version: 66.07
glider: 543
mission: 6
dive: 80
start: 12 21 112 10 22 51
data:
$ID,543
$MISSION,6
$DIVE,80
$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,-8061.1255
$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,30
$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
$GPS1,211212,100535,-4233.182,816.233,32,0.9,32,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-21.3
$GPS2,211212,102153,-4233.173,816.201,16,1.5,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.140,-0.112
$KALMAN_X,2946.1,-546.6,-443.4,17916.4,2064.8
$KALMAN_Y,102021.9,-1009.1,-519.2,-106276.0,8348.8
$MHEAD_RNG_PITCHd_Wd,153.7,7839,-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,-70.9,0.0,0.0,0,119,0.00,0.00,-92.05,0.000,6,0.000,0.000,58,3365,2760,0,0,0,0,0,0
$GC,123,-0.74,-134.2,2.9,-3.6,12,142,5.30,0.90,-7.32,0.000,4,0.226,0.084,1399,3948,3021,0,0,0,0,0,0
$GC,165,-0.74,-134.2,10.0,-15.7,17,176,0.00,0.90,0.00,0.000,6,0.000,0.036,1399,3363,3023,0,0,0,0,0,0
$GC,257,-0.74,-134.2,28.2,-20.1,30,267,0.00,0.93,0.00,0.000,4,0.000,0.057,1395,3936,3023,0,0,0,0,0,0
$GC,539,-0.74,-134.2,86.3,-16.9,76,548,0.00,0.90,0.00,0.000,6,0.000,0.035,1395,3347,3024,0,0,0,0,0,0
$GC,876,-0.74,-134.2,141.0,-16.7,106,880,0.00,2.12,0.00,0.000,4,0.000,0.031,1395,1937,3024,0,0,0,0,0,0
$GC,1135,-0.74,-134.2,176.3,-13.6,121,1142,0.00,2.25,0.00,0.000,6,0.000,0.054,1385,3342,3025,0,0,0,0,0,0
$GC,1455,-0.74,-134.2,232.9,-17.6,142,1459,0.00,0.95,0.00,0.000,4,0.000,0.057,1380,3949,3025,0,0,0,0,0,0
$GC,1723,-0.74,-134.2,285.7,-19.0,155,1728,0.08,0.90,0.00,0.000,6,0.174,0.035,1403,3347,3025,0,0,0,0,0,0
$GC,2047,-0.74,-134.2,336.3,-15.3,171,2052,0.00,0.95,0.00,0.000,4,0.000,0.058,1399,3951,3025,0,0,0,0,0,0
$GC,2255,-0.74,-134.2,370.7,-15.2,180,2260,0.00,0.90,0.00,0.000,6,0.000,0.035,1399,3349,3025,0,0,0,0,0,0
$GC,2589,-0.74,-134.2,420.3,-14.8,194,2592,0.00,0.95,0.00,0.000,4,0.000,0.059,1395,3953,3024,0,0,0,0,0,0
$GC,2846,-0.74,-134.2,463.6,-17.8,201,2849,0.00,0.90,0.00,0.000,6,0.000,0.035,1395,3350,3023,0,0,0,0,0,0
$GC,3165,-0.74,-134.2,512.9,-15.3,212,3168,0.00,0.95,0.00,0.000,4,0.000,0.058,1391,3955,3024,0,0,0,0,0,0
$GC,3292,-0.74,-134.2,534.4,-16.9,215,3299,0.00,0.90,0.00,0.000,6,0.000,0.035,1391,3353,3023,0,0,0,0,0,0
$GC,3607,-0.74,-134.2,580.0,-14.1,226,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,1391,3354,3023,0,0,0,0,0,0
$GC,3912,-0.74,-134.2,623.4,-14.0,236,3918,0.00,0.95,0.00,0.000,4,0.000,0.060,1387,3957,3022,0,0,0,0,0,0
$GC,4171,-0.74,-134.2,663.6,-15.7,243,4175,0.00,0.90,0.00,0.000,6,0.000,0.037,1386,3354,3021,0,0,0,0,0,0
$GC,4491,-0.74,-134.2,711.9,-15.5,254,4495,0.00,0.93,0.00,0.000,4,0.000,0.060,1382,3943,3020,0,0,0,0,0,0
$GC,4722,-0.74,-134.2,751.0,-17.3,260,4729,0.00,0.90,0.00,0.000,6,0.000,0.037,1382,3344,3019,0,0,0,0,0,0
$GC,5036,-0.74,-134.2,799.8,-15.5,271,5042,0.12,0.98,0.00,0.000,4,0.198,0.061,1408,3953,3018,0,0,0,0,0,0
$GC,5149,-0.74,-134.2,816.2,-14.0,274,5153,0.00,0.90,0.00,0.000,6,0.000,0.037,1408,3354,3018,0,0,0,0,0,0
$GC,5479,-0.74,-134.2,858.2,-12.5,285,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,1408,3353,3017,0,0,0,0,0,0
$GC,5786,-0.74,-134.2,894.8,-11.7,295,5790,0.00,0.98,0.00,0.000,4,0.000,0.063,1404,3954,3016,0,0,0,0,0,0
$GC,5949,-0.74,-134.2,915.7,-13.5,299,5957,0.00,0.90,0.00,0.000,6,0.000,0.038,1404,3357,3016,0,0,0,0,0,0
$GC,6262,-0.74,-134.2,953.4,-12.4,310,6266,0.00,0.95,0.00,0.000,4,0.000,0.062,1399,3957,3015,0,0,0,0,0,0
$GC,6346,-0.74,-134.2,965.2,-14.5,312,6350,0.00,0.90,0.00,0.000,6,0.000,0.038,1399,3356,3014,0,0,0,0,0,0
$STATE,6608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6608,begin apogee
$GC,6615,-0.14,0.0,1000.1,13.4,321,6752,0.68,0.00,128.45,1.808,6,0.158,0.000,1601,3246,2473,0,0,0,0,1,0
$STATE,6753,end apogee,CONTROL_FINISHED_OK
$STATE,6753,begin climb
$GC,6756,0.74,134.2,1004.0,0.0,325,6904,0.80,2.50,133.25,1.775,4,0.058,0.031,1894,1829,1926,0,0,0,0,1,0
$GC,6972,0.74,134.2,969.4,19.7,331,6979,0.00,2.47,0.00,0.000,6,0.000,0.049,1894,3260,1922,0,0,0,0,0,0
$GC,7286,0.74,134.2,896.3,23.7,342,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3259,1916,0,0,0,0,0,0
$GC,7593,0.74,134.2,821.8,24.3,352,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3260,1914,0,0,0,0,0,0
$GC,7898,0.74,134.2,747.5,24.1,362,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3260,1912,0,0,0,0,0,0
$GC,8204,0.74,134.2,673.7,24.1,372,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3260,1911,0,0,0,0,0,0
$GC,8512,0.74,134.2,602.6,22.9,382,8515,0.00,1.10,0.00,0.000,4,0.000,0.055,1894,3946,1910,0,0,0,0,0,0
$GC,8595,0.74,134.2,581.2,26.6,384,8598,0.00,1.08,0.00,0.000,6,0.000,0.032,1899,3232,1910,0,0,0,0,0,0
$GC,8920,0.74,134.2,505.8,23.5,395,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3232,1910,0,0,0,0,0,0
$GC,9225,0.74,134.2,434.1,23.7,405,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3232,1909,0,0,0,0,0,0
$GC,9544,0.74,134.2,360.5,23.0,418,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3232,1908,0,0,0,0,0,0
$GC,9854,0.74,134.2,290.4,23.0,433,9860,0.00,1.15,0.00,0.000,4,0.000,0.054,1900,3952,1908,0,0,0,0,0,0
$GC,9929,0.74,134.2,271.1,26.2,436,9935,0.00,1.05,0.00,0.000,6,0.000,0.032,1905,3245,1908,0,0,0,0,0,0
$GC,10253,0.74,134.2,198.2,22.9,455,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3246,1908,0,0,0,0,0,0
$GC,10566,0.74,134.2,126.6,23.7,475,10569,0.00,1.12,0.00,0.000,4,0.000,0.054,1905,3954,1907,0,0,0,0,0,0
$GC,10679,0.74,134.2,97.5,23.7,481,10686,0.00,1.05,0.00,0.000,6,0.000,0.031,1910,3244,1907,0,0,0,0,0,0
$GC,11047,0.74,134.2,19.0,21.1,542,11058,0.00,2.12,0.00,0.000,4,0.000,0.031,1921,1830,1907,0,0,0,0,0,0
$GC,11125,0.74,134.2,4.3,17.8,553,11136,0.10,2.25,0.00,0.000,6,0.173,0.047,1891,3247,1905,0,0,0,0,0,0
$STATE,11145,end climb,SURFACE_DEPTH_REACHED
$STATE,11146,begin surface coast
$FINISH,0.8,1.025930
$STATE,11166,end surface coast,CONTROL_FINISHED_OK
$STATE,11166,begin surface
$SM_CCo,11182,151.70,0.753,1,0,505,482.50
$SM_GC,1.06,0.00,0.00,151.70,0.000,0.000,0.753,57,3362,505,-4.98,0.28,482.50
$IRIDIUM_FIX,-4221.55,746.30,211212,101058
$TT8_MAMPS,0.025466
$HUMID,54.52
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.3,16.813
$10V_AH,10.1,8.483
$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,12.000,40.900,261.700,151.700,0.000,70.004,77.560,603.153,0.000,0.000,19.568,1442.798,7259.526,500.834,2354.387,764.094,33.388,1296.826,0.000,1826.537,0.000,1.014,0.000
$DEVICE_MAMPS,225.675,84.150,1807.695,752.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.601,1247.760,579.427,257.848,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,40479,558
$CAP_FILE_SIZE,100694,0
$CFSIZE,259252224,253607936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,211212,133304,-4234.134,817.618,33,0.9,33,-24.9