version: 66.07
glider: 543
mission: 6
dive: 214
start: 1 14 113 4 49 35
data:
$ID,543
$MISSION,6
$DIVE,214
$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,-8444.1826
$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,29
$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
$GPS1,140113,044034,-4203.789,900.219,29,1.4,29,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-52.4
$GPS2,140113,044835,-4203.732,900.209,21,1.2,21,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.087,0.115
$KALMAN_X,-142443.8,-556.6,-27.5,222972.4,-802.3
$KALMAN_Y,41680.7,-697.0,-415.8,8180.4,6203.1
$MHEAD_RNG_PITCHd_Wd,62.1,6918,-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,-48.0,0.0,0.0,0,72,0.00,0.00,-49.55,0.000,2,0.000,0.000,53,3396,2647,0,0,0,0,0,0
$GC,75,-0.78,-86.7,3.4,-3.8,6,95,5.40,2.20,-5.72,0.000,4,0.229,0.045,1378,1978,2830,0,0,0,0,0,0
$GC,357,-0.78,-86.7,45.1,-16.0,49,365,0.00,2.28,0.00,0.000,6,0.000,0.049,1369,3374,2833,0,0,0,0,0,0
$GC,594,-0.78,-86.7,78.6,-13.3,90,602,0.00,0.93,0.00,0.000,4,0.000,0.055,1364,3955,2834,0,0,0,0,0,0
$GC,851,-0.78,-86.7,118.0,-14.5,120,859,0.00,0.85,0.00,0.000,6,0.000,0.034,1365,3389,2835,0,0,0,0,0,0
$GC,1172,-0.78,-86.7,160.9,-13.3,141,1176,0.00,0.90,0.00,0.000,4,0.000,0.056,1361,3957,2836,0,0,0,0,0,0
$GC,1306,-0.78,-86.7,180.6,-14.2,148,1313,0.00,0.88,0.00,0.000,6,0.000,0.034,1361,3374,2836,0,0,0,0,0,0
$GC,1629,-0.78,-86.7,223.3,-13.6,169,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3374,2837,0,0,0,0,0,0
$GC,1952,-0.78,-86.7,268.6,-14.2,188,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3374,2837,0,0,0,0,0,0
$GC,2263,-0.78,-86.7,314.0,-14.7,203,2269,0.00,0.90,0.00,0.000,4,0.000,0.055,1356,3946,2837,0,0,0,0,0,0
$GC,2316,-0.78,-86.7,322.8,-16.1,205,2319,0.00,0.85,0.00,0.000,6,0.000,0.034,1356,3380,2837,0,0,0,0,0,0
$GC,2646,-0.78,-86.7,370.4,-14.6,221,2651,0.00,2.15,0.00,0.000,4,0.000,0.030,1356,1966,2837,0,0,0,0,0,0
$GC,2680,-0.78,-86.7,375.6,-12.6,222,2685,0.12,2.28,0.00,0.000,6,0.188,0.056,1375,3379,2837,0,0,0,0,0,0
$GC,2995,-0.78,-86.7,415.9,-12.7,235,3001,0.00,0.90,0.00,0.000,4,0.000,0.056,1372,3955,2837,0,0,0,0,0,0
$GC,3203,-0.78,-86.7,444.4,-12.9,241,3207,0.00,0.85,0.00,0.000,6,0.000,0.034,1372,3385,2837,0,0,0,0,0,0
$GC,3538,-0.78,-86.7,486.8,-12.6,252,3542,0.00,0.90,0.00,0.000,4,0.000,0.057,1368,3953,2837,0,0,0,0,0,0
$GC,3762,-0.78,-86.7,518.6,-14.3,258,3766,0.00,0.85,0.00,0.000,6,0.000,0.035,1368,3385,2837,0,0,0,0,0,0
$GC,4081,-0.78,-86.7,559.3,-12.7,269,4085,0.00,0.90,0.00,0.000,4,0.000,0.056,1364,3955,2837,0,0,0,0,0,0
$GC,4161,-0.78,-86.7,570.5,-14.9,271,4165,0.00,0.85,0.00,0.000,6,0.000,0.035,1364,3386,2837,0,0,0,0,0,0
$GC,4492,-0.78,-86.7,611.0,-11.9,282,4496,0.00,0.90,0.00,0.000,4,0.000,0.056,1359,3955,2836,0,0,0,0,0,0
$GC,4552,-0.78,-86.7,619.4,-13.8,283,4559,0.00,0.88,0.00,0.000,6,0.000,0.034,1360,3372,2836,0,0,0,0,0,0
$GC,4865,-0.78,-86.7,657.1,-12.1,294,4869,0.00,0.93,0.00,0.000,4,0.000,0.057,1355,3955,2835,0,0,0,0,0,0
$GC,4905,-0.78,-86.7,662.3,-12.7,295,4908,0.00,0.85,0.00,0.000,6,0.000,0.035,1356,3391,2835,0,0,0,0,0,0
$GC,5240,-0.78,-86.7,704.4,-12.9,306,5244,0.00,0.88,0.00,0.000,4,0.000,0.057,1351,3944,2834,0,0,0,0,0,0
$GC,5413,-0.78,-86.7,729.1,-15.0,311,5417,0.08,0.85,0.00,0.000,6,0.183,0.035,1373,3382,2834,0,0,0,0,0,0
$GC,5754,-0.78,-86.7,772.3,-12.2,322,5758,0.00,0.90,0.00,0.000,4,0.000,0.057,1370,3948,2833,0,0,0,0,0,0
$GC,5803,-0.78,-86.7,779.0,-12.9,323,5809,0.00,0.85,0.00,0.000,6,0.000,0.036,1370,3384,2834,0,0,0,0,0,0
$GC,6129,-0.78,-86.7,816.6,-11.4,334,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,1370,3384,2832,0,0,0,0,0,0
$GC,6435,-0.78,-86.7,849.5,-10.6,344,6439,0.00,0.90,0.00,0.000,4,0.000,0.059,1365,3949,2831,0,0,0,0,0,0
$GC,6593,-0.78,-86.7,867.8,-12.1,348,6597,0.00,0.85,0.00,0.000,6,0.000,0.037,1365,3386,2831,0,0,0,0,0,0
$GC,6912,-0.78,-86.7,902.7,-10.9,359,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,1365,3386,2831,0,0,0,0,0,0
$GC,7219,-0.78,-86.7,936.7,-11.1,369,7222,0.00,0.90,0.00,0.000,4,0.000,0.059,1361,3950,2830,0,0,0,0,0,0
$GC,7349,-0.78,-86.7,953.1,-12.8,372,7356,0.00,0.85,0.00,0.000,6,0.000,0.037,1361,3391,2829,0,0,0,0,0,0
$GC,7663,-0.78,-86.7,989.4,-11.5,383,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,1361,3391,2829,0,0,0,0,0,0
$STATE,7782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7783,begin apogee
$GC,7789,-0.14,0.0,1003.3,11.3,387,7883,0.80,0.00,90.60,1.233,6,0.168,0.000,1585,3273,2473,0,0,0,0,0,0
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7888,0.78,86.7,1004.9,0.0,390,7984,0.90,1.17,90.22,1.220,4,0.083,0.051,1882,3948,2115,0,0,0,0,0,0
$GC,8012,0.78,86.7,985.8,22.5,394,8016,0.00,1.10,0.00,0.000,6,0.000,0.030,1887,3261,2110,0,0,0,0,0,0
$GC,8337,0.78,86.7,915.2,22.0,405,8341,0.00,1.12,0.00,0.000,4,0.000,0.054,1887,3943,2101,0,0,0,0,0,0
$GC,8402,0.78,86.7,900.1,23.7,406,8408,0.00,1.02,0.00,0.000,6,0.000,0.031,1892,3273,2100,0,0,0,0,0,0
$GC,8717,0.78,86.7,831.2,21.8,417,8720,0.00,1.10,0.00,0.000,4,0.000,0.054,1892,3950,2098,0,0,0,0,0,0
$GC,8761,0.78,86.7,820.0,25.3,418,8765,0.00,1.02,0.00,0.000,6,0.000,0.031,1897,3272,2098,0,0,0,0,0,0
$GC,9091,0.78,86.7,748.9,21.7,429,9095,0.00,1.10,0.00,0.000,4,0.000,0.054,1897,3953,2096,0,0,0,0,0,0
$GC,9140,0.78,86.7,737.0,22.9,430,9144,0.00,1.02,0.00,0.000,6,0.000,0.031,1901,3269,2095,0,0,0,0,0,0
$GC,9465,0.78,86.7,667.1,21.3,441,9469,0.00,1.10,0.00,0.000,4,0.000,0.054,1901,3951,2094,0,0,0,0,0,0
$GC,9535,0.78,86.7,651.7,23.4,443,9538,0.00,1.02,0.00,0.000,6,0.000,0.031,1906,3262,2094,0,0,0,0,0,0
$GC,9876,0.78,86.7,580.3,20.8,454,9879,0.00,1.10,0.00,0.000,4,0.000,0.054,1907,3945,2093,0,0,0,0,0,0
$GC,9965,0.78,86.7,560.0,22.1,456,9968,0.00,1.00,0.00,0.000,6,0.000,0.031,1911,3273,2093,0,0,0,0,0,0
$GC,10283,0.78,86.7,493.8,20.5,467,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3272,2092,0,0,0,0,0,0
$GC,10590,0.78,86.7,430.7,20.6,477,10593,0.00,1.08,0.00,0.000,4,0.000,0.054,1911,3947,2092,0,0,0,0,0,0
$GC,10743,0.78,86.7,396.5,22.9,481,10747,0.00,1.00,0.00,0.000,6,0.000,0.031,1917,3272,2091,0,0,0,0,0,0
$GC,11073,0.78,86.7,329.4,19.6,497,11078,0.00,1.08,0.00,0.000,4,0.000,0.054,1917,3948,2091,0,0,0,0,0,0
$GC,11176,0.78,86.7,306.8,20.9,501,11182,0.10,1.00,0.00,0.000,6,0.206,0.031,1895,3270,2091,0,0,0,0,0,0
$GC,11497,0.78,86.7,246.8,19.2,517,11502,0.00,1.08,0.00,0.000,4,0.000,0.053,1895,3950,2090,0,0,0,0,0,0
$GC,11591,0.78,86.7,225.7,22.8,522,11596,0.00,1.00,0.00,0.000,6,0.000,0.031,1899,3273,2090,0,0,0,0,0,0
$GC,11919,0.78,86.7,159.0,20.3,543,11924,0.00,1.08,0.00,0.000,4,0.000,0.054,1899,3950,2090,0,0,0,0,0,0
$GC,12018,0.78,86.7,136.1,22.2,548,12026,0.00,1.00,0.00,0.000,6,0.000,0.031,1904,3272,2090,0,0,0,0,0,0
$GC,12349,0.78,86.7,68.9,19.6,587,12354,0.00,1.08,0.00,0.000,4,0.000,0.052,1904,3946,2090,0,0,0,0,0,0
$GC,12571,0.78,86.7,24.1,18.2,623,12580,0.00,1.00,0.00,0.000,6,0.000,0.030,1908,3268,2090,0,0,0,0,0,0
$GC,12660,0.78,86.7,7.4,18.0,636,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3268,2090,0,0,0,0,0,0
$STATE,12688,end climb,SURFACE_DEPTH_REACHED
$STATE,12688,begin surface coast
$FINISH,1.3,1.026340
$STATE,12708,end surface coast,CONTROL_FINISHED_OK
$STATE,12708,begin surface
$SM_CCo,12725,75.22,0.740,1,0,1453,250.20
$SM_GC,2.03,0.00,0.00,75.22,0.000,0.000,0.740,53,3393,1453,-4.94,0.37,250.20
$IRIDIUM_FIX,-4149.58,855.79,140113,010122
$TT8_MAMPS,0.025466
$HUMID,56.34
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.5,37.785
$10V_AH,10.0,23.005
$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,12.450,53.600,180.825,75.225,0.000,28.852,42.794,247.705,0.000,0.000,23.296,1682.471,8316.775,357.749,2195.604,740.237,33.385,1185.404,0.000,2024.652,0.000,1.011,0.000
$DEVICE_MAMPS,228.735,80.325,1233.180,739.755,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.971,1396.283,658.738,290.384,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,47194,643
$CAP_FILE_SIZE,107996,0
$CFSIZE,259252224,245047296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,140113,082422,-4202.015,900.421,40,0.9,40,-25.1