version: 66.07
glider: 543
mission: 6
dive: 152
start: 1 2 113 10 16 58
data:
$ID,543
$MISSION,6
$DIVE,152
$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,-8292.0049
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,020113,100458,-4156.883,817.628,38,0.8,38,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-38.9
$GPS2,020113,101600,-4156.921,817.833,20,0.9,20,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.183,-0.139
$KALMAN_X,-79856.4,-736.1,-526.6,103224.5,7333.7
$KALMAN_Y,22208.4,763.6,379.7,37956.0,-2347.7
$MHEAD_RNG_PITCHd_Wd,257.8,6436,-15.9,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.51,-127.9,0.0,0.0,0,82,0.00,0.00,-56.50,0.000,2,0.000,0.000,64,3401,2826,0,0,0,0,0,0
$GC,86,-0.52,-146.1,3.3,-3.1,7,107,5.85,0.88,-6.72,0.000,4,0.244,0.083,1455,3942,3071,0,0,0,0,0,0
$GC,177,-0.52,-146.1,16.9,-14.7,19,186,0.00,0.85,0.00,0.000,6,0.000,0.038,1455,3400,3073,0,0,0,0,0,0
$GC,266,-0.52,-146.1,29.1,-13.0,32,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3399,3074,0,0,0,0,0,0
$GC,350,-0.52,-146.1,39.7,-13.1,45,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3399,3074,0,0,0,0,0,0
$GC,596,-0.52,-146.1,70.3,-11.6,86,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3399,3076,0,0,0,0,0,0
$GC,942,-0.52,-146.1,108.7,-10.6,137,945,0.00,0.88,0.00,0.000,4,0.000,0.060,1451,3943,3076,0,0,0,0,0,0
$GC,1055,-0.52,-146.1,122.6,-12.1,143,1062,0.00,0.88,0.00,0.000,6,0.000,0.037,1451,3369,3077,0,0,0,0,0,0
$GC,1375,-0.52,-146.1,158.0,-10.9,164,1378,0.00,0.90,0.00,0.000,4,0.000,0.060,1447,3932,3077,0,0,0,0,0,0
$GC,1469,-0.52,-146.1,169.4,-11.7,169,1473,0.00,0.85,0.00,0.000,6,0.000,0.037,1447,3374,3077,0,0,0,0,0,0
$GC,1795,-0.52,-146.1,205.0,-10.9,190,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3373,3078,0,0,0,0,0,0
$GC,2108,-0.52,-146.1,241.5,-12.2,210,2111,0.00,0.90,0.00,0.000,4,0.000,0.060,1443,3937,3078,0,0,0,0,0,0
$GC,2284,-0.52,-146.1,265.2,-13.8,218,2295,0.00,0.85,0.00,0.000,6,0.000,0.037,1443,3377,3078,0,0,0,0,0,0
$GC,2602,-0.52,-146.1,306.6,-13.3,234,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3377,3078,0,0,0,0,0,0
$GC,2912,-0.52,-146.1,345.1,-12.1,249,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3377,3077,0,0,0,0,0,0
$GC,3220,-0.52,-146.1,377.6,-10.0,264,3224,0.00,0.90,0.00,0.000,4,0.000,0.060,1439,3942,3077,0,0,0,0,0,0
$GC,3388,-0.52,-146.1,394.8,-10.3,271,3393,0.00,0.85,0.00,0.000,6,0.000,0.037,1439,3380,3077,0,0,0,0,0,0
$GC,3729,-0.52,-146.1,427.4,-9.6,283,3733,0.00,0.88,0.00,0.000,4,0.000,0.060,1435,3931,3077,0,0,0,0,0,0
$GC,3857,-0.52,-146.1,441.1,-10.7,286,3865,0.08,0.82,0.00,0.000,6,0.155,0.037,1458,3386,3077,0,0,0,0,0,0
$GC,4171,-0.52,-146.1,469.3,-9.2,297,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3386,3077,0,0,0,0,0,0
$GC,4477,-0.52,-146.1,497.5,-9.4,307,4482,0.00,0.88,0.00,0.000,4,0.000,0.060,1456,3935,3076,0,0,0,0,0,0
$GC,4562,-0.52,-146.1,506.6,-10.7,309,4565,0.00,0.85,0.00,0.000,6,0.000,0.037,1456,3374,3076,0,0,0,0,0,0
$GC,4886,-0.52,-146.1,539.2,-10.2,320,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3374,3076,0,0,0,0,0,0
$GC,5192,-0.52,-146.1,569.1,-9.5,330,5196,0.00,0.90,0.00,0.000,4,0.000,0.060,1452,3939,3075,0,0,0,0,0,0
$GC,5368,-0.52,-146.1,586.3,-9.9,335,5371,0.00,0.85,0.00,0.000,6,0.000,0.038,1451,3374,3075,0,0,0,0,0,0
$GC,5709,-0.52,-146.1,619.6,-9.3,346,5713,0.00,0.90,0.00,0.000,4,0.000,0.061,1447,3940,3073,0,0,0,0,0,0
$GC,5770,-0.52,-146.1,625.8,-9.1,347,5777,0.00,0.85,0.00,0.000,6,0.000,0.038,1447,3377,3073,0,0,0,0,0,0
$GC,6087,-0.52,-146.1,654.2,-8.9,358,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3377,3073,0,0,0,0,0,0
$GC,6389,-0.52,-146.1,682.6,-9.5,368,6393,0.00,0.90,0.00,0.000,4,0.000,0.061,1443,3939,3072,0,0,0,0,0,0
$GC,6564,-0.52,-146.1,701.6,-11.3,373,6567,0.00,0.85,0.00,0.000,6,0.000,0.039,1443,3378,3072,0,0,0,0,0,0
$GC,6900,-0.52,-146.1,737.7,-10.9,384,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,1443,3377,3071,0,0,0,0,0,0
$GC,7206,-0.52,-146.1,771.1,-10.8,394,7209,0.00,0.90,0.00,0.000,4,0.000,0.062,1439,3939,3070,0,0,0,0,0,0
$GC,7289,-0.52,-146.1,780.9,-11.2,396,7293,0.00,0.85,0.00,0.000,6,0.000,0.039,1439,3381,3070,0,0,0,0,0,0
$GC,7614,-0.52,-146.1,814.2,-10.1,407,7617,0.00,0.88,0.00,0.000,4,0.000,0.062,1435,3931,3070,0,0,0,0,0,0
$GC,7684,-0.52,-146.1,821.5,-11.1,409,7688,0.08,0.82,0.00,0.000,6,0.155,0.040,1458,3388,3069,0,0,0,0,0,0
$GC,8025,-0.52,-146.1,851.1,-8.6,420,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3388,3069,0,0,0,0,0,0
$GC,8331,-0.52,-146.1,879.4,-9.4,430,8334,0.00,0.88,0.00,0.000,4,0.000,0.063,1456,3933,3068,0,0,0,0,0,0
$GC,8461,-0.52,-146.1,892.8,-10.4,433,8468,0.00,0.85,0.00,0.000,6,0.000,0.040,1456,3377,3068,0,0,0,0,0,0
$GC,8774,-0.52,-146.1,923.6,-9.5,444,8780,0.00,0.90,0.00,0.000,4,0.000,0.063,1452,3937,3067,0,0,0,0,0,0
$GC,8904,-0.52,-146.1,937.4,-10.9,447,8910,0.00,0.85,0.00,0.000,6,0.000,0.039,1451,3381,3067,0,0,0,0,0,0
$GC,9217,-0.52,-146.1,967.8,-9.6,458,9221,0.00,0.90,0.00,0.000,4,0.000,0.064,1447,3924,3066,0,0,0,0,0,0
$GC,9307,-0.52,-146.1,976.8,-10.6,460,9310,0.00,0.82,0.00,0.000,6,0.000,0.041,1447,3384,3066,0,0,0,0,0,0
$STATE,9593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9593,begin apogee
$GC,9600,-0.14,0.0,1002.5,8.8,470,9755,0.45,0.00,151.50,1.170,6,0.139,0.000,1583,3271,2474,0,0,0,0,0,0
$STATE,9757,end apogee,CONTROL_FINISHED_OK
$STATE,9757,begin climb
$GC,9759,0.52,146.1,1005.4,0.0,475,9918,0.62,2.42,149.98,1.154,4,0.088,0.032,1803,1853,1869,0,0,0,0,0,0
$GC,9958,0.52,146.1,981.1,12.9,481,9963,0.00,2.47,0.00,0.000,6,0.000,0.051,1803,3265,1858,0,0,0,0,0,0
$GC,10288,0.52,146.1,927.1,16.5,492,10294,0.00,1.12,0.00,0.000,4,0.000,0.057,1803,3942,1849,0,0,0,0,0,0
$GC,10373,0.52,146.1,911.5,19.5,494,10377,0.00,1.05,0.00,0.000,6,0.000,0.034,1808,3265,1848,0,0,0,0,0,0
$GC,10697,0.52,146.1,854.8,17.6,505,10700,0.00,1.12,0.00,0.000,4,0.000,0.058,1808,3949,1847,0,0,0,0,0,0
$GC,10752,0.52,146.1,844.1,20.2,506,10757,0.00,1.05,0.00,0.000,6,0.000,0.035,1813,3266,1846,0,0,0,0,0,0
$GC,11072,0.52,146.1,788.3,17.0,517,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,3265,1846,0,0,0,0,0,0
$GC,11378,0.52,146.1,735.3,17.3,527,11381,0.00,1.12,0.00,0.000,4,0.000,0.058,1814,3956,1845,0,0,0,0,0,0
$GC,11452,0.52,146.1,721.6,19.6,529,11455,0.00,1.05,0.00,0.000,6,0.000,0.034,1819,3266,1846,0,0,0,0,0,0
$GC,11788,0.52,146.1,661.6,18.0,540,11791,0.00,1.10,0.00,0.000,4,0.000,0.057,1819,3948,1845,0,0,0,0,0,0
$GC,11876,0.52,146.1,644.1,19.1,542,11880,0.00,1.02,0.00,0.000,6,0.000,0.034,1824,3268,1845,0,0,0,0,0,0
$GC,12195,0.52,146.1,586.7,17.9,553,12199,0.00,1.10,0.00,0.000,4,0.000,0.057,1824,3952,1845,0,0,0,0,0,0
$GC,12246,0.52,146.1,576.7,19.4,554,12249,0.00,1.02,0.00,0.000,6,0.000,0.034,1829,3270,1845,0,0,0,0,0,0
$GC,12570,0.52,146.1,518.2,18.3,565,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,3269,1844,0,0,0,0,0,0
$GC,12876,0.52,146.1,462.0,18.7,575,12880,0.00,1.10,0.00,0.000,4,0.000,0.057,1829,3955,1843,0,0,0,0,0,0
$GC,12966,0.52,146.1,443.1,20.4,577,12970,0.08,1.02,0.00,0.000,6,0.185,0.034,1812,3271,1843,0,0,0,0,0,0
$GC,13289,0.52,146.1,388.3,16.9,589,13292,0.00,1.10,0.00,0.000,4,0.000,0.057,1812,3957,1843,0,0,0,0,0,0
$GC,13387,0.52,146.1,369.6,18.1,593,13390,0.00,1.02,0.00,0.000,6,0.000,0.034,1816,3272,1843,0,0,0,0,0,0
$GC,13716,0.52,146.1,315.3,17.2,609,13722,0.00,1.08,0.00,0.000,4,0.000,0.055,1816,3947,1843,0,0,0,0,0,0
$GC,13787,0.52,146.1,301.4,18.7,612,13793,0.00,1.00,0.00,0.000,6,0.000,0.034,1821,3272,1843,0,0,0,0,0,0
$GC,14108,0.52,146.1,240.5,19.2,628,14111,0.00,1.08,0.00,0.000,4,0.000,0.055,1821,3947,1843,0,0,0,0,0,0
$GC,14165,0.52,146.1,229.2,21.5,631,14168,0.00,1.00,0.00,0.000,6,0.000,0.034,1826,3272,1843,0,0,0,0,0,0
$GC,14496,0.52,146.1,167.0,17.9,652,14501,0.00,1.08,0.00,0.000,4,0.000,0.055,1826,3951,1843,0,0,0,0,0,0
$GC,14571,0.52,146.1,152.4,18.7,656,14575,0.00,1.00,0.00,0.000,6,0.000,0.033,1831,3273,1843,0,0,0,0,0,0
$GC,14890,0.52,146.1,96.1,16.8,678,14900,0.00,1.08,0.00,0.000,4,0.000,0.054,1831,3950,1843,0,0,0,0,0,0
$GC,15045,0.52,146.1,68.4,19.0,703,15050,0.10,1.00,0.00,0.000,6,0.179,0.034,1807,3270,1843,0,0,0,0,0,0
$GC,15420,0.52,146.1,21.0,13.0,764,15431,0.00,2.12,0.00,0.000,4,0.000,0.032,1816,1862,1842,0,0,0,0,0,0
$GC,15543,0.52,146.1,6.1,15.3,782,15554,0.00,2.25,0.00,0.000,6,0.000,0.050,1816,3275,1841,0,0,0,0,0,0
$STATE,15572,end climb,SURFACE_DEPTH_REACHED
$STATE,15572,begin surface coast
$FINISH,1.0,1.002436
$STATE,15598,end surface coast,CONTROL_FINISHED_OK
$STATE,15598,begin surface
$SM_CCo,15615,46.22,0.719,1,0,1450,250.20
$SM_GC,1.98,0.00,0.00,46.22,0.000,0.000,0.719,72,3398,1450,-4.88,0.51,250.20
$IRIDIUM_FIX,-4140.91,822.54,020113,040428
$TT8_MAMPS,0.024717
$HUMID,55.90
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.0,28.889
$10V_AH,10.1,15.992
$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,12.425,58.975,301.475,46.225,0.000,27.101,46.912,409.031,0.000,0.000,22.503,2032.112,10245.816,425.166,2729.321,893.049,33.369,1443.568,0.000,2441.050,0.000,1.015,0.000
$DEVICE_MAMPS,244.035,83.385,1170.450,719.100,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.337,1733.788,797.774,386.506,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,57268,789
$CAP_FILE_SIZE,130289,0
$CFSIZE,259252224,249106432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020113,143928,-4157.973,816.106,41,1.1,41,-24.9