version: 66.07
glider: 542
mission: 6
dive: 81
start: 12 22 112 1 24 7
data:
$ID,542
$MISSION,6
$DIVE,81
$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,-10578.476
$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,37
$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
$GPS1,221212,010804,-4630.427,403.536,30,0.9,30,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-21.9
$GPS2,221212,012305,-4630.313,403.694,17,1.0,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.059,-0.163
$KALMAN_X,-58454.4,305.3,240.5,41070.3,-5262.7
$KALMAN_Y,21441.4,-328.7,-135.4,17848.6,2227.3
$MHEAD_RNG_PITCHd_Wd,183.4,4745,-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,-133.30,0.000,6,0.000,0.000,59,2945,3078,0,0,0,0,0,0
$GC,169,-0.91,-140.1,2.6,-1.8,17,195,6.10,1.58,-9.57,0.000,4,0.244,0.085,1563,3889,3394,0,0,0,0,0,0
$GC,286,-0.91,-140.1,30.3,-25.1,34,295,0.00,1.52,0.00,0.000,6,0.000,0.033,1563,2896,3395,0,0,0,0,0,0
$GC,533,-0.91,-140.1,80.7,-18.3,75,538,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2896,3395,0,0,0,0,0,0
$GC,878,-0.91,-140.1,143.6,-18.1,108,882,0.00,1.62,0.00,0.000,4,0.000,0.057,1555,3897,3396,0,0,0,0,0,0
$GC,1002,-0.91,-140.1,168.2,-20.0,115,1005,0.00,1.48,0.00,0.000,6,0.000,0.034,1555,2926,3396,0,0,0,0,0,0
$GC,1334,-0.91,-140.1,231.0,-18.6,136,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2922,3396,0,0,0,0,0,0
$GC,1652,-0.91,-140.1,286.8,-17.1,153,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2922,3396,0,0,0,0,0,0
$GC,1959,-0.91,-140.1,342.4,-18.3,168,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2922,3396,0,0,0,0,0,0
$GC,2270,-0.91,-140.1,398.0,-17.8,183,2274,0.00,1.55,0.00,0.000,4,0.000,0.060,1548,3886,3396,0,0,0,0,0,0
$GC,2299,-0.91,-140.1,404.1,-18.8,184,2306,0.00,1.45,0.00,0.000,6,0.000,0.034,1548,2925,3396,0,0,0,0,0,0
$GC,2614,-0.91,-140.1,460.6,-18.0,195,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,2925,3396,0,0,0,0,0,0
$GC,2921,-0.91,-140.1,515.3,-17.8,205,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2925,3396,0,0,0,0,0,0
$GC,3227,-0.91,-140.1,567.6,-16.7,215,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,2925,3396,0,0,0,0,0,0
$GC,3533,-0.91,-140.1,617.7,-16.0,225,3537,0.00,1.55,0.00,0.000,4,0.000,0.060,1541,3889,3396,0,0,0,0,0,0
$GC,3596,-0.91,-140.1,628.6,-16.9,226,3603,0.10,1.45,0.00,0.000,6,0.195,0.035,1568,2932,3395,0,0,0,0,0,0
$GC,3913,-0.91,-140.1,673.7,-14.2,237,3917,0.00,1.55,0.00,0.000,4,0.000,0.061,1562,3894,3395,0,0,0,0,0,0
$GC,3959,-0.91,-140.1,681.2,-15.5,238,3962,0.00,1.48,0.00,0.000,6,0.000,0.034,1562,2920,3395,0,0,0,0,0,0
$GC,4290,-0.91,-140.1,730.1,-14.7,249,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2916,3394,0,0,0,0,0,0
$GC,4596,-0.91,-140.1,774.9,-14.7,259,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2916,3394,0,0,0,0,0,0
$GC,4904,-0.91,-140.1,820.7,-14.7,269,4908,0.00,1.58,0.00,0.000,4,0.000,0.062,1555,3894,3394,0,0,0,0,0,0
$GC,4955,-0.91,-140.1,829.2,-15.9,270,4959,0.00,1.48,0.00,0.000,6,0.000,0.035,1555,2922,3393,0,0,0,0,0,0
$GC,5281,-0.91,-140.1,876.9,-14.6,281,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2918,3393,0,0,0,0,0,0
$GC,5589,-0.91,-140.1,920.7,-14.5,291,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,1555,2918,3393,0,0,0,0,0,0
$GC,5894,-0.91,-140.1,964.8,-14.3,301,5897,0.00,1.55,0.00,0.000,4,0.000,0.061,1547,3886,3393,0,0,0,0,0,0
$GC,5951,-0.91,-140.1,973.5,-15.8,302,5955,0.00,1.45,0.00,0.000,6,0.000,0.036,1547,2930,3393,0,0,0,0,0,0
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6144,begin apogee
$GC,6155,-0.19,0.0,1002.5,14.8,309,6300,0.88,0.00,141.02,1.238,6,0.188,0.000,1799,2738,2819,0,0,0,0,0,0
$STATE,6302,end apogee,CONTROL_FINISHED_OK
$STATE,6302,begin climb
$GC,6306,0.91,140.1,1006.2,0.0,314,6461,1.05,2.58,141.32,1.803,4,0.056,0.047,2184,1341,2248,0,0,0,0,1,0
$GC,6482,0.91,140.1,968.2,31.3,320,6487,0.00,2.47,0.00,0.000,6,0.000,0.051,2184,2721,2248,0,0,0,0,0,0
$GC,6820,0.91,140.1,858.5,32.4,331,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2722,2241,0,0,0,0,0,0
$GC,7128,0.91,140.1,756.4,33.4,341,7132,0.00,2.25,0.00,0.000,4,0.000,0.046,2194,1338,2239,0,0,0,0,0,0
$GC,7180,0.91,140.1,739.2,29.5,342,7185,0.15,2.33,0.00,0.000,6,0.255,0.052,2165,2746,2237,0,0,0,0,0,0
$GC,7495,0.91,140.1,640.7,31.4,352,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2746,2237,0,0,0,0,0,0
$GC,7801,0.91,140.1,542.9,31.4,362,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2746,2236,0,0,0,0,0,0
$GC,8108,0.91,140.1,448.5,30.7,372,8112,0.00,2.25,0.00,0.000,4,0.000,0.047,2175,1331,2236,0,0,0,0,0,0
$GC,8176,0.91,140.1,428.3,28.9,374,8180,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2744,2234,0,0,0,0,0,0
$GC,8505,0.91,140.1,331.2,29.3,388,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2744,2235,0,0,0,0,0,0
$GC,8826,0.91,140.1,241.2,28.0,404,8830,0.00,2.22,0.00,0.000,4,0.000,0.047,2182,1331,2234,0,0,0,0,0,0
$GC,8902,0.91,140.1,220.7,25.2,408,8911,0.00,2.28,0.00,0.000,6,0.000,0.053,2181,2734,2233,0,0,0,0,0,0
$GC,9226,0.91,140.1,131.3,27.9,429,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2734,2234,0,0,0,0,0,0
$GC,9559,0.91,140.1,38.5,28.2,473,9565,0.00,2.17,0.00,0.000,4,0.000,0.044,2192,1339,2233,0,0,0,0,0,0
$GC,9626,0.91,140.1,20.0,28.4,483,9635,0.10,2.25,0.00,0.000,6,0.233,0.054,2167,2729,2233,0,0,0,0,0,0
$STATE,9687,end climb,SURFACE_DEPTH_REACHED
$STATE,9687,begin surface coast
$FINISH,0.5,1.026502
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9701,begin surface
$SM_CCo,9723,181.20,0.788,1,0,516,564.18
$SM_GC,0.93,0.00,0.00,181.20,0.000,0.000,0.788,65,2932,516,-5.64,0.25,564.18
$IRIDIUM_FIX,-4613.60,400.91,221212,010101
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.9,17.481
$10V_AH,10.1,7.521
$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,14.025,44.900,282.350,181.200,0.000,53.173,74.668,487.330,0.000,0.000,20.455,1206.523,6674.184,597.242,1815.620,518.032,33.363,1140.163,0.000,1209.214,0.000,1.008,0.000
$DEVICE_MAMPS,254.745,84.915,1803.105,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.313,994.706,548.088,211.582,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,37049,494
$CAP_FILE_SIZE,78270,0
$CFSIZE,259252224,223375360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,041034,-4631.741,403.959,30,1.1,30,-23.3