version: 66.07
glider: 543
mission: 6
dive: 90
start: 12 22 112 20 22 13
data:
$ID,543
$MISSION,6
$DIVE,90
$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,-8096.9717
$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,20
$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
$GPS1,221212,201234,-4230.426,817.506,35,0.9,35,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-43.4
$GPS2,221212,202117,-4230.404,817.534,19,0.8,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.080,-0.134
$KALMAN_X,6718.1,-754.3,-146.8,15864.6,4903.4
$KALMAN_Y,101333.2,-36.6,-50.1,-101924.7,3344.0
$MHEAD_RNG_PITCHd_Wd,235.7,3450,-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,-88.03,0.000,6,0.000,0.000,57,3342,2695,0,0,0,0,0,0
$GC,115,-0.81,-101.3,3.0,-3.7,11,134,5.25,2.17,-5.65,0.000,4,0.226,0.044,1381,1946,2886,0,0,0,0,0,0
$GC,220,-0.81,-101.3,17.4,-15.4,26,231,0.00,2.33,0.00,0.000,6,0.000,0.057,1372,3350,2887,0,0,0,0,0,0
$GC,312,-0.81,-101.3,34.3,-20.0,39,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3350,2887,0,0,0,0,0,0
$GC,558,-0.81,-101.3,80.5,-17.2,80,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1372,3350,2888,0,0,0,0,0,0
$GC,895,-0.81,-101.3,136.5,-16.0,114,896,0.00,0.00,0.00,0.000,6,0.000,0.000,1371,3350,2889,0,0,0,0,0,0
$GC,1205,-0.81,-101.3,185.8,-16.2,134,1209,0.00,0.95,0.00,0.000,4,0.000,0.054,1367,3956,2890,0,0,0,0,0,0
$GC,1306,-0.81,-101.3,204.1,-17.8,139,1313,0.00,0.90,0.00,0.000,6,0.000,0.035,1367,3357,2890,0,0,0,0,0,0
$GC,1637,-0.81,-101.3,258.1,-16.9,160,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3357,2890,0,0,0,0,0,0
$GC,1947,-0.81,-101.3,310.3,-16.7,175,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,1366,3357,2890,0,0,0,0,0,0
$GC,2255,-0.81,-101.3,360.5,-16.9,190,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3357,2890,0,0,0,0,0,0
$GC,2584,-0.81,-101.3,411.9,-15.5,205,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3357,2890,0,0,0,0,0,0
$GC,2892,-0.81,-101.3,458.0,-14.7,215,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3357,2890,0,0,0,0,0,0
$GC,3196,-0.81,-101.3,502.5,-14.1,225,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,1367,3357,2890,0,0,0,0,0,0
$GC,3502,-0.81,-101.3,545.3,-14.1,235,3506,0.00,2.12,0.00,0.000,4,0.000,0.031,1367,1933,2890,0,0,0,0,0,0
$GC,3558,-0.81,-101.3,552.7,-11.8,236,3566,0.12,2.28,0.00,0.000,6,0.189,0.056,1386,3360,2889,0,0,0,0,0,0
$GC,3871,-0.81,-101.3,592.0,-12.7,247,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,1386,3359,2889,0,0,0,0,0,0
$GC,4179,-0.81,-101.3,632.1,-13.4,257,4182,0.00,0.93,0.00,0.000,4,0.000,0.058,1383,3950,2888,0,0,0,0,0,0
$GC,4353,-0.81,-101.3,659.3,-14.8,262,4357,0.00,0.90,0.00,0.000,6,0.000,0.037,1383,3352,2887,0,0,0,0,0,0
$GC,4688,-0.81,-101.3,706.5,-13.8,273,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,1383,3352,2886,0,0,0,0,0,0
$GC,4995,-0.81,-101.3,748.8,-13.9,283,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,1383,3352,2886,0,0,0,0,0,0
$GC,5300,-0.81,-101.3,790.5,-13.6,293,5306,0.00,0.95,0.00,0.000,4,0.000,0.059,1378,3956,2885,0,0,0,0,0,0
$GC,5481,-0.81,-101.3,817.8,-14.4,298,5486,0.00,0.90,0.00,0.000,6,0.000,0.037,1379,3356,2884,0,0,0,0,0,0
$GC,5814,-0.81,-101.3,860.5,-12.8,309,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3356,2883,0,0,0,0,0,0
$GC,6118,-0.81,-101.3,898.7,-12.2,319,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3356,2883,0,0,0,0,0,0
$GC,6424,-0.81,-101.3,935.7,-11.8,329,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,1379,3356,2882,0,0,0,0,0,0
$GC,6731,-0.81,-101.3,971.3,-11.6,339,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3356,2881,0,0,0,0,0,0
$STATE,6973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6973,begin apogee
$GC,6980,-0.14,0.0,1000.3,12.0,347,7087,0.75,0.00,104.05,1.208,6,0.167,0.000,1597,3246,2473,0,0,0,0,0,0
$STATE,7088,end apogee,CONTROL_FINISHED_OK
$STATE,7089,begin climb
$GC,7091,0.81,101.3,1002.2,0.0,350,7206,0.93,2.30,105.28,1.174,4,0.080,0.030,1920,1834,2056,0,0,0,0,0,0
$GC,7229,0.81,101.3,979.8,21.2,355,7233,0.00,2.42,0.00,0.000,6,0.000,0.048,1920,3256,2046,0,0,0,0,0,0
$GC,7558,0.81,101.3,898.8,24.7,366,7562,0.00,1.12,0.00,0.000,4,0.000,0.054,1920,3947,2038,0,0,0,0,0,0
$GC,7694,0.81,101.3,863.4,25.9,370,7698,0.00,1.10,0.00,0.000,6,0.000,0.032,1926,3232,2036,0,0,0,0,0,0
$GC,8035,0.81,101.3,781.7,23.4,381,8040,0.00,1.17,0.00,0.000,4,0.000,0.054,1926,3957,2034,0,0,0,0,0,0
$GC,8294,0.81,101.3,714.7,26.4,388,8297,0.00,1.08,0.00,0.000,6,0.000,0.032,1931,3245,2033,0,0,0,0,0,0
$GC,8614,0.81,101.3,639.1,23.8,399,8617,0.00,1.12,0.00,0.000,4,0.000,0.053,1931,3949,2031,0,0,0,0,0,0
$GC,8798,0.81,101.3,590.5,25.6,404,8802,0.00,1.05,0.00,0.000,6,0.000,0.032,1936,3252,2031,0,0,0,0,0,0
$GC,9123,0.81,101.3,514.1,23.7,415,9126,0.00,1.12,0.00,0.000,4,0.000,0.053,1936,3958,2030,0,0,0,0,0,0
$GC,9307,0.81,101.3,466.1,26.1,420,9311,0.08,1.08,0.00,0.000,6,0.213,0.032,1921,3241,2029,0,0,0,0,0,0
$GC,9623,0.81,101.3,393.5,23.4,431,9629,0.00,1.12,0.00,0.000,4,0.000,0.053,1920,3951,2029,0,0,0,0,0,0
$GC,9809,0.81,101.3,347.9,23.2,439,9813,0.00,1.05,0.00,0.000,6,0.000,0.033,1925,3248,2028,0,0,0,0,0,0
$GC,10145,0.81,101.3,270.8,23.3,455,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3247,2028,0,0,0,0,0,0
$GC,10464,0.81,101.3,194.9,24.1,474,10468,0.00,1.12,0.00,0.000,4,0.000,0.052,1925,3957,2028,0,0,0,0,0,0
$GC,10734,0.81,101.3,125.0,25.9,489,10737,0.00,1.05,0.00,0.000,6,0.000,0.031,1930,3250,2028,0,0,0,0,0,0
$GC,11078,0.81,101.3,49.0,19.9,535,11086,0.00,1.10,0.00,0.000,4,0.000,0.052,1930,3952,2028,0,0,0,0,0,0
$GC,11182,0.81,101.3,26.3,22.9,551,11191,0.00,1.05,0.00,0.000,6,0.000,0.031,1935,3242,2028,0,0,0,0,0,0
$GC,11271,0.81,101.3,7.3,21.6,564,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3241,2028,0,0,0,0,0,0
$STATE,11293,end climb,SURFACE_DEPTH_REACHED
$STATE,11293,begin surface coast
$FINISH,0.9,1.026170
$STATE,11309,end surface coast,CONTROL_FINISHED_OK
$STATE,11309,begin surface
$SM_CCo,11325,170.48,0.747,1,0,503,482.50
$SM_GC,1.53,0.00,0.00,170.48,0.000,0.000,0.747,60,3366,503,-4.97,0.37,482.50
$IRIDIUM_FIX,-4212.81,821.02,221212,161603
$TT8_MAMPS,0.025466
$HUMID,54.56
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.7,18.233
$10V_AH,10.1,9.370
$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,12.125,34.850,209.325,170.475,0.000,37.192,45.854,287.815,0.000,0.000,22.528,1448.603,7509.669,468.584,1947.906,652.697,33.361,1177.373,0.000,1747.128,0.000,1.013,0.000
$DEVICE_MAMPS,225.675,78.030,1207.935,747.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.064,1265.361,589.783,266.569,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354252
$DATA_FILE_SIZE,40360,569
$CAP_FILE_SIZE,90309,0
$CFSIZE,259252224,253091840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,221212,233455,-4231.263,816.507,19,0.8,20,-24.9