version: 66.07
glider: 542
mission: 6
dive: 110
start: 12 25 112 23 14 15
data:
$ID,542
$MISSION,6
$DIVE,110
$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,-10715.616
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,251212,225533,-4630.375,403.954,36,1.5,39,-23.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-36.5
$GPS2,251212,231317,-4630.504,404.029,18,2.0,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.019,-0.172
$KALMAN_X,-70275.0,794.1,556.7,52494.6,-4904.5
$KALMAN_Y,33132.0,-412.4,84.8,5658.9,2491.1
$MHEAD_RNG_PITCHd_Wd,209.5,5220,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-134.73,0.000,6,0.000,0.000,65,2938,3075,0,0,0,0,0,0
$GC,176,-0.89,-124.1,2.9,-3.5,18,195,6.28,1.60,-7.38,0.000,4,0.255,0.082,1572,3894,3327,0,0,0,0,0,0
$GC,423,-0.89,-124.1,53.2,-21.2,57,430,0.00,1.50,0.00,0.000,6,0.000,0.032,1572,2905,3328,0,0,0,0,0,0
$GC,663,-0.89,-124.1,98.2,-18.0,98,669,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2904,3329,0,0,0,0,0,0
$GC,994,-0.89,-124.1,155.1,-16.5,120,997,0.00,1.60,0.00,0.000,4,0.000,0.058,1564,3893,3329,0,0,0,0,0,0
$GC,1068,-0.89,-124.1,168.6,-17.5,124,1072,0.00,1.45,0.00,0.000,6,0.000,0.033,1564,2935,3329,0,0,0,0,0,0
$GC,1397,-0.89,-124.1,220.8,-15.9,145,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2931,3329,0,0,0,0,0,0
$GC,1722,-0.89,-124.1,270.8,-15.6,164,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2931,3330,0,0,0,0,0,0
$GC,2033,-0.89,-124.1,321.5,-16.5,179,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2931,3329,0,0,0,0,0,0
$GC,2341,-0.89,-124.1,373.4,-16.5,194,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,1564,2931,3329,0,0,0,0,0,0
$GC,2660,-0.89,-124.1,424.8,-15.9,207,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2931,3329,0,0,0,0,0,0
$GC,2965,-0.89,-124.1,472.6,-15.5,217,2968,0.00,1.55,0.00,0.000,4,0.000,0.060,1557,3896,3329,0,0,0,0,0,0
$GC,3005,-0.89,-124.1,479.4,-16.7,218,3008,0.00,1.48,0.00,0.000,6,0.000,0.034,1557,2922,3329,0,0,0,0,0,0
$GC,3342,-0.89,-124.1,534.5,-16.5,229,3346,0.00,1.55,0.00,0.000,4,0.000,0.060,1550,3887,3329,0,0,0,0,0,0
$GC,3388,-0.89,-124.1,543.0,-18.3,230,3392,0.08,1.45,0.00,0.000,6,0.196,0.034,1571,2928,3328,0,0,0,0,0,0
$GC,3720,-0.89,-124.1,593.4,-15.0,241,3724,0.00,1.55,0.00,0.000,4,0.000,0.061,1565,3890,3328,0,0,0,0,0,0
$GC,3795,-0.89,-124.1,605.5,-16.0,243,3798,0.00,1.48,0.00,0.000,6,0.000,0.034,1565,2909,3328,0,0,0,0,0,0
$GC,4132,-0.89,-124.1,654.9,-14.3,254,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,1565,2907,3328,0,0,0,0,0,0
$GC,4440,-0.89,-124.1,696.6,-13.5,264,4443,0.00,1.58,0.00,0.000,4,0.000,0.061,1557,3890,3328,0,0,0,0,0,0
$GC,4502,-0.89,-124.1,706.1,-14.5,265,4509,0.00,1.45,0.00,0.000,6,0.000,0.034,1558,2923,3327,0,0,0,0,0,0
$GC,4817,-0.89,-124.1,749.0,-13.6,276,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,1557,2923,3327,0,0,0,0,0,0
$GC,5124,-0.89,-124.1,789.4,-13.2,286,5128,0.00,2.10,0.00,0.000,4,0.000,0.038,1557,1522,3327,0,0,0,0,0,0
$GC,5153,-0.89,-124.1,793.5,-13.6,286,5161,0.12,2.20,0.00,0.000,6,0.212,0.054,1575,2918,3327,0,0,0,0,0,0
$GC,5468,-0.89,-124.1,831.8,-12.4,297,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2918,3327,0,0,0,0,0,0
$GC,5774,-0.89,-124.1,870.1,-12.5,307,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,2918,3326,0,0,0,0,0,0
$GC,6081,-0.89,-124.1,908.6,-12.5,317,6085,0.00,2.08,0.00,0.000,4,0.000,0.038,1575,1529,3327,0,0,0,0,0,0
$GC,6132,-0.89,-124.1,915.2,-12.3,318,6137,0.00,2.22,0.00,0.000,6,0.000,0.054,1566,2932,3326,0,0,0,0,0,0
$GC,6448,-0.89,-124.1,956.6,-13.6,328,6451,0.00,2.10,0.00,0.000,4,0.000,0.037,1566,1529,3326,0,0,0,0,0,0
$GC,6499,-0.89,-124.1,963.4,-12.4,329,6503,0.00,2.22,0.00,0.000,6,0.000,0.054,1555,2934,3326,0,0,0,0,0,0
$STATE,6781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6781,begin apogee
$GC,6791,-0.19,0.0,1001.9,13.8,338,6921,0.88,0.00,125.75,1.242,6,0.191,0.000,1805,2742,2820,0,0,0,0,0,0
$STATE,6923,end apogee,CONTROL_FINISHED_OK
$STATE,6923,begin climb
$GC,6928,0.89,124.1,1005.2,0.0,342,7064,0.98,0.00,125.05,1.797,6,0.057,0.000,2160,2742,2315,0,0,0,0,1,0
$GC,7401,0.89,124.1,877.7,30.6,358,7405,0.00,2.28,0.00,0.000,4,0.000,0.047,2171,1340,2307,0,0,0,0,0,0
$GC,7458,0.89,124.1,860.4,27.2,359,7463,0.00,2.35,0.00,0.000,6,0.000,0.050,2171,2743,2305,0,0,0,0,0,0
$GC,7774,0.89,124.1,762.8,31.6,369,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2743,2304,0,0,0,0,0,0
$GC,8080,0.89,124.1,670.6,29.3,379,8084,0.00,2.25,0.00,0.000,4,0.000,0.044,2182,1334,2302,0,0,0,0,0,0
$GC,8137,0.89,124.1,653.9,26.5,380,8144,0.00,2.28,0.00,0.000,6,0.000,0.051,2182,2740,2301,0,0,0,0,0,0
$GC,8452,0.89,124.1,560.7,29.7,391,8456,0.00,1.85,0.00,0.000,4,0.000,0.058,2181,3890,2301,0,0,0,0,0,0
$GC,8476,0.89,124.1,552.7,31.2,391,8480,0.15,1.80,0.00,0.000,6,0.270,0.040,2161,2731,2300,0,0,0,0,0,0
$GC,8797,0.89,124.1,462.7,28.1,402,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2728,2300,0,0,0,0,0,0
$GC,9106,0.89,124.1,380.4,26.1,413,9110,0.00,2.17,0.00,0.000,4,0.000,0.045,2170,1331,2300,0,0,0,0,0,0
$GC,9186,0.89,124.1,359.1,25.0,416,9195,0.00,2.28,0.00,0.000,6,0.000,0.051,2169,2736,2299,0,0,0,0,0,0
$GC,9504,0.89,124.1,274.6,27.0,432,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2736,2299,0,0,0,0,0,0
$GC,9828,0.89,124.1,190.1,24.9,451,9832,0.00,2.20,0.00,0.000,4,0.000,0.044,2178,1332,2299,0,0,0,0,0,0
$GC,9899,0.89,124.1,172.2,23.6,455,9903,0.00,2.25,0.00,0.000,6,0.000,0.051,2173,2741,2298,0,0,0,0,0,0
$GC,10222,0.89,124.1,92.5,24.9,477,10228,0.00,2.22,0.00,0.000,4,0.000,0.044,2183,1335,2298,0,0,0,0,0,0
$GC,10255,0.89,124.1,84.0,25.2,482,10261,0.00,2.22,0.00,0.000,6,0.000,0.054,2183,2735,2298,0,0,0,0,0,0
$STATE,10591,end climb,SURFACE_DEPTH_REACHED
$STATE,10591,begin surface coast
$FINISH,0.3,1.005909
$STATE,10605,end surface coast,CONTROL_FINISHED_OK
$STATE,10609,begin surface
$SM_CCo,10631,187.55,0.798,1,0,516,564.18
$SM_GC,0.67,0.00,0.00,187.55,0.000,0.000,0.798,58,2943,516,-5.66,0.57,564.18
$IRIDIUM_FIX,-4613.60,407.14,251212,232311
$TT8_MAMPS,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.00
$XPDR_PINGS,0
$24V_AH,22.0,23.158
$10V_AH,10.1,9.857
$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,14.275,57.875,250.800,187.550,0.000,82.385,142.912,493.593,0.000,0.000,21.596,1331.859,7351.922,568.389,2084.201,550.068,33.361,1175.804,0.000,1368.393,0.000,1.009,0.000
$DEVICE_MAMPS,270.045,81.855,1796.985,797.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.140,1097.706,614.169,241.135,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,40405,540
$CAP_FILE_SIZE,87149,0
$CFSIZE,259252224,221970432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,261212,021603,-4631.945,402.927,30,1.2,36,-23.3