version: 66.07
glider: 543
mission: 6
dive: 110
start: 12 26 112 10 51 46
data:
$ID,543
$MISSION,6
$DIVE,110
$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,-8166.876
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,261212,102859,-4200.907,821.396,37,0.9,37,-24.9
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-20.2
$GPS2,261212,105048,-4200.852,821.487,21,1.1,22,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.166,0.231
$KALMAN_X,-19306.2,358.2,530.8,45467.1,-6539.1
$KALMAN_Y,69322.5,335.5,232.0,-15848.1,-4725.2
$MHEAD_RNG_PITCHd_Wd,60.5,2584,-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,19,-0.49,-194.7,0.0,0.0,0,119,0.00,0.00,-97.22,0.000,2,0.000,0.000,50,3368,2973,0,0,0,0,0,0
$GC,123,-0.49,-194.7,3.1,-3.8,12,143,5.53,2.20,-7.15,0.000,4,0.216,0.043,1487,1934,3267,0,0,0,0,0,0
$GC,205,-0.49,-194.7,15.5,-9.5,23,215,0.00,2.33,0.00,0.000,6,0.000,0.054,1478,3341,3270,0,0,0,0,0,0
$GC,293,-0.49,-194.7,25.7,-12.5,36,304,0.00,0.98,0.00,0.000,4,0.000,0.059,1473,3947,3270,0,0,0,0,0,0
$GC,407,-0.49,-194.7,41.7,-13.9,53,415,0.00,0.90,0.00,0.000,6,0.000,0.035,1473,3352,3270,0,0,0,0,0,0
$GC,651,-0.49,-194.7,69.8,-10.5,94,659,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3352,3270,0,0,0,0,0,0
$GC,1021,-0.49,-194.7,104.6,-9.3,151,1024,0.00,0.95,0.00,0.000,4,0.000,0.057,1469,3954,3270,0,0,0,0,0,0
$GC,1166,-0.49,-194.7,119.3,-9.7,159,1169,0.00,0.90,0.00,0.000,6,0.000,0.034,1469,3353,3270,0,0,0,0,0,0
$GC,1492,-0.49,-194.7,152.0,-10.5,180,1496,0.00,0.98,0.00,0.000,4,0.000,0.060,1465,3956,3270,0,0,0,0,0,0
$GC,1600,-0.49,-194.7,164.3,-11.2,186,1604,0.00,0.90,0.00,0.000,6,0.000,0.036,1465,3352,3270,0,0,0,0,0,0
$GC,1935,-0.49,-194.7,203.1,-11.9,207,1938,0.00,0.95,0.00,0.000,4,0.000,0.058,1460,3955,3270,0,0,0,0,0,0
$GC,2078,-0.49,-194.7,221.4,-12.9,215,2082,0.08,0.90,0.00,0.000,6,0.133,0.036,1485,3353,3270,0,0,0,0,0,0
$GC,2406,-0.49,-194.7,254.9,-10.1,235,2410,0.00,0.98,0.00,0.000,4,0.000,0.061,1482,3955,3270,0,0,0,0,0,0
$GC,2522,-0.49,-194.7,267.5,-10.5,240,2527,0.00,0.90,0.00,0.000,6,0.000,0.036,1482,3352,3269,0,0,0,0,0,0
$GC,2857,-0.49,-194.7,302.0,-10.2,256,2861,0.00,0.95,0.00,0.000,4,0.000,0.059,1478,3954,3269,0,0,0,0,0,0
$GC,2978,-0.49,-194.7,315.8,-11.0,261,2982,0.00,0.90,0.00,0.000,6,0.000,0.036,1478,3352,3269,0,0,0,0,0,0
$GC,3308,-0.49,-194.7,350.1,-10.3,277,3314,0.00,0.95,0.00,0.000,4,0.000,0.059,1474,3954,3268,0,0,0,0,0,0
$GC,3458,-0.49,-194.7,367.1,-10.7,283,3462,0.00,0.90,0.00,0.000,6,0.000,0.036,1474,3348,3267,0,0,0,0,0,0
$GC,3782,-0.49,-194.7,399.6,-10.0,299,3787,0.00,0.95,0.00,0.000,4,0.000,0.060,1469,3953,3267,0,0,0,0,0,0
$GC,3894,-0.49,-194.7,412.2,-10.7,303,3898,0.00,0.90,0.00,0.000,6,0.000,0.036,1469,3349,3267,0,0,0,0,0,0
$GC,4225,-0.49,-194.7,443.7,-9.4,314,4228,0.00,0.95,0.00,0.000,4,0.000,0.060,1465,3952,3266,0,0,0,0,0,0
$GC,4338,-0.49,-194.7,454.8,-8.9,317,4342,0.00,0.90,0.00,0.000,6,0.000,0.036,1465,3349,3266,0,0,0,0,0,0
$GC,4669,-0.49,-194.7,484.7,-9.1,328,4672,0.00,0.95,0.00,0.000,4,0.000,0.059,1460,3953,3266,0,0,0,0,0,0
$GC,4806,-0.49,-194.7,498.3,-9.7,332,4809,0.00,0.90,0.00,0.000,6,0.000,0.036,1461,3348,3265,0,0,0,0,0,0
$GC,5147,-0.49,-194.7,530.6,-9.3,343,5151,0.10,0.98,0.00,0.000,4,0.167,0.060,1483,3958,3264,0,0,0,0,0,0
$GC,5285,-0.49,-194.7,540.7,-7.2,347,5288,0.00,0.90,0.00,0.000,6,0.000,0.037,1483,3356,3264,0,0,0,0,0,0
$GC,5628,-0.49,-194.7,562.0,-5.9,358,5631,0.00,0.95,0.00,0.000,4,0.000,0.061,1479,3956,3263,0,0,0,0,0,0
$GC,5751,-0.49,-194.7,570.0,-6.4,361,5754,0.00,0.90,0.00,0.000,6,0.000,0.037,1479,3356,3263,0,0,0,0,0,0
$GC,6070,-0.49,-194.7,589.0,-5.9,372,6073,0.00,0.95,0.00,0.000,4,0.000,0.061,1475,3957,3262,0,0,0,0,0,0
$GC,6159,-0.49,-194.7,595.2,-7.2,374,6162,0.00,0.90,0.00,0.000,6,0.000,0.037,1475,3356,3262,0,0,0,0,0,0
$GC,6478,-0.49,-194.7,616.7,-6.9,385,6482,0.00,0.95,0.00,0.000,4,0.000,0.061,1470,3957,3261,0,0,0,0,0,0
$GC,6548,-0.49,-194.7,621.9,-7.3,387,6551,0.00,0.90,0.00,0.000,6,0.000,0.038,1471,3355,3261,0,0,0,0,0,0
$GC,6889,-0.49,-194.7,650.1,-8.6,398,6893,0.00,0.95,0.00,0.000,4,0.000,0.062,1466,3954,3260,0,0,0,0,0,0
$GC,7002,-0.49,-194.7,660.5,-9.3,401,7005,0.00,0.90,0.00,0.000,6,0.000,0.037,1466,3355,3259,0,0,0,0,0,0
$GC,7333,-0.49,-194.7,692.0,-9.5,412,7336,0.00,0.95,0.00,0.000,4,0.000,0.061,1462,3954,3258,0,0,0,0,0,0
$GC,7412,-0.49,-194.7,700.1,-10.6,414,7416,0.00,0.90,0.00,0.000,6,0.000,0.037,1461,3356,3258,0,0,0,0,0,0
$GC,7743,-0.49,-194.7,733.6,-10.4,425,7746,0.00,0.95,0.00,0.000,4,0.000,0.061,1457,3953,3257,0,0,0,0,0,0
$GC,7874,-0.49,-194.7,748.2,-10.9,428,7881,0.08,0.90,0.00,0.000,6,0.135,0.038,1483,3352,3257,0,0,0,0,0,0
$GC,8188,-0.49,-194.7,774.8,-8.4,439,8193,0.00,0.95,0.00,0.000,4,0.000,0.063,1480,3953,3256,0,0,0,0,0,0
$GC,8278,-0.49,-194.7,782.8,-9.2,441,8283,0.00,0.90,0.00,0.000,6,0.000,0.038,1480,3354,3256,0,0,0,0,0,0
$GC,8598,-0.49,-194.7,809.7,-8.3,452,8603,0.00,0.98,0.00,0.000,4,0.000,0.063,1476,3953,3255,0,0,0,0,0,0
$GC,8741,-0.49,-194.7,821.8,-8.7,456,8746,0.00,0.90,0.00,0.000,6,0.000,0.039,1476,3354,3255,0,0,0,0,0,0
$GC,9079,-0.49,-194.7,847.3,-7.4,467,9083,0.00,0.95,0.00,0.000,4,0.000,0.063,1471,3954,3254,0,0,0,0,0,0
$GC,9211,-0.49,-194.7,857.6,-8.7,470,9217,0.00,0.93,0.00,0.000,6,0.000,0.039,1471,3342,3254,0,0,0,0,0,0
$GC,9524,-0.49,-194.7,879.6,-6.7,481,9530,0.00,0.98,0.00,0.000,4,0.000,0.063,1467,3956,3254,0,0,0,0,0,0
$GC,9632,-0.49,-194.7,888.1,-7.5,484,9636,0.00,0.93,0.00,0.000,6,0.000,0.039,1467,3345,3253,0,0,0,0,0,0
$GC,9968,-0.49,-194.7,911.9,-7.0,495,9971,0.00,0.98,0.00,0.000,4,0.000,0.063,1462,3959,3253,0,0,0,0,0,0
$GC,10129,-0.49,-194.7,924.0,-7.6,499,10133,0.00,0.93,0.00,0.000,6,0.000,0.039,1462,3347,3252,0,0,0,0,0,0
$GC,10451,-0.49,-194.7,949.1,-7.9,510,10454,0.00,0.95,0.00,0.000,4,0.000,0.063,1458,3949,3252,0,0,0,0,0,0
$GC,10554,-0.49,-194.7,958.2,-8.8,513,10558,0.10,0.90,0.00,0.000,6,0.131,0.039,1491,3351,3252,0,0,0,0,0,0
$GC,10895,-0.49,-194.7,977.8,-5.6,524,10898,0.00,0.95,0.00,0.000,4,0.000,0.064,1488,3951,3251,0,0,0,0,0,0
$GC,10983,-0.49,-194.7,983.4,-6.0,526,10987,0.00,0.90,0.00,0.000,6,0.000,0.040,1488,3354,3251,0,0,0,0,0,0
$STATE,11269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11269,begin apogee
$GC,11276,-0.14,0.0,1000.5,6.1,536,11476,0.35,0.00,196.25,1.186,6,0.119,0.000,1601,3245,2473,0,0,0,0,0,0
$STATE,11477,end apogee,CONTROL_FINISHED_OK
$STATE,11477,begin climb
$GC,11480,0.49,194.7,1007.1,0.0,542,11690,0.57,1.30,199.35,1.149,4,0.053,0.057,1812,3947,1668,0,0,0,0,0,0
$GC,11788,0.49,194.7,960.4,18.9,551,11793,0.00,1.15,0.00,0.000,6,0.000,0.034,1817,3243,1655,0,0,0,0,0,0
$GC,12113,0.49,194.7,901.0,18.1,562,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1650,0,0,0,0,0,0
$GC,12419,0.49,194.7,846.1,18.1,572,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1648,0,0,0,0,0,0
$GC,12727,0.49,194.7,790.7,18.1,582,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1648,0,0,0,0,0,0
$GC,13032,0.49,194.7,733.7,18.7,592,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1647,0,0,0,0,0,0
$GC,13338,0.49,194.7,676.6,18.5,602,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1646,0,0,0,0,0,0
$GC,13645,0.49,194.7,619.8,18.5,612,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1646,0,0,0,0,0,0
$GC,13951,0.49,194.7,563.6,18.5,622,13952,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1646,0,0,0,0,0,0
$GC,14257,0.49,194.7,507.5,18.4,632,14258,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3244,1646,0,0,0,0,0,0
$GC,14564,0.49,194.7,451.7,18.3,642,14568,0.00,1.15,0.00,0.000,4,0.000,0.057,1818,3958,1645,0,0,0,0,0,0
$GC,14600,0.49,194.7,444.9,19.1,643,14603,0.00,1.08,0.00,0.000,6,0.000,0.034,1823,3240,1646,0,0,0,0,0,0
$GC,14933,0.49,194.7,381.3,19.1,655,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3239,1645,0,0,0,0,0,0
$GC,15242,0.49,194.7,320.0,20.0,670,15245,0.00,1.15,0.00,0.000,4,0.000,0.054,1823,3958,1645,0,0,0,0,0,0
$GC,15304,0.49,194.7,306.2,20.3,672,15313,0.00,1.05,0.00,0.000,6,0.000,0.033,1828,3251,1645,0,0,0,0,0,0
$GC,15633,0.49,194.7,242.2,19.4,689,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3251,1645,0,0,0,0,0,0
$GC,15946,0.49,194.7,183.4,18.6,709,15951,0.00,2.15,0.00,0.000,4,0.000,0.033,1839,1842,1645,0,0,0,0,0,0
$GC,15974,0.49,194.7,177.9,16.8,710,15985,0.08,2.25,0.00,0.000,6,0.142,0.048,1815,3251,1645,0,0,0,0,0,0
$GC,16299,0.49,194.7,125.0,16.9,731,16300,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3251,1645,0,0,0,0,0,0
$GC,16627,0.49,194.7,68.3,17.8,771,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3251,1645,0,0,0,0,0,0
$GC,17001,0.49,194.7,8.9,14.1,832,17010,0.00,2.12,0.00,0.000,4,0.000,0.031,1824,1842,1645,0,0,0,0,0,0
$STATE,17046,end climb,SURFACE_DEPTH_REACHED
$STATE,17046,begin surface coast
$FINISH,1.6,1.026017
$STATE,17054,end surface coast,CONTROL_FINISHED_OK
$STATE,17054,begin surface
$SM_CCo,17072,127.88,0.728,1,0,502,482.50
$SM_GC,1.12,0.00,0.00,127.88,0.000,0.000,0.728,55,3352,502,-4.98,-0.03,482.50
$IRIDIUM_FIX,-4143.80,822.96,261212,101025
$TT8_MAMPS,0.025466
$HUMID,53.62
$INTERNAL_PRESSURE,8.99566
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.9,21.873
$10V_AH,10.1,11.611
$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,11.525,65.150,395.600,127.875,0.000,118.327,169.481,616.426,0.000,0.000,24.124,2164.027,11407.570,592.540,3369.226,978.661,33.359,1732.644,0.000,2659.609,0.000,1.016,0.000
$DEVICE_MAMPS,215.730,65.790,1185.750,727.515,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.909,1815.404,816.968,365.431,0.000,0.000,0.000,0.000,0.000,0.000
$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,60287,839
$CAP_FILE_SIZE,148362,0
$CFSIZE,259252224,251691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,261212,153952,-4159.032,820.911,40,1.0,40,-24.9