version: 66.07
glider: 543
mission: 6
dive: 189
start: 1 9 113 11 17 45
data:
$ID,543
$MISSION,6
$DIVE,189
$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,-8382.8701
$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,60
$R_STBD_OVSHOOT,19
$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
$GPS1,090113,110505,-4150.910,849.038,36,1.1,36,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-48.8
$GPS2,090113,111647,-4150.765,848.944,24,1.1,24,-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,-0.048
$KALMAN_X,-113021.9,470.5,250.3,176841.3,-5962.4
$KALMAN_Y,-3862.5,-36.6,92.7,76532.2,1399.6
$MHEAD_RNG_PITCHd_Wd,126.3,22892,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-49.10,0.000,2,0.000,0.000,52,3361,2646,0,0,0,0,0,0
$GC,78,-0.49,-146.1,3.2,-4.4,6,106,5.75,0.98,-11.98,0.000,4,0.227,0.083,1468,3953,3071,0,0,0,0,0,0
$GC,389,-0.49,-146.1,49.7,-14.6,54,400,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3405,3074,0,0,0,0,0,0
$GC,636,-0.49,-146.1,77.3,-10.2,95,641,0.00,0.88,0.00,0.000,4,0.000,0.059,1463,3950,3074,0,0,0,0,0,0
$GC,754,-0.49,-146.1,91.1,-12.0,115,758,0.00,0.88,0.00,0.000,6,0.000,0.037,1463,3375,3075,0,0,0,0,0,0
$GC,1088,-0.49,-146.1,126.7,-10.8,145,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3375,3076,0,0,0,0,0,0
$GC,1399,-0.49,-146.1,160.5,-10.9,165,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3376,3076,0,0,0,0,0,0
$GC,1711,-0.49,-146.1,195.2,-11.3,185,1717,0.00,0.93,0.00,0.000,4,0.000,0.058,1459,3955,3076,0,0,0,0,0,0
$GC,1787,-0.49,-146.1,204.3,-12.5,189,1790,0.00,0.88,0.00,0.000,6,0.000,0.036,1460,3378,3076,0,0,0,0,0,0
$GC,2118,-0.49,-146.1,244.8,-11.7,210,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3378,3076,0,0,0,0,0,0
$GC,2433,-0.49,-146.1,281.3,-11.5,226,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3378,3076,0,0,0,0,0,0
$GC,2744,-0.49,-146.1,315.9,-10.9,241,2749,0.00,0.90,0.00,0.000,4,0.000,0.058,1455,3944,3076,0,0,0,0,0,0
$GC,2869,-0.49,-146.1,330.4,-10.7,246,2873,0.00,0.85,0.00,0.000,6,0.000,0.036,1455,3382,3076,0,0,0,0,0,0
$GC,3193,-0.49,-146.1,363.8,-10.1,262,3196,0.00,0.90,0.00,0.000,4,0.000,0.058,1451,3948,3076,0,0,0,0,0,0
$GC,3275,-0.49,-146.1,373.1,-11.3,265,3278,0.00,0.88,0.00,0.000,6,0.000,0.037,1451,3371,3076,0,0,0,0,0,0
$GC,3596,-0.49,-146.1,406.9,-10.5,280,3599,0.00,0.93,0.00,0.000,4,0.000,0.060,1447,3952,3076,0,0,0,0,0,0
$GC,3705,-0.49,-146.1,419.6,-11.7,283,3708,0.00,0.88,0.00,0.000,6,0.000,0.036,1447,3374,3076,0,0,0,0,0,0
$GC,4040,-0.49,-146.1,455.5,-10.6,294,4045,0.10,0.93,0.00,0.000,4,0.174,0.060,1469,3942,3076,0,0,0,0,0,0
$GC,4124,-0.49,-146.1,463.3,-8.2,296,4128,0.00,0.85,0.00,0.000,6,0.000,0.037,1468,3383,3076,0,0,0,0,0,0
$GC,4449,-0.49,-146.1,490.0,-8.2,307,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3383,3076,0,0,0,0,0,0
$GC,4756,-0.49,-146.1,515.5,-8.2,317,4759,0.00,0.90,0.00,0.000,4,0.000,0.060,1465,3946,3075,0,0,0,0,0,0
$GC,4844,-0.49,-146.1,523.8,-8.7,319,4848,0.00,0.88,0.00,0.000,6,0.000,0.036,1465,3370,3075,0,0,0,0,0,0
$GC,5164,-0.49,-146.1,551.1,-8.7,330,5168,0.00,0.93,0.00,0.000,4,0.000,0.060,1460,3947,3074,0,0,0,0,0,0
$GC,5276,-0.49,-146.1,562.1,-9.2,333,5279,0.00,0.88,0.00,0.000,6,0.000,0.037,1461,3371,3074,0,0,0,0,0,0
$GC,5606,-0.49,-146.1,592.9,-9.4,344,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3371,3074,0,0,0,0,0,0
$GC,5912,-0.49,-146.1,622.4,-9.9,354,5916,0.00,0.93,0.00,0.000,4,0.000,0.060,1457,3949,3073,0,0,0,0,0,0
$GC,6007,-0.49,-146.1,632.7,-10.5,356,6015,0.00,0.88,0.00,0.000,6,0.000,0.037,1457,3374,3073,0,0,0,0,0,0
$GC,6320,-0.49,-146.1,663.9,-9.8,367,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3374,3072,0,0,0,0,0,0
$GC,6627,-0.49,-146.1,692.8,-9.4,377,6631,0.00,0.93,0.00,0.000,4,0.000,0.060,1452,3951,3071,0,0,0,0,0,0
$GC,6711,-0.49,-146.1,701.4,-10.1,379,6714,0.00,0.88,0.00,0.000,6,0.000,0.038,1452,3378,3071,0,0,0,0,0,0
$GC,7037,-0.49,-146.1,732.0,-9.7,390,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3378,3070,0,0,0,0,0,0
$GC,7341,-0.49,-146.1,762.9,-10.1,400,7347,0.00,0.93,0.00,0.000,4,0.000,0.060,1447,3954,3069,0,0,0,0,0,0
$GC,7420,-0.49,-146.1,771.6,-11.1,402,7424,0.00,0.88,0.00,0.000,6,0.000,0.037,1448,3381,3069,0,0,0,0,0,0
$GC,7751,-0.49,-146.1,805.2,-10.1,413,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3381,3069,0,0,0,0,0,0
$GC,8057,-0.49,-146.1,835.2,-9.6,423,8060,0.00,0.93,0.00,0.000,4,0.000,0.063,1444,3946,3068,0,0,0,0,0,0
$GC,8183,-0.49,-146.1,847.8,-10.0,426,8187,0.10,0.85,0.00,0.000,6,0.139,0.039,1476,3387,3068,0,0,0,0,0,0
$GC,8503,-0.49,-146.1,870.2,-6.8,437,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3387,3068,0,0,0,0,0,0
$GC,8808,-0.49,-146.1,891.5,-7.1,447,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3387,3067,0,0,0,0,0,0
$GC,9114,-0.49,-146.1,913.2,-7.2,457,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3387,3066,0,0,0,0,0,0
$GC,9421,-0.49,-146.1,935.7,-7.5,467,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3387,3066,0,0,0,0,0,0
$GC,9726,-0.49,-146.1,959.1,-8.0,477,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3387,3066,0,0,0,0,0,0
$GC,10033,-0.49,-146.1,983.3,-8.0,487,10037,0.00,0.90,0.00,0.000,4,0.000,0.063,1473,3946,3064,0,0,0,0,0,0
$GC,10107,-0.49,-146.1,989.7,-9.2,489,10110,0.00,0.88,0.00,0.000,6,0.000,0.040,1473,3375,3064,0,0,0,0,0,0
$STATE,10255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10255,begin apogee
$GC,10262,-0.14,0.0,1001.7,7.9,494,10414,0.38,0.00,148.73,1.205,6,0.126,0.000,1588,3275,2473,0,0,0,0,0,0
$STATE,10416,end apogee,CONTROL_FINISHED_OK
$STATE,10416,begin climb
$GC,10419,0.49,146.1,1005.4,0.0,499,10579,0.57,2.42,149.45,1.183,4,0.082,0.031,1795,1855,1871,0,0,0,0,0,0
$GC,10619,0.49,146.1,984.0,11.9,505,10623,0.00,2.47,0.00,0.000,6,0.000,0.050,1795,3270,1863,0,0,0,0,0,0
$GC,10949,0.49,146.1,934.4,15.4,516,10954,0.00,1.12,0.00,0.000,4,0.000,0.059,1795,3947,1855,0,0,0,0,0,0
$GC,11022,0.49,146.1,921.9,17.2,518,11025,0.00,1.08,0.00,0.000,6,0.000,0.034,1800,3258,1854,0,0,0,0,0,0
$GC,11357,0.49,146.1,869.4,15.5,529,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3258,1853,0,0,0,0,0,0
$GC,11663,0.49,146.1,820.8,15.9,539,11667,0.00,1.12,0.00,0.000,4,0.000,0.058,1800,3946,1852,0,0,0,0,0,0
$GC,11742,0.49,146.1,806.9,17.2,541,11745,0.00,1.02,0.00,0.000,6,0.000,0.035,1806,3274,1852,0,0,0,0,0,0
$GC,12071,0.49,146.1,752.1,17.0,552,12075,0.00,1.10,0.00,0.000,4,0.000,0.058,1806,3950,1851,0,0,0,0,0,0
$GC,12143,0.49,146.1,739.6,18.8,554,12147,0.00,1.02,0.00,0.000,6,0.000,0.035,1811,3272,1851,0,0,0,0,0,0
$GC,12484,0.49,146.1,679.8,17.4,565,12488,0.00,1.10,0.00,0.000,4,0.000,0.057,1811,3950,1850,0,0,0,0,0,0
$GC,12558,0.49,146.1,665.9,17.8,567,12562,0.00,1.02,0.00,0.000,6,0.000,0.034,1816,3272,1850,0,0,0,0,0,0
$GC,12894,0.49,146.1,606.5,17.8,578,12898,0.00,1.10,0.00,0.000,4,0.000,0.057,1816,3954,1849,0,0,0,0,0,0
$GC,12956,0.49,146.1,594.6,18.9,579,12962,0.00,1.02,0.00,0.000,6,0.000,0.034,1821,3273,1849,0,0,0,0,0,0
$GC,13269,0.49,146.1,539.0,17.7,590,13273,0.00,1.10,0.00,0.000,4,0.000,0.056,1821,3956,1849,0,0,0,0,0,0
$GC,13352,0.49,146.1,523.1,17.5,592,13356,0.10,1.02,0.00,0.000,6,0.174,0.033,1797,3274,1849,0,0,0,0,0,0
$GC,13676,0.49,146.1,473.7,15.4,603,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3274,1848,0,0,0,0,0,0
$GC,13983,0.49,146.1,425.8,15.8,613,13987,0.00,2.15,0.00,0.000,4,0.000,0.032,1806,1855,1848,0,0,0,0,0,0
$GC,14021,0.49,146.1,420.0,13.5,614,14026,0.00,2.28,0.00,0.000,6,0.000,0.049,1807,3281,1847,0,0,0,0,0,0
$GC,14348,0.49,146.1,366.2,16.5,628,14352,0.00,1.05,0.00,0.000,4,0.000,0.055,1807,3946,1847,0,0,0,0,0,0
$GC,14421,0.49,146.1,352.7,18.8,631,14424,0.00,1.00,0.00,0.000,6,0.000,0.032,1812,3272,1847,0,0,0,0,0,0
$GC,14756,0.49,146.1,295.2,16.3,647,14757,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3271,1847,0,0,0,0,0,0
$GC,15075,0.49,146.1,244.8,14.8,663,15081,0.00,2.15,0.00,0.000,4,0.000,0.032,1823,1858,1847,0,0,0,0,0,0
$GC,15115,0.49,146.1,239.6,12.3,665,15120,0.12,2.25,0.00,0.000,6,0.166,0.048,1792,3275,1847,0,0,0,0,0,0
$GC,15442,0.49,146.1,194.7,14.0,686,15446,0.00,1.08,0.00,0.000,4,0.000,0.055,1792,3954,1847,0,0,0,0,0,0
$GC,15515,0.49,146.1,183.0,14.8,690,15518,0.00,1.02,0.00,0.000,6,0.000,0.032,1796,3257,1847,0,0,0,0,0,0
$GC,15844,0.49,146.1,135.7,14.9,711,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3257,1847,0,0,0,0,0,0
$GC,16162,0.49,146.1,87.9,15.3,739,16168,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3257,1847,0,0,0,0,0,0
$GC,16520,0.49,146.1,38.8,13.8,800,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3257,1847,0,0,0,0,0,0
$GC,16785,0.49,146.1,6.5,17.1,841,16795,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3257,1847,0,0,0,0,0,0
$STATE,16807,end climb,SURFACE_DEPTH_REACHED
$STATE,16807,begin surface coast
$FINISH,1.2,1.026241
$STATE,16830,end surface coast,CONTROL_FINISHED_OK
$STATE,16830,begin surface
$SM_CCo,16846,49.78,0.683,1,0,1450,250.20
$SM_GC,2.05,0.00,0.00,49.78,0.000,0.000,0.683,54,3382,1450,-4.94,0.03,250.20
$IRIDIUM_FIX,-4135.14,844.99,090113,060604
$TT8_MAMPS,0.025466
$HUMID,54.88
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.8,34.440
$10V_AH,10.1,20.210
$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,11.575,56.050,298.175,49.775,0.000,68.510,52.780,336.510,0.000,0.000,26.951,2145.191,11435.448,403.814,2695.269,921.869,33.367,1393.615,0.000,2444.684,0.000,1.013,0.000
$DEVICE_MAMPS,227.205,82.620,1204.875,683.145,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.241,1842.670,836.848,370.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,60296,847
$CAP_FILE_SIZE,131591,0
$CFSIZE,259252224,246611968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,090113,160034,-4150.448,850.934,26,1.1,26,-25.0