version: 66.07
glider: 543
mission: 6
dive: 170
start: 1 5 113 18 12 54
data:
$ID,543
$MISSION,6
$DIVE,170
$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,-8337.749
$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,51
$R_STBD_OVSHOOT,34
$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
$GPS1,050113,180304,-4158.561,814.690,34,0.8,34,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-49.5
$GPS2,050113,181154,-4158.559,814.772,19,1.2,19,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.083,-0.118
$KALMAN_X,-71966.8,-1203.6,-630.0,91730.8,9026.3
$KALMAN_Y,6981.3,-157.5,257.8,51203.4,80.6
$MHEAD_RNG_PITCHd_Wd,240.0,7674,-27.0,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.76,-48.0,0.0,0.0,0,71,0.00,0.00,-49.30,0.000,2,0.000,0.000,52,3393,2610,0,0,0,0,0,0
$GC,76,-0.79,-95.1,3.1,-2.8,6,95,5.43,0.93,-7.62,0.000,4,0.233,0.094,1373,3941,2863,0,0,0,0,0,0
$GC,251,-0.79,-95.1,32.2,-18.7,32,259,0.00,0.85,0.00,0.000,6,0.000,0.037,1373,3391,2866,0,0,0,0,0,0
$GC,501,-0.79,-95.1,72.6,-14.5,73,505,0.00,0.88,0.00,0.000,4,0.000,0.056,1369,3937,2867,0,0,0,0,0,0
$GC,576,-0.79,-95.1,85.0,-16.1,86,582,0.00,0.85,0.00,0.000,6,0.000,0.037,1369,3382,2867,0,0,0,0,0,0
$GC,909,-0.79,-95.1,139.9,-17.0,117,910,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3382,2868,0,0,0,0,0,0
$GC,1222,-0.79,-95.1,191.9,-15.5,137,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,1369,3382,2869,0,0,0,0,0,0
$GC,1534,-0.79,-95.1,237.0,-13.9,157,1540,0.00,0.88,0.00,0.000,4,0.000,0.056,1365,3934,2870,0,0,0,0,0,0
$GC,1800,-0.79,-95.1,277.1,-15.9,170,1803,0.00,0.85,0.00,0.000,6,0.000,0.035,1365,3372,2871,0,0,0,0,0,0
$GC,2123,-0.79,-95.1,321.5,-14.1,186,2126,0.00,0.90,0.00,0.000,4,0.000,0.055,1361,3942,2871,0,0,0,0,0,0
$GC,2209,-0.79,-95.1,334.9,-15.9,189,2216,0.00,0.85,0.00,0.000,6,0.000,0.035,1361,3381,2871,0,0,0,0,0,0
$GC,2528,-0.79,-95.1,382.6,-15.5,205,2533,0.00,0.88,0.00,0.000,4,0.000,0.056,1357,3935,2871,0,0,0,0,0,0
$GC,2667,-0.79,-95.1,406.6,-18.1,211,2671,0.00,0.85,0.00,0.000,6,0.000,0.036,1357,3372,2871,0,0,0,0,0,0
$GC,3008,-0.79,-95.1,462.7,-16.4,222,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3371,2871,0,0,0,0,0,0
$GC,3314,-0.79,-95.1,509.9,-14.9,232,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3371,2871,0,0,0,0,0,0
$GC,3621,-0.79,-95.1,551.0,-12.9,242,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,1356,3371,2871,0,0,0,0,0,0
$GC,3926,-0.79,-95.1,588.7,-12.0,252,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,1357,3371,2870,0,0,0,0,0,0
$GC,4233,-0.79,-95.1,624.6,-11.8,262,4236,0.00,0.90,0.00,0.000,4,0.000,0.057,1352,3941,2869,0,0,0,0,0,0
$GC,4322,-0.79,-95.1,636.6,-13.8,264,4326,0.08,0.85,0.00,0.000,6,0.186,0.037,1373,3383,2870,0,0,0,0,0,0
$GC,4640,-0.79,-95.1,673.6,-12.2,275,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,1373,3383,2869,0,0,0,0,0,0
$GC,4948,-0.79,-95.1,712.4,-13.0,285,4951,0.00,0.88,0.00,0.000,4,0.000,0.058,1370,3935,2868,0,0,0,0,0,0
$GC,5084,-0.79,-95.1,731.9,-13.8,289,5088,0.00,0.85,0.00,0.000,6,0.000,0.038,1370,3374,2868,0,0,0,0,0,0
$GC,5426,-0.79,-95.1,779.2,-13.8,300,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3374,2867,0,0,0,0,0,0
$GC,5732,-0.79,-95.1,822.4,-13.9,310,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3373,2866,0,0,0,0,0,0
$GC,6040,-0.79,-95.1,862.7,-13.2,320,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3374,2865,0,0,0,0,0,0
$GC,6344,-0.79,-95.1,902.3,-12.7,330,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3374,2864,0,0,0,0,0,0
$GC,6651,-0.79,-95.1,940.7,-12.4,340,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3374,2863,0,0,0,0,0,0
$GC,6958,-0.79,-95.1,978.0,-11.8,350,6962,0.00,0.90,0.00,0.000,4,0.000,0.060,1366,3940,2863,0,0,0,0,0,0
$GC,7081,-0.79,-95.1,993.7,-13.1,353,7086,0.00,0.85,0.00,0.000,6,0.000,0.040,1366,3383,2863,0,0,0,0,0,0
$STATE,7153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7153,begin apogee
$GC,7160,-0.14,0.0,1002.1,11.6,356,7261,0.77,0.00,92.50,1.793,6,0.172,0.000,1584,3272,2473,0,0,0,0,1,0
$STATE,7262,end apogee,CONTROL_FINISHED_OK
$STATE,7262,begin climb
$GC,7265,0.79,95.1,1004.1,0.0,359,7373,0.93,0.00,98.90,1.757,6,0.086,0.000,1884,3272,2085,0,0,0,0,1,0
$GC,7677,0.79,95.1,923.8,21.8,373,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2078,0,0,0,0,0,0
$GC,7982,0.79,95.1,859.6,20.9,383,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2074,0,0,0,0,0,0
$GC,8287,0.79,95.1,796.1,20.5,393,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2073,0,0,0,0,0,0
$GC,8593,0.79,95.1,735.9,19.7,403,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2072,0,0,0,0,0,0
$GC,8901,0.79,95.1,676.8,19.3,413,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2070,0,0,0,0,0,0
$GC,9206,0.79,95.1,617.7,19.3,423,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2069,0,0,0,0,0,0
$GC,9512,0.79,95.1,557.6,20.0,433,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2068,0,0,0,0,0,0
$GC,9820,0.79,95.1,494.8,20.5,443,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2068,0,0,0,0,0,0
$GC,10128,0.79,95.1,434.9,19.0,453,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2068,0,0,0,0,0,0
$GC,10446,0.79,95.1,376.6,19.0,465,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,3272,2067,0,0,0,0,0,0
$GC,10752,0.79,95.1,315.3,20.1,480,10756,0.00,1.05,0.00,0.000,4,0.000,0.054,1884,3928,2066,0,0,0,0,0,0
$GC,10813,0.79,95.1,301.9,22.9,482,10817,0.00,1.00,0.00,0.000,6,0.000,0.033,1889,3258,2066,0,0,0,0,0,0
$GC,11138,0.79,95.1,234.1,21.0,499,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3258,2066,0,0,0,0,0,0
$GC,11450,0.79,95.1,173.8,18.1,519,11456,0.00,1.08,0.00,0.000,4,0.000,0.053,1890,3934,2066,0,0,0,0,0,0
$GC,11540,0.79,95.1,155.0,20.7,524,11544,0.00,0.98,0.00,0.000,6,0.000,0.033,1894,3276,2066,0,0,0,0,0,0
$GC,11869,0.79,95.1,94.1,18.7,547,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3275,2066,0,0,0,0,0,0
$GC,12233,0.79,95.1,26.1,19.7,608,12242,0.00,2.15,0.00,0.000,4,0.000,0.031,1905,1850,2065,0,0,0,0,0,0
$GC,12315,0.79,95.1,11.7,15.9,620,12327,0.00,2.25,0.00,0.000,6,0.000,0.047,1905,3265,2064,0,0,0,0,0,0
$STATE,12360,end climb,SURFACE_DEPTH_REACHED
$STATE,12360,begin surface coast
$FINISH,1.1,1.026205
$STATE,12380,end surface coast,CONTROL_FINISHED_OK
$STATE,12380,begin surface
$SM_CCo,12396,69.55,0.729,1,0,1452,250.20
$SM_GC,1.93,0.00,0.00,69.55,0.000,0.000,0.729,54,3393,1452,-4.94,0.37,250.20
$IRIDIUM_FIX,-4138.02,744.09,050113,101054
$TT8_MAMPS,0.025466
$HUMID,55.23
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,22.5,31.554
$10V_AH,10.1,17.993
$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,12.150,22.750,191.400,69.550,0.000,33.361,56.400,272.793,0.000,0.000,21.325,1561.312,8541.142,336.517,1896.178,671.033,33.370,983.488,0.000,1702.813,0.000,1.011,0.000
$DEVICE_MAMPS,233.325,94.095,1793.160,729.045,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.289,1403.054,639.907,291.756,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,47108,629
$CAP_FILE_SIZE,86827,0
$CFSIZE,259252224,247943168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,050113,214203,-4159.726,813.463,35,1.0,35,-24.9