version: 66.07
glider: 543
mission: 6
dive: 42
start: 12 15 112 11 55 4
data:
$ID,543
$MISSION,6
$DIVE,42
$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,-7927.9214
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,151212,113355,-4226.297,818.562,39,0.7,39,-24.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-25.0
$GPS2,151212,115406,-4226.213,818.745,18,1.5,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.093,-0.268
$KALMAN_X,4952.3,295.8,-289.0,18374.0,2177.8
$KALMAN_Y,53997.9,524.8,-15.9,-47435.8,5517.1
$MHEAD_RNG_PITCHd_Wd,224.1,7219,-13.4,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.49,-194.7,0.0,0.0,0,120,0.00,0.00,-97.75,0.000,2,0.000,0.000,61,3361,2969,0,0,0,0,0,0
$GC,124,-0.49,-194.7,3.1,-3.3,12,143,5.75,0.98,-7.30,0.000,4,0.234,0.093,1482,3941,3269,0,0,0,0,0,0
$GC,418,-0.49,-194.7,42.3,-11.2,58,429,0.00,0.93,0.00,0.000,6,0.000,0.037,1482,3343,3272,0,0,0,0,0,0
$GC,670,-0.49,-194.7,68.5,-10.8,99,677,0.00,0.95,0.00,0.000,4,0.000,0.060,1478,3938,3271,0,0,0,0,0,0
$GC,874,-0.49,-194.7,90.3,-10.5,133,879,0.00,0.90,0.00,0.000,6,0.000,0.037,1478,3350,3272,0,0,0,0,0,0
$GC,1203,-0.49,-194.7,123.6,-9.9,164,1207,0.00,0.95,0.00,0.000,4,0.000,0.060,1473,3948,3272,0,0,0,0,0,0
$GC,1471,-0.49,-194.7,152.5,-10.4,179,1474,0.00,0.90,0.00,0.000,6,0.000,0.037,1473,3352,3272,0,0,0,0,0,0
$GC,1803,-0.49,-194.7,188.0,-10.6,200,1806,0.00,0.93,0.00,0.000,4,0.000,0.061,1469,3934,3272,0,0,0,0,0,0
$GC,2053,-0.49,-194.7,217.5,-12.1,214,2056,0.00,0.90,0.00,0.000,6,0.000,0.037,1469,3341,3272,0,0,0,0,0,0
$GC,2385,-0.49,-194.7,253.9,-11.1,235,2390,0.00,0.95,0.00,0.000,4,0.000,0.059,1465,3943,3272,0,0,0,0,0,0
$GC,2647,-0.49,-194.7,285.1,-12.1,246,2650,0.00,0.90,0.00,0.000,6,0.000,0.035,1465,3342,3272,0,0,0,0,0,0
$GC,2969,-0.49,-194.7,320.1,-11.1,262,2973,0.00,0.95,0.00,0.000,4,0.000,0.059,1461,3945,3271,0,0,0,0,0,0
$GC,3228,-0.49,-194.7,350.2,-11.3,273,3231,0.00,0.90,0.00,0.000,6,0.000,0.037,1461,3344,3271,0,0,0,0,0,0
$GC,3563,-0.49,-194.7,387.5,-11.1,289,3569,0.10,0.95,0.00,0.000,4,0.173,0.061,1482,3934,3271,0,0,0,0,0,0
$GC,3801,-0.49,-194.7,408.8,-8.7,297,3808,0.00,0.88,0.00,0.000,6,0.000,0.037,1482,3352,3271,0,0,0,0,0,0
$GC,4115,-0.49,-194.7,435.3,-8.5,308,4121,0.00,0.95,0.00,0.000,4,0.000,0.061,1478,3940,3270,0,0,0,0,0,0
$GC,4374,-0.49,-194.7,459.3,-9.8,315,4378,0.00,0.88,0.00,0.000,6,0.000,0.037,1478,3354,3270,0,0,0,0,0,0
$GC,4694,-0.49,-194.7,488.4,-9.3,326,4698,0.00,0.93,0.00,0.000,4,0.000,0.060,1473,3941,3269,0,0,0,0,0,0
$GC,4884,-0.49,-194.7,507.5,-10.0,331,4887,0.00,0.88,0.00,0.000,6,0.000,0.037,1474,3354,3269,0,0,0,0,0,0
$GC,5202,-0.49,-194.7,537.1,-9.0,342,5206,0.00,0.93,0.00,0.000,4,0.000,0.061,1470,3941,3269,0,0,0,0,0,0
$GC,5431,-0.49,-194.7,559.2,-9.9,348,5438,0.00,0.88,0.00,0.000,6,0.000,0.037,1469,3357,3268,0,0,0,0,0,0
$GC,5746,-0.49,-194.7,588.1,-9.4,359,5750,0.00,0.93,0.00,0.000,4,0.000,0.063,1465,3943,3267,0,0,0,0,0,0
$GC,6002,-0.49,-194.7,613.6,-9.6,366,6006,0.00,0.90,0.00,0.000,6,0.000,0.037,1465,3343,3267,0,0,0,0,0,0
$GC,6322,-0.49,-194.7,642.8,-9.4,377,6325,0.00,0.95,0.00,0.000,4,0.000,0.061,1461,3947,3266,0,0,0,0,0,0
$GC,6532,-0.49,-194.7,664.4,-10.2,383,6535,0.00,0.90,0.00,0.000,6,0.000,0.037,1461,3348,3266,0,0,0,0,0,0
$GC,6868,-0.49,-194.7,697.9,-10.3,394,6871,0.00,0.93,0.00,0.000,4,0.000,0.062,1457,3934,3265,0,0,0,0,0,0
$GC,7125,-0.49,-194.7,726.2,-10.2,401,7129,0.08,0.88,0.00,0.000,6,0.142,0.038,1481,3353,3264,0,0,0,0,0,0
$GC,7444,-0.49,-194.7,750.6,-7.5,412,7447,0.00,0.95,0.00,0.000,4,0.000,0.065,1478,3935,3263,0,0,0,0,0,0
$GC,7654,-0.49,-194.7,767.4,-7.5,418,7658,0.00,0.88,0.00,0.000,6,0.000,0.039,1479,3357,3262,0,0,0,0,0,0
$GC,7990,-0.49,-194.7,792.4,-7.4,429,7993,0.00,0.93,0.00,0.000,4,0.000,0.063,1474,3942,3261,0,0,0,0,0,0
$GC,8181,-0.49,-194.7,807.6,-8.0,434,8184,0.00,0.90,0.00,0.000,6,0.000,0.039,1474,3346,3261,0,0,0,0,0,0
$GC,8500,-0.49,-194.7,831.8,-7.8,445,8503,0.00,0.93,0.00,0.000,4,0.000,0.063,1470,3931,3261,0,0,0,0,0,0
$GC,8752,-0.49,-194.7,853.7,-9.2,452,8755,0.00,0.88,0.00,0.000,6,0.000,0.040,1470,3354,3260,0,0,0,0,0,0
$GC,9076,-0.49,-194.7,881.5,-8.7,463,9080,0.00,0.93,0.00,0.000,4,0.000,0.063,1466,3938,3259,0,0,0,0,0,0
$GC,9339,-0.49,-194.7,905.4,-8.6,470,9342,0.00,0.88,0.00,0.000,6,0.000,0.039,1466,3357,3259,0,0,0,0,0,0
$GC,9660,-0.49,-194.7,934.0,-8.9,481,9663,0.00,0.93,0.00,0.000,4,0.000,0.064,1462,3941,3258,0,0,0,0,0,0
$GC,9918,-0.49,-194.7,958.1,-8.8,488,9921,0.00,0.90,0.00,0.000,6,0.000,0.040,1462,3347,3258,0,0,0,0,0,0
$GC,10238,-0.49,-194.7,984.8,-8.3,499,10241,0.00,0.95,0.00,0.000,4,0.000,0.063,1457,3948,3257,0,0,0,0,0,0
$STATE,10407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10407,begin apogee
$GC,10415,-0.14,0.0,1000.1,9.1,504,10619,0.45,0.00,196.50,1.190,6,0.134,0.000,1599,3250,2468,0,0,0,0,0,0
$STATE,10620,end apogee,CONTROL_FINISHED_OK
$STATE,10620,begin climb
$GC,10623,0.49,194.7,1006.5,0.0,511,10832,0.57,1.25,197.73,1.164,4,0.058,0.057,1809,3937,1668,0,0,0,0,0,0
$GC,11025,0.49,194.7,941.9,18.8,523,11028,0.00,1.10,0.00,0.000,6,0.000,0.034,1814,3246,1654,0,0,0,0,0,0
$GC,11355,0.49,194.7,881.0,18.3,534,11360,0.00,2.25,0.00,0.000,4,0.000,0.038,1825,1839,1650,0,0,0,0,0,0
$GC,11504,0.49,194.7,859.2,13.9,538,11509,0.00,2.33,0.00,0.000,6,0.000,0.054,1825,3250,1649,0,0,0,0,0,0
$GC,11828,0.49,194.7,796.0,19.8,549,11832,0.00,2.20,0.00,0.000,4,0.000,0.039,1835,1839,1649,0,0,0,0,0,0
$GC,11935,0.49,194.7,778.1,15.3,552,11940,0.00,2.33,0.00,0.000,6,0.000,0.054,1835,3250,1648,0,0,0,0,0,0
$GC,12266,0.49,194.7,709.9,20.9,563,12270,0.00,2.17,0.00,0.000,4,0.000,0.037,1845,1832,1648,0,0,0,0,0,0
$GC,12398,0.49,194.7,686.7,16.7,567,12403,0.12,2.30,0.00,0.000,6,0.181,0.054,1815,3258,1647,0,0,0,0,0,0
$GC,12734,0.49,194.7,622.1,19.2,578,12738,0.00,2.17,0.00,0.000,4,0.000,0.035,1824,1835,1648,0,0,0,0,0,0
$GC,12875,0.49,194.7,600.1,14.6,582,12879,0.00,2.28,0.00,0.000,6,0.000,0.052,1824,3256,1647,0,0,0,0,0,0
$GC,13200,0.49,194.7,539.0,18.9,593,13204,0.00,2.17,0.00,0.000,4,0.000,0.034,1835,1828,1647,0,0,0,0,0,0
$GC,13255,0.49,194.7,529.8,14.0,594,13263,0.00,2.30,0.00,0.000,6,0.000,0.051,1835,3251,1647,0,0,0,0,0,0
$GC,13568,0.49,194.7,470.0,19.6,605,13574,0.00,2.17,0.00,0.000,4,0.000,0.034,1846,1837,1647,0,0,0,0,0,0
$GC,13692,0.49,194.7,449.7,14.4,608,13697,0.12,2.25,0.00,0.000,6,0.184,0.051,1815,3253,1646,0,0,0,0,0,0
$GC,14020,0.49,194.7,391.4,18.2,619,14024,0.00,2.15,0.00,0.000,4,0.000,0.034,1825,1825,1646,0,0,0,0,0,0
$GC,14097,0.49,194.7,378.6,13.6,622,14108,0.00,2.28,0.00,0.000,6,0.000,0.050,1825,3242,1645,0,0,0,0,0,0
$GC,14415,0.49,194.7,318.3,19.6,638,14419,0.00,2.15,0.00,0.000,4,0.000,0.034,1835,1831,1645,0,0,0,0,0,0
$GC,14510,0.49,194.7,302.3,15.9,642,14515,0.00,2.28,0.00,0.000,6,0.000,0.051,1836,3258,1646,0,0,0,0,0,0
$GC,14834,0.49,194.7,236.6,20.9,658,14838,0.00,2.15,0.00,0.000,4,0.000,0.034,1846,1835,1645,0,0,0,0,0,0
$GC,14936,0.49,194.7,218.8,15.2,664,14941,0.12,2.25,0.00,0.000,6,0.181,0.050,1815,3258,1646,0,0,0,0,0,0
$GC,15267,0.49,194.7,160.3,18.0,685,15271,0.00,2.15,0.00,0.000,4,0.000,0.033,1824,1832,1646,0,0,0,0,0,0
$GC,15367,0.49,194.7,145.3,12.5,691,15371,0.00,2.25,0.00,0.000,6,0.000,0.049,1825,3259,1646,0,0,0,0,0,0
$GC,15696,0.49,194.7,86.2,17.5,719,15701,0.00,2.15,0.00,0.000,4,0.000,0.032,1835,1830,1645,0,0,0,0,0,0
$GC,15791,0.49,194.7,72.2,14.4,735,15798,0.00,2.25,0.00,0.000,6,0.000,0.050,1835,3240,1645,0,0,0,0,0,0
$GC,16170,0.49,194.7,5.3,19.0,796,16179,0.00,2.12,0.00,0.000,4,0.000,0.032,1846,1843,1645,0,0,0,0,0,0
$STATE,16185,end climb,SURFACE_DEPTH_REACHED
$STATE,16185,begin surface coast
$FINISH,1.0,1.026213
$STATE,16208,end surface coast,CONTROL_FINISHED_OK
$STATE,16208,begin surface
$SM_CCo,16226,124.65,0.759,1,0,503,482.50
$SM_GC,1.11,0.00,0.00,124.65,0.000,0.000,0.759,60,3353,503,-4.97,0.03,482.50
$IRIDIUM_FIX,-4209.90,817.29,151212,111108
$TT8_MAMPS,0.025466
$HUMID,53.89
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.3,9.907
$10V_AH,10.1,4.811
$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,12.100,90.850,394.225,124.650,0.000,126.282,225.227,469.451,0.000,0.000,21.169,2179.924,10104.981,588.299,3674.673,1013.563,33.359,1874.683,0.000,3018.582,0.000,1.013,0.000
$DEVICE_MAMPS,234.090,92.565,1190.340,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.664,1745.357,796.834,362.613,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354208
$DATA_FILE_SIZE,60279,801
$CAP_FILE_SIZE,154938,0
$CFSIZE,259252224,255741952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,151212,162858,-4225.964,816.689,37,0.9,37,-24.9