version: 66.07
glider: 543
mission: 6
dive: 101
start: 12 24 112 15 52 33
data:
$ID,543
$MISSION,6
$DIVE,101
$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,-8136.6421
$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,49
$R_STBD_OVSHOOT,36
$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
$GPS1,241212,153934,-4218.648,819.457,29,1.9,29,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-27.2
$GPS2,241212,155135,-4218.639,819.374,18,1.4,19,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.076,0.273
$KALMAN_X,84.2,26.4,-69.6,24146.0,-1653.4
$KALMAN_Y,86811.0,216.6,349.1,-66282.2,-4567.8
$MHEAD_RNG_PITCHd_Wd,40.5,34530,-13.4,-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,-0.49,-194.7,0.0,0.0,0,111,0.00,0.00,-89.55,0.000,2,0.000,0.000,57,3367,2731,0,0,0,0,0,0
$GC,116,-0.49,-194.7,3.2,-3.9,11,142,5.70,2.25,-14.48,0.000,4,0.231,0.047,1482,1947,3269,0,0,0,0,0,0
$GC,246,-0.49,-194.7,16.7,-10.5,29,254,0.00,2.30,0.00,0.000,6,0.000,0.055,1473,3337,3271,0,0,0,0,0,0
$GC,335,-0.49,-194.7,27.4,-12.3,42,343,0.00,1.00,0.00,0.000,4,0.000,0.060,1469,3953,3271,0,0,0,0,0,0
$GC,534,-0.49,-194.7,53.5,-10.2,74,545,0.00,0.90,0.00,0.000,6,0.000,0.036,1468,3361,3272,0,0,0,0,0,0
$GC,781,-0.49,-194.7,79.2,-10.8,115,786,0.00,0.95,0.00,0.000,4,0.000,0.060,1464,3955,3272,0,0,0,0,0,0
$GC,870,-0.49,-194.7,89.7,-11.5,130,879,0.00,0.90,0.00,0.000,6,0.000,0.036,1464,3358,3273,0,0,0,0,0,0
$GC,1203,-0.49,-194.7,126.1,-11.3,161,1207,0.00,0.95,0.00,0.000,4,0.000,0.060,1460,3955,3273,0,0,0,0,0,0
$GC,1385,-0.49,-194.7,148.0,-12.4,171,1388,0.00,0.90,0.00,0.000,6,0.000,0.036,1460,3356,3273,0,0,0,0,0,0
$GC,1715,-0.49,-194.7,188.6,-11.6,192,1720,0.10,0.98,0.00,0.000,4,0.168,0.060,1482,3957,3273,0,0,0,0,0,0
$GC,1840,-0.49,-194.7,200.6,-9.6,199,1843,0.00,0.90,0.00,0.000,6,0.000,0.037,1482,3357,3273,0,0,0,0,0,0
$GC,2171,-0.49,-194.7,230.7,-8.7,220,2175,0.00,0.95,0.00,0.000,4,0.000,0.060,1477,3956,3273,0,0,0,0,0,0
$GC,2263,-0.49,-194.7,239.6,-9.7,225,2266,0.00,0.90,0.00,0.000,6,0.000,0.036,1477,3356,3273,0,0,0,0,0,0
$GC,2593,-0.49,-194.7,267.6,-8.6,243,2599,0.00,0.95,0.00,0.000,4,0.000,0.060,1473,3954,3272,0,0,0,0,0,0
$GC,2710,-0.49,-194.7,278.8,-9.9,248,2713,0.00,0.90,0.00,0.000,6,0.000,0.036,1473,3351,3273,0,0,0,0,0,0
$GC,3045,-0.49,-194.7,311.4,-10.0,264,3048,0.00,0.95,0.00,0.000,4,0.000,0.060,1468,3952,3272,0,0,0,0,0,0
$GC,3165,-0.49,-194.7,325.0,-10.9,269,3168,0.00,0.90,0.00,0.000,6,0.000,0.036,1469,3349,3272,0,0,0,0,0,0
$GC,3494,-0.49,-194.7,358.1,-10.0,285,3500,0.00,0.95,0.00,0.000,4,0.000,0.060,1464,3952,3272,0,0,0,0,0,0
$GC,3620,-0.49,-194.7,371.9,-10.9,290,3623,0.00,0.90,0.00,0.000,6,0.000,0.036,1464,3349,3272,0,0,0,0,0,0
$GC,3962,-0.49,-194.7,406.5,-10.1,306,3966,0.00,0.95,0.00,0.000,4,0.000,0.060,1460,3951,3271,0,0,0,0,0,0
$GC,4124,-0.49,-194.7,423.9,-11.8,310,4128,0.08,0.90,0.00,0.000,6,0.135,0.036,1485,3350,3271,0,0,0,0,0,0
$GC,4443,-0.49,-194.7,451.2,-8.3,321,4447,0.00,0.95,0.00,0.000,4,0.000,0.060,1482,3951,3271,0,0,0,0,0,0
$GC,4555,-0.49,-194.7,461.4,-8.9,324,4559,0.00,0.90,0.00,0.000,6,0.000,0.037,1482,3349,3271,0,0,0,0,0,0
$GC,4885,-0.49,-194.7,488.8,-8.1,335,4890,0.00,0.95,0.00,0.000,4,0.000,0.061,1478,3952,3270,0,0,0,0,0,0
$GC,5026,-0.49,-194.7,501.0,-8.3,339,5032,0.00,0.90,0.00,0.000,6,0.000,0.037,1478,3350,3270,0,0,0,0,0,0
$GC,5364,-0.49,-194.7,528.9,-8.6,350,5368,0.00,0.95,0.00,0.000,4,0.000,0.061,1473,3951,3269,0,0,0,0,0,0
$GC,5495,-0.49,-194.7,541.2,-9.4,353,5501,0.00,0.90,0.00,0.000,6,0.000,0.037,1474,3352,3269,0,0,0,0,0,0
$GC,5810,-0.49,-194.7,571.6,-9.9,364,5813,0.00,0.95,0.00,0.000,4,0.000,0.061,1469,3952,3268,0,0,0,0,0,0
$GC,5981,-0.49,-194.7,589.4,-10.7,369,5985,0.00,0.90,0.00,0.000,6,0.000,0.037,1469,3353,3268,0,0,0,0,0,0
$GC,6323,-0.49,-194.7,623.1,-9.5,380,6328,0.00,0.95,0.00,0.000,4,0.000,0.061,1465,3950,3268,0,0,0,0,0,0
$GC,6441,-0.49,-194.7,635.2,-10.0,383,6445,0.00,0.90,0.00,0.000,6,0.000,0.037,1464,3350,3267,0,0,0,0,0,0
$GC,6765,-0.49,-194.7,667.3,-10.1,394,6769,0.00,0.95,0.00,0.000,4,0.000,0.061,1461,3949,3266,0,0,0,0,0,0
$GC,6923,-0.49,-194.7,684.2,-11.3,398,6929,0.00,0.90,0.00,0.000,6,0.000,0.038,1460,3352,3265,0,0,0,0,0,0
$GC,7243,-0.49,-194.7,715.8,-9.7,409,7250,0.10,0.98,0.00,0.000,4,0.170,0.063,1482,3955,3265,0,0,0,0,0,0
$GC,7376,-0.49,-194.7,726.5,-7.7,412,7384,0.00,0.90,0.00,0.000,6,0.000,0.039,1483,3358,3264,0,0,0,0,0,0
$GC,7690,-0.49,-194.7,749.3,-7.1,423,7693,0.00,0.95,0.00,0.000,4,0.000,0.063,1478,3954,3264,0,0,0,0,0,0
$GC,7826,-0.49,-194.7,759.7,-7.4,427,7829,0.00,0.90,0.00,0.000,6,0.000,0.039,1478,3358,3263,0,0,0,0,0,0
$GC,8167,-0.49,-194.7,784.7,-7.3,438,8173,0.00,0.95,0.00,0.000,4,0.000,0.063,1474,3954,3263,0,0,0,0,0,0
$GC,8340,-0.49,-194.7,798.2,-7.8,443,8344,0.00,0.93,0.00,0.000,6,0.000,0.039,1474,3342,3262,0,0,0,0,0,0
$GC,8682,-0.49,-194.7,826.0,-8.2,454,8688,0.00,0.98,0.00,0.000,4,0.000,0.063,1469,3953,3261,0,0,0,0,0,0
$GC,8862,-0.49,-194.7,842.6,-9.4,459,8868,0.00,0.90,0.00,0.000,6,0.000,0.039,1469,3357,3261,0,0,0,0,0,0
$GC,9195,-0.49,-194.7,873.1,-9.3,470,9199,0.00,0.95,0.00,0.000,4,0.000,0.064,1465,3950,3260,0,0,0,0,0,0
$GC,9359,-0.49,-194.7,889.1,-9.7,474,9366,0.00,0.93,0.00,0.000,6,0.000,0.038,1465,3341,3260,0,0,0,0,0,0
$GC,9672,-0.49,-194.7,918.1,-9.2,485,9676,0.00,0.98,0.00,0.000,4,0.000,0.063,1461,3951,3259,0,0,0,0,0,0
$GC,9880,-0.49,-194.7,937.9,-8.4,491,9884,0.00,0.90,0.00,0.000,6,0.000,0.040,1461,3356,3258,0,0,0,0,0,0
$GC,10216,-0.49,-194.7,966.1,-8.4,502,10221,0.00,0.95,0.00,0.000,4,0.000,0.063,1456,3953,3258,0,0,0,0,0,0
$GC,10413,-0.49,-194.7,983.0,-8.5,507,10420,0.08,0.90,0.00,0.000,6,0.134,0.040,1481,3357,3258,0,0,0,0,0,0
$STATE,10725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10725,begin apogee
$GC,10732,-0.14,0.0,1000.7,5.5,518,10938,0.38,0.00,196.98,1.178,6,0.122,0.000,1603,3247,2466,0,0,0,0,0,0
$STATE,10939,end apogee,CONTROL_FINISHED_OK
$STATE,10939,begin climb
$GC,10942,0.49,194.7,1003.8,0.0,525,11152,0.57,2.45,198.57,1.135,4,0.054,0.034,1828,1841,1668,0,0,0,0,0,0
$GC,11212,0.49,194.7,961.2,16.0,533,11216,0.00,2.45,0.00,0.000,6,0.000,0.053,1828,3251,1657,0,0,0,0,0,0
$GC,11537,0.49,194.7,894.5,20.5,544,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3251,1651,0,0,0,0,0,0
$GC,11843,0.49,194.7,831.0,21.0,554,11844,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3251,1650,0,0,0,0,0,0
$GC,12149,0.49,194.7,765.7,21.4,564,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3251,1649,0,0,0,0,0,0
$GC,12456,0.49,194.7,702.3,20.3,574,12460,0.00,2.17,0.00,0.000,4,0.000,0.036,1839,1828,1649,0,0,0,0,0,0
$GC,12494,0.49,194.7,694.7,16.9,575,12498,0.00,2.33,0.00,0.000,6,0.000,0.054,1839,3263,1648,0,0,0,0,0,0
$GC,12819,0.49,194.7,628.5,20.6,586,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3263,1648,0,0,0,0,0,0
$GC,13125,0.49,194.7,565.3,20.9,596,13129,0.00,2.17,0.00,0.000,4,0.000,0.034,1849,1824,1648,0,0,0,0,0,0
$GC,13158,0.49,194.7,558.4,19.0,597,13163,0.15,2.30,0.00,0.000,6,0.176,0.052,1812,3256,1647,0,0,0,0,0,0
$GC,13488,0.49,194.7,499.0,18.1,608,13492,0.00,1.10,0.00,0.000,4,0.000,0.057,1812,3943,1647,0,0,0,0,0,0
$GC,13527,0.49,194.7,491.1,19.3,609,13531,0.00,1.05,0.00,0.000,6,0.000,0.034,1815,3245,1647,0,0,0,0,0,0
$GC,13862,0.49,194.7,428.1,19.3,620,13866,0.00,2.12,0.00,0.000,4,0.000,0.033,1826,1835,1646,0,0,0,0,0,0
$GC,13917,0.49,194.7,418.6,15.1,621,13925,0.00,2.28,0.00,0.000,6,0.000,0.050,1826,3248,1646,0,0,0,0,0,0
$GC,14235,0.49,194.7,358.9,19.1,635,14240,0.00,1.12,0.00,0.000,4,0.000,0.056,1826,3957,1646,0,0,0,0,0,0
$GC,14263,0.49,194.7,352.6,19.0,636,14267,0.00,1.08,0.00,0.000,6,0.000,0.033,1831,3236,1646,0,0,0,0,0,0
$GC,14591,0.49,194.7,288.4,19.4,652,14595,0.00,2.08,0.00,0.000,4,0.000,0.033,1842,1840,1645,0,0,0,0,0,0
$GC,14637,0.49,194.7,279.9,15.9,654,14644,0.08,2.25,0.00,0.000,6,0.151,0.050,1817,3245,1645,0,0,0,0,0,0
$GC,14964,0.49,194.7,221.9,18.4,672,14965,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3246,1645,0,0,0,0,0,0
$GC,15275,0.49,194.7,164.8,18.2,692,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3246,1645,0,0,0,0,0,0
$GC,15588,0.49,194.7,108.3,18.0,712,15592,0.00,2.10,0.00,0.000,4,0.000,0.031,1827,1845,1645,0,0,0,0,0,0
$GC,15618,0.49,194.7,103.1,16.6,714,15623,0.00,2.22,0.00,0.000,6,0.000,0.049,1827,3257,1645,0,0,0,0,0,0
$GC,15971,0.49,194.7,42.4,17.1,772,15982,0.00,2.15,0.00,0.000,4,0.000,0.031,1838,1837,1645,0,0,0,0,0,0
$GC,16012,0.49,194.7,37.0,14.1,777,16019,0.00,2.20,0.00,0.000,6,0.000,0.050,1838,3248,1645,0,0,0,0,0,0
$STATE,16213,end climb,SURFACE_DEPTH_REACHED
$STATE,16213,begin surface coast
$FINISH,1.0,1.013484
$STATE,16236,end surface coast,CONTROL_FINISHED_OK
$STATE,16236,begin surface
$SM_CCo,16252,123.97,0.742,1,0,505,482.50
$SM_GC,1.33,0.00,0.00,123.97,0.000,0.000,0.742,55,3368,505,-4.98,0.42,482.50
$IRIDIUM_FIX,-4204.08,819.75,241212,151556
$TT8_MAMPS,0.025466
$HUMID,53.97
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.9,20.065
$10V_AH,10.1,10.527
$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,11.900,81.400,395.550,123.975,0.000,53.371,102.905,332.045,0.000,0.000,21.605,2113.358,10451.454,599.285,2973.414,961.702,33.359,1758.312,0.000,2657.824,0.000,1.013,0.000
$DEVICE_MAMPS,231.030,83.385,1178.100,742.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.032,1765.549,819.637,372.814,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354232
$DATA_FILE_SIZE,60466,811
$CAP_FILE_SIZE,143186,0
$CFSIZE,259252224,252350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,241212,202652,-4216.597,820.084,37,0.9,37,-24.9