version: 66.07
glider: 543
mission: 6
dive: 231
start: 1 17 113 3 39 58
data:
$ID,543
$MISSION,6
$DIVE,231
$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,-8492.7695
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,170113,032923,-4212.715,904.640,37,0.8,37,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-55.4
$GPS2,170113,033900,-4212.685,904.697,16,1.3,16,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.150,-0.192
$KALMAN_X,-154086.4,469.5,419.0,239251.2,-3384.3
$KALMAN_Y,64547.4,-314.6,-524.8,-31540.9,5712.0
$MHEAD_RNG_PITCHd_Wd,167.2,32703,-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,18,begin dive
$GC,21,-0.49,-146.1,0.0,0.0,0,72,0.00,0.00,-48.72,0.000,2,0.000,0.000,54,3394,2644,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.2,-3.5,6,103,5.68,0.90,-12.73,0.000,4,0.219,0.087,1469,3937,3071,0,0,0,0,0,0
$GC,391,-0.49,-146.1,41.7,-12.5,54,400,0.00,0.85,0.00,0.000,6,0.000,0.036,1469,3385,3074,0,0,0,0,0,0
$GC,639,-0.49,-146.1,71.1,-11.3,95,645,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3385,3074,0,0,0,0,0,0
$GC,987,-0.49,-146.1,106.4,-10.0,148,988,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3385,3076,0,0,0,0,0,0
$GC,1299,-0.49,-146.1,138.2,-10.4,168,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3386,3076,0,0,0,0,0,0
$GC,1611,-0.49,-146.1,171.5,-10.5,188,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3385,3077,0,0,0,0,0,0
$GC,1924,-0.49,-146.1,203.7,-10.2,208,1928,0.00,0.90,0.00,0.000,4,0.000,0.059,1465,3945,3077,0,0,0,0,0,0
$GC,2001,-0.49,-146.1,211.8,-10.4,212,2006,0.00,0.85,0.00,0.000,6,0.000,0.035,1465,3385,3077,0,0,0,0,0,0
$GC,2328,-0.49,-146.1,242.2,-9.1,233,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3385,3077,0,0,0,0,0,0
$GC,2648,-0.49,-146.1,270.7,-9.0,250,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3385,3077,0,0,0,0,0,0
$GC,2959,-0.49,-146.1,300.1,-9.5,265,2964,0.00,0.90,0.00,0.000,4,0.000,0.059,1461,3946,3077,0,0,0,0,0,0
$GC,3055,-0.49,-146.1,310.0,-10.5,269,3061,0.00,0.85,0.00,0.000,6,0.000,0.036,1461,3382,3077,0,0,0,0,0,0
$GC,3391,-0.49,-146.1,343.2,-9.7,285,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3382,3077,0,0,0,0,0,0
$GC,3700,-0.49,-146.1,373.1,-9.7,300,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3382,3077,0,0,0,0,0,0
$GC,4018,-0.49,-146.1,404.4,-9.8,315,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3382,3077,0,0,0,0,0,0
$GC,4326,-0.49,-146.1,435.0,-10.1,325,4329,0.00,0.90,0.00,0.000,4,0.000,0.059,1457,3943,3076,0,0,0,0,0,0
$GC,4405,-0.49,-146.1,443.5,-10.6,327,4408,0.00,0.85,0.00,0.000,6,0.000,0.036,1457,3381,3076,0,0,0,0,0,0
$GC,4736,-0.49,-146.1,476.2,-10.0,338,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3381,3076,0,0,0,0,0,0
$GC,5041,-0.49,-146.1,508.3,-10.8,348,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3381,3075,0,0,0,0,0,0
$GC,5347,-0.49,-146.1,542.4,-11.2,358,5351,0.00,0.90,0.00,0.000,4,0.000,0.060,1452,3942,3074,0,0,0,0,0,0
$GC,5435,-0.49,-146.1,553.2,-11.8,360,5439,0.00,0.85,0.00,0.000,6,0.000,0.036,1452,3381,3074,0,0,0,0,0,0
$GC,5754,-0.49,-146.1,588.9,-11.3,371,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3381,3074,0,0,0,0,0,0
$GC,6061,-0.49,-146.1,621.6,-10.4,381,6065,0.00,0.90,0.00,0.000,4,0.000,0.060,1447,3941,3073,0,0,0,0,0,0
$GC,6178,-0.49,-146.1,634.6,-11.1,384,6184,0.00,0.85,0.00,0.000,6,0.000,0.037,1448,3381,3073,0,0,0,0,0,0
$GC,6504,-0.49,-146.1,666.9,-9.7,395,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3381,3072,0,0,0,0,0,0
$GC,6810,-0.49,-146.1,695.1,-9.1,405,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3381,3071,0,0,0,0,0,0
$GC,7117,-0.49,-146.1,723.4,-9.4,415,7121,0.00,0.93,0.00,0.000,4,0.000,0.062,1444,3939,3070,0,0,0,0,0,0
$GC,7235,-0.49,-146.1,735.5,-10.3,418,7241,0.08,0.85,0.00,0.000,6,0.139,0.037,1469,3382,3070,0,0,0,0,0,0
$GC,7561,-0.49,-146.1,760.9,-7.8,429,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3382,3069,0,0,0,0,0,0
$GC,7867,-0.49,-146.1,786.1,-8.4,439,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3382,3069,0,0,0,0,0,0
$GC,8174,-0.49,-146.1,811.7,-8.5,449,8178,0.00,0.90,0.00,0.000,4,0.000,0.062,1466,3935,3068,0,0,0,0,0,0
$GC,8263,-0.49,-146.1,820.0,-9.4,451,8267,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3381,3068,0,0,0,0,0,0
$GC,8583,-0.49,-146.1,846.5,-8.2,462,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3381,3068,0,0,0,0,0,0
$GC,8888,-0.49,-146.1,870.9,-7.9,472,8894,0.00,0.90,0.00,0.000,4,0.000,0.062,1462,3937,3067,0,0,0,0,0,0
$GC,8994,-0.49,-146.1,879.7,-8.0,475,8997,0.00,0.85,0.00,0.000,6,0.000,0.038,1462,3380,3067,0,0,0,0,0,0
$GC,9336,-0.49,-146.1,907.4,-7.9,486,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3380,3066,0,0,0,0,0,0
$GC,9643,-0.49,-146.1,931.4,-8.1,496,9647,0.00,0.93,0.00,0.000,4,0.000,0.063,1458,3930,3065,0,0,0,0,0,0
$GC,9722,-0.49,-146.1,938.6,-8.9,498,9725,0.00,0.85,0.00,0.000,6,0.000,0.038,1458,3378,3065,0,0,0,0,0,0
$GC,10053,-0.49,-146.1,966.6,-8.6,509,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3378,3065,0,0,0,0,0,0
$GC,10358,-0.49,-146.1,991.6,-8.1,519,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3378,3064,0,0,0,0,0,0
$STATE,10477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10477,begin apogee
$GC,10484,-0.14,0.0,1001.3,7.9,523,10634,0.43,0.00,141.98,1.787,6,0.127,0.000,1588,3268,2473,0,0,0,0,1,0
$STATE,10636,end apogee,CONTROL_FINISHED_OK
$STATE,10636,begin climb
$GC,10639,0.49,146.1,1004.9,0.0,528,10801,0.60,2.47,148.75,1.752,4,0.076,0.031,1797,1856,1878,0,0,0,0,1,0
$GC,10853,0.49,146.1,981.1,12.6,534,10858,0.00,2.47,0.00,0.000,6,0.000,0.050,1797,3253,1873,0,0,0,0,0,0
$GC,11172,0.49,146.1,928.2,17.0,545,11178,0.00,1.17,0.00,0.000,4,0.000,0.057,1797,3954,1866,0,0,0,0,0,0
$GC,11285,0.49,146.1,907.0,19.3,548,11289,0.00,1.08,0.00,0.000,6,0.000,0.034,1802,3258,1865,0,0,0,0,0,0
$GC,11615,0.49,146.1,849.6,17.3,559,11618,0.00,1.15,0.00,0.000,4,0.000,0.057,1802,3958,1864,0,0,0,0,0,0
$GC,11723,0.49,146.1,829.9,17.9,562,11727,0.00,1.05,0.00,0.000,6,0.000,0.034,1807,3271,1863,0,0,0,0,0,0
$GC,12058,0.49,146.1,769.3,18.1,573,12062,0.00,1.10,0.00,0.000,4,0.000,0.057,1807,3946,1863,0,0,0,0,0,0
$GC,12120,0.49,146.1,757.4,17.9,574,12128,0.00,1.02,0.00,0.000,6,0.000,0.034,1813,3269,1862,0,0,0,0,0,0
$GC,12433,0.49,146.1,701.6,17.8,585,12439,0.00,1.10,0.00,0.000,4,0.000,0.057,1813,3954,1861,0,0,0,0,0,0
$GC,12486,0.49,146.1,691.5,19.3,586,12490,0.00,1.05,0.00,0.000,6,0.000,0.033,1818,3257,1861,0,0,0,0,0,0
$GC,12811,0.49,146.1,632.4,17.9,597,12815,0.00,1.12,0.00,0.000,4,0.000,0.057,1818,3952,1860,0,0,0,0,0,0
$GC,12879,0.49,146.1,619.2,19.3,599,12885,0.08,1.02,0.00,0.000,6,0.178,0.031,1801,3268,1860,0,0,0,0,0,0
$GC,13223,0.49,146.1,564.1,15.7,610,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3267,1859,0,0,0,0,0,0
$GC,13528,0.49,146.1,515.9,15.9,620,13533,0.00,1.10,0.00,0.000,4,0.000,0.057,1801,3947,1859,0,0,0,0,0,0
$GC,13618,0.49,146.1,500.0,17.6,622,13624,0.00,1.02,0.00,0.000,6,0.000,0.032,1805,3261,1859,0,0,0,0,0,0
$GC,13938,0.49,146.1,447.2,16.6,633,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3263,1858,0,0,0,0,0,0
$GC,14244,0.49,146.1,395.4,16.8,643,14248,0.00,1.10,0.00,0.000,4,0.000,0.056,1805,3947,1858,0,0,0,0,0,0
$GC,14349,0.49,146.1,376.2,18.6,647,14352,0.00,1.00,0.00,0.000,6,0.000,0.032,1810,3275,1858,0,0,0,0,0,0
$GC,14672,0.49,146.1,321.6,16.6,663,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,1810,3274,1857,0,0,0,0,0,0
$GC,14981,0.49,146.1,270.7,16.0,678,14985,0.00,1.10,0.00,0.000,4,0.000,0.055,1810,3958,1857,0,0,0,0,0,0
$GC,15046,0.49,146.1,259.3,17.3,680,15054,0.00,1.02,0.00,0.000,6,0.000,0.031,1815,3270,1858,0,0,0,0,0,0
$GC,15365,0.49,146.1,209.6,15.5,700,15366,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3270,1857,0,0,0,0,0,0
$GC,15678,0.49,146.1,162.0,15.1,720,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,3270,1858,0,0,0,0,0,0
$GC,15989,0.49,146.1,113.3,16.1,740,15993,0.00,1.08,0.00,0.000,4,0.000,0.054,1815,3948,1858,0,0,0,0,0,0
$GC,16082,0.49,146.1,97.4,17.8,745,16087,0.00,1.00,0.00,0.000,6,0.000,0.031,1820,3272,1858,0,0,0,0,0,0
$GC,16437,0.49,146.1,40.8,15.3,806,16446,0.00,2.15,0.00,0.000,4,0.000,0.029,1831,1852,1857,0,0,0,0,0,0
$GC,16510,0.49,146.1,31.8,11.8,817,16518,0.10,2.28,0.00,0.000,6,0.135,0.048,1799,3270,1857,0,0,0,0,0,0
$STATE,16753,end climb,SURFACE_DEPTH_REACHED
$STATE,16753,begin surface coast
$FINISH,1.2,1.026168
$STATE,16792,end surface coast,CONTROL_FINISHED_OK
$STATE,16792,begin surface
$SM_CCo,16808,48.85,0.715,1,0,1450,250.20
$SM_GC,1.87,0.00,0.00,48.85,0.000,0.000,0.715,56,3395,1450,-4.94,0.40,250.20
$IRIDIUM_FIX,-4155.38,905.30,160113,222205
$TT8_MAMPS,0.025466
$HUMID,55.63
$INTERNAL_PRESSURE,9.05425
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.3,39.974
$10V_AH,10.1,24.846
$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,11.550,46.550,290.725,48.850,0.000,26.320,43.787,328.625,0.000,0.000,19.341,2150.487,11362.822,393.763,2611.705,919.564,33.361,1360.645,0.000,2457.573,0.000,1.013,0.000
$DEVICE_MAMPS,218.790,87.210,1787.040,715.275,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.248,1904.881,898.696,391.147,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353896
$DATA_FILE_SIZE,63767,860
$CAP_FILE_SIZE,125048,0
$CFSIZE,259252224,243970048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,170113,082222,-4213.541,907.583,39,0.8,39,-25.2