version: 66.07
glider: 543
mission: 6
dive: 181
start: 1 7 113 20 39 40
data:
$ID,543
$MISSION,6
$DIVE,181
$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,-8364.0518
$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,29
$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
$GPS1,070113,202504,-4154.428,829.519,27,1.4,27,-24.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-50.7
$GPS2,070113,203842,-4154.420,829.644,22,1.1,22,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.242,-0.026
$KALMAN_X,-96084.7,325.8,393.3,133546.8,-5034.0
$KALMAN_Y,-8458.9,974.4,745.5,72673.4,-5363.7
$MHEAD_RNG_PITCHd_Wd,121.0,43038,-14.7,-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,-146.1,0.0,0.0,0,71,0.00,0.00,-49.08,0.000,2,0.000,0.000,44,3405,2654,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.3,-3.7,6,102,5.70,0.90,-11.62,0.000,4,0.223,0.092,1466,3946,3070,0,0,0,0,0,0
$GC,386,-0.49,-146.1,47.7,-13.6,54,397,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3392,3074,0,0,0,0,0,0
$GC,635,-0.49,-146.1,75.0,-9.9,95,640,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3934,3074,0,0,0,0,0,0
$GC,899,-0.49,-146.1,105.1,-11.6,136,903,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3377,3075,0,0,0,0,0,0
$GC,1228,-0.49,-146.1,140.3,-10.8,157,1232,0.00,0.90,0.00,0.000,4,0.000,0.058,1458,3940,3076,0,0,0,0,0,0
$GC,1326,-0.49,-146.1,152.6,-12.6,162,1334,0.00,0.85,0.00,0.000,6,0.000,0.036,1458,3380,3076,0,0,0,0,0,0
$GC,1647,-0.49,-146.1,187.8,-11.0,183,1651,0.00,0.90,0.00,0.000,4,0.000,0.057,1453,3946,3076,0,0,0,0,0,0
$GC,1734,-0.49,-146.1,198.6,-12.9,188,1738,0.00,0.85,0.00,0.000,6,0.000,0.036,1454,3382,3076,0,0,0,0,0,0
$GC,2068,-0.49,-146.1,238.9,-12.5,209,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3382,3076,0,0,0,0,0,0
$GC,2386,-0.49,-146.1,277.0,-12.1,226,2389,0.00,0.90,0.00,0.000,4,0.000,0.058,1449,3947,3076,0,0,0,0,0,0
$GC,2504,-0.49,-146.1,292.4,-13.7,231,2508,0.00,0.85,0.00,0.000,6,0.000,0.037,1449,3385,3076,0,0,0,0,0,0
$GC,2839,-0.49,-146.1,335.5,-12.6,247,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3385,3076,0,0,0,0,0,0
$GC,3149,-0.49,-146.1,371.1,-10.9,262,3152,0.00,0.88,0.00,0.000,4,0.000,0.058,1445,3937,3076,0,0,0,0,0,0
$GC,3288,-0.49,-146.1,387.7,-12.3,268,3292,0.08,0.85,0.00,0.000,6,0.143,0.037,1470,3376,3076,0,0,0,0,0,0
$GC,3619,-0.49,-146.1,417.2,-8.7,281,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3376,3076,0,0,0,0,0,0
$GC,3926,-0.49,-146.1,443.6,-8.8,291,3929,0.00,0.90,0.00,0.000,4,0.000,0.060,1467,3943,3076,0,0,0,0,0,0
$GC,4037,-0.49,-146.1,454.9,-10.4,294,4043,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3381,3076,0,0,0,0,0,0
$GC,4368,-0.49,-146.1,486.4,-9.7,305,4373,0.00,0.90,0.00,0.000,4,0.000,0.060,1463,3949,3075,0,0,0,0,0,0
$GC,4441,-0.49,-146.1,494.1,-10.0,307,4445,0.00,0.88,0.00,0.000,6,0.000,0.037,1463,3372,3075,0,0,0,0,0,0
$GC,4777,-0.49,-146.1,527.1,-10.0,318,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3371,3074,0,0,0,0,0,0
$GC,5083,-0.49,-146.1,557.4,-9.8,328,5087,0.00,0.90,0.00,0.000,4,0.000,0.060,1459,3935,3074,0,0,0,0,0,0
$GC,5173,-0.49,-146.1,567.1,-10.8,330,5177,0.00,0.85,0.00,0.000,6,0.000,0.037,1459,3377,3074,0,0,0,0,0,0
$GC,5491,-0.49,-146.1,599.8,-10.2,341,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3378,3073,0,0,0,0,0,0
$GC,5799,-0.49,-146.1,630.8,-10.1,351,5802,0.00,0.90,0.00,0.000,4,0.000,0.060,1455,3941,3072,0,0,0,0,0,0
$GC,5935,-0.49,-146.1,645.5,-11.1,355,5939,0.00,0.85,0.00,0.000,6,0.000,0.038,1455,3380,3072,0,0,0,0,0,0
$GC,6277,-0.49,-146.1,679.4,-9.7,366,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3380,3070,0,0,0,0,0,0
$GC,6583,-0.49,-146.1,709.7,-9.7,376,6586,0.00,0.93,0.00,0.000,4,0.000,0.063,1451,3941,3070,0,0,0,0,0,0
$GC,6685,-0.49,-146.1,719.9,-10.3,379,6689,0.00,0.85,0.00,0.000,6,0.000,0.039,1450,3381,3070,0,0,0,0,0,0
$GC,7026,-0.49,-146.1,752.1,-9.2,390,7031,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3944,3069,0,0,0,0,0,0
$GC,7122,-0.49,-146.1,762.0,-10.3,392,7130,0.08,0.85,0.00,0.000,6,0.145,0.038,1470,3386,3069,0,0,0,0,0,0
$GC,7439,-0.49,-146.1,787.6,-8.4,403,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3386,3067,0,0,0,0,0,0
$GC,7741,-0.49,-146.1,814.1,-8.7,413,7745,0.00,0.88,0.00,0.000,4,0.000,0.062,1468,3932,3067,0,0,0,0,0,0
$GC,7850,-0.49,-146.1,824.1,-9.6,416,7854,0.00,0.85,0.00,0.000,6,0.000,0.039,1468,3379,3067,0,0,0,0,0,0
$GC,8186,-0.49,-146.1,854.1,-8.9,427,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3378,3066,0,0,0,0,0,0
$GC,8493,-0.49,-146.1,881.4,-8.7,437,8497,0.00,0.90,0.00,0.000,4,0.000,0.061,1464,3941,3065,0,0,0,0,0,0
$GC,8631,-0.49,-146.1,893.9,-8.3,441,8635,0.00,0.85,0.00,0.000,6,0.000,0.039,1464,3383,3065,0,0,0,0,0,0
$GC,8972,-0.49,-146.1,922.5,-8.2,452,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3382,3064,0,0,0,0,0,0
$GC,9279,-0.49,-146.1,947.6,-8.2,462,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3382,3063,0,0,0,0,0,0
$GC,9585,-0.49,-146.1,974.0,-8.6,472,9589,0.00,0.88,0.00,0.000,4,0.000,0.062,1460,3926,3063,0,0,0,0,0,0
$GC,9674,-0.49,-146.1,982.5,-9.3,474,9678,0.00,0.85,0.00,0.000,6,0.000,0.040,1460,3373,3063,0,0,0,0,0,0
$STATE,9899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9899,begin apogee
$GC,9906,-0.14,0.0,1002.1,8.6,482,10053,0.43,0.00,138.43,1.819,6,0.130,0.000,1590,3276,2474,0,0,0,0,1,0
$STATE,10055,end apogee,CONTROL_FINISHED_OK
$STATE,10055,begin climb
$GC,10058,0.49,146.1,1005.3,0.0,487,10220,0.60,2.50,147.95,1.773,4,0.079,0.032,1800,1855,1877,0,0,0,0,1,0
$GC,10251,0.49,146.1,983.3,14.7,493,10255,0.00,2.47,0.00,0.000,6,0.000,0.051,1800,3262,1875,0,0,0,0,0,0
$GC,10586,0.49,146.1,925.5,17.5,504,10592,0.00,1.15,0.00,0.000,4,0.000,0.057,1801,3951,1867,0,0,0,0,0,0
$GC,10727,0.49,146.1,898.3,20.3,508,10732,0.00,1.08,0.00,0.000,6,0.000,0.034,1805,3255,1866,0,0,0,0,0,0
$GC,11065,0.49,146.1,837.7,18.1,519,11068,0.00,1.15,0.00,0.000,4,0.000,0.058,1805,3955,1864,0,0,0,0,0,0
$GC,11159,0.49,146.1,818.9,19.7,521,11166,0.00,1.05,0.00,0.000,6,0.000,0.034,1811,3266,1864,0,0,0,0,0,0
$GC,11472,0.49,146.1,763.6,17.3,532,11476,0.00,1.12,0.00,0.000,4,0.000,0.057,1811,3956,1862,0,0,0,0,0,0
$GC,11575,0.49,146.1,743.9,19.3,535,11579,0.00,1.02,0.00,0.000,6,0.000,0.034,1816,3276,1862,0,0,0,0,0,0
$GC,11917,0.49,146.1,685.0,16.8,546,11922,0.00,1.08,0.00,0.000,4,0.000,0.057,1816,3945,1861,0,0,0,0,0,0
$GC,11973,0.49,146.1,674.4,18.1,547,11977,0.00,1.00,0.00,0.000,6,0.000,0.033,1821,3274,1861,0,0,0,0,0,0
$GC,12293,0.49,146.1,620.3,17.1,558,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3274,1860,0,0,0,0,0,0
$GC,12598,0.49,146.1,566.7,17.4,568,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3274,1860,0,0,0,0,0,0
$GC,12904,0.49,146.1,511.9,18.0,578,12907,0.00,1.08,0.00,0.000,4,0.000,0.057,1821,3945,1859,0,0,0,0,0,0
$GC,12993,0.49,146.1,494.1,19.6,580,12997,0.10,1.02,0.00,0.000,6,0.172,0.034,1797,3258,1859,0,0,0,0,0,0
$GC,13311,0.49,146.1,442.1,16.4,591,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3258,1859,0,0,0,0,0,0
$GC,13628,0.49,146.1,392.0,15.5,602,13632,0.00,1.12,0.00,0.000,4,0.000,0.055,1797,3959,1858,0,0,0,0,0,0
$GC,13721,0.49,146.1,376.5,17.6,606,13725,0.00,1.02,0.00,0.000,6,0.000,0.033,1800,3271,1858,0,0,0,0,0,0
$GC,14055,0.49,146.1,325.4,15.1,622,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3271,1858,0,0,0,0,0,0
$GC,14365,0.49,146.1,278.9,15.1,637,14370,0.00,1.08,0.00,0.000,4,0.000,0.054,1801,3949,1858,0,0,0,0,0,0
$GC,14436,0.49,146.1,266.6,16.8,640,14442,0.00,1.00,0.00,0.000,6,0.000,0.033,1806,3272,1858,0,0,0,0,0,0
$GC,14766,0.49,146.1,215.3,15.8,659,14767,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3272,1857,0,0,0,0,0,0
$GC,15078,0.49,146.1,165.1,16.4,679,15082,0.00,1.08,0.00,0.000,4,0.000,0.054,1806,3949,1858,0,0,0,0,0,0
$GC,15168,0.49,146.1,148.6,18.1,684,15171,0.00,1.00,0.00,0.000,6,0.000,0.031,1811,3268,1858,0,0,0,0,0,0
$GC,15492,0.49,146.1,94.5,16.4,707,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3268,1858,0,0,0,0,0,0
$GC,15849,0.49,146.1,39.5,13.5,768,15857,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3268,1858,0,0,0,0,0,0
$STATE,16100,end climb,SURFACE_DEPTH_REACHED
$STATE,16100,begin surface coast
$FINISH,1.1,1.017738
$STATE,16125,end surface coast,CONTROL_FINISHED_OK
$STATE,16126,begin surface
$SM_CCo,16142,48.22,0.714,1,0,1453,250.20
$SM_GC,1.99,0.00,0.00,48.22,0.000,0.000,0.714,44,3402,1453,-4.97,0.62,250.20
$IRIDIUM_FIX,-4140.91,831.13,070113,202032
$TT8_MAMPS,0.025466
$HUMID,56.26
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.3,33.218
$10V_AH,10.1,19.276
$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,11.625,48.550,286.375,48.225,0.000,52.372,98.282,399.671,0.000,0.000,24.184,2067.233,10865.526,392.150,2802.542,883.855,33.366,1378.587,0.000,2432.729,0.000,1.014,0.000
$DEVICE_MAMPS,222.615,91.800,1819.170,713.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.945,1751.610,805.418,361.484,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,60406,811
$CAP_FILE_SIZE,128154,0
$CFSIZE,259252224,247156736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,080113,011058,-4154.339,832.191,41,0.8,41,-25.0