version: 66.07
glider: 543
mission: 6
dive: 35
start: 12 14 112 9 37 34
data:
$ID,543
$MISSION,6
$DIVE,35
$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,52459
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7903.0117
$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,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,28
$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
$GPS1,141212,090434,-4234.161,819.371,33,0.8,33,-24.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-27.9
$GPS2,141212,093636,-4234.107,819.711,19,1.3,20,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.089,0.132
$KALMAN_X,439.1,-961.4,125.0,25047.1,-1588.7
$KALMAN_Y,47493.8,-910.6,-630.2,-53455.1,4642.0
$MHEAD_RNG_PITCHd_Wd,59.0,7616,-26.6,-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,-0.77,-56.0,0.0,0.0,0,111,0.00,0.00,-89.10,0.000,6,0.000,0.000,57,3363,2703,0,0,0,0,0,0
$GC,115,-0.80,-106.3,3.0,-3.6,11,134,5.38,2.17,-5.85,0.000,4,0.233,0.047,1381,1957,2909,0,0,0,0,0,0
$GC,273,-0.80,-106.3,24.7,-15.7,34,283,0.00,2.30,0.00,0.000,6,0.000,0.056,1372,3344,2911,0,0,0,0,0,0
$GC,360,-0.80,-106.3,39.2,-16.0,47,366,0.00,0.98,0.00,0.000,4,0.000,0.058,1367,3948,2911,0,0,0,0,0,0
$GC,484,-0.80,-106.3,61.3,-17.1,67,488,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3363,2911,0,0,0,0,0,0
$GC,839,-0.80,-106.3,121.5,-16.4,114,842,0.00,0.93,0.00,0.000,4,0.000,0.057,1363,3945,2911,0,0,0,0,0,0
$GC,1107,-0.80,-106.3,168.9,-17.4,129,1110,0.00,0.90,0.00,0.000,6,0.000,0.036,1363,3352,2911,0,0,0,0,0,0
$GC,1433,-0.80,-106.3,221.8,-15.8,150,1437,0.00,0.95,0.00,0.000,4,0.000,0.057,1359,3955,2911,0,0,0,0,0,0
$GC,1702,-0.80,-106.3,270.8,-17.4,164,1706,0.08,0.93,0.00,0.000,6,0.190,0.037,1380,3345,2910,0,0,0,0,0,0
$GC,2024,-0.80,-106.3,320.5,-15.7,180,2028,0.00,0.95,0.00,0.000,4,0.000,0.057,1377,3950,2911,0,0,0,0,0,0
$GC,2289,-0.80,-106.3,365.1,-16.0,191,2293,0.00,0.90,0.00,0.000,6,0.000,0.037,1377,3352,2910,0,0,0,0,0,0
$GC,2610,-0.80,-106.3,410.5,-14.1,206,2614,0.00,0.95,0.00,0.000,4,0.000,0.058,1372,3955,2910,0,0,0,0,0,0
$GC,2872,-0.80,-106.3,450.0,-15.4,213,2876,0.00,0.90,0.00,0.000,6,0.000,0.035,1373,3354,2910,0,0,0,0,0,0
$GC,3192,-0.80,-106.3,493.8,-13.6,224,3195,0.00,0.95,0.00,0.000,4,0.000,0.059,1368,3946,2909,0,0,0,0,0,0
$GC,3449,-0.80,-106.3,533.3,-15.9,231,3453,0.00,0.88,0.00,0.000,6,0.000,0.036,1368,3357,2909,0,0,0,0,0,0
$GC,3770,-0.80,-106.3,576.4,-13.7,242,3773,0.00,0.93,0.00,0.000,4,0.000,0.058,1364,3949,2908,0,0,0,0,0,0
$GC,4027,-0.80,-106.3,616.5,-16.0,249,4030,0.00,0.90,0.00,0.000,6,0.000,0.036,1364,3346,2908,0,0,0,0,0,0
$GC,4346,-0.80,-106.3,661.8,-14.1,260,4349,0.00,2.10,0.00,0.000,4,0.000,0.033,1364,1939,2907,0,0,0,0,0,0
$GC,4515,-0.80,-106.3,682.3,-11.6,265,4520,0.15,2.25,0.00,0.000,6,0.187,0.054,1390,3359,2906,0,0,0,0,0,0
$GC,4845,-0.80,-106.3,722.7,-12.6,276,4849,0.00,0.93,0.00,0.000,4,0.000,0.059,1387,3947,2905,0,0,0,0,0,0
$GC,5107,-0.80,-106.3,759.1,-13.4,283,5111,0.00,0.90,0.00,0.000,6,0.000,0.038,1387,3349,2904,0,0,0,0,0,0
$GC,5427,-0.80,-106.3,799.5,-12.9,294,5431,0.00,0.93,0.00,0.000,4,0.000,0.060,1383,3938,2903,0,0,0,0,0,0
$GC,5634,-0.80,-106.3,829.1,-13.9,300,5637,0.00,0.88,0.00,0.000,6,0.000,0.039,1383,3355,2903,0,0,0,0,0,0
$GC,5970,-0.80,-106.3,870.9,-12.4,311,5973,0.00,0.93,0.00,0.000,4,0.000,0.060,1378,3944,2902,0,0,0,0,0,0
$GC,6231,-0.80,-106.3,906.8,-14.7,318,6235,0.00,0.90,0.00,0.000,6,0.000,0.038,1378,3347,2901,0,0,0,0,0,0
$GC,6552,-0.80,-106.3,947.2,-12.4,329,6556,0.00,0.95,0.00,0.000,4,0.000,0.061,1374,3951,2900,0,0,0,0,0,0
$GC,6810,-0.80,-106.3,983.7,-14.6,336,6814,0.00,0.90,0.00,0.000,6,0.000,0.039,1374,3356,2900,0,0,0,0,0,0
$STATE,6942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6942,begin apogee
$GC,6949,-0.14,0.0,1000.7,12.9,341,7066,0.77,0.00,109.43,1.200,6,0.172,0.000,1599,3247,2467,0,0,0,0,0,0
$STATE,7067,end apogee,CONTROL_FINISHED_OK
$STATE,7067,begin climb
$GC,7070,0.80,106.3,1003.1,0.0,345,7190,0.90,2.38,109.82,1.187,4,0.081,0.034,1913,1832,2032,0,0,0,0,0,0
$GC,7313,0.80,106.3,959.4,20.6,352,7317,0.00,2.38,0.00,0.000,6,0.000,0.050,1913,3253,2018,0,0,0,0,0,0
$GC,7631,0.80,106.3,882.4,24.7,363,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3253,2014,0,0,0,0,0,0
$GC,7937,0.80,106.3,810.1,23.5,373,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3253,2011,0,0,0,0,0,0
$GC,8245,0.80,106.3,736.6,24.4,383,8249,0.00,2.20,0.00,0.000,4,0.000,0.035,1923,1821,2010,0,0,0,0,0,0
$GC,8324,0.80,106.3,719.0,21.1,385,8328,0.00,2.30,0.00,0.000,6,0.000,0.051,1923,3250,2009,0,0,0,0,0,0
$GC,8643,0.80,106.3,639.4,25.1,396,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3250,2008,0,0,0,0,0,0
$GC,8948,0.80,106.3,562.9,25.1,406,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3250,2007,0,0,0,0,0,0
$GC,9255,0.80,106.3,488.1,24.0,416,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3250,2006,0,0,0,0,0,0
$GC,9562,0.80,106.3,417.0,22.9,426,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3250,2006,0,0,0,0,0,0
$GC,9881,0.80,106.3,344.5,22.5,440,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3250,2005,0,0,0,0,0,0
$GC,10191,0.80,106.3,276.0,22.2,455,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3250,2005,0,0,0,0,0,0
$GC,10504,0.80,106.3,206.1,23.1,473,10508,0.00,2.12,0.00,0.000,4,0.000,0.034,1933,1824,2005,0,0,0,0,0,0
$GC,10528,0.80,106.3,200.1,22.1,474,10537,0.00,2.28,0.00,0.000,6,0.000,0.050,1934,3246,2004,0,0,0,0,0,0
$GC,10853,0.80,106.3,125.0,23.7,495,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,3246,2003,0,0,0,0,0,0
$GC,11189,0.80,106.3,46.8,23.4,541,11196,0.00,2.17,0.00,0.000,4,0.000,0.034,1945,1822,2004,0,0,0,0,0,0
$GC,11296,0.80,106.3,26.3,17.9,558,11307,0.10,2.28,0.00,0.000,6,0.184,0.050,1915,3248,2003,0,0,0,0,0,0
$GC,11392,0.80,106.3,10.4,17.0,571,11400,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3248,2003,0,0,0,0,0,0
$STATE,11427,end climb,SURFACE_DEPTH_REACHED
$STATE,11428,begin surface coast
$FINISH,1.0,1.013143
$STATE,11448,end surface coast,CONTROL_FINISHED_OK
$STATE,11448,begin surface
$SM_CCo,11464,164.05,0.760,1,0,505,482.50
$SM_GC,1.24,0.00,0.00,164.05,0.000,0.000,0.760,60,3374,505,-4.97,0.59,482.50
$IRIDIUM_FIX,-4218.64,818.55,141212,090923
$TT8_MAMPS,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.6,8.749
$10V_AH,10.1,4.071
$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,12.325,47.475,219.250,164.050,0.000,79.896,64.344,1359.584,0.000,0.000,24.539,1540.719,7342.698,460.987,3259.869,914.735,33.352,1293.750,0.000,2021.856,0.000,1.015,0.000
$DEVICE_MAMPS,233.325,79.560,1199.520,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.840,1292.470,614.814,291.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354540
$DATA_FILE_SIZE,43732,579
$CAP_FILE_SIZE,115548,0
$CFSIZE,259252224,256217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,141212,125234,-4233.375,821.201,25,1.5,25,-25.0