version: 66.07
glider: 543
mission: 6
dive: 91
start: 12 22 112 23 44 8
data:
$ID,543
$MISSION,6
$DIVE,91
$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,-8100.4453
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,221212,233455,-4231.263,816.507,19,0.8,20,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-39.1
$GPS2,221212,234312,-4231.290,816.485,18,0.8,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.002,-0.156
$KALMAN_X,6702.1,-614.8,-487.1,14656.0,4822.7
$KALMAN_Y,103067.4,-512.7,-213.5,-104651.9,5111.9
$MHEAD_RNG_PITCHd_Wd,205.8,5360,-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,19,-0.79,-53.9,0.0,0.0,0,111,0.00,0.00,-87.75,0.000,6,0.000,0.000,60,3366,2695,0,0,0,0,0,0
$GC,115,-0.82,-105.9,3.0,-3.2,11,134,5.32,2.20,-6.20,0.000,4,0.233,0.044,1379,1941,2907,0,0,0,0,0,0
$GC,253,-0.82,-105.9,23.7,-15.6,31,261,0.00,2.33,0.00,0.000,6,0.000,0.054,1369,3349,2910,0,0,0,0,0,0
$GC,341,-0.82,-105.9,41.4,-20.8,44,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3349,2909,0,0,0,0,0,0
$GC,589,-0.82,-105.9,89.1,-17.8,85,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3349,2910,0,0,0,0,0,0
$GC,914,-0.82,-105.9,147.5,-17.1,112,915,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3349,2911,0,0,0,0,0,0
$GC,1227,-0.82,-105.9,199.7,-16.8,132,1231,0.00,0.95,0.00,0.000,4,0.000,0.055,1364,3954,2911,0,0,0,0,0,0
$GC,1371,-0.82,-105.9,225.5,-18.4,140,1375,0.00,0.90,0.00,0.000,6,0.000,0.034,1365,3355,2911,0,0,0,0,0,0
$GC,1697,-0.82,-105.9,279.7,-16.7,158,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3354,2911,0,0,0,0,0,0
$GC,2007,-0.82,-105.9,329.9,-16.8,173,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3354,2912,0,0,0,0,0,0
$GC,2315,-0.82,-105.9,382.8,-16.7,188,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3354,2912,0,0,0,0,0,0
$GC,2621,-0.82,-105.9,432.5,-16.1,200,2625,0.00,0.93,0.00,0.000,4,0.000,0.056,1360,3947,2911,0,0,0,0,0,0
$GC,2716,-0.82,-105.9,449.1,-17.0,202,2722,0.00,0.90,0.00,0.000,6,0.000,0.035,1360,3346,2912,0,0,0,0,0,0
$GC,3029,-0.82,-105.9,499.0,-15.6,213,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3345,2912,0,0,0,0,0,0
$GC,3336,-0.82,-105.9,546.9,-15.7,223,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3345,2912,0,0,0,0,0,0
$GC,3642,-0.82,-105.9,594.9,-15.5,233,3647,0.00,0.95,0.00,0.000,4,0.000,0.057,1356,3953,2911,0,0,0,0,0,0
$GC,3771,-0.82,-105.9,616.6,-16.1,236,3779,0.08,0.90,0.00,0.000,6,0.184,0.036,1377,3355,2910,0,0,0,0,0,0
$GC,4084,-0.82,-105.9,659.9,-14.0,247,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3354,2910,0,0,0,0,0,0
$GC,4392,-0.82,-105.9,702.4,-14.0,257,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3355,2909,0,0,0,0,0,0
$GC,4697,-0.82,-105.9,744.2,-13.8,267,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3355,2908,0,0,0,0,0,0
$GC,5003,-0.82,-105.9,786.0,-13.5,277,5007,0.00,0.95,0.00,0.000,4,0.000,0.058,1374,3958,2907,0,0,0,0,0,0
$GC,5261,-0.82,-105.9,825.2,-15.0,284,5265,0.00,0.93,0.00,0.000,6,0.000,0.037,1374,3346,2906,0,0,0,0,0,0
$GC,5579,-0.82,-105.9,867.7,-13.3,295,5583,0.00,0.95,0.00,0.000,4,0.000,0.057,1370,3951,2905,0,0,0,0,0,0
$GC,5771,-0.82,-105.9,895.9,-14.6,300,5774,0.00,0.90,0.00,0.000,6,0.000,0.037,1370,3351,2905,0,0,0,0,0,0
$GC,6089,-0.82,-105.9,937.3,-13.0,311,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3351,2903,0,0,0,0,0,0
$GC,6395,-0.82,-105.9,976.7,-12.8,321,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3351,2903,0,0,0,0,0,0
$STATE,6607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6607,begin apogee
$GC,6614,-0.14,0.0,1003.2,12.5,328,6731,0.77,0.00,109.97,1.202,6,0.167,0.000,1596,3257,2468,0,0,0,0,0,0
$STATE,6732,end apogee,CONTROL_FINISHED_OK
$STATE,6733,begin climb
$GC,6735,0.82,105.9,1004.6,0.0,332,6855,0.90,2.38,109.70,1.172,4,0.080,0.032,1913,1833,2034,0,0,0,0,0,0
$GC,6878,0.82,105.9,980.5,21.9,336,6883,0.00,2.40,0.00,0.000,6,0.000,0.050,1914,3252,2025,0,0,0,0,0,0
$GC,7197,0.82,105.9,899.9,25.8,347,7200,0.00,1.15,0.00,0.000,4,0.000,0.054,1913,3954,2016,0,0,0,0,0,0
$GC,7336,0.82,105.9,861.3,28.8,351,7339,0.00,1.10,0.00,0.000,6,0.000,0.033,1918,3240,2015,0,0,0,0,0,0
$GC,7671,0.82,105.9,777.4,25.0,362,7677,0.00,1.15,0.00,0.000,4,0.000,0.054,1918,3950,2013,0,0,0,0,0,0
$GC,7846,0.82,105.9,729.6,27.7,367,7850,0.00,1.05,0.00,0.000,6,0.000,0.033,1922,3252,2013,0,0,0,0,0,0
$GC,8181,0.82,105.9,646.8,24.5,378,8187,0.00,1.12,0.00,0.000,4,0.000,0.054,1922,3953,2011,0,0,0,0,0,0
$GC,8271,0.82,105.9,623.0,26.2,380,8277,0.00,1.05,0.00,0.000,6,0.000,0.031,1928,3249,2011,0,0,0,0,0,0
$GC,8591,0.82,105.9,546.2,23.7,391,8596,0.00,1.12,0.00,0.000,4,0.000,0.053,1927,3953,2009,0,0,0,0,0,0
$GC,8728,0.82,105.9,511.6,26.5,395,8733,0.00,1.05,0.00,0.000,6,0.000,0.032,1933,3249,2010,0,0,0,0,0,0
$GC,9071,0.82,105.9,430.0,23.8,406,9075,0.00,1.10,0.00,0.000,4,0.000,0.054,1933,3947,2008,0,0,0,0,0,0
$GC,9307,0.82,105.9,367.3,25.7,414,9310,0.00,1.02,0.00,0.000,6,0.000,0.032,1938,3255,2008,0,0,0,0,0,0
$GC,9630,0.82,105.9,290.2,23.8,430,9634,0.00,1.10,0.00,0.000,4,0.000,0.053,1938,3948,2006,0,0,0,0,0,0
$GC,9815,0.82,105.9,242.1,25.1,438,9823,0.08,1.02,0.00,0.000,6,0.216,0.031,1923,3252,2006,0,0,0,0,0,0
$GC,10140,0.82,105.9,170.9,22.3,459,10143,0.00,1.10,0.00,0.000,4,0.000,0.052,1922,3953,2006,0,0,0,0,0,0
$GC,10324,0.82,105.9,124.2,23.7,469,10330,0.00,1.02,0.00,0.000,6,0.000,0.031,1927,3256,2006,0,0,0,0,0,0
$GC,10669,0.82,105.9,45.7,21.8,516,10680,0.00,1.10,0.00,0.000,4,0.000,0.052,1927,3954,2006,0,0,0,0,0,0
$GC,10752,0.82,105.9,27.1,24.4,528,10761,0.00,1.02,0.00,0.000,6,0.000,0.031,1932,3256,2006,0,0,0,0,0,0
$GC,10841,0.82,105.9,8.2,20.7,541,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3256,2006,0,0,0,0,0,0
$STATE,10869,end climb,SURFACE_DEPTH_REACHED
$STATE,10869,begin surface coast
$FINISH,1.0,1.011583
$STATE,10887,end surface coast,CONTROL_FINISHED_OK
$STATE,10887,begin surface
$SM_CCo,10903,160.30,0.753,1,0,504,482.50
$SM_GC,1.71,0.00,0.00,160.30,0.000,0.000,0.753,56,3371,504,-4.98,0.51,482.50
$IRIDIUM_FIX,-4215.72,748.80,221212,202048
$TT8_MAMPS,0.025466
$HUMID,54.80
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.7,18.360
$10V_AH,10.1,9.454
$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,12.150,36.150,219.675,160.300,0.000,25.032,23.511,294.312,0.000,0.000,21.149,1410.835,7103.671,463.199,1936.937,654.433,33.363,1204.512,0.000,1755.971,0.000,1.013,0.000
$DEVICE_MAMPS,232.560,80.325,1201.815,752.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.056,1228.895,573.211,262.052,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,40362,547
$CAP_FILE_SIZE,91424,0
$CFSIZE,259252224,253042688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,231212,024958,-4232.726,816.367,40,0.9,40,-24.9