version: 66.07
glider: 542
mission: 6
dive: 115
start: 12 26 112 15 16 40
data:
$ID,542
$MISSION,6
$DIVE,115
$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,-10735.795
$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,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
$GPS1,261212,150552,-4628.809,401.103,39,0.9,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-26.4
$GPS2,261212,151542,-4628.858,401.211,14,0.8,16,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.237,-0.137
$KALMAN_X,-65078.6,188.5,-244.8,45160.3,3201.1
$KALMAN_Y,32080.4,-249.7,267.6,9407.9,625.2
$MHEAD_RNG_PITCHd_Wd,263.3,2618,-16.5,-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,-0.65,-163.7,0.0,0.0,0,179,0.00,0.00,-149.48,0.000,2,0.000,0.000,70,2944,3420,0,0,0,0,0,0
$GC,185,-0.68,-194.7,3.8,-4.5,19,204,6.32,1.52,-4.30,0.000,4,0.243,0.075,1636,3905,3615,0,0,0,0,0,0
$GC,216,-0.68,-194.7,16.2,-30.1,22,225,0.00,1.52,0.00,0.000,6,0.000,0.032,1637,2911,3615,0,0,0,0,0,0
$GC,304,-0.68,-194.7,34.1,-17.6,35,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2910,3616,0,0,0,0,0,0
$GC,548,-0.68,-194.7,74.1,-15.6,76,555,0.00,2.10,0.00,0.000,4,0.000,0.036,1636,1525,3616,0,0,0,0,0,0
$GC,618,-0.68,-194.7,83.8,-10.7,87,625,0.00,2.28,0.00,0.000,6,0.000,0.054,1626,2919,3616,0,0,0,0,0,0
$GC,962,-0.68,-194.7,130.1,-13.4,122,966,0.00,1.55,0.00,0.000,4,0.000,0.060,1619,3891,3617,0,0,0,0,0,0
$GC,1017,-0.68,-194.7,137.5,-13.5,125,1022,0.08,1.48,0.00,0.000,6,0.161,0.033,1642,2922,3617,0,0,0,0,0,0
$GC,1354,-0.68,-194.7,175.2,-11.1,146,1358,0.00,2.12,0.00,0.000,4,0.000,0.037,1642,1519,3617,0,0,0,0,0,0
$GC,1395,-0.68,-194.7,180.4,-10.6,148,1404,0.00,2.28,0.00,0.000,6,0.000,0.054,1632,2923,3617,0,0,0,0,0,0
$GC,1718,-0.68,-194.7,219.3,-12.1,169,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2922,3617,0,0,0,0,0,0
$GC,2041,-0.68,-194.7,256.2,-11.6,189,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2922,3617,0,0,0,0,0,0
$GC,2349,-0.68,-194.7,294.2,-12.3,204,2352,0.00,1.55,0.00,0.000,4,0.000,0.062,1625,3899,3617,0,0,0,0,0,0
$GC,2383,-0.68,-194.7,298.9,-13.1,205,2387,0.00,1.48,0.00,0.000,6,0.000,0.034,1625,2925,3617,0,0,0,0,0,0
$GC,2709,-0.68,-194.7,339.7,-12.6,221,2713,0.00,2.10,0.00,0.000,4,0.000,0.038,1625,1525,3617,0,0,0,0,0,0
$GC,2753,-0.68,-194.7,344.9,-10.3,223,2758,0.12,2.22,0.00,0.000,6,0.185,0.054,1646,2935,3617,0,0,0,0,0,0
$GC,3096,-0.68,-194.7,377.9,-9.6,239,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,3617,0,0,0,0,0,0
$GC,3399,-0.68,-194.7,406.2,-9.0,253,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,3616,0,0,0,0,0,0
$GC,3705,-0.68,-194.7,433.9,-9.0,263,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2936,3616,0,0,0,0,0,0
$GC,4011,-0.68,-194.7,462.2,-9.2,273,4015,0.00,2.15,0.00,0.000,4,0.000,0.037,1646,1516,3615,0,0,0,0,0,0
$GC,4040,-0.68,-194.7,465.0,-9.2,273,4047,0.00,2.22,0.00,0.000,6,0.000,0.054,1637,2922,3615,0,0,0,0,0,0
$GC,4356,-0.68,-194.7,495.7,-9.8,284,4360,0.00,1.58,0.00,0.000,4,0.000,0.063,1629,3903,3615,0,0,0,0,0,0
$GC,4392,-0.68,-194.7,499.6,-10.6,285,4396,0.00,1.48,0.00,0.000,6,0.000,0.034,1629,2922,3614,0,0,0,0,0,0
$GC,4735,-0.68,-194.7,535.7,-10.8,296,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2919,3614,0,0,0,0,0,0
$GC,5043,-0.68,-194.7,570.4,-11.7,306,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2919,3614,0,0,0,0,0,0
$GC,5348,-0.68,-194.7,606.8,-11.8,316,5352,0.00,2.10,0.00,0.000,4,0.000,0.038,1630,1522,3614,0,0,0,0,0,0
$GC,5382,-0.68,-194.7,611.0,-10.8,317,5386,0.00,2.22,0.00,0.000,6,0.000,0.055,1619,2922,3614,0,0,0,0,0,0
$GC,5714,-0.68,-194.7,651.5,-12.4,328,5719,0.10,1.55,0.00,0.000,4,0.213,0.063,1636,3894,3614,0,0,0,0,0,0
$GC,5744,-0.68,-194.7,655.3,-12.4,328,5751,0.00,1.48,0.00,0.000,6,0.000,0.035,1636,2915,3613,0,0,0,0,0,0
$GC,6059,-0.68,-194.7,688.3,-10.3,339,6063,0.00,2.08,0.00,0.000,4,0.000,0.038,1636,1532,3613,0,0,0,0,0,0
$GC,6099,-0.68,-194.7,692.4,-9.5,340,6103,0.00,2.22,0.00,0.000,6,0.000,0.056,1626,2930,3613,0,0,0,0,0,0
$GC,6432,-0.68,-194.7,726.1,-10.0,351,6435,0.00,1.52,0.00,0.000,4,0.000,0.063,1619,3894,3613,0,0,0,0,0,0
$GC,6477,-0.68,-194.7,731.2,-10.4,352,6482,0.08,1.45,0.00,0.000,6,0.156,0.034,1643,2933,3613,0,0,0,0,0,0
$GC,6810,-0.68,-194.7,758.0,-7.9,363,6814,0.00,2.12,0.00,0.000,4,0.000,0.037,1643,1516,3613,0,0,0,0,0,0
$GC,6857,-0.68,-194.7,761.8,-7.9,364,6861,0.00,2.25,0.00,0.000,6,0.000,0.056,1635,2930,3613,0,0,0,0,0,0
$GC,7178,-0.68,-194.7,787.8,-8.3,375,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2930,3612,0,0,0,0,0,0
$GC,7486,-0.68,-194.7,812.3,-7.8,385,7490,0.00,2.12,0.00,0.000,4,0.000,0.037,1635,1523,3612,0,0,0,0,0,0
$GC,7517,-0.68,-194.7,815.1,-8.8,386,7521,0.00,2.22,0.00,0.000,6,0.000,0.056,1626,2928,3612,0,0,0,0,0,0
$GC,7862,-0.68,-194.7,845.6,-9.2,397,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2928,3612,0,0,0,0,0,0
$GC,8167,-0.68,-194.7,874.4,-9.5,407,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2928,3612,0,0,0,0,0,0
$GC,8473,-0.68,-194.7,904.5,-10.0,417,8477,0.00,2.12,0.00,0.000,4,0.000,0.037,1626,1524,3611,0,0,0,0,0,0
$GC,8509,-0.68,-194.7,908.1,-9.6,418,8513,0.12,2.22,0.00,0.000,6,0.184,0.056,1648,2922,3612,0,0,0,0,0,0
$GC,8842,-0.68,-194.7,934.2,-7.8,429,8846,0.00,2.12,0.00,0.000,4,0.000,0.037,1649,1520,3611,0,0,0,0,0,0
$GC,8874,-0.68,-194.7,936.5,-7.8,430,8878,0.00,2.22,0.00,0.000,6,0.000,0.055,1641,2924,3611,0,0,0,0,0,0
$GC,9212,-0.68,-194.7,964.7,-8.3,441,9215,0.00,1.55,0.00,0.000,4,0.000,0.064,1633,3903,3611,0,0,0,0,0,0
$GC,9249,-0.68,-194.7,967.7,-8.2,442,9252,0.00,1.48,0.00,0.000,6,0.000,0.035,1633,2922,3611,0,0,0,0,0,0
$GC,9592,-0.68,-194.7,995.4,-7.9,453,9596,0.00,2.10,0.00,0.000,4,0.000,0.038,1633,1518,3611,0,0,0,0,0,0
$GC,9638,-0.68,-194.7,998.8,-7.4,454,9642,0.00,2.25,0.00,0.000,6,0.000,0.056,1623,2932,3611,0,0,0,0,0,0
$STATE,9679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9679,begin apogee
$GC,9690,-0.19,0.0,1002.2,7.5,456,9885,0.60,0.00,191.60,1.232,6,0.161,0.000,1804,2739,2820,0,0,0,0,0,0
$STATE,9887,end apogee,CONTROL_FINISHED_OK
$STATE,9887,begin climb
$GC,9891,0.68,194.7,1006.7,0.0,462,10104,0.80,2.22,198.12,1.806,4,0.060,0.058,2093,3889,2026,0,0,0,0,1,0
$GC,10212,0.68,194.7,923.2,33.7,471,10219,0.00,1.92,0.00,0.000,6,0.000,0.038,2102,2749,2023,0,0,0,0,0,0
$GC,10527,0.68,194.7,818.5,33.3,482,10531,0.00,2.33,0.00,0.000,4,0.000,0.047,2113,1316,2020,0,0,0,0,0,0
$GC,10612,0.68,194.7,792.8,27.6,484,10616,0.00,2.38,0.00,0.000,6,0.000,0.054,2113,2736,2018,0,0,0,0,0,0
$GC,10928,0.68,194.7,692.9,32.2,494,10932,0.00,2.28,0.00,0.000,4,0.000,0.049,2123,1323,2018,0,0,0,0,0,0
$GC,11008,0.68,194.7,668.3,27.4,496,11012,0.12,2.30,0.00,0.000,6,0.242,0.053,2097,2737,2016,0,0,0,0,0,0
$GC,11335,0.68,194.7,572.2,29.4,507,11339,0.00,2.25,0.00,0.000,4,0.000,0.046,2107,1320,2016,0,0,0,0,0,0
$GC,11392,0.68,194.7,556.1,25.0,508,11396,0.00,2.30,0.00,0.000,6,0.000,0.053,2105,2736,2016,0,0,0,0,0,0
$GC,11707,0.68,194.7,462.8,29.7,518,11711,0.00,2.25,0.00,0.000,4,0.000,0.048,2114,1317,2015,0,0,0,0,0,0
$GC,11744,0.68,194.7,452.3,28.7,519,11748,0.00,2.28,0.00,0.000,6,0.000,0.054,2114,2733,2015,0,0,0,0,0,0
$GC,12079,0.68,194.7,353.3,29.5,532,12083,0.00,2.25,0.00,0.000,4,0.000,0.048,2124,1314,2015,0,0,0,0,0,0
$GC,12108,0.68,194.7,344.5,28.0,533,12113,0.12,2.28,0.00,0.000,6,0.242,0.053,2097,2739,2015,0,0,0,0,0,0
$GC,12436,0.68,194.7,256.2,27.2,549,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2739,2015,0,0,0,0,0,0
$GC,12757,0.68,194.7,172.2,25.3,569,12761,0.00,2.22,0.00,0.000,4,0.000,0.046,2107,1321,2014,0,0,0,0,0,0
$GC,12832,0.68,194.7,154.6,21.3,573,12839,0.00,2.25,0.00,0.000,6,0.000,0.053,2107,2734,2014,0,0,0,0,0,0
$GC,13165,0.68,194.7,67.6,27.6,606,13174,0.00,2.25,0.00,0.000,4,0.000,0.048,2117,1324,2013,0,0,0,0,0,0
$GC,13197,0.68,194.7,60.8,23.1,610,13204,0.00,2.25,0.00,0.000,6,0.000,0.053,2117,2739,2013,0,0,0,0,0,0
$STATE,13418,end climb,SURFACE_DEPTH_REACHED
$STATE,13418,begin surface coast
$FINISH,0.5,1.026466
$STATE,13426,end surface coast,CONTROL_FINISHED_OK
$STATE,13426,begin surface
$SM_CCo,13448,158.62,0.801,1,0,519,564.18
$SM_GC,0.92,0.00,0.00,158.62,0.000,0.000,0.801,61,2938,519,-5.65,0.40,564.18
$IRIDIUM_FIX,-4610.49,357.79,261212,111151
$TT8_MAMPS,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.80
$XPDR_PINGS,1
$24V_AH,21.5,24.110
$10V_AH,10.1,10.273
$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,14.025,105.625,389.725,158.625,0.000,26.855,19.488,323.556,0.250,0.000,18.189,1638.802,9150.849,669.219,2104.175,634.157,33.360,1486.178,0.000,1686.378,0.000,1.009,0.000
$DEVICE_MAMPS,243.270,74.970,1806.165,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.278,1273.002,656.899,233.109,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354272
$DATA_FILE_SIZE,47213,647
$CAP_FILE_SIZE,114860,0
$CFSIZE,259252224,221667328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,261212,190502,-4629.033,358.567,42,0.9,42,-23.3