version: 66.07
glider: 543
mission: 6
dive: 227
start: 1 16 113 7 50 15
data:
$ID,543
$MISSION,6
$DIVE,227
$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,-8482.1689
$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,52
$R_STBD_OVSHOOT,23
$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
$GPS1,160113,073905,-4206.337,900.438,39,1.1,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-58.6
$GPS2,160113,074917,-4206.240,900.401,20,0.9,20,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.106,-0.203
$KALMAN_X,-149711.8,14.2,228.1,229669.2,-2572.9
$KALMAN_Y,55440.9,552.1,-178.1,-11736.8,3488.0
$MHEAD_RNG_PITCHd_Wd,177.4,44007,-16.0,-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,-0.51,-126.4,0.0,0.0,0,73,0.00,0.00,-48.80,0.000,2,0.000,0.000,48,3357,2658,0,0,0,0,0,0
$GC,77,-0.52,-146.1,3.2,-3.2,6,104,5.70,0.98,-12.55,0.000,4,0.223,0.086,1454,3946,3070,0,0,0,0,0,0
$GC,386,-0.52,-146.1,42.6,-13.1,54,397,0.00,0.85,0.00,0.000,6,0.000,0.035,1454,3391,3073,0,0,0,0,0,0
$GC,631,-0.52,-146.1,73.8,-11.3,95,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3391,3074,0,0,0,0,0,0
$GC,976,-0.52,-146.1,112.2,-11.2,142,980,0.00,0.88,0.00,0.000,4,0.000,0.059,1450,3939,3074,0,0,0,0,0,0
$GC,1068,-0.52,-146.1,123.0,-12.2,147,1072,0.00,0.85,0.00,0.000,6,0.000,0.034,1450,3377,3074,0,0,0,0,0,0
$GC,1399,-0.52,-146.1,160.1,-11.0,168,1403,0.00,0.90,0.00,0.000,4,0.000,0.058,1445,3938,3075,0,0,0,0,0,0
$GC,1489,-0.52,-146.1,170.1,-11.1,173,1493,0.00,0.85,0.00,0.000,6,0.000,0.034,1446,3373,3075,0,0,0,0,0,0
$GC,1820,-0.52,-146.1,208.1,-11.3,194,1824,0.00,0.90,0.00,0.000,4,0.000,0.058,1441,3938,3075,0,0,0,0,0,0
$GC,1949,-0.52,-146.1,223.0,-11.8,201,1953,0.00,0.82,0.00,0.000,6,0.000,0.034,1441,3386,3075,0,0,0,0,0,0
$GC,2268,-0.52,-146.1,260.6,-11.6,220,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,1441,3386,3076,0,0,0,0,0,0
$GC,2579,-0.52,-146.1,296.8,-11.6,235,2585,0.00,0.90,0.00,0.000,4,0.000,0.058,1437,3950,3075,0,0,0,0,0,0
$GC,2651,-0.52,-146.1,305.6,-12.0,238,2656,0.00,0.85,0.00,0.000,6,0.000,0.034,1437,3384,3075,0,0,0,0,0,0
$GC,2986,-0.52,-146.1,344.9,-11.4,254,2989,0.00,0.90,0.00,0.000,4,0.000,0.058,1433,3948,3075,0,0,0,0,0,0
$GC,3112,-0.52,-146.1,360.9,-12.8,259,3116,0.08,0.85,0.00,0.000,6,0.149,0.035,1458,3384,3075,0,0,0,0,0,0
$GC,3435,-0.52,-146.1,391.4,-9.5,275,3441,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3947,3075,0,0,0,0,0,0
$GC,3523,-0.52,-146.1,400.9,-10.6,278,3532,0.00,0.85,0.00,0.000,6,0.000,0.035,1455,3382,3075,0,0,0,0,0,0
$GC,3837,-0.52,-146.1,432.7,-10.1,289,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3382,3075,0,0,0,0,0,0
$GC,4144,-0.52,-146.1,463.8,-10.2,299,4148,0.00,0.90,0.00,0.000,4,0.000,0.059,1451,3944,3074,0,0,0,0,0,0
$GC,4283,-0.52,-146.1,478.9,-10.2,303,4287,0.00,0.85,0.00,0.000,6,0.000,0.035,1451,3381,3074,0,0,0,0,0,0
$GC,4619,-0.52,-146.1,512.0,-9.8,314,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3380,3074,0,0,0,0,0,0
$GC,4926,-0.52,-146.1,541.4,-9.5,324,4930,0.00,0.90,0.00,0.000,4,0.000,0.060,1447,3942,3073,0,0,0,0,0,0
$GC,5057,-0.52,-146.1,554.8,-9.7,327,5064,0.00,0.85,0.00,0.000,6,0.000,0.036,1447,3380,3073,0,0,0,0,0,0
$GC,5371,-0.52,-146.1,584.3,-9.4,338,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3381,3072,0,0,0,0,0,0
$GC,5677,-0.52,-146.1,614.4,-10.0,348,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,1446,3380,3071,0,0,0,0,0,0
$GC,5984,-0.52,-146.1,644.9,-10.1,358,5988,0.00,0.93,0.00,0.000,4,0.000,0.063,1442,3938,3071,0,0,0,0,0,0
$GC,6087,-0.52,-146.1,656.3,-11.4,361,6091,0.00,0.85,0.00,0.000,6,0.000,0.037,1442,3379,3070,0,0,0,0,0,0
$GC,6429,-0.52,-146.1,691.2,-10.0,372,6434,0.00,0.93,0.00,0.000,4,0.000,0.061,1438,3953,3070,0,0,0,0,0,0
$GC,6513,-0.52,-146.1,700.6,-11.3,374,6517,0.00,0.88,0.00,0.000,6,0.000,0.036,1438,3374,3069,0,0,0,0,0,0
$GC,6838,-0.52,-146.1,734.0,-10.6,385,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,1438,3374,3069,0,0,0,0,0,0
$GC,7144,-0.52,-146.1,766.4,-10.9,395,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,1438,3374,3068,0,0,0,0,0,0
$GC,7451,-0.52,-146.1,800.9,-11.5,405,7455,0.00,0.93,0.00,0.000,4,0.000,0.061,1434,3949,3067,0,0,0,0,0,0
$GC,7557,-0.52,-146.1,814.1,-12.8,408,7561,0.08,0.85,0.00,0.000,6,0.145,0.037,1459,3393,3066,0,0,0,0,0,0
$GC,7892,-0.52,-146.1,847.0,-9.7,419,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3393,3066,0,0,0,0,0,0
$GC,8198,-0.52,-146.1,875.3,-9.0,429,8202,0.00,0.90,0.00,0.000,4,0.000,0.063,1456,3951,3065,0,0,0,0,0,0
$GC,8300,-0.52,-146.1,885.0,-9.7,432,8304,0.00,0.88,0.00,0.000,6,0.000,0.037,1456,3375,3065,0,0,0,0,0,0
$GC,8642,-0.52,-146.1,914.2,-8.5,443,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3374,3064,0,0,0,0,0,0
$GC,8949,-0.52,-146.1,938.0,-7.7,453,8952,0.00,0.93,0.00,0.000,4,0.000,0.062,1452,3946,3063,0,0,0,0,0,0
$GC,9023,-0.52,-146.1,944.3,-8.6,455,9026,0.00,0.85,0.00,0.000,6,0.000,0.039,1452,3389,3063,0,0,0,0,0,0
$GC,9358,-0.52,-146.1,970.9,-8.0,466,9362,0.00,0.90,0.00,0.000,4,0.000,0.062,1448,3948,3062,0,0,0,0,0,0
$GC,9433,-0.52,-146.1,977.3,-8.5,468,9437,0.00,0.88,0.00,0.000,6,0.000,0.038,1448,3376,3062,0,0,0,0,0,0
$STATE,9736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9736,begin apogee
$GC,9743,-0.14,0.0,1002.3,8.2,478,9892,0.45,0.00,141.07,1.782,6,0.133,0.000,1583,3277,2473,0,0,0,0,1,0
$STATE,9894,end apogee,CONTROL_FINISHED_OK
$STATE,9894,begin climb
$GC,9897,0.52,146.1,1005.5,0.0,483,10058,0.65,2.47,148.60,1.753,4,0.080,0.031,1806,1850,1878,0,0,0,0,1,0
$GC,10139,0.52,146.1,977.2,13.0,490,10143,0.00,2.45,0.00,0.000,6,0.000,0.051,1807,3269,1873,0,0,0,0,0,0
$GC,10457,0.52,146.1,924.7,16.5,501,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3269,1867,0,0,0,0,0,0
$GC,10764,0.52,146.1,874.4,16.1,511,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3269,1865,0,0,0,0,0,0
$GC,11071,0.52,146.1,825.3,16.2,521,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3269,1864,0,0,0,0,0,0
$GC,11376,0.52,146.1,777.3,15.6,531,11382,0.00,2.22,0.00,0.000,4,0.000,0.033,1817,1845,1863,0,0,0,0,0,0
$GC,11432,0.52,146.1,769.7,11.9,532,11437,0.00,2.33,0.00,0.000,6,0.000,0.053,1817,3274,1862,0,0,0,0,0,0
$GC,11748,0.52,146.1,720.4,16.2,542,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3274,1861,0,0,0,0,0,0
$GC,12052,0.52,146.1,671.0,16.1,552,12056,0.00,2.17,0.00,0.000,4,0.000,0.031,1828,1839,1861,0,0,0,0,0,0
$GC,12096,0.52,146.1,664.5,12.8,553,12100,0.00,2.33,0.00,0.000,6,0.000,0.051,1828,3276,1860,0,0,0,0,0,0
$GC,12415,0.52,146.1,610.4,17.4,564,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,3276,1860,0,0,0,0,0,0
$GC,12721,0.52,146.1,556.3,17.7,574,12725,0.00,2.15,0.00,0.000,4,0.000,0.030,1839,1845,1859,0,0,0,0,0,0
$GC,12770,0.52,146.1,548.1,14.4,575,12775,0.12,2.28,0.00,0.000,6,0.179,0.050,1809,3271,1859,0,0,0,0,0,0
$GC,13084,0.52,146.1,498.2,15.9,585,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3271,1858,0,0,0,0,0,0
$GC,13392,0.52,146.1,448.3,16.5,595,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,3271,1858,0,0,0,0,0,0
$GC,13696,0.52,146.1,398.6,16.2,605,13701,0.00,2.17,0.00,0.000,4,0.000,0.031,1819,1848,1858,0,0,0,0,0,0
$GC,13748,0.52,146.1,390.9,12.9,607,13753,0.00,2.28,0.00,0.000,6,0.000,0.050,1818,3279,1858,0,0,0,0,0,0
$GC,14072,0.52,146.1,336.8,17.4,623,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,3279,1857,0,0,0,0,0,0
$GC,14381,0.52,146.1,285.3,16.3,638,14385,0.00,2.17,0.00,0.000,4,0.000,0.030,1830,1839,1857,0,0,0,0,0,0
$GC,14436,0.52,146.1,277.0,14.0,640,14440,0.00,2.28,0.00,0.000,6,0.000,0.050,1830,3272,1857,0,0,0,0,0,0
$GC,14767,0.52,146.1,221.0,17.3,658,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,3272,1857,0,0,0,0,0,0
$GC,15078,0.52,146.1,168.2,17.1,678,15082,0.00,2.17,0.00,0.000,4,0.000,0.030,1841,1833,1857,0,0,0,0,0,0
$GC,15144,0.52,146.1,158.1,14.2,682,15149,0.15,2.30,0.00,0.000,6,0.166,0.050,1802,3269,1857,0,0,0,0,0,0
$GC,15475,0.52,146.1,110.8,14.7,703,15476,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3270,1857,0,0,0,0,0,0
$GC,15809,0.52,146.1,63.4,13.2,753,15817,0.00,2.17,0.00,0.000,4,0.000,0.029,1811,1835,1857,0,0,0,0,0,0
$GC,15888,0.52,146.1,54.4,11.3,765,15894,0.00,2.28,0.00,0.000,6,0.000,0.049,1811,3272,1857,0,0,0,0,0,0
$GC,16142,0.52,146.1,21.1,13.9,806,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,3272,1857,0,0,0,0,0,0
$GC,16232,0.52,146.1,9.6,12.2,819,16241,0.00,1.08,0.00,0.000,4,0.000,0.053,1811,3952,1857,0,0,0,0,0,0
$STATE,16279,end climb,SURFACE_DEPTH_REACHED
$STATE,16279,begin surface coast
$FINISH,1.2,1.005057
$STATE,16310,end surface coast,CONTROL_FINISHED_OK
$STATE,16311,begin surface
$SM_CCo,16327,48.95,0.721,1,0,1449,250.20
$SM_GC,2.02,0.00,0.00,48.95,0.000,0.000,0.721,44,3350,1449,-4.97,-0.85,250.20
$IRIDIUM_FIX,-4149.58,858.66,160113,010130
$TT8_MAMPS,0.025466
$HUMID,56.49
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.3,39.352
$10V_AH,10.1,24.353
$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,11.950,64.775,289.675,48.950,0.000,27.669,20.025,369.918,0.000,0.000,22.654,2093.657,10996.771,404.153,2593.218,898.647,33.364,1364.500,0.000,2382.978,0.000,1.013,0.000
$DEVICE_MAMPS,223.380,85.680,1782.450,720.630,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.057,1811.437,840.103,386.979,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,60520,830
$CAP_FILE_SIZE,126731,0
$CFSIZE,259252224,244252672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,160113,122434,-4207.795,900.931,35,0.9,35,-25.1