version: 66.07
glider: 543
mission: 6
dive: 257
start: 1 22 113 18 21 41
data:
$ID,543
$MISSION,6
$DIVE,257
$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,-8564.7568
$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,34
$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
$GPS1,220113,180622,-4236.167,854.450,38,0.7,38,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-61.7
$GPS2,220113,182042,-4236.239,854.654,16,1.7,16,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.155
$KALMAN_X,-100943.9,-563.7,-491.1,174367.3,5630.2
$KALMAN_Y,123667.3,-405.5,-289.1,-134432.3,3439.0
$MHEAD_RNG_PITCHd_Wd,255.8,48708,-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,-146.1,0.0,0.0,0,63,0.00,0.00,-40.83,0.000,2,0.000,0.000,48,3416,2502,0,0,0,0,0,0
$GC,67,-0.47,-146.1,3.0,-3.3,5,103,5.60,0.88,-18.38,0.000,4,0.211,0.098,1467,3936,3072,0,0,0,0,0,0
$GC,158,-0.47,-146.1,11.0,-12.3,17,168,0.00,0.80,0.00,0.000,6,0.000,0.037,1467,3421,3074,0,0,0,0,0,0
$GC,249,-0.47,-146.1,22.9,-12.8,30,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3422,3074,0,0,0,0,0,0
$GC,341,-0.47,-146.1,35.0,-13.3,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3422,3075,0,0,0,0,0,0
$GC,589,-0.47,-146.1,61.4,-10.1,84,600,0.00,0.82,0.00,0.000,4,0.000,0.059,1462,3929,3075,0,0,0,0,0,0
$GC,642,-0.47,-146.1,67.1,-11.0,92,648,0.00,0.82,0.00,0.000,6,0.000,0.036,1463,3395,3075,0,0,0,0,0,0
$GC,997,-0.47,-146.1,99.2,-9.5,153,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3395,3076,0,0,0,0,0,0
$GC,1317,-0.47,-146.1,132.4,-10.5,174,1320,0.00,0.85,0.00,0.000,4,0.000,0.058,1459,3926,3076,0,0,0,0,0,0
$GC,1387,-0.47,-146.1,140.1,-10.9,178,1391,0.00,0.80,0.00,0.000,6,0.000,0.036,1459,3404,3076,0,0,0,0,0,0
$GC,1720,-0.47,-146.1,177.9,-11.4,199,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3403,3077,0,0,0,0,0,0
$GC,2035,-0.47,-146.1,213.1,-11.3,219,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3403,3077,0,0,0,0,0,0
$GC,2345,-0.47,-146.1,247.4,-10.3,239,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3403,3077,0,0,0,0,0,0
$GC,2665,-0.47,-146.1,279.7,-9.9,255,2671,0.00,0.85,0.00,0.000,4,0.000,0.058,1455,3932,3077,0,0,0,0,0,0
$GC,2737,-0.47,-146.1,287.2,-10.2,258,2742,0.00,0.82,0.00,0.000,6,0.000,0.036,1455,3389,3077,0,0,0,0,0,0
$GC,3072,-0.47,-146.1,319.9,-9.7,274,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3389,3077,0,0,0,0,0,0
$GC,3382,-0.47,-146.1,349.9,-9.7,289,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,1455,3389,3077,0,0,0,0,0,0
$GC,3691,-0.47,-146.1,379.3,-9.3,304,3694,0.00,0.88,0.00,0.000,4,0.000,0.058,1451,3936,3077,0,0,0,0,0,0
$GC,3739,-0.47,-146.1,383.9,-9.8,306,3744,0.00,0.82,0.00,0.000,6,0.000,0.037,1451,3394,3077,0,0,0,0,0,0
$GC,4083,-0.47,-146.1,415.3,-9.2,320,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3394,3076,0,0,0,0,0,0
$GC,4388,-0.47,-146.1,442.9,-8.8,330,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3394,3076,0,0,0,0,0,0
$GC,4694,-0.47,-146.1,471.3,-9.5,340,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3394,3076,0,0,0,0,0,0
$GC,5002,-0.47,-146.1,501.1,-9.8,350,5005,0.00,0.88,0.00,0.000,4,0.000,0.058,1447,3939,3075,0,0,0,0,0,0
$GC,5076,-0.47,-146.1,509.1,-11.0,352,5080,0.00,0.82,0.00,0.000,6,0.000,0.036,1447,3399,3075,0,0,0,0,0,0
$GC,5412,-0.47,-146.1,544.0,-10.6,363,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3399,3074,0,0,0,0,0,0
$GC,5720,-0.47,-146.1,577.2,-11.1,373,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3400,3074,0,0,0,0,0,0
$GC,6024,-0.47,-146.1,611.4,-11.1,383,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3399,3073,0,0,0,0,0,0
$GC,6331,-0.47,-146.1,644.0,-10.4,393,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3399,3072,0,0,0,0,0,0
$GC,6638,-0.47,-146.1,675.4,-10.1,403,6642,0.00,0.85,0.00,0.000,4,0.000,0.060,1443,3932,3072,0,0,0,0,0,0
$GC,6727,-0.47,-146.1,684.9,-10.3,405,6731,0.08,0.80,0.00,0.000,6,0.129,0.038,1469,3408,3072,0,0,0,0,0,0
$GC,7046,-0.47,-146.1,709.0,-7.4,416,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3071,0,0,0,0,0,0
$GC,7353,-0.47,-146.1,730.8,-7.0,426,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3070,0,0,0,0,0,0
$GC,7658,-0.47,-146.1,752.4,-6.9,436,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3070,0,0,0,0,0,0
$GC,7964,-0.47,-146.1,774.6,-7.3,446,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3069,0,0,0,0,0,0
$GC,8272,-0.47,-146.1,797.4,-7.4,456,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3068,0,0,0,0,0,0
$GC,8577,-0.47,-146.1,820.5,-7.6,466,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3067,0,0,0,0,0,0
$GC,8883,-0.47,-146.1,842.8,-7.2,476,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3409,3067,0,0,0,0,0,0
$GC,9190,-0.47,-146.1,863.6,-6.7,486,9194,0.00,2.17,0.00,0.000,4,0.000,0.031,1469,1963,3066,0,0,0,0,0,0
$GC,9229,-0.47,-146.1,866.4,-7.0,487,9234,0.00,2.33,0.00,0.000,6,0.000,0.054,1460,3397,3066,0,0,0,0,0,0
$GC,9554,-0.47,-146.1,889.0,-7.1,498,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3397,3065,0,0,0,0,0,0
$GC,9861,-0.47,-146.1,910.2,-6.9,508,9865,0.00,0.88,0.00,0.000,4,0.000,0.060,1456,3944,3065,0,0,0,0,0,0
$GC,9930,-0.47,-146.1,915.5,-7.0,510,9936,0.00,0.85,0.00,0.000,6,0.000,0.037,1456,3389,3065,0,0,0,0,0,0
$GC,10274,-0.47,-146.1,941.2,-7.4,521,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3388,3064,0,0,0,0,0,0
$GC,10579,-0.47,-146.1,963.5,-7.5,531,10585,0.00,0.90,0.00,0.000,4,0.000,0.061,1452,3945,3064,0,0,0,0,0,0
$GC,10685,-0.47,-146.1,972.0,-7.2,534,10689,0.00,0.82,0.00,0.000,6,0.000,0.038,1452,3407,3064,0,0,0,0,0,0
$STATE,11023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11023,begin apogee
$GC,11031,-0.13,0.0,1000.5,8.4,545,11183,0.43,0.00,143.65,1.512,6,0.128,0.000,1580,3273,2473,0,0,0,0,1,0
$STATE,11184,end apogee,CONTROL_FINISHED_OK
$STATE,11184,begin climb
$GC,11187,0.47,146.1,1004.2,0.0,550,11350,0.57,2.47,149.07,1.755,4,0.082,0.031,1782,1869,1878,0,0,0,0,1,0
$GC,11384,0.47,146.1,985.2,11.2,556,11389,0.00,2.50,0.00,0.000,6,0.000,0.050,1782,3281,1874,0,0,0,0,0,0
$GC,11714,0.47,146.1,939.0,14.2,567,11720,0.00,1.10,0.00,0.000,4,0.000,0.059,1782,3942,1866,0,0,0,0,0,0
$GC,11832,0.47,146.1,919.9,16.8,570,11836,0.00,1.02,0.00,0.000,6,0.000,0.033,1787,3276,1865,0,0,0,0,0,0
$GC,12157,0.47,146.1,871.6,15.2,581,12161,0.00,1.10,0.00,0.000,4,0.000,0.059,1788,3946,1864,0,0,0,0,0,0
$GC,12246,0.47,146.1,856.1,16.7,583,12249,0.00,1.02,0.00,0.000,6,0.000,0.034,1793,3273,1864,0,0,0,0,0,0
$GC,12564,0.47,146.1,805.3,16.0,594,12568,0.00,1.10,0.00,0.000,4,0.000,0.060,1793,3948,1862,0,0,0,0,0,0
$GC,12654,0.47,146.1,789.8,17.1,596,12657,0.00,1.02,0.00,0.000,6,0.000,0.034,1798,3273,1862,0,0,0,0,0,0
$GC,12973,0.47,146.1,740.9,15.1,607,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,3273,1861,0,0,0,0,0,0
$GC,13279,0.47,146.1,697.1,14.1,617,13282,0.00,1.10,0.00,0.000,4,0.000,0.059,1797,3948,1861,0,0,0,0,0,0
$GC,13381,0.47,146.1,680.7,16.8,620,13384,0.00,1.00,0.00,0.000,6,0.000,0.033,1803,3282,1861,0,0,0,0,0,0
$GC,13722,0.47,146.1,623.6,17.4,631,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3281,1860,0,0,0,0,0,0
$GC,14028,0.47,146.1,569.9,17.6,641,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3281,1860,0,0,0,0,0,0
$GC,14336,0.47,146.1,518.8,16.4,651,14339,0.00,1.08,0.00,0.000,4,0.000,0.057,1803,3952,1859,0,0,0,0,0,0
$GC,14391,0.47,146.1,508.8,16.0,652,14395,0.00,1.00,0.00,0.000,6,0.000,0.033,1808,3285,1859,0,0,0,0,0,0
$GC,14709,0.47,146.1,459.4,15.1,663,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3284,1859,0,0,0,0,0,0
$GC,15016,0.47,146.1,412.8,15.6,673,15019,0.00,1.08,0.00,0.000,4,0.000,0.057,1808,3949,1858,0,0,0,0,0,0
$GC,15133,0.47,146.1,393.7,16.5,677,15137,0.10,1.00,0.00,0.000,6,0.169,0.032,1784,3278,1858,0,0,0,0,0,0
$GC,15468,0.47,146.1,348.4,13.2,693,15469,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3278,1858,0,0,0,0,0,0
$GC,15777,0.47,146.1,306.9,13.3,708,15778,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3278,1858,0,0,0,0,0,0
$GC,16087,0.47,146.1,264.3,13.9,723,16092,0.00,1.08,0.00,0.000,4,0.000,0.055,1784,3947,1858,0,0,0,0,0,0
$GC,16137,0.47,146.1,257.1,15.5,725,16141,0.00,1.00,0.00,0.000,6,0.000,0.032,1788,3276,1858,0,0,0,0,0,0
$GC,16470,0.47,146.1,209.3,13.8,745,16471,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3275,1857,0,0,0,0,0,0
$GC,16782,0.47,146.1,168.7,12.7,765,16784,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3276,1858,0,0,0,0,0,0
$GC,17097,0.47,146.1,124.0,15.0,785,17101,0.00,1.10,0.00,0.000,4,0.000,0.054,1787,3958,1858,0,0,0,0,0,0
$GC,17170,0.47,146.1,112.5,15.6,789,17173,0.00,1.00,0.00,0.000,6,0.000,0.031,1793,3284,1858,0,0,0,0,0,0
$GC,17516,0.47,146.1,62.8,12.8,840,17525,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3283,1858,0,0,0,0,0,0
$GC,17894,0.47,146.1,16.8,12.4,901,17906,0.00,2.15,0.00,0.000,4,0.000,0.028,1803,1857,1857,0,0,0,0,0,0
$GC,17918,0.47,146.1,14.1,12.0,903,17929,0.00,2.30,0.00,0.000,6,0.000,0.047,1804,3288,1858,0,0,0,0,0,0
$GC,18007,0.47,146.1,3.7,12.6,916,18017,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3288,1858,0,0,0,0,0,0
$STATE,18027,end climb,SURFACE_DEPTH_REACHED
$STATE,18027,begin surface coast
$FINISH,1.1,1.026168
$STATE,18053,end surface coast,CONTROL_FINISHED_OK
$STATE,18053,begin surface
$SM_CCo,18069,40.75,0.705,1,0,1533,230.09
$SM_GC,2.14,0.00,0.00,40.75,0.000,0.000,0.705,47,3405,1533,-4.94,0.14,230.09
$IRIDIUM_FIX,-4221.55,857.45,220113,181848
$TT8_MAMPS,0.025466
$HUMID,55.78
$INTERNAL_PRESSURE,9.03472
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,22.2,43.994
$10V_AH,10.0,28.098
$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,11.500,46.225,292.725,40.750,0.000,51.306,88.199,451.526,0.000,0.000,19.275,2274.991,12443.508,403.336,2845.955,1004.432,33.367,1403.303,0.000,2534.386,0.000,1.016,0.000
$DEVICE_MAMPS,211.140,97.920,1754.910,704.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.169,2031.896,932.903,429.733,0.000,0.000,0.000,0.000,0.000,0.000
$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,67100,922
$CAP_FILE_SIZE,133689,0
$CFSIZE,259252224,242139136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220113,232458,-4237.395,853.267,39,0.9,39,-25.1