version: 66.07
glider: 543
mission: 6
dive: 44
start: 12 15 112 21 44 46
data:
$ID,543
$MISSION,6
$DIVE,44
$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,-7934.543
$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,46
$R_STBD_OVSHOOT,31
$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
$GPS1,151212,213334,-4227.543,814.684,39,1.3,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-18.9
$GPS2,151212,214348,-4227.548,814.781,15,1.7,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.082,-0.272
$KALMAN_X,5006.4,-1109.2,-278.6,14301.2,2851.3
$KALMAN_Y,65304.4,-1117.4,-686.4,-58862.4,9578.0
$MHEAD_RNG_PITCHd_Wd,188.1,8451,-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,16,begin dive
$GC,19,-0.49,-194.7,0.0,0.0,0,112,0.00,0.00,-89.68,0.000,2,0.000,0.000,57,3361,2715,0,0,0,0,0,0
$GC,116,-0.49,-194.7,3.2,-3.9,11,145,5.82,0.95,-15.20,0.000,4,0.238,0.093,1482,3931,3269,0,0,0,0,0,0
$GC,154,-0.49,-194.7,7.4,-9.2,15,165,0.00,0.90,0.00,0.000,6,0.000,0.038,1482,3359,3270,0,0,0,0,0,0
$GC,246,-0.49,-194.7,20.0,-13.8,28,256,0.00,2.22,0.00,0.000,4,0.000,0.034,1482,1939,3270,0,0,0,0,0,0
$GC,404,-0.49,-194.7,34.6,-8.0,52,412,0.00,2.33,0.00,0.000,6,0.000,0.057,1472,3343,3270,0,0,0,0,0,0
$GC,658,-0.49,-194.7,62.8,-11.5,93,665,0.00,0.98,0.00,0.000,4,0.000,0.060,1467,3953,3270,0,0,0,0,0,0
$GC,830,-0.49,-194.7,82.0,-11.3,121,834,0.00,0.93,0.00,0.000,6,0.000,0.037,1468,3346,3271,0,0,0,0,0,0
$GC,1170,-0.49,-194.7,122.4,-11.9,159,1176,0.00,0.98,0.00,0.000,4,0.000,0.059,1463,3958,3272,0,0,0,0,0,0
$GC,1288,-0.49,-194.7,137.7,-12.3,165,1295,0.00,0.93,0.00,0.000,6,0.000,0.036,1463,3348,3272,0,0,0,0,0,0
$GC,1608,-0.49,-194.7,174.8,-11.6,186,1611,0.00,0.95,0.00,0.000,4,0.000,0.060,1459,3948,3272,0,0,0,0,0,0
$GC,1697,-0.49,-194.7,185.1,-12.4,191,1701,0.08,0.90,0.00,0.000,6,0.144,0.036,1483,3353,3272,0,0,0,0,0,0
$GC,2030,-0.49,-194.7,216.6,-8.9,212,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3353,3272,0,0,0,0,0,0
$GC,2341,-0.49,-194.7,244.5,-9.0,232,2345,0.00,0.95,0.00,0.000,4,0.000,0.061,1480,3951,3272,0,0,0,0,0,0
$GC,2463,-0.49,-194.7,255.8,-9.2,238,2467,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3352,3272,0,0,0,0,0,0
$GC,2792,-0.49,-194.7,288.3,-10.0,254,2796,0.00,0.95,0.00,0.000,4,0.000,0.060,1476,3954,3272,0,0,0,0,0,0
$GC,2894,-0.49,-194.7,299.2,-9.8,258,2898,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3351,3272,0,0,0,0,0,0
$GC,3217,-0.49,-194.7,330.9,-9.6,274,3220,0.00,0.95,0.00,0.000,4,0.000,0.060,1471,3954,3272,0,0,0,0,0,0
$GC,3304,-0.49,-194.7,339.4,-9.9,277,3311,0.00,0.90,0.00,0.000,6,0.000,0.036,1471,3353,3272,0,0,0,0,0,0
$GC,3622,-0.49,-194.7,367.9,-9.0,293,3628,0.00,0.98,0.00,0.000,4,0.000,0.062,1467,3956,3272,0,0,0,0,0,0
$GC,3726,-0.49,-194.7,378.5,-9.2,297,3731,0.00,0.90,0.00,0.000,6,0.000,0.037,1467,3355,3272,0,0,0,0,0,0
$GC,4069,-0.49,-194.7,413.1,-10.5,312,4073,0.00,0.95,0.00,0.000,4,0.000,0.060,1462,3959,3271,0,0,0,0,0,0
$GC,4148,-0.49,-194.7,422.2,-10.6,314,4151,0.00,0.93,0.00,0.000,6,0.000,0.037,1462,3342,3271,0,0,0,0,0,0
$GC,4478,-0.49,-194.7,457.1,-10.3,325,4482,0.00,0.98,0.00,0.000,4,0.000,0.060,1458,3960,3271,0,0,0,0,0,0
$GC,4567,-0.49,-194.7,466.3,-10.0,327,4572,0.08,0.93,0.00,0.000,6,0.139,0.037,1483,3345,3271,0,0,0,0,0,0
$GC,4887,-0.49,-194.7,490.4,-7.5,338,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3345,3270,0,0,0,0,0,0
$GC,5192,-0.49,-194.7,515.7,-8.5,348,5198,0.00,0.95,0.00,0.000,4,0.000,0.061,1480,3948,3270,0,0,0,0,0,0
$GC,5323,-0.49,-194.7,527.7,-9.0,351,5330,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3349,3270,0,0,0,0,0,0
$GC,5636,-0.49,-194.7,555.5,-8.8,362,5640,0.00,0.95,0.00,0.000,4,0.000,0.061,1476,3950,3270,0,0,0,0,0,0
$GC,5698,-0.49,-194.7,561.5,-9.0,363,5706,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3351,3270,0,0,0,0,0,0
$GC,6012,-0.49,-194.7,589.2,-8.8,374,6017,0.00,0.95,0.00,0.000,4,0.000,0.062,1472,3953,3268,0,0,0,0,0,0
$GC,6108,-0.49,-194.7,598.5,-9.3,376,6116,0.00,0.90,0.00,0.000,6,0.000,0.038,1472,3356,3269,0,0,0,0,0,0
$GC,6421,-0.49,-194.7,627.7,-9.2,387,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3355,3267,0,0,0,0,0,0
$GC,6728,-0.49,-194.7,655.2,-8.9,397,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3355,3267,0,0,0,0,0,0
$GC,7035,-0.49,-194.7,683.0,-9.1,407,7038,0.00,0.95,0.00,0.000,4,0.000,0.063,1467,3952,3265,0,0,0,0,0,0
$GC,7118,-0.49,-194.7,691.3,-9.2,409,7121,0.00,0.90,0.00,0.000,6,0.000,0.039,1467,3355,3265,0,0,0,0,0,0
$GC,7443,-0.49,-194.7,721.2,-9.3,420,7446,0.00,0.95,0.00,0.000,4,0.000,0.063,1463,3954,3265,0,0,0,0,0,0
$GC,7525,-0.49,-194.7,729.8,-10.7,422,7529,0.00,0.90,0.00,0.000,6,0.000,0.039,1463,3355,3264,0,0,0,0,0,0
$GC,7851,-0.49,-194.7,760.9,-9.7,433,7855,0.00,0.95,0.00,0.000,4,0.000,0.063,1459,3954,3264,0,0,0,0,0,0
$GC,7957,-0.49,-194.7,771.9,-9.8,436,7961,0.08,0.90,0.00,0.000,6,0.144,0.038,1483,3355,3264,0,0,0,0,0,0
$GC,8297,-0.49,-194.7,798.5,-8.1,447,8300,0.00,0.95,0.00,0.000,4,0.000,0.063,1480,3954,3263,0,0,0,0,0,0
$GC,8389,-0.49,-194.7,806.4,-8.7,449,8393,0.00,0.93,0.00,0.000,6,0.000,0.039,1480,3344,3263,0,0,0,0,0,0
$GC,8710,-0.49,-194.7,831.8,-7.8,460,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,1480,3343,3262,0,0,0,0,0,0
$GC,9014,-0.49,-194.7,855.4,-7.6,470,9018,0.00,0.98,0.00,0.000,4,0.000,0.063,1476,3960,3261,0,0,0,0,0,0
$GC,9137,-0.49,-194.7,865.0,-7.6,473,9141,0.00,0.93,0.00,0.000,6,0.000,0.040,1476,3347,3261,0,0,0,0,0,0
$GC,9457,-0.49,-194.7,888.9,-7.6,484,9461,0.00,0.95,0.00,0.000,4,0.000,0.063,1472,3948,3260,0,0,0,0,0,0
$GC,9525,-0.49,-194.7,894.5,-7.1,486,9531,0.00,0.90,0.00,0.000,6,0.000,0.040,1471,3352,3260,0,0,0,0,0,0
$GC,9869,-0.49,-194.7,921.4,-7.8,497,9872,0.00,0.95,0.00,0.000,4,0.000,0.064,1468,3950,3260,0,0,0,0,0,0
$GC,9986,-0.49,-194.7,931.3,-8.0,500,9991,0.00,0.90,0.00,0.000,6,0.000,0.040,1467,3356,3259,0,0,0,0,0,0
$GC,10311,-0.49,-194.7,957.1,-7.8,511,10317,0.00,0.95,0.00,0.000,4,0.000,0.064,1463,3955,3259,0,0,0,0,0,0
$GC,10368,-0.49,-194.7,962.2,-8.3,512,10372,0.00,0.93,0.00,0.000,6,0.000,0.040,1463,3345,3258,0,0,0,0,0,0
$GC,10689,-0.49,-194.7,989.2,-8.6,523,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3343,3258,0,0,0,0,0,0
$STATE,10838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10838,begin apogee
$GC,10845,-0.14,0.0,1002.8,8.9,528,11034,0.45,0.00,180.68,1.852,6,0.133,0.000,1603,3253,2473,0,0,0,0,1,0
$STATE,11035,end apogee,CONTROL_FINISHED_OK
$STATE,11035,begin climb
$GC,11038,0.49,194.7,1010.1,0.0,534,11243,0.57,2.47,191.50,1.828,4,0.051,0.034,1826,1841,1680,0,0,0,0,1,0
$GC,11297,0.49,194.7,977.8,15.3,542,11301,0.00,2.50,0.00,0.000,6,0.000,0.054,1826,3252,1679,0,0,0,0,0,0
$GC,11627,0.49,194.7,916.3,19.2,553,11631,0.00,2.28,0.00,0.000,4,0.000,0.037,1837,1834,1675,0,0,0,0,0,0
$GC,11656,0.49,194.7,911.0,17.2,554,11660,0.00,2.40,0.00,0.000,6,0.000,0.055,1837,3256,1673,0,0,0,0,0,0
$GC,11991,0.49,194.7,844.1,20.1,565,11995,0.00,2.25,0.00,0.000,4,0.000,0.037,1848,1833,1673,0,0,0,0,0,0
$GC,12035,0.49,194.7,835.7,16.8,566,12040,0.15,2.33,0.00,0.000,6,0.178,0.055,1811,3252,1672,0,0,0,0,0,0
$GC,12354,0.49,194.7,779.3,17.6,577,12358,0.00,2.20,0.00,0.000,4,0.000,0.036,1820,1833,1671,0,0,0,0,0,0
$GC,12386,0.49,194.7,773.7,15.7,578,12391,0.00,2.33,0.00,0.000,6,0.000,0.054,1820,3256,1671,0,0,0,0,0,0
$GC,12716,0.49,194.7,713.9,18.1,589,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3256,1671,0,0,0,0,0,0
$GC,13022,0.49,194.7,659.5,17.7,599,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3256,1671,0,0,0,0,0,0
$GC,13330,0.49,194.7,604.7,18.3,609,13334,0.00,2.20,0.00,0.000,4,0.000,0.035,1831,1823,1671,0,0,0,0,0,0
$GC,13418,0.49,194.7,590.3,14.8,611,13425,0.00,2.30,0.00,0.000,6,0.000,0.053,1831,3261,1670,0,0,0,0,0,0
$GC,13733,0.49,194.7,531.1,18.9,622,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,3261,1670,0,0,0,0,0,0
$GC,14038,0.49,194.7,474.4,18.4,632,14043,0.00,2.20,0.00,0.000,4,0.000,0.034,1842,1833,1670,0,0,0,0,0,0
$GC,14085,0.49,194.7,466.7,15.8,633,14090,0.12,2.28,0.00,0.000,6,0.181,0.053,1812,3252,1669,0,0,0,0,0,0
$GC,14410,0.49,194.7,410.9,17.5,644,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3253,1669,0,0,0,0,0,0
$GC,14720,0.49,194.7,355.1,18.0,658,14724,0.00,2.17,0.00,0.000,4,0.000,0.034,1821,1820,1669,0,0,0,0,0,0
$GC,14778,0.49,194.7,345.5,13.7,660,14787,0.00,2.30,0.00,0.000,6,0.000,0.052,1821,3246,1668,0,0,0,0,0,0
$GC,15096,0.49,194.7,287.9,18.1,676,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3246,1668,0,0,0,0,0,0
$GC,15417,0.49,194.7,231.5,17.8,693,15421,0.00,2.15,0.00,0.000,4,0.000,0.034,1832,1831,1668,0,0,0,0,0,0
$GC,15485,0.49,194.7,221.2,13.3,697,15490,0.00,2.28,0.00,0.000,6,0.000,0.051,1832,3263,1668,0,0,0,0,0,0
$GC,15809,0.49,194.7,165.0,18.0,717,15813,0.00,2.17,0.00,0.000,4,0.000,0.033,1842,1826,1668,0,0,0,0,0,0
$GC,15864,0.49,194.7,155.4,14.6,720,15876,0.10,2.28,0.00,0.000,6,0.151,0.050,1811,3247,1668,0,0,0,0,0,0
$GC,16190,0.49,194.7,104.3,16.1,741,16191,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3247,1668,0,0,0,0,0,0
$GC,16535,0.49,194.7,49.9,13.7,797,16542,0.00,2.15,0.00,0.000,4,0.000,0.033,1820,1817,1668,0,0,0,0,0,0
$GC,16617,0.49,194.7,39.8,10.1,810,16626,0.00,2.30,0.00,0.000,6,0.000,0.051,1820,3256,1668,0,0,0,0,0,0
$STATE,16877,end climb,SURFACE_DEPTH_REACHED
$STATE,16877,begin surface coast
$FINISH,0.9,1.020423
$STATE,16903,end surface coast,CONTROL_FINISHED_OK
$STATE,16903,begin surface
$SM_CCo,16919,130.40,0.745,1,0,503,482.50
$SM_GC,1.22,0.00,0.00,130.40,0.000,0.000,0.745,61,3377,503,-4.96,0.68,482.50
$IRIDIUM_FIX,-4209.90,814.40,151212,161623
$TT8_MAMPS,0.025466
$HUMID,53.34
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.0,10.396
$10V_AH,10.1,5.057
$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,12.125,89.500,372.175,130.400,0.000,32.070,47.403,365.893,0.000,0.000,18.058,2177.826,11140.336,602.066,2783.600,962.533,33.353,1694.576,0.000,2578.318,0.000,3.026,0.000
$DEVICE_MAMPS,237.915,93.330,1852.065,745.110,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.325,1889.842,875.692,411.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354300
$DATA_FILE_SIZE,63756,854
$CAP_FILE_SIZE,143778,0
$CFSIZE,259252224,255594496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,161212,023022,-4229.440,815.680,40,0.8,40,-24.9