version: 66.07
glider: 543
mission: 6
dive: 126
start: 12 29 112 7 37 0
data:
$ID,543
$MISSION,6
$DIVE,126
$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,-8216.4688
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,291212,071308,-4156.968,825.986,31,0.8,32,-24.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-23.4
$GPS2,291212,073605,-4157.004,825.870,22,1.8,23,-24.9
$SPEED_LIMITS,0.156,0.284
$TGT_NAME,GH2
$TGT_LATLONG,-4200.000,820.000
$TGT_RADIUS,800.000
$KALMAN_CONTROL,0.164,0.021
$KALMAN_X,-79120.0,1251.6,697.9,110180.1,-11613.1
$KALMAN_Y,48910.3,1075.6,657.7,10504.3,-5981.8
$MHEAD_RNG_PITCHd_Wd,107.6,9801,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.75,-60.3,0.0,0.0,0,120,0.00,0.00,-90.75,0.000,6,0.000,0.000,61,3366,2721,0,0,0,0,0,0
$GC,124,-0.77,-103.1,3.6,-4.7,12,143,5.10,0.90,-4.47,0.000,4,0.214,0.080,1390,3924,2896,0,0,0,0,0,0
$GC,423,-0.77,-103.1,56.6,-15.7,59,431,0.00,0.85,0.00,0.000,6,0.000,0.035,1390,3366,2898,0,0,0,0,0,0
$GC,663,-0.77,-103.1,95.5,-16.9,100,670,0.00,0.90,0.00,0.000,4,0.000,0.056,1386,3930,2898,0,0,0,0,0,0
$GC,926,-0.77,-103.1,141.9,-18.0,118,929,0.00,0.88,0.00,0.000,6,0.000,0.035,1386,3352,2898,0,0,0,0,0,0
$GC,1254,-0.77,-103.1,195.6,-16.5,139,1258,0.00,0.93,0.00,0.000,4,0.000,0.056,1382,3936,2898,0,0,0,0,0,0
$GC,1523,-0.77,-103.1,244.3,-17.9,154,1527,0.00,0.88,0.00,0.000,6,0.000,0.034,1382,3350,2899,0,0,0,0,0,0
$GC,1858,-0.77,-103.1,300.7,-17.4,171,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,1382,3350,2899,0,0,0,0,0,0
$GC,2166,-0.77,-103.1,355.9,-18.1,186,2170,0.00,0.93,0.00,0.000,4,0.000,0.056,1378,3940,2899,0,0,0,0,0,0
$GC,2306,-0.77,-103.1,383.5,-20.2,192,2310,0.00,0.88,0.00,0.000,6,0.000,0.035,1378,3352,2898,0,0,0,0,0,0
$GC,2629,-0.77,-103.1,440.5,-17.3,204,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,1378,3352,2898,0,0,0,0,0,0
$GC,2933,-0.77,-103.1,492.6,-17.1,214,2937,0.00,0.93,0.00,0.000,4,0.000,0.057,1373,3941,2898,0,0,0,0,0,0
$GC,3140,-0.77,-103.1,529.0,-17.8,220,3144,0.00,0.88,0.00,0.000,6,0.000,0.036,1373,3354,2897,0,0,0,0,0,0
$GC,3481,-0.77,-103.1,582.7,-15.1,231,3485,0.00,0.93,0.00,0.000,4,0.000,0.058,1369,3927,2897,0,0,0,0,0,0
$GC,3740,-0.77,-103.1,624.1,-16.7,238,3744,0.08,0.85,0.00,0.000,6,0.182,0.036,1391,3362,2896,0,0,0,0,0,0
$GC,4058,-0.77,-103.1,663.9,-12.4,249,4062,0.00,0.90,0.00,0.000,4,0.000,0.058,1387,3928,2895,0,0,0,0,0,0
$GC,4320,-0.77,-103.1,700.9,-14.4,256,4323,0.00,0.88,0.00,0.000,6,0.000,0.037,1388,3350,2895,0,0,0,0,0,0
$GC,4640,-0.77,-103.1,745.8,-14.3,267,4644,0.00,0.93,0.00,0.000,4,0.000,0.059,1383,3933,2894,0,0,0,0,0,0
$GC,4820,-0.77,-103.1,774.6,-16.4,272,4825,0.00,0.88,0.00,0.000,6,0.000,0.037,1383,3354,2893,0,0,0,0,0,0
$GC,5151,-0.77,-103.1,824.1,-15.1,283,5156,0.00,0.93,0.00,0.000,4,0.000,0.060,1379,3941,2892,0,0,0,0,0,0
$GC,5288,-0.77,-103.1,846.4,-16.5,287,5293,0.00,0.88,0.00,0.000,6,0.000,0.037,1379,3357,2892,0,0,0,0,0,0
$GC,5631,-0.77,-103.1,896.3,-14.1,298,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,1379,3357,2890,0,0,0,0,0,0
$GC,5936,-0.77,-103.1,936.2,-12.6,308,5941,0.00,0.90,0.00,0.000,4,0.000,0.060,1375,3927,2889,0,0,0,0,0,0
$GC,6074,-0.77,-103.1,954.5,-13.5,312,6079,0.00,0.88,0.00,0.000,6,0.000,0.038,1375,3347,2889,0,0,0,0,0,0
$GC,6417,-0.77,-103.1,994.4,-11.4,323,6421,0.00,0.93,0.00,0.000,4,0.000,0.060,1370,3932,2888,0,0,0,0,0,0
$STATE,6458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6459,begin apogee
$GC,6466,-0.14,0.0,1000.5,13.6,324,6578,0.77,0.00,97.95,1.784,6,0.172,0.000,1598,3253,2475,0,0,0,0,1,0
$STATE,6579,end apogee,CONTROL_FINISHED_OK
$STATE,6579,begin climb
$GC,6582,0.77,103.1,1001.2,0.0,328,6696,0.88,0.00,104.62,1.753,6,0.073,0.000,1898,3253,2052,0,0,0,0,1,0
$GC,6981,0.77,103.1,918.1,23.1,341,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3253,2044,0,0,0,0,0,0
$GC,7289,0.77,103.1,848.6,22.8,351,7293,0.00,1.12,0.00,0.000,4,0.000,0.055,1898,3939,2041,0,0,0,0,0,0
$GC,7383,0.77,103.1,824.2,25.5,353,7390,0.00,1.08,0.00,0.000,6,0.000,0.034,1903,3238,2041,0,0,0,0,0,0
$GC,7696,0.77,103.1,752.2,22.9,364,7700,0.00,1.12,0.00,0.000,4,0.000,0.054,1903,3931,2039,0,0,0,0,0,0
$GC,7848,0.77,103.1,715.0,25.3,368,7851,0.00,1.05,0.00,0.000,6,0.000,0.033,1908,3240,2039,0,0,0,0,0,0
$GC,8172,0.77,103.1,640.9,22.6,379,8176,0.00,1.10,0.00,0.000,4,0.000,0.054,1908,3923,2037,0,0,0,0,0,0
$GC,8308,0.77,103.1,607.8,24.7,383,8311,0.00,1.02,0.00,0.000,6,0.000,0.033,1913,3241,2037,0,0,0,0,0,0
$GC,8649,0.77,103.1,530.9,22.7,394,8654,0.00,1.12,0.00,0.000,4,0.000,0.054,1913,3940,2036,0,0,0,0,0,0
$GC,8773,0.77,103.1,500.5,24.2,397,8776,0.00,1.02,0.00,0.000,6,0.000,0.032,1918,3252,2036,0,0,0,0,0,0
$GC,9091,0.77,103.1,427.1,23.5,408,9095,0.00,1.10,0.00,0.000,4,0.000,0.053,1918,3940,2035,0,0,0,0,0,0
$GC,9235,0.77,103.1,390.9,25.1,412,9239,0.00,1.02,0.00,0.000,6,0.000,0.033,1923,3252,2035,0,0,0,0,0,0
$GC,9559,0.77,103.1,319.2,21.9,428,9562,0.00,1.08,0.00,0.000,4,0.000,0.053,1923,3928,2034,0,0,0,0,0,0
$GC,9666,0.77,103.1,292.6,24.1,432,9676,0.00,1.02,0.00,0.000,6,0.000,0.033,1929,3243,2033,0,0,0,0,0,0
$GC,9991,0.77,103.1,221.8,21.8,450,9994,0.00,1.10,0.00,0.000,4,0.000,0.053,1929,3930,2033,0,0,0,0,0,0
$GC,10182,0.77,103.1,174.9,25.1,460,10191,0.10,1.02,0.00,0.000,6,0.212,0.031,1907,3239,2033,0,0,0,0,0,0
$GC,10509,0.77,103.1,104.4,21.3,481,10512,0.00,1.10,0.00,0.000,4,0.000,0.052,1904,3933,2033,0,0,0,0,0,0
$GC,10603,0.77,103.1,80.6,24.8,495,10609,0.00,1.00,0.00,0.000,6,0.000,0.032,1908,3252,2033,0,0,0,0,0,0
$GC,10975,0.77,103.1,7.2,22.1,556,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3253,2032,0,0,0,0,0,0
$STATE,10999,end climb,SURFACE_DEPTH_REACHED
$STATE,10999,begin surface coast
$FINISH,0.8,1.026136
$STATE,11019,end surface coast,CONTROL_FINISHED_OK
$STATE,11019,begin surface
$SM_CCo,11035,168.68,0.735,1,0,504,482.50
$SM_GC,1.24,0.00,0.00,168.68,0.000,0.000,0.735,49,3372,504,-5.00,0.54,482.50
$IRIDIUM_FIX,-4140.91,822.54,291212,070701
$TT8_MAMPS,0.025466
$HUMID,54.52
$INTERNAL_PRESSURE,8.96636
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.6,25.019
$10V_AH,10.1,13.364
$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,11.775,37.075,202.575,168.675,0.000,181.692,261.920,492.106,0.000,0.000,25.065,1493.734,7145.088,469.837,2745.602,726.919,33.361,1293.991,0.000,1952.229,0.000,1.014,0.000
$DEVICE_MAMPS,214.200,80.325,1783.980,735.165,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.981,1238.058,591.478,282.690,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354248
$DATA_FILE_SIZE,40377,562
$CAP_FILE_SIZE,104824,0
$CFSIZE,259252224,250687488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,291212,104528,-4157.296,826.182,57,0.9,57,-24.9