version: 66.07
glider: 543
mission: 6
dive: 46
start: 12 16 112 7 41 14
data:
$ID,543
$MISSION,6
$DIVE,46
$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,-7943.3325
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,161212,073028,-4230.126,814.287,39,0.8,39,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-26.9
$GPS2,161212,074016,-4230.100,814.401,18,0.8,20,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.198,-0.204
$KALMAN_X,-652.9,-184.3,-798.7,19063.6,-1125.6
$KALMAN_Y,71282.2,-1118.2,-318.8,-69931.7,9152.7
$MHEAD_RNG_PITCHd_Wd,160.7,7647,-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,-194.7,0.0,0.0,0,117,0.00,0.00,-94.88,0.000,2,0.000,0.000,63,3362,2825,0,0,0,0,0,0
$GC,121,-0.49,-194.7,3.0,-3.8,11,148,5.78,2.25,-11.50,0.000,4,0.237,0.047,1486,1931,3267,0,0,0,0,0,0
$GC,305,-0.49,-194.7,23.5,-10.5,37,313,0.00,2.35,0.00,0.000,6,0.000,0.057,1477,3346,3270,0,0,0,0,0,0
$GC,393,-0.49,-194.7,33.3,-11.0,50,402,0.00,0.98,0.00,0.000,4,0.000,0.061,1472,3947,3269,0,0,0,0,0,0
$GC,561,-0.49,-194.7,52.8,-11.4,77,568,0.00,0.93,0.00,0.000,6,0.000,0.037,1472,3346,3269,0,0,0,0,0,0
$GC,803,-0.49,-194.7,79.4,-10.7,118,812,0.00,0.98,0.00,0.000,4,0.000,0.060,1468,3954,3271,0,0,0,0,0,0
$GC,982,-0.49,-194.7,99.7,-11.9,148,990,0.00,0.93,0.00,0.000,6,0.000,0.036,1468,3344,3270,0,0,0,0,0,0
$GC,1305,-0.49,-194.7,137.3,-11.7,169,1309,0.00,0.98,0.00,0.000,4,0.000,0.060,1463,3958,3271,0,0,0,0,0,0
$GC,1477,-0.49,-194.7,157.7,-11.6,178,1486,0.00,0.93,0.00,0.000,6,0.000,0.036,1463,3345,3271,0,0,0,0,0,0
$GC,1798,-0.49,-194.7,191.5,-10.1,199,1804,0.00,0.95,0.00,0.000,4,0.000,0.059,1459,3945,3271,0,0,0,0,0,0
$GC,1928,-0.49,-194.7,205.9,-10.9,206,1932,0.10,0.90,0.00,0.000,6,0.142,0.036,1491,3348,3271,0,0,0,0,0,0
$GC,2256,-0.49,-194.7,233.7,-8.9,227,2259,0.00,0.95,0.00,0.000,4,0.000,0.060,1488,3949,3271,0,0,0,0,0,0
$GC,2363,-0.49,-194.7,244.3,-9.6,233,2366,0.00,0.90,0.00,0.000,6,0.000,0.037,1488,3348,3271,0,0,0,0,0,0
$GC,2697,-0.49,-194.7,276.6,-9.4,250,2700,0.00,0.95,0.00,0.000,4,0.000,0.060,1483,3949,3271,0,0,0,0,0,0
$GC,2816,-0.49,-194.7,287.7,-9.6,255,2819,0.00,0.90,0.00,0.000,6,0.000,0.036,1483,3347,3271,0,0,0,0,0,0
$GC,3151,-0.49,-194.7,318.8,-9.3,271,3156,0.00,0.95,0.00,0.000,4,0.000,0.060,1479,3951,3271,0,0,0,0,0,0
$GC,3271,-0.49,-194.7,330.5,-9.1,276,3274,0.00,0.90,0.00,0.000,6,0.000,0.036,1479,3348,3270,0,0,0,0,0,0
$GC,3600,-0.49,-194.7,358.9,-8.3,292,3603,0.00,0.95,0.00,0.000,4,0.000,0.060,1475,3951,3270,0,0,0,0,0,0
$GC,3702,-0.49,-194.7,368.4,-9.0,296,3706,0.00,0.90,0.00,0.000,6,0.000,0.036,1475,3350,3270,0,0,0,0,0,0
$GC,4026,-0.49,-194.7,396.6,-9.2,312,4029,0.00,0.95,0.00,0.000,4,0.000,0.060,1471,3954,3270,0,0,0,0,0,0
$GC,4186,-0.49,-194.7,412.3,-10.2,317,4191,0.00,0.90,0.00,0.000,6,0.000,0.037,1471,3353,3270,0,0,0,0,0,0
$GC,4506,-0.49,-194.7,444.3,-10.0,328,4511,0.00,0.98,0.00,0.000,4,0.000,0.062,1466,3956,3270,0,0,0,0,0,0
$GC,4611,-0.49,-194.7,454.8,-9.6,331,4614,0.00,0.90,0.00,0.000,6,0.000,0.037,1466,3354,3270,0,0,0,0,0,0
$GC,4952,-0.49,-194.7,489.7,-10.0,342,4955,0.00,0.95,0.00,0.000,4,0.000,0.060,1462,3956,3269,0,0,0,0,0,0
$GC,5074,-0.49,-194.7,502.6,-10.5,345,5078,0.00,0.90,0.00,0.000,6,0.000,0.037,1462,3353,3269,0,0,0,0,0,0
$GC,5394,-0.49,-194.7,533.0,-9.3,356,5398,0.00,0.98,0.00,0.000,4,0.000,0.063,1457,3954,3268,0,0,0,0,0,0
$GC,5500,-0.49,-194.7,544.0,-9.9,359,5504,0.08,0.90,0.00,0.000,6,0.144,0.037,1482,3354,3268,0,0,0,0,0,0
$GC,5835,-0.49,-194.7,571.2,-8.5,370,5841,0.00,0.95,0.00,0.000,4,0.000,0.062,1479,3957,3268,0,0,0,0,0,0
$GC,5941,-0.49,-194.7,580.5,-8.8,373,5944,0.00,0.90,0.00,0.000,6,0.000,0.038,1479,3355,3268,0,0,0,0,0,0
$GC,6282,-0.49,-194.7,610.8,-9.0,384,6286,0.00,0.95,0.00,0.000,4,0.000,0.062,1474,3955,3267,0,0,0,0,0,0
$GC,6434,-0.49,-194.7,625.3,-10.1,388,6440,0.00,0.93,0.00,0.000,6,0.000,0.038,1475,3343,3267,0,0,0,0,0,0
$GC,6760,-0.49,-194.7,656.4,-9.5,399,6765,0.00,0.95,0.00,0.000,4,0.000,0.062,1470,3944,3266,0,0,0,0,0,0
$GC,6872,-0.49,-194.7,667.4,-9.7,402,6876,0.00,0.90,0.00,0.000,6,0.000,0.038,1470,3345,3266,0,0,0,0,0,0
$GC,7203,-0.49,-194.7,697.3,-9.0,413,7206,0.00,0.95,0.00,0.000,4,0.000,0.063,1466,3947,3264,0,0,0,0,0,0
$GC,7273,-0.49,-194.7,703.5,-9.1,415,7277,0.00,0.90,0.00,0.000,6,0.000,0.039,1466,3350,3264,0,0,0,0,0,0
$GC,7614,-0.49,-194.7,735.0,-9.3,426,7617,0.00,0.95,0.00,0.000,4,0.000,0.063,1462,3949,3264,0,0,0,0,0,0
$GC,7691,-0.49,-194.7,742.8,-9.8,428,7695,0.00,0.90,0.00,0.000,6,0.000,0.039,1462,3353,3263,0,0,0,0,0,0
$GC,8022,-0.49,-194.7,775.6,-10.2,439,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3352,3263,0,0,0,0,0,0
$GC,8329,-0.49,-194.7,805.9,-9.7,449,8333,0.00,0.95,0.00,0.000,4,0.000,0.063,1457,3951,3262,0,0,0,0,0,0
$GC,8445,-0.49,-194.7,817.9,-9.8,452,8452,0.08,0.93,0.00,0.000,6,0.152,0.040,1481,3341,3262,0,0,0,0,0,0
$GC,8772,-0.49,-194.7,841.7,-7.1,463,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,3341,3261,0,0,0,0,0,0
$GC,9078,-0.49,-194.7,862.8,-6.9,473,9081,0.00,0.98,0.00,0.000,4,0.000,0.064,1478,3955,3260,0,0,0,0,0,0
$GC,9225,-0.49,-194.7,873.5,-7.6,477,9229,0.00,0.93,0.00,0.000,6,0.000,0.040,1478,3346,3260,0,0,0,0,0,0
$GC,9556,-0.49,-194.7,896.8,-7.0,488,9559,0.00,0.95,0.00,0.000,4,0.000,0.064,1474,3948,3259,0,0,0,0,0,0
$GC,9678,-0.49,-194.7,906.1,-7.6,491,9682,0.00,0.90,0.00,0.000,6,0.000,0.040,1474,3354,3259,0,0,0,0,0,0
$GC,9999,-0.49,-194.7,929.5,-7.5,502,10002,0.00,0.95,0.00,0.000,4,0.000,0.064,1470,3952,3259,0,0,0,0,0,0
$GC,10088,-0.49,-194.7,936.8,-7.4,504,10091,0.00,0.90,0.00,0.000,6,0.000,0.041,1470,3355,3259,0,0,0,0,0,0
$GC,10408,-0.49,-194.7,961.1,-7.6,515,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3354,3258,0,0,0,0,0,0
$GC,10713,-0.49,-194.7,984.4,-7.7,525,10718,0.00,0.95,0.00,0.000,4,0.000,0.064,1466,3950,3258,0,0,0,0,0,0
$GC,10826,-0.49,-194.7,994.1,-8.6,528,10829,0.00,0.90,0.00,0.000,6,0.000,0.041,1466,3353,3258,0,0,0,0,0,0
$STATE,10908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10908,begin apogee
$GC,10915,-0.14,0.0,1000.9,8.3,531,11123,0.43,0.00,199.85,1.187,6,0.135,0.000,1598,3259,2467,0,0,0,0,0,0
$STATE,11124,end apogee,CONTROL_FINISHED_OK
$STATE,11124,begin climb
$GC,11127,0.49,194.7,1007.0,0.0,538,11337,0.57,2.47,197.98,1.151,4,0.060,0.035,1818,1833,1666,0,0,0,0,0,0
$GC,11397,0.49,194.7,969.4,15.5,546,11402,0.00,2.45,0.00,0.000,6,0.000,0.052,1818,3251,1654,0,0,0,0,0,0
$GC,11722,0.49,194.7,903.8,21.0,557,11726,0.00,2.28,0.00,0.000,4,0.000,0.037,1829,1833,1650,0,0,0,0,0,0
$GC,11805,0.49,194.7,888.4,16.6,559,11810,0.00,2.38,0.00,0.000,6,0.000,0.054,1829,3258,1648,0,0,0,0,0,0
$GC,12120,0.49,194.7,822.9,21.0,569,12124,0.00,2.22,0.00,0.000,4,0.000,0.037,1839,1832,1647,0,0,0,0,0,0
$GC,12170,0.49,194.7,813.2,15.7,570,12174,0.00,2.33,0.00,0.000,6,0.000,0.054,1839,3250,1647,0,0,0,0,0,0
$GC,12484,0.49,194.7,749.1,20.7,580,12488,0.00,2.20,0.00,0.000,4,0.000,0.037,1850,1835,1646,0,0,0,0,0,0
$GC,12567,0.49,194.7,734.0,15.8,582,12572,0.15,2.30,0.00,0.000,6,0.178,0.054,1812,3249,1646,0,0,0,0,0,0
$GC,12883,0.49,194.7,678.6,17.8,592,12887,0.00,2.17,0.00,0.000,4,0.000,0.035,1821,1831,1646,0,0,0,0,0,0
$GC,12945,0.49,194.7,668.9,14.1,594,12949,0.00,2.30,0.00,0.000,6,0.000,0.053,1821,3259,1645,0,0,0,0,0,0
$GC,13281,0.49,194.7,606.1,19.2,605,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3260,1645,0,0,0,0,0,0
$GC,13587,0.49,194.7,546.6,19.5,615,13591,0.00,2.20,0.00,0.000,4,0.000,0.034,1832,1820,1645,0,0,0,0,0,0
$GC,13642,0.49,194.7,536.8,15.7,616,13649,0.00,2.30,0.00,0.000,6,0.000,0.052,1832,3261,1645,0,0,0,0,0,0
$GC,13955,0.49,194.7,474.7,20.0,627,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,3262,1645,0,0,0,0,0,0
$GC,14262,0.49,194.7,412.7,20.6,637,14266,0.00,2.15,0.00,0.000,4,0.000,0.033,1843,1831,1645,0,0,0,0,0,0
$GC,14342,0.49,194.7,398.5,16.0,639,14347,0.12,2.28,0.00,0.000,6,0.183,0.051,1812,3259,1644,0,0,0,0,0,0
$GC,14666,0.49,194.7,339.5,18.1,655,14667,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3259,1644,0,0,0,0,0,0
$GC,14974,0.49,194.7,285.2,17.6,670,14978,0.00,2.17,0.00,0.000,4,0.000,0.034,1821,1822,1644,0,0,0,0,0,0
$GC,15062,0.49,194.7,272.5,13.5,674,15066,0.00,2.28,0.00,0.000,6,0.000,0.051,1821,3254,1644,0,0,0,0,0,0
$GC,15396,0.49,194.7,213.2,18.3,693,15399,0.00,2.15,0.00,0.000,4,0.000,0.033,1832,1828,1644,0,0,0,0,0,0
$GC,15459,0.49,194.7,202.8,13.3,697,15464,0.00,2.25,0.00,0.000,6,0.000,0.050,1832,3248,1644,0,0,0,0,0,0
$GC,15788,0.49,194.7,141.6,18.7,718,15792,0.00,2.15,0.00,0.000,4,0.000,0.034,1843,1831,1644,0,0,0,0,0,0
$GC,15854,0.49,194.7,130.1,14.0,722,15859,0.12,2.25,0.00,0.000,6,0.180,0.050,1811,3253,1644,0,0,0,0,0,0
$GC,16192,0.49,194.7,71.5,17.6,760,16199,0.00,2.15,0.00,0.000,4,0.000,0.034,1821,1823,1644,0,0,0,0,0,0
$GC,16234,0.49,194.7,64.7,16.1,766,16240,0.00,2.25,0.00,0.000,6,0.000,0.050,1821,3250,1644,0,0,0,0,0,0
$STATE,16590,end climb,SURFACE_DEPTH_REACHED
$STATE,16590,begin surface coast
$FINISH,0.8,1.014085
$STATE,16616,end surface coast,CONTROL_FINISHED_OK
$STATE,16616,begin surface
$SM_CCo,16632,124.10,0.758,1,0,505,482.50
$SM_GC,1.32,0.00,0.00,124.10,0.000,0.000,0.758,53,3364,505,-4.99,0.31,482.50
$IRIDIUM_FIX,-4212.81,817.71,161212,020232
$TT8_MAMPS,0.025466
$HUMID,53.50
$INTERNAL_PRESSURE,8.94683
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.2,10.763
$10V_AH,10.1,5.318
$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,12.100,95.575,397.825,124.100,0.000,24.862,41.807,346.647,0.000,0.000,22.623,2157.528,10736.484,603.376,2890.339,955.513,33.357,1746.134,0.000,2655.844,0.000,3.018,0.000
$DEVICE_MAMPS,237.150,87.975,1186.515,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.837,1812.318,847.206,370.676,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,60476,826
$CAP_FILE_SIZE,146945,0
$CFSIZE,259252224,255447040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,161212,122153,-4231.997,817.007,36,1.3,37,-24.9