version: 66.07
glider: 542
mission: 6
dive: 148
start: 12 30 112 23 46 45
data:
$ID,542
$MISSION,6
$DIVE,148
$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,-10901.648
$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,49
$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
$GPS1,301212,233251,-4631.010,401.165,38,1.4,38,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-34.9
$GPS2,301212,234547,-4630.855,401.188,20,1.1,21,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.122,0.124
$KALMAN_X,-81278.2,-150.1,534.5,60877.9,-889.0
$KALMAN_Y,41736.6,-723.8,-172.2,-3005.9,958.8
$MHEAD_RNG_PITCHd_Wd,338.8,2191,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.81,-63.1,0.0,0.0,0,160,0.00,0.00,-126.20,0.000,2,0.000,0.000,58,2930,3017,0,0,0,0,0,0
$GC,166,-0.88,-114.3,3.3,-4.6,16,193,6.43,2.25,-7.55,0.000,4,0.260,0.050,1587,1522,3289,0,0,0,0,0,0
$GC,323,-0.88,-114.3,30.3,-22.2,39,329,0.00,2.28,0.00,0.000,6,0.000,0.054,1579,2926,3290,0,0,0,0,0,0
$GC,566,-0.88,-114.3,78.0,-18.2,80,572,0.00,2.17,0.00,0.000,4,0.000,0.035,1579,1512,3290,0,0,0,0,0,0
$GC,659,-0.88,-114.3,93.7,-16.0,96,668,0.00,2.30,0.00,0.000,6,0.000,0.053,1568,2927,3290,0,0,0,0,0,0
$GC,989,-0.88,-114.3,145.7,-15.7,121,993,0.00,2.15,0.00,0.000,4,0.000,0.035,1568,1522,3291,0,0,0,0,0,0
$GC,1025,-0.88,-114.3,151.7,-14.3,123,1029,0.00,2.25,0.00,0.000,6,0.000,0.051,1558,2931,3291,0,0,0,0,0,0
$GC,1348,-0.88,-114.3,204.4,-16.7,143,1353,0.10,1.55,0.00,0.000,4,0.219,0.059,1574,3900,3291,0,0,0,0,0,0
$GC,1378,-0.88,-114.3,210.4,-17.1,144,1387,0.00,1.48,0.00,0.000,6,0.000,0.032,1574,2912,3292,0,0,0,0,0,0
$GC,1699,-0.88,-114.3,259.8,-15.7,164,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2912,3291,0,0,0,0,0,0
$GC,2010,-0.88,-114.3,308.4,-15.6,179,2014,0.00,1.58,0.00,0.000,4,0.000,0.060,1567,3891,3292,0,0,0,0,0,0
$GC,2105,-0.88,-114.3,324.2,-15.9,183,2109,0.00,1.45,0.00,0.000,6,0.000,0.034,1567,2929,3291,0,0,0,0,0,0
$GC,2442,-0.88,-114.3,376.6,-15.3,199,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,1567,2925,3291,0,0,0,0,0,0
$GC,2758,-0.88,-114.3,424.4,-14.9,212,2761,0.00,1.58,0.00,0.000,4,0.000,0.060,1559,3903,3291,0,0,0,0,0,0
$GC,2809,-0.88,-114.3,432.8,-15.8,213,2813,0.00,1.50,0.00,0.000,6,0.000,0.034,1559,2907,3291,0,0,0,0,0,0
$GC,3135,-0.88,-114.3,482.3,-15.4,224,3139,0.00,1.60,0.00,0.000,4,0.000,0.060,1552,3898,3291,0,0,0,0,0,0
$GC,3198,-0.88,-114.3,492.8,-16.1,225,3205,0.10,1.45,0.00,0.000,6,0.183,0.034,1580,2941,3291,0,0,0,0,0,0
$GC,3513,-0.88,-114.3,534.6,-13.2,236,3517,0.00,2.15,0.00,0.000,4,0.000,0.037,1580,1516,3290,0,0,0,0,0,0
$GC,3531,-0.88,-114.3,537.4,-13.4,236,3535,0.00,2.25,0.00,0.000,6,0.000,0.054,1571,2934,3290,0,0,0,0,0,0
$GC,3848,-0.88,-114.3,581.1,-13.9,246,3852,0.00,2.15,0.00,0.000,4,0.000,0.037,1571,1523,3290,0,0,0,0,0,0
$GC,3883,-0.88,-114.3,586.2,-12.4,247,3887,0.00,2.20,0.00,0.000,6,0.000,0.053,1561,2925,3290,0,0,0,0,0,0
$GC,4215,-0.88,-114.3,633.2,-14.2,258,4218,0.00,1.52,0.00,0.000,4,0.000,0.060,1554,3894,3290,0,0,0,0,0,0
$GC,4232,-0.88,-114.3,636.1,-14.1,258,4237,0.10,1.48,0.00,0.000,6,0.185,0.034,1581,2920,3290,0,0,0,0,0,0
$GC,4559,-0.88,-114.3,678.5,-12.9,269,4563,0.00,2.10,0.00,0.000,4,0.000,0.038,1582,1515,3290,0,0,0,0,0,0
$GC,4622,-0.88,-114.3,686.6,-11.9,270,4629,0.00,2.22,0.00,0.000,6,0.000,0.054,1572,2922,3290,0,0,0,0,0,0
$GC,4938,-0.88,-114.3,729.2,-13.8,281,4941,0.00,2.12,0.00,0.000,4,0.000,0.037,1572,1525,3289,0,0,0,0,0,0
$GC,4969,-0.88,-114.3,733.7,-14.6,282,4973,0.00,2.22,0.00,0.000,6,0.000,0.054,1562,2932,3289,0,0,0,0,0,0
$GC,5313,-0.88,-114.3,783.6,-14.6,293,5317,0.00,2.15,0.00,0.000,4,0.000,0.037,1562,1519,3289,0,0,0,0,0,0
$GC,5345,-0.88,-114.3,788.1,-13.8,294,5349,0.12,2.20,0.00,0.000,6,0.203,0.054,1580,2923,3288,0,0,0,0,0,0
$GC,5688,-0.88,-114.3,831.9,-12.8,305,5692,0.00,2.15,0.00,0.000,4,0.000,0.037,1580,1522,3288,0,0,0,0,0,0
$GC,5729,-0.88,-114.3,837.2,-11.9,306,5733,0.00,2.22,0.00,0.000,6,0.000,0.054,1571,2923,3288,0,0,0,0,0,0
$GC,6055,-0.88,-114.3,877.3,-12.2,317,6059,0.00,2.10,0.00,0.000,4,0.000,0.037,1571,1523,3288,0,0,0,0,0,0
$GC,6130,-0.88,-114.3,886.1,-11.0,319,6134,0.00,2.20,0.00,0.000,6,0.000,0.054,1560,2922,3288,0,0,0,0,0,0
$GC,6458,-0.88,-114.3,925.5,-11.9,330,6461,0.00,2.15,0.00,0.000,4,0.000,0.037,1560,1524,3287,0,0,0,0,0,0
$GC,6504,-0.88,-114.3,931.3,-11.4,331,6508,0.12,2.20,0.00,0.000,6,0.202,0.054,1580,2925,3287,0,0,0,0,0,0
$GC,6825,-0.88,-114.3,965.9,-11.0,342,6829,0.00,2.12,0.00,0.000,4,0.000,0.037,1580,1523,3287,0,0,0,0,0,0
$GC,6849,-0.88,-114.3,968.7,-10.9,342,6855,0.00,2.22,0.00,0.000,6,0.000,0.054,1570,2928,3287,0,0,0,0,0,0
$STATE,7129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7129,begin apogee
$GC,7139,-0.19,0.0,1002.1,12.0,352,7260,0.80,0.00,117.50,1.234,6,0.181,0.000,1802,2737,2819,0,0,0,0,0,0
$STATE,7262,end apogee,CONTROL_FINISHED_OK
$STATE,7262,begin climb
$GC,7267,0.88,114.3,1004.1,0.0,356,7398,0.95,2.55,116.57,1.789,4,0.056,0.044,2159,1341,2353,0,0,0,0,1,0
$GC,7410,0.88,114.3,980.0,24.3,360,7415,0.00,2.50,0.00,0.000,6,0.000,0.050,2159,2729,2353,0,0,0,0,0,0
$GC,7731,0.88,114.3,885.3,29.4,371,7735,0.00,2.28,0.00,0.000,4,0.000,0.045,2169,1344,2347,0,0,0,0,0,0
$GC,7749,0.88,114.3,879.6,29.3,371,7753,0.00,2.33,0.00,0.000,6,0.000,0.051,2169,2737,2345,0,0,0,0,0,0
$GC,8070,0.88,114.3,785.2,29.8,382,8074,0.00,2.25,0.00,0.000,4,0.000,0.046,2179,1342,2343,0,0,0,0,0,0
$GC,8094,0.88,114.3,777.6,29.7,382,8098,0.00,2.30,0.00,0.000,6,0.000,0.052,2179,2744,2343,0,0,0,0,0,0
$GC,8409,0.88,114.3,686.3,28.7,392,8413,0.00,2.25,0.00,0.000,4,0.000,0.045,2189,1335,2342,0,0,0,0,0,0
$GC,8427,0.88,114.3,680.5,29.2,392,8432,0.15,2.25,0.00,0.000,6,0.253,0.051,2160,2735,2341,0,0,0,0,0,0
$GC,8748,0.88,114.3,594.7,26.4,403,8752,0.00,2.20,0.00,0.000,4,0.000,0.044,2169,1339,2341,0,0,0,0,0,0
$GC,8789,0.88,114.3,583.8,25.8,404,8793,0.00,2.22,0.00,0.000,6,0.000,0.051,2163,2736,2340,0,0,0,0,0,0
$GC,9126,0.88,114.3,493.8,26.5,415,9130,0.00,2.20,0.00,0.000,4,0.000,0.044,2172,1330,2340,0,0,0,0,0,0
$GC,9144,0.88,114.3,488.7,25.9,415,9148,0.00,2.25,0.00,0.000,6,0.000,0.051,2172,2735,2340,0,0,0,0,0,0
$GC,9465,0.88,114.3,403.2,27.2,426,9469,0.00,2.20,0.00,0.000,4,0.000,0.046,2182,1338,2339,0,0,0,0,0,0
$GC,9496,0.88,114.3,394.9,26.4,427,9500,0.00,2.25,0.00,0.000,6,0.000,0.053,2182,2737,2339,0,0,0,0,0,0
$GC,9814,0.88,114.3,309.1,26.9,442,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2738,2339,0,0,0,0,0,0
$GC,10138,0.88,114.3,222.6,27.1,459,10142,0.00,2.20,0.00,0.000,4,0.000,0.046,2193,1334,2339,0,0,0,0,0,0
$GC,10155,0.88,114.3,216.7,27.2,460,10160,0.17,2.22,0.00,0.000,6,0.254,0.052,2155,2737,2337,0,0,0,0,0,0
$GC,10491,0.88,114.3,136.9,23.1,481,10494,0.00,1.83,0.00,0.000,4,0.000,0.060,2155,3897,2338,0,0,0,0,0,0
$GC,10510,0.88,114.3,130.4,23.5,482,10514,0.00,1.80,0.00,0.000,6,0.000,0.040,2163,2746,2338,0,0,0,0,0,0
$GC,10856,0.88,114.3,55.1,20.2,527,10863,0.00,2.20,0.00,0.000,4,0.000,0.045,2174,1324,2338,0,0,0,0,0,0
$GC,10876,0.88,114.3,50.6,20.7,529,10883,0.00,2.25,0.00,0.000,6,0.000,0.053,2173,2737,2337,0,0,0,0,0,0
$STATE,11104,end climb,SURFACE_DEPTH_REACHED
$STATE,11104,begin surface coast
$FINISH,0.7,1.026454
$STATE,11118,end surface coast,CONTROL_FINISHED_OK
$STATE,11118,begin surface
$SM_CCo,11141,193.88,0.789,1,0,517,564.18
$SM_GC,1.31,0.00,0.00,193.88,0.000,0.000,0.789,55,2941,517,-5.67,0.51,564.18
$IRIDIUM_FIX,-4616.72,401.12,301212,202050
$TT8_MAMPS,0.026215
$HUMID,55.90
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.1,29.979
$10V_AH,10.1,12.878
$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,14.775,112.825,234.075,193.875,0.000,60.207,112.950,317.312,0.000,0.000,22.691,1442.131,7498.193,589.801,1993.376,586.123,33.363,1266.800,0.000,1469.181,0.000,1.009,0.000
$DEVICE_MAMPS,260.100,67.320,1788.570,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.080,1142.537,633.984,260.938,0.000,0.000,0.000,0.000,0.000,0.000
$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,40443,568
$CAP_FILE_SIZE,100637,0
$CFSIZE,259252224,220114944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,311212,025716,-4629.781,359.877,44,1.0,44,-23.3