version: 66.07
glider: 543
mission: 6
dive: 59
start: 12 18 112 8 1 35
data:
$ID,543
$MISSION,6
$DIVE,59
$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,-7987.1084
$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,54
$R_STBD_OVSHOOT,36
$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
$GPS1,181212,075159,-4234.592,819.522,40,0.9,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-36.9
$GPS2,181212,080039,-4234.564,819.566,25,0.8,26,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.154,0.023
$KALMAN_X,-5317.2,249.5,-275.2,29789.8,-2081.9
$KALMAN_Y,87652.1,-1213.6,-484.9,-94301.6,8027.5
$MHEAD_RNG_PITCHd_Wd,106.7,8474,-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,-88.88,0.000,6,0.000,0.000,60,3369,2694,0,0,0,0,0,0
$GC,115,-0.81,-101.4,3.1,-3.7,11,134,5.40,2.22,-5.55,0.000,4,0.239,0.044,1381,1946,2885,0,0,0,0,0,0
$GC,334,-0.81,-101.4,35.1,-15.3,44,343,0.00,2.30,0.00,0.000,6,0.000,0.054,1372,3339,2886,0,0,0,0,0,0
$GC,587,-0.81,-101.4,80.4,-16.7,85,591,0.00,0.98,0.00,0.000,4,0.000,0.056,1367,3953,2886,0,0,0,0,0,0
$GC,851,-0.81,-101.4,129.4,-18.0,113,855,0.00,0.90,0.00,0.000,6,0.000,0.035,1368,3354,2887,0,0,0,0,0,0
$GC,1177,-0.81,-101.4,179.8,-15.7,134,1182,0.00,0.93,0.00,0.000,4,0.000,0.056,1363,3947,2888,0,0,0,0,0,0
$GC,1444,-0.81,-101.4,226.4,-17.9,149,1448,0.00,0.90,0.00,0.000,6,0.000,0.035,1363,3348,2888,0,0,0,0,0,0
$GC,1764,-0.81,-101.4,278.1,-16.3,167,1770,0.00,0.95,0.00,0.000,4,0.000,0.055,1359,3954,2888,0,0,0,0,0,0
$GC,2029,-0.81,-101.4,326.9,-18.5,178,2033,0.00,0.90,0.00,0.000,6,0.000,0.034,1359,3352,2888,0,0,0,0,0,0
$GC,2353,-0.81,-101.4,379.2,-15.8,194,2356,0.00,0.95,0.00,0.000,4,0.000,0.055,1354,3958,2888,0,0,0,0,0,0
$GC,2547,-0.81,-101.4,413.6,-17.2,201,2551,0.08,0.90,0.00,0.000,6,0.187,0.035,1376,3356,2888,0,0,0,0,0,0
$GC,2867,-0.81,-101.4,460.1,-14.4,212,2870,0.00,0.93,0.00,0.000,4,0.000,0.057,1372,3947,2888,0,0,0,0,0,0
$GC,3039,-0.81,-101.4,486.8,-15.2,217,3043,0.00,0.90,0.00,0.000,6,0.000,0.036,1373,3345,2888,0,0,0,0,0,0
$GC,3380,-0.81,-101.4,536.3,-14.2,228,3384,0.00,0.95,0.00,0.000,4,0.000,0.057,1368,3953,2888,0,0,0,0,0,0
$GC,3496,-0.81,-101.4,555.1,-16.2,231,3500,0.00,0.90,0.00,0.000,6,0.000,0.035,1368,3348,2888,0,0,0,0,0,0
$GC,3822,-0.81,-101.4,603.5,-14.8,242,3826,0.00,0.95,0.00,0.000,4,0.000,0.057,1364,3955,2887,0,0,0,0,0,0
$GC,3944,-0.81,-101.4,623.8,-16.3,245,3950,0.00,0.90,0.00,0.000,6,0.000,0.036,1364,3354,2887,0,0,0,0,0,0
$GC,4264,-0.81,-101.4,670.9,-14.5,256,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3354,2886,0,0,0,0,0,0
$GC,4570,-0.81,-101.4,716.6,-15.2,266,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,1364,3354,2885,0,0,0,0,0,0
$GC,4877,-0.81,-101.4,761.8,-14.9,276,4881,0.00,0.93,0.00,0.000,4,0.000,0.058,1360,3946,2884,0,0,0,0,0,0
$GC,5134,-0.81,-101.4,804.6,-16.6,283,5138,0.00,0.88,0.00,0.000,6,0.000,0.037,1360,3361,2883,0,0,0,0,0,0
$GC,5454,-0.81,-101.4,852.7,-15.0,294,5457,0.00,0.93,0.00,0.000,4,0.000,0.058,1355,3953,2882,0,0,0,0,0,0
$GC,5548,-0.81,-101.4,867.9,-15.8,296,5555,0.08,0.90,0.00,0.000,6,0.190,0.037,1376,3357,2882,0,0,0,0,0,0
$GC,5861,-0.81,-101.4,910.9,-14.0,307,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3357,2881,0,0,0,0,0,0
$GC,6169,-0.81,-101.4,953.2,-13.6,317,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3357,2881,0,0,0,0,0,0
$GC,6474,-0.81,-101.4,992.9,-12.6,327,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3356,2880,0,0,0,0,0,0
$STATE,6532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6532,begin apogee
$GC,6539,-0.14,0.0,1000.6,12.5,329,6644,0.75,0.00,96.05,1.768,6,0.171,0.000,1596,3247,2473,0,0,0,0,1,0
$STATE,6645,end apogee,CONTROL_FINISHED_OK
$STATE,6645,begin climb
$GC,6648,0.81,101.4,1003.0,0.0,332,6759,0.93,0.00,102.78,1.775,6,0.079,0.000,1905,3247,2059,0,0,0,0,1,0
$GC,7048,0.81,101.4,921.1,23.5,345,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3247,2057,0,0,0,0,0,0
$GC,7354,0.81,101.4,849.7,23.6,355,7358,0.00,2.20,0.00,0.000,4,0.000,0.034,1916,1825,2054,0,0,0,0,0,0
$GC,7387,0.81,101.4,841.9,22.3,356,7391,0.00,2.35,0.00,0.000,6,0.000,0.051,1916,3263,2053,0,0,0,0,0,0
$GC,7716,0.81,101.4,765.4,23.3,367,7720,0.00,1.10,0.00,0.000,4,0.000,0.054,1916,3948,2052,0,0,0,0,0,0
$GC,7791,0.81,101.4,747.0,25.2,369,7794,0.00,1.08,0.00,0.000,6,0.000,0.033,1921,3237,2052,0,0,0,0,0,0
$GC,8126,0.81,101.4,669.8,22.4,380,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3237,2050,0,0,0,0,0,0
$GC,8434,0.81,101.4,601.5,22.3,390,8438,0.00,2.10,0.00,0.000,4,0.000,0.033,1932,1837,2049,0,0,0,0,0,0
$GC,8465,0.81,101.4,595.1,20.5,391,8469,0.00,2.28,0.00,0.000,6,0.000,0.049,1932,3260,2048,0,0,0,0,0,0
$GC,8800,0.81,101.4,521.1,22.2,402,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3261,2048,0,0,0,0,0,0
$GC,9107,0.81,101.4,452.6,22.0,412,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3260,2048,0,0,0,0,0,0
$GC,9418,0.81,101.4,384.2,22.6,423,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3261,2047,0,0,0,0,0,0
$GC,9723,0.81,101.4,314.3,22.2,438,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3260,2047,0,0,0,0,0,0
$GC,10033,0.81,101.4,247.4,21.8,453,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3260,2046,0,0,0,0,0,0
$GC,10348,0.81,101.4,182.6,20.7,473,10351,0.00,1.08,0.00,0.000,4,0.000,0.054,1932,3947,2046,0,0,0,0,0,0
$GC,10455,0.81,101.4,158.1,22.9,479,10459,0.00,1.02,0.00,0.000,6,0.000,0.033,1937,3252,2046,0,0,0,0,0,0
$GC,10783,0.81,101.4,85.9,21.3,506,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,3251,2046,0,0,0,0,0,0
$GC,11154,0.81,101.4,13.3,19.2,567,11163,0.00,1.10,0.00,0.000,4,0.000,0.054,1937,3947,2046,0,0,0,0,0,0
$GC,11193,0.81,101.4,5.2,21.2,572,11204,0.00,1.02,0.00,0.000,6,0.000,0.033,1941,3252,2046,0,0,0,0,0,0
$STATE,11211,end climb,SURFACE_DEPTH_REACHED
$STATE,11211,begin surface coast
$FINISH,0.9,1.014545
$STATE,11225,end surface coast,CONTROL_FINISHED_OK
$STATE,11225,begin surface
$SM_CCo,11242,168.57,0.754,1,0,505,482.50
$SM_GC,1.26,0.00,0.00,168.57,0.000,0.000,0.754,67,3369,505,-4.95,0.45,482.50
$IRIDIUM_FIX,-4221.55,816.08,181212,040453
$TT8_MAMPS,0.025466
$HUMID,54.01
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.0,13.115
$10V_AH,10.1,6.540
$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,12.275,36.725,198.825,168.575,0.000,26.572,46.487,289.053,0.000,0.000,27.883,1478.977,7342.326,467.791,1984.084,665.437,33.358,1179.486,0.000,1778.073,0.000,1.012,0.000
$DEVICE_MAMPS,239.445,77.265,1774.800,753.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.311,1294.560,616.560,289.895,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354220
$DATA_FILE_SIZE,43724,576
$CAP_FILE_SIZE,91399,0
$CFSIZE,259252224,254767104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,181212,111305,-4234.309,821.257,34,1.0,34,-25.0