version: 66.07
glider: 543
mission: 6
dive: 52
start: 12 17 112 6 56 49
data:
$ID,543
$MISSION,6
$DIVE,52
$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,370
$T_MISSION,385
$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,200
$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,482.49722
$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,-7963.7583
$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,1650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,3353
$C_ROLL_CLIMB,3250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,41
$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
$GPS1,171212,064234,-4231.780,823.965,36,0.9,36,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-25.0
$GPS2,171212,065553,-4231.687,824.017,18,1.0,19,-25.0
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH1
$TGT_LATLONG,-4230.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,-0.178,-0.064
$KALMAN_X,-4898.5,571.9,447.4,34378.6,-1502.8
$KALMAN_Y,75376.5,-189.9,-508.2,-77719.7,4542.7
$MHEAD_RNG_PITCHd_Wd,275.1,6312,-22.1,-9.009
$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,-0.66,-79.5,0.0,0.0,0,113,0.00,0.00,-89.82,0.000,2,0.000,0.000,55,3373,2730,0,0,0,0,0,0
$GC,117,-0.70,-145.5,3.1,-4.0,11,137,5.53,0.00,-9.55,0.000,6,0.236,0.000,1415,3373,3070,0,0,0,0,0,0
$GC,217,-0.70,-145.5,20.2,-19.3,25,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1415,3373,3072,0,0,0,0,0,0
$GC,299,-0.70,-145.5,36.8,-19.9,38,307,0.00,0.90,0.00,0.000,4,0.000,0.059,1412,3926,3072,0,0,0,0,0,0
$GC,343,-0.70,-145.5,45.2,-19.4,44,352,0.00,0.88,0.00,0.000,6,0.000,0.037,1412,3361,3072,0,0,0,0,0,0
$GC,591,-0.70,-145.5,86.0,-17.4,85,595,0.00,2.17,0.00,0.000,4,0.000,0.033,1412,1934,3073,0,0,0,0,0,0
$GC,630,-0.70,-145.5,92.6,-15.6,91,634,0.00,2.30,0.00,0.000,6,0.000,0.061,1401,3331,3073,0,0,0,0,0,0
$GC,965,-0.70,-145.5,149.2,-18.1,117,969,0.00,0.98,0.00,0.000,4,0.000,0.058,1397,3946,3073,0,0,0,0,0,0
$GC,1202,-0.70,-145.5,193.9,-16.9,130,1213,0.00,0.90,0.00,0.000,6,0.000,0.036,1397,3349,3073,0,0,0,0,0,0
$GC,1524,-0.70,-145.5,246.9,-16.7,151,1529,0.00,0.95,0.00,0.000,4,0.000,0.058,1393,3950,3074,0,0,0,0,0,0
$GC,1606,-0.70,-145.5,263.2,-19.6,155,1610,0.00,0.90,0.00,0.000,6,0.000,0.036,1393,3353,3073,0,0,0,0,0,0
$GC,1930,-0.70,-145.5,319.5,-17.1,171,1936,0.10,0.98,0.00,0.000,4,0.199,0.060,1412,3957,3073,0,0,0,0,0,0
$GC,2083,-0.70,-145.5,345.2,-16.2,177,2087,0.00,0.93,0.00,0.000,6,0.000,0.036,1412,3343,3073,0,0,0,0,0,0
$GC,2406,-0.70,-145.5,392.1,-14.5,193,2412,0.00,0.95,0.00,0.000,4,0.000,0.059,1407,3947,3073,0,0,0,0,0,0
$GC,2512,-0.70,-145.5,408.6,-14.7,197,2515,0.00,0.90,0.00,0.000,6,0.000,0.037,1407,3348,3073,0,0,0,0,0,0
$GC,2853,-0.70,-145.5,455.4,-13.7,208,2859,0.00,0.95,0.00,0.000,4,0.000,0.059,1403,3951,3073,0,0,0,0,0,0
$GC,2994,-0.70,-145.5,478.0,-16.2,212,2999,0.00,0.90,0.00,0.000,6,0.000,0.037,1403,3353,3073,0,0,0,0,0,0
$GC,3331,-0.70,-145.5,528.6,-15.0,223,3335,0.00,0.95,0.00,0.000,4,0.000,0.060,1399,3954,3073,0,0,0,0,0,0
$GC,3375,-0.70,-145.5,536.2,-16.2,224,3379,0.00,0.90,0.00,0.000,6,0.000,0.037,1398,3356,3073,0,0,0,0,0,0
$GC,3706,-0.70,-145.5,586.3,-15.3,235,3709,0.00,0.93,0.00,0.000,4,0.000,0.060,1394,3944,3072,0,0,0,0,0,0
$GC,3828,-0.70,-145.5,607.0,-17.0,238,3832,0.00,0.90,0.00,0.000,6,0.000,0.037,1395,3349,3072,0,0,0,0,0,0
$GC,4148,-0.70,-145.5,655.0,-14.8,249,4152,0.00,0.95,0.00,0.000,4,0.000,0.060,1390,3952,3071,0,0,0,0,0,0
$GC,4209,-0.70,-145.5,665.3,-16.4,250,4216,0.08,0.90,0.00,0.000,6,0.176,0.037,1412,3354,3071,0,0,0,0,0,0
$GC,4522,-0.70,-145.5,707.6,-13.3,261,4526,0.00,0.95,0.00,0.000,4,0.000,0.061,1409,3954,3070,0,0,0,0,0,0
$GC,4593,-0.70,-145.5,717.0,-13.6,263,4597,0.00,0.90,0.00,0.000,6,0.000,0.038,1409,3357,3070,0,0,0,0,0,0
$GC,4934,-0.70,-145.5,762.6,-13.2,274,4937,0.00,0.93,0.00,0.000,4,0.000,0.062,1405,3944,3069,0,0,0,0,0,0
$GC,5087,-0.70,-145.5,784.1,-14.2,278,5092,0.00,0.90,0.00,0.000,6,0.000,0.039,1405,3350,3070,0,0,0,0,0,0
$GC,5412,-0.70,-145.5,828.5,-13.6,289,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1405,3350,3068,0,0,0,0,0,0
$GC,5718,-0.70,-145.5,870.2,-13.4,299,5722,0.00,0.95,0.00,0.000,4,0.000,0.062,1401,3949,3067,0,0,0,0,0,0
$GC,5813,-0.70,-145.5,884.0,-14.5,301,5819,0.00,0.90,0.00,0.000,6,0.000,0.039,1401,3354,3067,0,0,0,0,0,0
$GC,6126,-0.70,-145.5,925.3,-13.0,312,6130,0.00,0.95,0.00,0.000,4,0.000,0.062,1396,3952,3066,0,0,0,0,0,0
$GC,6237,-0.70,-145.5,940.9,-13.9,315,6243,0.00,0.93,0.00,0.000,6,0.000,0.039,1396,3343,3066,0,0,0,0,0,0
$GC,6570,-0.70,-145.5,982.9,-12.6,326,6574,0.00,0.95,0.00,0.000,4,0.000,0.062,1392,3943,3065,0,0,0,0,0,0
$GC,6688,-0.70,-145.5,999.5,-14.3,329,6692,0.08,0.90,0.00,0.000,6,0.182,0.039,1414,3350,3065,0,0,0,0,0,0
$STATE,6698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6698,begin apogee
$GC,6705,-0.14,0.0,1000.8,13.2,329,6856,0.60,0.00,142.15,1.724,6,0.152,0.000,1601,3257,2473,0,0,0,0,1,0
$STATE,6857,end apogee,CONTROL_FINISHED_OK
$STATE,6857,begin climb
$GC,6860,0.70,145.5,1004.1,0.0,334,7019,0.77,2.45,143.90,1.810,4,0.053,0.033,1891,1835,1878,0,0,0,0,1,0
$GC,7092,0.70,145.5,962.9,20.4,341,7097,0.00,2.47,0.00,0.000,6,0.000,0.050,1891,3257,1875,0,0,0,0,0,0
$GC,7422,0.70,145.5,878.9,25.5,352,7426,0.00,2.28,0.00,0.000,4,0.000,0.034,1901,1827,1869,0,0,0,0,0,0
$GC,7452,0.70,145.5,871.7,24.8,353,7456,0.00,2.38,0.00,0.000,6,0.000,0.051,1901,3254,1868,0,0,0,0,0,0
$GC,7787,0.70,145.5,784.3,26.0,364,7793,0.00,2.25,0.00,0.000,4,0.000,0.034,1912,1826,1867,0,0,0,0,0,0
$GC,7857,0.70,145.5,768.5,20.9,366,7862,0.12,2.33,0.00,0.000,6,0.207,0.052,1884,3251,1865,0,0,0,0,0,0
$GC,8193,0.70,145.5,690.4,23.1,377,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,3250,1865,0,0,0,0,0,0
$GC,8499,0.70,145.5,619.7,23.2,387,8503,0.00,2.17,0.00,0.000,4,0.000,0.033,1893,1828,1863,0,0,0,0,0,0
$GC,8533,0.70,145.5,612.1,21.1,388,8537,0.00,2.30,0.00,0.000,6,0.000,0.051,1893,3257,1863,0,0,0,0,0,0
$GC,8862,0.70,145.5,535.4,23.4,399,8866,0.00,2.20,0.00,0.000,4,0.000,0.032,1904,1816,1862,0,0,0,0,0,0
$GC,8883,0.70,145.5,530.1,23.1,399,8890,0.00,2.30,0.00,0.000,6,0.000,0.050,1904,3256,1862,0,0,0,0,0,0
$GC,9198,0.70,145.5,456.8,23.8,410,9202,0.00,2.17,0.00,0.000,4,0.000,0.034,1915,1827,1862,0,0,0,0,0,0
$GC,9230,0.70,145.5,448.7,22.4,411,9235,0.15,2.28,0.00,0.000,6,0.205,0.050,1879,3250,1861,0,0,0,0,0,0
$GC,9555,0.70,145.5,377.3,22.7,423,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,3250,1861,0,0,0,0,0,0
$GC,9862,0.70,145.5,306.6,23.2,438,9866,0.00,2.15,0.00,0.000,4,0.000,0.034,1888,1824,1861,0,0,0,0,0,0
$GC,9891,0.70,145.5,299.6,21.6,439,9895,0.00,2.28,0.00,0.000,6,0.000,0.050,1889,3253,1860,0,0,0,0,0,0
$GC,10217,0.70,145.5,224.6,23.2,456,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3253,1860,0,0,0,0,0,0
$GC,10527,0.70,145.5,151.9,23.2,476,10531,0.00,2.12,0.00,0.000,4,0.000,0.034,1899,1824,1860,0,0,0,0,0,0
$GC,10586,0.70,145.5,139.3,19.1,479,10593,0.00,2.28,0.00,0.000,6,0.000,0.051,1900,3262,1859,0,0,0,0,0,0
$GC,10917,0.70,145.5,62.8,22.6,518,10925,0.00,1.10,0.00,0.000,4,0.000,0.056,1900,3956,1859,0,0,0,0,0,0
$GC,10957,0.70,145.5,53.5,24.8,524,10968,0.00,1.08,0.00,0.000,6,0.000,0.031,1905,3226,1859,0,0,0,0,0,0
$STATE,11199,end climb,SURFACE_DEPTH_REACHED
$STATE,11200,begin surface coast
$FINISH,1.1,1.026233
$STATE,11218,end surface coast,CONTROL_FINISHED_OK
$STATE,11219,begin surface
$SM_CCo,11235,148.27,0.786,1,0,503,482.50
$SM_GC,1.40,0.00,0.00,148.27,0.000,0.000,0.786,62,3364,503,-4.96,0.31,482.50
$IRIDIUM_FIX,-4215.72,823.91,171212,060636
$TT8_MAMPS,0.025466
$HUMID,54.72
$INTERNAL_PRESSURE,8.93706
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.4,11.819
$10V_AH,10.1,5.885
$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,12.400,69.275,286.050,148.275,0.000,67.717,86.858,405.602,0.000,0.000,21.649,1470.634,7260.095,528.151,2219.613,711.437,33.357,1333.298,0.000,1778.086,0.000,1.013,0.000
$DEVICE_MAMPS,236.385,77.265,1809.990,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.703,1233.196,578.866,266.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354216
$DATA_FILE_SIZE,43693,564
$CAP_FILE_SIZE,106482,0
$CFSIZE,259252224,255152128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,171212,100759,-4231.313,821.922,41,1.5,41,-25.0