version: 66.07
glider: 542
mission: 6
dive: 91
start: 12 23 112 9 0 54
data:
$ID,542
$MISSION,6
$DIVE,91
$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,-10621.565
$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,50
$R_STBD_OVSHOOT,50
$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
$GPS1,231212,085004,-4632.231,359.900,41,0.9,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-39.6
$GPS2,231212,085953,-4632.271,359.947,14,1.8,14,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.169,0.040
$KALMAN_X,-59343.2,-595.0,-211.2,38587.5,-1408.5
$KALMAN_Y,28871.6,-1029.9,-221.7,7598.4,3837.3
$MHEAD_RNG_PITCHd_Wd,100.1,4206,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.81,-63.1,0.0,0.0,0,163,0.00,0.00,-131.80,0.000,6,0.000,0.000,58,2954,3079,0,0,0,0,0,0
$GC,169,-0.90,-134.7,2.8,-2.4,17,195,6.30,2.28,-9.05,0.000,4,0.255,0.052,1578,1528,3370,0,0,0,0,0,0
$GC,326,-0.90,-134.7,27.8,-16.6,40,335,0.00,2.25,0.00,0.000,6,0.000,0.053,1569,2897,3372,0,0,0,0,0,0
$GC,412,-0.90,-134.7,44.3,-20.2,53,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2897,3372,0,0,0,0,0,0
$GC,653,-0.90,-134.7,93.4,-20.2,94,659,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2897,3372,0,0,0,0,0,0
$GC,983,-0.90,-134.7,154.0,-17.5,118,987,0.00,2.10,0.00,0.000,4,0.000,0.036,1569,1521,3373,0,0,0,0,0,0
$GC,1034,-0.90,-134.7,162.0,-14.5,121,1038,0.00,2.25,0.00,0.000,6,0.000,0.052,1559,2927,3373,0,0,0,0,0,0
$GC,1361,-0.90,-134.7,218.9,-16.9,142,1365,0.00,2.12,0.00,0.000,4,0.000,0.035,1558,1522,3374,0,0,0,0,0,0
$GC,1385,-0.90,-134.7,223.1,-16.0,143,1392,0.12,2.22,0.00,0.000,6,0.205,0.051,1577,2924,3374,0,0,0,0,0,0
$GC,1705,-0.90,-134.7,269.3,-14.6,162,1709,0.00,1.55,0.00,0.000,4,0.000,0.059,1570,3903,3374,0,0,0,0,0,0
$GC,1785,-0.90,-134.7,281.9,-15.1,165,1789,0.00,1.50,0.00,0.000,6,0.000,0.033,1571,2914,3374,0,0,0,0,0,0
$GC,2111,-0.90,-134.7,332.3,-15.9,181,2115,0.00,1.60,0.00,0.000,4,0.000,0.060,1563,3900,3373,0,0,0,0,0,0
$GC,2140,-0.90,-134.7,337.8,-16.8,182,2143,0.00,1.48,0.00,0.000,6,0.000,0.034,1563,2927,3374,0,0,0,0,0,0
$GC,2469,-0.90,-134.7,392.1,-16.9,198,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2924,3374,0,0,0,0,0,0
$GC,2776,-0.90,-134.7,445.5,-17.7,209,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2924,3374,0,0,0,0,0,0
$GC,3082,-0.90,-134.7,497.8,-16.8,219,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2923,3374,0,0,0,0,0,0
$GC,3389,-0.90,-134.7,546.4,-15.4,229,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2923,3374,0,0,0,0,0,0
$GC,3694,-0.90,-134.7,592.5,-15.0,239,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,2924,3374,0,0,0,0,0,0
$GC,4002,-0.90,-134.7,637.5,-14.6,249,4006,0.00,1.58,0.00,0.000,4,0.000,0.061,1556,3901,3373,0,0,0,0,0,0
$GC,4025,-0.90,-134.7,641.6,-15.1,249,4029,0.00,1.48,0.00,0.000,6,0.000,0.035,1556,2930,3373,0,0,0,0,0,0
$GC,4346,-0.90,-134.7,687.6,-14.5,260,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2927,3372,0,0,0,0,0,0
$GC,4652,-0.90,-134.7,732.7,-14.7,270,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2926,3372,0,0,0,0,0,0
$GC,4958,-0.90,-134.7,777.8,-14.6,280,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2926,3371,0,0,0,0,0,0
$GC,5265,-0.90,-134.7,822.6,-14.3,290,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2926,3371,0,0,0,0,0,0
$GC,5571,-0.90,-134.7,866.8,-14.3,300,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2926,3370,0,0,0,0,0,0
$GC,5877,-0.90,-134.7,909.6,-14.1,310,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2926,3371,0,0,0,0,0,0
$GC,6183,-0.90,-134.7,952.7,-14.2,320,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,1556,2926,3370,0,0,0,0,0,0
$GC,6490,-0.90,-134.7,995.7,-14.1,330,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2926,3369,0,0,0,0,0,0
$STATE,6546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6546,begin apogee
$GC,6557,-0.19,0.0,1004.3,14.0,332,6699,0.85,0.00,134.80,1.242,6,0.188,0.000,1800,2739,2818,0,0,0,0,0,0
$STATE,6701,end apogee,CONTROL_FINISHED_OK
$STATE,6701,begin climb
$GC,6706,0.90,134.7,1007.3,0.0,337,6851,1.00,0.00,136.50,1.809,6,0.058,0.000,2165,2738,2271,0,0,0,0,1,0
$GC,7141,0.90,134.7,887.0,32.3,351,7145,0.00,2.30,0.00,0.000,4,0.000,0.046,2176,1344,2265,0,0,0,0,0,0
$GC,7176,0.90,134.7,873.7,32.1,352,7180,0.00,2.35,0.00,0.000,6,0.000,0.051,2176,2732,2264,0,0,0,0,0,0
$GC,7508,0.90,134.7,766.0,32.9,363,7512,0.00,2.28,0.00,0.000,4,0.000,0.045,2186,1332,2261,0,0,0,0,0,0
$GC,7527,0.90,134.7,759.6,32.6,363,7531,0.00,2.33,0.00,0.000,6,0.000,0.051,2186,2740,2261,0,0,0,0,0,0
$GC,7842,0.90,134.7,656.8,32.9,373,7846,0.00,2.25,0.00,0.000,4,0.000,0.045,2196,1338,2260,0,0,0,0,0,0
$GC,7894,0.90,134.7,640.6,29.4,374,7899,0.15,2.28,0.00,0.000,6,0.259,0.051,2167,2735,2259,0,0,0,0,0,0
$GC,8217,0.90,134.7,543.4,30.2,385,8221,0.00,2.22,0.00,0.000,4,0.000,0.046,2176,1339,2259,0,0,0,0,0,0
$GC,8235,0.90,134.7,536.9,30.6,385,8239,0.00,2.25,0.00,0.000,6,0.000,0.051,2173,2744,2259,0,0,0,0,0,0
$GC,8550,0.90,134.7,443.9,29.7,395,8554,0.00,2.22,0.00,0.000,4,0.000,0.045,2182,1335,2258,0,0,0,0,0,0
$GC,8624,0.90,134.7,422.2,26.9,397,8628,0.00,2.25,0.00,0.000,6,0.000,0.051,2182,2738,2258,0,0,0,0,0,0
$GC,8959,0.90,134.7,323.8,29.4,412,8962,0.00,2.22,0.00,0.000,4,0.000,0.046,2192,1329,2258,0,0,0,0,0,0
$GC,8988,0.90,134.7,314.6,27.2,413,8993,0.12,2.28,0.00,0.000,6,0.257,0.052,2168,2745,2258,0,0,0,0,0,0
$GC,9318,0.90,134.7,220.1,28.6,430,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2746,2257,0,0,0,0,0,0
$GC,9632,0.90,134.7,134.9,26.7,450,9636,0.00,2.20,0.00,0.000,4,0.000,0.044,2177,1332,2257,0,0,0,0,0,0
$GC,9687,0.90,134.7,120.3,24.9,453,9691,0.00,2.25,0.00,0.000,6,0.000,0.051,2173,2741,2256,0,0,0,0,0,0
$GC,10040,0.90,134.7,30.9,26.0,503,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2740,2257,0,0,0,0,0,0
$STATE,10151,end climb,SURFACE_DEPTH_REACHED
$STATE,10151,begin surface coast
$FINISH,0.5,1.026545
$STATE,10164,end surface coast,CONTROL_FINISHED_OK
$STATE,10164,begin surface
$SM_CCo,10187,182.18,0.797,1,0,515,564.18
$SM_GC,0.95,0.00,0.00,182.18,0.000,0.000,0.797,64,2946,515,-5.65,0.65,564.18
$IRIDIUM_FIX,-4616.72,354.88,231212,050533
$TT8_MAMPS,0.026215
$HUMID,56.37
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.9,19.406
$10V_AH,10.1,8.314
$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,14.325,54.625,271.300,182.175,0.000,27.756,50.179,312.092,0.000,0.000,20.773,1278.173,6925.268,591.613,1679.276,489.493,33.355,1146.008,0.000,1269.761,0.000,1.009,0.000
$DEVICE_MAMPS,258.570,68.085,1809.225,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.699,1071.884,604.221,245.633,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,37117,523
$CAP_FILE_SIZE,78649,0
$CFSIZE,259252224,222908416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,231212,115505,-4631.512,401.055,29,1.5,29,-23.3