version: 66.07
glider: 543
mission: 6
dive: 185
start: 1 8 113 15 51 57
data:
$ID,543
$MISSION,6
$DIVE,185
$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,-8373.4824
$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,53
$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
$GPS1,080113,154022,-4152.086,839.163,46,1.0,46,-25.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-37.2
$GPS2,080113,155059,-4152.060,839.245,21,0.9,21,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.239,-0.047
$KALMAN_X,-104072.1,501.8,183.2,154686.0,-5371.7
$KALMAN_Y,-5783.8,-228.5,-109.9,76455.2,947.1
$MHEAD_RNG_PITCHd_Wd,126.2,32128,-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,-146.1,0.0,0.0,0,64,0.00,0.00,-41.88,0.000,2,0.000,0.000,51,3402,2458,0,0,0,0,0,0
$GC,68,-0.49,-146.1,3.0,-4.2,5,105,5.53,0.85,-23.45,0.000,4,0.210,0.078,1464,3937,3069,0,0,0,0,0,0
$GC,143,-0.49,-146.1,7.4,-11.6,14,152,0.00,0.85,0.00,0.000,6,0.000,0.036,1464,3388,3072,0,0,0,0,0,0
$GC,232,-0.49,-146.1,22.6,-20.6,27,241,0.00,0.88,0.00,0.000,4,0.000,0.057,1460,3928,3072,0,0,0,0,0,0
$GC,515,-0.49,-146.1,63.9,-14.5,73,522,0.00,0.85,0.00,0.000,6,0.000,0.036,1460,3373,3073,0,0,0,0,0,0
$GC,873,-0.49,-146.1,108.2,-12.8,128,876,0.00,0.90,0.00,0.000,4,0.000,0.059,1456,3933,3075,0,0,0,0,0,0
$GC,1101,-0.49,-146.1,135.4,-11.8,141,1105,0.00,0.82,0.00,0.000,6,0.000,0.036,1456,3387,3075,0,0,0,0,0,0
$GC,1432,-0.49,-146.1,173.9,-11.6,162,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3387,3076,0,0,0,0,0,0
$GC,1745,-0.49,-146.1,210.9,-11.8,182,1748,0.00,0.88,0.00,0.000,4,0.000,0.058,1451,3934,3076,0,0,0,0,0,0
$GC,1817,-0.49,-146.1,220.1,-13.2,186,1820,0.00,0.85,0.00,0.000,6,0.000,0.037,1451,3373,3076,0,0,0,0,0,0
$GC,2152,-0.49,-146.1,261.4,-11.7,206,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3373,3076,0,0,0,0,0,0
$GC,2463,-0.49,-146.1,297.2,-11.8,221,2469,0.00,0.90,0.00,0.000,4,0.000,0.057,1447,3939,3076,0,0,0,0,0,0
$GC,2583,-0.49,-146.1,312.3,-12.1,226,2586,0.00,0.85,0.00,0.000,6,0.000,0.036,1447,3377,3076,0,0,0,0,0,0
$GC,2912,-0.49,-146.1,349.8,-11.4,242,2916,0.10,0.90,0.00,0.000,4,0.174,0.058,1469,3933,3076,0,0,0,0,0,0
$GC,2984,-0.49,-146.1,357.3,-10.3,245,2987,0.00,0.82,0.00,0.000,6,0.000,0.037,1469,3385,3076,0,0,0,0,0,0
$GC,3319,-0.49,-146.1,389.1,-9.7,261,3324,0.00,2.15,0.00,0.000,4,0.000,0.031,1469,1959,3075,0,0,0,0,0,0
$GC,3353,-0.49,-146.1,392.7,-9.2,262,3358,0.00,2.30,0.00,0.000,6,0.000,0.056,1459,3373,3076,0,0,0,0,0,0
$GC,3694,-0.49,-146.1,425.9,-9.5,275,3699,0.00,0.90,0.00,0.000,4,0.000,0.057,1455,3948,3076,0,0,0,0,0,0
$GC,3767,-0.49,-146.1,433.4,-9.7,277,3770,0.00,0.85,0.00,0.000,6,0.000,0.036,1455,3381,3076,0,0,0,0,0,0
$GC,4102,-0.49,-146.1,465.0,-9.5,288,4108,0.00,0.90,0.00,0.000,4,0.000,0.058,1450,3948,3076,0,0,0,0,0,0
$GC,4175,-0.49,-146.1,472.7,-9.9,290,4179,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3384,3076,0,0,0,0,0,0
$GC,4511,-0.49,-146.1,505.0,-10.0,301,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3384,3075,0,0,0,0,0,0
$GC,4817,-0.49,-146.1,535.8,-10.1,311,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3384,3075,0,0,0,0,0,0
$GC,5125,-0.49,-146.1,567.9,-10.5,321,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3384,3074,0,0,0,0,0,0
$GC,5430,-0.49,-146.1,598.6,-9.9,331,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3384,3074,0,0,0,0,0,0
$GC,5736,-0.49,-146.1,629.4,-10.2,341,5740,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3949,3073,0,0,0,0,0,0
$GC,5811,-0.49,-146.1,637.6,-10.8,343,5815,0.08,0.88,0.00,0.000,6,0.143,0.037,1470,3373,3073,0,0,0,0,0,0
$GC,6146,-0.49,-146.1,666.1,-8.3,354,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3072,0,0,0,0,0,0
$GC,6453,-0.49,-146.1,692.3,-8.5,364,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3071,0,0,0,0,0,0
$GC,6758,-0.49,-146.1,718.3,-8.4,374,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3070,0,0,0,0,0,0
$GC,7064,-0.49,-146.1,744.9,-8.5,384,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3373,3070,0,0,0,0,0,0
$GC,7372,-0.49,-146.1,769.7,-7.9,394,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3373,3069,0,0,0,0,0,0
$GC,7681,-0.49,-146.1,793.0,-7.5,404,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3373,3068,0,0,0,0,0,0
$GC,7983,-0.49,-146.1,815.2,-7.2,414,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3067,0,0,0,0,0,0
$GC,8290,-0.49,-146.1,837.5,-7.1,424,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3373,3067,0,0,0,0,0,0
$GC,8597,-0.49,-146.1,859.6,-7.4,434,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3066,0,0,0,0,0,0
$GC,8902,-0.49,-146.1,883.9,-8.1,444,8903,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3066,0,0,0,0,0,0
$GC,9208,-0.49,-146.1,908.5,-8.0,454,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3373,3065,0,0,0,0,0,0
$GC,9516,-0.49,-146.1,931.3,-7.1,464,9519,0.00,0.93,0.00,0.000,4,0.000,0.062,1468,3947,3064,0,0,0,0,0,0
$GC,9610,-0.49,-146.1,938.7,-7.2,466,9617,0.00,0.88,0.00,0.000,6,0.000,0.041,1467,3380,3064,0,0,0,0,0,0
$GC,9924,-0.49,-146.1,960.2,-7.0,477,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3380,3063,0,0,0,0,0,0
$GC,10230,-0.49,-146.1,981.5,-7.0,487,10235,0.00,0.93,0.00,0.000,4,0.000,0.063,1463,3941,3062,0,0,0,0,0,0
$GC,10326,-0.49,-146.1,989.2,-7.8,489,10334,0.00,0.85,0.00,0.000,6,0.000,0.040,1464,3388,3062,0,0,0,0,0,0
$STATE,10484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10484,begin apogee
$GC,10491,-0.14,0.0,1000.5,7.2,495,10642,0.40,0.00,147.88,1.207,6,0.129,0.000,1586,3273,2472,0,0,0,0,0,0
$STATE,10643,end apogee,CONTROL_FINISHED_OK
$STATE,10643,begin climb
$GC,10646,0.49,146.1,1003.3,0.0,500,10806,0.57,2.42,149.68,1.185,4,0.082,0.032,1794,1855,1870,0,0,0,0,0,0
$GC,10843,0.49,146.1,981.9,12.8,506,10847,0.00,2.50,0.00,0.000,6,0.000,0.051,1794,3278,1862,0,0,0,0,0,0
$GC,11178,0.49,146.1,928.7,16.2,517,11183,0.00,1.10,0.00,0.000,4,0.000,0.057,1794,3941,1855,0,0,0,0,0,0
$GC,11268,0.49,146.1,912.5,18.0,519,11274,0.00,1.05,0.00,0.000,6,0.000,0.034,1798,3263,1854,0,0,0,0,0,0
$GC,11588,0.49,146.1,859.1,16.7,530,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3263,1852,0,0,0,0,0,0
$GC,11894,0.49,146.1,807.6,16.6,540,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3263,1851,0,0,0,0,0,0
$GC,12201,0.49,146.1,755.5,16.9,550,12205,0.00,2.15,0.00,0.000,4,0.000,0.035,1809,1857,1850,0,0,0,0,0,0
$GC,12245,0.49,146.1,748.3,13.9,551,12250,0.00,2.30,0.00,0.000,6,0.000,0.053,1809,3276,1849,0,0,0,0,0,0
$GC,12564,0.49,146.1,691.8,18.0,562,12567,0.00,1.08,0.00,0.000,4,0.000,0.058,1810,3948,1848,0,0,0,0,0,0
$GC,12625,0.49,146.1,679.7,20.1,563,12633,0.00,1.02,0.00,0.000,6,0.000,0.034,1815,3267,1848,0,0,0,0,0,0
$GC,12938,0.49,146.1,622.0,18.2,574,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1848,0,0,0,0,0,0
$GC,13245,0.49,146.1,568.4,17.3,584,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1848,0,0,0,0,0,0
$GC,13552,0.49,146.1,514.3,17.8,594,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1848,0,0,0,0,0,0
$GC,13857,0.49,146.1,458.6,18.6,604,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1847,0,0,0,0,0,0
$GC,14163,0.49,146.1,402.6,18.2,614,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3267,1847,0,0,0,0,0,0
$GC,14485,0.49,146.1,345.4,17.6,629,14490,0.00,2.15,0.00,0.000,4,0.000,0.032,1826,1857,1847,0,0,0,0,0,0
$GC,14519,0.49,146.1,339.4,14.5,630,14523,0.12,2.25,0.00,0.000,6,0.172,0.050,1795,3271,1846,0,0,0,0,0,0
$GC,14837,0.49,146.1,291.4,15.4,645,14842,0.00,1.08,0.00,0.000,4,0.000,0.055,1795,3948,1846,0,0,0,0,0,0
$GC,14895,0.49,146.1,281.0,17.0,647,14899,0.00,1.02,0.00,0.000,6,0.000,0.033,1798,3259,1846,0,0,0,0,0,0
$GC,15220,0.49,146.1,228.1,16.2,665,15221,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3259,1847,0,0,0,0,0,0
$GC,15533,0.49,146.1,176.7,16.0,685,15534,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3259,1846,0,0,0,0,0,0
$GC,15845,0.49,146.1,124.8,16.4,705,15847,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3259,1847,0,0,0,0,0,0
$GC,16176,0.49,146.1,74.8,10.9,745,16181,0.00,2.08,0.00,0.000,4,0.000,0.031,1809,1857,1846,0,0,0,0,0,0
$GC,16294,0.49,146.1,62.0,11.4,765,16301,0.00,2.28,0.00,0.000,6,0.000,0.048,1809,3277,1846,0,0,0,0,0,0
$GC,16671,0.49,146.1,8.2,11.0,826,16682,0.00,1.05,0.00,0.000,4,0.000,0.054,1809,3946,1846,0,0,0,0,0,0
$STATE,16707,end climb,SURFACE_DEPTH_REACHED
$STATE,16707,begin surface coast
$FINISH,1.0,1.026184
$STATE,16735,end surface coast,CONTROL_FINISHED_OK
$STATE,16735,begin surface
$SM_CCo,16752,49.78,0.688,1,0,1450,250.20
$SM_GC,2.10,0.00,0.00,49.78,0.000,0.000,0.688,50,3381,1450,-4.95,0.03,250.20
$IRIDIUM_FIX,-4135.14,839.28,080113,111130
$TT8_MAMPS,0.025466
$HUMID,55.00
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.8,33.804
$10V_AH,10.1,19.738
$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,11.500,50.175,297.550,49.775,0.000,27.567,34.408,393.216,0.000,0.000,23.621,2064.364,11622.194,400.040,2492.514,863.844,33.373,1305.590,0.000,2232.282,0.000,1.013,0.000
$DEVICE_MAMPS,210.375,78.030,1207.170,687.735,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.104,1786.952,806.412,357.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,60452,835
$CAP_FILE_SIZE,120675,0
$CFSIZE,259252224,246890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,080113,203323,-4152.596,841.935,37,0.9,37,-25.0