version: 66.07
glider: 543
mission: 6
dive: 266
start: 1 24 113 18 8 4
data:
$ID,543
$MISSION,6
$DIVE,266
$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,-8590.2949
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,240113,175604,-4237.966,841.009,37,0.9,37,-25.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-59.8
$GPS2,240113,180706,-4237.984,841.075,19,1.4,19,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.142,-0.198
$KALMAN_X,-78138.4,241.7,-262.5,131976.9,5266.5
$KALMAN_Y,139375.6,-897.2,-157.7,-153009.3,3803.7
$MHEAD_RNG_PITCHd_Wd,240.6,32354,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-48.67,0.000,2,0.000,0.000,46,3420,2704,0,0,0,0,0,0
$GC,78,-0.47,-146.1,3.3,-3.5,6,96,5.80,0.00,-10.60,0.000,6,0.223,0.000,1469,3420,3070,0,0,0,0,0,0
$GC,176,-0.47,-146.1,16.0,-14.0,20,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3420,3075,0,0,0,0,0,0
$GC,265,-0.47,-146.1,28.0,-12.6,33,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3420,3075,0,0,0,0,0,0
$GC,347,-0.47,-146.1,38.9,-12.9,46,358,0.00,2.20,0.00,0.000,4,0.000,0.031,1469,1998,3075,0,0,0,0,0,0
$GC,421,-0.47,-146.1,47.2,-10.2,57,428,0.00,2.28,0.00,0.000,6,0.000,0.055,1460,3387,3075,0,0,0,0,0,0
$GC,668,-0.47,-146.1,75.4,-10.9,98,675,0.00,0.90,0.00,0.000,4,0.000,0.060,1456,3947,3076,0,0,0,0,0,0
$GC,817,-0.47,-146.1,92.1,-11.8,123,823,0.00,0.82,0.00,0.000,6,0.000,0.036,1456,3406,3076,0,0,0,0,0,0
$GC,1145,-0.47,-146.1,126.6,-10.5,152,1149,0.00,0.88,0.00,0.000,4,0.000,0.058,1451,3951,3077,0,0,0,0,0,0
$GC,1250,-0.47,-146.1,138.8,-11.0,158,1253,0.00,0.85,0.00,0.000,6,0.000,0.036,1451,3391,3077,0,0,0,0,0,0
$GC,1584,-0.47,-146.1,175.7,-11.0,179,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,1451,3391,3077,0,0,0,0,0,0
$GC,1896,-0.47,-146.1,209.9,-11.0,199,1900,0.00,0.90,0.00,0.000,4,0.000,0.058,1447,3954,3078,0,0,0,0,0,0
$GC,2004,-0.47,-146.1,223.1,-11.9,205,2007,0.00,0.85,0.00,0.000,6,0.000,0.036,1447,3394,3078,0,0,0,0,0,0
$GC,2332,-0.47,-146.1,258.5,-11.1,225,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,1447,3394,3078,0,0,0,0,0,0
$GC,2639,-0.47,-146.1,290.4,-10.2,240,2642,0.00,0.90,0.00,0.000,4,0.000,0.058,1443,3957,3078,0,0,0,0,0,0
$GC,2741,-0.47,-146.1,302.0,-11.4,244,2746,0.08,0.85,0.00,0.000,6,0.135,0.036,1468,3397,3078,0,0,0,0,0,0
$GC,3065,-0.47,-146.1,329.5,-8.2,260,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3397,3078,0,0,0,0,0,0
$GC,3375,-0.47,-146.1,356.5,-9.0,275,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3397,3078,0,0,0,0,0,0
$GC,3683,-0.47,-146.1,383.9,-8.6,290,3686,0.00,0.88,0.00,0.000,4,0.000,0.060,1466,3945,3078,0,0,0,0,0,0
$GC,3784,-0.47,-146.1,394.1,-9.7,294,3788,0.00,0.82,0.00,0.000,6,0.000,0.037,1466,3402,3078,0,0,0,0,0,0
$GC,4104,-0.47,-146.1,422.5,-8.9,306,4107,0.00,0.88,0.00,0.000,4,0.000,0.059,1462,3948,3077,0,0,0,0,0,0
$GC,4178,-0.47,-146.1,429.9,-9.8,308,4181,0.00,0.82,0.00,0.000,6,0.000,0.037,1462,3405,3077,0,0,0,0,0,0
$GC,4514,-0.47,-146.1,463.1,-10.2,319,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3405,3077,0,0,0,0,0,0
$GC,4821,-0.47,-146.1,492.9,-9.7,329,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3405,3077,0,0,0,0,0,0
$GC,5126,-0.47,-146.1,522.3,-9.6,339,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3405,3076,0,0,0,0,0,0
$GC,5432,-0.47,-146.1,551.0,-9.2,349,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3405,3075,0,0,0,0,0,0
$GC,5740,-0.47,-146.1,576.9,-8.2,359,5744,0.00,0.88,0.00,0.000,4,0.000,0.060,1458,3949,3075,0,0,0,0,0,0
$GC,5829,-0.47,-146.1,584.9,-9.5,361,5833,0.00,0.85,0.00,0.000,6,0.000,0.037,1458,3393,3075,0,0,0,0,0,0
$GC,6150,-0.47,-146.1,610.6,-8.1,372,6153,0.00,0.90,0.00,0.000,4,0.000,0.060,1454,3951,3074,0,0,0,0,0,0
$GC,6210,-0.47,-146.1,616.1,-8.6,373,6217,0.00,0.85,0.00,0.000,6,0.000,0.037,1454,3395,3075,0,0,0,0,0,0
$GC,6524,-0.47,-146.1,642.0,-8.2,384,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3395,3074,0,0,0,0,0,0
$GC,6831,-0.47,-146.1,666.3,-7.7,394,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3395,3073,0,0,0,0,0,0
$GC,7137,-0.47,-146.1,689.8,-7.8,404,7142,0.00,0.90,0.00,0.000,4,0.000,0.060,1449,3953,3072,0,0,0,0,0,0
$GC,7215,-0.47,-146.1,696.6,-9.0,406,7219,0.00,0.85,0.00,0.000,6,0.000,0.038,1450,3396,3072,0,0,0,0,0,0
$GC,7545,-0.47,-146.1,723.8,-8.8,417,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3395,3071,0,0,0,0,0,0
$GC,7852,-0.47,-146.1,750.8,-8.9,427,7856,0.00,0.90,0.00,0.000,4,0.000,0.060,1446,3952,3071,0,0,0,0,0,0
$GC,7946,-0.47,-146.1,760.3,-10.3,429,7953,0.00,0.85,0.00,0.000,6,0.000,0.038,1445,3400,3071,0,0,0,0,0,0
$GC,8260,-0.47,-146.1,789.9,-9.5,440,8262,0.10,0.00,0.00,0.000,6,0.168,0.000,1471,3399,3070,0,0,0,0,0,0
$GC,8568,-0.47,-146.1,813.6,-7.9,450,8572,0.00,0.90,0.00,0.000,4,0.000,0.061,1468,3954,3069,0,0,0,0,0,0
$GC,8685,-0.47,-146.1,823.8,-7.7,453,8690,0.00,0.85,0.00,0.000,6,0.000,0.039,1468,3403,3070,0,0,0,0,0,0
$GC,9011,-0.47,-146.1,849.6,-8.0,464,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3403,3069,0,0,0,0,0,0
$GC,9317,-0.47,-146.1,873.9,-8.0,474,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3069,0,0,0,0,0,0
$GC,9624,-0.47,-146.1,898.2,-7.8,484,9628,0.00,0.88,0.00,0.000,4,0.000,0.062,1464,3942,3068,0,0,0,0,0,0
$GC,9719,-0.47,-146.1,906.1,-7.5,486,9726,0.00,0.85,0.00,0.000,6,0.000,0.038,1464,3393,3068,0,0,0,0,0,0
$GC,10032,-0.47,-146.1,927.7,-6.6,497,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3393,3068,0,0,0,0,0,0
$GC,10339,-0.47,-146.1,946.1,-5.8,507,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3393,3067,0,0,0,0,0,0
$GC,10645,-0.47,-146.1,963.3,-5.7,517,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3393,3067,0,0,0,0,0,0
$GC,10952,-0.47,-146.1,982.2,-6.3,527,10956,0.00,0.90,0.00,0.000,4,0.000,0.062,1460,3947,3067,0,0,0,0,0,0
$GC,11092,-0.47,-146.1,992.5,-7.4,531,11096,0.00,0.85,0.00,0.000,6,0.000,0.039,1460,3394,3066,0,0,0,0,0,0
$STATE,11216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11216,begin apogee
$GC,11223,-0.13,0.0,1001.9,7.2,535,11376,0.40,0.00,150.45,1.227,6,0.127,0.000,1582,3282,2473,0,0,0,0,0,0
$STATE,11378,end apogee,CONTROL_FINISHED_OK
$STATE,11378,begin climb
$GC,11381,0.47,146.1,1004.4,0.0,540,11541,0.57,2.50,152.07,1.214,4,0.086,0.031,1784,1860,1871,0,0,0,0,0,0
$GC,11577,0.47,146.1,983.2,13.1,546,11582,0.00,2.53,0.00,0.000,6,0.000,0.051,1784,3286,1862,0,0,0,0,0,0
$GC,11913,0.47,146.1,931.6,15.1,557,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3286,1855,0,0,0,0,0,0
$GC,12219,0.47,146.1,887.2,14.2,567,12222,0.00,1.08,0.00,0.000,4,0.000,0.060,1784,3941,1853,0,0,0,0,0,0
$GC,12280,0.47,146.1,877.4,15.0,568,12287,0.00,1.02,0.00,0.000,6,0.000,0.034,1789,3271,1852,0,0,0,0,0,0
$GC,12593,0.47,146.1,830.7,14.8,579,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3272,1851,0,0,0,0,0,0
$GC,12899,0.47,146.1,785.0,15.0,589,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3272,1850,0,0,0,0,0,0
$GC,13206,0.47,146.1,739.1,14.9,599,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3271,1850,0,0,0,0,0,0
$GC,13512,0.47,146.1,693.7,14.8,609,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3271,1849,0,0,0,0,0,0
$GC,13818,0.47,146.1,648.4,14.6,619,13821,0.00,1.10,0.00,0.000,4,0.000,0.059,1789,3946,1849,0,0,0,0,0,0
$GC,13873,0.47,146.1,639.1,16.0,620,13876,0.00,1.00,0.00,0.000,6,0.000,0.033,1794,3279,1849,0,0,0,0,0,0
$GC,14191,0.47,146.1,590.1,15.6,631,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3278,1849,0,0,0,0,0,0
$GC,14497,0.47,146.1,541.5,15.8,641,14499,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3278,1848,0,0,0,0,0,0
$GC,14805,0.47,146.1,493.5,15.3,651,14806,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3279,1848,0,0,0,0,0,0
$GC,15110,0.47,146.1,447.2,15.1,661,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3279,1848,0,0,0,0,0,0
$GC,15416,0.47,146.1,402.3,14.4,671,15420,0.00,2.15,0.00,0.000,4,0.000,0.031,1805,1867,1848,0,0,0,0,0,0
$GC,15449,0.47,146.1,397.7,13.4,672,15460,0.00,2.30,0.00,0.000,6,0.000,0.050,1805,3278,1847,0,0,0,0,0,0
$GC,15767,0.47,146.1,350.0,15.9,688,15768,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3278,1847,0,0,0,0,0,0
$GC,16077,0.47,146.1,301.5,15.7,703,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3278,1847,0,0,0,0,0,0
$GC,16385,0.47,146.1,254.5,15.2,718,16389,0.00,2.15,0.00,0.000,4,0.000,0.031,1816,1863,1847,0,0,0,0,0,0
$GC,16420,0.47,146.1,249.0,14.3,719,16428,0.12,2.28,0.00,0.000,6,0.164,0.049,1785,3279,1847,0,0,0,0,0,0
$GC,16742,0.47,146.1,206.0,13.8,740,16743,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,3279,1847,0,0,0,0,0,0
$GC,17052,0.47,146.1,164.8,13.0,760,17056,0.00,1.08,0.00,0.000,4,0.000,0.055,1785,3953,1847,0,0,0,0,0,0
$GC,17099,0.47,146.1,158.0,14.2,762,17107,0.00,1.00,0.00,0.000,6,0.000,0.031,1788,3278,1847,0,0,0,0,0,0
$GC,17422,0.47,146.1,115.0,14.0,783,17426,0.00,2.10,0.00,0.000,4,0.000,0.030,1798,1868,1846,0,0,0,0,0,0
$GC,17489,0.47,146.1,107.1,11.0,787,17493,0.00,2.28,0.00,0.000,6,0.000,0.049,1799,3284,1847,0,0,0,0,0,0
$GC,17844,0.47,146.1,57.5,13.0,841,17851,0.00,1.05,0.00,0.000,4,0.000,0.054,1799,3945,1847,0,0,0,0,0,0
$GC,17982,0.47,146.1,37.7,14.2,863,17989,0.00,0.98,0.00,0.000,6,0.000,0.031,1804,3281,1847,0,0,0,0,0,0
$GC,18251,0.47,146.1,4.0,14.5,904,18261,0.00,2.12,0.00,0.000,4,0.000,0.029,1815,1872,1846,0,0,0,0,0,0
$STATE,18271,end climb,SURFACE_DEPTH_REACHED
$STATE,18272,begin surface coast
$FINISH,1.2,1.025507
$STATE,18297,end surface coast,CONTROL_FINISHED_OK
$STATE,18297,begin surface
$SM_CCo,18315,40.72,0.694,1,0,1534,230.09
$SM_GC,2.00,0.00,0.00,40.72,0.000,0.000,0.694,49,3401,1534,-4.93,0.00,230.09
$IRIDIUM_FIX,-4221.55,840.10,240113,121241
$TT8_MAMPS,0.025466
$HUMID,55.31
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.6,45.403
$10V_AH,10.0,29.238
$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,11.750,58.350,302.525,40.725,0.000,25.503,41.959,409.573,0.000,0.000,22.097,2257.396,12650.483,425.041,2711.622,974.105,33.373,1405.674,0.000,2493.654,0.000,1.010,0.000
$DEVICE_MAMPS,223.380,65.025,1227.060,693.855,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.630,2008.205,898.786,387.586,0.000,0.000,0.000,0.000,0.000,0.000
$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,66970,910
$CAP_FILE_SIZE,134655,0
$CFSIZE,259252224,241504256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,240113,231533,-4238.895,839.398,36,1.0,45,-25.1