version: 66.07
glider: 543
mission: 6
dive: 64
start: 12 19 112 1 24 46
data:
$ID,543
$MISSION,6
$DIVE,64
$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,-8005.728
$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,53
$R_STBD_OVSHOOT,34
$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
$GPS1,191212,010934,-4230.042,821.246,31,0.9,31,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-29.7
$GPS2,191212,012349,-4229.930,821.182,15,1.6,16,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.179,-0.009
$KALMAN_X,-1166.2,300.9,0.1,27509.8,2360.2
$KALMAN_Y,83761.6,135.9,160.3,-83859.5,66.4
$MHEAD_RNG_PITCHd_Wd,292.2,1619,-23.5,-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,-0.70,-70.6,0.0,0.0,0,119,0.00,0.00,-90.45,0.000,6,0.000,0.000,53,3369,2765,0,0,0,0,0,0
$GC,123,-0.73,-130.7,3.3,-3.9,12,142,5.47,2.17,-6.20,0.000,4,0.235,0.047,1408,1954,3007,0,0,0,0,0,0
$GC,197,-0.73,-130.7,15.8,-15.0,22,207,0.00,2.30,0.00,0.000,6,0.000,0.058,1399,3334,3009,0,0,0,0,0,0
$GC,292,-0.73,-130.7,32.4,-20.4,35,298,0.00,1.00,0.00,0.000,4,0.000,0.058,1395,3950,3009,0,0,0,0,0,0
$GC,326,-0.73,-130.7,40.4,-20.6,40,335,0.00,0.90,0.00,0.000,6,0.000,0.037,1395,3376,3009,0,0,0,0,0,0
$GC,571,-0.73,-130.7,88.0,-17.1,81,580,0.00,2.22,0.00,0.000,4,0.000,0.033,1395,1934,3010,0,0,0,0,0,0
$GC,640,-0.73,-130.7,97.6,-14.0,91,645,0.00,2.33,0.00,0.000,6,0.000,0.060,1384,3356,3010,0,0,0,0,0,0
$GC,967,-0.73,-130.7,154.0,-16.6,113,973,0.00,0.95,0.00,0.000,4,0.000,0.057,1380,3955,3011,0,0,0,0,0,0
$GC,1113,-0.73,-130.7,181.1,-18.8,121,1118,0.10,0.93,0.00,0.000,6,0.181,0.035,1408,3341,3011,0,0,0,0,0,0
$GC,1446,-0.73,-130.7,232.2,-15.1,142,1449,0.00,0.95,0.00,0.000,4,0.000,0.058,1404,3945,3011,0,0,0,0,0,0
$GC,1514,-0.73,-130.7,243.7,-16.7,146,1517,0.00,0.90,0.00,0.000,6,0.000,0.035,1404,3348,3012,0,0,0,0,0,0
$GC,1832,-0.73,-130.7,292.6,-15.6,162,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,1404,3348,3012,0,0,0,0,0,0
$GC,2142,-0.73,-130.7,340.1,-15.6,177,2148,0.00,0.95,0.00,0.000,4,0.000,0.058,1400,3951,3012,0,0,0,0,0,0
$GC,2214,-0.73,-130.7,352.2,-16.4,180,2220,0.00,0.90,0.00,0.000,6,0.000,0.035,1400,3350,3012,0,0,0,0,0,0
$GC,2549,-0.73,-130.7,402.6,-14.8,196,2553,0.00,0.95,0.00,0.000,4,0.000,0.058,1396,3951,3011,0,0,0,0,0,0
$GC,2599,-0.73,-130.7,410.7,-16.1,197,2602,0.00,0.90,0.00,0.000,6,0.000,0.035,1396,3349,3011,0,0,0,0,0,0
$GC,2923,-0.73,-130.7,459.1,-15.0,208,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,1396,3349,3011,0,0,0,0,0,0
$GC,3230,-0.73,-130.7,506.7,-15.5,218,3233,0.00,0.95,0.00,0.000,4,0.000,0.058,1392,3954,3010,0,0,0,0,0,0
$GC,3366,-0.73,-130.7,528.8,-16.6,222,3369,0.00,0.90,0.00,0.000,6,0.000,0.036,1391,3352,3011,0,0,0,0,0,0
$GC,3707,-0.73,-130.7,580.8,-15.2,233,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,1391,3351,3010,0,0,0,0,0,0
$GC,4013,-0.73,-130.7,624.7,-13.9,243,4017,0.00,0.95,0.00,0.000,4,0.000,0.059,1387,3957,3010,0,0,0,0,0,0
$GC,4097,-0.73,-130.7,638.0,-15.7,245,4100,0.00,0.90,0.00,0.000,6,0.000,0.036,1387,3354,3009,0,0,0,0,0,0
$GC,4421,-0.73,-130.7,685.3,-14.7,256,4424,0.00,0.95,0.00,0.000,4,0.000,0.060,1382,3957,3008,0,0,0,0,0,0
$GC,4476,-0.73,-130.7,694.3,-16.2,257,4480,0.00,0.90,0.00,0.000,6,0.000,0.037,1383,3357,3008,0,0,0,0,0,0
$GC,4794,-0.73,-130.7,743.6,-15.6,268,4796,0.12,0.00,0.00,0.000,6,0.200,0.000,1412,3356,3007,0,0,0,0,0,0
$GC,5101,-0.73,-130.7,786.3,-13.8,278,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,1412,3356,3006,0,0,0,0,0,0
$GC,5408,-0.73,-130.7,827.9,-13.5,288,5412,0.00,0.95,0.00,0.000,4,0.000,0.061,1409,3958,3006,0,0,0,0,0,0
$GC,5463,-0.73,-130.7,836.3,-14.3,289,5466,0.00,0.90,0.00,0.000,6,0.000,0.037,1408,3358,3005,0,0,0,0,0,0
$GC,5782,-0.73,-130.7,878.1,-12.8,300,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,1408,3357,3005,0,0,0,0,0,0
$GC,6088,-0.73,-130.7,915.4,-12.0,310,6091,0.00,0.93,0.00,0.000,4,0.000,0.062,1404,3944,3003,0,0,0,0,0,0
$GC,6246,-0.73,-130.7,936.0,-13.6,314,6251,0.00,0.90,0.00,0.000,6,0.000,0.038,1404,3349,3003,0,0,0,0,0,0
$GC,6565,-0.73,-130.7,974.9,-12.2,325,6571,0.00,0.95,0.00,0.000,4,0.000,0.062,1400,3951,3002,0,0,0,0,0,0
$GC,6618,-0.73,-130.7,981.9,-13.8,326,6621,0.00,0.93,0.00,0.000,6,0.000,0.037,1400,3338,3002,0,0,0,0,0,0
$STATE,6786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6786,begin apogee
$GC,6793,-0.14,0.0,1003.7,12.6,332,6931,0.68,0.00,134.25,1.202,6,0.160,0.000,1600,3248,2473,0,0,0,0,0,0
$STATE,6932,end apogee,CONTROL_FINISHED_OK
$STATE,6932,begin climb
$GC,6935,0.73,130.7,1006.5,0.0,336,7079,0.80,2.40,134.02,1.169,4,0.070,0.033,1891,1831,1931,0,0,0,0,0,0
$GC,7102,0.73,130.7,979.6,21.6,341,7106,0.00,2.45,0.00,0.000,6,0.000,0.050,1891,3261,1922,0,0,0,0,0,0
$GC,7426,0.73,130.7,904.0,23.1,352,7429,0.00,1.12,0.00,0.000,4,0.000,0.056,1891,3947,1912,0,0,0,0,0,0
$GC,7534,0.73,130.7,877.4,24.9,355,7538,0.00,1.10,0.00,0.000,6,0.000,0.033,1896,3234,1911,0,0,0,0,0,0
$GC,7870,0.73,130.7,797.4,23.3,366,7874,0.00,1.15,0.00,0.000,4,0.000,0.054,1896,3945,1909,0,0,0,0,0,0
$GC,7942,0.73,130.7,780.2,24.6,368,7946,0.00,1.05,0.00,0.000,6,0.000,0.033,1900,3253,1908,0,0,0,0,0,0
$GC,8284,0.73,130.7,699.4,23.5,379,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3252,1907,0,0,0,0,0,0
$GC,8591,0.73,130.7,625.7,24.2,389,8595,0.00,1.12,0.00,0.000,4,0.000,0.055,1900,3955,1907,0,0,0,0,0,0
$GC,8696,0.73,130.7,597.6,27.7,392,8700,0.00,1.05,0.00,0.000,6,0.000,0.032,1905,3251,1906,0,0,0,0,0,0
$GC,9031,0.73,130.7,516.7,24.5,403,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3251,1905,0,0,0,0,0,0
$GC,9338,0.73,130.7,443.9,23.3,413,9341,0.00,1.12,0.00,0.000,4,0.000,0.054,1905,3955,1905,0,0,0,0,0,0
$GC,9409,0.73,130.7,426.5,26.5,415,9412,0.00,1.05,0.00,0.000,6,0.000,0.033,1910,3250,1905,0,0,0,0,0,0
$GC,9746,0.73,130.7,345.0,23.9,429,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3250,1903,0,0,0,0,0,0
$GC,10052,0.73,130.7,270.9,24.3,444,10056,0.00,1.10,0.00,0.000,4,0.000,0.054,1910,3947,1903,0,0,0,0,0,0
$GC,10125,0.73,130.7,252.3,26.1,447,10128,0.00,1.02,0.00,0.000,6,0.000,0.032,1915,3256,1903,0,0,0,0,0,0
$GC,10447,0.73,130.7,173.5,24.5,467,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3256,1903,0,0,0,0,0,0
$GC,10760,0.73,130.7,99.9,23.3,487,10766,0.00,1.10,0.00,0.000,4,0.000,0.054,1916,3950,1903,0,0,0,0,0,0
$GC,10802,0.73,130.7,89.0,25.4,494,10810,0.10,1.02,0.00,0.000,6,0.207,0.032,1893,3250,1903,0,0,0,0,0,0
$GC,11174,0.73,130.7,16.8,19.8,555,11184,0.00,1.10,0.00,0.000,4,0.000,0.053,1893,3953,1903,0,0,0,0,0,0
$GC,11233,0.73,130.7,3.3,21.9,563,11244,0.00,1.05,0.00,0.000,6,0.000,0.031,1898,3234,1901,0,0,0,0,0,0
$STATE,11253,end climb,SURFACE_DEPTH_REACHED
$STATE,11253,begin surface coast
$FINISH,1.0,1.013270
$STATE,11277,end surface coast,CONTROL_FINISHED_OK
$STATE,11277,begin surface
$SM_CCo,11293,152.23,0.754,1,0,504,482.50
$SM_GC,1.44,0.00,0.00,152.23,0.000,0.000,0.754,55,3360,504,-4.99,0.20,482.50
$IRIDIUM_FIX,-4212.81,818.13,191212,010144
$TT8_MAMPS,0.025466
$HUMID,54.21
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,23.6,13.884
$10V_AH,10.1,6.999
$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,12.250,49.800,268.275,152.225,0.000,72.508,203.677,298.270,0.000,0.000,19.677,1461.244,7552.655,494.239,2117.375,681.583,33.354,1241.034,0.000,1705.903,0.000,1.013,0.000
$DEVICE_MAMPS,234.855,76.500,1201.815,754.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.197,1267.981,591.370,271.672,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,40540,568
$CAP_FILE_SIZE,98839,0
$CFSIZE,259252224,254488576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,191212,043658,-4229.260,819.842,40,1.0,40,-24.9