version: 66.07
glider: 543
mission: 6
dive: 224
start: 1 15 113 17 19 0
data:
$ID,543
$MISSION,6
$DIVE,224
$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,-8472.7314
$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,57
$R_STBD_OVSHOOT,19
$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
$GPS1,150113,171004,-4204.174,902.096,29,1.1,29,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-53.2
$GPS2,150113,171800,-4204.153,902.092,19,1.1,19,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,0.120
$KALMAN_X,-147320.0,-135.5,177.7,229785.0,-2018.6
$KALMAN_Y,52405.0,-950.8,-464.7,-3016.8,6420.1
$MHEAD_RNG_PITCHd_Wd,351.1,8212,-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,-49.42,0.000,2,0.000,0.000,51,3370,2657,0,0,0,0,0,0
$GC,75,-0.78,-89.1,3.3,-3.5,6,94,5.38,2.12,-5.57,0.000,4,0.226,0.043,1375,1979,2841,0,0,0,0,0,0
$GC,207,-0.78,-89.1,20.1,-14.7,25,215,0.00,2.33,0.00,0.000,6,0.000,0.054,1365,3383,2843,0,0,0,0,0,0
$GC,294,-0.78,-89.1,36.3,-18.3,38,303,0.00,0.90,0.00,0.000,4,0.000,0.057,1361,3946,2843,0,0,0,0,0,0
$GC,383,-0.78,-89.1,53.4,-19.5,52,391,0.00,0.85,0.00,0.000,6,0.000,0.034,1361,3388,2843,0,0,0,0,0,0
$GC,626,-0.78,-89.1,90.3,-14.3,93,633,0.00,0.90,0.00,0.000,4,0.000,0.056,1357,3951,2844,0,0,0,0,0,0
$GC,892,-0.78,-89.1,132.1,-15.6,116,895,0.00,0.85,0.00,0.000,6,0.000,0.034,1357,3385,2845,0,0,0,0,0,0
$GC,1221,-0.78,-89.1,177.8,-14.4,137,1224,0.00,0.93,0.00,0.000,4,0.000,0.055,1353,3961,2846,0,0,0,0,0,0
$GC,1487,-0.78,-89.1,222.4,-17.1,152,1491,0.00,0.88,0.00,0.000,6,0.000,0.034,1353,3378,2847,0,0,0,0,0,0
$GC,1819,-0.78,-89.1,274.2,-16.0,171,1823,0.00,0.90,0.00,0.000,4,0.000,0.055,1349,3947,2847,0,0,0,0,0,0
$GC,2084,-0.78,-89.1,319.4,-15.3,182,2088,0.10,0.85,0.00,0.000,6,0.176,0.033,1376,3383,2848,0,0,0,0,0,0
$GC,2407,-0.78,-89.1,359.9,-11.8,198,2410,0.00,0.90,0.00,0.000,4,0.000,0.056,1374,3952,2847,0,0,0,0,0,0
$GC,2562,-0.78,-89.1,380.4,-13.5,204,2570,0.00,0.85,0.00,0.000,6,0.000,0.034,1374,3384,2848,0,0,0,0,0,0
$GC,2889,-0.78,-89.1,419.1,-12.1,218,2893,0.00,0.90,0.00,0.000,4,0.000,0.057,1370,3953,2847,0,0,0,0,0,0
$GC,2984,-0.78,-89.1,432.2,-13.4,220,2990,0.00,0.85,0.00,0.000,6,0.000,0.034,1369,3385,2848,0,0,0,0,0,0
$GC,3298,-0.78,-89.1,471.3,-12.6,231,3302,0.00,2.12,0.00,0.000,4,0.000,0.030,1370,1964,2848,0,0,0,0,0,0
$GC,3362,-0.78,-89.1,479.0,-11.4,233,3366,0.00,2.28,0.00,0.000,6,0.000,0.054,1359,3387,2848,0,0,0,0,0,0
$GC,3697,-0.78,-89.1,523.6,-13.5,244,3702,0.00,0.88,0.00,0.000,4,0.000,0.057,1355,3946,2848,0,0,0,0,0,0
$GC,3905,-0.78,-89.1,555.0,-15.6,250,3909,0.00,0.85,0.00,0.000,6,0.000,0.034,1355,3376,2848,0,0,0,0,0,0
$GC,4240,-0.78,-89.1,599.9,-12.9,261,4244,0.00,2.10,0.00,0.000,4,0.000,0.031,1355,1966,2847,0,0,0,0,0,0
$GC,4273,-0.78,-89.1,604.1,-11.7,262,4278,0.15,2.30,0.00,0.000,6,0.183,0.054,1380,3387,2847,0,0,0,0,0,0
$GC,4604,-0.78,-89.1,642.1,-11.3,273,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,1380,3387,2847,0,0,0,0,0,0
$GC,4910,-0.78,-89.1,677.7,-11.6,283,4913,0.00,0.90,0.00,0.000,4,0.000,0.058,1377,3955,2846,0,0,0,0,0,0
$GC,4960,-0.78,-89.1,684.2,-12.9,284,4963,0.00,0.88,0.00,0.000,6,0.000,0.035,1377,3375,2846,0,0,0,0,0,0
$GC,5284,-0.78,-89.1,721.4,-11.5,295,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,1377,3374,2845,0,0,0,0,0,0
$GC,5590,-0.78,-89.1,756.8,-11.8,305,5594,0.00,0.93,0.00,0.000,4,0.000,0.059,1373,3954,2844,0,0,0,0,0,0
$GC,5628,-0.78,-89.1,762.1,-12.9,306,5632,0.00,0.88,0.00,0.000,6,0.000,0.036,1373,3377,2844,0,0,0,0,0,0
$GC,5964,-0.78,-89.1,803.7,-12.6,317,5968,0.00,0.93,0.00,0.000,4,0.000,0.058,1369,3956,2843,0,0,0,0,0,0
$GC,6014,-0.78,-89.1,810.8,-14.1,318,6020,0.00,0.88,0.00,0.000,6,0.000,0.036,1369,3378,2843,0,0,0,0,0,0
$GC,6340,-0.78,-89.1,850.4,-11.7,329,6345,0.00,0.90,0.00,0.000,4,0.000,0.058,1365,3943,2842,0,0,0,0,0,0
$GC,6410,-0.78,-89.1,859.1,-12.8,331,6413,0.00,0.85,0.00,0.000,6,0.000,0.036,1364,3381,2842,0,0,0,0,0,0
$GC,6751,-0.78,-89.1,899.1,-11.3,342,6756,0.00,0.90,0.00,0.000,4,0.000,0.060,1360,3946,2841,0,0,0,0,0,0
$GC,6821,-0.78,-89.1,907.7,-11.9,344,6825,0.00,0.85,0.00,0.000,6,0.000,0.037,1360,3385,2841,0,0,0,0,0,0
$GC,7162,-0.78,-89.1,947.4,-11.5,355,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,1360,3385,2840,0,0,0,0,0,0
$GC,7468,-0.78,-89.1,981.3,-11.2,365,7472,0.00,0.90,0.00,0.000,4,0.000,0.060,1356,3948,2839,0,0,0,0,0,0
$GC,7503,-0.78,-89.1,985.2,-11.8,366,7506,0.00,0.88,0.00,0.000,6,0.000,0.037,1356,3372,2839,0,0,0,0,0,0
$STATE,7659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7659,begin apogee
$GC,7666,-0.14,0.0,1003.2,11.5,371,7763,0.82,0.00,93.43,1.255,6,0.170,0.000,1585,3275,2473,0,0,0,0,0,0
$STATE,7764,end apogee,CONTROL_FINISHED_OK
$STATE,7764,begin climb
$GC,7767,0.78,89.1,1005.6,0.0,374,7869,0.88,1.15,93.70,1.226,4,0.082,0.051,1881,3951,2106,0,0,0,0,0,0
$GC,7899,0.78,89.1,985.8,22.8,378,7903,0.00,1.10,0.00,0.000,6,0.000,0.031,1887,3267,2099,0,0,0,0,0,0
$GC,8241,0.78,89.1,912.4,20.9,389,8246,0.00,1.12,0.00,0.000,4,0.000,0.054,1887,3948,2090,0,0,0,0,0,0
$GC,8320,0.78,89.1,894.1,23.0,391,8323,0.00,1.05,0.00,0.000,6,0.000,0.032,1892,3263,2090,0,0,0,0,0,0
$GC,8649,0.78,89.1,823.6,21.3,402,8655,0.00,1.12,0.00,0.000,4,0.000,0.054,1892,3956,2087,0,0,0,0,0,0
$GC,8829,0.78,89.1,782.1,23.1,407,8834,0.00,1.02,0.00,0.000,6,0.000,0.031,1896,3275,2086,0,0,0,0,0,0
$GC,9160,0.78,89.1,712.7,20.5,418,9165,0.00,1.10,0.00,0.000,4,0.000,0.054,1897,3955,2085,0,0,0,0,0,0
$GC,9265,0.78,89.1,689.5,23.4,421,9268,0.00,1.02,0.00,0.000,6,0.000,0.031,1901,3272,2084,0,0,0,0,0,0
$GC,9606,0.78,89.1,618.5,20.8,432,9610,0.00,1.10,0.00,0.000,4,0.000,0.054,1902,3958,2083,0,0,0,0,0,0
$GC,9715,0.78,89.1,594.3,24.2,435,9719,0.00,1.02,0.00,0.000,6,0.000,0.031,1907,3272,2083,0,0,0,0,0,0
$GC,10051,0.78,89.1,524.2,20.6,446,10054,0.00,1.10,0.00,0.000,4,0.000,0.054,1907,3958,2082,0,0,0,0,0,0
$GC,10204,0.78,89.1,490.2,22.5,450,10207,0.00,1.02,0.00,0.000,6,0.000,0.031,1912,3272,2082,0,0,0,0,0,0
$GC,10528,0.78,89.1,426.1,19.9,461,10532,0.00,1.10,0.00,0.000,4,0.000,0.053,1912,3958,2081,0,0,0,0,0,0
$GC,10637,0.78,89.1,402.5,23.5,464,10641,0.08,1.02,0.00,0.000,6,0.210,0.031,1897,3272,2081,0,0,0,0,0,0
$GC,10956,0.78,89.1,338.1,20.3,479,10962,0.00,1.08,0.00,0.000,4,0.000,0.054,1897,3946,2081,0,0,0,0,0,0
$GC,11074,0.78,89.1,312.7,22.0,484,11078,0.00,1.00,0.00,0.000,6,0.000,0.032,1900,3272,2080,0,0,0,0,0,0
$GC,11404,0.78,89.1,246.0,20.2,500,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3272,2080,0,0,0,0,0,0
$GC,11717,0.78,89.1,184.3,19.9,520,11720,0.00,1.08,0.00,0.000,4,0.000,0.054,1900,3947,2080,0,0,0,0,0,0
$GC,11845,0.78,89.1,157.2,22.4,527,11848,0.00,1.00,0.00,0.000,6,0.000,0.031,1905,3271,2080,0,0,0,0,0,0
$GC,12173,0.78,89.1,94.2,18.8,550,12180,0.00,1.08,0.00,0.000,4,0.000,0.053,1905,3946,2080,0,0,0,0,0,0
$GC,12450,0.78,89.1,37.5,18.5,596,12458,0.00,1.00,0.00,0.000,6,0.000,0.031,1911,3269,2080,0,0,0,0,0,0
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12654,begin surface coast
$FINISH,1.3,1.019681
$STATE,12674,end surface coast,CONTROL_FINISHED_OK
$STATE,12674,begin surface
$SM_CCo,12690,72.38,0.741,1,0,1450,250.20
$SM_GC,1.99,0.00,0.00,72.38,0.000,0.000,0.741,53,3399,1450,-4.94,0.54,250.20
$IRIDIUM_FIX,-4149.58,859.11,150113,131302
$TT8_MAMPS,0.026215
$HUMID,56.14
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.3,38.884
$10V_AH,10.1,23.963
$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,12.400,57.800,187.125,72.375,0.000,28.266,18.744,267.459,0.000,0.000,21.555,1688.178,8197.308,332.338,2283.856,748.190,33.357,1210.022,0.000,2083.950,0.000,2.877,0.000
$DEVICE_MAMPS,226.440,72.675,1254.600,741.285,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.747,1387.349,647.128,291.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,47116,630
$CAP_FILE_SIZE,111515,0
$CFSIZE,259252224,244490240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,150113,205306,-4202.496,901.114,35,0.9,35,-25.1