version: 66.07
glider: 543
mission: 6
dive: 188
start: 1 9 113 6 28 28
data:
$ID,543
$MISSION,6
$DIVE,188
$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,-8380.5352
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,090113,061458,-4151.656,846.544,43,0.8,43,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-45.1
$GPS2,090113,062730,-4151.530,846.632,23,1.0,23,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.244,0.002
$KALMAN_X,-110659.3,384.8,388.7,171271.2,-6036.3
$KALMAN_Y,-5320.9,-85.3,117.0,76597.5,119.7
$MHEAD_RNG_PITCHd_Wd,114.6,24178,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.49,-146.1,0.0,0.0,0,80,0.00,0.00,-55.72,0.000,2,0.000,0.000,51,3376,2814,0,0,0,0,0,0
$GC,84,-0.49,-146.1,3.4,-3.1,7,106,5.78,0.93,-7.00,0.000,4,0.230,0.084,1465,3946,3071,0,0,0,0,0,0
$GC,392,-0.49,-146.1,40.6,-11.6,54,401,0.00,0.85,0.00,0.000,6,0.000,0.036,1465,3393,3074,0,0,0,0,0,0
$GC,637,-0.49,-146.1,72.8,-15.0,95,641,0.00,0.90,0.00,0.000,4,0.000,0.059,1461,3953,3074,0,0,0,0,0,0
$GC,901,-0.49,-146.1,104.6,-11.2,136,904,0.00,0.88,0.00,0.000,6,0.000,0.036,1461,3376,3075,0,0,0,0,0,0
$GC,1230,-0.49,-146.1,141.4,-11.5,157,1233,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3941,3076,0,0,0,0,0,0
$GC,1461,-0.49,-146.1,170.2,-12.1,170,1466,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3378,3076,0,0,0,0,0,0
$GC,1794,-0.49,-146.1,208.8,-11.4,191,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3378,3077,0,0,0,0,0,0
$GC,2106,-0.49,-146.1,243.6,-11.2,211,2112,0.00,0.90,0.00,0.000,4,0.000,0.059,1453,3946,3077,0,0,0,0,0,0
$GC,2219,-0.49,-146.1,257.4,-12.4,216,2228,0.00,0.85,0.00,0.000,6,0.000,0.036,1453,3382,3077,0,0,0,0,0,0
$GC,2536,-0.49,-146.1,293.7,-11.6,232,2540,0.00,0.90,0.00,0.000,4,0.000,0.059,1449,3950,3077,0,0,0,0,0,0
$GC,2616,-0.49,-146.1,304.0,-12.8,235,2622,0.00,0.88,0.00,0.000,6,0.000,0.037,1449,3372,3077,0,0,0,0,0,0
$GC,2941,-0.49,-146.1,340.3,-10.9,251,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3371,3076,0,0,0,0,0,0
$GC,3250,-0.49,-146.1,373.1,-10.4,266,3253,0.00,0.93,0.00,0.000,4,0.000,0.059,1444,3953,3076,0,0,0,0,0,0
$GC,3310,-0.49,-146.1,379.9,-11.4,268,3314,0.08,0.88,0.00,0.000,6,0.139,0.037,1469,3376,3076,0,0,0,0,0,0
$GC,3641,-0.49,-146.1,408.3,-8.4,283,3647,0.00,0.90,0.00,0.000,4,0.000,0.060,1466,3943,3076,0,0,0,0,0,0
$GC,3782,-0.49,-146.1,420.7,-8.4,287,3787,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3379,3076,0,0,0,0,0,0
$GC,4120,-0.49,-146.1,449.5,-8.6,298,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3379,3076,0,0,0,0,0,0
$GC,4424,-0.49,-146.1,476.2,-8.7,308,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3379,3075,0,0,0,0,0,0
$GC,4731,-0.49,-146.1,502.9,-8.6,318,4734,0.00,0.90,0.00,0.000,4,0.000,0.060,1462,3945,3075,0,0,0,0,0,0
$GC,4895,-0.49,-146.1,518.8,-9.4,322,4903,0.00,0.85,0.00,0.000,6,0.000,0.037,1462,3383,3075,0,0,0,0,0,0
$GC,5208,-0.49,-146.1,548.4,-9.5,333,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3383,3074,0,0,0,0,0,0
$GC,5514,-0.49,-146.1,577.8,-9.6,343,5518,0.00,0.90,0.00,0.000,4,0.000,0.060,1458,3948,3074,0,0,0,0,0,0
$GC,5641,-0.49,-146.1,591.1,-10.9,346,5644,0.00,0.85,0.00,0.000,6,0.000,0.038,1458,3388,3073,0,0,0,0,0,0
$GC,5961,-0.49,-146.1,624.1,-10.3,357,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3387,3073,0,0,0,0,0,0
$GC,6266,-0.49,-146.1,655.4,-10.2,367,6271,0.00,0.90,0.00,0.000,4,0.000,0.060,1453,3953,3072,0,0,0,0,0,0
$GC,6371,-0.49,-146.1,666.8,-11.2,370,6374,0.00,0.88,0.00,0.000,6,0.000,0.038,1454,3374,3072,0,0,0,0,0,0
$GC,6711,-0.49,-146.1,702.2,-10.2,381,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3373,3071,0,0,0,0,0,0
$GC,7019,-0.49,-146.1,732.1,-9.4,391,7023,0.00,0.93,0.00,0.000,4,0.000,0.061,1449,3950,3070,0,0,0,0,0,0
$GC,7150,-0.49,-146.1,745.5,-10.7,394,7157,0.00,0.88,0.00,0.000,6,0.000,0.039,1449,3378,3070,0,0,0,0,0,0
$GC,7463,-0.49,-146.1,775.6,-9.5,405,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3378,3069,0,0,0,0,0,0
$GC,7770,-0.49,-146.1,804.2,-9.3,415,7773,0.00,0.93,0.00,0.000,4,0.000,0.062,1445,3953,3068,0,0,0,0,0,0
$GC,7848,-0.49,-146.1,812.0,-10.0,417,7852,0.08,0.88,0.00,0.000,6,0.143,0.039,1470,3378,3068,0,0,0,0,0,0
$GC,8178,-0.49,-146.1,836.4,-7.3,428,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3379,3067,0,0,0,0,0,0
$GC,8485,-0.49,-146.1,858.6,-7.4,438,8489,0.00,0.93,0.00,0.000,4,0.000,0.063,1467,3953,3067,0,0,0,0,0,0
$GC,8579,-0.49,-146.1,866.3,-8.5,440,8586,0.00,0.88,0.00,0.000,6,0.000,0.040,1467,3381,3067,0,0,0,0,0,0
$GC,8893,-0.49,-146.1,890.3,-7.9,451,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3382,3066,0,0,0,0,0,0
$GC,9199,-0.49,-146.1,915.4,-8.5,461,9204,0.00,0.90,0.00,0.000,4,0.000,0.063,1463,3943,3065,0,0,0,0,0,0
$GC,9255,-0.49,-146.1,920.8,-9.3,462,9258,0.00,0.85,0.00,0.000,6,0.000,0.040,1463,3387,3065,0,0,0,0,0,0
$GC,9575,-0.49,-146.1,949.6,-9.3,473,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3387,3063,0,0,0,0,0,0
$GC,9879,-0.49,-146.1,978.2,-9.2,483,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3387,3063,0,0,0,0,0,0
$STATE,10153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10154,begin apogee
$GC,10161,-0.14,0.0,1002.5,8.7,492,10308,0.40,0.00,139.57,1.822,6,0.132,0.000,1585,3273,2473,0,0,0,0,1,0
$STATE,10310,end apogee,CONTROL_FINISHED_OK
$STATE,10310,begin climb
$GC,10313,0.49,146.1,1006.2,0.0,497,10474,0.62,2.53,147.98,1.788,4,0.083,0.032,1799,1849,1878,0,0,0,0,1,0
$GC,10546,0.49,146.1,979.7,13.7,504,10550,0.00,2.47,0.00,0.000,6,0.000,0.052,1799,3269,1873,0,0,0,0,0,0
$GC,10881,0.49,146.1,922.8,16.9,515,10885,0.00,1.12,0.00,0.000,4,0.000,0.058,1799,3949,1867,0,0,0,0,0,0
$GC,10998,0.49,146.1,900.4,17.7,518,11002,0.00,1.08,0.00,0.000,6,0.000,0.034,1805,3258,1865,0,0,0,0,0,0
$GC,11324,0.49,146.1,844.6,17.3,529,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3258,1864,0,0,0,0,0,0
$GC,11629,0.49,146.1,792.0,17.0,539,11635,0.00,1.12,0.00,0.000,4,0.000,0.058,1804,3948,1862,0,0,0,0,0,0
$GC,11736,0.49,146.1,771.8,18.5,542,11740,0.00,1.05,0.00,0.000,6,0.000,0.035,1810,3263,1863,0,0,0,0,0,0
$GC,12072,0.49,146.1,713.8,17.2,553,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3263,1862,0,0,0,0,0,0
$GC,12379,0.49,146.1,659.8,17.9,563,12383,0.00,1.12,0.00,0.000,4,0.000,0.058,1809,3953,1861,0,0,0,0,0,0
$GC,12496,0.49,146.1,636.9,18.9,566,12502,0.00,1.02,0.00,0.000,6,0.000,0.034,1815,3273,1861,0,0,0,0,0,0
$GC,12822,0.49,146.1,579.3,17.7,577,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3272,1860,0,0,0,0,0,0
$GC,13128,0.49,146.1,526.0,17.5,587,13131,0.00,1.10,0.00,0.000,4,0.000,0.057,1815,3954,1859,0,0,0,0,0,0
$GC,13205,0.49,146.1,511.0,18.3,589,13209,0.00,1.02,0.00,0.000,6,0.000,0.034,1820,3269,1859,0,0,0,0,0,0
$GC,13536,0.49,146.1,452.8,17.7,600,13539,0.00,1.10,0.00,0.000,4,0.000,0.055,1820,3954,1859,0,0,0,0,0,0
$GC,13586,0.49,146.1,443.0,19.4,601,13590,0.10,1.02,0.00,0.000,6,0.176,0.033,1797,3267,1859,0,0,0,0,0,0
$GC,13900,0.49,146.1,393.1,15.4,612,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3267,1858,0,0,0,0,0,0
$GC,14211,0.49,146.1,343.3,15.7,627,14216,0.00,1.10,0.00,0.000,4,0.000,0.055,1797,3953,1858,0,0,0,0,0,0
$GC,14286,0.49,146.1,330.3,17.0,630,14292,0.00,1.02,0.00,0.000,6,0.000,0.034,1800,3268,1858,0,0,0,0,0,0
$GC,14616,0.49,146.1,277.6,15.7,646,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3268,1858,0,0,0,0,0,0
$GC,14926,0.49,146.1,228.4,15.6,663,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3268,1858,0,0,0,0,0,0
$GC,15242,0.49,146.1,179.1,15.7,683,15243,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3268,1858,0,0,0,0,0,0
$GC,15554,0.49,146.1,131.3,15.2,703,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,3268,1858,0,0,0,0,0,0
$GC,15877,0.49,146.1,81.1,15.9,735,15883,0.00,2.15,0.00,0.000,4,0.000,0.031,1811,1853,1858,0,0,0,0,0,0
$GC,15930,0.49,146.1,73.4,11.8,744,15939,0.00,2.28,0.00,0.000,6,0.000,0.050,1811,3270,1858,0,0,0,0,0,0
$GC,16304,0.49,146.1,21.5,10.5,805,16316,0.00,1.08,0.00,0.000,4,0.000,0.055,1811,3954,1858,0,0,0,0,0,0
$STATE,16420,end climb,SURFACE_DEPTH_REACHED
$STATE,16421,begin surface coast
$FINISH,0.9,1.013490
$STATE,16448,end surface coast,CONTROL_FINISHED_OK
$STATE,16449,begin surface
$SM_CCo,16465,48.53,0.703,1,0,1452,250.20
$SM_GC,1.90,0.00,0.00,48.53,0.000,0.000,0.703,53,3361,1452,-4.94,-0.54,250.20
$IRIDIUM_FIX,-4135.14,844.99,090113,010116
$TT8_MAMPS,0.025466
$HUMID,56.26
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.3,34.305
$10V_AH,10.1,20.090
$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,11.800,49.225,287.550,48.525,0.000,48.000,130.283,324.534,0.000,0.000,25.190,2090.118,11156.118,396.151,2734.465,893.323,33.364,1377.086,0.000,2418.574,0.000,1.013,0.000
$DEVICE_MAMPS,229.500,84.150,1822.230,703.035,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.993,1807.131,838.850,374.585,0.000,0.000,0.000,0.000,0.000,0.000
$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,60300,826
$CAP_FILE_SIZE,124948,0
$CFSIZE,259252224,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,090113,110505,-4150.910,849.038,36,1.1,36,-25.0