version: 66.07
glider: 542
mission: 6
dive: 75
start: 12 21 112 6 42 14
data:
$ID,542
$MISSION,6
$DIVE,75
$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,-10552.401
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,211212,063005,-4628.583,400.237,37,0.9,37,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-33.3
$GPS2,211212,064112,-4628.677,400.294,15,1.6,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.159,-0.070
$KALMAN_X,-52128.1,-33.2,-76.9,31110.2,-1739.3
$KALMAN_Y,16239.5,822.7,-143.6,24927.7,-1844.4
$MHEAD_RNG_PITCHd_Wd,137.1,2478,-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,-63.1,0.0,0.0,0,169,0.00,0.00,-136.50,0.000,6,0.000,0.000,62,2944,3074,0,0,0,0,0,0
$GC,176,-0.90,-129.8,2.8,-2.9,18,202,6.28,2.30,-8.43,0.000,4,0.253,0.053,1578,1502,3352,0,0,0,0,0,0
$GC,394,-0.90,-129.8,38.0,-16.8,51,401,0.00,2.30,0.00,0.000,6,0.000,0.053,1569,2920,3353,0,0,0,0,0,0
$GC,639,-0.90,-129.8,84.2,-18.1,92,646,0.00,2.20,0.00,0.000,4,0.000,0.037,1569,1505,3353,0,0,0,0,0,0
$GC,734,-0.90,-129.8,99.8,-14.9,108,743,0.00,2.30,0.00,0.000,6,0.000,0.053,1558,2918,3354,0,0,0,0,0,0
$GC,1058,-0.90,-129.8,156.8,-18.1,129,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2917,3355,0,0,0,0,0,0
$GC,1370,-0.90,-129.8,211.9,-17.2,149,1374,0.00,1.55,0.00,0.000,4,0.000,0.058,1551,3898,3355,0,0,0,0,0,0
$GC,1443,-0.90,-129.8,225.7,-18.4,153,1447,0.00,1.52,0.00,0.000,6,0.000,0.034,1551,2892,3355,0,0,0,0,0,0
$GC,1776,-0.90,-129.8,283.9,-17.0,171,1778,0.12,0.00,0.00,0.000,6,0.214,0.000,1578,2886,3356,0,0,0,0,0,0
$GC,2083,-0.90,-129.8,330.9,-15.1,186,2087,0.00,1.62,0.00,0.000,4,0.000,0.059,1572,3926,3355,0,0,0,0,0,0
$GC,2163,-0.90,-129.8,344.0,-15.9,189,2166,0.00,1.52,0.00,0.000,6,0.000,0.034,1572,2918,3356,0,0,0,0,0,0
$GC,2488,-0.90,-129.8,395.3,-15.7,205,2492,0.00,1.58,0.00,0.000,4,0.000,0.060,1565,3894,3355,0,0,0,0,0,0
$GC,2529,-0.90,-129.8,402.9,-17.6,206,2537,0.00,1.45,0.00,0.000,6,0.000,0.034,1565,2931,3356,0,0,0,0,0,0
$GC,2844,-0.90,-129.8,454.2,-16.3,217,2847,0.00,1.55,0.00,0.000,4,0.000,0.060,1558,3896,3355,0,0,0,0,0,0
$GC,2889,-0.90,-129.8,462.5,-17.5,218,2893,0.00,1.48,0.00,0.000,6,0.000,0.034,1558,2917,3355,0,0,0,0,0,0
$GC,3221,-0.90,-129.8,516.7,-16.2,229,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2912,3355,0,0,0,0,0,0
$GC,3529,-0.90,-129.8,566.1,-15.8,239,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2912,3355,0,0,0,0,0,0
$GC,3833,-0.90,-129.8,614.4,-15.9,249,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2912,3354,0,0,0,0,0,0
$GC,4141,-0.90,-129.8,661.0,-15.2,259,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2912,3354,0,0,0,0,0,0
$GC,4446,-0.90,-129.8,706.3,-14.6,269,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,1558,2912,3353,0,0,0,0,0,0
$GC,4752,-0.90,-129.8,749.6,-13.8,279,4756,0.00,1.58,0.00,0.000,4,0.000,0.060,1550,3894,3353,0,0,0,0,0,0
$GC,4826,-0.90,-129.8,761.3,-15.0,281,4831,0.08,1.45,0.00,0.000,6,0.197,0.035,1571,2936,3353,0,0,0,0,0,0
$GC,5166,-0.90,-129.8,805.4,-13.1,292,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2932,3353,0,0,0,0,0,0
$GC,5470,-0.90,-129.8,843.8,-12.4,302,5474,0.00,2.12,0.00,0.000,4,0.000,0.040,1572,1521,3352,0,0,0,0,0,0
$GC,5511,-0.90,-129.8,849.0,-12.0,303,5515,0.00,2.22,0.00,0.000,6,0.000,0.054,1562,2924,3352,0,0,0,0,0,0
$GC,5837,-0.90,-129.8,891.6,-12.9,314,5841,0.00,2.12,0.00,0.000,4,0.000,0.038,1562,1524,3351,0,0,0,0,0,0
$GC,5878,-0.90,-129.8,897.2,-12.8,315,5882,0.00,2.22,0.00,0.000,6,0.000,0.054,1552,2930,3351,0,0,0,0,0,0
$GC,6204,-0.90,-129.8,942.5,-14.0,326,6208,0.00,2.15,0.00,0.000,4,0.000,0.038,1552,1516,3351,0,0,0,0,0,0
$GC,6235,-0.90,-129.8,946.8,-13.6,327,6240,0.15,2.22,0.00,0.000,6,0.209,0.054,1576,2923,3351,0,0,0,0,0,0
$GC,6573,-0.90,-129.8,987.7,-12.2,338,6577,0.00,2.15,0.00,0.000,4,0.000,0.039,1577,1517,3351,0,0,0,0,0,0
$GC,6597,-0.90,-129.8,990.9,-12.3,338,6601,0.00,2.22,0.00,0.000,6,0.000,0.054,1567,2921,3351,0,0,0,0,0,0
$STATE,6693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6693,begin apogee
$GC,6704,-0.19,0.0,1002.9,12.2,341,6839,0.82,0.00,131.35,1.229,6,0.189,0.000,1803,2730,2819,0,0,0,0,0,0
$STATE,6840,end apogee,CONTROL_FINISHED_OK
$STATE,6841,begin climb
$GC,6845,0.90,129.8,1005.9,0.0,345,6984,0.98,0.00,130.25,1.789,6,0.057,0.000,2159,2730,2290,0,0,0,0,1,0
$GC,7281,0.90,129.8,886.3,31.2,360,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2730,2284,0,0,0,0,0,0
$GC,7587,0.90,129.8,793.5,29.9,370,7591,0.00,2.22,0.00,0.000,4,0.000,0.046,2170,1342,2281,0,0,0,0,0,0
$GC,7616,0.90,129.8,784.2,29.4,370,7623,0.00,2.30,0.00,0.000,6,0.000,0.052,2169,2736,2279,0,0,0,0,0,0
$GC,7931,0.90,129.8,687.3,31.2,381,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2736,2279,0,0,0,0,0,0
$GC,8237,0.90,129.8,595.9,29.7,391,8241,0.00,2.20,0.00,0.000,4,0.000,0.046,2180,1342,2278,0,0,0,0,0,0
$GC,8295,0.90,129.8,579.4,26.6,392,8299,0.00,2.28,0.00,0.000,6,0.000,0.051,2180,2745,2277,0,0,0,0,0,0
$GC,8612,0.90,129.8,486.1,29.9,402,8616,0.00,2.22,0.00,0.000,4,0.000,0.046,2189,1339,2276,0,0,0,0,0,0
$GC,8644,0.90,129.8,476.5,28.2,403,8649,0.12,2.25,0.00,0.000,6,0.255,0.052,2166,2735,2276,0,0,0,0,0,0
$GC,8963,0.90,129.8,384.8,28.9,414,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2735,2276,0,0,0,0,0,0
$GC,9274,0.90,129.8,297.0,27.8,429,9278,0.00,2.17,0.00,0.000,4,0.000,0.047,2175,1339,2275,0,0,0,0,0,0
$GC,9319,0.90,129.8,284.9,26.5,431,9323,0.00,2.25,0.00,0.000,6,0.000,0.053,2172,2742,2275,0,0,0,0,0,0
$GC,9650,0.90,129.8,194.6,26.9,450,9654,0.00,2.17,0.00,0.000,4,0.000,0.045,2181,1337,2275,0,0,0,0,0,0
$GC,9680,0.90,129.8,186.1,27.7,451,9686,0.00,2.22,0.00,0.000,6,0.000,0.052,2182,2735,2274,0,0,0,0,0,0
$GC,10001,0.90,129.8,100.2,27.0,472,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2735,2274,0,0,0,0,0,0
$GC,10353,0.90,129.8,11.2,26.2,530,10362,0.00,2.20,0.00,0.000,4,0.000,0.044,2192,1345,2274,0,0,0,0,0,0
$GC,10380,0.90,129.8,5.0,23.3,533,10390,0.10,2.20,0.00,0.000,6,0.259,0.046,2168,2739,2274,0,0,0,0,0,0
$STATE,10398,end climb,SURFACE_DEPTH_REACHED
$STATE,10398,begin surface coast
$FINISH,0.3,1.016318
$STATE,10412,end surface coast,CONTROL_FINISHED_OK
$STATE,10412,begin surface
$SM_CCo,10434,184.43,0.786,1,0,517,564.18
$SM_GC,0.67,0.00,0.00,184.43,0.000,0.000,0.786,61,2921,517,-5.65,-0.06,564.18
$IRIDIUM_FIX,-4613.60,401.12,211212,030317
$TT8_MAMPS,0.026964
$HUMID,55.98
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.1,16.376
$10V_AH,10.1,7.053
$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,14.450,69.100,261.600,184.425,0.000,24.607,20.757,436.444,0.000,0.000,18.197,1327.776,7031.456,602.525,1777.663,553.733,33.385,1196.614,0.000,1334.415,0.000,1.008,0.000
$DEVICE_MAMPS,259.335,74.205,1789.335,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.972,1089.842,614.179,257.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,37320,537
$CAP_FILE_SIZE,84870,0
$CFSIZE,259252224,223653888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,211212,094034,-4628.792,402.050,28,0.8,28,-23.3