version: 66.07
glider: 542
mission: 6
dive: 87
start: 12 22 112 20 13 55
data:
$ID,542
$MISSION,6
$DIVE,87
$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,-10601.83
$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,36
$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
$GPS1,221212,200334,-4630.122,401.921,30,1.1,30,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-42.9
$GPS2,221212,201253,-4630.129,401.912,15,1.7,15,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.151,-0.159
$KALMAN_X,-55768.8,571.4,113.4,35992.1,599.5
$KALMAN_Y,25233.5,-161.2,231.3,13859.8,3423.9
$MHEAD_RNG_PITCHd_Wd,246.7,2449,-21.3,-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,-0.70,-101.2,0.0,0.0,0,170,0.00,0.00,-137.65,0.000,6,0.000,0.000,61,2925,3233,0,0,0,0,0,0
$GC,176,-0.82,-194.7,3.4,-3.1,18,202,6.38,1.62,-9.30,0.000,4,0.253,0.081,1592,3904,3616,0,0,0,0,0,0
$GC,245,-0.82,-194.7,21.5,-23.1,27,254,0.00,1.58,0.00,0.000,6,0.000,0.034,1593,2887,3617,0,0,0,0,0,0
$GC,330,-0.82,-194.7,39.2,-19.5,40,339,0.00,2.10,0.00,0.000,4,0.000,0.037,1593,1538,3617,0,0,0,0,0,0
$GC,357,-0.82,-194.7,43.9,-18.7,43,366,0.00,2.25,0.00,0.000,6,0.000,0.052,1584,2927,3617,0,0,0,0,0,0
$GC,599,-0.82,-194.7,92.2,-18.7,84,608,0.00,2.17,0.00,0.000,4,0.000,0.037,1584,1540,3617,0,0,0,0,0,0
$GC,649,-0.82,-194.7,101.3,-16.3,91,657,0.12,2.22,0.00,0.000,6,0.200,0.053,1603,2927,3617,0,0,0,0,0,0
$GC,971,-0.82,-194.7,153.9,-15.9,112,974,0.00,1.55,0.00,0.000,4,0.000,0.060,1597,3897,3618,0,0,0,0,0,0
$GC,1009,-0.82,-194.7,160.0,-16.8,114,1013,0.00,1.48,0.00,0.000,6,0.000,0.033,1597,2928,3618,0,0,0,0,0,0
$GC,1343,-0.82,-194.7,215.5,-16.5,135,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2924,3618,0,0,0,0,0,0
$GC,1658,-0.82,-194.7,264.9,-15.7,154,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2924,3618,0,0,0,0,0,0
$GC,1970,-0.82,-194.7,312.9,-15.2,169,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2924,3618,0,0,0,0,0,0
$GC,2276,-0.82,-194.7,359.0,-14.8,184,2280,0.00,2.12,0.00,0.000,4,0.000,0.038,1596,1522,3618,0,0,0,0,0,0
$GC,2306,-0.82,-194.7,363.5,-14.7,185,2310,0.00,2.22,0.00,0.000,6,0.000,0.054,1586,2925,3618,0,0,0,0,0,0
$GC,2639,-0.82,-194.7,416.5,-16.3,200,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2925,3618,0,0,0,0,0,0
$GC,2945,-0.82,-194.7,466.3,-16.1,210,2948,0.00,1.52,0.00,0.000,4,0.000,0.062,1579,3890,3618,0,0,0,0,0,0
$GC,2981,-0.82,-194.7,472.4,-16.8,211,2985,0.00,1.48,0.00,0.000,6,0.000,0.034,1579,2915,3618,0,0,0,0,0,0
$GC,3324,-0.82,-194.7,527.3,-15.9,222,3328,0.00,1.58,0.00,0.000,4,0.000,0.062,1571,3890,3618,0,0,0,0,0,0
$GC,3361,-0.82,-194.7,533.4,-17.6,223,3365,0.10,1.45,0.00,0.000,6,0.184,0.034,1600,2931,3617,0,0,0,0,0,0
$GC,3704,-0.82,-194.7,580.5,-13.5,234,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2928,3617,0,0,0,0,0,0
$GC,4010,-0.82,-194.7,619.3,-12.4,244,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,1600,2928,3617,0,0,0,0,0,0
$GC,4316,-0.82,-194.7,656.7,-12.2,254,4320,0.00,2.10,0.00,0.000,4,0.000,0.040,1600,1522,3617,0,0,0,0,0,0
$GC,4353,-0.82,-194.7,661.0,-11.1,255,4357,0.00,2.22,0.00,0.000,6,0.000,0.056,1591,2922,3617,0,0,0,0,0,0
$GC,4698,-0.82,-194.7,704.2,-12.7,266,4702,0.00,1.55,0.00,0.000,4,0.000,0.063,1583,3903,3616,0,0,0,0,0,0
$GC,4738,-0.82,-194.7,710.1,-13.4,267,4742,0.00,1.50,0.00,0.000,6,0.000,0.034,1583,2912,3616,0,0,0,0,0,0
$GC,5075,-0.82,-194.7,754.1,-13.1,278,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2907,3616,0,0,0,0,0,0
$GC,5381,-0.82,-194.7,795.1,-13.6,288,5385,0.00,2.10,0.00,0.000,4,0.000,0.040,1583,1516,3616,0,0,0,0,0,0
$GC,5405,-0.82,-194.7,798.7,-13.9,288,5410,0.12,2.25,0.00,0.000,6,0.203,0.055,1602,2932,3615,0,0,0,0,0,0
$GC,5720,-0.82,-194.7,836.4,-12.1,298,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2933,3616,0,0,0,0,0,0
$GC,6026,-0.82,-194.7,873.0,-12.0,308,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2932,3615,0,0,0,0,0,0
$GC,6333,-0.82,-194.7,909.6,-11.8,318,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2933,3615,0,0,0,0,0,0
$GC,6639,-0.82,-194.7,945.1,-11.5,328,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2932,3615,0,0,0,0,0,0
$GC,6945,-0.82,-194.7,980.3,-11.5,338,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,1602,2932,3614,0,0,0,0,0,0
$STATE,7124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7124,begin apogee
$GC,7135,-0.19,0.0,1001.4,11.4,344,7330,0.68,0.00,191.95,1.226,6,0.168,0.000,1805,2743,2820,0,0,0,0,0,0
$STATE,7332,end apogee,CONTROL_FINISHED_OK
$STATE,7332,begin climb
$GC,7337,0.82,194.7,1008.7,0.0,350,7549,0.93,2.65,196.73,1.814,4,0.062,0.047,2143,1346,2026,0,0,0,0,1,0
$GC,7640,0.82,194.7,932.8,30.9,359,7645,0.00,2.45,0.00,0.000,6,0.000,0.052,2143,2732,2022,0,0,0,0,0,0
$GC,7967,0.82,194.7,817.6,35.3,370,7971,0.00,2.30,0.00,0.000,4,0.000,0.048,2152,1344,2020,0,0,0,0,0,0
$GC,8024,0.82,194.7,797.6,32.8,371,8031,0.00,2.35,0.00,0.000,6,0.000,0.053,2153,2746,2018,0,0,0,0,0,0
$GC,8340,0.82,194.7,685.4,36.5,382,8343,0.00,2.28,0.00,0.000,4,0.000,0.048,2163,1341,2018,0,0,0,0,0,0
$GC,8392,0.82,194.7,667.0,34.0,383,8396,0.00,2.30,0.00,0.000,6,0.000,0.051,2163,2740,2017,0,0,0,0,0,0
$GC,8714,0.82,194.7,552.1,36.3,394,8718,0.00,2.25,0.00,0.000,4,0.000,0.047,2174,1341,2017,0,0,0,0,0,0
$GC,8766,0.82,194.7,533.0,34.7,395,8771,0.15,2.28,0.00,0.000,6,0.253,0.052,2141,2737,2017,0,0,0,0,0,0
$GC,9081,0.82,194.7,428.2,33.3,405,9085,0.00,2.25,0.00,0.000,4,0.000,0.047,2150,1330,2016,0,0,0,0,0,0
$GC,9105,0.82,194.7,419.8,32.9,405,9111,0.00,2.28,0.00,0.000,6,0.000,0.051,2144,2743,2016,0,0,0,0,0,0
$GC,9422,0.82,194.7,317.9,32.0,420,9426,0.00,2.22,0.00,0.000,4,0.000,0.047,2154,1334,2016,0,0,0,0,0,0
$GC,9497,0.82,194.7,295.4,27.7,423,9501,0.00,2.25,0.00,0.000,6,0.000,0.051,2154,2735,2016,0,0,0,0,0,0
$GC,9828,0.82,194.7,189.6,32.1,442,9832,0.00,2.22,0.00,0.000,4,0.000,0.047,2164,1336,2016,0,0,0,0,0,0
$GC,9844,0.82,194.7,185.3,30.0,443,9849,0.12,2.25,0.00,0.000,6,0.262,0.053,2140,2736,2016,0,0,0,0,0,0
$GC,10173,0.82,194.7,87.8,28.2,467,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2736,2015,0,0,0,0,0,0
$STATE,10468,end climb,SURFACE_DEPTH_REACHED
$STATE,10469,begin surface coast
$FINISH,0.6,1.026481
$STATE,10476,end surface coast,CONTROL_FINISHED_OK
$STATE,10476,begin surface
$SM_CCo,10498,160.62,0.803,1,0,518,564.18
$SM_GC,1.24,0.00,0.00,160.62,0.000,0.000,0.803,53,2942,518,-5.68,0.54,564.18
$IRIDIUM_FIX,-4613.60,407.37,221212,171709
$TT8_MAMPS,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.20
$XPDR_PINGS,0
$24V_AH,21.5,18.649
$10V_AH,10.1,7.999
$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,14.225,69.975,388.675,160.625,0.000,27.022,45.750,299.024,0.000,0.000,18.466,1281.684,7085.918,646.588,1719.497,491.162,33.361,1291.117,0.000,1317.750,0.000,1.008,0.000
$DEVICE_MAMPS,261.630,81.090,1813.815,803.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.204,1037.494,557.996,215.985,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354292
$DATA_FILE_SIZE,36968,518
$CAP_FILE_SIZE,85756,0
$CFSIZE,259252224,223088640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,221212,231304,-4630.412,359.244,37,0.9,37,-23.3