version: 66.07
glider: 543
mission: 6
dive: 82
start: 12 21 112 17 6 2
data:
$ID,543
$MISSION,6
$DIVE,82
$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,-8067.4399
$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,42
$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
$GPS1,211212,165503,-4233.954,820.611,33,1.6,33,-25.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-37.1
$GPS2,211212,170506,-4234.011,820.631,15,1.3,16,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.124,0.095
$KALMAN_X,-717.1,285.1,205.5,26121.2,-3250.3
$KALMAN_Y,101224.7,-925.0,-391.5,-107236.0,5564.9
$MHEAD_RNG_PITCHd_Wd,77.6,7478,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.79,-53.9,0.0,0.0,0,119,0.00,0.00,-89.70,0.000,6,0.000,0.000,50,3378,2695,0,0,0,0,0,0
$GC,123,-0.82,-107.8,2.9,-3.0,12,143,5.20,2.20,-6.35,0.000,4,0.223,0.047,1381,1957,2916,0,0,0,0,0,0
$GC,299,-0.82,-107.8,30.3,-16.2,38,310,0.00,2.28,0.00,0.000,6,0.000,0.055,1372,3333,2918,0,0,0,0,0,0
$GC,553,-0.82,-107.8,73.3,-18.8,79,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3333,2918,0,0,0,0,0,0
$GC,887,-0.82,-107.8,135.0,-17.6,116,890,0.00,0.98,0.00,0.000,4,0.000,0.056,1367,3947,2919,0,0,0,0,0,0
$GC,959,-0.82,-107.8,148.1,-18.2,120,963,0.00,0.88,0.00,0.000,6,0.000,0.035,1367,3368,2919,0,0,0,0,0,0
$GC,1291,-0.82,-107.8,203.6,-16.2,141,1297,0.00,0.93,0.00,0.000,4,0.000,0.057,1363,3953,2920,0,0,0,0,0,0
$GC,1491,-0.82,-107.8,240.0,-17.3,152,1497,0.00,0.90,0.00,0.000,6,0.000,0.034,1363,3352,2920,0,0,0,0,0,0
$GC,1817,-0.82,-107.8,293.7,-16.8,169,1822,0.00,0.95,0.00,0.000,4,0.000,0.057,1359,3956,2920,0,0,0,0,0,0
$GC,1905,-0.82,-107.8,310.3,-19.0,172,1914,0.00,0.90,0.00,0.000,6,0.000,0.035,1359,3354,2920,0,0,0,0,0,0
$GC,2222,-0.82,-107.8,363.2,-16.4,188,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3354,2920,0,0,0,0,0,0
$GC,2530,-0.82,-107.8,411.8,-15.7,202,2534,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3958,2920,0,0,0,0,0,0
$GC,2688,-0.82,-107.8,439.9,-17.1,206,2695,0.08,0.90,0.00,0.000,6,0.184,0.035,1376,3358,2920,0,0,0,0,0,0
$GC,3009,-0.82,-107.8,486.2,-14.1,217,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3358,2920,0,0,0,0,0,0
$GC,3315,-0.82,-107.8,530.1,-14.4,227,3318,0.00,0.93,0.00,0.000,4,0.000,0.058,1373,3948,2919,0,0,0,0,0,0
$GC,3495,-0.82,-107.8,558.4,-15.6,232,3499,0.00,0.90,0.00,0.000,6,0.000,0.036,1373,3347,2919,0,0,0,0,0,0
$GC,3827,-0.82,-107.8,605.3,-14.4,243,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3347,2918,0,0,0,0,0,0
$GC,4132,-0.82,-107.8,649.2,-14.6,253,4137,0.00,0.95,0.00,0.000,4,0.000,0.059,1368,3951,2917,0,0,0,0,0,0
$GC,4390,-0.82,-107.8,691.7,-17.0,260,4394,0.00,0.90,0.00,0.000,6,0.000,0.037,1368,3350,2917,0,0,0,0,0,0
$GC,4711,-0.82,-107.8,741.1,-15.4,271,4714,0.00,0.95,0.00,0.000,4,0.000,0.059,1364,3954,2916,0,0,0,0,0,0
$GC,4848,-0.82,-107.8,764.5,-16.8,275,4851,0.00,0.90,0.00,0.000,6,0.000,0.037,1364,3354,2916,0,0,0,0,0,0
$GC,5189,-0.82,-107.8,817.4,-15.2,286,5192,0.00,0.98,0.00,0.000,4,0.000,0.060,1360,3957,2915,0,0,0,0,0,0
$GC,5297,-0.82,-107.8,835.4,-16.8,289,5301,0.00,0.90,0.00,0.000,6,0.000,0.037,1359,3358,2914,0,0,0,0,0,0
$GC,5633,-0.82,-107.8,886.3,-14.6,300,5637,0.00,0.93,0.00,0.000,4,0.000,0.060,1355,3947,2913,0,0,0,0,0,0
$GC,5812,-0.82,-107.8,915.1,-16.5,305,5816,0.08,0.90,0.00,0.000,6,0.188,0.037,1376,3352,2913,0,0,0,0,0,0
$GC,6148,-0.82,-107.8,960.6,-13.2,316,6151,0.00,0.95,0.00,0.000,4,0.000,0.060,1373,3955,2912,0,0,0,0,0,0
$GC,6312,-0.82,-107.8,984.4,-14.5,320,6321,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3357,2911,0,0,0,0,0,0
$STATE,6439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6439,begin apogee
$GC,6446,-0.14,0.0,1001.9,13.5,325,6562,0.77,0.00,105.38,1.790,6,0.168,0.000,1599,3260,2475,0,0,0,0,1,0
$STATE,6563,end apogee,CONTROL_FINISHED_OK
$STATE,6563,begin climb
$GC,6566,0.82,107.8,1004.4,0.0,329,6691,0.90,0.00,109.10,1.773,6,0.074,0.000,1905,3260,2033,0,0,0,0,1,0
$GC,6997,0.82,107.8,914.6,23.8,343,7000,0.00,1.15,0.00,0.000,4,0.000,0.054,1905,3954,2027,0,0,0,0,0,0
$GC,7031,0.82,107.8,905.4,25.4,344,7035,0.00,1.12,0.00,0.000,6,0.000,0.032,1910,3236,2027,0,0,0,0,0,0
$GC,7373,0.82,107.8,823.5,23.5,355,7378,0.00,1.17,0.00,0.000,4,0.000,0.054,1910,3955,2023,0,0,0,0,0,0
$GC,7435,0.82,107.8,807.3,25.8,356,7442,0.00,1.08,0.00,0.000,6,0.000,0.033,1914,3254,2023,0,0,0,0,0,0
$GC,7749,0.82,107.8,734.0,23.2,367,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3254,2020,0,0,0,0,0,0
$GC,8054,0.82,107.8,664.9,22.6,377,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3254,2019,0,0,0,0,0,0
$GC,8361,0.82,107.8,596.7,22.2,387,8364,0.00,1.12,0.00,0.000,4,0.000,0.054,1914,3957,2019,0,0,0,0,0,0
$GC,8416,0.82,107.8,582.7,26.0,388,8420,0.00,1.08,0.00,0.000,6,0.000,0.032,1919,3241,2018,0,0,0,0,0,0
$GC,8735,0.82,107.8,510.4,22.6,399,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3242,2017,0,0,0,0,0,0
$GC,9042,0.82,107.8,443.6,21.5,409,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3242,2016,0,0,0,0,0,0
$GC,9361,0.82,107.8,374.9,21.6,421,9367,0.00,1.15,0.00,0.000,4,0.000,0.054,1920,3960,2015,0,0,0,0,0,0
$GC,9464,0.82,107.8,349.7,24.6,425,9470,0.00,1.05,0.00,0.000,6,0.000,0.032,1925,3253,2015,0,0,0,0,0,0
$GC,9789,0.82,107.8,276.3,23.3,441,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3253,2015,0,0,0,0,0,0
$GC,10100,0.82,107.8,202.4,23.7,459,10106,0.00,1.10,0.00,0.000,4,0.000,0.053,1925,3948,2015,0,0,0,0,0,0
$GC,10366,0.82,107.8,132.9,25.3,474,10370,0.00,1.02,0.00,0.000,6,0.000,0.031,1930,3253,2015,0,0,0,0,0,0
$GC,10707,0.82,107.8,54.8,21.8,516,10718,0.00,1.10,0.00,0.000,4,0.000,0.052,1930,3948,2015,0,0,0,0,0,0
$GC,10762,0.82,107.8,42.3,24.0,524,10770,0.00,1.02,0.00,0.000,6,0.000,0.031,1935,3251,2015,0,0,0,0,0,0
$STATE,10957,end climb,SURFACE_DEPTH_REACHED
$STATE,10957,begin surface coast
$FINISH,0.9,1.014153
$STATE,10970,end surface coast,CONTROL_FINISHED_OK
$STATE,10970,begin surface
$SM_CCo,10986,162.07,0.750,1,0,506,482.50
$SM_GC,1.22,0.00,0.00,162.07,0.000,0.000,0.750,67,3364,506,-4.94,0.28,482.50
$IRIDIUM_FIX,-4218.64,812.77,211212,101048
$TT8_MAMPS,0.025466
$HUMID,54.44
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,22.8,17.160
$10V_AH,10.1,8.658
$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,12.000,36.400,214.475,162.075,0.000,35.967,19.486,400.167,0.000,0.000,18.716,1437.205,7087.902,485.715,2070.359,677.688,33.355,1232.031,0.000,1788.666,0.000,1.014,0.000
$DEVICE_MAMPS,222.615,82.620,1790.100,749.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.286,1260.767,590.936,279.670,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354240
$DATA_FILE_SIZE,40545,556
$CAP_FILE_SIZE,92052,0
$CFSIZE,259252224,253509632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,211212,201305,-4232.881,822.075,28,1.0,28,-25.0