version: 66.07
glider: 543
mission: 6
dive: 128
start: 12 29 112 14 18 5
data:
$ID,543
$MISSION,6
$DIVE,128
$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,-8222.3105
$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,52
$R_STBD_OVSHOOT,31
$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
$GPS1,291212,140828,-4157.410,827.243,36,1.2,36,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-40.5
$GPS2,291212,141710,-4157.412,827.291,24,1.1,25,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.190,-0.059
$KALMAN_X,-83977.7,1394.9,973.2,116553.0,-14123.7
$KALMAN_Y,49589.0,423.6,363.1,10023.4,-3462.1
$MHEAD_RNG_PITCHd_Wd,132.1,11120,-21.0,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.64,-87.9,0.0,0.0,0,119,0.00,0.00,-94.93,0.000,6,0.000,0.000,61,3336,2834,0,0,0,0,0,0
$GC,123,-0.67,-141.7,3.8,-5.3,12,142,5.47,2.15,-5.00,0.000,4,0.231,0.044,1435,1948,3051,0,0,0,0,0,0
$GC,323,-0.67,-141.7,37.4,-14.2,42,333,0.00,2.30,0.00,0.000,6,0.000,0.055,1426,3342,3054,0,0,0,0,0,0
$GC,570,-0.67,-141.7,76.9,-17.5,83,577,0.00,0.98,0.00,0.000,4,0.000,0.058,1421,3953,3054,0,0,0,0,0,0
$GC,834,-0.67,-141.7,121.9,-16.1,114,838,0.00,0.90,0.00,0.000,6,0.000,0.035,1421,3359,3054,0,0,0,0,0,0
$GC,1163,-0.67,-141.7,169.3,-14.1,135,1167,0.00,0.95,0.00,0.000,4,0.000,0.057,1417,3956,3055,0,0,0,0,0,0
$GC,1220,-0.67,-141.7,179.0,-15.6,138,1225,0.00,0.93,0.00,0.000,6,0.000,0.035,1417,3344,3055,0,0,0,0,0,0
$GC,1547,-0.67,-141.7,228.5,-15.7,159,1550,0.00,0.98,0.00,0.000,4,0.000,0.057,1413,3960,3056,0,0,0,0,0,0
$GC,1620,-0.67,-141.7,242.1,-18.2,163,1624,0.00,0.90,0.00,0.000,6,0.000,0.035,1413,3358,3056,0,0,0,0,0,0
$GC,1949,-0.67,-141.7,295.7,-16.2,180,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,1412,3357,3056,0,0,0,0,0,0
$GC,2259,-0.67,-141.7,341.8,-14.2,195,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,1413,3357,3056,0,0,0,0,0,0
$GC,2568,-0.67,-141.7,383.5,-13.3,210,2572,0.00,0.95,0.00,0.000,4,0.000,0.058,1408,3958,3056,0,0,0,0,0,0
$GC,2709,-0.67,-141.7,403.9,-14.4,216,2713,0.00,0.90,0.00,0.000,6,0.000,0.035,1408,3352,3056,0,0,0,0,0,0
$GC,3051,-0.67,-141.7,450.4,-13.4,227,3056,0.00,0.95,0.00,0.000,4,0.000,0.059,1404,3956,3055,0,0,0,0,0,0
$GC,3121,-0.67,-141.7,460.7,-14.6,229,3124,0.00,0.90,0.00,0.000,6,0.000,0.036,1404,3353,3055,0,0,0,0,0,0
$GC,3462,-0.67,-141.7,510.1,-14.6,240,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,1404,3353,3055,0,0,0,0,0,0
$GC,3768,-0.67,-141.7,556.2,-15.3,250,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,1404,3353,3055,0,0,0,0,0,0
$GC,4076,-0.67,-141.7,603.9,-15.9,260,4079,0.00,0.98,0.00,0.000,4,0.000,0.061,1400,3952,3054,0,0,0,0,0,0
$GC,4186,-0.67,-141.7,623.7,-17.5,263,4190,0.08,0.90,0.00,0.000,6,0.171,0.036,1423,3355,3054,0,0,0,0,0,0
$GC,4516,-0.67,-141.7,672.1,-14.8,274,4521,0.00,0.95,0.00,0.000,4,0.000,0.060,1419,3954,3053,0,0,0,0,0,0
$GC,4586,-0.67,-141.7,683.0,-14.9,276,4589,0.00,0.90,0.00,0.000,6,0.000,0.037,1419,3352,3053,0,0,0,0,0,0
$GC,4927,-0.67,-141.7,731.5,-13.9,287,4932,0.00,0.95,0.00,0.000,4,0.000,0.060,1415,3952,3052,0,0,0,0,0,0
$GC,4984,-0.67,-141.7,740.0,-14.3,288,4987,0.00,0.90,0.00,0.000,6,0.000,0.037,1415,3354,3052,0,0,0,0,0,0
$GC,5304,-0.67,-141.7,784.1,-13.8,299,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3354,3051,0,0,0,0,0,0
$GC,5613,-0.67,-141.7,824.0,-12.6,309,5616,0.00,0.98,0.00,0.000,4,0.000,0.062,1411,3951,3050,0,0,0,0,0,0
$GC,5719,-0.67,-141.7,838.2,-12.1,312,5722,0.00,0.90,0.00,0.000,6,0.000,0.038,1411,3355,3050,0,0,0,0,0,0
$GC,6054,-0.67,-141.7,877.3,-11.5,323,6058,0.00,0.95,0.00,0.000,4,0.000,0.061,1406,3954,3049,0,0,0,0,0,0
$GC,6178,-0.67,-141.7,893.8,-14.6,326,6181,0.00,0.93,0.00,0.000,6,0.000,0.037,1406,3342,3049,0,0,0,0,0,0
$GC,6497,-0.67,-141.7,933.8,-12.9,337,6501,0.00,0.98,0.00,0.000,4,0.000,0.061,1402,3958,3047,0,0,0,0,0,0
$GC,6672,-0.67,-141.7,959.5,-15.2,342,6676,0.08,0.93,0.00,0.000,6,0.171,0.038,1425,3346,3046,0,0,0,0,0,0
$STATE,7004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7012,-0.14,0.0,1000.7,11.9,353,7158,0.57,0.00,135.10,1.828,6,0.144,0.000,1601,3255,2476,0,0,0,0,1,0
$STATE,7160,end apogee,CONTROL_FINISHED_OK
$STATE,7160,begin climb
$GC,7163,0.67,141.7,1004.4,0.0,358,7321,0.73,2.45,141.90,1.774,4,0.049,0.031,1880,1833,1896,0,0,0,0,1,0
$GC,7380,0.67,141.7,969.6,20.6,364,7385,0.00,2.47,0.00,0.000,6,0.000,0.050,1880,3256,1892,0,0,0,0,0,0
$GC,7694,0.67,141.7,889.9,25.6,374,7699,0.00,1.15,0.00,0.000,4,0.000,0.056,1880,3949,1886,0,0,0,0,0,0
$GC,7947,0.67,141.7,822.0,26.0,381,7950,0.00,1.10,0.00,0.000,6,0.000,0.033,1885,3231,1884,0,0,0,0,0,0
$GC,8272,0.67,141.7,744.8,23.6,392,8276,0.00,1.17,0.00,0.000,4,0.000,0.056,1885,3952,1882,0,0,0,0,0,0
$GC,8417,0.67,141.7,706.4,26.6,396,8420,0.00,1.08,0.00,0.000,6,0.000,0.034,1890,3244,1882,0,0,0,0,0,0
$GC,8746,0.67,141.7,629.0,23.0,407,8750,0.00,1.15,0.00,0.000,4,0.000,0.055,1890,3956,1881,0,0,0,0,0,0
$GC,8956,0.67,141.7,576.1,24.8,413,8960,0.00,1.05,0.00,0.000,6,0.000,0.033,1896,3255,1880,0,0,0,0,0,0
$GC,9292,0.67,141.7,497.3,23.8,424,9296,0.00,1.10,0.00,0.000,4,0.000,0.055,1896,3945,1879,0,0,0,0,0,0
$GC,9456,0.67,141.7,454.4,26.8,428,9465,0.10,1.05,0.00,0.000,6,0.206,0.033,1874,3242,1879,0,0,0,0,0,0
$GC,9770,0.67,141.7,386.0,21.2,440,9774,0.00,1.12,0.00,0.000,4,0.000,0.054,1872,3949,1879,0,0,0,0,0,0
$GC,9963,0.67,141.7,340.0,24.0,448,9966,0.00,1.05,0.00,0.000,6,0.000,0.033,1876,3249,1878,0,0,0,0,0,0
$GC,10286,0.67,141.7,271.9,21.4,464,10290,0.00,1.12,0.00,0.000,4,0.000,0.054,1876,3953,1878,0,0,0,0,0,0
$GC,10427,0.67,141.7,239.5,23.5,471,10430,0.00,1.05,0.00,0.000,6,0.000,0.032,1881,3244,1878,0,0,0,0,0,0
$GC,10757,0.67,141.7,163.7,23.7,492,10761,0.00,1.12,0.00,0.000,4,0.000,0.054,1881,3949,1878,0,0,0,0,0,0
$GC,10827,0.67,141.7,145.9,26.9,496,10831,0.00,1.02,0.00,0.000,6,0.000,0.033,1886,3254,1878,0,0,0,0,0,0
$GC,11167,0.67,141.7,64.0,22.0,533,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,3254,1878,0,0,0,0,0,0
$STATE,11473,end climb,SURFACE_DEPTH_REACHED
$STATE,11473,begin surface coast
$FINISH,0.9,1.020008
$STATE,11497,end surface coast,CONTROL_FINISHED_OK
$STATE,11497,begin surface
$SM_CCo,11513,153.50,0.731,1,0,505,482.50
$SM_GC,1.41,0.00,0.00,153.50,0.000,0.000,0.731,54,3377,505,-4.99,0.68,482.50
$IRIDIUM_FIX,-4143.80,828.70,291212,101031
$TT8_MAMPS,0.025466
$HUMID,55.43
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.4,25.370
$10V_AH,10.1,13.546
$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,11.875,45.575,277.000,153.500,0.000,25.186,21.441,307.856,0.000,0.000,28.061,1535.783,7294.263,494.030,2173.029,699.733,33.363,1325.202,0.000,1939.209,0.000,1.014,0.000
$DEVICE_MAMPS,231.030,74.205,1827.585,730.575,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.007,1284.626,622.523,287.048,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354188
$DATA_FILE_SIZE,43696,585
$CAP_FILE_SIZE,100553,0
$CFSIZE,259252224,250580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,291212,173358,-4157.994,828.227,39,1.4,39,-24.9