version: 66.07
glider: 543
mission: 6
dive: 241
start: 1 19 113 6 33 33
data:
$ID,543
$MISSION,6
$DIVE,241
$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,-8520.3145
$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,52
$R_STBD_OVSHOOT,20
$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
$GPS1,190113,062235,-4228.390,909.380,31,0.9,31,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-47.7
$GPS2,190113,063235,-4228.366,909.616,17,1.0,17,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.076,-0.232
$KALMAN_X,-144321.0,-97.5,-128.3,237338.3,2689.2
$KALMAN_Y,88947.2,-395.8,-243.5,-85190.7,5758.7
$MHEAD_RNG_PITCHd_Wd,223.4,13474,-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,21,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-41.20,0.000,2,0.000,0.000,50,3397,2515,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.1,-4.5,5,104,5.62,0.93,-18.45,0.000,4,0.215,0.098,1468,3947,3072,0,0,0,0,0,0
$GC,391,-0.47,-146.1,39.8,-12.2,54,401,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3411,3075,0,0,0,0,0,0
$GC,648,-0.47,-146.1,69.0,-11.3,95,652,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3411,3075,0,0,0,0,0,0
$GC,1007,-0.47,-146.1,107.1,-10.1,150,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3411,3076,0,0,0,0,0,0
$GC,1319,-0.47,-146.1,137.5,-9.3,170,1322,0.00,0.88,0.00,0.000,4,0.000,0.058,1464,3955,3076,0,0,0,0,0,0
$GC,1389,-0.47,-146.1,144.0,-9.6,174,1392,0.00,0.85,0.00,0.000,6,0.000,0.036,1464,3400,3077,0,0,0,0,0,0
$GC,1723,-0.47,-146.1,174.6,-9.0,195,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3400,3077,0,0,0,0,0,0
$GC,2036,-0.47,-146.1,202.2,-8.7,215,2039,0.00,0.90,0.00,0.000,4,0.000,0.060,1460,3945,3077,0,0,0,0,0,0
$GC,2122,-0.47,-146.1,210.8,-9.8,220,2126,0.00,0.82,0.00,0.000,6,0.000,0.037,1460,3403,3077,0,0,0,0,0,0
$GC,2457,-0.47,-146.1,242.0,-9.2,241,2460,0.00,0.88,0.00,0.000,4,0.000,0.058,1456,3950,3077,0,0,0,0,0,0
$GC,2512,-0.47,-146.1,247.9,-10.4,244,2515,0.00,0.82,0.00,0.000,6,0.000,0.036,1456,3406,3077,0,0,0,0,0,0
$GC,2830,-0.47,-146.1,278.5,-9.9,260,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3406,3077,0,0,0,0,0,0
$GC,3140,-0.47,-146.1,310.0,-10.1,275,3146,0.00,0.88,0.00,0.000,4,0.000,0.059,1452,3953,3077,0,0,0,0,0,0
$GC,3236,-0.47,-146.1,320.5,-11.2,279,3240,0.00,0.85,0.00,0.000,6,0.000,0.036,1452,3392,3077,0,0,0,0,0,0
$GC,3570,-0.47,-146.1,358.2,-11.3,295,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3392,3077,0,0,0,0,0,0
$GC,3879,-0.47,-146.1,393.0,-10.9,310,3883,0.00,0.88,0.00,0.000,4,0.000,0.059,1448,3943,3077,0,0,0,0,0,0
$GC,3972,-0.47,-146.1,403.8,-11.1,313,3976,0.00,0.82,0.00,0.000,6,0.000,0.037,1448,3402,3077,0,0,0,0,0,0
$GC,4293,-0.47,-146.1,439.4,-11.1,324,4297,0.00,0.88,0.00,0.000,4,0.000,0.058,1444,3949,3076,0,0,0,0,0,0
$GC,4386,-0.47,-146.1,450.4,-11.7,326,4390,0.08,0.85,0.00,0.000,6,0.137,0.036,1469,3391,3077,0,0,0,0,0,0
$GC,4706,-0.47,-146.1,480.4,-9.0,337,4709,0.00,0.90,0.00,0.000,4,0.000,0.059,1466,3955,3076,0,0,0,0,0,0
$GC,4784,-0.47,-146.1,488.2,-10.0,339,4789,0.00,0.85,0.00,0.000,6,0.000,0.037,1466,3398,3076,0,0,0,0,0,0
$GC,5115,-0.47,-146.1,518.1,-9.1,350,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3398,3076,0,0,0,0,0,0
$GC,5421,-0.47,-146.1,544.9,-8.8,360,5424,0.00,0.88,0.00,0.000,4,0.000,0.059,1462,3945,3075,0,0,0,0,0,0
$GC,5523,-0.47,-146.1,554.4,-8.9,363,5527,0.00,0.82,0.00,0.000,6,0.000,0.037,1462,3403,3075,0,0,0,0,0,0
$GC,5864,-0.47,-146.1,585.6,-9.2,374,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3403,3074,0,0,0,0,0,0
$GC,6170,-0.47,-146.1,614.3,-9.4,384,6174,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3950,3074,0,0,0,0,0,0
$GC,6296,-0.47,-146.1,626.7,-9.7,387,6300,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3392,3073,0,0,0,0,0,0
$GC,6616,-0.47,-146.1,656.4,-9.3,398,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3392,3072,0,0,0,0,0,0
$GC,6921,-0.47,-146.1,684.1,-9.2,408,6924,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3951,3072,0,0,0,0,0,0
$GC,7100,-0.47,-146.1,701.7,-10.0,413,7104,0.00,0.82,0.00,0.000,6,0.000,0.037,1454,3408,3072,0,0,0,0,0,0
$GC,7431,-0.47,-146.1,730.9,-8.9,424,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3408,3071,0,0,0,0,0,0
$GC,7737,-0.47,-146.1,759.3,-9.5,434,7741,0.00,0.88,0.00,0.000,4,0.000,0.060,1450,3951,3070,0,0,0,0,0,0
$GC,7820,-0.47,-146.1,768.4,-10.8,436,7824,0.00,0.85,0.00,0.000,6,0.000,0.037,1450,3398,3070,0,0,0,0,0,0
$GC,8145,-0.47,-146.1,801.1,-10.2,447,8148,0.00,0.88,0.00,0.000,4,0.000,0.060,1446,3943,3069,0,0,0,0,0,0
$GC,8206,-0.47,-146.1,807.8,-10.2,448,8213,0.08,0.82,0.00,0.000,6,0.135,0.037,1471,3404,3069,0,0,0,0,0,0
$GC,8520,-0.47,-146.1,833.9,-8.1,459,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3405,3069,0,0,0,0,0,0
$GC,8827,-0.47,-146.1,857.3,-7.4,469,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3405,3068,0,0,0,0,0,0
$GC,9132,-0.47,-146.1,878.1,-6.5,479,9137,0.00,0.88,0.00,0.000,4,0.000,0.062,1468,3947,3068,0,0,0,0,0,0
$GC,9237,-0.47,-146.1,885.2,-7.0,482,9241,0.00,0.85,0.00,0.000,6,0.000,0.039,1468,3393,3067,0,0,0,0,0,0
$GC,9579,-0.47,-146.1,908.3,-6.8,493,9583,0.00,0.90,0.00,0.000,4,0.000,0.061,1464,3950,3067,0,0,0,0,0,0
$GC,9663,-0.47,-146.1,914.9,-8.6,495,9666,0.00,0.85,0.00,0.000,6,0.000,0.038,1464,3396,3067,0,0,0,0,0,0
$GC,9988,-0.47,-146.1,938.3,-7.4,506,9991,0.00,0.90,0.00,0.000,4,0.000,0.061,1460,3954,3066,0,0,0,0,0,0
$GC,10076,-0.47,-146.1,945.7,-8.0,508,10080,0.00,0.85,0.00,0.000,6,0.000,0.038,1460,3398,3065,0,0,0,0,0,0
$GC,10396,-0.47,-146.1,969.9,-7.7,519,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3398,3065,0,0,0,0,0,0
$GC,10702,-0.47,-146.1,993.5,-7.8,529,10706,0.00,0.88,0.00,0.000,4,0.000,0.061,1456,3940,3065,0,0,0,0,0,0
$STATE,10778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10778,begin apogee
$GC,10785,-0.13,0.0,1000.2,8.4,531,10938,0.38,0.00,149.35,1.223,6,0.128,0.000,1575,3268,2473,0,0,0,0,0,0
$STATE,10939,end apogee,CONTROL_FINISHED_OK
$STATE,10939,begin climb
$GC,10942,0.47,146.1,1003.2,0.0,536,11102,0.57,2.45,151.38,1.199,4,0.086,0.031,1779,1864,1870,0,0,0,0,0,0
$GC,11153,0.47,146.1,981.7,11.4,542,11159,0.00,2.50,0.00,0.000,6,0.000,0.051,1779,3277,1860,0,0,0,0,0,0
$GC,11481,0.47,146.1,934.9,14.7,553,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3277,1854,0,0,0,0,0,0
$GC,11785,0.47,146.1,890.0,14.8,563,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3277,1852,0,0,0,0,0,0
$GC,12091,0.47,146.1,845.4,14.6,573,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3277,1851,0,0,0,0,0,0
$GC,12399,0.47,146.1,802.7,14.1,583,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3276,1850,0,0,0,0,0,0
$GC,12704,0.47,146.1,761.2,13.5,593,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3276,1849,0,0,0,0,0,0
$GC,13010,0.47,146.1,718.2,14.1,603,13014,0.00,2.17,0.00,0.000,4,0.000,0.034,1789,1860,1848,0,0,0,0,0,0
$GC,13060,0.47,146.1,711.6,12.2,604,13064,0.00,2.33,0.00,0.000,6,0.000,0.053,1789,3291,1847,0,0,0,0,0,0
$GC,13373,0.47,146.1,662.0,16.4,614,13374,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3292,1847,0,0,0,0,0,0
$GC,13680,0.47,146.1,612.4,16.1,624,13681,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3291,1847,0,0,0,0,0,0
$GC,13986,0.47,146.1,563.8,15.8,634,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3291,1847,0,0,0,0,0,0
$GC,14292,0.47,146.1,515.1,15.7,644,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3291,1847,0,0,0,0,0,0
$GC,14599,0.47,146.1,468.2,15.2,654,14600,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3291,1847,0,0,0,0,0,0
$GC,14904,0.47,146.1,420.8,15.5,664,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3291,1847,0,0,0,0,0,0
$GC,15224,0.47,146.1,371.4,15.4,677,15230,0.00,2.20,0.00,0.000,4,0.000,0.031,1801,1855,1847,0,0,0,0,0,0
$GC,15252,0.47,146.1,367.0,13.6,678,15257,0.00,2.30,0.00,0.000,6,0.000,0.049,1801,3290,1846,0,0,0,0,0,0
$GC,15575,0.47,146.1,317.0,15.9,694,15579,0.00,1.05,0.00,0.000,4,0.000,0.055,1801,3950,1846,0,0,0,0,0,0
$GC,15663,0.47,146.1,302.0,17.8,697,15670,0.00,1.02,0.00,0.000,6,0.000,0.031,1806,3258,1846,0,0,0,0,0,0
$GC,15982,0.47,146.1,253.0,15.2,713,15983,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3259,1846,0,0,0,0,0,0
$GC,16300,0.47,146.1,204.8,15.0,733,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3258,1846,0,0,0,0,0,0
$GC,16612,0.47,146.1,158.5,14.5,753,16613,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3258,1846,0,0,0,0,0,0
$GC,16924,0.47,146.1,111.7,14.2,773,16930,0.00,1.10,0.00,0.000,4,0.000,0.054,1806,3943,1846,0,0,0,0,0,0
$GC,17028,0.47,146.1,95.8,15.2,780,17037,0.10,0.98,0.00,0.000,6,0.167,0.032,1782,3282,1846,0,0,0,0,0,0
$GC,17390,0.47,146.1,52.7,9.8,841,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3282,1846,0,0,0,0,0,0
$GC,17645,0.47,146.1,26.3,10.7,882,17654,0.00,2.15,0.00,0.000,4,0.000,0.029,1791,1865,1846,0,0,0,0,0,0
$GC,17748,0.47,146.1,17.6,8.3,897,17759,0.00,2.28,0.00,0.000,6,0.000,0.049,1791,3275,1846,0,0,0,0,0,0
$GC,17838,0.47,146.1,7.7,11.4,910,17849,0.00,1.08,0.00,0.000,4,0.000,0.056,1791,3950,1846,0,0,0,0,0,0
$STATE,17871,end climb,SURFACE_DEPTH_REACHED
$STATE,17871,begin surface coast
$FINISH,1.1,1.013689
$STATE,17897,end surface coast,CONTROL_FINISHED_OK
$STATE,17897,begin surface
$SM_CCo,17914,42.00,0.684,1,0,1532,230.09
$SM_GC,2.22,0.00,0.00,42.00,0.000,0.000,0.684,56,3402,1532,-4.91,0.06,230.09
$IRIDIUM_FIX,-4212.81,908.07,190113,010133
$TT8_MAMPS,0.025466
$HUMID,55.00
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.7,41.486
$10V_AH,10.1,26.087
$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,11.550,53.950,300.725,42.000,0.000,28.205,44.479,346.911,0.000,0.000,19.809,2291.849,12106.901,399.609,2777.701,982.070,33.367,1421.441,0.000,2587.820,0.000,1.013,0.000
$DEVICE_MAMPS,214.965,97.920,1223.235,683.910,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.916,2012.989,949.227,455.484,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,67193,918
$CAP_FILE_SIZE,134011,0
$CFSIZE,259252224,243265536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190113,113404,-4229.836,909.323,27,1.2,27,-25.2