version: 66.07
glider: 543
mission: 6
dive: 29
start: 12 13 112 11 29 54
data:
$ID,543
$MISSION,6
$DIVE,29
$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,482.49722
$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,-7880.9893
$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,50
$R_STBD_OVSHOOT,22
$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
$GPS1,131212,111322,-4232.852,817.996,47,1.0,47,-24.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-27.4
$GPS2,131212,112856,-4232.892,818.174,20,1.3,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.025,-0.154
$KALMAN_X,3818.8,-962.9,388.3,19312.3,3000.9
$KALMAN_Y,42344.0,-149.9,-700.6,-46752.0,8538.3
$MHEAD_RNG_PITCHd_Wd,214.1,5907,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-88.60,0.000,6,0.000,0.000,58,3365,2695,0,0,0,0,0,0
$GC,115,-0.82,-104.6,2.9,-3.3,11,134,5.30,0.95,-6.20,0.000,4,0.232,0.085,1370,3948,2900,0,0,0,0,0,0
$GC,418,-0.82,-104.6,55.8,-18.4,58,429,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3362,2901,0,0,0,0,0,0
$GC,666,-0.82,-104.6,98.6,-17.2,99,673,0.00,0.93,0.00,0.000,4,0.000,0.057,1365,3943,2901,0,0,0,0,0,0
$GC,934,-0.82,-104.6,147.8,-17.9,116,938,0.00,0.90,0.00,0.000,6,0.000,0.036,1366,3350,2902,0,0,0,0,0,0
$GC,1262,-0.82,-104.6,201.6,-16.6,137,1267,0.00,0.95,0.00,0.000,4,0.000,0.054,1361,3956,2902,0,0,0,0,0,0
$GC,1352,-0.82,-104.6,218.0,-17.9,142,1355,0.00,0.93,0.00,0.000,6,0.000,0.036,1361,3340,2902,0,0,0,0,0,0
$GC,1683,-0.82,-104.6,271.3,-16.0,161,1688,0.00,0.95,0.00,0.000,4,0.000,0.056,1356,3948,2902,0,0,0,0,0,0
$GC,1741,-0.82,-104.6,281.5,-15.8,163,1744,0.00,0.90,0.00,0.000,6,0.000,0.036,1356,3349,2902,0,0,0,0,0,0
$GC,2064,-0.82,-104.6,331.0,-15.1,179,2070,0.00,0.93,0.00,0.000,4,0.000,0.056,1352,3944,2902,0,0,0,0,0,0
$GC,2190,-0.82,-104.6,352.8,-16.1,184,2194,0.10,0.90,0.00,0.000,6,0.190,0.036,1379,3347,2902,0,0,0,0,0,0
$GC,2513,-0.82,-104.6,396.5,-13.5,200,2516,0.00,0.95,0.00,0.000,4,0.000,0.057,1377,3953,2902,0,0,0,0,0,0
$GC,2667,-0.82,-104.6,418.8,-14.7,205,2673,0.00,0.90,0.00,0.000,6,0.000,0.036,1376,3351,2902,0,0,0,0,0,0
$GC,2993,-0.82,-104.6,462.0,-13.4,216,2998,0.00,0.95,0.00,0.000,4,0.000,0.057,1372,3957,2902,0,0,0,0,0,0
$GC,3252,-0.82,-104.6,500.8,-14.9,223,3255,0.00,0.90,0.00,0.000,6,0.000,0.037,1372,3354,2902,0,0,0,0,0,0
$GC,3571,-0.82,-104.6,546.3,-14.6,234,3575,0.00,0.95,0.00,0.000,4,0.000,0.060,1368,3947,2901,0,0,0,0,0,0
$GC,3646,-0.82,-104.6,558.0,-15.8,236,3650,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3348,2901,0,0,0,0,0,0
$GC,3982,-0.82,-104.6,608.0,-14.8,247,3986,0.00,0.95,0.00,0.000,4,0.000,0.058,1363,3954,2901,0,0,0,0,0,0
$GC,4167,-0.82,-104.6,637.4,-16.0,252,4171,0.00,0.90,0.00,0.000,6,0.000,0.037,1364,3353,2900,0,0,0,0,0,0
$GC,4492,-0.82,-104.6,684.1,-14.3,263,4495,0.00,0.95,0.00,0.000,4,0.000,0.060,1359,3946,2899,0,0,0,0,0,0
$GC,4553,-0.82,-104.6,693.6,-15.6,264,4560,0.00,0.90,0.00,0.000,6,0.000,0.037,1359,3344,2899,0,0,0,0,0,0
$GC,4866,-0.82,-104.6,738.4,-14.6,275,4872,0.00,0.95,0.00,0.000,4,0.000,0.058,1355,3951,2898,0,0,0,0,0,0
$GC,5052,-0.82,-104.6,767.6,-15.8,280,5058,0.08,0.90,0.00,0.000,6,0.200,0.037,1375,3351,2898,0,0,0,0,0,0
$GC,5378,-0.82,-104.6,808.7,-12.4,291,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1375,3351,2897,0,0,0,0,0,0
$GC,5684,-0.82,-104.6,847.0,-12.7,301,5687,0.00,0.93,0.00,0.000,4,0.000,0.061,1372,3941,2896,0,0,0,0,0,0
$GC,5941,-0.82,-104.6,883.5,-14.7,308,5945,0.00,0.90,0.00,0.000,6,0.000,0.039,1372,3347,2896,0,0,0,0,0,0
$GC,6260,-0.82,-104.6,923.7,-12.7,319,6264,0.00,0.95,0.00,0.000,4,0.000,0.060,1368,3951,2895,0,0,0,0,0,0
$GC,6389,-0.82,-104.6,942.3,-14.7,322,6396,0.00,0.90,0.00,0.000,6,0.000,0.039,1368,3350,2895,0,0,0,0,0,0
$GC,6703,-0.82,-104.6,982.1,-12.4,333,6706,0.00,0.93,0.00,0.000,4,0.000,0.060,1364,3939,2894,0,0,0,0,0,0
$STATE,6837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6837,begin apogee
$GC,6847,-0.14,0.0,1000.3,13.4,337,6959,0.82,0.00,107.70,1.206,6,0.179,0.000,1600,3141,2470,0,0,0,0,0,0
$STATE,6961,end apogee,CONTROL_FINISHED_OK
$STATE,6961,begin climb
$GC,6964,0.82,104.6,1002.7,0.0,341,7076,0.95,0.00,108.62,1.169,6,0.080,0.000,1914,3141,2046,0,0,0,0,0,0
$GC,7384,0.82,104.6,911.6,24.0,354,7387,0.00,1.33,0.00,0.000,4,0.000,0.056,1914,3940,2023,0,0,0,0,0,0
$GC,7520,0.82,104.6,875.4,27.5,358,7523,0.00,1.23,0.00,0.000,6,0.000,0.034,1920,3149,2022,0,0,0,0,0,0
$GC,7861,0.82,104.6,793.5,23.3,369,7866,0.00,1.30,0.00,0.000,4,0.000,0.054,1920,3953,2019,0,0,0,0,0,0
$GC,7979,0.82,104.6,763.2,24.2,372,7983,0.00,1.23,0.00,0.000,6,0.000,0.034,1926,3150,2019,0,0,0,0,0,0
$GC,8303,0.82,104.6,687.9,23.3,383,8307,0.00,1.30,0.00,0.000,4,0.000,0.055,1926,3953,2017,0,0,0,0,0,0
$GC,8426,0.82,104.6,655.9,27.1,386,8429,0.00,1.23,0.00,0.000,6,0.000,0.033,1932,3146,2017,0,0,0,0,0,0
$GC,8746,0.82,104.6,581.2,23.0,397,8749,0.00,1.30,0.00,0.000,4,0.000,0.054,1932,3954,2015,0,0,0,0,0,0
$GC,8890,0.82,104.6,543.9,25.7,401,8894,0.00,1.20,0.00,0.000,6,0.000,0.032,1938,3153,2015,0,0,0,0,0,0
$GC,9220,0.82,104.6,467.0,23.0,412,9223,0.00,1.27,0.00,0.000,4,0.000,0.054,1938,3953,2014,0,0,0,0,0,0
$GC,9372,0.82,104.6,429.2,24.5,416,9378,0.10,1.20,0.00,0.000,6,0.224,0.033,1918,3148,2014,0,0,0,0,0,0
$GC,9701,0.82,104.6,360.3,20.7,430,9704,0.00,1.25,0.00,0.000,4,0.000,0.054,1916,3941,2013,0,0,0,0,0,0
$GC,9965,0.82,104.6,298.2,23.6,441,9969,0.00,1.17,0.00,0.000,6,0.000,0.034,1921,3155,2013,0,0,0,0,0,0
$GC,10284,0.82,104.6,230.7,22.0,458,10288,0.00,1.25,0.00,0.000,4,0.000,0.051,1921,3950,2013,0,0,0,0,0,0
$GC,10439,0.82,104.6,193.6,23.8,466,10447,0.00,1.20,0.00,0.000,6,0.000,0.033,1926,3143,2012,0,0,0,0,0,0
$GC,10761,0.82,104.6,122.4,22.1,487,10766,0.00,1.27,0.00,0.000,4,0.000,0.053,1927,3951,2013,0,0,0,0,0,0
$GC,10977,0.82,104.6,72.6,23.4,511,10981,0.00,1.17,0.00,0.000,6,0.000,0.033,1932,3155,2012,0,0,0,0,0,0
$STATE,11321,end climb,SURFACE_DEPTH_REACHED
$STATE,11321,begin surface coast
$FINISH,0.9,1.014634
$STATE,11345,end surface coast,CONTROL_FINISHED_OK
$STATE,11347,begin surface
$SM_CCo,11363,165.02,0.732,1,0,504,482.50
$SM_GC,1.28,0.00,0.00,165.02,0.000,0.000,0.732,69,3363,504,-4.94,0.28,482.50
$IRIDIUM_FIX,-4215.72,815.24,131212,070754
$TT8_MAMPS,0.025466
$HUMID,54.01
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.7,7.643
$10V_AH,10.2,3.463
$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,12.350,46.375,216.325,165.025,0.000,26.548,42.982,615.727,0.000,0.000,22.876,1540.987,7071.553,456.541,2599.715,764.597,33.344,1326.015,0.000,2064.401,0.000,1.014,0.000
$DEVICE_MAMPS,231.795,84.915,1206.405,732.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.684,1283.663,606.075,282.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354288
$DATA_FILE_SIZE,43821,570
$CAP_FILE_SIZE,109097,0
$CFSIZE,259252224,256565248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,131212,144328,-4233.415,818.110,39,1.2,39,-24.9