version: 66.07
glider: 543
mission: 6
dive: 43
start: 12 15 112 16 39 39
data:
$ID,543
$MISSION,6
$DIVE,43
$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,-7931.25
$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,38
$R_STBD_OVSHOOT,22
$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
$GPS1,151212,162858,-4225.964,816.689,37,0.9,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-20.7
$GPS2,151212,163841,-4225.976,816.738,15,1.6,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.110,-0.262
$KALMAN_X,4805.1,-712.8,-88.0,16593.5,1380.2
$KALMAN_Y,60741.9,124.7,135.3,-53483.9,7598.2
$MHEAD_RNG_PITCHd_Wd,227.7,8683,-13.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.49,-194.7,0.0,0.0,0,119,0.00,0.00,-96.95,0.000,2,0.000,0.000,59,3353,2927,0,0,0,0,0,0
$GC,123,-0.49,-194.7,3.4,-4.7,12,143,5.75,1.00,-8.38,0.000,4,0.233,0.090,1481,3951,3270,0,0,0,0,0,0
$GC,351,-0.49,-194.7,33.0,-11.2,46,359,0.00,0.93,0.00,0.000,6,0.000,0.037,1481,3353,3272,0,0,0,0,0,0
$GC,602,-0.49,-194.7,60.9,-11.0,87,608,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3353,3273,0,0,0,0,0,0
$GC,955,-0.49,-194.7,98.6,-10.1,148,961,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3353,3273,0,0,0,0,0,0
$GC,1281,-0.49,-194.7,130.7,-9.5,170,1285,0.00,0.98,0.00,0.000,4,0.000,0.062,1477,3948,3273,0,0,0,0,0,0
$GC,1373,-0.49,-194.7,139.9,-9.5,175,1377,0.00,0.90,0.00,0.000,6,0.000,0.037,1477,3352,3274,0,0,0,0,0,0
$GC,1698,-0.49,-194.7,171.2,-10.0,196,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,1477,3352,3274,0,0,0,0,0,0
$GC,2010,-0.49,-194.7,201.0,-9.5,216,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,1477,3352,3274,0,0,0,0,0,0
$GC,2323,-0.49,-194.7,231.2,-9.4,236,2326,0.00,0.95,0.00,0.000,4,0.000,0.060,1473,3954,3274,0,0,0,0,0,0
$GC,2369,-0.49,-194.7,236.2,-10.0,238,2377,0.00,0.90,0.00,0.000,6,0.000,0.037,1473,3354,3274,0,0,0,0,0,0
$GC,2704,-0.49,-194.7,268.5,-9.9,257,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3353,3274,0,0,0,0,0,0
$GC,3012,-0.49,-194.7,298.1,-9.6,272,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3354,3273,0,0,0,0,0,0
$GC,3323,-0.49,-194.7,328.6,-9.9,287,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3354,3273,0,0,0,0,0,0
$GC,3631,-0.49,-194.7,359.9,-9.9,302,3635,0.00,0.95,0.00,0.000,4,0.000,0.060,1468,3954,3273,0,0,0,0,0,0
$GC,3682,-0.49,-194.7,365.5,-10.1,304,3688,0.00,0.90,0.00,0.000,6,0.000,0.037,1468,3353,3272,0,0,0,0,0,0
$GC,4012,-0.49,-194.7,399.2,-10.6,320,4016,0.00,2.15,0.00,0.000,4,0.000,0.033,1468,1931,3273,0,0,0,0,0,0
$GC,4046,-0.49,-194.7,403.2,-10.3,322,4051,0.12,2.28,0.00,0.000,6,0.149,0.057,1493,3352,3273,0,0,0,0,0,0
$GC,4377,-0.49,-194.7,431.5,-8.5,333,4382,0.00,0.95,0.00,0.000,4,0.000,0.060,1489,3956,3272,0,0,0,0,0,0
$GC,4450,-0.49,-194.7,438.0,-8.4,335,4454,0.00,0.90,0.00,0.000,6,0.000,0.037,1489,3355,3272,0,0,0,0,0,0
$GC,4787,-0.49,-194.7,465.6,-8.1,346,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,1489,3354,3272,0,0,0,0,0,0
$GC,5093,-0.49,-194.7,489.5,-7.6,356,5096,0.00,0.95,0.00,0.000,4,0.000,0.060,1485,3956,3272,0,0,0,0,0,0
$GC,5154,-0.49,-194.7,494.5,-7.7,357,5162,0.00,0.90,0.00,0.000,6,0.000,0.037,1485,3355,3272,0,0,0,0,0,0
$GC,5467,-0.49,-194.7,519.5,-8.2,368,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,1485,3354,3271,0,0,0,0,0,0
$GC,5774,-0.49,-194.7,545.0,-8.4,378,5778,0.00,2.12,0.00,0.000,4,0.000,0.034,1485,1931,3271,0,0,0,0,0,0
$GC,5803,-0.49,-194.7,547.4,-8.3,379,5807,0.00,2.28,0.00,0.000,6,0.000,0.056,1475,3355,3271,0,0,0,0,0,0
$GC,6139,-0.49,-194.7,577.2,-9.0,390,6142,0.00,0.93,0.00,0.000,4,0.000,0.060,1470,3947,3270,0,0,0,0,0,0
$GC,6256,-0.49,-194.7,588.2,-9.1,393,6259,0.00,0.90,0.00,0.000,6,0.000,0.038,1470,3346,3270,0,0,0,0,0,0
$GC,6581,-0.49,-194.7,616.5,-8.5,404,6585,0.00,0.95,0.00,0.000,4,0.000,0.060,1466,3949,3269,0,0,0,0,0,0
$GC,6625,-0.49,-194.7,620.7,-9.1,405,6629,0.00,0.90,0.00,0.000,6,0.000,0.038,1466,3350,3269,0,0,0,0,0,0
$GC,6956,-0.49,-194.7,646.5,-7.4,416,6960,0.00,2.10,0.00,0.000,4,0.000,0.034,1466,1943,3267,0,0,0,0,0,0
$GC,6989,-0.49,-194.7,649.1,-7.5,417,6994,0.12,2.28,0.00,0.000,6,0.153,0.057,1489,3364,3267,0,0,0,0,0,0
$GC,7320,-0.49,-194.7,670.2,-6.7,428,7325,0.00,0.93,0.00,0.000,4,0.000,0.062,1486,3950,3267,0,0,0,0,0,0
$GC,7389,-0.49,-194.7,675.1,-7.0,430,7393,0.00,0.90,0.00,0.000,6,0.000,0.039,1486,3352,3267,0,0,0,0,0,0
$GC,7731,-0.49,-194.7,698.7,-7.0,441,7737,0.00,0.95,0.00,0.000,4,0.000,0.063,1482,3955,3267,0,0,0,0,0,0
$GC,7788,-0.49,-194.7,703.2,-8.0,442,7792,0.00,0.90,0.00,0.000,6,0.000,0.038,1482,3357,3267,0,0,0,0,0,0
$GC,8108,-0.49,-194.7,728.3,-8.2,453,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,3357,3266,0,0,0,0,0,0
$GC,8413,-0.49,-194.7,754.4,-8.7,463,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,3357,3266,0,0,0,0,0,0
$GC,8719,-0.49,-194.7,779.6,-8.1,473,8723,0.00,0.93,0.00,0.000,4,0.000,0.063,1478,3942,3264,0,0,0,0,0,0
$GC,8791,-0.49,-194.7,785.5,-8.0,475,8795,0.00,0.90,0.00,0.000,6,0.000,0.039,1478,3347,3264,0,0,0,0,0,0
$GC,9133,-0.49,-194.7,813.8,-7.8,486,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3347,3263,0,0,0,0,0,0
$GC,9440,-0.49,-194.7,837.6,-7.6,496,9444,0.00,0.95,0.00,0.000,4,0.000,0.062,1474,3947,3263,0,0,0,0,0,0
$GC,9509,-0.49,-194.7,843.1,-8.0,498,9515,0.00,0.90,0.00,0.000,6,0.000,0.041,1474,3354,3263,0,0,0,0,0,0
$GC,9853,-0.49,-194.7,869.9,-7.9,509,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3354,3262,0,0,0,0,0,0
$GC,10158,-0.49,-194.7,893.9,-8.0,519,10163,0.00,0.95,0.00,0.000,4,0.000,0.063,1470,3953,3261,0,0,0,0,0,0
$GC,10211,-0.49,-194.7,898.4,-8.3,520,10214,0.00,0.90,0.00,0.000,6,0.000,0.040,1469,3358,3261,0,0,0,0,0,0
$GC,10537,-0.49,-194.7,923.7,-7.7,531,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3358,3261,0,0,0,0,0,0
$GC,10842,-0.49,-194.7,947.0,-7.4,541,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3358,3261,0,0,0,0,0,0
$GC,11148,-0.49,-194.7,970.7,-8.0,551,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3358,3260,0,0,0,0,0,0
$GC,11455,-0.49,-194.7,996.3,-8.4,561,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3358,3260,0,0,0,0,0,0
$STATE,11512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11512,begin apogee
$GC,11519,-0.14,0.0,1001.3,8.3,563,11709,0.43,0.00,181.38,1.871,6,0.132,0.000,1602,3249,2473,0,0,0,0,1,0
$STATE,11710,end apogee,CONTROL_FINISHED_OK
$STATE,11710,begin climb
$GC,11713,0.49,194.7,1008.5,0.0,569,11921,0.60,1.35,192.75,1.831,4,0.052,0.057,1813,3950,1679,0,0,0,0,1,0
$GC,11972,0.49,194.7,972.5,19.9,577,11979,0.00,1.17,0.00,0.000,6,0.000,0.034,1819,3249,1677,0,0,0,0,0,0
$GC,12285,0.49,194.7,915.6,18.1,588,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3249,1672,0,0,0,0,0,0
$GC,12591,0.49,194.7,860.3,18.1,598,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3249,1671,0,0,0,0,0,0
$GC,12898,0.49,194.7,804.3,18.5,608,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3249,1670,0,0,0,0,0,0
$GC,13204,0.49,194.7,746.4,19.0,618,13209,0.00,1.15,0.00,0.000,4,0.000,0.059,1819,3948,1669,0,0,0,0,0,0
$GC,13277,0.49,194.7,731.4,19.8,620,13281,0.00,1.10,0.00,0.000,6,0.000,0.035,1825,3233,1668,0,0,0,0,0,0
$GC,13612,0.49,194.7,668.7,18.4,631,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,3233,1668,0,0,0,0,0,0
$GC,13918,0.49,194.7,613.0,18.2,641,13922,0.00,2.15,0.00,0.000,4,0.000,0.036,1835,1832,1668,0,0,0,0,0,0
$GC,13957,0.49,194.7,606.1,15.5,642,13961,0.00,2.30,0.00,0.000,6,0.000,0.053,1835,3259,1667,0,0,0,0,0,0
$GC,14281,0.49,194.7,542.9,19.8,653,14285,0.00,1.10,0.00,0.000,4,0.000,0.057,1835,3945,1667,0,0,0,0,0,0
$GC,14358,0.49,194.7,526.1,22.8,655,14362,0.10,1.05,0.00,0.000,6,0.184,0.034,1812,3244,1666,0,0,0,0,0,0
$GC,14688,0.49,194.7,467.2,17.8,666,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3244,1666,0,0,0,0,0,0
$GC,14994,0.49,194.7,414.7,16.9,676,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3244,1666,0,0,0,0,0,0
$GC,15314,0.49,194.7,361.7,16.4,690,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3244,1666,0,0,0,0,0,0
$GC,15624,0.49,194.7,310.1,16.5,705,15629,0.00,1.12,0.00,0.000,4,0.000,0.056,1812,3947,1666,0,0,0,0,0,0
$GC,15675,0.49,194.7,301.3,18.2,707,15678,0.00,1.05,0.00,0.000,6,0.000,0.034,1816,3242,1666,0,0,0,0,0,0
$GC,16005,0.49,194.7,244.1,17.2,723,16006,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3243,1666,0,0,0,0,0,0
$GC,16317,0.49,194.7,189.2,17.6,743,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,3243,1665,0,0,0,0,0,0
$GC,16629,0.49,194.7,134.0,17.9,763,16635,0.00,2.12,0.00,0.000,4,0.000,0.033,1826,1845,1666,0,0,0,0,0,0
$GC,16669,0.49,194.7,127.9,15.4,765,16673,0.00,2.22,0.00,0.000,6,0.000,0.050,1827,3256,1666,0,0,0,0,0,0
$GC,17007,0.49,194.7,66.5,17.6,805,17011,0.00,1.08,0.00,0.000,4,0.000,0.055,1827,3941,1666,0,0,0,0,0,0
$GC,17049,0.49,194.7,57.4,19.3,812,17058,0.00,1.02,0.00,0.000,6,0.000,0.033,1832,3246,1665,0,0,0,0,0,0
$GC,17310,0.49,194.7,12.8,14.9,853,17318,0.00,1.10,0.00,0.000,4,0.000,0.056,1832,3939,1666,0,0,0,0,0,0
$GC,17359,0.49,194.7,3.5,18.4,860,17370,0.00,1.02,0.00,0.000,6,0.000,0.033,1837,3248,1665,0,0,0,0,0,0
$STATE,17379,end climb,SURFACE_DEPTH_REACHED
$STATE,17379,begin surface coast
$FINISH,1.0,1.013572
$STATE,17403,end surface coast,CONTROL_FINISHED_OK
$STATE,17403,begin surface
$SM_CCo,17419,129.98,0.754,1,0,506,482.50
$SM_GC,1.30,0.00,0.00,129.98,0.000,0.000,0.754,57,3362,506,-4.98,0.25,482.50
$IRIDIUM_FIX,-4209.90,817.71,151212,111153
$TT8_MAMPS,0.025466
$HUMID,53.70
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.0,10.152
$10V_AH,10.1,4.932
$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,11.750,59.725,374.125,129.975,0.000,28.244,20.209,362.106,0.000,0.000,18.528,2149.232,11948.219,615.842,2503.431,915.135,33.357,1568.985,0.000,2334.208,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,90.270,1871.190,754.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.352,1889.340,851.269,355.140,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,63944,865
$CAP_FILE_SIZE,131607,0
$CFSIZE,259252224,255676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,151212,213334,-4227.543,814.684,39,1.3,40,-24.9