version: 66.07
glider: 543
mission: 6
dive: 268
start: 1 25 113 4 53 10
data:
$ID,543
$MISSION,6
$DIVE,268
$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,-8596.0566
$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,37
$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
$GPS1,250113,044133,-4237.239,838.307,42,1.2,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-61.0
$GPS2,250113,045212,-4237.230,838.414,15,0.9,15,-25.1
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.175,-0.170
$KALMAN_X,-72419.9,-943.2,100.5,123452.1,6143.2
$KALMAN_Y,142387.1,328.7,-562.2,-155454.9,3040.3
$MHEAD_RNG_PITCHd_Wd,251.0,28486,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.47,-146.1,0.0,0.0,0,64,0.00,0.00,-40.95,0.000,2,0.000,0.000,56,3414,2496,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.2,-3.8,5,98,5.70,0.90,-18.42,0.000,4,0.221,0.094,1464,3943,3071,0,0,0,0,0,0
$GC,137,-0.47,-146.1,8.7,-9.6,13,145,0.00,0.82,0.00,0.000,6,0.000,0.037,1464,3416,3073,0,0,0,0,0,0
$GC,226,-0.47,-146.1,19.4,-12.8,26,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3416,3073,0,0,0,0,0,0
$GC,313,-0.47,-146.1,32.0,-13.1,39,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3416,3074,0,0,0,0,0,0
$GC,560,-0.47,-146.1,61.3,-9.8,80,566,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3416,3074,0,0,0,0,0,0
$GC,919,-0.47,-146.1,96.8,-9.2,141,925,0.00,0.82,0.00,0.000,4,0.000,0.060,1461,3927,3075,0,0,0,0,0,0
$GC,1104,-0.47,-146.1,114.7,-9.5,155,1107,0.00,0.80,0.00,0.000,6,0.000,0.037,1461,3405,3075,0,0,0,0,0,0
$GC,1430,-0.47,-146.1,144.3,-9.4,176,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3405,3076,0,0,0,0,0,0
$GC,1743,-0.47,-146.1,173.3,-9.6,196,1746,0.00,0.85,0.00,0.000,4,0.000,0.059,1457,3932,3076,0,0,0,0,0,0
$GC,1824,-0.47,-146.1,182.2,-10.8,200,1832,0.00,0.82,0.00,0.000,6,0.000,0.037,1457,3392,3076,0,0,0,0,0,0
$GC,2146,-0.47,-146.1,215.7,-10.6,221,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3392,3076,0,0,0,0,0,0
$GC,2458,-0.47,-146.1,248.2,-10.2,241,2464,0.00,0.85,0.00,0.000,4,0.000,0.059,1453,3924,3076,0,0,0,0,0,0
$GC,2571,-0.47,-146.1,260.4,-11.1,246,2580,0.00,0.80,0.00,0.000,6,0.000,0.037,1453,3401,3076,0,0,0,0,0,0
$GC,2889,-0.47,-146.1,292.0,-9.8,262,2893,0.00,0.85,0.00,0.000,4,0.000,0.059,1449,3930,3077,0,0,0,0,0,0
$GC,2949,-0.47,-146.1,298.5,-10.6,264,2953,0.00,0.80,0.00,0.000,6,0.000,0.036,1449,3406,3076,0,0,0,0,0,0
$GC,3272,-0.47,-146.1,330.2,-10.0,280,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,1448,3405,3076,0,0,0,0,0,0
$GC,3582,-0.47,-146.1,360.1,-9.4,295,3588,0.00,0.82,0.00,0.000,4,0.000,0.058,1445,3920,3076,0,0,0,0,0,0
$GC,3702,-0.47,-146.1,372.5,-9.4,300,3706,0.08,0.80,0.00,0.000,6,0.135,0.037,1469,3398,3076,0,0,0,0,0,0
$GC,4032,-0.47,-146.1,397.7,-7.6,316,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3397,3076,0,0,0,0,0,0
$GC,4347,-0.47,-146.1,422.6,-8.0,327,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3397,3076,0,0,0,0,0,0
$GC,4654,-0.47,-146.1,448.3,-8.5,337,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3397,3076,0,0,0,0,0,0
$GC,4959,-0.47,-146.1,474.7,-8.5,347,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3398,3076,0,0,0,0,0,0
$GC,5265,-0.47,-146.1,501.6,-8.7,357,5268,0.00,0.85,0.00,0.000,4,0.000,0.060,1467,3923,3075,0,0,0,0,0,0
$GC,5326,-0.47,-146.1,507.3,-8.4,358,5335,0.00,0.80,0.00,0.000,6,0.000,0.037,1467,3402,3075,0,0,0,0,0,0
$GC,5639,-0.47,-146.1,533.8,-8.5,369,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3402,3075,0,0,0,0,0,0
$GC,5945,-0.47,-146.1,560.9,-9.0,379,5949,0.00,0.85,0.00,0.000,4,0.000,0.060,1463,3926,3074,0,0,0,0,0,0
$GC,6034,-0.47,-146.1,569.7,-10.1,381,6037,0.00,0.80,0.00,0.000,6,0.000,0.037,1463,3405,3074,0,0,0,0,0,0
$GC,6353,-0.47,-146.1,598.8,-9.1,392,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3405,3073,0,0,0,0,0,0
$GC,6658,-0.47,-146.1,625.6,-8.7,402,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3405,3073,0,0,0,0,0,0
$GC,6965,-0.47,-146.1,651.1,-8.3,412,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3405,3072,0,0,0,0,0,0
$GC,7272,-0.47,-146.1,677.4,-8.9,422,7276,0.00,0.85,0.00,0.000,4,0.000,0.060,1459,3927,3071,0,0,0,0,0,0
$GC,7361,-0.47,-146.1,686.1,-9.9,424,7364,0.00,0.82,0.00,0.000,6,0.000,0.037,1459,3392,3071,0,0,0,0,0,0
$GC,7680,-0.47,-146.1,715.4,-9.2,435,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3392,3071,0,0,0,0,0,0
$GC,7985,-0.47,-146.1,743.9,-9.4,445,7991,0.00,0.88,0.00,0.000,4,0.000,0.061,1455,3929,3070,0,0,0,0,0,0
$GC,8091,-0.47,-146.1,753.8,-9.1,448,8095,0.00,0.80,0.00,0.000,6,0.000,0.038,1455,3408,3070,0,0,0,0,0,0
$GC,8432,-0.47,-146.1,784.6,-8.8,459,8435,0.00,0.85,0.00,0.000,4,0.000,0.061,1451,3933,3069,0,0,0,0,0,0
$GC,8520,-0.47,-146.1,792.6,-9.2,461,8524,0.00,0.82,0.00,0.000,6,0.000,0.038,1451,3396,3069,0,0,0,0,0,0
$GC,8840,-0.47,-146.1,819.5,-8.3,472,8843,0.00,0.85,0.00,0.000,4,0.000,0.061,1447,3923,3069,0,0,0,0,0,0
$GC,8909,-0.47,-146.1,825.7,-9.5,474,8913,0.00,0.80,0.00,0.000,6,0.000,0.038,1447,3401,3069,0,0,0,0,0,0
$GC,9251,-0.47,-146.1,853.9,-8.0,485,9255,0.00,0.85,0.00,0.000,4,0.000,0.061,1443,3926,3068,0,0,0,0,0,0
$GC,9329,-0.47,-146.1,860.8,-8.5,487,9332,0.00,0.80,0.00,0.000,6,0.000,0.037,1443,3403,3068,0,0,0,0,0,0
$GC,9659,-0.47,-146.1,887.7,-8.2,498,9661,0.12,0.00,0.00,0.000,6,0.156,0.000,1476,3403,3068,0,0,0,0,0,0
$GC,9965,-0.47,-146.1,906.8,-6.2,508,9969,0.00,0.85,0.00,0.000,4,0.000,0.062,1474,3928,3067,0,0,0,0,0,0
$GC,10040,-0.47,-146.1,912.1,-7.1,510,10044,0.00,0.80,0.00,0.000,6,0.000,0.038,1474,3409,3067,0,0,0,0,0,0
$GC,10376,-0.47,-146.1,936.0,-7.3,521,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3408,3067,0,0,0,0,0,0
$GC,10683,-0.47,-146.1,957.9,-7.2,531,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3408,3066,0,0,0,0,0,0
$GC,10988,-0.47,-146.1,980.1,-7.2,541,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3408,3066,0,0,0,0,0,0
$STATE,11291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11291,begin apogee
$GC,11299,-0.13,0.0,1001.0,6.6,551,11452,0.35,0.00,149.85,1.238,6,0.124,0.000,1581,3277,2473,0,0,0,0,0,0
$STATE,11453,end apogee,CONTROL_FINISHED_OK
$STATE,11453,begin climb
$GC,11456,0.47,146.1,1004.1,0.0,556,11616,0.57,2.42,151.23,1.207,4,0.085,0.029,1783,1857,1873,0,0,0,0,0,0
$GC,11688,0.47,146.1,981.2,11.4,563,11692,0.00,2.45,0.00,0.000,6,0.000,0.050,1783,3263,1862,0,0,0,0,0,0
$GC,12024,0.47,146.1,935.0,13.7,574,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3263,1856,0,0,0,0,0,0
$GC,12330,0.47,146.1,893.1,13.5,584,12333,0.00,1.12,0.00,0.000,4,0.000,0.059,1783,3946,1855,0,0,0,0,0,0
$GC,12385,0.47,146.1,884.7,15.5,585,12388,0.00,1.02,0.00,0.000,6,0.000,0.034,1788,3273,1854,0,0,0,0,0,0
$GC,12703,0.47,146.1,840.3,14.1,596,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3272,1853,0,0,0,0,0,0
$GC,13009,0.47,146.1,797.0,14.2,606,13011,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3273,1853,0,0,0,0,0,0
$GC,13317,0.47,146.1,753.8,14.3,616,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3273,1852,0,0,0,0,0,0
$GC,13622,0.47,146.1,710.4,14.1,626,13623,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3272,1852,0,0,0,0,0,0
$GC,13928,0.47,146.1,666.5,14.3,636,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3272,1852,0,0,0,0,0,0
$GC,14235,0.47,146.1,621.9,14.6,646,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3273,1851,0,0,0,0,0,0
$GC,14540,0.47,146.1,577.1,14.7,656,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3273,1851,0,0,0,0,0,0
$GC,14847,0.47,146.1,533.8,14.1,666,14851,0.00,2.12,0.00,0.000,4,0.000,0.031,1799,1862,1851,0,0,0,0,0,0
$GC,14885,0.47,146.1,528.6,12.2,667,14889,0.00,2.30,0.00,0.000,6,0.000,0.050,1799,3286,1849,0,0,0,0,0,0
$GC,15209,0.47,146.1,480.4,15.1,678,15210,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3286,1850,0,0,0,0,0,0
$GC,15516,0.47,146.1,435.8,14.3,688,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,3286,1850,0,0,0,0,0,0
$GC,15834,0.47,146.1,389.8,14.9,699,15840,0.00,2.17,0.00,0.000,4,0.000,0.030,1810,1867,1849,0,0,0,0,0,0
$GC,15862,0.47,146.1,385.4,13.7,700,15867,0.12,2.28,0.00,0.000,6,0.168,0.049,1780,3281,1849,0,0,0,0,0,0
$GC,16186,0.47,146.1,343.6,13.4,716,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3281,1849,0,0,0,0,0,0
$GC,16496,0.47,146.1,301.3,13.3,731,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3280,1849,0,0,0,0,0,0
$GC,16804,0.47,146.1,260.5,13.1,746,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3280,1849,0,0,0,0,0,0
$GC,17122,0.47,146.1,218.7,13.3,765,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3281,1849,0,0,0,0,0,0
$GC,17434,0.47,146.1,176.6,13.8,785,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3280,1849,0,0,0,0,0,0
$GC,17747,0.47,146.1,134.6,13.0,805,17748,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3280,1849,0,0,0,0,0,0
$GC,18062,0.47,146.1,92.6,12.5,831,18068,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3280,1849,0,0,0,0,0,0
$GC,18423,0.47,146.1,47.4,11.6,892,18431,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3280,1849,0,0,0,0,0,0
$GC,18679,0.47,146.1,22.4,10.3,933,18688,0.00,2.17,0.00,0.000,4,0.000,0.030,1789,1859,1849,0,0,0,0,0,0
$GC,18729,0.47,146.1,17.6,8.8,940,18740,0.00,2.30,0.00,0.000,6,0.000,0.049,1788,3276,1849,0,0,0,0,0,0
$GC,18825,0.47,146.1,7.7,11.7,953,18833,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3276,1849,0,0,0,0,0,0
$STATE,18860,end climb,SURFACE_DEPTH_REACHED
$STATE,18860,begin surface coast
$FINISH,1.2,1.019586
$STATE,18886,end surface coast,CONTROL_FINISHED_OK
$STATE,18886,begin surface
$SM_CCo,18902,40.85,0.699,1,0,1535,230.09
$SM_GC,2.19,0.00,0.00,40.85,0.000,0.000,0.699,45,3406,1535,-4.94,0.17,230.09
$IRIDIUM_FIX,-4221.55,842.99,240113,171732
$TT8_MAMPS,0.025466
$HUMID,55.47
$INTERNAL_PRESSURE,9.01519
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.6,45.695
$10V_AH,10.0,29.501
$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,11.600,43.975,301.075,40.850,0.000,47.895,46.274,362.052,0.000,0.000,17.854,2362.548,13029.884,408.095,2760.903,1022.055,33.370,1415.546,0.000,2640.995,0.000,1.011,0.000
$DEVICE_MAMPS,221.085,94.095,1237.770,699.210,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.861,2120.561,967.231,432.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,70261,962
$CAP_FILE_SIZE,133696,0
$CFSIZE,259252224,241360896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,250113,101027,-4237.493,836.532,26,5.5,45,-25.0