version: 66.07
glider: 543
mission: 6
dive: 112
start: 12 26 112 19 47 20
data:
$ID,543
$MISSION,6
$DIVE,112
$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,-8173.2104
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,261212,193704,-4158.473,821.532,35,0.8,35,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-39.7
$GPS2,261212,194625,-4158.490,821.520,16,0.8,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.284,-0.001
$KALMAN_X,-27560.7,426.6,505.6,53728.5,-9426.3
$KALMAN_Y,66404.6,454.4,154.7,-8604.8,-4180.7
$MHEAD_RNG_PITCHd_Wd,115.1,3492,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.49,-194.7,0.0,0.0,0,122,0.00,0.00,-97.38,0.000,2,0.000,0.000,54,3371,2949,0,0,0,0,0,0
$GC,126,-0.49,-194.7,3.2,-3.3,12,145,5.72,0.95,-7.70,0.000,4,0.230,0.093,1480,3932,3270,0,0,0,0,0,0
$GC,430,-0.49,-194.7,46.3,-11.0,59,437,0.00,0.88,0.00,0.000,6,0.000,0.037,1480,3361,3273,0,0,0,0,0,0
$GC,673,-0.49,-194.7,72.9,-12.0,100,680,0.00,0.93,0.00,0.000,4,0.000,0.060,1476,3939,3273,0,0,0,0,0,0
$GC,853,-0.49,-194.7,96.8,-13.6,130,862,0.00,0.90,0.00,0.000,6,0.000,0.036,1476,3344,3274,0,0,0,0,0,0
$GC,1193,-0.49,-194.7,141.5,-13.1,153,1197,0.00,0.93,0.00,0.000,4,0.000,0.058,1472,3929,3275,0,0,0,0,0,0
$GC,1327,-0.49,-194.7,160.2,-13.5,160,1335,0.00,0.88,0.00,0.000,6,0.000,0.035,1472,3346,3275,0,0,0,0,0,0
$GC,1648,-0.49,-194.7,195.5,-10.1,181,1654,0.00,0.93,0.00,0.000,4,0.000,0.058,1467,3931,3275,0,0,0,0,0,0
$GC,1795,-0.49,-194.7,210.5,-9.6,189,1798,0.00,0.88,0.00,0.000,6,0.000,0.036,1468,3347,3274,0,0,0,0,0,0
$GC,2126,-0.49,-194.7,244.6,-10.2,210,2130,0.00,0.93,0.00,0.000,4,0.000,0.058,1463,3931,3275,0,0,0,0,0,0
$GC,2300,-0.49,-194.7,265.0,-11.7,218,2304,0.00,0.88,0.00,0.000,6,0.000,0.036,1463,3350,3275,0,0,0,0,0,0
$GC,2624,-0.49,-194.7,302.0,-11.2,234,2627,0.00,0.93,0.00,0.000,4,0.000,0.059,1459,3938,3275,0,0,0,0,0,0
$GC,2732,-0.49,-194.7,315.1,-11.9,238,2743,0.08,0.88,0.00,0.000,6,0.136,0.036,1484,3354,3274,0,0,0,0,0,0
$GC,3050,-0.49,-194.7,342.3,-8.3,254,3053,0.00,0.90,0.00,0.000,4,0.000,0.059,1482,3924,3274,0,0,0,0,0,0
$GC,3143,-0.49,-194.7,350.9,-9.5,258,3147,0.00,0.85,0.00,0.000,6,0.000,0.037,1481,3353,3274,0,0,0,0,0,0
$GC,3478,-0.49,-194.7,381.0,-9.0,274,3482,0.00,0.93,0.00,0.000,4,0.000,0.060,1477,3939,3273,0,0,0,0,0,0
$GC,3581,-0.49,-194.7,391.1,-9.9,278,3585,0.00,0.88,0.00,0.000,6,0.000,0.036,1477,3350,3273,0,0,0,0,0,0
$GC,3911,-0.49,-194.7,422.2,-9.6,291,3916,0.00,0.93,0.00,0.000,4,0.000,0.060,1473,3935,3273,0,0,0,0,0,0
$GC,4048,-0.49,-194.7,436.6,-10.7,295,4054,0.00,0.88,0.00,0.000,6,0.000,0.037,1473,3348,3273,0,0,0,0,0,0
$GC,4392,-0.49,-194.7,470.3,-9.7,306,4395,0.00,0.93,0.00,0.000,4,0.000,0.060,1469,3935,3272,0,0,0,0,0,0
$GC,4497,-0.49,-194.7,481.7,-10.1,309,4501,0.00,0.88,0.00,0.000,6,0.000,0.036,1469,3347,3272,0,0,0,0,0,0
$GC,4833,-0.49,-194.7,514.3,-10.0,320,4839,0.00,0.93,0.00,0.000,4,0.000,0.060,1464,3931,3272,0,0,0,0,0,0
$GC,4957,-0.49,-194.7,527.9,-11.2,323,4961,0.00,0.88,0.00,0.000,6,0.000,0.037,1464,3347,3271,0,0,0,0,0,0
$GC,5276,-0.49,-194.7,561.0,-10.3,334,5280,0.00,0.93,0.00,0.000,4,0.000,0.060,1460,3931,3271,0,0,0,0,0,0
$GC,5404,-0.49,-194.7,575.1,-10.6,337,5411,0.00,0.88,0.00,0.000,6,0.000,0.037,1460,3347,3271,0,0,0,0,0,0
$GC,5718,-0.49,-194.7,606.7,-10.1,348,5722,0.10,0.95,0.00,0.000,4,0.167,0.060,1483,3941,3270,0,0,0,0,0,0
$GC,5855,-0.49,-194.7,617.8,-7.9,352,5859,0.00,0.88,0.00,0.000,6,0.000,0.037,1483,3356,3270,0,0,0,0,0,0
$GC,6197,-0.49,-194.7,642.1,-6.9,363,6201,0.00,0.90,0.00,0.000,4,0.000,0.061,1479,3924,3269,0,0,0,0,0,0
$GC,6315,-0.49,-194.7,651.0,-7.7,366,6318,0.00,0.88,0.00,0.000,6,0.000,0.038,1479,3343,3268,0,0,0,0,0,0
$GC,6641,-0.49,-194.7,673.9,-7.2,377,6644,0.00,0.93,0.00,0.000,4,0.000,0.060,1475,3928,3268,0,0,0,0,0,0
$GC,6764,-0.49,-194.7,684.2,-8.6,380,6769,0.00,0.88,0.00,0.000,6,0.000,0.037,1475,3347,3268,0,0,0,0,0,0
$GC,7084,-0.49,-194.7,711.2,-8.7,391,7089,0.00,0.93,0.00,0.000,4,0.000,0.061,1471,3930,3267,0,0,0,0,0,0
$GC,7196,-0.49,-194.7,722.7,-10.1,394,7200,0.00,0.88,0.00,0.000,6,0.000,0.038,1471,3346,3267,0,0,0,0,0,0
$GC,7527,-0.49,-194.7,755.5,-10.3,405,7530,0.00,0.93,0.00,0.000,4,0.000,0.062,1467,3929,3265,0,0,0,0,0,0
$GC,7684,-0.49,-194.7,773.0,-11.2,409,7690,0.00,0.88,0.00,0.000,6,0.000,0.038,1467,3351,3265,0,0,0,0,0,0
$GC,8004,-0.49,-194.7,805.6,-9.8,420,8009,0.00,0.93,0.00,0.000,4,0.000,0.063,1463,3930,3264,0,0,0,0,0,0
$GC,8100,-0.49,-194.7,815.6,-10.2,422,8108,0.00,0.88,0.00,0.000,6,0.000,0.038,1462,3352,3264,0,0,0,0,0,0
$GC,8413,-0.49,-194.7,845.4,-9.5,433,8419,0.00,0.93,0.00,0.000,4,0.000,0.063,1458,3934,3263,0,0,0,0,0,0
$GC,8519,-0.49,-194.7,855.4,-9.0,436,8523,0.08,0.88,0.00,0.000,6,0.135,0.039,1484,3357,3262,0,0,0,0,0,0
$GC,8860,-0.49,-194.7,878.4,-6.3,447,8864,0.00,0.93,0.00,0.000,4,0.000,0.063,1481,3936,3262,0,0,0,0,0,0
$GC,8954,-0.49,-194.7,885.0,-7.3,449,8961,0.00,0.88,0.00,0.000,6,0.000,0.040,1481,3358,3262,0,0,0,0,0,0
$GC,9268,-0.49,-194.7,905.8,-6.7,460,9272,0.00,0.93,0.00,0.000,4,0.000,0.063,1477,3938,3261,0,0,0,0,0,0
$GC,9342,-0.49,-194.7,911.3,-7.8,462,9346,0.00,0.90,0.00,0.000,6,0.000,0.040,1477,3344,3261,0,0,0,0,0,0
$GC,9678,-0.49,-194.7,935.4,-7.3,473,9682,0.00,0.95,0.00,0.000,4,0.000,0.063,1473,3942,3260,0,0,0,0,0,0
$GC,9806,-0.49,-194.7,945.8,-7.4,476,9813,0.00,0.90,0.00,0.000,6,0.000,0.039,1473,3347,3261,0,0,0,0,0,0
$GC,10120,-0.49,-194.7,970.6,-7.9,487,10124,0.00,0.93,0.00,0.000,4,0.000,0.063,1469,3929,3260,0,0,0,0,0,0
$GC,10238,-0.49,-194.7,981.0,-8.8,490,10244,0.00,0.88,0.00,0.000,6,0.000,0.040,1469,3353,3260,0,0,0,0,0,0
$STATE,10470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10470,begin apogee
$GC,10478,-0.14,0.0,1000.2,8.3,498,10682,0.43,0.00,198.10,1.168,6,0.125,0.000,1603,3257,2467,0,0,0,0,0,0
$STATE,10683,end apogee,CONTROL_FINISHED_OK
$STATE,10684,begin climb
$GC,10686,0.49,194.7,1006.3,0.0,505,10896,0.55,2.50,197.25,1.134,4,0.050,0.034,1824,1835,1666,0,0,0,0,0,0
$GC,10994,0.49,194.7,960.5,15.6,514,10999,0.00,2.45,0.00,0.000,6,0.000,0.053,1825,3236,1653,0,0,0,0,0,0
$GC,11321,0.49,194.7,894.6,20.8,525,11325,0.00,1.17,0.00,0.000,4,0.000,0.057,1824,3945,1648,0,0,0,0,0,0
$GC,11358,0.49,194.7,886.6,22.1,526,11362,0.00,1.10,0.00,0.000,6,0.000,0.034,1830,3239,1648,0,0,0,0,0,0
$GC,11701,0.49,194.7,812.9,20.9,537,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3239,1647,0,0,0,0,0,0
$GC,12007,0.49,194.7,749.9,20.3,547,12011,0.00,2.12,0.00,0.000,4,0.000,0.036,1841,1843,1646,0,0,0,0,0,0
$GC,12040,0.49,194.7,743.1,17.3,548,12045,0.12,2.28,0.00,0.000,6,0.171,0.052,1810,3261,1646,0,0,0,0,0,0
$GC,12371,0.49,194.7,684.6,17.9,559,12374,0.00,1.10,0.00,0.000,4,0.000,0.058,1809,3940,1645,0,0,0,0,0,0
$GC,12426,0.49,194.7,674.0,18.3,560,12430,0.00,1.05,0.00,0.000,6,0.000,0.035,1813,3251,1645,0,0,0,0,0,0
$GC,12744,0.49,194.7,618.4,17.3,571,12748,0.00,2.15,0.00,0.000,4,0.000,0.034,1824,1832,1644,0,0,0,0,0,0
$GC,12777,0.49,194.7,613.0,15.1,572,12781,0.00,2.28,0.00,0.000,6,0.000,0.050,1824,3253,1643,0,0,0,0,0,0
$GC,13107,0.49,194.7,555.1,17.8,583,13112,0.00,1.10,0.00,0.000,4,0.000,0.057,1824,3942,1643,0,0,0,0,0,0
$GC,13163,0.49,194.7,543.8,19.9,584,13167,0.00,1.05,0.00,0.000,6,0.000,0.034,1829,3243,1643,0,0,0,0,0,0
$GC,13483,0.49,194.7,484.1,19.1,595,13486,0.00,2.12,0.00,0.000,4,0.000,0.033,1840,1834,1643,0,0,0,0,0,0
$GC,13521,0.49,194.7,476.8,16.9,596,13526,0.12,2.28,0.00,0.000,6,0.172,0.050,1808,3263,1643,0,0,0,0,0,0
$GC,13846,0.49,194.7,418.3,18.7,607,13847,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1642,0,0,0,0,0,0
$GC,14155,0.49,194.7,360.4,19.0,620,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3263,1643,0,0,0,0,0,0
$GC,14465,0.49,194.7,300.3,19.5,635,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1643,0,0,0,0,0,0
$GC,14785,0.49,194.7,240.6,18.3,651,14786,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1643,0,0,0,0,0,0
$GC,15097,0.49,194.7,184.2,18.0,671,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1642,0,0,0,0,0,0
$GC,15410,0.49,194.7,129.3,17.5,691,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1643,0,0,0,0,0,0
$GC,15739,0.49,194.7,73.1,17.5,729,15745,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1643,0,0,0,0,0,0
$GC,16110,0.49,194.7,21.4,11.3,790,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1642,0,0,0,0,0,0
$GC,16202,0.49,194.7,7.7,16.4,803,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3263,1643,0,0,0,0,0,0
$STATE,16234,end climb,SURFACE_DEPTH_REACHED
$STATE,16234,begin surface coast
$FINISH,1.0,1.025379
$STATE,16254,end surface coast,CONTROL_FINISHED_OK
$STATE,16255,begin surface
$SM_CCo,16270,125.65,0.716,1,0,503,482.50
$SM_GC,1.27,0.00,0.00,125.65,0.000,0.000,0.716,55,3369,503,-4.99,0.45,482.50
$IRIDIUM_FIX,-4143.80,816.81,261212,151515
$TT8_MAMPS,0.025466
$HUMID,54.05
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.9,22.254
$10V_AH,10.1,11.838
$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,11.850,66.500,395.350,125.650,0.000,32.026,25.253,337.705,0.000,0.000,19.268,2098.857,10538.443,598.630,2791.571,933.830,33.351,1721.156,0.000,2587.400,0.000,1.014,0.000
$DEVICE_MAMPS,230.265,93.330,1168.155,716.040,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.623,1771.408,811.438,375.559,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354228
$DATA_FILE_SIZE,60407,810
$CAP_FILE_SIZE,140039,0
$CFSIZE,259252224,251559936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,271212,002204,-4158.505,822.751,40,1.1,40,-24.9