version: 66.07
glider: 542
mission: 6
dive: 224
start: 1 13 113 3 36 58
data:
$ID,542
$MISSION,6
$DIVE,224
$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,-11198.159
$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,56
$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
$GPS1,130113,032721,-4700.172,411.936,39,1.4,39,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-29.3
$GPS2,130113,033606,-4700.128,411.962,21,1.2,21,-23.3
$SPEED_LIMITS,0.164,0.256
$TGT_NAME,GH1
$TGT_LATLONG,-4700.000,410.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.038,-0.159
$KALMAN_X,-159162.8,202.6,496.5,152096.6,-1778.1
$KALMAN_Y,105517.6,-158.2,216.0,-121973.0,3128.1
$MHEAD_RNG_PITCHd_Wd,216.8,2489,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,31,-0.79,-57.8,0.0,0.0,0,160,0.00,0.00,-125.85,0.000,2,0.000,0.000,55,2892,2946,0,0,0,0,0,0
$GC,166,-0.86,-114.6,3.2,-3.2,16,192,6.28,1.62,-9.85,0.000,4,0.247,0.074,1562,3893,3291,0,0,0,0,0,0
$GC,303,-0.86,-114.6,32.2,-22.1,36,312,0.00,1.55,0.00,0.000,6,0.000,0.031,1562,2867,3292,0,0,0,0,0,0
$GC,552,-0.86,-114.6,84.5,-20.7,77,556,0.00,2.08,0.00,0.000,4,0.000,0.034,1562,1490,3292,0,0,0,0,0,0
$GC,639,-0.86,-114.6,99.4,-15.5,91,644,0.00,2.25,0.00,0.000,6,0.000,0.052,1553,2887,3292,0,0,0,0,0,0
$GC,962,-0.86,-114.6,155.2,-17.9,112,966,0.00,2.12,0.00,0.000,4,0.000,0.034,1553,1500,3293,0,0,0,0,0,0
$GC,987,-0.86,-114.6,160.1,-17.4,113,994,0.12,2.20,0.00,0.000,6,0.206,0.050,1571,2883,3293,0,0,0,0,0,0
$GC,1308,-0.86,-114.6,211.9,-15.5,134,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,2883,3293,0,0,0,0,0,0
$GC,1636,-0.86,-114.6,261.8,-15.2,154,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2882,3294,0,0,0,0,0,0
$GC,1947,-0.86,-114.6,308.0,-14.8,169,1951,0.00,2.10,0.00,0.000,4,0.000,0.036,1571,1499,3294,0,0,0,0,0,0
$GC,1997,-0.86,-114.6,314.9,-12.6,171,2001,0.00,2.20,0.00,0.000,6,0.000,0.052,1561,2883,3293,0,0,0,0,0,0
$GC,2329,-0.86,-114.6,364.2,-15.0,187,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3293,0,0,0,0,0,0
$GC,2635,-0.86,-114.6,410.7,-15.5,201,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3293,0,0,0,0,0,0
$GC,2943,-0.86,-114.6,457.6,-15.1,211,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3294,0,0,0,0,0,0
$GC,3248,-0.86,-114.6,504.5,-15.3,221,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3294,0,0,0,0,0,0
$GC,3554,-0.86,-114.6,548.8,-14.5,231,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3294,0,0,0,0,0,0
$GC,3860,-0.86,-114.6,593.9,-14.5,241,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3293,0,0,0,0,0,0
$GC,4166,-0.86,-114.6,638.1,-14.4,251,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2883,3293,0,0,0,0,0,0
$GC,4473,-0.86,-114.6,680.6,-13.8,261,4477,0.00,2.10,0.00,0.000,4,0.000,0.037,1562,1500,3292,0,0,0,0,0,0
$GC,4510,-0.86,-114.6,685.5,-12.5,262,4514,0.00,2.20,0.00,0.000,6,0.000,0.053,1552,2884,3292,0,0,0,0,0,0
$GC,4853,-0.86,-114.6,734.0,-14.1,273,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,1551,2884,3292,0,0,0,0,0,0
$GC,5159,-0.86,-114.6,775.6,-13.5,283,5163,0.00,2.10,0.00,0.000,4,0.000,0.036,1552,1494,3292,0,0,0,0,0,0
$GC,5228,-0.86,-114.6,784.7,-12.3,285,5233,0.12,2.20,0.00,0.000,6,0.203,0.053,1569,2877,3291,0,0,0,0,0,0
$GC,5561,-0.86,-114.6,823.7,-11.9,296,5565,0.00,2.10,0.00,0.000,4,0.000,0.036,1569,1499,3291,0,0,0,0,0,0
$GC,5593,-0.86,-114.6,827.5,-12.4,297,5597,0.00,2.20,0.00,0.000,6,0.000,0.053,1560,2883,3290,0,0,0,0,0,0
$GC,5930,-0.86,-114.6,870.3,-12.9,308,5934,0.00,2.12,0.00,0.000,4,0.000,0.036,1560,1491,3290,0,0,0,0,0,0
$GC,5971,-0.86,-114.6,875.7,-12.6,309,5975,0.00,2.22,0.00,0.000,6,0.000,0.054,1549,2885,3290,0,0,0,0,0,0
$GC,6297,-0.86,-114.6,920.0,-13.7,320,6301,0.00,2.10,0.00,0.000,4,0.000,0.036,1549,1494,3290,0,0,0,0,0,0
$GC,6366,-0.86,-114.6,929.3,-13.6,322,6371,0.12,2.20,0.00,0.000,6,0.204,0.053,1566,2884,3289,0,0,0,0,0,0
$GC,6706,-0.86,-114.6,968.8,-11.4,333,6710,0.00,2.12,0.00,0.000,4,0.000,0.036,1567,1490,3289,0,0,0,0,0,0
$GC,6730,-0.86,-114.6,971.9,-11.3,333,6736,0.00,2.22,0.00,0.000,6,0.000,0.054,1557,2888,3288,0,0,0,0,0,0
$STATE,6979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6990,-0.18,0.0,1001.8,11.8,342,7110,0.80,0.00,117.10,1.234,6,0.184,0.000,1782,2715,2818,0,0,0,0,0,0
$STATE,7112,end apogee,CONTROL_FINISHED_OK
$STATE,7112,begin climb
$GC,7117,0.86,114.6,1004.0,0.0,346,7244,1.02,0.00,118.28,1.779,6,0.084,0.000,2124,2715,2351,0,0,0,0,1,0
$GC,7530,0.86,114.6,904.7,27.8,360,7534,0.00,2.28,0.00,0.000,4,0.000,0.043,2135,1312,2347,0,0,0,0,0,0
$GC,7548,0.86,114.6,899.2,27.6,360,7552,0.00,2.30,0.00,0.000,6,0.000,0.049,2135,2700,2346,0,0,0,0,0,0
$GC,7869,0.86,114.6,811.3,27.9,371,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2701,2344,0,0,0,0,0,0
$GC,8175,0.86,114.6,726.7,27.4,381,8179,0.00,2.22,0.00,0.000,4,0.000,0.043,2145,1301,2343,0,0,0,0,0,0
$GC,8215,0.86,114.6,715.6,25.3,382,8219,0.00,2.28,0.00,0.000,6,0.000,0.051,2145,2705,2341,0,0,0,0,0,0
$GC,8542,0.86,114.6,626.1,27.1,393,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2705,2341,0,0,0,0,0,0
$GC,8848,0.86,114.6,547.8,25.7,403,8852,0.00,2.20,0.00,0.000,4,0.000,0.043,2155,1299,2340,0,0,0,0,0,0
$GC,8871,0.86,114.6,541.4,24.9,403,8875,0.00,2.25,0.00,0.000,6,0.000,0.050,2155,2701,2340,0,0,0,0,0,0
$GC,9187,0.86,114.6,461.6,25.3,413,9191,0.00,2.20,0.00,0.000,4,0.000,0.042,2166,1298,2340,0,0,0,0,0,0
$GC,9228,0.86,114.6,451.2,24.9,414,9232,0.17,2.25,0.00,0.000,6,0.243,0.051,2128,2701,2339,0,0,0,0,0,0
$GC,9545,0.86,114.6,375.5,23.6,426,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2701,2339,0,0,0,0,0,0
$GC,9857,0.86,114.6,301.8,23.4,441,9861,0.00,1.92,0.00,0.000,4,0.000,0.058,2124,3900,2339,0,0,0,0,0,0
$GC,9882,0.86,114.6,295.0,24.3,442,9886,0.00,1.83,0.00,0.000,6,0.000,0.037,2132,2710,2339,0,0,0,0,0,0
$GC,10205,0.86,114.6,219.7,23.4,459,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2708,2339,0,0,0,0,0,0
$GC,10517,0.86,114.6,146.7,23.6,479,10521,0.00,2.20,0.00,0.000,4,0.000,0.043,2142,1291,2338,0,0,0,0,0,0
$GC,10553,0.86,114.6,138.3,20.3,481,10557,0.00,2.25,0.00,0.000,6,0.000,0.050,2142,2702,2336,0,0,0,0,0,0
$GC,10887,0.86,114.6,67.8,20.0,519,10894,0.00,2.20,0.00,0.000,4,0.000,0.039,2153,1297,2337,0,0,0,0,0,0
$GC,10953,0.86,114.6,56.2,18.8,529,10960,0.00,2.22,0.00,0.000,6,0.000,0.050,2153,2700,2336,0,0,0,0,0,0
$STATE,11200,end climb,SURFACE_DEPTH_REACHED
$STATE,11200,begin surface coast
$FINISH,0.8,1.026487
$STATE,11214,end surface coast,CONTROL_FINISHED_OK
$STATE,11214,begin surface
$SM_CCo,11237,194.07,0.783,1,0,478,573.99
$SM_GC,1.10,0.00,0.00,194.07,0.000,0.000,0.783,55,2894,478,-5.60,0.42,573.99
$IRIDIUM_FIX,-4644.93,412.78,130113,000006
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,10.30
$XPDR_PINGS,0
$24V_AH,22.1,42.877
$10V_AH,10.1,20.284
$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,14.925,73.150,235.375,194.075,0.000,31.178,22.912,256.068,0.000,0.000,23.702,1404.310,7714.938,575.030,1765.580,492.947,33.363,1174.627,0.000,1378.811,0.000,1.009,0.000
$DEVICE_MAMPS,247.095,74.205,1779.390,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.846,1147.452,633.968,249.891,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,40425,571
$CAP_FILE_SIZE,86064,0
$CFSIZE,259252224,215605248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,130113,064905,-4701.352,410.808,42,1.0,42,-23.3