version: 66.07
glider: 542
mission: 6
dive: 154
start: 12 31 112 22 55 46
data:
$ID,542
$MISSION,6
$DIVE,154
$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,353
$T_MISSION,368
$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,150
$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,250
$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,-10925.081
$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,1850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2880
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,28
$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
$GPS1,311212,224403,-4628.378,404.127,34,1.3,34,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.2
$GPS2,311212,225453,-4628.488,404.149,14,1.0,15,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.229,-0.114
$KALMAN_X,-94317.8,733.8,168.7,77164.4,-6135.6
$KALMAN_Y,45407.7,-175.7,-361.5,-2670.8,2901.9
$MHEAD_RNG_PITCHd_Wd,139.8,7968,-16.5,-9.443
$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,-0.61,-146.1,0.0,0.0,0,91,0.00,0.00,-63.15,0.000,2,0.000,0.000,55,2895,2981,0,0,0,0,0,0
$GC,98,-0.61,-146.1,3.0,-3.1,8,125,6.57,1.67,-14.30,0.000,4,0.252,0.083,1636,3894,3417,0,0,0,0,0,0
$GC,402,-0.61,-146.1,48.1,-13.9,56,411,0.00,1.60,0.00,0.000,6,0.000,0.032,1636,2850,3420,0,0,0,0,0,0
$GC,650,-0.61,-146.1,81.8,-13.0,97,654,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2849,3421,0,0,0,0,0,0
$GC,982,-0.61,-146.1,124.3,-13.6,134,986,0.00,2.05,0.00,0.000,4,0.000,0.037,1636,1497,3421,0,0,0,0,0,0
$GC,1019,-0.61,-146.1,129.2,-13.2,136,1023,0.00,2.22,0.00,0.000,6,0.000,0.053,1625,2888,3421,0,0,0,0,0,0
$GC,1349,-0.61,-146.1,171.7,-13.1,157,1352,0.00,1.60,0.00,0.000,4,0.000,0.060,1618,3896,3422,0,0,0,0,0,0
$GC,1423,-0.61,-146.1,182.8,-13.6,161,1427,0.08,1.52,0.00,0.000,6,0.172,0.033,1640,2890,3422,0,0,0,0,0,0
$GC,1756,-0.61,-146.1,218.6,-10.9,182,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2885,3423,0,0,0,0,0,0
$GC,2084,-0.61,-146.1,253.7,-10.5,203,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2885,3422,0,0,0,0,0,0
$GC,2392,-0.61,-146.1,285.1,-10.3,218,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2885,3422,0,0,0,0,0,0
$GC,2703,-0.61,-146.1,317.9,-10.6,233,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2885,3422,0,0,0,0,0,0
$GC,3010,-0.61,-146.1,351.2,-10.8,248,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2885,3422,0,0,0,0,0,0
$GC,3321,-0.61,-146.1,382.7,-10.0,263,3325,0.00,1.62,0.00,0.000,4,0.000,0.062,1634,3893,3422,0,0,0,0,0,0
$GC,3362,-0.61,-146.1,387.4,-10.7,264,3371,0.00,1.52,0.00,0.000,6,0.000,0.034,1634,2877,3422,0,0,0,0,0,0
$GC,3678,-0.61,-146.1,421.1,-10.7,277,3682,0.00,1.62,0.00,0.000,4,0.000,0.062,1626,3887,3422,0,0,0,0,0,0
$GC,3715,-0.61,-146.1,425.2,-11.4,278,3718,0.00,1.52,0.00,0.000,6,0.000,0.034,1626,2877,3422,0,0,0,0,0,0
$GC,4058,-0.61,-146.1,463.0,-11.1,289,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3422,0,0,0,0,0,0
$GC,4364,-0.61,-146.1,497.1,-11.2,299,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2873,3422,0,0,0,0,0,0
$GC,4670,-0.61,-146.1,530.9,-11.1,309,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2872,3421,0,0,0,0,0,0
$GC,4976,-0.61,-146.1,564.8,-11.0,319,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2872,3421,0,0,0,0,0,0
$GC,5283,-0.61,-146.1,599.2,-11.5,329,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2873,3421,0,0,0,0,0,0
$GC,5589,-0.61,-146.1,632.8,-10.6,339,5592,0.00,1.65,0.00,0.000,4,0.000,0.063,1618,3913,3420,0,0,0,0,0,0
$GC,5625,-0.61,-146.1,636.9,-11.4,340,5629,0.08,1.58,0.00,0.000,6,0.171,0.034,1650,2876,3420,0,0,0,0,0,0
$GC,5969,-0.61,-146.1,665.4,-7.8,351,5973,0.00,2.10,0.00,0.000,4,0.000,0.039,1650,1488,3419,0,0,0,0,0,0
$GC,6010,-0.61,-146.1,669.0,-7.6,352,6014,0.00,2.22,0.00,0.000,6,0.000,0.054,1640,2888,3419,0,0,0,0,0,0
$GC,6336,-0.61,-146.1,697.9,-9.1,363,6340,0.00,2.15,0.00,0.000,4,0.000,0.037,1640,1485,3419,0,0,0,0,0,0
$GC,6378,-0.61,-146.1,701.7,-9.1,364,6382,0.00,2.22,0.00,0.000,6,0.000,0.054,1629,2885,3419,0,0,0,0,0,0
$GC,6704,-0.61,-146.1,732.9,-9.7,375,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2885,3419,0,0,0,0,0,0
$GC,7012,-0.61,-146.1,762.5,-9.6,385,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2885,3419,0,0,0,0,0,0
$GC,7317,-0.61,-146.1,792.1,-9.6,395,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2885,3419,0,0,0,0,0,0
$GC,7624,-0.61,-146.1,821.7,-9.7,405,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2885,3419,0,0,0,0,0,0
$GC,7929,-0.61,-146.1,850.0,-9.0,415,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2885,3419,0,0,0,0,0,0
$GC,8235,-0.61,-146.1,876.9,-8.7,425,8239,0.00,2.15,0.00,0.000,4,0.000,0.039,1629,1484,3419,0,0,0,0,0,0
$GC,8293,-0.61,-146.1,881.8,-7.4,426,8301,0.12,2.22,0.00,0.000,6,0.185,0.054,1650,2888,3418,0,0,0,0,0,0
$GC,8609,-0.61,-146.1,903.1,-6.8,437,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2888,3418,0,0,0,0,0,0
$GC,8915,-0.61,-146.1,924.6,-7.2,447,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2888,3418,0,0,0,0,0,0
$GC,9221,-0.61,-146.1,946.9,-7.4,457,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2888,3418,0,0,0,0,0,0
$GC,9527,-0.61,-146.1,968.9,-7.1,467,9531,0.00,2.12,0.00,0.000,4,0.000,0.039,1650,1487,3418,0,0,0,0,0,0
$GC,9565,-0.61,-146.1,971.5,-7.6,468,9569,0.00,2.20,0.00,0.000,6,0.000,0.057,1642,2880,3418,0,0,0,0,0,0
$GC,9910,-0.61,-146.1,995.6,-7.0,479,9913,0.00,1.62,0.00,0.000,4,0.000,0.063,1634,3892,3417,0,0,0,0,0,0
$GC,9950,-0.61,-146.1,999.0,-7.6,480,9954,0.00,1.52,0.00,0.000,6,0.000,0.035,1633,2880,3417,0,0,0,0,0,0
$STATE,9964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9964,begin apogee
$GC,9975,-0.18,0.0,1000.2,7.6,480,10127,0.47,0.00,148.40,1.217,6,0.164,0.000,1780,2703,2819,0,0,0,0,0,0
$STATE,10129,end apogee,CONTROL_FINISHED_OK
$STATE,10129,begin climb
$GC,10134,0.61,146.1,1002.4,0.0,485,10292,0.77,0.00,148.95,1.786,6,0.090,0.000,2040,2703,2225,0,0,0,0,1,0
$GC,10599,0.61,146.1,907.4,23.0,501,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2703,2220,0,0,0,0,0,0
$GC,10907,0.61,146.1,836.1,23.0,511,10911,0.00,2.22,0.00,0.000,4,0.000,0.044,2051,1297,2218,0,0,0,0,0,0
$GC,10953,0.61,146.1,825.0,21.8,512,10957,0.00,2.30,0.00,0.000,6,0.000,0.053,2051,2703,2216,0,0,0,0,0,0
$GC,11285,0.61,146.1,747.2,23.9,523,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2703,2216,0,0,0,0,0,0
$GC,11591,0.61,146.1,675.8,22.9,533,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2703,2215,0,0,0,0,0,0
$GC,11897,0.61,146.1,606.1,22.8,543,11901,0.00,2.20,0.00,0.000,4,0.000,0.044,2061,1309,2215,0,0,0,0,0,0
$GC,11972,0.61,146.1,590.1,20.3,545,11976,0.00,2.25,0.00,0.000,6,0.000,0.052,2061,2705,2212,0,0,0,0,0,0
$GC,12304,0.61,146.1,514.4,23.7,556,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2705,2213,0,0,0,0,0,0
$GC,12611,0.61,146.1,444.1,22.4,566,12615,0.00,2.22,0.00,0.000,4,0.000,0.046,2071,1294,2212,0,0,0,0,0,0
$GC,12676,0.61,146.1,429.8,20.7,568,12681,0.00,2.28,0.00,0.000,6,0.000,0.054,2071,2709,2211,0,0,0,0,0,0
$GC,12997,0.61,146.1,357.6,22.6,581,13001,0.00,1.90,0.00,0.000,4,0.000,0.061,2071,3893,2212,0,0,0,0,0,0
$GC,13049,0.61,146.1,344.5,23.1,583,13053,0.00,1.83,0.00,0.000,6,0.000,0.040,2079,2712,2212,0,0,0,0,0,0
$GC,13381,0.61,146.1,268.0,23.9,599,13385,0.12,2.17,0.00,0.000,4,0.250,0.046,2062,1292,2212,0,0,0,0,0,0
$GC,13473,0.61,146.1,248.3,18.1,603,13480,0.00,2.25,0.00,0.000,6,0.000,0.053,2062,2704,2210,0,0,0,0,0,0
$GC,13797,0.61,146.1,178.8,21.2,624,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2704,2211,0,0,0,0,0,0
$GC,14107,0.61,146.1,117.0,18.3,644,14108,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2704,2211,0,0,0,0,0,0
$GC,14445,0.61,146.1,55.2,16.2,692,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2704,2211,0,0,0,0,0,0
$GC,14703,0.61,146.1,8.7,18.6,733,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2704,2211,0,0,0,0,0,0
$STATE,14731,end climb,SURFACE_DEPTH_REACHED
$STATE,14731,begin surface coast
$FINISH,0.8,1.004231
$STATE,14751,end surface coast,CONTROL_FINISHED_OK
$STATE,14751,begin surface
$SM_CCo,14773,51.47,0.772,1,0,1798,250.20
$SM_GC,1.62,0.00,0.00,51.47,0.000,0.000,0.772,61,2915,1798,-5.59,0.99,250.20
$IRIDIUM_FIX,-4613.60,400.91,311212,181824
$TT8_MAMPS,0.026215
$HUMID,58.23
$INTERNAL_PRESSURE,9.3262
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,21.8,31.007
$10V_AH,10.1,13.448
$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,13.525,62.875,297.350,51.475,0.000,25.055,45.470,338.307,0.000,0.000,17.735,1819.937,10325.835,462.885,2230.819,626.653,33.357,1190.736,0.000,1760.328,0.000,1.008,0.000
$DEVICE_MAMPS,252.450,82.620,1786.275,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.555,1455.351,772.569,298.365,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,53889,740
$CAP_FILE_SIZE,105564,0
$CFSIZE,259252224,219746304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,010113,030423,-4628.905,406.457,40,1.1,40,-23.4