version: 66.07
glider: 543
mission: 6
dive: 24
start: 12 12 112 15 56 44
data:
$ID,543
$MISSION,6
$DIVE,24
$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,370
$T_MISSION,385
$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,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52589
$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,472.49722
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7862.6294
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3353
$C_ROLL_CLIMB,3153
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$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,-55.913475
$PRESSURE_SLOPE,0.00011638312
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$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,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,121212,152928,-4234.792,820.122,39,1.0,39,-25.0
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-37.5
$GPS2,121212,155548,-4234.634,820.046,19,1.8,19,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.153,-0.029
$KALMAN_X,-3674.1,399.8,159.4,28214.9,-1211.4
$KALMAN_Y,33515.8,-751.3,-486.7,-40763.1,8772.1
$MHEAD_RNG_PITCHd_Wd,125.7,8582,-27.1,-9.009
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.79,-53.9,0.0,0.0,0,113,0.00,0.00,-87.68,0.000,6,0.000,0.000,65,3340,2694,0,0,0,0,0,0
$GC,117,-0.82,-102.0,2.9,-3.6,11,136,5.50,2.15,-5.80,0.000,4,0.246,0.047,1378,1953,2889,0,0,0,0,0,0
$GC,153,-0.82,-102.0,7.1,-9.3,15,162,0.00,2.35,0.00,0.000,6,0.000,0.057,1369,3357,2890,0,0,0,0,0,0
$GC,242,-0.82,-102.0,22.2,-18.4,28,251,0.00,0.95,0.00,0.000,4,0.000,0.059,1365,3944,2890,0,0,0,0,0,0
$GC,281,-0.82,-102.0,30.2,-20.7,33,288,0.00,0.88,0.00,0.000,6,0.000,0.038,1365,3388,2890,0,0,0,0,0,0
$GC,528,-0.82,-102.0,74.5,-16.8,74,535,0.00,2.22,0.00,0.000,4,0.000,0.034,1365,1935,2890,0,0,0,0,0,0
$GC,667,-0.82,-102.0,92.6,-12.5,97,673,0.12,2.33,0.00,0.000,6,0.199,0.056,1382,3365,2891,0,0,0,0,0,0
$GC,993,-0.82,-102.0,138.8,-14.7,124,996,0.00,0.93,0.00,0.000,4,0.000,0.057,1379,3951,2891,0,0,0,0,0,0
$GC,1174,-0.82,-102.0,169.5,-16.5,134,1177,0.00,0.93,0.00,0.000,6,0.000,0.036,1379,3338,2890,0,0,0,0,0,0
$GC,1502,-0.82,-102.0,218.4,-14.7,155,1506,0.00,0.98,0.00,0.000,4,0.000,0.057,1374,3957,2890,0,0,0,0,0,0
$GC,1763,-0.82,-102.0,259.4,-15.5,169,1768,0.00,0.90,0.00,0.000,6,0.000,0.037,1374,3357,2891,0,0,0,0,0,0
$GC,2098,-0.82,-102.0,308.2,-14.3,185,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,1374,3356,2890,0,0,0,0,0,0
$GC,2407,-0.82,-102.0,350.4,-13.2,200,2411,0.00,0.93,0.00,0.000,4,0.000,0.057,1370,3949,2890,0,0,0,0,0,0
$GC,2500,-0.82,-102.0,363.3,-13.5,204,2503,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3348,2891,0,0,0,0,0,0
$GC,2822,-0.82,-102.0,405.5,-13.0,219,2826,0.00,0.95,0.00,0.000,4,0.000,0.057,1366,3954,2891,0,0,0,0,0,0
$GC,2934,-0.82,-102.0,422.2,-15.7,222,2940,0.00,0.90,0.00,0.000,6,0.000,0.037,1365,3352,2891,0,0,0,0,0,0
$GC,3265,-0.82,-102.0,468.8,-14.4,233,3270,0.00,2.15,0.00,0.000,4,0.000,0.034,1366,1950,2891,0,0,0,0,0,0
$GC,3293,-0.82,-102.0,473.0,-13.8,233,3301,0.12,2.25,0.00,0.000,6,0.200,0.057,1384,3362,2891,0,0,0,0,0,0
$GC,3606,-0.82,-102.0,515.0,-13.3,244,3610,0.00,0.90,0.00,0.000,4,0.000,0.058,1381,3943,2890,0,0,0,0,0,0
$GC,3797,-0.82,-102.0,542.9,-14.9,249,3801,0.00,0.88,0.00,0.000,6,0.000,0.037,1381,3358,2890,0,0,0,0,0,0
$GC,4116,-0.82,-102.0,585.5,-13.7,260,4120,0.00,0.93,0.00,0.000,4,0.000,0.058,1376,3949,2890,0,0,0,0,0,0
$GC,4256,-0.82,-102.0,606.3,-14.0,264,4259,0.00,0.90,0.00,0.000,6,0.000,0.038,1376,3351,2889,0,0,0,0,0,0
$GC,4591,-0.82,-102.0,653.5,-14.1,275,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3349,2888,0,0,0,0,0,0
$GC,4898,-0.82,-102.0,694.9,-13.4,285,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3350,2888,0,0,0,0,0,0
$GC,5205,-0.82,-102.0,736.6,-13.5,295,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3349,2887,0,0,0,0,0,0
$GC,5510,-0.82,-102.0,775.9,-12.7,305,5516,0.00,0.95,0.00,0.000,4,0.000,0.059,1372,3954,2886,0,0,0,0,0,0
$GC,5594,-0.82,-102.0,787.8,-13.8,307,5598,0.00,0.90,0.00,0.000,6,0.000,0.039,1372,3356,2886,0,0,0,0,0,0
$GC,5919,-0.82,-102.0,830.1,-13.0,318,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3355,2885,0,0,0,0,0,0
$GC,6225,-0.82,-102.0,870.4,-13.1,328,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3355,2884,0,0,0,0,0,0
$GC,6533,-0.82,-102.0,910.0,-13.1,338,6537,0.00,2.12,0.00,0.000,4,0.000,0.037,1372,1941,2884,0,0,0,0,0,0
$GC,6554,-0.82,-102.0,913.1,-12.6,338,6562,0.00,2.28,0.00,0.000,6,0.000,0.059,1362,3347,2883,0,0,0,0,0,0
$GC,6867,-0.82,-102.0,954.5,-13.4,349,6873,0.00,0.95,0.00,0.000,4,0.000,0.061,1357,3954,2883,0,0,0,0,0,0
$GC,6920,-0.82,-102.0,962.0,-14.4,350,6923,0.00,0.90,0.00,0.000,6,0.000,0.040,1357,3358,2883,0,0,0,0,0,0
$STATE,7210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7210,begin apogee
$GC,7217,-0.14,0.0,1000.2,12.7,360,7326,0.85,0.00,105.60,1.205,6,0.180,0.000,1600,3150,2473,0,0,0,0,0,0
$STATE,7328,end apogee,CONTROL_FINISHED_OK
$STATE,7328,begin climb
$GC,7330,0.82,102.0,1002.6,0.0,363,7443,0.90,1.35,107.22,1.176,4,0.081,0.052,1904,3951,2055,0,0,0,0,0,0
$GC,7534,0.82,102.0,963.5,24.7,370,7537,0.00,1.27,0.00,0.000,6,0.000,0.033,1910,3145,2043,0,0,0,0,0,0
$GC,7864,0.82,102.0,888.0,22.9,381,7869,0.00,1.33,0.00,0.000,4,0.000,0.055,1910,3955,2036,0,0,0,0,0,0
$GC,8108,0.82,102.0,825.5,27.2,388,8112,0.00,1.23,0.00,0.000,6,0.000,0.034,1916,3158,2034,0,0,0,0,0,0
$GC,8444,0.82,102.0,746.9,23.0,399,8448,0.00,1.27,0.00,0.000,4,0.000,0.055,1916,3948,2032,0,0,0,0,0,0
$GC,8701,0.82,102.0,681.9,26.0,406,8704,0.00,1.20,0.00,0.000,6,0.000,0.034,1922,3156,2031,0,0,0,0,0,0
$GC,9019,0.82,102.0,609.2,22.6,417,9023,0.00,1.27,0.00,0.000,4,0.000,0.054,1922,3953,2030,0,0,0,0,0,0
$GC,9279,0.82,102.0,544.1,25.1,424,9282,0.00,1.20,0.00,0.000,6,0.000,0.034,1928,3157,2030,0,0,0,0,0,0
$GC,9599,0.82,102.0,474.2,21.3,435,9602,0.00,1.27,0.00,0.000,4,0.000,0.054,1928,3956,2028,0,0,0,0,0,0
$GC,9856,0.82,102.0,410.3,24.8,442,9860,0.00,1.20,0.00,0.000,6,0.000,0.034,1934,3156,2029,0,0,0,0,0,0
$GC,10180,0.82,102.0,340.4,21.6,457,10185,0.00,2.17,0.00,0.000,4,0.000,0.036,1945,1748,2028,0,0,0,0,0,0
$GC,10436,0.82,102.0,293.3,17.4,468,10441,0.12,2.25,0.00,0.000,6,0.219,0.049,1917,3163,2026,0,0,0,0,0,0
$GC,10770,0.82,102.0,226.0,21.3,486,10774,0.00,1.23,0.00,0.000,4,0.000,0.054,1916,3944,2026,0,0,0,0,0,0
$GC,11037,0.82,102.0,161.7,22.7,501,11041,0.00,1.17,0.00,0.000,6,0.000,0.034,1922,3155,2026,0,0,0,0,0,0
$GC,11363,0.82,102.0,93.6,20.6,525,11372,0.00,2.12,0.00,0.000,4,0.000,0.034,1933,1756,2026,0,0,0,0,0,0
$GC,11534,0.82,102.0,64.8,16.8,553,11539,0.00,2.22,0.00,0.000,6,0.000,0.049,1933,3164,2026,0,0,0,0,0,0
$STATE,11840,end climb,SURFACE_DEPTH_REACHED
$STATE,11840,begin surface coast
$FINISH,0.8,1.012377
$STATE,11864,end surface coast,CONTROL_FINISHED_OK
$STATE,11864,begin surface
$SM_CCo,11880,163.20,0.748,1,0,546,472.69
$SM_GC,1.45,0.00,0.00,163.20,0.000,0.000,0.748,65,3362,546,-4.95,0.25,472.69
$IRIDIUM_FIX,-4218.64,818.97,121212,151554
$TT8_MAMPS,0.025466
$HUMID,53.70
$INTERNAL_PRESSURE,8.92729
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.6,6.629
$10V_AH,10.2,2.950
$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,12.675,58.750,212.825,163.200,0.000,119.027,266.870,740.501,0.000,0.000,22.103,1594.420,7722.620,479.683,3017.709,776.395,33.349,1311.862,0.000,2005.767,0.000,1.014,0.000
$DEVICE_MAMPS,246.330,68.085,1204.875,748.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.968,1323.589,631.098,292.053,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,43881,605
$CAP_FILE_SIZE,112880,0
$CFSIZE,259252224,256860160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,121212,191852,-4234.154,821.299,39,1.5,39,-25.0