version: 66.07
glider: 543
mission: 6
dive: 166
start: 1 5 113 2 12 21
data:
$ID,543
$MISSION,6
$DIVE,166
$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,250
$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,-8326.5176
$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,1635
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,3380
$C_ROLL_CLIMB,3270
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$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
$GPS1,050113,020152,-4156.320,819.876,37,0.8,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-53.3
$GPS2,050113,021123,-4156.352,820.000,16,1.2,16,-24.9
$SPEED_LIMITS,0.144,0.244
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.217,0.031
$KALMAN_X,-79757.9,-318.1,98.4,105014.6,5202.5
$KALMAN_Y,2575.1,785.2,674.2,58314.1,-7473.7
$MHEAD_RNG_PITCHd_Wd,303.2,6756,-16.9,-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,-0.53,-114.5,0.0,0.0,0,72,0.00,0.00,-49.17,0.000,2,0.000,0.000,50,3397,2624,0,0,0,0,0,0
$GC,76,-0.55,-146.1,3.0,-3.3,6,104,5.70,0.00,-13.60,0.000,6,0.231,0.000,1451,3397,3070,0,0,0,0,0,0
$GC,184,-0.55,-146.1,15.4,-13.7,21,193,0.00,0.88,0.00,0.000,4,0.000,0.060,1449,3934,3072,0,0,0,0,0,0
$GC,273,-0.55,-146.1,28.6,-14.9,34,282,0.00,0.82,0.00,0.000,6,0.000,0.036,1449,3398,3073,0,0,0,0,0,0
$GC,358,-0.55,-146.1,40.4,-13.5,47,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1449,3398,3073,0,0,0,0,0,0
$GC,605,-0.55,-146.1,71.1,-11.7,88,613,0.00,0.85,0.00,0.000,4,0.000,0.059,1445,3926,3073,0,0,0,0,0,0
$GC,709,-0.55,-146.1,84.4,-13.1,105,715,0.00,0.85,0.00,0.000,6,0.000,0.036,1445,3368,3074,0,0,0,0,0,0
$GC,1052,-0.55,-146.1,127.7,-13.2,140,1056,0.00,0.90,0.00,0.000,4,0.000,0.058,1441,3928,3075,0,0,0,0,0,0
$GC,1160,-0.55,-146.1,143.0,-13.8,146,1163,0.00,0.82,0.00,0.000,6,0.000,0.036,1441,3382,3075,0,0,0,0,0,0
$GC,1492,-0.55,-146.1,186.5,-12.9,167,1497,0.00,0.88,0.00,0.000,4,0.000,0.059,1437,3930,3075,0,0,0,0,0,0
$GC,1656,-0.55,-146.1,209.5,-13.9,176,1662,0.00,0.82,0.00,0.000,6,0.000,0.035,1437,3381,3075,0,0,0,0,0,0
$GC,1989,-0.55,-146.1,251.9,-12.3,197,1995,0.00,0.90,0.00,0.000,4,0.000,0.060,1433,3927,3076,0,0,0,0,0,0
$GC,2132,-0.55,-146.1,270.0,-12.7,203,2136,0.00,0.82,0.00,0.000,6,0.000,0.036,1433,3378,3076,0,0,0,0,0,0
$GC,2472,-0.55,-146.1,310.6,-12.0,219,2475,0.00,0.88,0.00,0.000,4,0.000,0.058,1428,3931,3076,0,0,0,0,0,0
$GC,2658,-0.55,-146.1,334.0,-12.3,227,2662,0.00,0.82,0.00,0.000,6,0.000,0.036,1428,3382,3076,0,0,0,0,0,0
$GC,2994,-0.55,-146.1,371.4,-10.4,243,2999,0.00,0.88,0.00,0.000,4,0.000,0.058,1424,3932,3076,0,0,0,0,0,0
$GC,3168,-0.55,-146.1,391.8,-12.1,250,3174,0.08,0.82,0.00,0.000,6,0.160,0.037,1449,3385,3076,0,0,0,0,0,0
$GC,3510,-0.55,-146.1,424.0,-9.5,263,3515,0.00,0.85,0.00,0.000,4,0.000,0.060,1446,3921,3075,0,0,0,0,0,0
$GC,3647,-0.55,-146.1,438.3,-10.6,267,3653,0.00,0.82,0.00,0.000,6,0.000,0.037,1446,3372,3075,0,0,0,0,0,0
$GC,3990,-0.55,-146.1,473.6,-10.5,278,3994,0.00,0.88,0.00,0.000,4,0.000,0.060,1442,3923,3075,0,0,0,0,0,0
$GC,4193,-0.55,-146.1,498.6,-12.7,284,4196,0.00,0.82,0.00,0.000,6,0.000,0.037,1442,3374,3075,0,0,0,0,0,0
$GC,4534,-0.55,-146.1,537.3,-11.1,295,4539,0.00,0.88,0.00,0.000,4,0.000,0.060,1438,3926,3074,0,0,0,0,0,0
$GC,4590,-0.55,-146.1,544.1,-11.8,296,4594,0.00,0.82,0.00,0.000,6,0.000,0.037,1438,3378,3074,0,0,0,0,0,0
$GC,4910,-0.55,-146.1,578.9,-11.0,307,4914,0.00,0.88,0.00,0.000,4,0.000,0.060,1434,3927,3073,0,0,0,0,0,0
$GC,4971,-0.55,-146.1,586.4,-11.6,308,4979,0.00,0.82,0.00,0.000,6,0.000,0.038,1434,3382,3073,0,0,0,0,0,0
$GC,5285,-0.55,-146.1,622.2,-11.5,319,5288,0.00,0.88,0.00,0.000,4,0.000,0.061,1430,3928,3073,0,0,0,0,0,0
$GC,5368,-0.55,-146.1,633.3,-13.3,321,5372,0.00,0.82,0.00,0.000,6,0.000,0.038,1430,3384,3073,0,0,0,0,0,0
$GC,5692,-0.55,-146.1,674.6,-13.1,332,5695,0.00,0.88,0.00,0.000,4,0.000,0.061,1426,3930,3072,0,0,0,0,0,0
$GC,5809,-0.55,-146.1,691.6,-14.5,335,5815,0.08,0.82,0.00,0.000,6,0.158,0.038,1450,3387,3071,0,0,0,0,0,0
$GC,6135,-0.55,-146.1,730.2,-11.7,346,6140,0.00,0.88,0.00,0.000,4,0.000,0.062,1447,3937,3071,0,0,0,0,0,0
$GC,6208,-0.55,-146.1,739.2,-12.8,348,6212,0.00,0.85,0.00,0.000,6,0.000,0.038,1447,3376,3070,0,0,0,0,0,0
$GC,6544,-0.55,-146.1,774.5,-10.2,359,6550,0.00,0.88,0.00,0.000,4,0.000,0.061,1443,3923,3070,0,0,0,0,0,0
$GC,6634,-0.55,-146.1,784.1,-10.6,361,6640,0.00,0.82,0.00,0.000,6,0.000,0.039,1443,3381,3070,0,0,0,0,0,0
$GC,6954,-0.55,-146.1,812.9,-8.7,372,6960,0.00,0.88,0.00,0.000,4,0.000,0.062,1438,3925,3069,0,0,0,0,0,0
$GC,7016,-0.55,-146.1,818.9,-9.3,373,7023,0.00,0.82,0.00,0.000,6,0.000,0.039,1439,3383,3068,0,0,0,0,0,0
$GC,7331,-0.55,-146.1,846.0,-8.3,384,7335,0.00,0.88,0.00,0.000,4,0.000,0.063,1435,3928,3068,0,0,0,0,0,0
$GC,7367,-0.55,-146.1,849.2,-9.2,385,7371,0.00,0.82,0.00,0.000,6,0.000,0.039,1435,3384,3067,0,0,0,0,0,0
$GC,7708,-0.55,-146.1,877.4,-8.2,396,7712,0.00,0.88,0.00,0.000,4,0.000,0.063,1431,3928,3067,0,0,0,0,0,0
$GC,7758,-0.55,-146.1,882.2,-9.2,397,7764,0.00,0.82,0.00,0.000,6,0.000,0.039,1431,3384,3067,0,0,0,0,0,0
$GC,8084,-0.55,-146.1,911.1,-9.2,408,8085,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3384,3066,0,0,0,0,0,0
$GC,8390,-0.55,-146.1,940.3,-9.8,418,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,1431,3384,3065,0,0,0,0,0,0
$GC,8697,-0.55,-146.1,971.9,-10.3,428,8701,0.00,0.88,0.00,0.000,4,0.000,0.063,1427,3927,3064,0,0,0,0,0,0
$GC,8820,-0.55,-146.1,986.5,-12.3,431,8826,0.08,0.85,0.00,0.000,6,0.158,0.040,1450,3373,3064,0,0,0,0,0,0
$STATE,8985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8985,begin apogee
$GC,8992,-0.14,0.0,1001.9,9.2,437,9143,0.45,0.00,148.60,1.177,6,0.135,0.000,1588,3276,2473,0,0,0,0,0,0
$STATE,9145,end apogee,CONTROL_FINISHED_OK
$STATE,9145,begin climb
$GC,9148,0.55,146.1,1006.4,0.0,442,9306,0.65,2.50,149.45,1.153,4,0.085,0.033,1817,1852,1870,0,0,0,0,0,0
$GC,9357,0.55,146.1,981.6,12.9,448,9363,0.00,2.47,0.00,0.000,6,0.000,0.053,1817,3251,1859,0,0,0,0,0,0
$GC,9684,0.55,146.1,925.2,17.9,459,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,1817,3251,1852,0,0,0,0,0,0
$GC,9989,0.55,146.1,869.0,18.5,469,9993,0.00,2.20,0.00,0.000,4,0.000,0.036,1828,1846,1850,0,0,0,0,0,0
$GC,10010,0.55,146.1,864.9,16.9,469,10017,0.00,2.35,0.00,0.000,6,0.000,0.054,1828,3281,1849,0,0,0,0,0,0
$GC,10323,0.55,146.1,804.1,19.8,480,10327,0.00,2.20,0.00,0.000,4,0.000,0.036,1838,1851,1849,0,0,0,0,0,0
$GC,10355,0.55,146.1,797.9,18.1,481,10360,0.00,2.33,0.00,0.000,6,0.000,0.054,1838,3276,1848,0,0,0,0,0,0
$GC,10685,0.55,146.1,730.4,20.7,492,10689,0.00,2.20,0.00,0.000,4,0.000,0.035,1849,1849,1847,0,0,0,0,0,0
$GC,10718,0.55,146.1,723.9,18.2,493,10723,0.15,2.30,0.00,0.000,6,0.178,0.054,1812,3272,1847,0,0,0,0,0,0
$GC,11048,0.55,146.1,668.1,16.6,504,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3272,1846,0,0,0,0,0,0
$GC,11354,0.55,146.1,617.9,16.7,514,11356,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3272,1846,0,0,0,0,0,0
$GC,11662,0.55,146.1,566.1,17.2,524,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,3272,1846,0,0,0,0,0,0
$GC,11967,0.55,146.1,511.5,18.2,534,11972,0.00,2.17,0.00,0.000,4,0.000,0.032,1821,1850,1845,0,0,0,0,0,0
$GC,12003,0.55,146.1,505.4,17.1,535,12007,0.00,2.28,0.00,0.000,6,0.000,0.051,1821,3272,1845,0,0,0,0,0,0
$GC,12338,0.55,146.1,439.2,20.2,546,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,3272,1845,0,0,0,0,0,0
$GC,12655,0.55,146.1,376.0,19.6,558,12659,0.00,2.17,0.00,0.000,4,0.000,0.032,1832,1834,1845,0,0,0,0,0,0
$GC,12682,0.55,146.1,371.1,16.0,559,12686,0.00,2.30,0.00,0.000,6,0.000,0.051,1833,3272,1844,0,0,0,0,0,0
$GC,13000,0.55,146.1,311.2,18.7,574,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3272,1844,0,0,0,0,0,0
$GC,13309,0.55,146.1,253.6,18.4,589,13315,0.00,2.17,0.00,0.000,4,0.000,0.032,1844,1849,1845,0,0,0,0,0,0
$GC,13326,0.55,146.1,249.8,18.0,589,13334,0.12,2.28,0.00,0.000,6,0.181,0.050,1813,3282,1844,0,0,0,0,0,0
$GC,13648,0.55,146.1,196.2,17.2,610,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3282,1844,0,0,0,0,0,0
$GC,13960,0.55,146.1,140.2,18.6,630,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,3282,1844,0,0,0,0,0,0
$GC,14284,0.55,146.1,79.3,18.3,662,14291,0.00,2.17,0.00,0.000,4,0.000,0.031,1823,1835,1844,0,0,0,0,0,0
$GC,14351,0.55,146.1,69.3,13.8,673,14356,0.00,2.30,0.00,0.000,6,0.000,0.050,1823,3279,1844,0,0,0,0,0,0
$GC,14727,0.55,146.1,11.1,16.6,734,14737,0.00,2.17,0.00,0.000,4,0.000,0.032,1834,1845,1844,0,0,0,0,0,0
$GC,14760,0.55,146.1,5.7,16.3,738,14768,0.00,2.30,0.00,0.000,6,0.000,0.053,1835,3271,1844,0,0,0,0,0,0
$STATE,14775,end climb,SURFACE_DEPTH_REACHED
$STATE,14775,begin surface coast
$FINISH,0.9,1.013130
$STATE,14797,end surface coast,CONTROL_FINISHED_OK
$STATE,14798,begin surface
$SM_CCo,14813,50.12,0.679,1,0,1453,250.20
$SM_GC,1.78,0.00,0.00,50.12,0.000,0.000,0.679,54,3386,1453,-4.94,0.17,250.20
$IRIDIUM_FIX,-4140.91,819.26,040113,212132
$TT8_MAMPS,0.025466
$HUMID,55.67
$INTERNAL_PRESSURE,9.04449
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.9,31.034
$10V_AH,10.1,17.600
$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,11.950,73.550,298.050,50.125,0.000,25.623,43.040,324.125,0.000,0.000,19.106,1916.292,9781.146,422.525,2456.324,860.517,33.362,1395.656,0.000,2264.863,0.000,1.014,0.000
$DEVICE_MAMPS,231.030,84.915,1176.570,679.320,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.312,1605.273,742.586,339.744,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,53823,743
$CAP_FILE_SIZE,125309,0
$CFSIZE,259252224,248143872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050113,062128,-4155.835,818.232,36,0.8,36,-24.9