC,1207,-0.91,-137.4,204.3,-20.0,131,1211,0.00,1.48,0.00,0.000,6,0.000,0.033,1549,2921,3386,0,0,0,0,0,0
$GC,1528,-0.91,-137.4,266.1,-18.0,150,1532,0.00,1.58,0.00,0.000,4,0.000,0.058,1542,3893,3386,0,0,0,0,0,0
$GC,1576,-0.91,-137.4,275.1,-18.5,152,1581,0.10,1.48,0.00,0.000,6,0.192,0.034,1569,2925,3386,0,0,0,0,0,0
$GC,1912,-0.91,-137.4,328.4,-16.2,168,1916,0.00,2.12,0.00,0.000,4,0.000,0.038,1570,1520,3386,0,0,0,0,0,0
$GC,1952,-0.91,-137.4,334.9,-14.9,169,1959,0.00,2.22,0.00,0.000,6,0.000,0.054,1560,2921,3386,0,0,0,0,0,0
$GC,2273,-0.91,-137.4,386.4,-16.1,185,2277,0.00,2.12,0.00,0.000,4,0.000,0.038,1561,1519,3386,0,0,0,0,0,0
$GC,2296,-0.91,-137.4,390.8,-15.8,186,2300,0.00,2.22,0.00,0.000,6,0.000,0.053,1550,2923,3386,0,0,0,0,0,0
$GC,2633,-0.91,-137.4,446.6,-16.9,198,2637,0.00,2.12,0.00,0.000,4,0.000,0.038,1550,1524,3386,0,0,0,0,0,0
$GC,2657,-0.91,-137.4,451.1,-17.5,198,2661,0.15,2.22,0.00,0.000,6,0.210,0.053,1575,2923,3386,0,0,0,0,0,0
$GC,2972,-0.91,-137.4,498.0,-14.9,208,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2923,3386,0,0,0,0,0,0
$GC,3278,-0.91,-137.4,543.5,-14.6,218,3282,0.00,2.15,0.00,0.000,4,0.000,0.039,1575,1523,3385,0,0,0,0,0,0
$GC,3307,-0.91,-137.4,548.1,-14.9,218,3314,0.00,2.22,0.00,0.000,6,0.000,0.054,1566,2929,3385,0,0,0,0,0,0
$GC,3622,-0.91,-137.4,598.0,-16.5,229,3626,0.00,2.12,0.00,0.000,4,0.000,0.038,1566,1520,3384,0,0,0,0,0,0
$GC,3654,-0.91,-137.4,603.1,-16.0,230,3658,0.00,2.22,0.00,0.000,6,0.000,0.054,1556,2923,3384,0,0,0,0,0,0
$GC,3991,-0.91,-137.4,660.3,-17.0,241,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2923,3383,0,0,0,0,0,0
$GC,4298,-0.91,-137.4,713.0,-17.7,251,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2923,3384,0,0,0,0,0,0
$GC,4604,-0.91,-137.4,764.2,-16.3,261,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2923,3383,0,0,0,0,0,0
$GC,4910,-0.91,-137.4,812.1,-15.3,271,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2923,3382,0,0,0,0,0,0
$GC,5216,-0.91,-137.4,857.7,-14.6,281,5220,0.00,2.15,0.00,0.000,4,0.000,0.040,1556,1526,3382,0,0,0,0,0,0
$GC,5248,-0.91,-137.4,862.2,-14.9,282,5252,0.12,2.22,0.00,0.000,6,0.214,0.054,1573,2932,3382,0,0,0,0,0,0
$GC,5586,-0.91,-137.4,905.1,-12.3,293,5590,0.00,2.15,0.00,0.000,4,0.000,0.039,1573,1522,3382,0,0,0,0,0,0
$GC,5617,-0.91,-137.4,909.0,-12.3,294,5621,0.00,2.22,0.00,0.000,6,0.000,0.055,1564,2924,3381,0,0,0,0,0,0
$GC,5954,-0.91,-137.4,952.9,-13.4,305,5958,0.00,2.12,0.00,0.000,4,0.000,0.038,1564,1525,3381,0,0,0,0,0,0
$GC,5978,-0.91,-137.4,956.4,-13.1,305,5985,0.00,2.20,0.00,0.000,6,0.000,0.054,1554,2922,3381,0,0,0,0,0,0
$GC,6294,-0.91,-137.4,999.6,-14.3,316,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2922,3381,0,0,0,0,0,0
$STATE,6319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6319,begin apogee
$GC,6330,-0.19,0.0,1004.1,14.3,317,6473,0.88,0.00,138.80,1.232,6,0.195,0.000,1802,2732,2819,0,0,0,0,0,0
$STATE,6475,end apogee,CONTROL_FINISHED_OK
$STATE,6475,begin climb
$GC,6480,0.91,137.4,1008.0,0.0,322,6626,1.02,0.00,137.25,1.801,6,0.061,0.000,2163,2732,2259,0,0,0,0,1,0
$GC,6931,0.91,137.4,885.5,31.0,337,6935,0.00,2.28,0.00,0.000,4,0.000,0.046,2173,1342,2252,0,0,0,0,0,0
$GC,6955,0.91,137.4,877.5,30.9,337,6962,0.00,2.35,0.00,0.000,6,0.000,0.050,2173,2742,2252,0,0,0,0,0,0
$GC,7270,0.91,137.4,776.7,32.3,348,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2742,2250,0,0,0,0,0,0
$GC,7576,0.91,137.4,680.1,31.1,358,7580,0.00,2.28,0.00,0.000,4,0.000,0.046,2184,1331,2249,0,0,0,0,0,0
$GC,7641,0.91,137.4,660.6,29.2,360,7645,0.00,2.28,0.00,0.000,6,0.000,0.052,2183,2733,2247,0,0,0,0,0,0
$GC,7985,0.91,137.4,554.2,30.8,371,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2733,2247,0,0,0,0,0,0
$GC,8290,0.91,137.4,460.8,30.5,381,8294,0.00,2.20,0.00,0.000,4,0.000,0.046,2194,1340,2246,0,0,0,0,0,0
$GC,8308,0.91,137.4,455.0,30.2,381,8313,0.12,2.22,0.00,0.000,6,0.262,0.052,2170,2734,2246,0,0,0,0,0,0
$GC,8627,0.91,137.4,361.6,29.5,393,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2734,2246,0,0,0,0,0,0
$GC,8934,0.91,137.4,270.1,29.7,408,8938,0.00,2.20,0.00,0.000,4,0.000,0.047,2178,1336,2246,0,0,0,0,0,0
$GC,8956,0.91,137.4,264.5,28.7,409,8960,0.00,2.25,0.00,0.000,6,0.000,0.052,2172,2738,2245,0,0,0,0,0,0
$GC,9285,0.91,137.4,170.3,27.8,429,9289,0.00,2.17,0.00,0.000,4,0.000,0.047,2182,1338,2245,0,0,0,0,0,0
$GC,9309,0.91,137.4,162.8,27.9,430,9313,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2743,2245,0,0,0,0,0,0
$GC,9638,0.91,137.4,72.2,23.7,462,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2744,2245,0,0,0,0,0,0
$STATE,9888,end climb,SURFACE_DEPTH_REACHED
$STATE,9888,begin surface coast
$FINISH,0.5,1.026514
$STATE,9902,end surface coast,CONTROL_FINISHED_OK
$STATE,9902,begin surface
$SM_CCo,9924,181.95,0.794,1,0,518,564.18
$SM_GC,0.87,0.00,0.00,181.95,0.000,0.000,0.794,62,2928,518,-5.65,0.17,564.18
$IRIDIUM_FIX,-4613.60,401.12,181212,111152
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.19924
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.3,12.652
$10V_AH,10.1,5.459
$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,14.400,70.225,276.050,181.950,0.000,26.972,22.702,307.486,0.000,0.000,27.155,1241.854,6721.918,595.106,1627.091,487.959,33.354,1157.546,0.000,1240.862,0.000,1.009,0.000
$DEVICE_MAMPS,262.395,80.325,1800.810,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.164,1020.457,567.870,233.924,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354296
$DATA_FILE_SIZE,37161,505
$CAP_FILE_SIZE,80376,0
$CFSIZE,259252224,224624640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,181212,175336,-4630.215,404.730,32,1.5,32,-23.3