version: 66.07
glider: 542
mission: 6
dive: 214
start: 1 11 113 18 34 44
data:
$ID,542
$MISSION,6
$DIVE,214
$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,573.99261
$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,-11173.13
$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,63
$R_STBD_OVSHOOT,27
$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
$GPS1,110113,182004,-4701.375,411.004,25,1.1,25,-23.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-24.6
$GPS2,110113,183348,-4701.375,410.949,18,0.9,18,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.161,0.031
$KALMAN_X,-153942.8,-476.2,-98.9,146880.3,-1855.0
$KALMAN_Y,103127.5,-567.9,-38.3,-121216.7,2411.1
$MHEAD_RNG_PITCHd_Wd,102.5,2816,-27.2,-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,-0.79,-57.8,0.0,0.0,0,162,0.00,0.00,-129.38,0.000,6,0.000,0.000,58,2849,3053,0,0,0,0,0,0
$GC,169,-0.85,-108.3,3.4,-3.9,17,187,6.35,1.75,-5.88,0.000,4,0.253,0.075,1560,3897,3265,0,0,0,0,0,0
$GC,462,-0.85,-108.3,63.5,-20.6,64,468,0.00,1.55,0.00,0.000,6,0.000,0.032,1560,2872,3266,0,0,0,0,0,0
$GC,807,-0.85,-108.3,128.8,-17.7,106,811,0.00,1.65,0.00,0.000,4,0.000,0.060,1553,3903,3266,0,0,0,0,0,0
$GC,898,-0.85,-108.3,144.9,-18.2,111,902,0.00,1.52,0.00,0.000,6,0.000,0.032,1553,2897,3266,0,0,0,0,0,0
$GC,1232,-0.85,-108.3,202.8,-16.6,132,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2892,3267,0,0,0,0,0,0
$GC,1548,-0.85,-108.3,253.8,-15.6,152,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2892,3268,0,0,0,0,0,0
$GC,1859,-0.85,-108.3,303.7,-16.0,167,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,2892,3267,0,0,0,0,0,0
$GC,2167,-0.85,-108.3,352.7,-15.7,182,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,1554,2892,3268,0,0,0,0,0,0
$GC,2478,-0.85,-108.3,402.2,-16.3,197,2482,0.00,2.12,0.00,0.000,4,0.000,0.037,1553,1488,3268,0,0,0,0,0,0
$GC,2535,-0.85,-108.3,411.4,-14.0,198,2540,0.12,2.22,0.00,0.000,6,0.210,0.054,1571,2883,3268,0,0,0,0,0,0
$GC,2851,-0.85,-108.3,455.6,-14.2,208,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2883,3268,0,0,0,0,0,0
$GC,3157,-0.85,-108.3,498.4,-13.8,218,3161,0.00,2.10,0.00,0.000,4,0.000,0.037,1571,1494,3268,0,0,0,0,0,0
$GC,3214,-0.85,-108.3,506.3,-12.6,219,3221,0.00,2.20,0.00,0.000,6,0.000,0.054,1562,2880,3267,0,0,0,0,0,0
$GC,3530,-0.85,-108.3,550.3,-14.3,230,3533,0.00,1.62,0.00,0.000,4,0.000,0.061,1555,3890,3267,0,0,0,0,0,0
$GC,3553,-0.85,-108.3,554.1,-15.4,230,3557,0.00,1.52,0.00,0.000,6,0.000,0.033,1555,2877,3267,0,0,0,0,0,0
$GC,3873,-0.85,-108.3,601.2,-14.7,241,3877,0.00,2.08,0.00,0.000,4,0.000,0.037,1554,1498,3266,0,0,0,0,0,0
$GC,3914,-0.85,-108.3,607.3,-14.3,242,3919,0.12,2.20,0.00,0.000,6,0.208,0.054,1572,2878,3266,0,0,0,0,0,0
$GC,4241,-0.85,-108.3,649.4,-12.9,253,4245,0.00,2.10,0.00,0.000,4,0.000,0.037,1572,1489,3266,0,0,0,0,0,0
$GC,4265,-0.85,-108.3,652.8,-13.3,253,4272,0.00,2.22,0.00,0.000,6,0.000,0.054,1563,2887,3266,0,0,0,0,0,0
$GC,4581,-0.85,-108.3,694.8,-13.6,264,4584,0.00,2.10,0.00,0.000,4,0.000,0.036,1563,1497,3265,0,0,0,0,0,0
$GC,4604,-0.85,-108.3,698.3,-12.9,264,4611,0.00,2.20,0.00,0.000,6,0.000,0.053,1553,2883,3265,0,0,0,0,0,0
$GC,4919,-0.85,-108.3,740.4,-13.3,275,4923,0.00,2.12,0.00,0.000,4,0.000,0.037,1553,1486,3265,0,0,0,0,0,0
$GC,4960,-0.85,-108.3,746.0,-13.0,276,4965,0.12,2.20,0.00,0.000,6,0.208,0.054,1570,2878,3265,0,0,0,0,0,0
$GC,5300,-0.85,-108.3,784.9,-11.1,287,5304,0.00,2.10,0.00,0.000,4,0.000,0.036,1571,1487,3264,0,0,0,0,0,0
$GC,5331,-0.85,-108.3,788.5,-10.5,288,5335,0.00,2.20,0.00,0.000,6,0.000,0.054,1561,2881,3264,0,0,0,0,0,0
$GC,5676,-0.85,-108.3,827.5,-11.5,299,5680,0.00,2.10,0.00,0.000,4,0.000,0.036,1561,1492,3264,0,0,0,0,0,0
$GC,5741,-0.85,-108.3,834.8,-10.9,301,5745,0.00,2.22,0.00,0.000,6,0.000,0.054,1551,2884,3263,0,0,0,0,0,0
$GC,6078,-0.85,-108.3,875.0,-11.7,312,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,2884,3263,0,0,0,0,0,0
$GC,6385,-0.85,-108.3,913.1,-12.7,322,6389,0.00,2.12,0.00,0.000,4,0.000,0.037,1550,1492,3262,0,0,0,0,0,0
$GC,6476,-0.85,-108.3,924.4,-12.0,324,6483,0.12,2.20,0.00,0.000,6,0.209,0.054,1569,2880,3262,0,0,0,0,0,0
$GC,6791,-0.85,-108.3,959.9,-11.3,335,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2880,3262,0,0,0,0,0,0
$GC,7098,-0.85,-108.3,995.0,-11.2,345,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2879,3262,0,0,0,0,0,0
$STATE,7154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7154,begin apogee
$GC,7165,-0.18,0.0,1002.1,11.5,347,7279,0.75,0.00,110.57,1.248,6,0.184,0.000,1781,2705,2819,0,0,0,0,0,0
$STATE,7280,end apogee,CONTROL_FINISHED_OK
$STATE,7281,begin climb
$GC,7285,0.85,108.3,1004.3,0.0,351,7408,0.98,0.00,113.60,1.216,6,0.083,0.000,2116,2705,2372,0,0,0,0,0,0
$GC,7720,0.85,108.3,905.1,25.6,365,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2705,2361,0,0,0,0,0,0
$GC,8023,0.85,108.3,827.0,25.2,375,8027,0.00,2.20,0.00,0.000,4,0.000,0.044,2127,1309,2359,0,0,0,0,0,0
$GC,8092,0.85,108.3,810.2,23.3,377,8096,0.00,2.28,0.00,0.000,6,0.000,0.052,2125,2701,2357,0,0,0,0,0,0
$GC,8424,0.85,108.3,726.8,25.4,388,8428,0.00,2.20,0.00,0.000,4,0.000,0.043,2135,1310,2356,0,0,0,0,0,0
$GC,8490,0.85,108.3,711.4,22.5,390,8495,0.00,2.25,0.00,0.000,6,0.000,0.051,2134,2699,2355,0,0,0,0,0,0
$GC,8828,0.85,108.3,626.6,25.0,401,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2699,2355,0,0,0,0,0,0
$GC,9134,0.85,108.3,552.2,23.9,411,9138,0.00,2.17,0.00,0.000,4,0.000,0.042,2145,1295,2355,0,0,0,0,0,0
$GC,9171,0.85,108.3,543.5,23.6,412,9175,0.00,2.25,0.00,0.000,6,0.000,0.052,2145,2703,2354,0,0,0,0,0,0
$GC,9516,0.85,108.3,461.1,23.8,423,9520,0.00,2.20,0.00,0.000,4,0.000,0.044,2155,1306,2354,0,0,0,0,0,0
$GC,9557,0.85,108.3,450.6,24.0,424,9561,0.12,2.25,0.00,0.000,6,0.259,0.052,2131,2707,2353,0,0,0,0,0,0
$GC,9874,0.85,108.3,377.8,23.0,436,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2707,2353,0,0,0,0,0,0
$GC,10186,0.85,108.3,307.4,23.0,451,10190,0.00,2.17,0.00,0.000,4,0.000,0.042,2140,1308,2353,0,0,0,0,0,0
$GC,10236,0.85,108.3,296.3,22.4,453,10241,0.00,2.22,0.00,0.000,6,0.000,0.051,2131,2698,2352,0,0,0,0,0,0
$GC,10569,0.85,108.3,221.4,22.1,471,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2698,2352,0,0,0,0,0,0
$GC,10882,0.85,108.3,153.0,22.4,491,10886,0.00,2.15,0.00,0.000,4,0.000,0.043,2140,1309,2352,0,0,0,0,0,0
$GC,10972,0.85,108.3,134.7,19.6,496,10976,0.00,2.22,0.00,0.000,6,0.000,0.051,2141,2701,2351,0,0,0,0,0,0
$GC,11306,0.85,108.3,66.1,20.6,536,11313,0.00,2.17,0.00,0.000,4,0.000,0.043,2151,1303,2351,0,0,0,0,0,0
$GC,11449,0.85,108.3,39.2,21.1,559,11456,0.00,2.22,0.00,0.000,6,0.000,0.051,2151,2700,2350,0,0,0,0,0,0
$STATE,11620,end climb,SURFACE_DEPTH_REACHED
$STATE,11620,begin surface coast
$FINISH,0.8,1.009069
$STATE,11634,end surface coast,CONTROL_FINISHED_OK
$STATE,11634,begin surface
$SM_CCo,11657,195.07,0.778,1,0,476,573.99
$SM_GC,1.19,0.00,0.00,195.07,0.000,0.000,0.778,56,2896,476,-5.60,0.45,573.99
$IRIDIUM_FIX,-4644.93,409.64,110113,181820
$TT8_MAMPS,0.026215
$HUMID,56.69
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.50
$XPDR_PINGS,0
$24V_AH,22.8,41.251
$10V_AH,10.0,19.467
$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,14.400,79.950,224.175,195.075,0.000,52.514,106.510,356.578,0.000,0.000,20.415,1469.752,8003.224,564.264,2106.464,530.514,33.363,1219.123,0.000,1497.647,0.000,1.009,0.000
$DEVICE_MAMPS,259.335,74.970,1247.715,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.077,1179.436,647.301,252.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,43714,588
$CAP_FILE_SIZE,95014,0
$CFSIZE,259252224,216092672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,110113,215334,-4700.731,412.211,24,1.1,24,-23.3