version: 66.07
glider: 543
mission: 6
dive: 99
start: 12 24 112 6 14 15
data:
$ID,543
$MISSION,6
$DIVE,99
$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,-8129.6675
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,241212,060134,-4223.221,819.917,42,0.9,42,-24.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,3
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-21.9
$GPS2,241212,061318,-4223.208,820.064,15,0.8,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.020,0.306
$KALMAN_X,2448.6,-86.9,-6.0,22765.8,-456.4
$KALMAN_Y,90827.2,515.5,144.7,-78850.7,-4713.6
$MHEAD_RNG_PITCHd_Wd,28.7,42982,-12.0,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.45,-194.7,0.0,0.0,0,120,0.00,0.00,-97.43,0.000,2,0.000,0.000,57,3372,2947,0,0,0,0,0,0
$GC,124,-0.45,-194.7,3.4,-4.1,12,144,5.78,2.25,-7.68,0.000,4,0.230,0.047,1506,1950,3270,0,0,0,0,0,0
$GC,230,-0.45,-194.7,17.5,-8.4,27,241,0.00,2.30,0.00,0.000,6,0.000,0.054,1497,3335,3273,0,0,0,0,0,0
$GC,325,-0.45,-194.7,26.4,-10.3,40,334,0.00,1.00,0.00,0.000,4,0.000,0.060,1493,3951,3272,0,0,0,0,0,0
$GC,404,-0.45,-194.7,35.6,-10.6,52,412,0.00,0.90,0.00,0.000,6,0.000,0.036,1492,3363,3272,0,0,0,0,0,0
$GC,656,-0.45,-194.7,61.9,-10.2,93,662,0.00,0.00,0.00,0.000,6,0.000,0.000,1492,3363,3273,0,0,0,0,0,0
$GC,1009,-0.45,-194.7,94.2,-8.8,154,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,1492,3362,3274,0,0,0,0,0,0
$GC,1343,-0.45,-194.7,125.9,-9.5,182,1347,0.00,0.95,0.00,0.000,4,0.000,0.060,1488,3959,3274,0,0,0,0,0,0
$GC,1436,-0.45,-194.7,135.0,-9.9,187,1440,0.00,0.93,0.00,0.000,6,0.000,0.036,1488,3345,3274,0,0,0,0,0,0
$GC,1767,-0.45,-194.7,166.3,-9.3,208,1771,0.00,0.98,0.00,0.000,4,0.000,0.059,1483,3959,3274,0,0,0,0,0,0
$GC,1821,-0.45,-194.7,171.3,-9.6,211,1824,0.00,0.93,0.00,0.000,6,0.000,0.036,1484,3343,3274,0,0,0,0,0,0
$GC,2153,-0.45,-194.7,202.6,-9.3,232,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3343,3274,0,0,0,0,0,0
$GC,2465,-0.45,-194.7,230.8,-8.8,252,2469,0.00,0.98,0.00,0.000,4,0.000,0.059,1479,3958,3274,0,0,0,0,0,0
$GC,2594,-0.45,-194.7,242.9,-9.7,259,2597,0.00,0.90,0.00,0.000,6,0.000,0.036,1479,3356,3274,0,0,0,0,0,0
$GC,2923,-0.45,-194.7,276.2,-10.1,276,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,1479,3355,3273,0,0,0,0,0,0
$GC,3233,-0.45,-194.7,307.1,-10.0,291,3238,0.00,0.95,0.00,0.000,4,0.000,0.060,1475,3957,3273,0,0,0,0,0,0
$GC,3358,-0.45,-194.7,320.6,-10.5,296,3362,0.00,0.90,0.00,0.000,6,0.000,0.037,1475,3353,3273,0,0,0,0,0,0
$GC,3681,-0.45,-194.7,353.5,-9.9,312,3684,0.00,0.95,0.00,0.000,4,0.000,0.060,1470,3954,3272,0,0,0,0,0,0
$GC,3760,-0.45,-194.7,362.2,-10.6,315,3766,0.08,0.90,0.00,0.000,6,0.132,0.037,1497,3353,3272,0,0,0,0,0,0
$GC,4086,-0.45,-194.7,385.4,-6.7,331,4091,0.00,0.95,0.00,0.000,4,0.000,0.060,1493,3953,3272,0,0,0,0,0,0
$GC,4158,-0.45,-194.7,390.5,-7.1,334,4163,0.00,0.90,0.00,0.000,6,0.000,0.037,1493,3350,3272,0,0,0,0,0,0
$GC,4490,-0.45,-194.7,412.8,-6.7,347,4494,0.00,0.95,0.00,0.000,4,0.000,0.060,1489,3952,3272,0,0,0,0,0,0
$GC,4565,-0.45,-194.7,418.4,-7.5,349,4568,0.00,0.90,0.00,0.000,6,0.000,0.037,1489,3350,3271,0,0,0,0,0,0
$GC,4901,-0.45,-194.7,443.0,-7.5,360,4904,0.00,0.95,0.00,0.000,4,0.000,0.061,1485,3951,3271,0,0,0,0,0,0
$GC,4973,-0.45,-194.7,448.6,-8.0,362,4976,0.00,0.90,0.00,0.000,6,0.000,0.037,1485,3348,3271,0,0,0,0,0,0
$GC,5315,-0.45,-194.7,476.8,-8.3,373,5318,0.00,0.95,0.00,0.000,4,0.000,0.061,1480,3951,3270,0,0,0,0,0,0
$GC,5441,-0.45,-194.7,488.1,-9.2,376,5444,0.00,0.90,0.00,0.000,6,0.000,0.037,1480,3350,3270,0,0,0,0,0,0
$GC,5762,-0.45,-194.7,516.6,-8.9,387,5765,0.00,0.95,0.00,0.000,4,0.000,0.060,1476,3951,3270,0,0,0,0,0,0
$GC,5874,-0.45,-194.7,527.7,-9.4,390,5877,0.00,0.90,0.00,0.000,6,0.000,0.037,1476,3350,3270,0,0,0,0,0,0
$GC,6204,-0.45,-194.7,558.2,-9.4,401,6207,0.00,0.95,0.00,0.000,4,0.000,0.061,1472,3953,3268,0,0,0,0,0,0
$GC,6267,-0.45,-194.7,564.4,-10.1,402,6275,0.08,0.90,0.00,0.000,6,0.132,0.038,1497,3354,3268,0,0,0,0,0,0
$GC,6581,-0.45,-194.7,587.9,-7.4,413,6587,0.00,0.95,0.00,0.000,4,0.000,0.062,1494,3953,3268,0,0,0,0,0,0
$GC,6634,-0.45,-194.7,592.0,-8.2,414,6638,0.00,0.90,0.00,0.000,6,0.000,0.038,1494,3356,3268,0,0,0,0,0,0
$GC,6959,-0.45,-194.7,617.7,-8.0,425,6963,0.00,0.95,0.00,0.000,4,0.000,0.063,1490,3954,3268,0,0,0,0,0,0
$GC,7065,-0.45,-194.7,627.2,-8.7,428,7069,0.00,0.90,0.00,0.000,6,0.000,0.038,1490,3355,3268,0,0,0,0,0,0
$GC,7402,-0.45,-194.7,654.8,-8.4,439,7407,0.00,0.95,0.00,0.000,4,0.000,0.063,1485,3955,3267,0,0,0,0,0,0
$GC,7509,-0.45,-194.7,664.1,-8.0,442,7512,0.00,0.93,0.00,0.000,6,0.000,0.039,1485,3342,3266,0,0,0,0,0,0
$GC,7845,-0.45,-194.7,691.3,-8.0,453,7848,0.00,0.98,0.00,0.000,4,0.000,0.062,1481,3958,3266,0,0,0,0,0,0
$GC,7928,-0.45,-194.7,698.4,-8.7,455,7932,0.00,0.93,0.00,0.000,6,0.000,0.039,1481,3344,3265,0,0,0,0,0,0
$GC,8253,-0.45,-194.7,724.1,-8.0,466,8257,0.00,0.95,0.00,0.000,4,0.000,0.063,1477,3946,3265,0,0,0,0,0,0
$GC,8332,-0.45,-194.7,731.1,-8.6,468,8335,0.00,0.88,0.00,0.000,6,0.000,0.040,1477,3364,3264,0,0,0,0,0,0
$GC,8662,-0.45,-194.7,758.6,-8.3,479,8666,0.00,0.93,0.00,0.000,4,0.000,0.063,1472,3949,3263,0,0,0,0,0,0
$GC,8734,-0.45,-194.7,765.0,-8.9,481,8738,0.08,0.90,0.00,0.000,6,0.134,0.039,1498,3353,3263,0,0,0,0,0,0
$GC,9070,-0.45,-194.7,785.6,-6.0,492,9073,0.00,0.98,0.00,0.000,4,0.000,0.065,1495,3950,3263,0,0,0,0,0,0
$GC,9097,-0.45,-194.7,787.6,-7.2,492,9104,0.00,0.90,0.00,0.000,6,0.000,0.039,1495,3356,3263,0,0,0,0,0,0
$GC,9411,-0.45,-194.7,807.9,-6.7,503,9414,0.00,0.95,0.00,0.000,4,0.000,0.063,1491,3950,3262,0,0,0,0,0,0
$GC,9461,-0.45,-194.7,811.3,-6.5,504,9464,0.00,0.90,0.00,0.000,6,0.000,0.040,1491,3352,3262,0,0,0,0,0,0
$GC,9786,-0.45,-194.7,832.3,-6.5,515,9790,0.00,2.12,0.00,0.000,4,0.000,0.032,1491,1920,3261,0,0,0,0,0,0
$GC,9835,-0.45,-194.7,835.7,-6.9,516,9841,0.00,2.33,0.00,0.000,6,0.000,0.054,1491,3362,3261,0,0,0,0,0,0
$GC,10155,-0.45,-194.7,855.8,-6.2,527,10161,0.00,2.15,0.00,0.000,4,0.000,0.032,1490,1928,3260,0,0,0,0,0,0
$GC,10173,-0.45,-194.7,857.1,-6.3,527,10177,0.00,2.28,0.00,0.000,6,0.000,0.055,1483,3357,3261,0,0,0,0,0,0
$GC,10492,-0.45,-194.7,876.3,-6.1,538,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3356,3260,0,0,0,0,0,0
$GC,10799,-0.45,-194.7,894.5,-5.9,548,10803,0.00,2.10,0.00,0.000,4,0.000,0.033,1483,1926,3259,0,0,0,0,0,0
$GC,10815,-0.45,-194.7,895.8,-5.9,548,10819,0.00,2.28,0.00,0.000,6,0.000,0.055,1475,3352,3259,0,0,0,0,0,0
$GC,11129,-0.45,-194.7,915.2,-6.2,558,11133,0.00,2.12,0.00,0.000,4,0.000,0.034,1474,1927,3259,0,0,0,0,0,0
$GC,11139,-0.45,-194.7,916.1,-6.2,558,11145,0.10,2.30,0.00,0.000,6,0.110,0.057,1501,3347,3259,0,0,0,0,0,0
$GC,11467,-0.45,-194.7,935.2,-6.2,569,11471,0.00,2.10,0.00,0.000,4,0.000,0.033,1502,1932,3258,0,0,0,0,0,0
$STATE,11555,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11555,begin apogee
$GC,11564,-0.14,0.0,941.3,7.3,571,11763,0.28,0.00,196.23,1.131,6,0.074,0.000,1613,3261,2473,0,0,0,0,0,0
$STATE,11765,end apogee,CONTROL_FINISHED_OK
$STATE,11765,begin climb
$GC,11767,0.45,194.7,949.4,0.0,578,11971,0.50,1.20,196.60,1.081,4,0.048,0.056,1807,3948,1675,0,0,0,0,0,0
$GC,12055,0.45,194.7,907.2,20.9,587,12058,0.00,1.12,0.00,0.000,6,0.000,0.034,1812,3257,1653,0,0,0,0,0,0
$GC,12396,0.45,194.7,842.2,19.0,598,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3257,1648,0,0,0,0,0,0
$GC,12702,0.45,194.7,784.7,18.5,608,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3257,1646,0,0,0,0,0,0
$GC,13009,0.45,194.7,728.2,18.9,618,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3257,1645,0,0,0,0,0,0
$GC,13314,0.45,194.7,670.1,18.8,628,13320,0.00,1.12,0.00,0.000,4,0.000,0.058,1812,3947,1644,0,0,0,0,0,0
$GC,13343,0.45,194.7,664.0,20.0,628,13350,0.00,1.08,0.00,0.000,6,0.000,0.034,1817,3237,1644,0,0,0,0,0,0
$GC,13656,0.45,194.7,602.5,19.5,639,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3237,1644,0,0,0,0,0,0
$GC,13963,0.45,194.7,542.8,19.6,649,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3237,1643,0,0,0,0,0,0
$GC,14268,0.45,194.7,479.7,20.6,659,14274,0.00,1.15,0.00,0.000,4,0.000,0.057,1817,3951,1643,0,0,0,0,0,0
$GC,14325,0.45,194.7,467.0,21.1,660,14329,0.00,1.05,0.00,0.000,6,0.000,0.034,1823,3249,1643,0,0,0,0,0,0
$GC,14644,0.45,194.7,400.6,20.8,671,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3249,1643,0,0,0,0,0,0
$GC,14964,0.45,194.7,335.1,20.0,686,14965,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3249,1643,0,0,0,0,0,0
$GC,15274,0.45,194.7,273.3,20.1,701,15275,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3250,1643,0,0,0,0,0,0
$GC,15588,0.45,194.7,213.6,18.7,719,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3249,1643,0,0,0,0,0,0
$GC,15899,0.45,194.7,156.6,18.1,739,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3249,1643,0,0,0,0,0,0
$GC,16212,0.45,194.7,98.6,18.4,759,16217,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,3249,1642,0,0,0,0,0,0
$GC,16571,0.45,194.7,35.4,15.6,820,16580,0.00,1.12,0.00,0.000,4,0.000,0.057,1823,3950,1643,0,0,0,0,0,0
$GC,16626,0.45,194.7,26.4,18.1,828,16638,0.10,1.02,0.00,0.000,6,0.166,0.032,1798,3253,1643,0,0,0,0,0,0
$GC,16716,0.45,194.7,13.5,11.8,841,16726,0.00,2.12,0.00,0.000,4,0.000,0.033,1807,1848,1643,0,0,0,0,0,0
$GC,16763,0.45,194.7,8.0,12.0,847,16774,0.00,2.22,0.00,0.000,6,0.000,0.050,1807,3246,1642,0,0,0,0,0,0
$STATE,16807,end climb,SURFACE_DEPTH_REACHED
$STATE,16807,begin surface coast
$FINISH,1.1,1.026048
$STATE,16834,end surface coast,CONTROL_FINISHED_OK
$STATE,16835,begin surface
$SM_CCo,16850,131.32,0.718,1,0,506,482.50
$SM_GC,1.27,0.00,0.00,131.32,0.000,0.000,0.718,57,3364,506,-4.98,0.31,482.50
$IRIDIUM_FIX,-4209.90,817.29,241212,010154
$TT8_MAMPS,0.025466
$HUMID,53.89
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.0,19.643
$10V_AH,10.1,10.284
$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,11.550,77.075,392.825,131.325,0.000,31.153,22.881,473.320,0.000,0.000,21.104,2163.424,11138.174,604.623,2833.047,946.834,33.357,1679.156,0.000,2505.357,0.000,1.013,0.000
$DEVICE_MAMPS,230.265,82.620,1130.670,718.335,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.744,1878.639,886.536,397.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354264
$DATA_FILE_SIZE,63699,857
$CAP_FILE_SIZE,142719,0
$CFSIZE,259252224,252493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,241212,105834,-4221.041,819.913,31,0.9,31,-24.9