version: 66.07
glider: 543
mission: 6
dive: 246
start: 1 20 113 8 22 34
data:
$ID,543
$MISSION,6
$DIVE,246
$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,-8534.1221
$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,53
$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
$GPS1,200113,081205,-4230.618,905.936,38,0.9,38,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.9
$GPS2,200113,082136,-4230.517,905.997,19,0.8,19,-25.2
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH4
$TGT_LATLONG,-4230.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.228,-0.086
$KALMAN_X,-130306.3,-684.9,-25.2,218865.6,6173.0
$KALMAN_Y,102224.3,-694.1,-369.7,-102027.8,6370.4
$MHEAD_RNG_PITCHd_Wd,274.5,8244,-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,-41.50,0.000,2,0.000,0.000,46,3404,2513,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-3.8,5,98,5.72,2.22,-18.67,0.000,4,0.220,0.045,1469,1994,3071,0,0,0,0,0,0
$GC,152,-0.47,-146.1,9.6,-10.1,16,163,0.00,2.33,0.00,0.000,6,0.000,0.057,1460,3388,3073,0,0,0,0,0,0
$GC,247,-0.47,-146.1,21.4,-13.7,29,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3074,0,0,0,0,0,0
$GC,335,-0.47,-146.1,33.7,-12.9,42,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3388,3074,0,0,0,0,0,0
$GC,582,-0.47,-146.1,66.9,-13.0,83,589,0.00,2.12,0.00,0.000,4,0.000,0.031,1460,1996,3075,0,0,0,0,0,0
$GC,677,-0.47,-146.1,77.1,-9.9,99,685,0.00,2.33,0.00,0.000,6,0.000,0.057,1449,3405,3075,0,0,0,0,0,0
$GC,1033,-0.47,-146.1,118.5,-11.4,142,1037,0.00,0.88,0.00,0.000,4,0.000,0.059,1445,3953,3075,0,0,0,0,0,0
$GC,1106,-0.47,-146.1,127.6,-11.7,146,1110,0.08,0.82,0.00,0.000,6,0.145,0.036,1469,3413,3075,0,0,0,0,0,0
$GC,1442,-0.47,-146.1,159.3,-9.2,167,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3412,3076,0,0,0,0,0,0
$GC,1753,-0.47,-146.1,186.6,-8.5,187,1757,0.00,2.15,0.00,0.000,4,0.000,0.030,1469,1979,3076,0,0,0,0,0,0
$GC,1784,-0.47,-146.1,189.4,-8.2,189,1788,0.00,2.33,0.00,0.000,6,0.000,0.055,1460,3410,3076,0,0,0,0,0,0
$GC,2110,-0.47,-146.1,220.7,-9.9,210,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3410,3076,0,0,0,0,0,0
$GC,2422,-0.47,-146.1,251.1,-9.7,230,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3410,3076,0,0,0,0,0,0
$GC,2732,-0.47,-146.1,282.1,-10.0,245,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3410,3077,0,0,0,0,0,0
$GC,3041,-0.47,-146.1,313.4,-10.0,260,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3410,3077,0,0,0,0,0,0
$GC,3351,-0.47,-146.1,345.4,-10.3,275,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3410,3077,0,0,0,0,0,0
$GC,3659,-0.47,-146.1,376.8,-10.0,290,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3410,3077,0,0,0,0,0,0
$GC,3967,-0.47,-146.1,407.2,-9.7,304,3971,0.00,2.15,0.00,0.000,4,0.000,0.030,1460,1977,3077,0,0,0,0,0,0
$GC,4000,-0.47,-146.1,410.5,-8.9,305,4004,0.00,2.30,0.00,0.000,6,0.000,0.054,1449,3400,3077,0,0,0,0,0,0
$GC,4330,-0.47,-146.1,442.7,-9.7,316,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3400,3077,0,0,0,0,0,0
$GC,4636,-0.47,-146.1,471.3,-9.2,326,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3400,3076,0,0,0,0,0,0
$GC,4943,-0.47,-146.1,498.1,-9.0,336,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3076,0,0,0,0,0,0
$GC,5248,-0.47,-146.1,525.7,-9.1,346,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3399,3076,0,0,0,0,0,0
$GC,5554,-0.47,-146.1,554.8,-9.7,356,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3075,0,0,0,0,0,0
$GC,5862,-0.47,-146.1,584.5,-9.8,366,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3075,0,0,0,0,0,0
$GC,6167,-0.47,-146.1,615.1,-10.2,376,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3074,0,0,0,0,0,0
$GC,6473,-0.47,-146.1,646.1,-10.2,386,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3399,3073,0,0,0,0,0,0
$GC,6781,-0.47,-146.1,675.6,-9.2,396,6785,0.00,2.15,0.00,0.000,4,0.000,0.031,1449,1977,3072,0,0,0,0,0,0
$GC,6813,-0.47,-146.1,679.0,-8.7,397,6818,0.12,2.33,0.00,0.000,6,0.149,0.054,1471,3406,3072,0,0,0,0,0,0
$GC,7144,-0.47,-146.1,704.0,-7.7,408,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3406,3071,0,0,0,0,0,0
$GC,7452,-0.47,-146.1,727.4,-7.6,418,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3406,3071,0,0,0,0,0,0
$GC,7756,-0.47,-146.1,750.4,-7.5,428,7762,0.00,2.17,0.00,0.000,4,0.000,0.031,1471,1975,3071,0,0,0,0,0,0
$GC,7785,-0.47,-146.1,752.6,-7.7,428,7792,0.00,2.30,0.00,0.000,6,0.000,0.054,1463,3403,3070,0,0,0,0,0,0
$GC,8099,-0.47,-146.1,776.7,-7.7,439,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3403,3070,0,0,0,0,0,0
$GC,8406,-0.47,-146.1,800.1,-7.7,449,8410,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3949,3069,0,0,0,0,0,0
$GC,8444,-0.47,-146.1,803.3,-8.6,450,8447,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3394,3069,0,0,0,0,0,0
$GC,8786,-0.47,-146.1,830.8,-8.0,461,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3069,0,0,0,0,0,0
$GC,9091,-0.47,-146.1,855.9,-8.4,471,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3394,3069,0,0,0,0,0,0
$GC,9399,-0.47,-146.1,881.9,-8.4,481,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3394,3068,0,0,0,0,0,0
$GC,9704,-0.47,-146.1,907.1,-8.1,491,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3067,0,0,0,0,0,0
$GC,10011,-0.47,-146.1,931.8,-8.0,501,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3067,0,0,0,0,0,0
$GC,10318,-0.47,-146.1,955.3,-7.7,511,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3066,0,0,0,0,0,0
$GC,10623,-0.47,-146.1,978.0,-7.3,521,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3066,0,0,0,0,0,0
$GC,10929,-0.47,-146.1,999.8,-6.9,531,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3394,3066,0,0,0,0,0,0
$STATE,10956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10963,-0.13,0.0,1002.1,6.9,532,11117,0.40,0.00,151.02,1.233,6,0.129,0.000,1579,3280,2473,0,0,0,0,0,0
$STATE,11119,end apogee,CONTROL_FINISHED_OK
$STATE,11119,begin climb
$GC,11122,0.47,146.1,1004.1,0.0,537,11282,0.57,2.45,150.75,1.193,4,0.086,0.031,1783,1857,1870,0,0,0,0,0,0
$GC,11299,0.47,146.1,984.9,12.7,542,11304,0.00,2.53,0.00,0.000,6,0.000,0.050,1784,3276,1863,0,0,0,0,0,0
$GC,11618,0.47,146.1,936.2,15.4,553,11622,0.00,1.12,0.00,0.000,4,0.000,0.057,1784,3950,1853,0,0,0,0,0,0
$GC,11712,0.47,146.1,920.0,15.9,555,11719,0.00,1.05,0.00,0.000,6,0.000,0.033,1789,3273,1852,0,0,0,0,0,0
$GC,12026,0.47,146.1,871.8,15.2,566,12029,0.00,1.12,0.00,0.000,4,0.000,0.058,1788,3954,1851,0,0,0,0,0,0
$GC,12100,0.47,146.1,859.7,16.8,568,12104,0.00,1.05,0.00,0.000,6,0.000,0.034,1794,3272,1850,0,0,0,0,0,0
$GC,12435,0.47,146.1,806.5,15.9,579,12439,0.00,1.12,0.00,0.000,4,0.000,0.058,1793,3955,1849,0,0,0,0,0,0
$GC,12471,0.47,146.1,800.7,17.0,580,12474,0.00,1.02,0.00,0.000,6,0.000,0.034,1798,3280,1849,0,0,0,0,0,0
$GC,12812,0.47,146.1,744.3,16.8,591,12815,0.00,1.08,0.00,0.000,4,0.000,0.059,1799,3949,1848,0,0,0,0,0,0
$GC,12895,0.47,146.1,729.0,17.7,593,12898,0.00,1.02,0.00,0.000,6,0.000,0.033,1804,3272,1848,0,0,0,0,0,0
$GC,13219,0.47,146.1,673.8,17.3,604,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,1804,3273,1848,0,0,0,0,0,0
$GC,13525,0.47,146.1,621.8,17.0,614,13529,0.00,1.10,0.00,0.000,4,0.000,0.058,1804,3950,1847,0,0,0,0,0,0
$GC,13614,0.47,146.1,605.5,17.8,616,13617,0.00,1.00,0.00,0.000,6,0.000,0.032,1809,3281,1847,0,0,0,0,0,0
$GC,13932,0.47,146.1,551.2,16.8,627,13936,0.00,1.10,0.00,0.000,4,0.000,0.057,1809,3957,1847,0,0,0,0,0,0
$GC,14005,0.47,146.1,537.7,18.8,629,14009,0.10,1.02,0.00,0.000,6,0.176,0.033,1786,3273,1847,0,0,0,0,0,0
$GC,14340,0.47,146.1,490.7,13.5,640,14344,0.00,1.10,0.00,0.000,4,0.000,0.056,1786,3954,1847,0,0,0,0,0,0
$GC,14379,0.47,146.1,484.7,14.7,641,14383,0.00,1.00,0.00,0.000,6,0.000,0.033,1789,3289,1847,0,0,0,0,0,0
$GC,14714,0.47,146.1,438.4,13.6,652,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3288,1847,0,0,0,0,0,0
$GC,15020,0.47,146.1,396.5,13.8,662,15024,0.00,1.08,0.00,0.000,4,0.000,0.056,1789,3958,1847,0,0,0,0,0,0
$GC,15104,0.47,146.1,383.7,14.3,665,15111,0.00,1.02,0.00,0.000,6,0.000,0.032,1794,3273,1847,0,0,0,0,0,0
$GC,15427,0.47,146.1,339.6,14.0,681,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3273,1847,0,0,0,0,0,0
$GC,15731,0.47,146.1,297.1,13.6,696,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3273,1846,0,0,0,0,0,0
$GC,16041,0.47,146.1,253.1,14.1,711,16047,0.00,1.10,0.00,0.000,4,0.000,0.055,1794,3958,1847,0,0,0,0,0,0
$GC,16105,0.47,146.1,242.5,16.0,714,16113,0.00,1.00,0.00,0.000,6,0.000,0.032,1799,3284,1846,0,0,0,0,0,0
$GC,16427,0.47,146.1,194.7,15.3,735,16428,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3284,1846,0,0,0,0,0,0
$GC,16739,0.47,146.1,146.7,15.5,755,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3284,1846,0,0,0,0,0,0
$GC,17052,0.47,146.1,100.4,14.5,775,17053,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3283,1846,0,0,0,0,0,0
$GC,17397,0.47,146.1,52.4,13.0,833,17403,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3284,1847,0,0,0,0,0,0
$GC,17658,0.47,146.1,19.9,12.3,874,17669,0.00,1.08,0.00,0.000,4,0.000,0.053,1799,3955,1847,0,0,0,0,0,0
$GC,17761,0.47,146.1,5.7,14.1,889,17771,0.00,1.00,0.00,0.000,6,0.000,0.031,1804,3279,1847,0,0,0,0,0,0
$STATE,17780,end climb,SURFACE_DEPTH_REACHED
$STATE,17781,begin surface coast
$FINISH,1.3,1.026162
$STATE,17807,end surface coast,CONTROL_FINISHED_OK
$STATE,17808,begin surface
$SM_CCo,17823,40.83,0.688,1,0,1534,230.09
$SM_GC,2.36,0.00,0.00,40.83,0.000,0.000,0.688,48,3416,1534,-4.94,0.45,230.09
$IRIDIUM_FIX,-4215.72,908.07,200113,030305
$TT8_MAMPS,0.024717
$HUMID,55.31
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,22.7,42.245
$10V_AH,10.0,26.701
$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,11.700,56.825,301.775,40.825,0.000,26.889,20.585,341.204,0.000,0.000,22.191,2197.868,12388.888,406.730,2476.628,966.995,33.367,1325.727,0.000,2399.854,0.000,1.013,0.000
$DEVICE_MAMPS,219.555,74.205,1233.180,687.735,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.561,1993.355,897.669,384.027,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,67100,895
$CAP_FILE_SIZE,126530,0
$CFSIZE,259252224,242925568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200113,132135,-4230.380,904.373,29,1.0,29,-25.2