version: 66.07
glider: 543
mission: 6
dive: 302
start: 2 1 113 22 45 39
data:
$ID,543
$MISSION,6
$DIVE,302
$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,-8695.085
$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,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
$GPS1,010213,223423,-4157.432,837.086,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-62.0
$GPS2,010213,224441,-4157.407,837.187,15,1.5,15,-25.0
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH3
$TGT_LATLONG,-4200.000,900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.196,-0.144
$KALMAN_X,-8170.7,390.7,42.9,56229.7,-1512.7
$KALMAN_Y,160847.5,-111.3,-78.1,-100213.0,2969.6
$MHEAD_RNG_PITCHd_Wd,151.3,31763,-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,-146.1,0.0,0.0,0,57,0.00,0.00,-32.35,0.000,2,0.000,0.000,54,3408,2307,0,0,0,0,0,0
$GC,61,-0.47,-146.1,3.0,-3.9,4,98,5.78,0.90,-26.65,0.000,4,0.224,0.093,1466,3945,3070,0,0,0,0,0,0
$GC,388,-0.47,-146.1,38.5,-11.9,53,396,0.00,0.80,0.00,0.000,6,0.000,0.035,1466,3418,3074,0,0,0,0,0,0
$GC,635,-0.47,-146.1,65.1,-10.7,94,641,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3418,3075,0,0,0,0,0,0
$GC,1004,-0.47,-146.1,103.3,-9.8,153,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3418,3076,0,0,0,0,0,0
$GC,1320,-0.47,-146.1,128.7,-8.1,173,1324,0.00,0.85,0.00,0.000,4,0.000,0.060,1463,3948,3077,0,0,0,0,0,0
$GC,1395,-0.47,-146.1,135.5,-9.1,177,1398,0.00,0.82,0.00,0.000,6,0.000,0.034,1462,3402,3077,0,0,0,0,0,0
$GC,1719,-0.47,-146.1,163.5,-8.9,198,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3402,3077,0,0,0,0,0,0
$GC,2033,-0.47,-146.1,191.3,-9.2,218,2037,0.00,0.88,0.00,0.000,4,0.000,0.059,1458,3949,3077,0,0,0,0,0,0
$GC,2111,-0.47,-146.1,199.4,-9.7,222,2116,0.00,0.82,0.00,0.000,6,0.000,0.034,1458,3399,3077,0,0,0,0,0,0
$GC,2439,-0.47,-146.1,232.0,-10.0,243,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3399,3077,0,0,0,0,0,0
$GC,2750,-0.47,-146.1,262.9,-9.7,261,2755,0.00,0.88,0.00,0.000,4,0.000,0.058,1454,3950,3077,0,0,0,0,0,0
$GC,2854,-0.47,-146.1,273.7,-9.9,265,2859,0.00,0.82,0.00,0.000,6,0.000,0.035,1454,3402,3077,0,0,0,0,0,0
$GC,3179,-0.47,-146.1,303.7,-9.1,281,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3401,3077,0,0,0,0,0,0
$GC,3487,-0.47,-146.1,332.5,-9.3,296,3490,0.00,0.88,0.00,0.000,4,0.000,0.058,1450,3951,3077,0,0,0,0,0,0
$GC,3619,-0.47,-146.1,345.3,-9.3,301,3626,0.00,0.82,0.00,0.000,6,0.000,0.035,1450,3403,3077,0,0,0,0,0,0
$GC,3937,-0.47,-146.1,374.3,-9.6,317,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,1450,3403,3077,0,0,0,0,0,0
$GC,4256,-0.47,-146.1,404.3,-9.3,332,4260,0.00,0.85,0.00,0.000,4,0.000,0.058,1447,3936,3077,0,0,0,0,0,0
$GC,4387,-0.47,-146.1,417.5,-9.7,335,4394,0.05,0.80,0.00,0.000,6,0.139,0.035,1464,3408,3076,0,0,0,0,0,0
$GC,4702,-0.47,-146.1,442.2,-7.5,346,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,3076,0,0,0,0,0,0
$GC,5007,-0.47,-146.1,464.7,-7.4,356,5011,0.00,0.85,0.00,0.000,4,0.000,0.059,1461,3940,3076,0,0,0,0,0,0
$GC,5079,-0.47,-146.1,470.5,-7.6,358,5082,0.00,0.82,0.00,0.000,6,0.000,0.035,1461,3394,3076,0,0,0,0,0,0
$GC,5414,-0.47,-146.1,495.9,-7.6,369,5418,0.00,0.88,0.00,0.000,4,0.000,0.058,1457,3942,3075,0,0,0,0,0,0
$GC,5487,-0.47,-146.1,501.9,-7.8,371,5491,0.00,0.82,0.00,0.000,6,0.000,0.035,1457,3397,3075,0,0,0,0,0,0
$GC,5823,-0.47,-146.1,527.8,-7.9,382,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,1457,3396,3074,0,0,0,0,0,0
$GC,6129,-0.47,-146.1,552.5,-8.3,392,6132,0.00,0.88,0.00,0.000,4,0.000,0.059,1454,3942,3074,0,0,0,0,0,0
$GC,6246,-0.47,-146.1,563.3,-9.2,395,6252,0.00,0.82,0.00,0.000,6,0.000,0.036,1454,3398,3074,0,0,0,0,0,0
$GC,6572,-0.47,-146.1,591.6,-8.8,406,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,1454,3398,3073,0,0,0,0,0,0
$GC,6878,-0.47,-146.1,619.1,-9.1,416,6882,0.00,0.88,0.00,0.000,4,0.000,0.059,1449,3942,3072,0,0,0,0,0,0
$GC,6984,-0.47,-146.1,629.6,-9.6,419,6990,0.00,0.82,0.00,0.000,6,0.000,0.036,1450,3401,3072,0,0,0,0,0,0
$GC,7322,-0.47,-146.1,661.1,-9.4,430,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3400,3070,0,0,0,0,0,0
$GC,7628,-0.47,-146.1,689.4,-9.2,440,7633,0.00,0.90,0.00,0.000,4,0.000,0.061,1445,3946,3070,0,0,0,0,0,0
$GC,7724,-0.47,-146.1,698.9,-9.6,442,7731,0.00,0.82,0.00,0.000,6,0.000,0.036,1445,3401,3070,0,0,0,0,0,0
$GC,8040,-0.47,-146.1,727.2,-9.1,453,8042,0.10,0.00,0.00,0.000,6,0.164,0.000,1471,3401,3070,0,0,0,0,0,0
$GC,8344,-0.47,-146.1,749.8,-7.2,463,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3401,3069,0,0,0,0,0,0
$GC,8650,-0.47,-146.1,772.9,-7.7,473,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3401,3068,0,0,0,0,0,0
$GC,8957,-0.47,-146.1,796.4,-7.7,483,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3401,3068,0,0,0,0,0,0
$GC,9263,-0.47,-146.1,820.1,-7.7,493,9268,0.00,0.88,0.00,0.000,4,0.000,0.060,1469,3942,3067,0,0,0,0,0,0
$GC,9370,-0.47,-146.1,828.9,-7.9,496,9374,0.00,0.82,0.00,0.000,6,0.000,0.037,1468,3402,3067,0,0,0,0,0,0
$GC,9706,-0.47,-146.1,853.1,-7.0,507,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3402,3067,0,0,0,0,0,0
$GC,10012,-0.47,-146.1,872.8,-6.3,517,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3401,3066,0,0,0,0,0,0
$GC,10319,-0.47,-146.1,889.8,-5.3,527,10323,0.00,0.85,0.00,0.000,4,0.000,0.060,1465,3928,3065,0,0,0,0,0,0
$GC,10400,-0.47,-146.1,894.8,-6.4,529,10403,0.00,0.80,0.00,0.000,6,0.000,0.037,1465,3403,3065,0,0,0,0,0,0
$GC,10730,-0.47,-146.1,913.2,-5.7,540,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3403,3064,0,0,0,0,0,0
$GC,11036,-0.47,-146.1,931.7,-6.4,550,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3403,3064,0,0,0,0,0,0
$GC,11342,-0.47,-146.1,952.2,-6.9,560,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3403,3063,0,0,0,0,0,0
$GC,11649,-0.47,-146.1,975.4,-7.7,570,11653,0.00,0.88,0.00,0.000,4,0.000,0.060,1461,3938,3063,0,0,0,0,0,0
$GC,11796,-0.47,-146.1,987.9,-8.1,574,11800,0.00,0.82,0.00,0.000,6,0.000,0.037,1461,3402,3062,0,0,0,0,0,0
$STATE,11970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11971,begin apogee
$GC,11978,-0.13,0.0,1001.9,7.8,580,12127,0.40,0.00,146.18,1.271,6,0.125,0.000,1582,3270,2473,0,0,0,0,0,0
$STATE,12129,end apogee,CONTROL_FINISHED_OK
$STATE,12129,begin climb
$GC,12131,0.47,146.1,1005.6,0.0,585,12291,0.57,2.45,148.07,1.242,4,0.083,0.031,1786,1865,1871,0,0,0,0,0,0
$GC,12331,0.47,146.1,985.5,10.6,591,12335,0.00,2.47,0.00,0.000,6,0.000,0.050,1787,3273,1864,0,0,0,0,0,0
$GC,12661,0.47,146.1,937.3,15.0,602,12666,0.00,1.12,0.00,0.000,4,0.000,0.057,1787,3958,1856,0,0,0,0,0,0
$GC,12745,0.47,146.1,922.9,17.7,604,12749,0.00,1.05,0.00,0.000,6,0.000,0.033,1792,3271,1855,0,0,0,0,0,0
$GC,13070,0.47,146.1,870.9,16.0,615,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,3271,1854,0,0,0,0,0,0
$GC,13377,0.47,146.1,820.4,16.6,625,13380,0.00,1.12,0.00,0.000,4,0.000,0.057,1792,3959,1853,0,0,0,0,0,0
$GC,13432,0.47,146.1,810.1,17.9,626,13436,0.00,1.02,0.00,0.000,6,0.000,0.033,1797,3284,1853,0,0,0,0,0,0
$GC,13751,0.47,146.1,754.7,17.4,637,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3284,1852,0,0,0,0,0,0
$GC,14057,0.47,146.1,703.9,16.3,647,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3284,1851,0,0,0,0,0,0
$GC,14364,0.47,146.1,656.3,15.2,657,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3284,1851,0,0,0,0,0,0
$GC,14669,0.47,146.1,609.8,15.0,667,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3284,1850,0,0,0,0,0,0
$GC,14975,0.47,146.1,563.8,14.8,677,14979,0.00,1.08,0.00,0.000,4,0.000,0.057,1797,3948,1850,0,0,0,0,0,0
$GC,15031,0.47,146.1,555.0,15.9,678,15035,0.00,1.02,0.00,0.000,6,0.000,0.031,1802,3260,1850,0,0,0,0,0,0
$GC,15350,0.47,146.1,508.1,14.5,689,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3260,1849,0,0,0,0,0,0
$GC,15656,0.47,146.1,465.2,14.1,699,15660,0.00,1.12,0.00,0.000,4,0.000,0.055,1802,3959,1849,0,0,0,0,0,0
$GC,15718,0.47,146.1,455.8,15.6,700,15726,0.00,1.00,0.00,0.000,6,0.000,0.031,1807,3287,1849,0,0,0,0,0,0
$GC,16031,0.47,146.1,410.2,14.8,711,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3287,1849,0,0,0,0,0,0
$GC,16352,0.47,146.1,362.7,15.0,725,16358,0.00,1.08,0.00,0.000,4,0.000,0.055,1807,3956,1849,0,0,0,0,0,0
$GC,16416,0.47,146.1,351.9,15.9,727,16423,0.10,1.00,0.00,0.000,6,0.161,0.031,1783,3278,1849,0,0,0,0,0,0
$GC,16734,0.47,146.1,313.7,11.9,743,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3277,1848,0,0,0,0,0,0
$GC,17043,0.47,146.1,277.9,11.3,758,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1848,0,0,0,0,0,0
$GC,17358,0.47,146.1,242.9,11.2,774,17359,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1848,0,0,0,0,0,0
$GC,17671,0.47,146.1,208.4,11.4,794,17672,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1848,0,0,0,0,0,0
$GC,17984,0.47,146.1,173.6,10.7,814,17985,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3277,1848,0,0,0,0,0,0
$GC,18295,0.47,146.1,138.4,11.8,834,18296,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1848,0,0,0,0,0,0
$GC,18609,0.47,146.1,100.1,12.3,854,18610,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3278,1848,0,0,0,0,0,0
$GC,18953,0.47,146.1,65.8,9.5,912,18963,0.00,1.08,0.00,0.000,4,0.000,0.054,1783,3951,1848,0,0,0,0,0,0
$GC,19051,0.47,146.1,55.5,10.3,927,19059,0.00,1.00,0.00,0.000,6,0.000,0.031,1786,3272,1848,0,0,0,0,0,0
$GC,19303,0.47,146.1,31.7,8.7,968,19311,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3272,1848,0,0,0,0,0,0
$GC,19570,0.47,146.1,5.5,9.4,1009,19580,0.00,1.08,0.00,0.000,4,0.000,0.054,1786,3951,1848,0,0,0,0,0,0
$STATE,19611,end climb,SURFACE_DEPTH_REACHED
$STATE,19611,begin surface coast
$FINISH,1.2,1.026062
$STATE,19658,end surface coast,CONTROL_FINISHED_OK
$STATE,19658,begin surface
$SM_CCo,19675,39.50,0.680,1,0,1533,230.09
$SM_GC,2.25,0.00,0.00,39.50,0.000,0.000,0.680,47,3393,1533,-4.94,-0.20,230.09
$IRIDIUM_FIX,-4140.91,837.29,010213,161612
$TT8_MAMPS,0.025466
$HUMID,55.94
$INTERNAL_PRESSURE,9.06402
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.5,51.052
$10V_AH,10.0,34.015
$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,11.675,43.375,294.250,39.500,0.000,24.784,28.456,374.230,0.000,0.000,17.757,2517.799,13359.729,402.374,2976.247,1076.247,33.370,1477.812,0.000,2840.490,0.000,1.013,0.000
$DEVICE_MAMPS,224.145,92.565,1271.430,680.085,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.556,2261.115,1075.490,487.337,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,73985,1021
$CAP_FILE_SIZE,142272,0
$CFSIZE,259252224,238739456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,020213,041534,-4158.831,840.650,33,1.5,33,-25.0