version: 66.07
glider: 542
mission: 6
dive: 144
start: 12 30 112 10 18 52
data:
$ID,542
$MISSION,6
$DIVE,144
$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,-10878.161
$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,40
$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
$GPS1,301212,100122,-4630.917,401.544,39,0.9,39,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-22.8
$GPS2,301212,101754,-4630.771,401.562,16,1.3,17,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.051,-0.166
$KALMAN_X,-80388.0,556.0,319.1,59969.6,-1285.6
$KALMAN_Y,42202.7,35.3,-383.4,-3876.1,3587.7
$MHEAD_RNG_PITCHd_Wd,220.6,2449,-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,-63.1,0.0,0.0,0,155,0.00,0.00,-125.95,0.000,2,0.000,0.000,60,2954,3000,0,0,0,0,0,0
$GC,162,-0.88,-113.1,3.0,-4.7,16,181,6.18,1.55,-8.40,0.000,4,0.246,0.080,1572,3886,3282,0,0,0,0,0,0
$GC,229,-0.88,-113.1,16.3,-23.1,25,238,0.00,1.50,0.00,0.000,6,0.000,0.032,1572,2908,3284,0,0,0,0,0,0
$GC,314,-0.88,-113.1,34.3,-20.8,38,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2907,3284,0,0,0,0,0,0
$GC,561,-0.88,-113.1,76.4,-17.2,79,566,0.00,2.08,0.00,0.000,4,0.000,0.036,1572,1531,3284,0,0,0,0,0,0
$GC,678,-0.88,-113.1,94.9,-14.3,99,685,0.00,2.22,0.00,0.000,6,0.000,0.051,1562,2906,3284,0,0,0,0,0,0
$GC,1011,-0.88,-113.1,149.8,-17.0,123,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2906,3285,0,0,0,0,0,0
$GC,1324,-0.88,-113.1,201.3,-16.3,143,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2906,3285,0,0,0,0,0,0
$GC,1642,-0.88,-113.1,255.6,-17.2,163,1645,0.00,1.55,0.00,0.000,4,0.000,0.058,1555,3891,3285,0,0,0,0,0,0
$GC,1712,-0.88,-113.1,268.8,-18.5,166,1717,0.08,1.45,0.00,0.000,6,0.187,0.033,1576,2929,3285,0,0,0,0,0,0
$GC,2048,-0.88,-113.1,319.2,-14.5,182,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2925,3285,0,0,0,0,0,0
$GC,2359,-0.88,-113.1,362.9,-13.9,197,2363,0.00,1.55,0.00,0.000,4,0.000,0.060,1570,3891,3285,0,0,0,0,0,0
$GC,2422,-0.88,-113.1,372.4,-14.8,199,2429,0.00,1.48,0.00,0.000,6,0.000,0.033,1570,2902,3285,0,0,0,0,0,0
$GC,2760,-0.88,-113.1,417.3,-13.0,214,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2902,3285,0,0,0,0,0,0
$GC,3066,-0.88,-113.1,458.0,-13.2,224,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2902,3284,0,0,0,0,0,0
$GC,3372,-0.88,-113.1,499.2,-13.7,234,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2902,3284,0,0,0,0,0,0
$GC,3679,-0.88,-113.1,542.2,-14.2,244,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2902,3284,0,0,0,0,0,0
$GC,3984,-0.88,-113.1,587.4,-15.0,254,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2902,3283,0,0,0,0,0,0
$GC,4291,-0.88,-113.1,631.4,-14.2,264,4294,0.00,2.05,0.00,0.000,4,0.000,0.039,1570,1538,3282,0,0,0,0,0,0
$GC,4327,-0.88,-113.1,636.7,-13.7,265,4331,0.00,2.20,0.00,0.000,6,0.000,0.054,1561,2926,3282,0,0,0,0,0,0
$GC,4665,-0.88,-113.1,683.8,-13.8,276,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,1560,2926,3282,0,0,0,0,0,0
$GC,4972,-0.88,-113.1,726.0,-13.7,286,4976,0.00,2.10,0.00,0.000,4,0.000,0.037,1560,1535,3282,0,0,0,0,0,0
$GC,5013,-0.88,-113.1,731.8,-12.8,287,5017,0.15,2.20,0.00,0.000,6,0.201,0.053,1586,2927,3282,0,0,0,0,0,0
$GC,5340,-0.88,-113.1,769.7,-11.3,298,5344,0.00,2.10,0.00,0.000,4,0.000,0.037,1586,1534,3282,0,0,0,0,0,0
$GC,5385,-0.88,-113.1,774.9,-10.7,299,5389,0.00,2.20,0.00,0.000,6,0.000,0.054,1577,2924,3281,0,0,0,0,0,0
$GC,5706,-0.88,-113.1,812.5,-12.0,310,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,1577,2925,3281,0,0,0,0,0,0
$GC,6012,-0.88,-113.1,847.6,-11.4,320,6016,0.00,2.10,0.00,0.000,4,0.000,0.037,1577,1528,3281,0,0,0,0,0,0
$GC,6092,-0.88,-113.1,856.5,-10.5,322,6096,0.00,2.22,0.00,0.000,6,0.000,0.054,1566,2932,3281,0,0,0,0,0,0
$GC,6418,-0.88,-113.1,892.9,-11.3,333,6422,0.00,2.10,0.00,0.000,4,0.000,0.037,1566,1526,3280,0,0,0,0,0,0
$GC,6487,-0.88,-113.1,900.7,-10.4,335,6492,0.12,2.22,0.00,0.000,6,0.207,0.054,1584,2931,3280,0,0,0,0,0,0
$GC,6820,-0.88,-113.1,933.9,-10.2,346,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2932,3280,0,0,0,0,0,0
$GC,7126,-0.88,-113.1,966.1,-10.6,356,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2932,3279,0,0,0,0,0,0
$GC,7432,-0.88,-113.1,998.8,-10.5,366,7436,0.00,2.12,0.00,0.000,4,0.000,0.038,1584,1528,3279,0,0,0,0,0,0
$STATE,7440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7440,begin apogee
$GC,7452,-0.19,0.0,1000.3,10.4,366,7571,0.75,0.00,115.18,1.254,6,0.181,0.000,1799,2739,2819,0,0,0,0,0,0
$STATE,7573,end apogee,CONTROL_FINISHED_OK
$STATE,7573,begin climb
$GC,7578,0.88,113.1,1001.8,0.0,370,7702,0.98,0.00,115.28,1.804,6,0.059,0.000,2157,2739,2358,0,0,0,0,1,0
$GC,8012,0.88,113.1,890.8,29.2,384,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2739,2354,0,0,0,0,0,0
$GC,8314,0.88,113.1,801.8,29.2,394,8318,0.00,2.20,0.00,0.000,4,0.000,0.044,2167,1364,2351,0,0,0,0,0,0
$GC,8377,0.88,113.1,783.9,27.5,395,8384,0.00,2.22,0.00,0.000,6,0.000,0.050,2167,2733,2349,0,0,0,0,0,0
$GC,8693,0.88,113.1,692.3,28.7,406,8697,0.00,2.20,0.00,0.000,4,0.000,0.044,2177,1347,2348,0,0,0,0,0,0
$GC,8725,0.88,113.1,683.7,28.0,407,8730,0.00,2.25,0.00,0.000,6,0.000,0.051,2177,2738,2347,0,0,0,0,0,0
$GC,9063,0.88,113.1,589.3,28.0,418,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2739,2346,0,0,0,0,0,0
$GC,9369,0.88,113.1,505.5,27.2,428,9373,0.00,2.17,0.00,0.000,4,0.000,0.044,2187,1351,2346,0,0,0,0,0,0
$GC,9406,0.88,113.1,495.7,26.4,429,9411,0.15,2.20,0.00,0.000,6,0.252,0.050,2157,2739,2345,0,0,0,0,0,0
$GC,9750,0.88,113.1,408.1,25.4,440,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2739,2345,0,0,0,0,0,0
$GC,10059,0.88,113.1,330.5,25.0,454,10062,0.00,2.15,0.00,0.000,4,0.000,0.044,2166,1355,2345,0,0,0,0,0,0
$GC,10090,0.88,113.1,322.5,24.3,455,10094,0.00,2.20,0.00,0.000,6,0.000,0.051,2162,2737,2344,0,0,0,0,0,0
$GC,10411,0.88,113.1,243.8,24.7,471,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2737,2345,0,0,0,0,0,0
$GC,10723,0.88,113.1,167.6,23.9,491,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2737,2344,0,0,0,0,0,0
$GC,11035,0.88,113.1,94.3,21.5,513,11042,0.00,2.17,0.00,0.000,4,0.000,0.044,2172,1359,2344,0,0,0,0,0,0
$GC,11177,0.88,113.1,66.3,18.5,537,11183,0.00,2.20,0.00,0.000,6,0.000,0.051,2172,2732,2343,0,0,0,0,0,0
$STATE,11456,end climb,SURFACE_DEPTH_REACHED
$STATE,11456,begin surface coast
$FINISH,1.0,1.026443
$STATE,11470,end surface coast,CONTROL_FINISHED_OK
$STATE,11470,begin surface
$SM_CCo,11493,192.73,0.804,1,0,517,564.18
$SM_GC,0.95,0.00,0.00,192.73,0.000,0.000,0.804,58,2931,517,-5.66,0.25,564.18
$IRIDIUM_FIX,-4613.60,400.91,301212,060607
$TT8_MAMPS,0.026215
$HUMID,56.69
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,10.70
$XPDR_PINGS,0
$24V_AH,22.1,29.281
$10V_AH,10.1,12.543
$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,14.150,61.225,230.450,192.725,0.000,56.051,75.981,555.047,0.000,0.000,19.177,1432.606,8013.999,551.594,2100.895,579.072,33.362,1169.743,0.000,1412.427,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,79.560,1803.870,804.015,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.400,1160.836,633.927,256.070,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,43795,585
$CAP_FILE_SIZE,90781,0
$CFSIZE,259252224,220323840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,301212,133449,-4631.909,400.438,19,0.8,19,-23.3