version: 66.07
glider: 543
mission: 6
dive: 269
start: 1 25 113 10 21 45
data:
$ID,543
$MISSION,6
$DIVE,269
$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,-8598.9688
$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,45
$R_STBD_OVSHOOT,26
$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
$GPS1,250113,101027,-4237.493,836.532,26,5.5,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-52.2
$GPS2,250113,102047,-4237.474,836.646,18,1.1,18,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,-0.126
$KALMAN_X,-70504.0,-273.4,-937.5,119508.6,6983.9
$KALMAN_Y,145306.5,-112.1,591.7,-159562.1,1821.8
$MHEAD_RNG_PITCHd_Wd,263.9,26613,-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,-146.1,0.0,0.0,0,67,0.00,0.00,-41.90,0.000,2,0.000,0.000,45,3406,2527,0,0,0,0,0,0
$GC,71,-0.47,-146.1,3.2,-3.7,5,97,5.88,0.00,-17.50,0.000,6,0.229,0.000,1468,3406,3071,0,0,0,0,0,0
$GC,177,-0.47,-146.1,13.8,-11.0,20,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3407,3074,0,0,0,0,0,0
$GC,266,-0.47,-146.1,25.4,-13.2,33,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3406,3075,0,0,0,0,0,0
$GC,350,-0.47,-146.1,36.7,-12.9,46,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3406,3075,0,0,0,0,0,0
$GC,605,-0.47,-146.1,66.3,-9.8,87,611,0.00,2.20,0.00,0.000,4,0.000,0.031,1468,1980,3075,0,0,0,0,0,0
$GC,648,-0.47,-146.1,70.3,-9.1,94,657,0.00,2.33,0.00,0.000,6,0.000,0.055,1459,3386,3075,0,0,0,0,0,0
$GC,1003,-0.47,-146.1,107.0,-10.5,147,1007,0.00,0.90,0.00,0.000,4,0.000,0.059,1454,3949,3076,0,0,0,0,0,0
$GC,1238,-0.47,-146.1,135.9,-12.1,160,1244,0.00,0.82,0.00,0.000,6,0.000,0.035,1454,3405,3076,0,0,0,0,0,0
$GC,1565,-0.47,-146.1,174.4,-11.7,181,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3405,3077,0,0,0,0,0,0
$GC,1880,-0.47,-146.1,209.4,-10.8,201,1884,0.00,0.88,0.00,0.000,4,0.000,0.060,1450,3947,3077,0,0,0,0,0,0
$GC,1941,-0.47,-146.1,217.2,-11.7,204,1951,0.00,0.82,0.00,0.000,6,0.000,0.035,1450,3403,3077,0,0,0,0,0,0
$GC,2264,-0.47,-146.1,251.4,-10.6,225,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3403,3077,0,0,0,0,0,0
$GC,2571,-0.47,-146.1,282.9,-10.1,240,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3403,3077,0,0,0,0,0,0
$GC,2881,-0.47,-146.1,315.3,-10.4,255,2886,0.00,0.88,0.00,0.000,4,0.000,0.060,1446,3947,3077,0,0,0,0,0,0
$GC,3006,-0.47,-146.1,329.8,-11.3,260,3010,0.00,0.82,0.00,0.000,6,0.000,0.035,1446,3401,3077,0,0,0,0,0,0
$GC,3329,-0.47,-146.1,365.2,-11.4,276,3331,0.10,0.00,0.00,0.000,6,0.167,0.000,1471,3401,3077,0,0,0,0,0,0
$GC,3639,-0.47,-146.1,395.1,-9.7,291,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3401,3077,0,0,0,0,0,0
$GC,3945,-0.47,-146.1,425.4,-10.0,302,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3401,3076,0,0,0,0,0,0
$GC,4250,-0.47,-146.1,454.4,-9.4,312,4255,0.00,0.90,0.00,0.000,4,0.000,0.060,1469,3946,3077,0,0,0,0,0,0
$GC,4340,-0.47,-146.1,463.4,-10.0,314,4345,0.00,0.82,0.00,0.000,6,0.000,0.036,1469,3403,3077,0,0,0,0,0,0
$GC,4659,-0.47,-146.1,493.4,-9.5,325,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3403,3076,0,0,0,0,0,0
$GC,4966,-0.47,-146.1,521.7,-9.3,335,4969,0.00,0.88,0.00,0.000,4,0.000,0.060,1464,3948,3076,0,0,0,0,0,0
$GC,5027,-0.47,-146.1,527.8,-9.5,336,5035,0.00,0.82,0.00,0.000,6,0.000,0.037,1465,3408,3075,0,0,0,0,0,0
$GC,5341,-0.47,-146.1,558.0,-9.8,347,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3408,3075,0,0,0,0,0,0
$GC,5647,-0.47,-146.1,587.5,-9.6,357,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3408,3075,0,0,0,0,0,0
$GC,5955,-0.47,-146.1,615.6,-9.0,367,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3074,0,0,0,0,0,0
$GC,6259,-0.47,-146.1,642.1,-8.5,377,6265,0.00,0.88,0.00,0.000,4,0.000,0.060,1461,3949,3073,0,0,0,0,0,0
$GC,6312,-0.47,-146.1,646.9,-9.2,378,6316,0.00,0.85,0.00,0.000,6,0.000,0.037,1461,3393,3073,0,0,0,0,0,0
$GC,6638,-0.47,-146.1,674.4,-8.3,389,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3072,0,0,0,0,0,0
$GC,6942,-0.47,-146.1,699.6,-8.4,399,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3393,3072,0,0,0,0,0,0
$GC,7250,-0.47,-146.1,725.1,-8.3,409,7253,0.00,0.90,0.00,0.000,4,0.000,0.060,1457,3951,3072,0,0,0,0,0,0
$GC,7311,-0.47,-146.1,731.0,-9.6,410,7319,0.00,0.85,0.00,0.000,6,0.000,0.038,1457,3396,3071,0,0,0,0,0,0
$GC,7624,-0.47,-146.1,758.3,-8.9,421,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3396,3071,0,0,0,0,0,0
$GC,7930,-0.47,-146.1,785.6,-8.8,431,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,1456,3396,3070,0,0,0,0,0,0
$GC,8238,-0.47,-146.1,811.0,-7.9,441,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3396,3070,0,0,0,0,0,0
$GC,8543,-0.47,-146.1,834.5,-7.7,451,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3396,3069,0,0,0,0,0,0
$GC,8849,-0.47,-146.1,856.6,-6.9,461,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3396,3069,0,0,0,0,0,0
$GC,9157,-0.47,-146.1,877.9,-7.1,471,9160,0.00,0.90,0.00,0.000,4,0.000,0.061,1452,3949,3069,0,0,0,0,0,0
$GC,9251,-0.47,-146.1,885.5,-8.0,473,9258,0.00,0.85,0.00,0.000,6,0.000,0.039,1452,3398,3069,0,0,0,0,0,0
$GC,9565,-0.47,-146.1,909.9,-8.0,484,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3398,3068,0,0,0,0,0,0
$GC,9871,-0.47,-146.1,936.3,-8.7,494,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,1452,3398,3068,0,0,0,0,0,0
$GC,10177,-0.47,-146.1,962.9,-8.6,504,10181,0.00,0.90,0.00,0.000,4,0.000,0.061,1448,3949,3067,0,0,0,0,0,0
$GC,10288,-0.47,-146.1,973.2,-9.7,507,10293,0.00,0.85,0.00,0.000,6,0.000,0.039,1448,3401,3067,0,0,0,0,0,0
$STATE,10616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10616,begin apogee
$GC,10623,-0.13,0.0,1001.5,8.6,518,10775,0.45,0.00,143.85,1.796,6,0.132,0.000,1583,3271,2473,0,0,0,0,1,0
$STATE,10777,end apogee,CONTROL_FINISHED_OK
$STATE,10777,begin climb
$GC,10780,0.47,146.1,1004.5,0.0,523,10943,0.57,2.42,150.23,1.757,4,0.081,0.032,1781,1867,1879,0,0,0,0,1,0
$GC,10990,0.47,146.1,983.0,11.0,529,10996,0.00,2.53,0.00,0.000,6,0.000,0.051,1781,3277,1874,0,0,0,0,0,0
$GC,11310,0.47,146.1,934.9,15.5,540,11315,0.00,1.12,0.00,0.000,4,0.000,0.058,1781,3953,1867,0,0,0,0,0,0
$GC,11372,0.47,146.1,924.1,18.3,541,11379,0.00,1.05,0.00,0.000,6,0.000,0.033,1786,3275,1867,0,0,0,0,0,0
$GC,11687,0.47,146.1,874.5,15.9,552,11690,0.00,2.20,0.00,0.000,4,0.000,0.034,1797,1858,1865,0,0,0,0,0,0
$GC,11717,0.47,146.1,870.2,14.3,553,11722,0.00,2.35,0.00,0.000,6,0.000,0.052,1797,3290,1864,0,0,0,0,0,0
$GC,12053,0.47,146.1,815.2,16.6,564,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3290,1863,0,0,0,0,0,0
$GC,12360,0.47,146.1,768.0,14.8,574,12364,0.00,2.20,0.00,0.000,4,0.000,0.033,1807,1863,1862,0,0,0,0,0,0
$GC,12404,0.47,146.1,761.8,12.5,575,12408,0.00,2.30,0.00,0.000,6,0.000,0.052,1807,3279,1861,0,0,0,0,0,0
$GC,12722,0.47,146.1,712.2,15.9,586,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3279,1861,0,0,0,0,0,0
$GC,13029,0.47,146.1,662.7,16.2,596,13033,0.00,1.08,0.00,0.000,4,0.000,0.057,1808,3950,1860,0,0,0,0,0,0
$GC,13068,0.47,146.1,655.5,19.0,597,13072,0.10,1.02,0.00,0.000,6,0.177,0.032,1785,3264,1861,0,0,0,0,0,0
$GC,13403,0.47,146.1,605.9,14.8,608,13407,0.00,2.10,0.00,0.000,4,0.000,0.032,1794,1871,1860,0,0,0,0,0,0
$GC,13436,0.47,146.1,601.1,13.8,609,13441,0.00,2.28,0.00,0.000,6,0.000,0.050,1794,3284,1859,0,0,0,0,0,0
$GC,13766,0.47,146.1,550.2,15.4,620,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3283,1859,0,0,0,0,0,0
$GC,14072,0.47,146.1,503.8,15.1,630,14076,0.00,1.05,0.00,0.000,4,0.000,0.056,1794,3942,1859,0,0,0,0,0,0
$GC,14111,0.47,146.1,497.3,17.2,631,14115,0.00,1.00,0.00,0.000,6,0.000,0.033,1799,3275,1859,0,0,0,0,0,0
$GC,14447,0.47,146.1,446.3,15.4,642,14450,0.00,2.12,0.00,0.000,4,0.000,0.031,1809,1874,1859,0,0,0,0,0,0
$GC,14490,0.47,146.1,440.1,13.1,643,14495,0.12,2.28,0.00,0.000,6,0.171,0.049,1779,3283,1858,0,0,0,0,0,0
$GC,14810,0.47,146.1,396.8,14.0,654,14811,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3283,1858,0,0,0,0,0,0
$GC,15121,0.47,146.1,352.4,14.2,669,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3284,1858,0,0,0,0,0,0
$GC,15429,0.47,146.1,309.9,13.7,684,15430,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3284,1858,0,0,0,0,0,0
$GC,15739,0.47,146.1,267.9,13.3,699,15745,0.00,2.17,0.00,0.000,4,0.000,0.031,1788,1863,1857,0,0,0,0,0,0
$GC,15779,0.47,146.1,262.7,10.3,700,15787,0.00,2.30,0.00,0.000,6,0.000,0.050,1788,3277,1857,0,0,0,0,0,0
$GC,16108,0.47,146.1,218.4,13.7,720,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3277,1857,0,0,0,0,0,0
$GC,16421,0.47,146.1,174.8,14.4,740,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3277,1857,0,0,0,0,0,0
$GC,16733,0.47,146.1,131.0,13.6,760,16734,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3277,1857,0,0,0,0,0,0
$GC,17056,0.47,146.1,87.8,13.2,790,17063,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3277,1857,0,0,0,0,0,0
$GC,17418,0.47,146.1,41.9,11.2,851,17426,0.00,1.08,0.00,0.000,4,0.000,0.055,1788,3951,1857,0,0,0,0,0,0
$GC,17522,0.47,146.1,29.5,12.2,868,17532,0.00,0.98,0.00,0.000,6,0.000,0.032,1794,3284,1857,0,0,0,0,0,0
$GC,17616,0.47,146.1,18.9,12.1,881,17625,0.00,2.15,0.00,0.000,4,0.000,0.029,1804,1870,1857,0,0,0,0,0,0
$GC,17665,0.47,146.1,13.2,10.7,888,17676,0.00,2.28,0.00,0.000,6,0.000,0.048,1804,3276,1857,0,0,0,0,0,0
$STATE,17754,end climb,SURFACE_DEPTH_REACHED
$STATE,17754,begin surface coast
$FINISH,1.6,1.026166
$STATE,17783,end surface coast,CONTROL_FINISHED_OK
$STATE,17785,begin surface
$SM_CCo,17801,40.92,0.719,1,0,1532,230.09
$SM_GC,1.90,0.00,0.00,40.92,0.000,0.000,0.719,55,3405,1532,-4.91,0.14,230.09
$IRIDIUM_FIX,-4221.55,839.66,250113,040425
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,9.02495
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.1,45.875
$10V_AH,10.0,29.626
$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,11.875,60.475,294.075,40.925,0.000,24.520,42.771,362.947,0.000,0.000,20.986,2220.800,12239.065,424.232,2613.869,964.928,33.367,1403.282,0.000,2425.510,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,81.855,1796.220,719.100,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.797,1963.146,906.356,412.941,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353880
$DATA_FILE_SIZE,67138,905
$CAP_FILE_SIZE,130864,0
$CFSIZE,259252224,241295360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,250113,152034,-4237.463,834.740,39,1.0,39,-25.0