version: 66.07
glider: 543
mission: 6
dive: 237
start: 1 18 113 9 47 27
data:
$ID,543
$MISSION,6
$DIVE,237
$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,230
$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,-8509.1865
$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,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,28
$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
$GPS1,180113,093652,-4222.689,910.870,38,1.0,38,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-63.2
$GPS2,180113,094629,-4222.646,910.924,15,1.4,15,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,-0.230
$KALMAN_X,-149974.4,91.4,36.8,244410.8,1066.9
$KALMAN_Y,77738.0,-137.9,-162.8,-63731.4,4716.9
$MHEAD_RNG_PITCHd_Wd,224.6,20198,-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,17,begin dive
$GC,20,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.40,0.000,2,0.000,0.000,47,3414,2526,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-3.5,5,95,5.72,0.93,-17.42,0.000,4,0.222,0.096,1465,3953,3071,0,0,0,0,0,0
$GC,175,-0.47,-146.1,14.0,-13.2,20,184,0.00,0.82,0.00,0.000,6,0.000,0.036,1465,3422,3073,0,0,0,0,0,0
$GC,265,-0.47,-146.1,26.1,-13.1,33,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3422,3074,0,0,0,0,0,0
$GC,352,-0.47,-146.1,37.2,-12.9,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3422,3074,0,0,0,0,0,0
$GC,601,-0.47,-146.1,68.5,-12.4,87,607,0.00,0.85,0.00,0.000,4,0.000,0.060,1461,3944,3075,0,0,0,0,0,0
$GC,698,-0.47,-146.1,80.1,-11.8,103,703,0.00,0.85,0.00,0.000,6,0.000,0.036,1461,3389,3075,0,0,0,0,0,0
$GC,1048,-0.47,-146.1,116.2,-10.1,145,1053,0.00,2.15,0.00,0.000,4,0.000,0.031,1461,1978,3075,0,0,0,0,0,0
$GC,1089,-0.47,-146.1,120.7,-9.4,147,1093,0.00,2.30,0.00,0.000,6,0.000,0.057,1450,3391,3076,0,0,0,0,0,0
$GC,1410,-0.47,-146.1,157.2,-12.1,167,1413,0.00,0.88,0.00,0.000,4,0.000,0.058,1446,3945,3076,0,0,0,0,0,0
$GC,1518,-0.47,-146.1,170.0,-12.3,173,1521,0.00,0.82,0.00,0.000,6,0.000,0.034,1446,3398,3076,0,0,0,0,0,0
$GC,1849,-0.47,-146.1,209.1,-11.8,194,1854,0.10,0.90,0.00,0.000,4,0.170,0.060,1469,3948,3076,0,0,0,0,0,0
$GC,1895,-0.47,-146.1,214.5,-10.4,196,1903,0.00,0.82,0.00,0.000,6,0.000,0.035,1468,3403,3076,0,0,0,0,0,0
$GC,2217,-0.47,-146.1,245.4,-9.9,217,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3402,3077,0,0,0,0,0,0
$GC,2532,-0.47,-146.1,276.8,-9.9,233,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3077,0,0,0,0,0,0
$GC,2841,-0.47,-146.1,307.3,-9.7,248,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3402,3077,0,0,0,0,0,0
$GC,3150,-0.47,-146.1,335.6,-8.9,263,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3077,0,0,0,0,0,0
$GC,3459,-0.47,-146.1,363.9,-9.3,278,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3077,0,0,0,0,0,0
$GC,3769,-0.47,-146.1,393.2,-9.5,293,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3077,0,0,0,0,0,0
$GC,4095,-0.47,-146.1,423.8,-9.1,305,4100,0.00,0.88,0.00,0.000,4,0.000,0.060,1464,3947,3077,0,0,0,0,0,0
$GC,4151,-0.47,-146.1,429.2,-9.3,306,4155,0.00,0.82,0.00,0.000,6,0.000,0.036,1464,3400,3077,0,0,0,0,0,0
$GC,4471,-0.47,-146.1,457.4,-8.9,317,4475,0.00,2.15,0.00,0.000,4,0.000,0.031,1465,1980,3077,0,0,0,0,0,0
$GC,4521,-0.47,-146.1,461.8,-8.0,318,4525,0.00,2.30,0.00,0.000,6,0.000,0.054,1454,3405,3077,0,0,0,0,0,0
$GC,4834,-0.47,-146.1,490.6,-9.4,328,4837,0.00,0.88,0.00,0.000,4,0.000,0.059,1449,3956,3076,0,0,0,0,0,0
$GC,4917,-0.47,-146.1,499.3,-10.1,330,4921,0.00,0.85,0.00,0.000,6,0.000,0.035,1449,3393,3077,0,0,0,0,0,0
$GC,5242,-0.47,-146.1,530.9,-9.7,341,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3393,3076,0,0,0,0,0,0
$GC,5549,-0.47,-146.1,560.2,-9.4,351,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3393,3076,0,0,0,0,0,0
$GC,5854,-0.47,-146.1,588.5,-9.1,361,5860,0.00,0.90,0.00,0.000,4,0.000,0.060,1445,3953,3075,0,0,0,0,0,0
$GC,5911,-0.47,-146.1,594.3,-9.6,362,5915,0.08,0.82,0.00,0.000,6,0.136,0.036,1470,3409,3075,0,0,0,0,0,0
$GC,6231,-0.47,-146.1,617.6,-7.2,373,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3409,3075,0,0,0,0,0,0
$GC,6536,-0.47,-146.1,640.3,-7.5,383,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3409,3074,0,0,0,0,0,0
$GC,6842,-0.47,-146.1,664.2,-8.0,393,6846,0.00,0.88,0.00,0.000,4,0.000,0.062,1467,3949,3073,0,0,0,0,0,0
$GC,6925,-0.47,-146.1,671.8,-9.4,395,6929,0.00,0.85,0.00,0.000,6,0.000,0.037,1467,3392,3073,0,0,0,0,0,0
$GC,7251,-0.47,-146.1,701.0,-9.2,406,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3391,3072,0,0,0,0,0,0
$GC,7557,-0.47,-146.1,730.1,-9.5,416,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3391,3072,0,0,0,0,0,0
$GC,7862,-0.47,-146.1,758.8,-9.1,426,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3392,3071,0,0,0,0,0,0
$GC,8169,-0.47,-146.1,785.8,-8.8,436,8172,0.00,0.90,0.00,0.000,4,0.000,0.062,1463,3948,3071,0,0,0,0,0,0
$GC,8224,-0.47,-146.1,791.0,-9.2,437,8227,0.00,0.82,0.00,0.000,6,0.000,0.037,1463,3406,3071,0,0,0,0,0,0
$GC,8543,-0.47,-146.1,816.9,-8.0,448,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3070,0,0,0,0,0,0
$GC,8849,-0.47,-146.1,840.6,-7.7,458,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3069,0,0,0,0,0,0
$GC,9156,-0.47,-146.1,864.0,-7.6,468,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3069,0,0,0,0,0,0
$GC,9461,-0.47,-146.1,887.2,-7.7,478,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3069,0,0,0,0,0,0
$GC,9768,-0.47,-146.1,910.3,-7.6,488,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3068,0,0,0,0,0,0
$GC,10075,-0.47,-146.1,933.6,-7.8,498,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3406,3068,0,0,0,0,0,0
$GC,10380,-0.47,-146.1,958.7,-8.3,508,10385,0.00,2.17,0.00,0.000,4,0.000,0.032,1463,1978,3067,0,0,0,0,0,0
$GC,10420,-0.47,-146.1,962.3,-8.3,509,10425,0.00,2.35,0.00,0.000,6,0.000,0.055,1453,3407,3067,0,0,0,0,0,0
$GC,10758,-0.47,-146.1,993.6,-9.4,520,10761,0.00,0.88,0.00,0.000,4,0.000,0.062,1449,3951,3066,0,0,0,0,0,0
$STATE,10823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10823,begin apogee
$GC,10831,-0.13,0.0,1000.5,10.2,522,10983,0.45,0.00,149.25,1.214,6,0.129,0.000,1585,3277,2473,0,0,0,0,0,0
$STATE,10985,end apogee,CONTROL_FINISHED_OK
$STATE,10985,begin climb
$GC,10988,0.47,146.1,1005.3,0.0,527,11143,0.55,0.00,151.75,1.191,6,0.082,0.000,1774,3277,1877,0,0,0,0,0,0
$GC,11447,0.47,146.1,952.0,13.2,542,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,3277,1855,0,0,0,0,0,0
$GC,11755,0.47,146.1,911.3,13.4,552,11759,0.00,1.12,0.00,0.000,4,0.000,0.059,1774,3953,1853,0,0,0,0,0,0
$GC,11804,0.47,146.1,903.5,15.3,553,11808,0.00,1.05,0.00,0.000,6,0.000,0.034,1779,3272,1852,0,0,0,0,0,0
$GC,12128,0.47,146.1,857.2,14.2,564,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3273,1851,0,0,0,0,0,0
$GC,12435,0.47,146.1,815.2,13.5,574,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3273,1851,0,0,0,0,0,0
$GC,12742,0.47,146.1,774.2,13.3,584,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3273,1849,0,0,0,0,0,0
$GC,13047,0.47,146.1,732.1,13.9,594,13052,0.00,1.10,0.00,0.000,4,0.000,0.059,1779,3948,1849,0,0,0,0,0,0
$GC,13120,0.47,146.1,720.5,15.0,596,13124,0.00,1.00,0.00,0.000,6,0.000,0.034,1784,3287,1849,0,0,0,0,0,0
$GC,13456,0.47,146.1,669.9,15.3,607,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3286,1848,0,0,0,0,0,0
$GC,13762,0.47,146.1,623.7,15.0,617,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3287,1848,0,0,0,0,0,0
$GC,14070,0.47,146.1,580.3,13.8,627,14074,0.00,1.08,0.00,0.000,4,0.000,0.059,1784,3944,1848,0,0,0,0,0,0
$GC,14144,0.47,146.1,569.1,15.3,629,14148,0.00,1.00,0.00,0.000,6,0.000,0.032,1789,3278,1848,0,0,0,0,0,0
$GC,14480,0.47,146.1,522.5,13.6,640,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3278,1847,0,0,0,0,0,0
$GC,14788,0.47,146.1,480.6,13.9,650,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3278,1847,0,0,0,0,0,0
$GC,15093,0.47,146.1,438.8,13.6,660,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3278,1847,0,0,0,0,0,0
$GC,15399,0.47,146.1,397.4,13.3,670,15402,0.00,1.08,0.00,0.000,4,0.000,0.057,1789,3947,1848,0,0,0,0,0,0
$GC,15450,0.47,146.1,390.1,14.2,672,15454,0.00,1.00,0.00,0.000,6,0.000,0.032,1794,3277,1847,0,0,0,0,0,0
$GC,15778,0.47,146.1,345.1,13.4,688,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3277,1847,0,0,0,0,0,0
$GC,16088,0.47,146.1,303.4,13.9,703,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3277,1847,0,0,0,0,0,0
$GC,16397,0.47,146.1,260.1,13.9,718,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3277,1847,0,0,0,0,0,0
$GC,16714,0.47,146.1,215.2,14.3,737,16720,0.00,1.08,0.00,0.000,4,0.000,0.054,1794,3946,1847,0,0,0,0,0,0
$GC,16769,0.47,146.1,206.3,15.4,740,16773,0.00,1.00,0.00,0.000,6,0.000,0.031,1799,3271,1847,0,0,0,0,0,0
$GC,17103,0.47,146.1,155.2,15.5,761,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3272,1847,0,0,0,0,0,0
$GC,17414,0.47,146.1,107.7,15.4,781,17415,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3271,1847,0,0,0,0,0,0
$GC,17752,0.47,146.1,59.2,14.2,833,17760,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3272,1847,0,0,0,0,0,0
$GC,18005,0.47,146.1,25.2,13.5,874,18015,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3271,1847,0,0,0,0,0,0
$GC,18096,0.47,146.1,13.3,13.1,887,18106,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3271,1847,0,0,0,0,0,0
$STATE,18176,end climb,SURFACE_DEPTH_REACHED
$STATE,18176,begin surface coast
$FINISH,1.3,1.020396
$STATE,18205,end surface coast,CONTROL_FINISHED_OK
$STATE,18205,begin surface
$SM_CCo,18221,41.15,0.680,1,0,1532,230.09
$SM_GC,2.22,0.00,0.00,41.15,0.000,0.000,0.680,49,3416,1532,-4.93,0.48,230.09
$IRIDIUM_FIX,-4206.99,907.14,180113,040409
$TT8_MAMPS,0.025466
$HUMID,55.63
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.7,40.860
$10V_AH,10.1,25.577
$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,11.500,41.550,301.000,41.150,0.000,24.887,44.693,331.179,0.000,0.000,17.462,2220.850,12780.548,419.707,2471.517,950.871,33.369,1321.565,0.000,2373.108,0.000,1.012,0.000
$DEVICE_MAMPS,221.850,96.390,1214.055,680.085,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.299,1992.022,882.758,386.137,0.000,0.000,0.000,0.000,0.000,0.000
$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,67153,903
$CAP_FILE_SIZE,125015,0
$CFSIZE,259252224,243552256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180113,145307,-4224.391,910.164,30,0.9,30,-25.2