version: 66.07
glider: 543
mission: 6
dive: 87
start: 12 22 112 10 21 43
data:
$ID,543
$MISSION,6
$DIVE,87
$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,-8086.5605
$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,50
$R_STBD_OVSHOOT,47
$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
$GPS1,221212,100634,-4228.732,820.674,34,1.0,34,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-32.0
$GPS2,221212,102047,-4228.678,820.562,16,1.2,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.146,-0.054
$KALMAN_X,3381.4,388.7,85.4,21940.0,2075.4
$KALMAN_Y,96297.2,353.9,235.0,-94379.2,-1389.3
$MHEAD_RNG_PITCHd_Wd,274.6,2565,-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,-53.9,0.0,0.0,0,111,0.00,0.00,-88.30,0.000,6,0.000,0.000,66,3384,2695,0,0,0,0,0,0
$GC,115,-0.81,-100.8,3.1,-3.8,11,134,5.32,2.22,-5.40,0.000,4,0.234,0.043,1382,1953,2888,0,0,0,0,0,0
$GC,196,-0.81,-100.8,15.3,-16.3,22,207,0.00,2.28,0.00,0.000,6,0.000,0.057,1372,3322,2890,0,0,0,0,0,0
$GC,285,-0.81,-100.8,32.4,-20.3,35,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3322,2889,0,0,0,0,0,0
$GC,528,-0.81,-100.8,79.4,-17.5,76,535,0.00,1.00,0.00,0.000,4,0.000,0.056,1368,3953,2890,0,0,0,0,0,0
$GC,611,-0.81,-100.8,93.4,-16.1,89,615,0.00,0.90,0.00,0.000,6,0.000,0.034,1368,3358,2890,0,0,0,0,0,0
$GC,936,-0.81,-100.8,147.0,-16.9,114,937,0.00,0.00,0.00,0.000,6,0.000,0.000,1368,3358,2890,0,0,0,0,0,0
$GC,1248,-0.81,-100.8,199.1,-16.4,134,1251,0.00,0.95,0.00,0.000,4,0.000,0.055,1363,3962,2891,0,0,0,0,0,0
$GC,1510,-0.81,-100.8,245.5,-17.6,149,1514,0.00,0.93,0.00,0.000,6,0.000,0.034,1363,3343,2891,0,0,0,0,0,0
$GC,1829,-0.81,-100.8,297.5,-16.5,165,1834,0.00,0.95,0.00,0.000,4,0.000,0.054,1359,3954,2891,0,0,0,0,0,0
$GC,1932,-0.81,-100.8,316.8,-18.4,169,1937,0.00,0.90,0.00,0.000,6,0.000,0.034,1359,3347,2891,0,0,0,0,0,0
$GC,2256,-0.81,-100.8,370.8,-16.2,185,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,1359,3347,2891,0,0,0,0,0,0
$GC,2583,-0.81,-100.8,422.7,-15.9,199,2589,0.00,0.95,0.00,0.000,4,0.000,0.056,1354,3955,2891,0,0,0,0,0,0
$GC,2842,-0.81,-100.8,468.8,-19.0,206,2846,0.08,0.90,0.00,0.000,6,0.183,0.034,1376,3351,2890,0,0,0,0,0,0
$GC,3162,-0.81,-100.8,515.1,-14.6,217,3165,0.00,0.95,0.00,0.000,4,0.000,0.057,1373,3959,2891,0,0,0,0,0,0
$GC,3249,-0.81,-100.8,529.4,-15.8,219,3253,0.00,0.90,0.00,0.000,6,0.000,0.035,1373,3354,2890,0,0,0,0,0,0
$GC,3570,-0.81,-100.8,575.8,-14.6,230,3573,0.00,0.98,0.00,0.000,4,0.000,0.058,1368,3957,2890,0,0,0,0,0,0
$GC,3714,-0.81,-100.8,599.1,-15.7,234,3717,0.00,0.90,0.00,0.000,6,0.000,0.035,1368,3357,2889,0,0,0,0,0,0
$GC,4044,-0.81,-100.8,647.1,-14.5,245,4047,0.00,0.93,0.00,0.000,4,0.000,0.057,1364,3951,2888,0,0,0,0,0,0
$GC,4305,-0.81,-100.8,687.5,-15.5,252,4309,0.00,0.90,0.00,0.000,6,0.000,0.036,1364,3352,2887,0,0,0,0,0,0
$GC,4625,-0.81,-100.8,731.9,-13.7,263,4629,0.00,0.95,0.00,0.000,4,0.000,0.058,1360,3955,2886,0,0,0,0,0,0
$GC,4883,-0.81,-100.8,771.9,-15.2,270,4886,0.00,0.90,0.00,0.000,6,0.000,0.037,1359,3354,2885,0,0,0,0,0,0
$GC,5202,-0.81,-100.8,815.7,-14.3,281,5205,0.00,0.95,0.00,0.000,4,0.000,0.058,1355,3958,2884,0,0,0,0,0,0
$GC,5459,-0.81,-100.8,857.5,-15.9,288,5463,0.08,0.90,0.00,0.000,6,0.187,0.037,1376,3355,2884,0,0,0,0,0,0
$GC,5778,-0.81,-100.8,898.8,-12.8,299,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,1376,3356,2883,0,0,0,0,0,0
$GC,6084,-0.81,-100.8,937.5,-12.6,309,6087,0.00,0.95,0.00,0.000,4,0.000,0.060,1374,3958,2882,0,0,0,0,0,0
$GC,6341,-0.81,-100.8,974.5,-14.7,316,6345,0.00,0.90,0.00,0.000,6,0.000,0.038,1373,3356,2881,0,0,0,0,0,0
$STATE,6535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6535,begin apogee
$GC,6542,-0.14,0.0,1000.2,13.0,323,6650,0.77,0.00,104.18,1.200,6,0.171,0.000,1597,3259,2473,0,0,0,0,0,0
$STATE,6651,end apogee,CONTROL_FINISHED_OK
$STATE,6651,begin climb
$GC,6654,0.81,100.8,1002.5,0.0,326,6769,0.93,2.38,104.45,1.174,4,0.080,0.033,1919,1832,2055,0,0,0,0,0,0
$GC,6808,0.81,100.8,977.2,19.9,330,6815,0.00,2.40,0.00,0.000,6,0.000,0.049,1919,3260,2046,0,0,0,0,0,0
$GC,7122,0.81,100.8,901.3,24.5,341,7126,0.00,1.12,0.00,0.000,4,0.000,0.054,1920,3953,2038,0,0,0,0,0,0
$GC,7211,0.81,100.8,877.5,26.5,343,7214,0.00,1.10,0.00,0.000,6,0.000,0.032,1925,3235,2037,0,0,0,0,0,0
$GC,7529,0.81,100.8,799.4,24.1,354,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3235,2035,0,0,0,0,0,0
$GC,7837,0.81,100.8,726.7,23.6,364,7840,0.00,1.15,0.00,0.000,4,0.000,0.054,1925,3948,2033,0,0,0,0,0,0
$GC,8000,0.81,100.8,685.1,24.4,368,8008,0.00,1.05,0.00,0.000,6,0.000,0.032,1930,3250,2033,0,0,0,0,0,0
$GC,8313,0.81,100.8,612.6,23.0,379,8317,0.00,1.10,0.00,0.000,4,0.000,0.054,1930,3946,2031,0,0,0,0,0,0
$GC,8407,0.81,100.8,588.9,24.9,381,8414,0.00,1.05,0.00,0.000,6,0.000,0.032,1935,3241,2031,0,0,0,0,0,0
$GC,8721,0.81,100.8,516.6,22.9,392,8724,0.00,1.12,0.00,0.000,4,0.000,0.053,1935,3949,2030,0,0,0,0,0,0
$GC,8792,0.81,100.8,499.4,25.5,394,8797,0.08,1.02,0.00,0.000,6,0.220,0.032,1921,3257,2030,0,0,0,0,0,0
$GC,9133,0.81,100.8,420.3,22.9,405,9137,0.00,1.10,0.00,0.000,4,0.000,0.053,1920,3950,2029,0,0,0,0,0,0
$GC,9298,0.81,100.8,380.0,25.8,411,9303,0.00,1.05,0.00,0.000,6,0.000,0.033,1924,3245,2029,0,0,0,0,0,0
$GC,9634,0.81,100.8,299.9,22.9,427,9639,0.00,1.12,0.00,0.000,4,0.000,0.052,1924,3956,2028,0,0,0,0,0,0
$GC,9685,0.81,100.8,288.0,24.6,429,9688,0.00,1.05,0.00,0.000,6,0.000,0.032,1930,3248,2028,0,0,0,0,0,0
$GC,10011,0.81,100.8,212.2,23.0,447,10017,0.00,1.10,0.00,0.000,4,0.000,0.051,1930,3943,2028,0,0,0,0,0,0
$GC,10273,0.81,100.8,144.8,27.8,462,10277,0.00,1.02,0.00,0.000,6,0.000,0.032,1935,3249,2028,0,0,0,0,0,0
$GC,10606,0.81,100.8,67.1,26.0,497,10611,0.00,1.10,0.00,0.000,4,0.000,0.054,1934,3947,2028,0,0,0,0,0,0
$STATE,10882,end climb,SURFACE_DEPTH_REACHED
$STATE,10883,begin surface coast
$FINISH,1.0,1.026250
$STATE,10895,end surface coast,CONTROL_FINISHED_OK
$STATE,10895,begin surface
$SM_CCo,10912,168.60,0.742,1,0,505,482.50
$SM_GC,1.39,0.00,0.00,168.60,0.000,0.000,0.742,63,3331,505,-4.96,-0.62,482.50
$IRIDIUM_FIX,-4215.72,823.91,221212,101053
$TT8_MAMPS,0.025466
$HUMID,54.44
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.7,17.847
$10V_AH,10.1,9.110
$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,12.375,45.150,208.625,168.600,0.000,71.781,95.292,452.653,0.000,0.000,18.904,1457.078,6941.368,455.482,2383.704,704.028,33.360,1266.062,0.000,1922.620,0.000,1.013,0.000
$DEVICE_MAMPS,234.090,73.440,1200.285,742.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.100,1210.910,571.147,255.171,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354236
$DATA_FILE_SIZE,40502,543
$CAP_FILE_SIZE,102878,0
$CFSIZE,259252224,253235200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221212,132734,-4228.604,818.748,24,1.3,24,-24.9