version: 66.07
glider: 543
mission: 6
dive: 244
start: 1 19 113 22 4 39
data:
$ID,543
$MISSION,6
$DIVE,244
$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,-8528.5332
$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,56
$R_STBD_OVSHOOT,27
$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
$GPS1,190113,215123,-4229.238,906.444,38,0.8,38,-25.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-51.9
$GPS2,190113,220341,-4229.229,906.543,18,1.4,18,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.036,-0.241
$KALMAN_X,-136443.2,163.2,-233.1,225104.7,4664.5
$KALMAN_Y,97518.7,-339.4,-444.5,-95213.7,6404.6
$MHEAD_RNG_PITCHd_Wd,213.7,9047,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.47,-146.1,0.0,0.0,0,66,0.00,0.00,-41.08,0.000,2,0.000,0.000,48,3414,2496,0,0,0,0,0,0
$GC,70,-0.47,-146.1,3.1,-3.5,5,99,5.80,0.90,-18.20,0.000,4,0.226,0.096,1466,3943,3072,0,0,0,0,0,0
$GC,240,-0.47,-146.1,22.5,-14.3,29,251,0.00,0.80,0.00,0.000,6,0.000,0.036,1466,3423,3075,0,0,0,0,0,0
$GC,330,-0.47,-146.1,34.5,-13.3,42,339,0.00,2.22,0.00,0.000,4,0.000,0.031,1466,1977,3075,0,0,0,0,0,0
$GC,396,-0.47,-146.1,42.8,-12.1,52,405,0.00,2.35,0.00,0.000,6,0.000,0.057,1456,3391,3075,0,0,0,0,0,0
$GC,640,-0.47,-146.1,72.4,-10.8,93,646,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3391,3075,0,0,0,0,0,0
$GC,995,-0.47,-146.1,111.3,-10.2,142,996,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3391,3075,0,0,0,0,0,0
$GC,1307,-0.47,-146.1,143.9,-10.8,162,1310,0.00,0.90,0.00,0.000,4,0.000,0.057,1451,3955,3076,0,0,0,0,0,0
$GC,1401,-0.47,-146.1,155.6,-12.2,167,1405,0.00,0.85,0.00,0.000,6,0.000,0.035,1451,3399,3076,0,0,0,0,0,0
$GC,1727,-0.47,-146.1,194.9,-12.3,188,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3399,3077,0,0,0,0,0,0
$GC,2039,-0.47,-146.1,231.4,-12.0,208,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3399,3077,0,0,0,0,0,0
$GC,2357,-0.47,-146.1,267.8,-11.4,226,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3399,3077,0,0,0,0,0,0
$GC,2666,-0.47,-146.1,302.0,-10.7,241,2672,0.00,0.88,0.00,0.000,4,0.000,0.057,1447,3948,3077,0,0,0,0,0,0
$GC,2741,-0.47,-146.1,310.9,-10.8,244,2747,0.00,0.82,0.00,0.000,6,0.000,0.035,1447,3402,3077,0,0,0,0,0,0
$GC,3071,-0.47,-146.1,345.1,-10.4,260,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3402,3077,0,0,0,0,0,0
$GC,3381,-0.47,-146.1,377.8,-10.8,275,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3402,3077,0,0,0,0,0,0
$GC,3698,-0.47,-146.1,411.2,-10.5,289,3703,0.00,0.88,0.00,0.000,4,0.000,0.058,1443,3948,3077,0,0,0,0,0,0
$GC,3803,-0.47,-146.1,423.0,-11.3,292,3807,0.08,0.82,0.00,0.000,6,0.138,0.035,1468,3402,3077,0,0,0,0,0,0
$GC,4144,-0.47,-146.1,451.6,-8.1,303,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3077,0,0,0,0,0,0
$GC,4451,-0.47,-146.1,476.7,-8.2,313,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3077,0,0,0,0,0,0
$GC,4758,-0.47,-146.1,502.4,-8.5,323,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3076,0,0,0,0,0,0
$GC,5063,-0.47,-146.1,529.0,-8.6,333,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3076,0,0,0,0,0,0
$GC,5369,-0.47,-146.1,555.6,-8.6,343,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3075,0,0,0,0,0,0
$GC,5677,-0.47,-146.1,581.4,-8.5,353,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3075,0,0,0,0,0,0
$GC,5982,-0.47,-146.1,606.6,-8.2,363,5987,0.00,2.17,0.00,0.000,4,0.000,0.031,1468,1968,3074,0,0,0,0,0,0
$GC,6022,-0.47,-146.1,609.9,-7.9,364,6027,0.00,2.35,0.00,0.000,6,0.000,0.052,1459,3410,3074,0,0,0,0,0,0
$GC,6360,-0.47,-146.1,638.3,-8.4,375,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3073,0,0,0,0,0,0
$GC,6665,-0.47,-146.1,663.2,-8.2,385,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3410,3072,0,0,0,0,0,0
$GC,6971,-0.47,-146.1,689.2,-8.4,395,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3072,0,0,0,0,0,0
$GC,7279,-0.47,-146.1,716.3,-8.8,405,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3071,0,0,0,0,0,0
$GC,7583,-0.47,-146.1,743.9,-9.2,415,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3071,0,0,0,0,0,0
$GC,7889,-0.47,-146.1,772.2,-9.4,425,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3411,3070,0,0,0,0,0,0
$GC,8197,-0.47,-146.1,801.3,-9.4,435,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3070,0,0,0,0,0,0
$GC,8502,-0.47,-146.1,829.5,-9.1,445,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3069,0,0,0,0,0,0
$GC,8809,-0.47,-146.1,854.6,-7.8,455,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3069,0,0,0,0,0,0
$GC,9116,-0.47,-146.1,876.7,-7.3,465,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3068,0,0,0,0,0,0
$GC,9421,-0.47,-146.1,901.7,-8.5,475,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3068,0,0,0,0,0,0
$GC,9727,-0.47,-146.1,928.3,-8.5,485,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3067,0,0,0,0,0,0
$GC,10034,-0.47,-146.1,956.8,-9.5,495,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3066,0,0,0,0,0,0
$GC,10342,-0.47,-146.1,985.7,-9.2,505,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3410,3066,0,0,0,0,0,0
$STATE,10520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10520,begin apogee
$GC,10528,-0.13,0.0,1002.5,9.2,511,10676,0.40,0.00,140.25,1.802,6,0.127,0.000,1580,3269,2473,0,0,0,0,1,0
$STATE,10677,end apogee,CONTROL_FINISHED_OK
$STATE,10677,begin climb
$GC,10680,0.47,146.1,1007.7,0.0,516,10843,0.60,2.45,149.50,1.754,4,0.080,0.032,1787,1859,1878,0,0,0,0,1,0
$GC,10877,0.47,146.1,989.4,12.6,522,10881,0.00,2.53,0.00,0.000,6,0.000,0.050,1788,3283,1874,0,0,0,0,0,0
$GC,11207,0.47,146.1,941.3,14.9,533,11213,0.00,1.12,0.00,0.000,4,0.000,0.059,1787,3954,1866,0,0,0,0,0,0
$GC,11314,0.47,146.1,923.5,16.8,536,11318,0.00,1.05,0.00,0.000,6,0.000,0.033,1793,3278,1865,0,0,0,0,0,0
$GC,11649,0.47,146.1,870.2,16.3,547,11653,0.00,1.10,0.00,0.000,4,0.000,0.058,1793,3948,1864,0,0,0,0,0,0
$GC,11711,0.47,146.1,859.1,18.8,548,11719,0.00,1.02,0.00,0.000,6,0.000,0.034,1797,3278,1863,0,0,0,0,0,0
$GC,12024,0.47,146.1,806.3,16.8,559,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3278,1862,0,0,0,0,0,0
$GC,12330,0.47,146.1,756.8,16.0,569,12334,0.00,1.10,0.00,0.000,4,0.000,0.058,1797,3950,1861,0,0,0,0,0,0
$GC,12405,0.47,146.1,743.9,17.1,571,12408,0.00,1.02,0.00,0.000,6,0.000,0.033,1803,3277,1861,0,0,0,0,0,0
$GC,12740,0.47,146.1,688.4,16.5,582,12744,0.00,1.10,0.00,0.000,4,0.000,0.058,1802,3954,1861,0,0,0,0,0,0
$GC,12795,0.47,146.1,678.4,16.9,583,12799,0.00,1.02,0.00,0.000,6,0.000,0.032,1808,3274,1861,0,0,0,0,0,0
$GC,13114,0.47,146.1,626.2,16.3,594,13116,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3274,1860,0,0,0,0,0,0
$GC,13420,0.47,146.1,576.4,16.3,604,13423,0.00,1.10,0.00,0.000,4,0.000,0.057,1808,3952,1860,0,0,0,0,0,0
$GC,13494,0.47,146.1,563.1,18.7,606,13498,0.10,1.02,0.00,0.000,6,0.174,0.032,1785,3272,1860,0,0,0,0,0,0
$GC,13830,0.47,146.1,515.7,13.9,617,13833,0.00,1.10,0.00,0.000,4,0.000,0.057,1785,3952,1859,0,0,0,0,0,0
$GC,13880,0.47,146.1,507.9,14.7,618,13883,0.00,1.00,0.00,0.000,6,0.000,0.033,1788,3282,1859,0,0,0,0,0,0
$GC,14204,0.47,146.1,461.6,14.3,629,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3283,1858,0,0,0,0,0,0
$GC,14511,0.47,146.1,419.4,13.8,639,14515,0.00,1.08,0.00,0.000,4,0.000,0.056,1788,3950,1858,0,0,0,0,0,0
$GC,14595,0.47,146.1,406.4,15.1,641,14598,0.00,1.00,0.00,0.000,6,0.000,0.032,1793,3281,1858,0,0,0,0,0,0
$GC,14913,0.47,146.1,357.9,15.8,656,14914,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3281,1857,0,0,0,0,0,0
$GC,15223,0.47,146.1,312.1,14.1,671,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3281,1857,0,0,0,0,0,0
$GC,15531,0.47,146.1,270.0,13.6,686,15535,0.00,1.08,0.00,0.000,4,0.000,0.054,1793,3954,1857,0,0,0,0,0,0
$GC,15605,0.47,146.1,258.8,14.3,689,15611,0.00,1.00,0.00,0.000,6,0.000,0.032,1798,3279,1857,0,0,0,0,0,0
$GC,15938,0.47,146.1,212.9,14.4,709,15939,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3279,1858,0,0,0,0,0,0
$GC,16251,0.47,146.1,168.3,14.4,729,16256,0.00,1.08,0.00,0.000,4,0.000,0.054,1798,3952,1857,0,0,0,0,0,0
$GC,16298,0.47,146.1,160.4,15.8,731,16304,0.00,1.00,0.00,0.000,6,0.000,0.031,1803,3278,1858,0,0,0,0,0,0
$GC,16617,0.47,146.1,112.8,15.3,752,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3278,1857,0,0,0,0,0,0
$GC,16952,0.47,146.1,64.2,13.3,800,16958,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3278,1857,0,0,0,0,0,0
$GC,17329,0.47,146.1,14.9,9.0,861,17340,0.00,1.08,0.00,0.000,4,0.000,0.054,1803,3949,1857,0,0,0,0,0,0
$STATE,17413,end climb,SURFACE_DEPTH_REACHED
$STATE,17413,begin surface coast
$FINISH,1.1,1.025752
$STATE,17438,end surface coast,CONTROL_FINISHED_OK
$STATE,17438,begin surface
$SM_CCo,17455,40.65,0.704,1,0,1533,230.09
$SM_GC,2.10,0.00,0.00,40.65,0.000,0.000,0.704,52,3407,1533,-4.92,0.20,230.09
$IRIDIUM_FIX,-4212.81,910.95,190113,161632
$TT8_MAMPS,0.025466
$HUMID,54.92
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.2,41.976
$10V_AH,10.0,26.453
$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,11.525,42.025,289.750,40.650,0.000,60.890,99.592,336.915,0.000,0.000,20.420,2146.997,12211.658,384.053,2573.677,919.338,33.373,1289.008,0.000,2328.701,0.000,1.014,0.000
$DEVICE_MAMPS,225.675,95.625,1801.575,703.800,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.512,1929.036,868.643,384.265,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,63649,877
$CAP_FILE_SIZE,120907,0
$CFSIZE,259252224,243068928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,200113,025734,-4231.096,907.223,31,1.1,31,-25.2