version: 66.07
glider: 543
mission: 6
dive: 200
start: 1 11 113 18 58 45
data:
$ID,543
$MISSION,6
$DIVE,200
$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,-8408.8379
$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,35
$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
$GPS1,110113,184734,-4157.153,900.585,33,0.7,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-52.8
$GPS2,110113,185747,-4157.051,900.490,21,1.0,21,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,-0.113
$KALMAN_X,-137633.0,638.1,-226.2,217533.5,-4763.2
$KALMAN_Y,18452.7,-320.3,-381.8,43344.2,6200.4
$MHEAD_RNG_PITCHd_Wd,142.8,5502,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-48.83,0.000,2,0.000,0.000,53,3407,2637,0,0,0,0,0,0
$GC,77,-0.49,-146.1,3.3,-3.5,6,106,5.72,0.88,-12.73,0.000,4,0.225,0.092,1466,3931,3070,0,0,0,0,0,0
$GC,391,-0.49,-146.1,42.4,-13.4,54,399,0.00,0.82,0.00,0.000,6,0.000,0.037,1466,3399,3073,0,0,0,0,0,0
$GC,640,-0.49,-146.1,74.7,-12.4,95,647,0.00,0.88,0.00,0.000,4,0.000,0.060,1462,3939,3073,0,0,0,0,0,0
$GC,744,-0.49,-146.1,87.9,-13.1,112,751,0.00,0.88,0.00,0.000,6,0.000,0.036,1462,3367,3073,0,0,0,0,0,0
$GC,1081,-0.49,-146.1,122.4,-9.6,145,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3367,3074,0,0,0,0,0,0
$GC,1394,-0.49,-146.1,151.8,-9.6,165,1397,0.00,0.90,0.00,0.000,4,0.000,0.058,1457,3926,3074,0,0,0,0,0,0
$GC,1582,-0.49,-146.1,171.4,-10.0,175,1590,0.00,0.82,0.00,0.000,6,0.000,0.036,1458,3382,3074,0,0,0,0,0,0
$GC,1902,-0.49,-146.1,201.0,-9.2,196,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3381,3075,0,0,0,0,0,0
$GC,2214,-0.49,-146.1,230.1,-9.7,216,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3382,3074,0,0,0,0,0,0
$GC,2540,-0.49,-146.1,261.1,-10.1,235,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3381,3074,0,0,0,0,0,0
$GC,2847,-0.49,-146.1,294.2,-11.3,250,2850,0.00,0.88,0.00,0.000,4,0.000,0.059,1453,3926,3074,0,0,0,0,0,0
$GC,2966,-0.49,-146.1,308.3,-12.7,255,2969,0.00,0.82,0.00,0.000,6,0.000,0.036,1453,3381,3074,0,0,0,0,0,0
$GC,3301,-0.49,-146.1,347.2,-11.8,271,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3381,3074,0,0,0,0,0,0
$GC,3609,-0.49,-146.1,382.7,-11.3,286,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3381,3074,0,0,0,0,0,0
$GC,3926,-0.49,-146.1,415.3,-9.7,299,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,1453,3381,3074,0,0,0,0,0,0
$GC,4234,-0.49,-146.1,443.5,-9.2,309,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3381,3074,0,0,0,0,0,0
$GC,4539,-0.49,-146.1,471.0,-9.0,319,4544,0.00,0.88,0.00,0.000,4,0.000,0.059,1449,3925,3074,0,0,0,0,0,0
$GC,4612,-0.49,-146.1,478.0,-9.2,321,4615,0.00,0.82,0.00,0.000,6,0.000,0.037,1449,3383,3074,0,0,0,0,0,0
$GC,4948,-0.49,-146.1,508.6,-9.2,332,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3073,0,0,0,0,0,0
$GC,5254,-0.49,-146.1,537.7,-9.6,342,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3073,0,0,0,0,0,0
$GC,5561,-0.49,-146.1,568.3,-10.0,352,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3073,0,0,0,0,0,0
$GC,5867,-0.49,-146.1,599.0,-10.0,362,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3072,0,0,0,0,0,0
$GC,6172,-0.49,-146.1,629.5,-10.0,372,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3071,0,0,0,0,0,0
$GC,6480,-0.49,-146.1,658.1,-9.3,382,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3383,3071,0,0,0,0,0,0
$GC,6785,-0.49,-146.1,687.2,-9.6,392,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3070,0,0,0,0,0,0
$GC,7091,-0.49,-146.1,717.5,-10.0,402,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3382,3070,0,0,0,0,0,0
$GC,7398,-0.49,-146.1,748.2,-10.0,412,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3382,3069,0,0,0,0,0,0
$GC,7704,-0.49,-146.1,779.5,-10.3,422,7709,0.00,0.88,0.00,0.000,4,0.000,0.061,1445,3923,3068,0,0,0,0,0,0
$GC,7800,-0.49,-146.1,790.1,-10.7,424,7808,0.08,0.82,0.00,0.000,6,0.143,0.038,1470,3385,3068,0,0,0,0,0,0
$GC,8113,-0.49,-146.1,816.9,-8.6,435,8114,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3386,3067,0,0,0,0,0,0
$GC,8419,-0.49,-146.1,842.9,-8.5,445,8423,0.00,0.88,0.00,0.000,4,0.000,0.063,1467,3927,3066,0,0,0,0,0,0
$GC,8503,-0.49,-146.1,850.7,-9.9,447,8506,0.00,0.85,0.00,0.000,6,0.000,0.039,1467,3374,3066,0,0,0,0,0,0
$GC,8827,-0.49,-146.1,880.0,-9.0,458,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3373,3066,0,0,0,0,0,0
$GC,9134,-0.49,-146.1,906.6,-8.5,468,9138,0.00,0.90,0.00,0.000,4,0.000,0.063,1463,3928,3064,0,0,0,0,0,0
$GC,9224,-0.49,-146.1,914.5,-8.5,470,9227,0.00,0.85,0.00,0.000,6,0.000,0.038,1463,3376,3064,0,0,0,0,0,0
$GC,9544,-0.49,-146.1,939.1,-7.5,481,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3375,3064,0,0,0,0,0,0
$GC,9849,-0.49,-146.1,961.4,-7.1,491,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3375,3063,0,0,0,0,0,0
$GC,10156,-0.49,-146.1,982.5,-6.9,501,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3375,3062,0,0,0,0,0,0
$STATE,10428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10428,begin apogee
$GC,10435,-0.14,0.0,1001.7,7.0,510,10583,0.40,0.00,139.75,1.810,6,0.134,0.000,1584,3275,2474,0,0,0,0,1,0
$STATE,10584,end apogee,CONTROL_FINISHED_OK
$STATE,10585,begin climb
$GC,10588,0.49,146.1,1003.9,0.0,515,10750,0.62,2.50,148.25,1.769,4,0.083,0.032,1798,1856,1878,0,0,0,0,1,0
$GC,10812,0.49,146.1,978.5,13.0,521,10819,0.00,2.45,0.00,0.000,6,0.000,0.051,1798,3261,1873,0,0,0,0,0,0
$GC,11126,0.49,146.1,926.0,16.8,532,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1867,0,0,0,0,0,0
$GC,11431,0.49,146.1,875.6,16.4,542,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1864,0,0,0,0,0,0
$GC,11737,0.49,146.1,826.6,15.9,552,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1864,0,0,0,0,0,0
$GC,12045,0.49,146.1,779.4,15.3,562,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1862,0,0,0,0,0,0
$GC,12350,0.49,146.1,732.4,15.3,572,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1861,0,0,0,0,0,0
$GC,12656,0.49,146.1,685.4,15.2,582,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1861,0,0,0,0,0,0
$GC,12964,0.49,146.1,638.9,15.0,592,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1860,0,0,0,0,0,0
$GC,13269,0.49,146.1,595.0,14.1,602,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1860,0,0,0,0,0,0
$GC,13575,0.49,146.1,551.8,14.1,612,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1859,0,0,0,0,0,0
$GC,13882,0.49,146.1,508.3,14.3,622,13883,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3261,1859,0,0,0,0,0,0
$GC,14187,0.49,146.1,464.5,14.4,632,14193,0.00,2.17,0.00,0.000,4,0.000,0.031,1809,1848,1858,0,0,0,0,0,0
$GC,14223,0.49,146.1,459.8,12.5,633,14228,0.00,2.30,0.00,0.000,6,0.000,0.051,1809,3278,1857,0,0,0,0,0,0
$GC,14558,0.49,146.1,408.8,15.4,644,14560,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3278,1857,0,0,0,0,0,0
$GC,14868,0.49,146.1,360.7,15.8,658,14870,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3278,1857,0,0,0,0,0,0
$GC,15178,0.49,146.1,311.6,15.7,673,15180,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3278,1857,0,0,0,0,0,0
$GC,15487,0.49,146.1,262.7,15.6,688,15488,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3278,1857,0,0,0,0,0,0
$GC,15805,0.49,146.1,214.3,14.8,707,15810,0.00,2.20,0.00,0.000,4,0.000,0.030,1820,1838,1857,0,0,0,0,0,0
$GC,15859,0.49,146.1,206.6,12.7,710,15863,0.00,2.30,0.00,0.000,6,0.000,0.049,1820,3278,1856,0,0,0,0,0,0
$GC,16188,0.49,146.1,154.6,16.4,731,16189,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,3279,1857,0,0,0,0,0,0
$GC,16500,0.49,146.1,102.9,16.3,751,16503,0.00,1.05,0.00,0.000,4,0.000,0.054,1820,3944,1856,0,0,0,0,0,0
$GC,16567,0.49,146.1,91.3,17.7,760,16574,0.10,1.02,0.00,0.000,6,0.170,0.030,1796,3246,1856,0,0,0,0,0,0
$GC,16933,0.49,146.1,46.6,11.1,821,16939,0.00,2.08,0.00,0.000,4,0.000,0.029,1805,1854,1857,0,0,0,0,0,0
$GC,17039,0.49,146.1,35.8,9.4,838,17048,0.00,2.28,0.00,0.000,6,0.000,0.047,1805,3273,1857,0,0,0,0,0,0
$GC,17304,0.49,146.1,3.1,13.5,879,17315,0.00,1.08,0.00,0.000,4,0.000,0.057,1805,3947,1856,0,0,0,0,0,0
$STATE,17324,end climb,SURFACE_DEPTH_REACHED
$STATE,17324,begin surface coast
$FINISH,1.1,1.014893
$STATE,17357,end surface coast,CONTROL_FINISHED_OK
$STATE,17357,begin surface
$SM_CCo,17373,48.40,0.708,1,0,1450,250.20
$SM_GC,1.87,0.00,0.00,48.40,0.000,0.000,0.708,51,3387,1450,-4.95,0.20,250.20
$IRIDIUM_FIX,-4140.91,900.61,110113,131301
$TT8_MAMPS,0.025466
$HUMID,55.19
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.3,36.138
$10V_AH,10.0,21.582
$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,11.550,36.150,288.000,48.400,0.000,28.151,45.955,345.840,0.000,0.000,23.530,2137.615,12133.548,398.923,2467.591,898.545,33.370,1260.425,0.000,2283.118,0.000,1.011,0.000
$DEVICE_MAMPS,224.910,91.800,1809.990,707.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.177,1957.107,897.094,412.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,63785,886
$CAP_FILE_SIZE,114603,0
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