version: 66.07
glider: 543
mission: 6
dive: 121
start: 12 28 112 10 39 51
data:
$ID,543
$MISSION,6
$DIVE,121
$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,-8201.8896
$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,58
$R_STBD_OVSHOOT,33
$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
$GPS1,281212,102904,-4158.483,826.019,40,1.0,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-22.7
$GPS2,281212,103854,-4158.422,825.914,16,1.4,16,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.131,0.100
$KALMAN_X,-61908.5,1373.0,557.1,93051.1,-10951.5
$KALMAN_Y,57684.6,420.7,344.1,88.2,-5131.8
$MHEAD_RNG_PITCHd_Wd,77.6,8648,-25.6,-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,-0.75,-60.2,0.0,0.0,0,119,0.00,0.00,-90.50,0.000,6,0.000,0.000,68,3361,2718,0,0,0,0,0,0
$GC,123,-0.78,-105.0,3.5,-4.5,12,142,5.25,2.17,-4.85,0.000,4,0.226,0.044,1395,1957,2905,0,0,0,0,0,0
$GC,316,-0.78,-105.0,34.4,-14.8,41,322,0.00,2.25,0.00,0.000,6,0.000,0.054,1387,3339,2906,0,0,0,0,0,0
$GC,562,-0.78,-105.0,71.6,-16.3,82,571,0.00,0.98,0.00,0.000,4,0.000,0.055,1382,3952,2906,0,0,0,0,0,0
$GC,834,-0.78,-105.0,119.5,-16.7,115,838,0.00,0.88,0.00,0.000,6,0.000,0.034,1382,3369,2907,0,0,0,0,0,0
$GC,1161,-0.78,-105.0,169.5,-15.7,136,1165,0.00,0.93,0.00,0.000,4,0.000,0.056,1377,3954,2907,0,0,0,0,0,0
$GC,1430,-0.78,-105.0,214.8,-16.2,151,1433,0.00,0.90,0.00,0.000,6,0.000,0.034,1378,3353,2908,0,0,0,0,0,0
$GC,1763,-0.78,-105.0,265.7,-16.2,171,1767,0.00,0.98,0.00,0.000,4,0.000,0.057,1373,3958,2907,0,0,0,0,0,0
$GC,2026,-0.78,-105.0,316.1,-18.7,182,2030,0.00,0.90,0.00,0.000,6,0.000,0.034,1373,3349,2908,0,0,0,0,0,0
$GC,2350,-0.78,-105.0,371.8,-16.8,198,2353,0.00,0.95,0.00,0.000,4,0.000,0.056,1369,3954,2908,0,0,0,0,0,0
$GC,2613,-0.78,-105.0,419.0,-17.9,208,2617,0.08,0.90,0.00,0.000,6,0.180,0.034,1390,3354,2907,0,0,0,0,0,0
$GC,2932,-0.78,-105.0,462.6,-12.8,219,2936,0.00,0.95,0.00,0.000,4,0.000,0.057,1387,3958,2908,0,0,0,0,0,0
$GC,3195,-0.78,-105.0,500.0,-13.9,226,3199,0.00,0.90,0.00,0.000,6,0.000,0.035,1387,3354,2907,0,0,0,0,0,0
$GC,3515,-0.78,-105.0,541.7,-13.0,237,3519,0.00,0.98,0.00,0.000,4,0.000,0.059,1382,3957,2907,0,0,0,0,0,0
$GC,3773,-0.78,-105.0,580.4,-15.0,244,3776,0.00,0.90,0.00,0.000,6,0.000,0.036,1382,3354,2906,0,0,0,0,0,0
$GC,4093,-0.78,-105.0,622.3,-13.1,255,4097,0.00,0.95,0.00,0.000,4,0.000,0.058,1378,3958,2905,0,0,0,0,0,0
$GC,4350,-0.78,-105.0,660.6,-14.8,262,4353,0.00,0.90,0.00,0.000,6,0.000,0.036,1378,3353,2904,0,0,0,0,0,0
$GC,4669,-0.78,-105.0,705.8,-14.7,273,4672,0.00,0.98,0.00,0.000,4,0.000,0.060,1374,3958,2903,0,0,0,0,0,0
$GC,4931,-0.78,-105.0,750.8,-17.7,280,4934,0.00,0.90,0.00,0.000,6,0.000,0.037,1373,3357,2903,0,0,0,0,0,0
$GC,5251,-0.78,-105.0,804.1,-16.7,291,5255,0.00,0.93,0.00,0.000,4,0.000,0.058,1369,3945,2902,0,0,0,0,0,0
$GC,5510,-0.78,-105.0,850.9,-17.2,298,5513,0.00,0.90,0.00,0.000,6,0.000,0.037,1369,3343,2902,0,0,0,0,0,0
$GC,5829,-0.78,-105.0,901.1,-15.3,309,5833,0.12,0.98,0.00,0.000,4,0.196,0.059,1395,3952,2901,0,0,0,0,0,0
$GC,6085,-0.78,-105.0,937.1,-13.5,316,6089,0.00,0.90,0.00,0.000,6,0.000,0.037,1395,3353,2900,0,0,0,0,0,0
$GC,6404,-0.78,-105.0,974.8,-11.9,327,6407,0.00,0.98,0.00,0.000,4,0.000,0.061,1391,3953,2900,0,0,0,0,0,0
$STATE,6587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6587,begin apogee
$GC,6594,-0.14,0.0,1000.1,14.3,332,6704,0.68,0.00,101.68,1.784,6,0.166,0.000,1592,3253,2473,0,0,0,0,1,0
$STATE,6706,end apogee,CONTROL_FINISHED_OK
$STATE,6706,begin climb
$GC,6709,0.78,105.0,1002.9,0.0,336,6829,0.90,2.40,106.07,1.755,4,0.080,0.032,1904,1834,2045,0,0,0,0,1,0
$GC,7082,0.78,105.0,941.3,18.1,346,7088,0.00,2.40,0.00,0.000,6,0.000,0.050,1904,3257,2037,0,0,0,0,0,0
$GC,7407,0.78,105.0,867.8,23.3,357,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3257,2033,0,0,0,0,0,0
$GC,7714,0.78,105.0,797.4,23.1,367,7718,0.00,2.20,0.00,0.000,4,0.000,0.033,1914,1824,2031,0,0,0,0,0,0
$GC,7743,0.78,105.0,791.0,21.9,368,7747,0.00,2.33,0.00,0.000,6,0.000,0.050,1913,3261,2031,0,0,0,0,0,0
$GC,8078,0.78,105.0,713.9,22.5,379,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3262,2030,0,0,0,0,0,0
$GC,8384,0.78,105.0,646.1,22.2,389,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3262,2029,0,0,0,0,0,0
$GC,8691,0.78,105.0,578.1,22.2,399,8695,0.00,1.10,0.00,0.000,4,0.000,0.053,1913,3956,2028,0,0,0,0,0,0
$GC,8746,0.78,105.0,564.4,24.0,400,8750,0.00,1.08,0.00,0.000,6,0.000,0.032,1917,3238,2028,0,0,0,0,0,0
$GC,9065,0.78,105.0,492.4,22.3,411,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3238,2028,0,0,0,0,0,0
$GC,9372,0.78,105.0,424.3,21.9,421,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3238,2027,0,0,0,0,0,0
$GC,9680,0.78,105.0,356.6,21.7,434,9684,0.00,2.10,0.00,0.000,4,0.000,0.032,1929,1834,2027,0,0,0,0,0,0
$GC,9714,0.78,105.0,349.4,19.2,435,9721,0.00,2.22,0.00,0.000,6,0.000,0.047,1929,3252,2026,0,0,0,0,0,0
$GC,10033,0.78,105.0,279.3,22.5,451,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3252,2026,0,0,0,0,0,0
$GC,10350,0.78,105.0,207.5,22.2,469,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3252,2026,0,0,0,0,0,0
$GC,10664,0.78,105.0,137.2,22.5,489,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3252,2026,0,0,0,0,0,0
$GC,10987,0.78,105.0,64.6,21.0,527,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3252,2026,0,0,0,0,0,0
$STATE,11312,end climb,SURFACE_DEPTH_REACHED
$STATE,11312,begin surface coast
$FINISH,0.9,1.002449
$STATE,11332,end surface coast,CONTROL_FINISHED_OK
$STATE,11332,begin surface
$SM_CCo,11349,165.65,0.726,1,0,505,482.50
$SM_GC,1.11,0.00,0.00,165.65,0.000,0.000,0.726,60,3363,505,-4.96,0.28,482.50
$IRIDIUM_FIX,-4143.80,828.70,281212,050545
$TT8_MAMPS,0.025466
$HUMID,54.60
$INTERNAL_PRESSURE,8.95659
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.6,24.016
$10V_AH,10.1,12.821
$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,11.950,41.000,207.750,165.650,0.000,25.399,20.294,373.618,0.000,0.000,18.270,1540.730,7091.310,441.628,2314.268,717.927,33.354,1274.015,0.000,2026.722,0.000,1.013,0.000
$DEVICE_MAMPS,225.675,84.150,1783.980,725.985,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.994,1290.175,620.263,299.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354260
$DATA_FILE_SIZE,43918,582
$CAP_FILE_SIZE,98803,0
$CFSIZE,259252224,251011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,281212,135255,-4158.988,825.324,21,0.8,22,-24.9