version: 66.07
glider: 543
mission: 6
dive: 83
start: 12 21 112 20 22 31
data:
$ID,543
$MISSION,6
$DIVE,83
$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,-8070.9277
$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,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
$GPS1,211212,201305,-4232.881,822.075,28,1.0,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-35.8
$GPS2,211212,202135,-4232.896,822.139,17,1.1,18,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.040,0.151
$KALMAN_X,-1113.0,315.0,197.6,28548.2,-3336.4
$KALMAN_Y,100176.1,-645.6,-383.1,-104418.9,3716.4
$MHEAD_RNG_PITCHd_Wd,39.7,6107,-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,20,-0.79,-53.9,0.0,0.0,0,118,0.00,0.00,-89.55,0.000,6,0.000,0.000,66,3364,2696,0,0,0,0,0,0
$GC,122,-0.82,-103.8,3.1,-3.4,12,141,5.28,2.17,-5.57,0.000,4,0.234,0.044,1381,1952,2899,0,0,0,0,0,0
$GC,150,-0.82,-103.8,8.1,-11.1,15,161,0.00,2.33,0.00,0.000,6,0.000,0.060,1372,3333,2901,0,0,0,0,0,0
$GC,245,-0.82,-103.8,26.3,-21.8,28,253,0.00,1.00,0.00,0.000,4,0.000,0.060,1367,3950,2902,0,0,0,0,0,0
$GC,293,-0.82,-103.8,37.5,-22.1,35,301,0.00,0.90,0.00,0.000,6,0.000,0.037,1367,3376,2902,0,0,0,0,0,0
$GC,537,-0.82,-103.8,84.7,-18.6,76,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3377,2902,0,0,0,0,0,0
$GC,880,-0.82,-103.8,144.4,-17.6,107,884,0.00,0.93,0.00,0.000,4,0.000,0.057,1363,3958,2904,0,0,0,0,0,0
$GC,926,-0.82,-103.8,153.9,-18.9,109,933,0.00,0.95,0.00,0.000,6,0.000,0.035,1363,3333,2903,0,0,0,0,0,0
$GC,1246,-0.82,-103.8,205.8,-16.1,130,1250,0.00,1.00,0.00,0.000,4,0.000,0.056,1358,3965,2904,0,0,0,0,0,0
$GC,1408,-0.82,-103.8,233.4,-18.3,139,1411,0.00,0.93,0.00,0.000,6,0.000,0.035,1358,3349,2904,0,0,0,0,0,0
$GC,1732,-0.82,-103.8,288.1,-16.6,156,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,1358,3348,2905,0,0,0,0,0,0
$GC,2042,-0.82,-103.8,337.8,-15.7,171,2047,0.00,0.95,0.00,0.000,4,0.000,0.057,1354,3956,2904,0,0,0,0,0,0
$GC,2264,-0.82,-103.8,378.2,-17.4,180,2273,0.08,0.90,0.00,0.000,6,0.181,0.035,1375,3357,2904,0,0,0,0,0,0
$GC,2599,-0.82,-103.8,427.7,-14.7,194,2603,0.00,0.95,0.00,0.000,4,0.000,0.057,1372,3962,2904,0,0,0,0,0,0
$GC,2859,-0.82,-103.8,471.1,-16.8,201,2863,0.00,0.93,0.00,0.000,6,0.000,0.035,1373,3343,2904,0,0,0,0,0,0
$GC,3180,-0.82,-103.8,521.9,-16.1,212,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3342,2904,0,0,0,0,0,0
$GC,3484,-0.82,-103.8,570.1,-15.7,222,3488,0.00,0.98,0.00,0.000,4,0.000,0.058,1368,3962,2904,0,0,0,0,0,0
$GC,3555,-0.82,-103.8,581.8,-17.5,224,3558,0.00,0.90,0.00,0.000,6,0.000,0.036,1368,3360,2904,0,0,0,0,0,0
$GC,3896,-0.82,-103.8,635.7,-15.3,235,3900,0.00,0.95,0.00,0.000,4,0.000,0.058,1364,3964,2903,0,0,0,0,0,0
$GC,4035,-0.82,-103.8,659.4,-16.4,239,4039,0.00,0.93,0.00,0.000,6,0.000,0.036,1363,3348,2903,0,0,0,0,0,0
$GC,4370,-0.82,-103.8,710.4,-14.9,250,4376,0.00,0.95,0.00,0.000,4,0.000,0.059,1359,3955,2902,0,0,0,0,0,0
$GC,4543,-0.82,-103.8,739.0,-17.4,255,4546,0.00,0.90,0.00,0.000,6,0.000,0.037,1359,3357,2901,0,0,0,0,0,0
$GC,4884,-0.82,-103.8,791.4,-15.0,266,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3356,2900,0,0,0,0,0,0
$GC,5190,-0.82,-103.8,835.9,-14.5,276,5194,0.00,0.95,0.00,0.000,4,0.000,0.060,1355,3958,2899,0,0,0,0,0,0
$GC,5398,-0.82,-103.8,867.9,-16.4,282,5402,0.08,0.93,0.00,0.000,6,0.186,0.037,1376,3343,2899,0,0,0,0,0,0
$GC,5733,-0.82,-103.8,908.9,-12.0,293,5738,0.00,0.98,0.00,0.000,4,0.000,0.060,1373,3962,2898,0,0,0,0,0,0
$GC,5845,-0.82,-103.8,924.6,-13.8,296,5849,0.00,0.93,0.00,0.000,6,0.000,0.037,1373,3349,2898,0,0,0,0,0,0
$GC,6176,-0.82,-103.8,966.4,-12.7,307,6179,0.00,0.98,0.00,0.000,4,0.000,0.060,1368,3966,2897,0,0,0,0,0,0
$GC,6365,-0.82,-103.8,993.6,-14.4,312,6369,0.00,0.93,0.00,0.000,6,0.000,0.038,1368,3353,2897,0,0,0,0,0,0
$STATE,6437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6437,begin apogee
$GC,6444,-0.14,0.0,1003.1,13.2,315,6561,0.80,0.00,107.55,1.207,6,0.169,0.000,1601,3259,2468,0,0,0,0,0,0
$STATE,6562,end apogee,CONTROL_FINISHED_OK
$STATE,6562,begin climb
$GC,6565,0.82,103.8,1005.2,0.0,319,6677,0.90,0.00,108.43,1.171,6,0.075,0.000,1911,3259,2048,0,0,0,0,0,0
$GC,6965,0.82,103.8,922.5,23.5,332,6969,0.00,1.15,0.00,0.000,4,0.000,0.055,1911,3957,2026,0,0,0,0,0,0
$GC,7068,0.82,103.8,895.9,25.6,335,7073,0.00,1.10,0.00,0.000,6,0.000,0.033,1917,3245,2025,0,0,0,0,0,0
$GC,7411,0.82,103.8,817.3,22.5,346,7415,0.00,1.17,0.00,0.000,4,0.000,0.054,1917,3965,2021,0,0,0,0,0,0
$GC,7528,0.82,103.8,787.8,24.9,349,7534,0.00,1.10,0.00,0.000,6,0.000,0.033,1921,3241,2021,0,0,0,0,0,0
$GC,7853,0.82,103.8,713.0,23.0,360,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3241,2019,0,0,0,0,0,0
$GC,8160,0.82,103.8,640.2,24.1,370,8163,0.00,1.15,0.00,0.000,4,0.000,0.054,1921,3956,2018,0,0,0,0,0,0
$GC,8237,0.82,103.8,619.3,27.1,372,8241,0.00,1.05,0.00,0.000,6,0.000,0.032,1926,3253,2018,0,0,0,0,0,0
$GC,8568,0.82,103.8,539.9,24.1,383,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3252,2016,0,0,0,0,0,0
$GC,8875,0.82,103.8,465.9,23.7,393,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3253,2016,0,0,0,0,0,0
$GC,9191,0.82,103.8,389.7,24.4,404,9194,0.00,1.12,0.00,0.000,4,0.000,0.054,1927,3958,2015,0,0,0,0,0,0
$GC,9312,0.82,103.8,358.1,25.0,409,9315,0.00,1.05,0.00,0.000,6,0.000,0.033,1931,3253,2015,0,0,0,0,0,0
$GC,9641,0.82,103.8,280.7,23.2,425,9646,0.00,1.12,0.00,0.000,4,0.000,0.053,1931,3964,2015,0,0,0,0,0,0
$GC,9716,0.82,103.8,261.1,26.1,428,9722,0.00,1.08,0.00,0.000,6,0.000,0.032,1937,3240,2014,0,0,0,0,0,0
$GC,10043,0.82,103.8,184.8,23.2,448,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,3240,2014,0,0,0,0,0,0
$GC,10356,0.82,103.8,115.8,22.7,468,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,3240,2014,0,0,0,0,0,0
$GC,10696,0.82,103.8,39.8,23.3,518,10705,0.00,1.15,0.00,0.000,4,0.000,0.050,1937,3972,2014,0,0,0,0,0,0
$GC,10714,0.82,103.8,35.2,24.7,520,10723,0.00,1.08,0.00,0.000,6,0.000,0.031,1943,3241,2014,0,0,0,0,0,0
$STATE,10869,end climb,SURFACE_DEPTH_REACHED
$STATE,10872,begin surface coast
$FINISH,0.8,1.003506
$STATE,10887,end surface coast,CONTROL_FINISHED_OK
$STATE,10887,begin surface
$SM_CCo,10903,166.95,0.735,1,0,503,482.50
$SM_GC,1.33,0.00,0.00,166.95,0.000,0.000,0.735,62,3390,503,-4.96,1.05,482.50
$IRIDIUM_FIX,-4215.72,821.44,211212,161613
$TT8_MAMPS,0.025466
$HUMID,54.37
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.7,17.286
$10V_AH,10.1,8.743
$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,12.050,38.875,215.975,166.950,0.000,28.547,47.579,283.901,0.000,0.000,20.577,1424.143,7035.964,491.623,1974.618,662.798,33.354,1239.338,0.000,1777.313,0.000,1.012,0.000
$DEVICE_MAMPS,234.090,74.205,1207.170,735.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.556,1207.703,567.507,248.344,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354268
$DATA_FILE_SIZE,40321,546
$CAP_FILE_SIZE,93389,0
$CFSIZE,259252224,253460480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,211212,232824,-4231.417,822.264,35,0.9,36,-25.0