version: 66.07
glider: 543
mission: 6
dive: 155
start: 1 2 113 22 56 21
data:
$ID,543
$MISSION,6
$DIVE,155
$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,400
$T_MISSION,420
$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,150
$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,250
$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,-8298.9824
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,26
$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
$GPS1,020113,224234,-4201.041,813.458,36,1.0,36,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-52.0
$GPS2,020113,225523,-4200.933,813.472,20,1.0,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.198,-0.092
$KALMAN_X,-79669.2,-986.7,-595.8,97416.0,4119.3
$KALMAN_Y,28808.0,-79.4,-219.8,25401.2,3926.0
$MHEAD_RNG_PITCHd_Wd,139.8,9149,-17.0,-8.333
$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,-0.53,-113.7,0.0,0.0,0,81,0.00,0.00,-56.28,0.000,2,0.000,0.000,48,3385,2838,0,0,0,0,0,0
$GC,85,-0.55,-146.1,3.3,-3.5,7,106,5.68,0.90,-6.20,0.000,4,0.231,0.083,1447,3942,3070,0,0,0,0,0,0
$GC,388,-0.55,-146.1,56.4,-14.5,54,397,0.00,0.85,0.00,0.000,6,0.000,0.037,1447,3389,3071,0,0,0,0,0,0
$GC,629,-0.55,-146.1,85.5,-11.5,95,633,0.00,0.90,0.00,0.000,4,0.000,0.057,1444,3951,3072,0,0,0,0,0,0
$GC,872,-0.55,-146.1,116.2,-13.3,123,876,0.00,0.88,0.00,0.000,6,0.000,0.036,1443,3375,3073,0,0,0,0,0,0
$GC,1203,-0.55,-146.1,158.5,-12.7,144,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3375,3075,0,0,0,0,0,0
$GC,1516,-0.55,-146.1,197.5,-12.3,164,1519,0.00,0.90,0.00,0.000,4,0.000,0.058,1439,3942,3075,0,0,0,0,0,0
$GC,1592,-0.55,-146.1,208.0,-13.9,168,1595,0.00,0.85,0.00,0.000,6,0.000,0.037,1439,3381,3075,0,0,0,0,0,0
$GC,1918,-0.55,-146.1,248.6,-12.7,189,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3380,3075,0,0,0,0,0,0
$GC,2243,-0.55,-146.1,289.6,-12.3,205,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,1439,3380,3074,0,0,0,0,0,0
$GC,2553,-0.55,-146.1,325.8,-11.3,220,2556,0.00,0.90,0.00,0.000,4,0.000,0.058,1435,3946,3075,0,0,0,0,0,0
$GC,2640,-0.55,-146.1,336.7,-12.4,223,2647,0.00,0.85,0.00,0.000,6,0.000,0.037,1435,3384,3074,0,0,0,0,0,0
$GC,2958,-0.55,-146.1,372.8,-11.2,239,2964,0.00,0.88,0.00,0.000,4,0.000,0.059,1431,3936,3074,0,0,0,0,0,0
$GC,3047,-0.55,-146.1,383.7,-12.8,242,3056,0.00,0.82,0.00,0.000,6,0.000,0.037,1431,3391,3074,0,0,0,0,0,0
$GC,3382,-0.55,-146.1,422.7,-11.3,256,3386,0.00,0.88,0.00,0.000,4,0.000,0.058,1427,3944,3074,0,0,0,0,0,0
$GC,3521,-0.55,-146.1,439.6,-11.9,260,3525,0.00,0.85,0.00,0.000,6,0.000,0.037,1427,3381,3074,0,0,0,0,0,0
$GC,3856,-0.55,-146.1,478.5,-12.0,271,3858,0.10,0.00,0.00,0.000,6,0.187,0.000,1451,3381,3073,0,0,0,0,0,0
$GC,4162,-0.55,-146.1,512.2,-11.0,281,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3381,3073,0,0,0,0,0,0
$GC,4470,-0.55,-146.1,547.0,-11.5,291,4474,0.00,0.90,0.00,0.000,4,0.000,0.060,1448,3948,3072,0,0,0,0,0,0
$GC,4648,-0.55,-146.1,570.0,-12.0,296,4651,0.00,0.85,0.00,0.000,6,0.000,0.039,1448,3384,3072,0,0,0,0,0,0
$GC,4977,-0.55,-146.1,608.4,-11.5,307,4981,0.00,0.90,0.00,0.000,4,0.000,0.060,1444,3952,3071,0,0,0,0,0,0
$GC,5053,-0.55,-146.1,617.4,-11.7,309,5057,0.00,0.85,0.00,0.000,6,0.000,0.039,1444,3390,3071,0,0,0,0,0,0
$GC,5388,-0.55,-146.1,654.5,-10.9,320,5392,0.00,0.88,0.00,0.000,4,0.000,0.060,1440,3942,3071,0,0,0,0,0,0
$GC,5525,-0.55,-146.1,670.6,-11.2,324,5528,0.00,0.85,0.00,0.000,6,0.000,0.039,1440,3382,3070,0,0,0,0,0,0
$GC,5866,-0.55,-146.1,709.4,-11.5,335,5869,0.00,0.90,0.00,0.000,4,0.000,0.060,1436,3949,3069,0,0,0,0,0,0
$GC,5943,-0.55,-146.1,719.5,-13.4,337,5947,0.00,0.85,0.00,0.000,6,0.000,0.039,1436,3385,3069,0,0,0,0,0,0
$GC,6274,-0.55,-146.1,758.7,-11.7,348,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,1436,3384,3068,0,0,0,0,0,0
$GC,6581,-0.55,-146.1,795.0,-11.6,358,6584,0.00,0.88,0.00,0.000,4,0.000,0.060,1432,3935,3068,0,0,0,0,0,0
$GC,6717,-0.55,-146.1,811.6,-11.3,362,6721,0.00,0.85,0.00,0.000,6,0.000,0.040,1432,3377,3067,0,0,0,0,0,0
$GC,7058,-0.55,-146.1,848.5,-10.4,373,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3377,3067,0,0,0,0,0,0
$GC,7364,-0.55,-146.1,880.6,-10.5,383,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3377,3066,0,0,0,0,0,0
$GC,7672,-0.55,-146.1,911.2,-9.8,393,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,3377,3066,0,0,0,0,0,0
$GC,7977,-0.55,-146.1,940.8,-9.5,403,7982,0.00,0.90,0.00,0.000,4,0.000,0.061,1427,3941,3065,0,0,0,0,0,0
$GC,8131,-0.55,-146.1,958.1,-11.1,407,8136,0.08,0.85,0.00,0.000,6,0.163,0.041,1450,3385,3064,0,0,0,0,0,0
$GC,8456,-0.55,-146.1,986.1,-8.5,418,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3385,3064,0,0,0,0,0,0
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8638,begin apogee
$GC,8645,-0.14,0.0,1002.0,8.8,424,8792,0.45,0.00,139.57,1.808,6,0.137,0.000,1588,3273,2473,0,0,0,0,1,0
$STATE,8794,end apogee,CONTROL_FINISHED_OK
$STATE,8794,begin climb
$GC,8797,0.55,146.1,1005.7,0.0,429,8958,0.65,2.50,147.02,1.780,4,0.082,0.034,1812,1857,1878,0,0,0,0,1,0
$GC,9004,0.55,146.1,980.8,14.3,435,9009,0.00,2.50,0.00,0.000,6,0.000,0.052,1812,3267,1875,0,0,0,0,0,0
$GC,9331,0.55,146.1,926.5,16.8,446,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3267,1868,0,0,0,0,0,0
$GC,9635,0.55,146.1,872.6,17.7,456,9639,0.00,1.12,0.00,0.000,4,0.000,0.058,1812,3956,1867,0,0,0,0,0,0
$GC,9718,0.55,146.1,855.6,21.5,458,9722,0.00,1.08,0.00,0.000,6,0.000,0.034,1818,3259,1866,0,0,0,0,0,0
$GC,10043,0.55,146.1,793.5,19.4,469,10047,0.00,2.12,0.00,0.000,4,0.000,0.036,1828,1861,1865,0,0,0,0,0,0
$GC,10076,0.55,146.1,787.1,17.8,470,10080,0.00,2.30,0.00,0.000,6,0.000,0.053,1828,3283,1864,0,0,0,0,0,0
$GC,10406,0.55,146.1,719.8,20.8,481,10411,0.00,1.08,0.00,0.000,4,0.000,0.057,1828,3954,1864,0,0,0,0,0,0
$GC,10458,0.55,146.1,707.9,22.8,482,10462,0.00,1.05,0.00,0.000,6,0.000,0.034,1834,3259,1863,0,0,0,0,0,0
$GC,10783,0.55,146.1,641.1,20.2,493,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3259,1862,0,0,0,0,0,0
$GC,11089,0.55,146.1,580.8,19.5,503,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,3259,1862,0,0,0,0,0,0
$GC,11395,0.55,146.1,523.2,18.4,513,11398,0.00,1.10,0.00,0.000,4,0.000,0.057,1834,3944,1862,0,0,0,0,0,0
$GC,11478,0.55,146.1,505.8,20.4,515,11482,0.00,1.00,0.00,0.000,6,0.000,0.033,1839,3273,1862,0,0,0,0,0,0
$GC,11803,0.55,146.1,443.2,19.9,526,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3272,1861,0,0,0,0,0,0
$GC,12114,0.55,146.1,382.2,20.0,537,12118,0.00,1.08,0.00,0.000,4,0.000,0.055,1839,3947,1860,0,0,0,0,0,0
$GC,12193,0.55,146.1,364.1,20.7,540,12197,0.10,1.00,0.00,0.000,6,0.180,0.034,1815,3272,1860,0,0,0,0,0,0
$GC,12516,0.55,146.1,304.9,18.4,556,12519,0.00,2.10,0.00,0.000,4,0.000,0.031,1824,1858,1860,0,0,0,0,0,0
$GC,12557,0.55,146.1,297.8,15.6,558,12563,0.00,2.28,0.00,0.000,6,0.000,0.050,1824,3276,1859,0,0,0,0,0,0
$GC,12878,0.55,146.1,238.4,18.5,574,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,3276,1858,0,0,0,0,0,0
$GC,13191,0.55,146.1,181.9,17.6,594,13195,0.00,1.05,0.00,0.000,4,0.000,0.054,1824,3943,1859,0,0,0,0,0,0
$GC,13248,0.55,146.1,171.6,18.9,597,13251,0.00,1.00,0.00,0.000,6,0.000,0.033,1830,3266,1859,0,0,0,0,0,0
$GC,13578,0.55,146.1,113.0,17.1,618,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3266,1859,0,0,0,0,0,0
$GC,13918,0.55,146.1,51.9,20.0,666,13928,0.00,1.10,0.00,0.000,4,0.000,0.055,1830,3954,1859,0,0,0,0,0,0
$GC,13967,0.55,146.1,43.5,19.8,673,13973,0.00,1.00,0.00,0.000,6,0.000,0.032,1835,3273,1859,0,0,0,0,0,0
$STATE,14209,end climb,SURFACE_DEPTH_REACHED
$STATE,14210,begin surface coast
$FINISH,1.0,1.026296
$STATE,14232,end surface coast,CONTROL_FINISHED_OK
$STATE,14232,begin surface
$SM_CCo,14248,49.92,0.712,1,0,1452,250.20
$SM_GC,1.87,0.00,0.00,49.92,0.000,0.000,0.712,53,3392,1452,-4.94,0.34,250.20
$IRIDIUM_FIX,-4146.69,811.50,020113,222200
$TT8_MAMPS,0.025466
$HUMID,57.04
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.3,29.361
$10V_AH,10.1,16.306
$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,11.675,47.675,286.600,49.925,0.000,60.483,104.353,362.338,0.000,0.000,22.277,1817.418,9595.206,386.959,2473.911,797.728,33.363,1251.704,0.000,2112.924,0.000,1.014,0.000
$DEVICE_MAMPS,231.030,82.620,1807.695,712.215,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.439,1569.561,713.508,304.862,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,53743,714
$CAP_FILE_SIZE,112692,0
$CFSIZE,259252224,248934400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,030113,025623,-4201.758,815.685,56,1.2,56,-24.9