version: 66.07
glider: 543
mission: 6
dive: 111
start: 12 26 112 15 50 27
data:
$ID,543
$MISSION,6
$DIVE,111
$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,-8170.3145
$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,50
$R_STBD_OVSHOOT,23
$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
$GPS1,261212,153952,-4159.032,820.911,40,1.0,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-34.6
$GPS2,261212,154929,-4159.029,820.879,16,1.4,17,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.219,0.112
$KALMAN_X,-23221.3,582.2,-141.6,49005.6,-6040.5
$KALMAN_Y,67768.1,170.7,393.3,-10921.6,-4272.7
$MHEAD_RNG_PITCHd_Wd,87.7,2167,-16.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.54,-139.7,0.0,0.0,0,119,0.00,0.00,-96.95,0.000,2,0.000,0.000,55,3351,2951,0,0,0,0,0,0
$GC,123,-0.57,-194.7,3.5,-5.0,12,143,5.55,2.20,-7.60,0.000,4,0.224,0.045,1462,1943,3270,0,0,0,0,0,0
$GC,247,-0.57,-194.7,21.3,-10.0,30,258,0.00,2.33,0.00,0.000,6,0.000,0.054,1453,3350,3273,0,0,0,0,0,0
$GC,339,-0.57,-194.7,32.3,-12.5,43,346,0.00,0.98,0.00,0.000,4,0.000,0.059,1448,3955,3273,0,0,0,0,0,0
$GC,447,-0.57,-194.7,46.8,-13.8,60,456,0.00,0.90,0.00,0.000,6,0.000,0.037,1448,3363,3273,0,0,0,0,0,0
$GC,690,-0.57,-194.7,75.9,-11.1,101,694,0.00,0.95,0.00,0.000,4,0.000,0.058,1444,3958,3274,0,0,0,0,0,0
$GC,782,-0.57,-194.7,87.3,-12.6,117,789,0.00,0.93,0.00,0.000,6,0.000,0.035,1444,3345,3274,0,0,0,0,0,0
$GC,1121,-0.57,-194.7,130.2,-12.8,150,1125,0.00,0.98,0.00,0.000,4,0.000,0.057,1439,3962,3275,0,0,0,0,0,0
$GC,1312,-0.57,-194.7,157.8,-14.1,160,1321,0.00,0.93,0.00,0.000,6,0.000,0.034,1439,3344,3275,0,0,0,0,0,0
$GC,1634,-0.57,-194.7,204.2,-14.6,181,1639,0.00,0.95,0.00,0.000,4,0.000,0.057,1434,3952,3275,0,0,0,0,0,0
$GC,1759,-0.57,-194.7,223.8,-14.9,188,1763,0.00,0.90,0.00,0.000,6,0.000,0.034,1434,3345,3275,0,0,0,0,0,0
$GC,2096,-0.57,-194.7,273.9,-14.9,207,2102,0.10,0.98,0.00,0.000,4,0.174,0.059,1457,3954,3275,0,0,0,0,0,0
$GC,2223,-0.57,-194.7,291.8,-13.5,212,2226,0.00,0.90,0.00,0.000,6,0.000,0.035,1457,3351,3275,0,0,0,0,0,0
$GC,2546,-0.57,-194.7,332.1,-12.2,228,2550,0.00,0.95,0.00,0.000,4,0.000,0.059,1452,3956,3275,0,0,0,0,0,0
$GC,2695,-0.57,-194.7,351.8,-13.1,234,2698,0.00,0.90,0.00,0.000,6,0.000,0.035,1452,3348,3275,0,0,0,0,0,0
$GC,3018,-0.57,-194.7,390.2,-11.9,250,3022,0.00,0.95,0.00,0.000,4,0.000,0.059,1448,3954,3274,0,0,0,0,0,0
$GC,3131,-0.57,-194.7,404.8,-12.6,255,3135,0.00,0.90,0.00,0.000,6,0.000,0.035,1448,3349,3274,0,0,0,0,0,0
$GC,3462,-0.57,-194.7,442.6,-11.2,266,3467,0.00,0.95,0.00,0.000,4,0.000,0.060,1443,3954,3273,0,0,0,0,0,0
$GC,3610,-0.57,-194.7,461.0,-11.5,270,3613,0.00,0.90,0.00,0.000,6,0.000,0.035,1443,3351,3273,0,0,0,0,0,0
$GC,3940,-0.57,-194.7,498.1,-11.3,281,3944,0.00,0.95,0.00,0.000,4,0.000,0.059,1439,3956,3273,0,0,0,0,0,0
$GC,4072,-0.57,-194.7,514.4,-12.6,284,4079,0.00,0.90,0.00,0.000,6,0.000,0.036,1439,3351,3273,0,0,0,0,0,0
$GC,4385,-0.57,-194.7,553.2,-12.6,295,4391,0.00,0.95,0.00,0.000,4,0.000,0.059,1435,3956,3271,0,0,0,0,0,0
$GC,4504,-0.57,-194.7,569.4,-13.9,298,4508,0.08,0.90,0.00,0.000,6,0.145,0.036,1459,3356,3271,0,0,0,0,0,0
$GC,4828,-0.57,-194.7,604.5,-10.8,309,4831,0.00,0.95,0.00,0.000,4,0.000,0.060,1456,3958,3270,0,0,0,0,0,0
$GC,4963,-0.57,-194.7,620.1,-11.1,313,4967,0.00,0.90,0.00,0.000,6,0.000,0.037,1456,3353,3271,0,0,0,0,0,0
$GC,5305,-0.57,-194.7,656.7,-10.4,324,5311,0.00,0.98,0.00,0.000,4,0.000,0.062,1452,3956,3269,0,0,0,0,0,0
$GC,5446,-0.57,-194.7,672.6,-10.6,328,5451,0.00,0.90,0.00,0.000,6,0.000,0.037,1452,3352,3268,0,0,0,0,0,0
$GC,5784,-0.57,-194.7,708.2,-10.6,339,5788,0.00,0.95,0.00,0.000,4,0.000,0.060,1447,3953,3268,0,0,0,0,0,0
$GC,5959,-0.57,-194.7,728.9,-11.9,344,5962,0.00,0.90,0.00,0.000,6,0.000,0.037,1447,3354,3268,0,0,0,0,0,0
$GC,6295,-0.57,-194.7,766.3,-11.2,355,6298,0.00,0.98,0.00,0.000,4,0.000,0.062,1443,3955,3266,0,0,0,0,0,0
$GC,6434,-0.57,-194.7,783.9,-12.8,359,6438,0.00,0.90,0.00,0.000,6,0.000,0.037,1442,3355,3266,0,0,0,0,0,0
$GC,6770,-0.57,-194.7,823.6,-11.9,370,6774,0.00,0.95,0.00,0.000,4,0.000,0.061,1438,3956,3265,0,0,0,0,0,0
$GC,6910,-0.57,-194.7,841.4,-13.2,374,6913,0.00,0.90,0.00,0.000,6,0.000,0.037,1438,3356,3264,0,0,0,0,0,0
$GC,7245,-0.57,-194.7,880.5,-11.5,385,7251,0.00,0.95,0.00,0.000,4,0.000,0.062,1434,3954,3263,0,0,0,0,0,0
$GC,7386,-0.57,-194.7,898.2,-12.2,389,7392,0.08,0.90,0.00,0.000,6,0.146,0.037,1458,3356,3263,0,0,0,0,0,0
$GC,7724,-0.57,-194.7,929.3,-9.1,400,7728,0.00,0.95,0.00,0.000,4,0.000,0.063,1455,3955,3262,0,0,0,0,0,0
$GC,7826,-0.57,-194.7,939.4,-9.2,403,7830,0.00,0.90,0.00,0.000,6,0.000,0.038,1455,3355,3262,0,0,0,0,0,0
$GC,8168,-0.57,-194.7,973.2,-9.8,414,8173,0.00,0.95,0.00,0.000,4,0.000,0.062,1450,3954,3261,0,0,0,0,0,0
$GC,8316,-0.57,-194.7,988.6,-9.8,418,8320,0.00,0.90,0.00,0.000,6,0.000,0.038,1451,3355,3261,0,0,0,0,0,0
$STATE,8460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8460,begin apogee
$GC,8467,-0.14,0.0,1002.7,9.7,423,8675,0.47,0.00,198.85,1.170,6,0.131,0.000,1598,3245,2464,0,0,0,0,0,0
$STATE,8676,end apogee,CONTROL_FINISHED_OK
$STATE,8676,begin climb
$GC,8679,0.57,194.7,1009.0,0.0,430,8872,0.65,1.35,180.82,1.775,4,0.054,0.055,1838,3958,1679,0,0,0,0,1,0
$GC,8940,0.57,194.7,965.4,21.7,438,8943,0.00,1.17,0.00,0.000,6,0.000,0.032,1844,3244,1679,0,0,0,0,0,0
$GC,9269,0.57,194.7,892.3,22.6,449,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,3243,1677,0,0,0,0,0,0
$GC,9575,0.57,194.7,823.7,22.5,459,9579,0.00,2.15,0.00,0.000,4,0.000,0.036,1855,1840,1676,0,0,0,0,0,0
$GC,9604,0.57,194.7,817.4,21.9,460,9609,0.00,2.33,0.00,0.000,6,0.000,0.052,1855,3264,1675,0,0,0,0,0,0
$GC,9940,0.57,194.7,739.9,23.8,471,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3264,1675,0,0,0,0,0,0
$GC,10246,0.57,194.7,668.9,23.0,481,10249,0.00,1.08,0.00,0.000,4,0.000,0.056,1855,3943,1674,0,0,0,0,0,0
$GC,10295,0.57,194.7,656.5,23.8,482,10299,0.00,1.05,0.00,0.000,6,0.000,0.034,1860,3246,1674,0,0,0,0,0,0
$GC,10620,0.57,194.7,582.1,22.8,493,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3245,1673,0,0,0,0,0,0
$GC,10926,0.57,194.7,511.1,23.5,503,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3245,1672,0,0,0,0,0,0
$GC,11233,0.57,194.7,438.5,23.4,513,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3245,1672,0,0,0,0,0,0
$GC,11542,0.57,194.7,370.3,22.3,525,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3245,1672,0,0,0,0,0,0
$GC,11850,0.57,194.7,303.4,21.7,540,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3245,1671,0,0,0,0,0,0
$GC,12161,0.57,194.7,235.7,22.2,556,12165,0.00,2.10,0.00,0.000,4,0.000,0.033,1871,1834,1672,0,0,0,0,0,0
$GC,12195,0.57,194.7,228.0,20.1,558,12200,0.12,2.22,0.00,0.000,6,0.186,0.048,1840,3255,1672,0,0,0,0,0,0
$GC,12517,0.57,194.7,164.7,20.4,578,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,3255,1671,0,0,0,0,0,0
$GC,12827,0.57,194.7,99.5,21.2,598,12834,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,3255,1671,0,0,0,0,0,0
$GC,13189,0.57,194.7,28.5,17.1,659,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,3255,1671,0,0,0,0,0,0
$GC,13280,0.57,194.7,13.5,15.8,672,13290,0.00,2.15,0.00,0.000,4,0.000,0.031,1849,1832,1671,0,0,0,0,0,0
$GC,13326,0.57,194.7,5.9,17.2,678,13337,0.00,2.25,0.00,0.000,6,0.000,0.048,1849,3247,1671,0,0,0,0,0,0
$STATE,13347,end climb,SURFACE_DEPTH_REACHED
$STATE,13347,begin surface coast
$FINISH,1.0,1.013917
$STATE,13371,end surface coast,CONTROL_FINISHED_OK
$STATE,13371,begin surface
$SM_CCo,13387,128.55,0.727,1,0,505,482.50
$SM_GC,1.13,0.00,0.00,128.55,0.000,0.000,0.727,54,3370,505,-4.99,0.48,482.50
$IRIDIUM_FIX,-4146.69,820.10,261212,101050
$TT8_MAMPS,0.025466
$HUMID,54.60
$INTERNAL_PRESSURE,8.97612
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.3,22.078
$10V_AH,10.1,11.716
$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,11.750,56.175,379.675,128.550,0.000,26.899,19.671,358.646,0.000,0.000,19.453,1757.781,8526.458,576.878,2425.465,807.003,33.358,1545.119,0.000,2202.465,0.000,1.013,0.000
$DEVICE_MAMPS,224.145,75.735,1774.800,726.750,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.502,1509.613,702.493,333.730,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,50507,683
$CAP_FILE_SIZE,117273,0
$CFSIZE,259252224,251662336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,261212,193704,-4158.473,821.532,35,0.8,35,-24.9