version: 66.07
glider: 542
mission: 6
dive: 126
start: 12 28 112 1 55 40
data:
$ID,542
$MISSION,6
$DIVE,126
$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,-10789.428
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,281212,014551,-4628.246,403.966,25,1.2,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-54.4
$GPS2,281212,015438,-4628.288,403.964,17,0.7,19,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.160,-0.067
$KALMAN_X,-73554.7,387.7,423.3,56237.7,-3326.3
$KALMAN_Y,32990.8,-495.8,55.7,10017.8,-2466.7
$MHEAD_RNG_PITCHd_Wd,270.5,5966,-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,-63.1,0.0,0.0,0,170,0.00,0.00,-135.65,0.000,6,0.000,0.000,54,2930,3079,0,0,0,0,0,0
$GC,177,-0.91,-140.5,3.0,-1.8,18,203,6.18,2.28,-8.62,0.000,4,0.247,0.051,1578,1499,3396,0,0,0,0,0,0
$GC,452,-0.91,-140.5,50.4,-15.9,61,459,0.00,2.33,0.00,0.000,6,0.000,0.056,1569,2921,3398,0,0,0,0,0,0
$GC,691,-0.91,-140.5,97.8,-18.4,102,700,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2921,3398,0,0,0,0,0,0
$GC,1023,-0.91,-140.5,156.3,-17.4,124,1026,0.00,1.58,0.00,0.000,4,0.000,0.063,1561,3905,3398,0,0,0,0,0,0
$GC,1052,-0.91,-140.5,162.0,-18.7,125,1058,0.00,1.55,0.00,0.000,6,0.000,0.032,1561,2880,3398,0,0,0,0,0,0
$GC,1373,-0.91,-140.5,218.0,-16.8,146,1377,0.00,1.62,0.00,0.000,4,0.000,0.062,1554,3909,3399,0,0,0,0,0,0
$GC,1535,-0.91,-140.5,245.1,-16.5,155,1539,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2938,3399,0,0,0,0,0,0
$GC,1861,-0.91,-140.5,300.0,-16.9,171,1865,0.00,1.58,0.00,0.000,4,0.000,0.063,1546,3904,3399,0,0,0,0,0,0
$GC,1935,-0.91,-140.5,314.2,-18.2,174,1940,0.08,1.50,0.00,0.000,6,0.187,0.034,1568,2922,3399,0,0,0,0,0,0
$GC,2266,-0.91,-140.5,364.9,-15.1,190,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2919,3399,0,0,0,0,0,0
$GC,2584,-0.91,-140.5,414.9,-16.1,204,2588,0.00,1.60,0.00,0.000,4,0.000,0.064,1561,3906,3399,0,0,0,0,0,0
$GC,2621,-0.91,-140.5,421.1,-16.9,205,2625,0.00,1.50,0.00,0.000,6,0.000,0.034,1561,2917,3399,0,0,0,0,0,0
$GC,2966,-0.91,-140.5,477.2,-16.3,216,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,1561,2914,3399,0,0,0,0,0,0
$GC,3270,-0.91,-140.5,526.5,-16.2,226,3274,0.00,1.60,0.00,0.000,4,0.000,0.064,1554,3901,3399,0,0,0,0,0,0
$GC,3327,-0.91,-140.5,536.9,-17.6,227,3331,0.00,1.48,0.00,0.000,6,0.000,0.034,1554,2933,3399,0,0,0,0,0,0
$GC,3648,-0.91,-140.5,590.8,-16.9,238,3652,0.00,1.58,0.00,0.000,4,0.000,0.063,1546,3903,3399,0,0,0,0,0,0
$GC,3694,-0.91,-140.5,599.3,-18.1,239,3697,0.00,1.50,0.00,0.000,6,0.000,0.034,1546,2916,3399,0,0,0,0,0,0
$GC,4025,-0.91,-140.5,654.4,-16.5,250,4030,0.12,1.60,0.00,0.000,4,0.212,0.064,1569,3906,3398,0,0,0,0,0,0
$GC,4072,-0.91,-140.5,662.2,-15.3,251,4075,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2918,3398,0,0,0,0,0,0
$GC,4403,-0.91,-140.5,708.9,-13.8,262,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,1568,2914,3398,0,0,0,0,0,0
$GC,4710,-0.91,-140.5,751.3,-13.7,272,4714,0.00,2.10,0.00,0.000,4,0.000,0.039,1568,1523,3398,0,0,0,0,0,0
$GC,4734,-0.91,-140.5,755.0,-14.6,272,4741,0.00,2.25,0.00,0.000,6,0.000,0.058,1558,2934,3397,0,0,0,0,0,0
$GC,5049,-0.91,-140.5,800.7,-14.7,283,5053,0.00,1.52,0.00,0.000,4,0.000,0.064,1550,3894,3397,0,0,0,0,0,0
$GC,5078,-0.91,-140.5,805.4,-15.4,283,5085,0.00,1.48,0.00,0.000,6,0.000,0.035,1550,2919,3397,0,0,0,0,0,0
$GC,5393,-0.91,-140.5,850.9,-13.7,294,5397,0.00,2.10,0.00,0.000,4,0.000,0.038,1550,1524,3396,0,0,0,0,0,0
$GC,5655,-0.91,-140.5,886.0,-13.6,301,5663,0.15,2.22,0.00,0.000,6,0.200,0.059,1576,2923,3395,0,0,0,0,0,0
$GC,5970,-0.91,-140.5,924.5,-12.3,312,5974,0.00,2.15,0.00,0.000,4,0.000,0.040,1576,1525,3396,0,0,0,0,0,0
$GC,6112,-0.91,-140.5,941.6,-11.2,316,6116,0.00,2.25,0.00,0.000,6,0.000,0.057,1567,2933,3395,0,0,0,0,0,0
$GC,6438,-0.91,-140.5,984.1,-13.1,327,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2933,3395,0,0,0,0,0,0
$STATE,6556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6556,begin apogee
$GC,6567,-0.19,0.0,1000.1,13.1,331,6712,0.82,0.00,141.18,1.238,6,0.185,0.000,1804,2748,2819,0,0,0,0,0,0
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6718,0.91,140.5,1003.3,0.0,336,6877,1.00,2.58,141.70,1.791,4,0.059,0.046,2177,1332,2247,0,0,0,0,1,0
$GC,6936,0.91,140.5,952.7,29.7,342,6940,0.00,2.50,0.00,0.000,6,0.000,0.054,2173,2733,2244,0,0,0,0,0,0
$GC,7251,0.91,140.5,852.5,32.1,352,7255,0.00,2.30,0.00,0.000,4,0.000,0.045,2182,1338,2239,0,0,0,0,0,0
$GC,7286,0.91,140.5,840.8,32.0,353,7290,0.00,2.35,0.00,0.000,6,0.000,0.054,2182,2736,2238,0,0,0,0,0,0
$GC,7618,0.91,140.5,734.3,32.5,364,7622,0.00,2.28,0.00,0.000,4,0.000,0.046,2193,1327,2237,0,0,0,0,0,0
$GC,7675,0.91,140.5,716.0,29.7,365,7683,0.12,2.33,0.00,0.000,6,0.260,0.055,2170,2745,2235,0,0,0,0,0,0
$GC,7991,0.91,140.5,619.8,30.3,376,7995,0.00,2.25,0.00,0.000,4,0.000,0.045,2179,1331,2235,0,0,0,0,0,0
$GC,8020,0.91,140.5,610.7,29.7,376,8027,0.00,2.28,0.00,0.000,6,0.000,0.054,2172,2735,2234,0,0,0,0,0,0
$GC,8335,0.91,140.5,515.7,30.7,387,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2735,2234,0,0,0,0,0,0
$GC,8641,0.91,140.5,421.9,30.4,397,8645,0.00,2.22,0.00,0.000,4,0.000,0.044,2182,1324,2234,0,0,0,0,0,0
$GC,8665,0.91,140.5,414.2,31.0,397,8669,0.00,2.28,0.00,0.000,6,0.000,0.053,2182,2736,2234,0,0,0,0,0,0
$GC,8985,0.91,140.5,317.2,31.1,411,8988,0.00,2.20,0.00,0.000,4,0.000,0.047,2192,1337,2234,0,0,0,0,0,0
$GC,9035,0.91,140.5,302.5,29.4,413,9039,0.00,2.25,0.00,0.000,6,0.000,0.054,2192,2736,2233,0,0,0,0,0,0
$GC,9363,0.91,140.5,203.6,29.3,431,9367,0.00,2.20,0.00,0.000,4,0.000,0.046,2202,1336,2233,0,0,0,0,0,0
$GC,9382,0.91,140.5,197.1,29.4,432,9387,0.17,2.25,0.00,0.000,6,0.256,0.052,2165,2743,2233,0,0,0,0,0,0
$GC,9716,0.91,140.5,108.2,25.8,453,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2743,2233,0,0,0,0,0,0
$GC,10078,0.91,140.5,13.6,27.1,510,10087,0.00,2.22,0.00,0.000,4,0.000,0.044,2175,1338,2232,0,0,0,0,0,0
$STATE,10119,end climb,SURFACE_DEPTH_REACHED
$STATE,10119,begin surface coast
$FINISH,0.4,1.026429
$STATE,10133,end surface coast,CONTROL_FINISHED_OK
$STATE,10133,begin surface
$SM_CCo,10158,181.18,0.795,1,0,518,564.18
$SM_GC,1.05,0.00,0.00,181.18,0.000,0.000,0.795,55,2924,518,-5.67,0.06,564.18
$IRIDIUM_FIX,-4610.49,407.14,271212,222209
$TT8_MAMPS,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.10
$XPDR_PINGS,0
$24V_AH,21.8,26.090
$10V_AH,10.1,11.122
$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,14.500,79.650,282.875,181.175,0.000,26.679,23.544,286.862,0.000,0.000,20.793,1301.908,6666.459,592.285,1811.761,500.590,33.364,1271.140,0.000,1443.640,0.000,1.009,0.000
$DEVICE_MAMPS,260.100,64.260,1790.865,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.502,1053.213,594.467,250.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,36986,518
$CAP_FILE_SIZE,89051,0
$CFSIZE,259252224,221188096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,281212,044928,-4628.365,402.098,36,0.8,36,-23.3