version: 66.07
glider: 542
mission: 6
dive: 129
start: 12 28 112 11 5 32
data:
$ID,542
$MISSION,6
$DIVE,129
$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,-10802.922
$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,43
$R_STBD_OVSHOOT,30
$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
$GPS1,281212,105523,-4630.156,402.207,41,1.2,41,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-34.3
$GPS2,281212,110430,-4630.174,402.151,19,1.2,20,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.169,0.038
$KALMAN_X,-72755.4,348.7,39.1,53585.7,-1943.4
$KALMAN_Y,35516.4,1033.9,-124.7,2648.2,152.8
$MHEAD_RNG_PITCHd_Wd,306.0,2761,-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,-63.1,0.0,0.0,0,169,0.00,0.00,-136.68,0.000,6,0.000,0.000,58,2933,3077,0,0,0,0,0,0
$GC,176,-0.91,-144.4,2.7,-1.4,18,202,6.10,1.58,-9.73,0.000,4,0.246,0.083,1563,3884,3411,0,0,0,0,0,0
$GC,269,-0.91,-144.4,21.8,-21.3,31,278,0.00,1.50,0.00,0.000,6,0.000,0.033,1563,2905,3412,0,0,0,0,0,0
$GC,355,-0.91,-144.4,41.5,-22.0,44,364,0.00,2.12,0.00,0.000,4,0.000,0.037,1562,1535,3413,0,0,0,0,0,0
$GC,375,-0.91,-144.4,45.8,-22.0,46,384,0.00,2.28,0.00,0.000,6,0.000,0.056,1552,2915,3413,0,0,0,0,0,0
$GC,618,-0.91,-144.4,98.7,-20.1,87,625,0.00,1.58,0.00,0.000,4,0.000,0.063,1545,3896,3413,0,0,0,0,0,0
$GC,745,-0.91,-144.4,125.0,-20.3,95,748,0.00,1.48,0.00,0.000,6,0.000,0.033,1545,2926,3413,0,0,0,0,0,0
$GC,1077,-0.91,-144.4,192.9,-19.4,116,1079,0.12,0.00,0.00,0.000,6,0.213,0.000,1573,2922,3413,0,0,0,0,0,0
$GC,1391,-0.91,-144.4,248.7,-17.5,136,1395,0.00,1.60,0.00,0.000,4,0.000,0.063,1566,3906,3415,0,0,0,0,0,0
$GC,1466,-0.91,-144.4,263.4,-18.9,140,1470,0.00,1.50,0.00,0.000,6,0.000,0.034,1566,2918,3415,0,0,0,0,0,0
$GC,1796,-0.91,-144.4,322.4,-17.8,156,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,2913,3415,0,0,0,0,0,0
$GC,2106,-0.91,-144.4,375.4,-16.6,171,2110,0.00,1.60,0.00,0.000,4,0.000,0.063,1559,3901,3415,0,0,0,0,0,0
$GC,2188,-0.91,-144.4,390.4,-17.2,174,2192,0.00,1.48,0.00,0.000,6,0.000,0.034,1559,2927,3415,0,0,0,0,0,0
$GC,2510,-0.91,-144.4,444.2,-16.7,186,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,1559,2923,3415,0,0,0,0,0,0
$GC,2815,-0.91,-144.4,494.6,-16.4,196,2819,0.00,1.60,0.00,0.000,4,0.000,0.064,1552,3897,3415,0,0,0,0,0,0
$GC,2833,-0.91,-144.4,497.9,-16.1,196,2837,0.00,1.48,0.00,0.000,6,0.000,0.034,1552,2929,3415,0,0,0,0,0,0
$GC,3159,-0.91,-144.4,551.5,-16.4,207,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1552,2925,3415,0,0,0,0,0,0
$GC,3466,-0.91,-144.4,602.2,-16.6,217,3470,0.00,2.10,0.00,0.000,4,0.000,0.040,1552,1523,3414,0,0,0,0,0,0
$GC,3484,-0.91,-144.4,605.7,-16.6,217,3488,0.12,2.22,0.00,0.000,6,0.206,0.057,1570,2926,3414,0,0,0,0,0,0
$GC,3805,-0.91,-144.4,654.5,-15.0,228,3809,0.00,1.55,0.00,0.000,4,0.000,0.065,1564,3900,3414,0,0,0,0,0,0
$GC,3834,-0.91,-144.4,659.4,-15.9,228,3841,0.00,1.50,0.00,0.000,6,0.000,0.034,1564,2904,3414,0,0,0,0,0,0
$GC,4149,-0.91,-144.4,707.6,-15.3,239,4153,0.00,1.60,0.00,0.000,4,0.000,0.064,1556,3894,3413,0,0,0,0,0,0
$GC,4186,-0.91,-144.4,713.4,-15.7,240,4190,0.00,1.48,0.00,0.000,6,0.000,0.035,1556,2919,3413,0,0,0,0,0,0
$GC,4529,-0.91,-144.4,765.4,-15.2,251,4532,0.00,1.60,0.00,0.000,4,0.000,0.064,1549,3904,3413,0,0,0,0,0,0
$GC,4580,-0.91,-144.4,774.0,-15.9,252,4584,0.00,1.48,0.00,0.000,6,0.000,0.034,1549,2935,3413,0,0,0,0,0,0
$GC,4906,-0.91,-144.4,821.8,-14.3,263,4910,0.00,2.12,0.00,0.000,4,0.000,0.039,1548,1525,3413,0,0,0,0,0,0
$GC,4924,-0.91,-144.4,824.6,-14.2,263,4929,0.12,2.22,0.00,0.000,6,0.205,0.056,1568,2924,3412,0,0,0,0,0,0
$GC,5240,-0.91,-144.4,866.0,-13.1,273,5243,0.00,1.58,0.00,0.000,4,0.000,0.065,1562,3900,3412,0,0,0,0,0,0
$GC,5257,-0.91,-144.4,868.7,-13.4,273,5261,0.00,1.50,0.00,0.000,6,0.000,0.034,1562,2908,3412,0,0,0,0,0,0
$GC,5583,-0.91,-144.4,913.7,-13.8,284,5587,0.00,2.05,0.00,0.000,4,0.000,0.039,1562,1530,3412,0,0,0,0,0,0
$GC,5601,-0.91,-144.4,916.6,-14.4,284,5605,0.00,2.22,0.00,0.000,6,0.000,0.057,1552,2923,3411,0,0,0,0,0,0
$GC,5922,-0.91,-144.4,963.7,-15.1,295,5925,0.00,1.58,0.00,0.000,4,0.000,0.064,1544,3901,3411,0,0,0,0,0,0
$GC,5945,-0.91,-144.4,967.9,-16.2,295,5950,0.08,1.48,0.00,0.000,6,0.190,0.035,1565,2931,3410,0,0,0,0,0,0
$STATE,6171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6171,begin apogee
$GC,6182,-0.19,0.0,1000.3,14.1,303,6331,0.82,0.00,144.65,1.241,6,0.183,0.000,1805,2731,2819,0,0,0,0,0,0
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6333,begin climb
$GC,6337,0.91,144.4,1005.6,0.0,308,6504,1.00,2.55,148.55,1.786,4,0.059,0.047,2175,1338,2232,0,0,0,0,2,0
$GC,6518,0.91,144.4,967.9,30.8,313,6525,0.00,2.55,0.00,0.000,6,0.000,0.052,2171,2733,2232,0,0,0,0,0,0
$GC,6833,0.91,144.4,865.9,32.6,324,6837,0.00,2.30,0.00,0.000,4,0.000,0.045,2181,1337,2225,0,0,0,0,0,0
$GC,6902,0.91,144.4,844.5,29.6,326,6906,0.00,2.35,0.00,0.000,6,0.000,0.054,2180,2736,2223,0,0,0,0,0,0
$GC,7234,0.91,144.4,735.8,33.5,337,7238,0.00,2.28,0.00,0.000,4,0.000,0.047,2190,1328,2222,0,0,0,0,0,0
$GC,7269,0.91,144.4,723.8,31.7,338,7274,0.00,2.33,0.00,0.000,6,0.000,0.054,2191,2741,2221,0,0,0,0,0,0
$GC,7601,0.91,144.4,612.7,33.7,349,7605,0.00,2.25,0.00,0.000,4,0.000,0.047,2201,1334,2221,0,0,0,0,0,0
$GC,7653,0.91,144.4,595.6,30.5,350,7658,0.15,2.28,0.00,0.000,6,0.258,0.053,2170,2741,2220,0,0,0,0,0,0
$GC,7976,0.91,144.4,494.0,31.6,361,7980,0.00,2.22,0.00,0.000,4,0.000,0.045,2180,1329,2220,0,0,0,0,0,0
$GC,8033,0.91,144.4,475.8,29.8,362,8037,0.00,2.28,0.00,0.000,6,0.000,0.053,2172,2736,2219,0,0,0,0,0,0
$GC,8353,0.91,144.4,379.2,30.2,373,8357,0.00,2.22,0.00,0.000,4,0.000,0.046,2182,1331,2219,0,0,0,0,0,0
$GC,8397,0.91,144.4,365.2,30.1,375,8401,0.00,2.28,0.00,0.000,6,0.000,0.053,2182,2746,2218,0,0,0,0,0,0
$GC,8729,0.91,144.4,263.6,30.5,391,8733,0.00,2.22,0.00,0.000,4,0.000,0.046,2192,1327,2218,0,0,0,0,0,0
$GC,8769,0.91,144.4,250.6,27.5,392,8778,0.00,2.28,0.00,0.000,6,0.000,0.053,2193,2729,2218,0,0,0,0,0,0
$GC,9093,0.91,144.4,153.4,29.8,413,9097,0.00,2.17,0.00,0.000,4,0.000,0.046,2202,1333,2218,0,0,0,0,0,0
$GC,9122,0.91,144.4,144.0,29.8,414,9131,0.12,2.28,0.00,0.000,6,0.239,0.055,2171,2733,2217,0,0,0,0,0,0
$GC,9461,0.91,144.4,53.7,24.7,455,9467,0.00,2.17,0.00,0.000,4,0.000,0.046,2180,1332,2217,0,0,0,0,0,0
$GC,9480,0.91,144.4,48.6,26.3,457,9487,0.00,2.25,0.00,0.000,6,0.000,0.052,2180,2742,2216,0,0,0,0,0,0
$STATE,9648,end climb,SURFACE_DEPTH_REACHED
$STATE,9648,begin surface coast
$FINISH,0.3,1.026436
$STATE,9663,end surface coast,CONTROL_FINISHED_OK
$STATE,9663,begin surface
$SM_CCo,9686,179.07,0.793,1,0,516,564.18
$SM_GC,0.86,0.00,0.00,179.07,0.000,0.000,0.793,49,2940,516,-5.69,0.48,564.18
$IRIDIUM_FIX,-4613.60,357.79,281212,070703
$TT8_MAMPS,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.8,26.644
$10V_AH,10.1,11.348
$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,14.375,89.875,293.200,179.075,0.000,42.885,21.289,292.899,0.000,0.000,22.179,1230.005,6389.709,606.217,1683.981,510.101,33.359,1250.633,0.000,1296.493,0.000,1.008,0.000
$DEVICE_MAMPS,257.805,83.385,1785.510,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.748,982.635,544.877,214.287,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,37087,486
$CAP_FILE_SIZE,88883,0
$CFSIZE,259252224,221057024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,281212,135128,-4629.307,400.744,38,0.8,38,-23.3