version: 66.07
glider: 543
mission: 6
dive: 172
start: 1 6 113 1 25 35
data:
$ID,543
$MISSION,6
$DIVE,172
$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,-8342.4121
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,060113,011322,-4201.045,813.810,42,0.9,42,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-56.5
$GPS2,060113,012437,-4201.074,813.916,19,1.1,19,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.241,0.011
$KALMAN_X,-75969.1,-808.6,-564.5,94105.6,2482.9
$KALMAN_Y,7960.4,-76.2,-195.1,45959.1,1712.3
$MHEAD_RNG_PITCHd_Wd,112.2,8607,-14.8,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.49,-143.0,0.0,0.0,0,71,0.00,0.00,-49.22,0.000,2,0.000,0.000,52,3388,2624,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.4,6,104,5.72,0.90,-13.68,0.000,4,0.229,0.089,1464,3936,3068,0,0,0,0,0,0
$GC,387,-0.49,-146.1,44.8,-14.7,54,396,0.00,0.85,0.00,0.000,6,0.000,0.037,1464,3379,3070,0,0,0,0,0,0
$GC,637,-0.49,-146.1,78.0,-11.8,95,644,0.00,0.90,0.00,0.000,4,0.000,0.057,1460,3942,3071,0,0,0,0,0,0
$GC,902,-0.49,-146.1,107.2,-11.8,134,905,0.00,0.85,0.00,0.000,6,0.000,0.036,1460,3381,3072,0,0,0,0,0,0
$GC,1230,-0.49,-146.1,142.7,-11.4,155,1234,0.00,0.88,0.00,0.000,4,0.000,0.057,1456,3929,3073,0,0,0,0,0,0
$GC,1495,-0.49,-146.1,176.9,-12.5,170,1499,0.00,0.82,0.00,0.000,6,0.000,0.036,1455,3380,3073,0,0,0,0,0,0
$GC,1824,-0.49,-146.1,216.6,-12.4,191,1827,0.00,2.10,0.00,0.000,4,0.000,0.031,1456,1964,3074,0,0,0,0,0,0
$GC,1970,-0.49,-146.1,232.6,-9.8,199,1978,0.10,2.25,0.00,0.000,6,0.161,0.056,1470,3368,3074,0,0,0,0,0,0
$GC,2295,-0.49,-146.1,264.2,-9.2,218,2298,0.00,0.93,0.00,0.000,4,0.000,0.059,1467,3955,3074,0,0,0,0,0,0
$GC,2559,-0.49,-146.1,290.2,-9.1,229,2563,0.00,0.88,0.00,0.000,6,0.000,0.036,1467,3371,3074,0,0,0,0,0,0
$GC,2884,-0.49,-146.1,318.8,-9.1,245,2889,0.00,0.93,0.00,0.000,4,0.000,0.060,1463,3955,3074,0,0,0,0,0,0
$GC,3146,-0.49,-146.1,346.5,-11.0,256,3149,0.00,0.85,0.00,0.000,6,0.000,0.036,1463,3384,3073,0,0,0,0,0,0
$GC,3469,-0.49,-146.1,381.1,-10.9,272,3472,0.00,0.90,0.00,0.000,4,0.000,0.059,1459,3951,3073,0,0,0,0,0,0
$GC,3732,-0.49,-146.1,410.8,-11.1,282,3736,0.00,0.88,0.00,0.000,6,0.000,0.036,1459,3370,3073,0,0,0,0,0,0
$GC,4051,-0.49,-146.1,444.0,-10.8,293,4055,0.00,0.93,0.00,0.000,4,0.000,0.059,1454,3953,3072,0,0,0,0,0,0
$GC,4309,-0.49,-146.1,475.0,-12.6,300,4313,0.00,0.88,0.00,0.000,6,0.000,0.036,1455,3373,3072,0,0,0,0,0,0
$GC,4627,-0.49,-146.1,510.1,-10.7,311,4631,0.00,0.93,0.00,0.000,4,0.000,0.060,1450,3954,3072,0,0,0,0,0,0
$GC,4889,-0.49,-146.1,539.0,-10.9,318,4893,0.00,0.88,0.00,0.000,6,0.000,0.037,1450,3373,3072,0,0,0,0,0,0
$GC,5210,-0.49,-146.1,569.9,-9.7,329,5214,0.00,0.93,0.00,0.000,4,0.000,0.060,1446,3954,3071,0,0,0,0,0,0
$GC,5469,-0.49,-146.1,600.0,-12.2,336,5472,0.00,0.85,0.00,0.000,6,0.000,0.037,1446,3388,3070,0,0,0,0,0,0
$GC,5787,-0.49,-146.1,635.7,-11.0,347,5791,0.00,0.90,0.00,0.000,4,0.000,0.060,1442,3953,3070,0,0,0,0,0,0
$GC,6044,-0.49,-146.1,665.0,-11.0,354,6049,0.08,0.88,0.00,0.000,6,0.145,0.037,1466,3376,3069,0,0,0,0,0,0
$GC,6363,-0.49,-146.1,689.7,-7.7,365,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3375,3069,0,0,0,0,0,0
$GC,6670,-0.49,-146.1,713.1,-7.7,375,6674,0.00,2.12,0.00,0.000,4,0.000,0.033,1466,1952,3068,0,0,0,0,0,0
$GC,6725,-0.49,-146.1,717.3,-6.6,376,6733,0.00,2.33,0.00,0.000,6,0.000,0.055,1457,3384,3067,0,0,0,0,0,0
$GC,7038,-0.49,-146.1,744.0,-8.9,387,7044,0.00,2.15,0.00,0.000,4,0.000,0.031,1457,1955,3067,0,0,0,0,0,0
$GC,7087,-0.49,-146.1,748.0,-8.4,388,7091,0.00,2.30,0.00,0.000,6,0.000,0.057,1446,3385,3067,0,0,0,0,0,0
$GC,7411,-0.49,-146.1,780.5,-10.1,399,7416,0.10,2.15,0.00,0.000,4,0.176,0.033,1470,1962,3066,0,0,0,0,0,0
$GC,7442,-0.49,-146.1,783.0,-8.6,400,7446,0.00,2.30,0.00,0.000,6,0.000,0.057,1461,3385,3066,0,0,0,0,0,0
$GC,7777,-0.49,-146.1,812.5,-8.7,411,7781,0.00,2.12,0.00,0.000,4,0.000,0.032,1462,1963,3065,0,0,0,0,0,0
$GC,7816,-0.49,-146.1,816.0,-7.5,412,7821,0.00,2.30,0.00,0.000,6,0.000,0.057,1450,3388,3065,0,0,0,0,0,0
$GC,8140,-0.49,-146.1,844.1,-8.8,423,8144,0.00,2.15,0.00,0.000,4,0.000,0.033,1450,1957,3063,0,0,0,0,0,0
$GC,8206,-0.49,-146.1,849.1,-7.5,425,8211,0.12,2.30,0.00,0.000,6,0.162,0.057,1472,3382,3064,0,0,0,0,0,0
$GC,8542,-0.49,-146.1,872.3,-6.8,436,8546,0.00,2.15,0.00,0.000,4,0.000,0.033,1472,1954,3063,0,0,0,0,0,0
$GC,8608,-0.49,-146.1,876.4,-6.2,438,8612,0.00,2.33,0.00,0.000,6,0.000,0.058,1463,3390,3063,0,0,0,0,0,0
$GC,8943,-0.49,-146.1,902.2,-8.0,449,8947,0.00,2.15,0.00,0.000,4,0.000,0.033,1463,1957,3062,0,0,0,0,0,0
$GC,8987,-0.49,-146.1,905.9,-8.1,450,8991,0.00,2.33,0.00,0.000,6,0.000,0.058,1452,3391,3062,0,0,0,0,0,0
$GC,9306,-0.49,-146.1,934.8,-9.4,461,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3390,3061,0,0,0,0,0,0
$GC,9612,-0.49,-146.1,963.6,-9.2,471,9615,0.00,0.90,0.00,0.000,4,0.000,0.062,1447,3955,3061,0,0,0,0,0,0
$GC,9689,-0.49,-146.1,971.2,-9.3,473,9693,0.00,0.88,0.00,0.000,6,0.000,0.038,1447,3376,3061,0,0,0,0,0,0
$GC,10020,-0.49,-146.1,998.8,-8.0,484,10024,0.00,0.90,0.00,0.000,4,0.000,0.063,1443,3942,3060,0,0,0,0,0,0
$STATE,10037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10037,begin apogee
$GC,10045,-0.14,0.0,1000.3,7.7,484,10192,0.45,0.00,138.95,1.823,6,0.145,0.000,1581,3262,2473,0,0,0,0,1,0
$STATE,10194,end apogee,CONTROL_FINISHED_OK
$STATE,10194,begin climb
$GC,10197,0.49,146.1,1001.7,0.0,489,10359,0.62,2.45,148.45,1.774,4,0.088,0.033,1795,1866,1877,0,0,0,0,1,0
$GC,10456,0.49,146.1,967.5,14.6,497,10461,0.00,2.45,0.00,0.000,6,0.000,0.053,1795,3267,1871,0,0,0,0,0,0
$GC,10798,0.49,146.1,906.8,17.5,508,10802,0.00,1.12,0.00,0.000,4,0.000,0.058,1795,3950,1865,0,0,0,0,0,0
$GC,10859,0.49,146.1,894.9,20.4,509,10867,0.00,1.05,0.00,0.000,6,0.000,0.034,1801,3268,1865,0,0,0,0,0,0
$GC,11172,0.49,146.1,838.4,18.1,520,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3268,1862,0,0,0,0,0,0
$GC,11478,0.49,146.1,785.6,16.6,530,11482,0.00,2.17,0.00,0.000,4,0.000,0.035,1811,1855,1862,0,0,0,0,0,0
$GC,11511,0.49,146.1,780.5,13.9,531,11515,0.00,2.30,0.00,0.000,6,0.000,0.054,1811,3274,1861,0,0,0,0,0,0
$GC,11841,0.49,146.1,726.5,16.5,542,11844,0.00,1.08,0.00,0.000,4,0.000,0.058,1811,3943,1861,0,0,0,0,0,0
$GC,11896,0.49,146.1,716.4,17.3,543,11901,0.00,1.02,0.00,0.000,6,0.000,0.034,1817,3258,1860,0,0,0,0,0,0
$GC,12216,0.49,146.1,660.0,17.7,554,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3258,1860,0,0,0,0,0,0
$GC,12522,0.49,146.1,604.9,18.2,564,12525,0.00,1.12,0.00,0.000,4,0.000,0.057,1816,3954,1859,0,0,0,0,0,0
$GC,12583,0.49,146.1,592.4,20.4,565,12591,0.00,1.02,0.00,0.000,6,0.000,0.033,1822,3268,1859,0,0,0,0,0,0
$GC,12896,0.49,146.1,533.3,19.0,576,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,3268,1858,0,0,0,0,0,0
$GC,13202,0.49,146.1,477.3,18.1,586,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,3268,1858,0,0,0,0,0,0
$GC,13509,0.49,146.1,420.8,18.8,596,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,3268,1858,0,0,0,0,0,0
$GC,13818,0.49,146.1,361.2,19.4,609,13824,0.00,1.10,0.00,0.000,4,0.000,0.057,1822,3953,1858,0,0,0,0,0,0
$GC,13906,0.49,146.1,342.1,20.4,612,13916,0.10,1.02,0.00,0.000,6,0.181,0.032,1799,3264,1857,0,0,0,0,0,0
$GC,14224,0.49,146.1,283.1,18.9,628,14225,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3265,1856,0,0,0,0,0,0
$GC,14535,0.49,146.1,226.2,18.4,645,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3264,1856,0,0,0,0,0,0
$GC,14850,0.49,146.1,170.7,17.3,665,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3264,1856,0,0,0,0,0,0
$GC,15162,0.49,146.1,119.6,15.6,685,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3264,1856,0,0,0,0,0,0
$GC,15496,0.49,146.1,75.1,12.0,727,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3265,1856,0,0,0,0,0,0
$GC,15859,0.49,146.1,27.8,14.9,788,15870,0.00,1.10,0.00,0.000,4,0.000,0.055,1798,3957,1856,0,0,0,0,0,0
$GC,15898,0.49,146.1,22.3,13.3,793,15909,0.00,1.02,0.00,0.000,6,0.000,0.031,1802,3261,1856,0,0,0,0,0,0
$GC,15990,0.49,146.1,10.7,11.0,806,15998,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3261,1856,0,0,0,0,0,0
$STATE,16049,end climb,SURFACE_DEPTH_REACHED
$STATE,16049,begin surface coast
$FINISH,1.1,1.006528
$STATE,16080,end surface coast,CONTROL_FINISHED_OK
$STATE,16080,begin surface
$SM_CCo,16096,48.78,0.707,1,0,1452,250.20
$SM_GC,1.88,0.00,0.00,48.78,0.000,0.000,0.707,48,3394,1452,-4.96,0.40,250.20
$IRIDIUM_FIX,-4146.69,814.36,060113,010132
$TT8_MAMPS,0.025466
$HUMID,55.98
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.3,31.831
$10V_AH,10.1,18.211
$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,11.850,77.200,287.400,48.775,0.000,57.990,129.622,265.378,0.000,0.000,21.555,2123.604,10488.524,412.669,2896.305,906.932,33.364,1487.318,0.000,2607.234,0.000,1.013,0.000
$DEVICE_MAMPS,228.735,88.740,1822.995,706.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.594,1771.382,826.290,375.905,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,60274,819
$CAP_FILE_SIZE,135031,0
$CFSIZE,259252224,247775232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,060113,055604,-4201.956,816.243,37,0.9,37,-24.9